CN114750132A - Lower limb assistance exoskeleton robot - Google Patents
Lower limb assistance exoskeleton robot Download PDFInfo
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- CN114750132A CN114750132A CN202210373267.XA CN202210373267A CN114750132A CN 114750132 A CN114750132 A CN 114750132A CN 202210373267 A CN202210373267 A CN 202210373267A CN 114750132 A CN114750132 A CN 114750132A
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- thigh
- bevel gear
- exoskeleton robot
- shank
- motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
A lower limb assistance exoskeleton robot relates to an exoskeleton robot, and comprises a waist, a left leg and a right leg, wherein the left leg and the right leg respectively comprise two thighs and two shanks; the waist comprises a retaining ring and a hinge mechanism; the buckle is matched with the waist of a human body, hinge mechanisms are respectively arranged on two sides of the buckle and are connected with thighs through shafts, the thighs can swing back and forth under the driving of a first electric driving mechanism arranged on the shafts, and the thighs can swing left and right relative to the buckle through the hinge mechanisms; the shank is connected with the thigh through a link mechanism, the link mechanism is driven to move by a second electric drive mechanism arranged on the thigh, and the shank is driven by the link mechanism to move back and forth in a swinging manner. The invention has compact structure, large motion range and good wearing comfort and fitting performance for human body.
Description
Technical Field
The invention relates to an exoskeleton robot, in particular to a lower limb assistance exoskeleton robot.
Background
At present, for lower limb assistance exoskeleton robots, existing lower limb assistance exoskeleton robots mostly use steel or aluminum alloy as a main structural body material, and are heavy though good in strength, inconvenient to wear, and easy to cause large physical consumption. And because the motion of the lower limbs of the human body is complex, the fitting degree of the exoskeleton robot to the human body is not perfect, the comfort level for wearing the human body is low, the effect is not ideal, the human body is difficult to perform actions such as swinging outwards, squatting downwards and the like, and the motion range of the human body is limited.
Disclosure of Invention
The invention provides a lower limb assistance exoskeleton robot which is compact in structure and large in movement range, aiming at overcoming the defects of the prior art.
The technical scheme of the invention is as follows:
a lower limb assistance exoskeleton robot comprises a waist, a left leg and a right leg, wherein the left leg and the right leg respectively comprise two thighs and two shanks; the waist comprises a retaining ring and a hinge mechanism; the buckle is matched with the waist of a human body, hinge mechanisms are respectively arranged on two sides of the buckle and are connected with thighs through shafts, the thighs can swing back and forth under the driving of a first electric driving mechanism arranged on the shafts, and the thighs can swing left and right relative to the buckle through the hinge mechanisms; the shank is connected with the thigh through a link mechanism, the link mechanism is driven to move by a second electric drive mechanism arranged on the thigh, and the shank is driven by the link mechanism to move back and forth in a swinging manner.
Further, the first electric driving mechanism comprises a thigh motor, a bevel gear connecting seat, a thigh motor seat and a bevel gear pair; the bevel gear pair comprises a small bevel gear and a large bevel gear which are meshed with each other, the large bevel gear is fixedly arranged on a bevel gear connecting seat, the bevel gear connecting seat is fixedly arranged on the shaft, a thigh motor seat is rotatably arranged on the bevel gear connecting seat, a thigh motor is arranged on a thigh motor seat, a thigh inner shell is arranged on a rack of the thigh motor, and a hinge mechanism is arranged on the shaft.
Further, the second electric drive mechanism comprises a shank motor and a helical gear pair; the helical gear pair comprises a first helical gear and a second helical gear which are meshed with each other; the second bevel gear is rotatably arranged at the lower part of the thigh inner shell, the first bevel gear is connected with the output end of the shank motor, and the link mechanism is respectively hinged with the second bevel gear and the shank.
Compared with the prior art, the invention has the following effects:
1. the lower limb exoskeleton is connected with the waist by the hinge mechanism to form a hip joint, and the knee joint transmission adopts the link mechanism, so that the flexibility and the rapidity of the device are improved, the wearing comfort and the fitting performance of the human body are greatly improved, and the use efficiency is improved.
2. The knee joint adopts a link mechanism, has the characteristic of variable transmission ratio, has smaller transmission ratio when the knee joint is in the extension state, meets the requirement of high maneuverability in the state, has larger transmission ratio when the knee joint is in the larger bending state, and can ensure that the system has larger output force. The mechanism is compact, stable and reliable, and has small integral volume, light weight and low requirement on the motor.
3. The thigh motor rotates to drive the bevel gear pair to do rotary motion so as to drive the transmission mechanism of the thigh and the shank (hip joint and knee joint) to do motion to be stable and reliable, the spiral gear drives the connecting rod mechanism and the shank to do rotary motion, the accuracy and the stability of motion are improved, the structure is compact, and the practicability is greatly improved.
