CN113910205A

CN113910205A - Lower limb exoskeleton power assisting system

Info

Publication number: CN113910205A
Application number: CN202111518665.8A
Authority: CN
Inventors: 叶晶; 陈功
Original assignee: Shenzhen Milebot Robotics Co ltd
Current assignee: Shenzhen Milebot Robotics Co ltd
Priority date: 2021-12-14
Filing date: 2021-12-14
Publication date: 2022-01-11
Anticipated expiration: 2041-12-14
Also published as: CN113910205B

Abstract

The invention relates to the technical field of robot exoskeletons, in particular to a lower limb exoskeletons power-assisted system which comprises a leg lifting power-assisted mechanism, wherein the leg lifting power-assisted mechanism is positioned at the joint of a lower limb and a fixed part and comprises a first rod piece and a first motor, the outer side wall of a middle shaft of the first motor is radially connected with the first rod piece, the inner side of the first rod piece is connected with a first poke rod in a sliding manner along a first sliding groove, the first poke rod is driven by a first screw rod, and the first poke rod is used for pressing one end of an upper connecting plate of the lower limb; the leg pedaling force increasing mechanism is positioned at the other end of the connecting plate and is used for increasing force during leg pedaling; the secondary force increasing mechanism is matched with a poking rod of the leg lifting force increasing mechanism or the leg pedaling force increasing mechanism to amplify the moment; by adjusting the linkage position of the driving motor and the lower limbs, the proportion of the power arm and the resistance arm is adjusted, and different requirements on torque and rotating speed under different conditions are met.

Description

Lower limb exoskeleton power assisting system

Technical Field

The invention relates to the technical field of robot exoskeletons, in particular to a lower limb exoskeletons power-assisting system.

Background

Wearable ectoskeleton of robot passes through the helping hand and can reach good wearing activity effect laborsaving even, but driven motor drive mode, the helping hand effect receives the restriction of motor performance, and simultaneously, and under the condition that needs big moment of torsion and high-speed activity, the helping hand mode focus point of helping hand system is different, then need big moment of torsion load under the condition of heavy load, do not have too fast requirement to the activity speed, need more careful motion under the condition of high load after all, and during high-speed motion, the messenger is in the condition of low load under most of the circumstances, consequently need not great moment of torsion, but the demand of above-mentioned different scenes can't be satisfied to present single motor drive mechanism, provide a low limbs helping hand system for this reason.

Disclosure of Invention

The invention aims to provide a lower limb exoskeleton assistance system.

In order to achieve the purpose, the invention adopts the following technical scheme:

a lower limb exoskeleton power-assisted system, which comprises a lower limb rotationally connected with a fixed part and a lower limb exoskeleton power-assisted device,

the leg lifting force increasing mechanism is positioned at the joint of the lower limb and the fixing part and comprises a first rod piece, a first poking rod, a first motor, a first sliding groove and a first screw rod, the first rod piece is connected to the outer side wall of a middle shaft of the first motor along the radial direction, the first poking rod is connected to the inner side of the first rod piece along the first sliding groove in a sliding mode, the first poking rod is driven by the first screw rod, and the first poking rod is used for pressing one end of a connecting plate on the lower limb;

the leg pedaling force increasing mechanism is positioned at the other end of the connecting plate, the structure of the leg pedaling force increasing mechanism is consistent with that of the leg lifting force increasing mechanism, the leg lifting force increasing mechanism is used for assisting in leg lifting, and the leg pedaling force increasing mechanism is used for increasing force in leg lifting;

the secondary force increasing mechanism is located on the connecting plate and close to the end portion, the secondary force increasing mechanism is matched with a poking rod of the leg lifting force increasing mechanism or the leg pedaling force increasing mechanism through the lifting of the leg, the rotating angle change is utilized to carry out torque amplification, and assistance is achieved.

Preferably, the leg lifting force increasing mechanism further comprises a first lead screw motor, the first lead screw motor is used for driving a first lead screw, the first lead screw is parallel to the first rod piece and the first poking rod, and the first lead screw penetrates through the inside of the first poking rod and drives the first poking rod through threads.

Preferably, the leg-kicking force-increasing mechanism and the leg-lifting force-increasing mechanism are symmetrically distributed with the midpoint of the connecting plate, wherein the leg-kicking force-increasing mechanism comprises a second rod piece, a second poking rod, a second motor, a second chute, a second screw rod and a second screw rod motor, the second rod piece is radially connected to the outer side wall of the middle shaft of the first motor, the second poking rod is slidably connected to the inner side of the second rod piece along the second chute, the second poking rod is driven by the second screw rod, the second poking rod is used for pressing the other end of the connecting plate, and the second screw rod motor is used for driving the second screw rod.

Preferably, the secondary increases the power mechanism and is located the top of connecting plate, the secondary increases the power mechanism and includes the cavity, the holding down plate that reciprocates is installed to the inboard of cavity, the mid-mounting of holding down plate bottom surface has first bracing piece, the bottom of first bracing piece is rotated and is connected with the connection rotation of two symmetries, it is connected with the picture peg to connect the terminal rotation of pivoted, and the inboard at the stopper is inserted to the picture peg, the stopper slides along the third spout, the inboard of stopper is installed and is used for the lifting to connect pivoted spring.

Preferably, the open end of the cavity is provided with a baffle for limiting the lower pressing plate.

Preferably, the third sliding groove is arranged on the inner wall of the cavity in parallel with the connecting plate.

Preferably, the included angle between the two connecting rotations is 120-140 degrees.

Preferably, the bottom of the lower limb is provided with an elastic connector, and the elastic connector is a corrugated spring.

Preferably, the second motor of the leg-pedaling force-increasing mechanism is fixed on the inner wall of the outer shell, the outer shell is fixedly connected with the fixing part through a connecting piece, and the first motor is fixedly connected with the fixing part.

The invention has at least the following beneficial effects:

according to the exoskeleton robot, the linkage position of the driving motor and the lower limb is adjusted, the proportion of the power arm and the resistance arm is adjusted, different requirements on torque and rotating speed under different conditions are met, when the linkage position is close to the limit of the end part of the connecting plate, and the torque moment is required to be increased continuously, the torque moment can be further amplified through the secondary force increasing mechanism, so that the torque moment requirement is met, meanwhile, the secondary force increasing mechanism meets logic and engineering design, the secondary force increasing mechanism is not required to be driven by an additional electric driving part and only needs to be matched with the leg lifting force increasing mechanism and the leg pedaling force increasing mechanism, the exoskeleton robot is simple in structure and easy to maintain in the later period, the assistance effect of the exoskeleton can be effectively increased, and the use requirements of different scenes are met.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic view of the present invention;

FIG. 2 is an exploded view of the connection plate;

FIG. 3 is an exploded schematic view of a leg raising force increasing mechanism and a leg kicking force increasing mechanism;

FIG. 4 is a cross-sectional view of a secondary force increasing mechanism according to the present invention;

fig. 5 is a schematic view of walking gait of the present invention.

In the figure: 1. a fixed part; 2. an outer housing; 3. a lower limb; 4. an elastic connector; 5. a connecting plate; 100. a leg lifting force increasing mechanism; 101. a first bar member; 102. a first poke rod; 103. a first motor; 104. a first chute; 105. a first lead screw; 106. a first lead screw motor; 200. a leg-kicking force-increasing mechanism; 201. a second bar member; 202. a second poker rod; 203. a second motor; 204. a second chute; 205. a second lead screw; 206. a second lead screw motor; 300. a secondary force increasing mechanism; 301. a lower pressing plate; 302. a baffle plate; 303. a first support bar; 304. connecting and rotating; 305. a third chute; 306. a limiting block; 307. a spring; 308. a cavity.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1 to 5, a lower limb exoskeleton power assisting system comprises a lower limb 3 rotatably connected to a fixed part 1, an elastic connector 4 mounted at the bottom of the lower limb 3, the elastic connector 4 being a corrugated spring for increasing fault tolerance and absorbing impact better, and further,

the leg lifting force increasing mechanism 100 is located at a connection position of a lower limb 3 and a fixing part 1, the leg lifting force increasing mechanism 100 comprises a first rod piece 101, a first poking rod 102, a first motor 103, a first sliding groove 104 and a first screw rod 105, the first rod piece 101 is connected to the outer side wall of a middle shaft of the first motor 103 in the radial direction, the first poking rod 102 is connected to the inner side of the first rod piece 101 in a sliding mode along the first sliding groove 104, the first poking rod 102 is driven by the first screw rod 105, the first poking rod 102 is used for pressing one end of a connecting plate 5 on the lower limb 3, the leg lifting force increasing mechanism 100 further comprises a first screw rod motor 106, the first screw rod motor 106 is used for driving the first screw rod 105, the first screw rod 105 is parallel to the first rod piece 101 and the first poking rod 102, and the first screw rod 105 penetrates through the inner portion of the first poking rod 102 and drives the first poking rod 102 by threads;

the leg pedaling force increasing mechanism 200 is positioned at the other end of the connecting plate 5, and the structure of the leg pedaling force increasing mechanism 200 is consistent with that of the leg lifting force increasing mechanism 100; the leg pedaling force increasing mechanism 200 and the leg lifting force increasing mechanism 100 are symmetrically distributed at the midpoint of the connecting plate 5, wherein the leg pedaling force increasing mechanism 200 comprises a second rod 201, a second poking rod 202, a second motor 203, a second chute 204, a second screw 205 and a second screw motor 206, the second rod 201 is radially connected to the outer side wall of the middle shaft of the first motor 103, the second poking rod 202 is connected to the inner side of the second rod 201 along the second chute 204 in a sliding manner, the second poking rod 202 is driven by the second screw 205, the second poking rod 202 is used for pressing the other end of the connecting plate 5, and the second screw motor 206 is used for driving the second screw 205;