4. The whole lower limb exoskeleton robot has no ankle joint part, reduces weight, simultaneously facilitates the wearing process of a human body, greatly improves the comfort level of the human body, and has good assistance effect on knee joints and hip joints.
The invention is described in detail below with reference to the figures and the specific embodiments.
Drawings
Fig. 1 is a front view of the whole structure of the lower limb assistance exoskeleton robot of the invention;
FIG. 2 is a view from the rear of the whole structure of the lower extremity assisted exoskeleton robot of the present invention;
FIG. 3 is a schematic view showing the connection between the thigh and the shank;
FIG. 4 is a schematic view of the connection of the right leg and waist;
FIG. 5 is a schematic view showing the connection between the left leg and the waist;
FIG. 6 is a schematic diagram of a four bar linkage;
fig. 7 is a graph showing the angle change of the crank movement and the angle change during the squat movement of the human body.
Detailed Description
Referring to fig. 1 and 2, a lower limb assistance exoskeleton robot comprises a waist part 1, a left leg and a right leg, wherein the left leg and the right leg respectively comprise two thighs 2 and two shanks 3;
the waist part 1 comprises a retaining ring 11 and a hinge mechanism 12;
the buckle 11 is matched with the waist of a human body, the hinge mechanisms 12 are respectively arranged on two sides of the buckle 11, the hinge mechanisms 12 are connected with the thigh 2 through the shaft 5, the thigh 2 can swing back and forth under the driving of the first electric driving mechanism A arranged on the shaft 5, and the thigh 2 can swing left and right relative to the buckle 11 through the hinge mechanisms 12;
The shank 3 is connected with the thigh 2 through a link mechanism C, the link mechanism C is driven by a second electric drive mechanism B arranged on the thigh 2 to move, and the shank 3 is driven by the link mechanism C to swing back and forth.
According to the scheme, the plurality of hinge mechanisms 12 can be connected in series to connect the waist part and the thigh part of the exoskeleton to form the hip joint, so that the actions of outward swinging, inward closing and the like of a human body during rapid movement are met, the single hinge mechanisms 12 are connected in series to form the plurality of hinges, and the exoskeleton can well attach to the human body and can also play a supporting role in the movement process of the human body. The whole lower limb exoskeleton robot has no ankle joint part, reduces weight, facilitates the wearing process of a human body, greatly improves the comfort level of the human body, and has good assistance effect on knee joints and hip joints. The retaining ring 11 is in contact connection with the waist of a human body, so that the parts below the hip joint can be still fixedly connected to the leg due to the change of the distance from the leg to the waist in the leg swinging process of the human body. The hinge mechanism 12 is fixed to the waist and the shaft 7 by screws.
As shown in fig. 1 and 3, in one embodiment, the first electric drive mechanism a includes a thigh motor a1, a bevel gear connecting seat a2, a thigh motor seat a4, and a bevel gear pair; the bevel gear pair comprises a small bevel gear A3 and a large bevel gear A5 which are meshed with each other, the large bevel gear A5 is fixedly arranged on a bevel gear connecting seat A2, a bevel gear connecting seat A2 is fixedly arranged on the shaft 5, a thigh motor seat A4 is rotatably arranged on the bevel gear connecting seat A2, a thigh motor A1 is arranged on a thigh motor seat A4, a thigh inner shell 21 is arranged on a rack of a thigh motor A1, and a hinge mechanism 12 is arranged on the shaft 5. The thigh motor A1 is fixed on a bevel gear connecting seat A2 through a thigh motor seat A4, the thigh inner shell 21 is fixed on a thigh motor A1, the thigh motor A1 drives a small bevel gear A3 to rotate under the power, the large bevel gear A5 is fixed on the shaft 5, the bevel gear connecting seat A2 is fixed on the shaft 5, the thigh motor seat A4 is rotatably installed on the bevel gear connecting seat A2, the small bevel gear A3 rotates around a large bevel gear A5, and then the thigh motor A1 rotates together with the thigh inner shell 21 and the shank 3, so that the thigh swings back and forth around the hip joint.
In another embodiment, as shown in fig. 1 and 3, the second electric drive mechanism B includes a shank motor B1 and a helical gear pair; the helical gear pair comprises a first helical gear B2 and a second helical gear B3 which are meshed with each other; the second bevel gear B3 is rotatably mounted on the lower part of the inner thigh shell 21, the first bevel gear B2 is connected with the output end of the lower leg motor B1, and the link mechanism C is respectively hinged with the second bevel gear B3 and the lower leg 3. Further, the output end of the lower leg motor B1 is connected to a wheel axle B4 rotatably mounted on the lower portion of the inner thigh shell 21 through a universal joint 4, and a first bevel gear B2 is mounted on a wheel axle B4. The shank motor B1 transmits power to the helical gear pair through the universal joint 4, and the helical gear pair drives the link mechanism C to do rotary motion, so that power or torque is transmitted to the knee joint and the shank 3. The universal joint 4 can be used singly or in a plurality of tandem combinations.