the leg lifting force increasing mechanism 100 is used for assisting in lifting legs, and the leg pedaling force increasing mechanism 200 is used for increasing force in pedaling;

the secondary force increasing mechanism 300 is located on the connecting plate 5 and close to the end, wherein the secondary force increasing mechanism 300 is matched with a poke rod of the leg lifting force increasing mechanism 100 or the leg pedaling force increasing mechanism 200, moment amplification is performed by utilizing angle change of the connecting rotation 304, assistance is achieved, the linkage position of the driving motor and the lower limb 3 is adjusted, further adjustment of the proportion of a power arm and a resistance arm is achieved, different requirements on torque and rotating speed under different conditions are met, when the linkage position is close to the limit of the end of the connecting plate 5, the torque moment can be further amplified through the secondary force increasing mechanism 300 when the torque moment still needs to be continuously increased, the torque moment needs are met, meanwhile, the secondary force increasing mechanism 300 is in accordance with logic and engineering design, no extra electric driving part is needed to drive, and only the secondary force increasing mechanism 300 is matched with the leg lifting force increasing mechanism 100 and the leg pedaling force increasing mechanism 200, simple structure uses, easily later maintenance, and can effectual increase the helping hand effect of ectoskeleton, satisfies the user demand of different scenes.

Further, secondary force increasing mechanism 300 is located the top of connecting plate 5, secondary force increasing mechanism 300 includes cavity 308, cavity 308's inboard is installed and is moved down holding down plate 301, the mid-mounting of holding down plate 301 bottom surface has first bracing piece 303, the bottom of first bracing piece 303 rotates and is connected with the connection rotation 304 of two symmetries, the end rotation of connecting rotation 304 is connected with the picture peg, the picture peg is inserted and is established the inboard of stopper 306, stopper 306 slides along third spout 305, third spout 305 and the parallel setting of connecting plate 5 are at the inner wall of cavity 308, the inboard of stopper 306 is installed and is used for the lifting to connect the spring 307 of rotation 304.

Further, the open end of the cavity 308 is provided with a baffle 302 for limiting the lower pressing plate 301.

Furthermore, the included angle between the two connecting rotation members 304 is 120-140 degrees, when the connecting rotation members 301 are pressed down, the included angle of the connecting rotation members 304 is enlarged by 10-30 degrees, and the moment can be enlarged by 3-6 times.

Further, the second motor 203 of the leg-pedaling force-increasing mechanism 200 is fixed on the inner wall of the outer shell 2, the outer shell 2 is fixedly connected with the fixing part 1 through a connecting piece, and the first motor 103 is fixedly connected with the fixing part 1.

The scheme has the following working processes: when in operation, the lower limb exoskeleton comprises a plurality of gaits of grounding, supporting, stretching and swinging, wherein the two gaits of lifting and pedaling are the most strenuous gaits in motion, when lifting, the first motor 103 drives the first poking rod 102 to swing, the first poking rod 102 presses the connecting plate 5 while swinging, so that the lower limb 3 rotates anticlockwise to lift the leg, the first lead screw motor 106 rotates, the first poking rod 102 can interact along the first chute 104 by utilizing threads, the angular speed of the first poking rod 102 during rotation is further changed, the proportion of a power arm and a resistance arm for driving the lower limb 3 is simultaneously changed, different use requirements are further met, when large torque is needed, the first poking rod 102 moves towards the end part of the connecting plate 5, the angular speed is reduced, the power arm is increased, meanwhile, the rotating speed is reduced, the torque can be increased, when the first poking rod 102 moves to the secondary force increasing mechanism 300, at the moment, the baffle 302 is pressed downwards, so that the baffle 302 is expanded, meanwhile, the limiting block 306 moves towards two ends along the third sliding groove 305, and the change of the angle can realize large moment; similarly, when the user steps on the leg, the second motor 203 is required to drive the second poke rod 202 to press down the other end of the connecting plate 5, and when the user steps on the leg, the torque is increased to move the second poke rod 202 to move the end of the connecting plate 5 to press down the corresponding secondary force increasing mechanism 300;