As shown in fig. 3, preferably, the lower extremity assisting exoskeleton robot further comprises a first knee gear 51 and a second knee gear 52, wherein the second knee gear 52 is rotatably installed at the lower part of the inner thigh shell 21, the first knee gear 51 is rotatably installed at the upper part of the lower leg 3, and the first knee gear 51 is meshed with the second knee gear 52; the connecting rod mechanism C comprises a crank C1, a connecting rod I C2 and a connecting rod II C3; one end of a crank C1 is rotatably connected with the second bevel gear B3, the other end of the crank C1 is rotatably connected with one end of a first connecting rod C2, the other end of the first connecting rod C2 is rotatably connected with a second connecting rod C3, and the other end of the second connecting rod C3 is fixedly connected with the lower leg 3. In the above description, the crank C1, the link one C2, the link two C3 or the lower leg 3, and the mutually engaged knee gear one 51 and knee gear two 52 together constitute a four-link mechanism, and the hatched portion in fig. 6 is an assembly of the mutually engaged knee gear one 51 and knee gear two 52. The shank motor B1 transmits power to the helical gear pair through the universal joint 4, the helical gear pair drives the crank C1 to rotate, the crank C1 is hinged with the connecting rod I C2, and the power is transmitted to the connecting rod II C3 and the shank 3.
In the four-bar mechanism, a schematic diagram of the principle is shown in fig. 6, a shank motor transmits power to a crank 1 through a spiral gear set, the crank 1 transmits the power to a shank part through the four-bar mechanism, according to the characteristics of the four-bar mechanism, the four-bar mechanism can amplify the motion angle of the shank part, so that when a human body wears a lower limb exoskeleton, the transmission ratio is small in the process of standing walking, and the shank motor has larger transmission ratio in the process of squatting or bending legs, so that larger moment can be provided to support the squatting or bending motion of the human body. The curve is obtained by testing and calculation, and is shown as omega in FIG. 73Angular velocity, ω, of the lower leg portion1The angular velocity of the crank 1 is represented by a ratio omega of two angular velocities on the ordinate3/ω1The change of the crank 1 is the change of the motion angle of the crank 1, the increase of the motion angle of the crank 1 is the change of the angle in the squat motion process of the human body, along with the continuous increase of the motion angle of the crank 1, the angular speed ratio of the shank part and the crank 1 is continuously reduced, the transmission is continuously increased, larger moment is provided for the shank part, and the design correctness and feasibility are verified. The exquisite transmission ratio zooming mechanism can reduce the operation time and power of the motor, so that the lower limb exoskeleton robot has longer working time and achieves the aim of saving energy.
As shown in fig. 3, the lower extremity assisted exoskeleton robot further comprises a pressure sensor 6, wherein the pressure sensor 6 is mounted on a link-C2 at the joint of a crank C1 and a link-C2. The pressure sensor 6 is arranged for measuring the movement trend of the human body and the interaction force between human and machines, and the motion of the human body is fed back to the motor through the pressure sensor 6 to control the actions of the thigh motor and the shank motor. The pressure sensor 6 is preferably an LZ-WS1 type sensor manufactured by the incorporated fat smart sensor system ltd.
As shown in fig. 1, 3 and 5, the lower limb assistance exoskeleton robot further comprises a lower leg supporter 7 and a knee joint supporter 8; the lower leg supporter 7 is attached to the upper portion of the lower leg 3, and the knee joint supporter 8 is attached to the lower portion of the thigh inner shell 21. The knee joint protective clothing 8 is attached to the knee of the human body, and the lower leg part is also provided with the lower leg protective clothing 7 to play the role of protection and support. Preferably, the lower leg brace 7 and the knee brace 8 at the person are both flexible shields. Preferably, as shown in fig. 4 and 5, the thigh shell 22 is mounted on the bevel gear connecting seat a2 to cover the thigh motor a1 and the shank motor B1, and the thigh shell 21, the thigh shell 22, the shank supporter 7, the knee joint supporter 8 and the buckle ring 11 are made of carbon fiber material. The lower limb exoskeleton robot is mainly made of carbon fiber materials, is light in weight and not easy to deform, and achieves the effect of being wearable by a single person.