through the linkage position of adjustment driving motor and low limbs 3, and then realize the adjustment of power arm and resistance arm proportion, and then satisfy the different requirements to moment of torsion and rotational speed under the different condition, and when the linkage position is close to the limit of connecting plate 5 tip, when still need continue to increase moment of torsion this moment, accessible secondary power increase mechanism 300 further amplifies moment of torsion, and then satisfy moment of torsion needs, this part accords with logic and engineering design simultaneously, secondary power increase mechanism 300 part need not extra electric drive part and drives, only need with lift leg power increase mechanism 100 and pedal leg power increase mechanism 200 cooperation just, simple structure uses, easily later maintenance, and can effectually increase the helping hand effect of ectoskeleton, satisfy the user demand of different scenes.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A lower limb exoskeleton power-assisted system comprises a lower limb (3) which is rotationally connected with a fixed part (1), and is characterized by also comprising,

the leg lifting force increasing mechanism (100) is located at the joint of the lower limb (3) and the fixing part (1), the leg lifting force increasing mechanism (100) comprises a first rod piece (101), a first poking rod (102), a first motor (103), a first sliding groove (104) and a first screw rod (105), the first rod piece (101) is connected to the outer side wall of a middle shaft of the first motor (103) in the radial direction, the first poking rod (102) is connected to the inner side of the first rod piece (101) in a sliding mode along the first sliding groove (104), the first poking rod (102) is driven by the first screw rod (105), and the first poking rod (102) is used for pressing one end of the upper connecting plate (5) of the lower limb (3);

the leg pedaling force increasing mechanism (200) is located at the other end of the connecting plate (5), the structure of the leg pedaling force increasing mechanism (200) is consistent with that of the leg lifting force increasing mechanism (100), the leg lifting force increasing mechanism (100) is used for assisting in the leg lifting process, and the leg pedaling force increasing mechanism (200) is used for increasing the force in the leg lifting process;

the secondary force increasing mechanism (300) is located on the connecting plate (5) and close to the end portion of the connecting plate, the secondary force increasing mechanism (300) is matched with a poking rod of the leg lifting force increasing mechanism (100) or the leg pedaling force increasing mechanism (200) through the angle change of the connecting rotation (304), torque amplification is conducted, and assistance is achieved.

2. The lower extremity exoskeleton assistance system according to claim 1, wherein the leg lifting force increasing mechanism (100) further comprises a first lead screw motor (106), the first lead screw motor (106) is used for driving a first lead screw (105), wherein the first lead screw (105) is parallel to the first rod (101) and the first shifting rod (102), and the first lead screw (105) penetrates through the inside of the first shifting rod (102) and drives the first shifting rod (102) by means of screw threads.

3. The lower extremity exoskeleton assistance system according to claim 1, wherein the leg pedaling force increasing mechanism (200) and the leg lifting force increasing mechanism (100) are symmetrically distributed about a midpoint of the connecting plate (5), wherein the leg pedaling force increasing mechanism (200) comprises a second rod piece (201), a second poke rod (202), a second motor (203), a second chute (204), a second screw rod (205) and a second screw rod motor (206), a second rod piece (201) is connected to the outer side wall of the middle shaft of the first motor (103) along the radial direction, a second poke rod (202) is connected to the inner side of the second rod piece (201) along a second sliding groove (204) in a sliding manner, the second poke rod (202) is driven by a second screw rod (205), the second poke rod (202) is used for pressing the other end of the connecting plate (5), and the second screw rod motor (206) is used for driving the second screw rod (205).

4. The lower limb exoskeleton power-assisted system according to claim 1, wherein the secondary force increasing mechanism (300) is located at the top of the connecting plate (5), the secondary force increasing mechanism (300) comprises a cavity (308), a lower pressing plate (301) moving up and down is installed on the inner side of the cavity (308), a first supporting rod (303) is installed in the middle of the bottom surface of the lower pressing plate (301), the bottom end of the first supporting rod (303) is rotatably connected with two symmetrical connecting rotation units (304), the tail end of each connecting rotation unit (304) is rotatably connected with a plug board, the plug board is inserted into the inner side of the limiting block (306), the limiting block (306) slides along a third sliding groove (305), and a spring (307) used for lifting and connecting the rotation units (304) is installed on the inner side of the limiting block (306).

5. The lower extremity exoskeleton assistance system according to claim 4, wherein the open end of the cavity (308) is fitted with a stop (302) that limits the lower platen (301).

6. The lower extremity exoskeleton assistance system according to claim 4, wherein the third runner (305) is disposed on the inner wall of the cavity (308) in parallel with the connecting plate (5).

7. The lower extremity exoskeleton assistance system according to claim 4, wherein the angle between the two link rotations (304) is 120-140 degrees.

8. A lower extremity exoskeleton assistance system according to claim 1, where the bottom of the lower extremity (3) is fitted with a flexible coupling (4), where the flexible coupling (4) is embodied as a bellow spring.

9. The lower extremity exoskeleton assistance system according to claim 3, wherein the second motor (203) of the leg pedaling force enhancing mechanism (200) is fixed on the inner wall of the outer shell (2), the outer shell (2) is fixedly connected with the fixing part (1) through a connecting piece, and the first motor (103) is fixedly connected with the fixing part (1).