Principle of operation
This robot passes through the lithium cell of waist as the power supply, rotate thigh motor A1 and shank motor B1 as drive power, thigh 2 is connected with bevel gear connecting seat A2 through thigh motor 2, it and then drives the rotary motion of bevel pinion A3 and drive the hip joint and be rotary motion, shank 2 drives universal joint 4 through shank motor B1 and links firmly with helical gear pair and drives four-bar linkage motion, and then drive knee joint and shank 3 and be rotary motion, combine together helical gear pair and four-bar linkage drive mechanism, the ectoskeleton robot that makes more laminates in the human body, human lower limbs motion also can be more comfortable. The robot made of the carbon fiber has the advantages that the whole weight including an electric system can not exceed 8kg, a human body can carry out actions with high difficulty such as deep squatting and crossing after wearing the exoskeleton, and the requirements of light weight and good maneuverability are met.
The knee joint is provided with an active joint (knee joint gear), a novel transmission mode of a four-bar mechanism is adopted, the change range of the transmission ratio is between 1 and 4, and the transmission ratio is smaller when the knee joint is in a state close to the extension state, so that the requirement of high maneuverability in the state is met, meanwhile, the transmission ratio is larger when the knee joint is in a larger bending state, so that the system can be ensured to have larger output force, when a human body wears the lower limb exoskeleton, the transmission ratio is small in the process of vertically walking, and the lower leg motor has better maneuverability.
The hip joint is designed as a driving joint (hinge mechanism), a mode that a motor drives a bevel gear to drive a thigh joint to move is adopted, the characteristic that the bevel gear can change the moving direction is utilized, a thigh motor A1 arranged on a thigh 2 is transmitted to the hip joint, the structure is compact and reliable, the waist part of the exoskeleton and the hip joint are connected by connecting a plurality of hinge mechanisms 12 in series, the actions of outward swinging, inward swinging and the like of a human body during rapid movement are met, a single hinge is connected in series to form a plurality of hinges, the exoskeleton can not only be well attached to the human body but also play a role in supporting in the moving process of the human body, and the structure is compact, small and exquisite, reliable, light in weight and good in effect. The whole lower limb exoskeleton robot has no ankle joint part, reduces the weight, facilitates the wearing process of a human body, greatly improves the comfort level of the human body, and has a good assistance effect on knee joints and hip joints.
The present invention is not limited to the above embodiments, and any simple modifications, equivalent changes and modifications made by the technical spirit of the present invention by those skilled in the art can be made without departing from the scope of the present invention.
Claims (10)
1. A lower limb assistance exoskeleton robot comprises a waist part (1), a left leg and a right leg, wherein the left leg and the right leg respectively comprise two thighs (2) and two shanks (3); the method is characterized in that:
the waist part (1) comprises a retaining ring (11) and a hinge mechanism (12);
the buckle (11) is matched with the waist of a human body, the two sides of the buckle (11) are respectively provided with a hinge mechanism (12), the hinge mechanisms (12) are connected with the thigh (2) through a shaft (5), the thigh (2) can swing back and forth under the driving of a first electric driving mechanism (A) arranged on the shaft (7), and the thigh (2) can swing left and right relative to the buckle (11) through the hinge mechanisms (12);
the shank (2) is connected with the thigh (3) through a link mechanism (C), the link mechanism (C) is driven by a second electric drive mechanism (B) arranged on the thigh (2) to move, and the shank (3) is driven by the link mechanism (C) to swing back and forth.
2. The lower extremity assisted exoskeleton robot of claim 1, wherein: the first electric drive mechanism (A) comprises a thigh motor (A1), a bevel gear connecting seat (A2), a thigh motor seat (A4) and a bevel gear pair; the bevel gear pair comprises a small bevel gear (A3) and a large bevel gear (A5) which are meshed with each other, the large bevel gear (A5) is fixedly arranged on a bevel gear connecting seat (A2), the bevel gear connecting seat (A2) is fixedly arranged on the shaft (7), a thigh motor seat (A4) is rotatably arranged on the bevel gear connecting seat (A2), a thigh motor (A1) is arranged on the thigh motor seat (A4), a thigh inner shell (21) is arranged on a rack of the thigh motor (A1), and a hinge mechanism (12) is arranged on the shaft (7).
3. The lower extremity assisted exoskeleton robot of claim 2, wherein: the second electric drive mechanism (B) comprises a shank motor (B1) and a helical gear pair;
the helical gear pair comprises a first helical gear (B2) and a second helical gear (B3) which are meshed with each other; the second bevel gear (B3) is rotatably arranged at the lower part of the thigh inner shell (21), the first bevel gear (B2) is connected with the output end of the lower leg motor (B1), and the link mechanism (C) is respectively hinged with the second bevel gear (B3) and the lower leg (3).
4. The lower extremity assisted exoskeleton robot of claim 2, wherein: the lower limb assistance exoskeleton robot further comprises a first knee gear (51) and a second knee gear (52), wherein the second knee gear (52) is rotatably arranged at the lower part of the thigh inner shell (21), the first knee gear (51) is rotatably arranged at the upper part of the shank (3), and the first knee gear (51) is meshed with the second knee gear (52); the link mechanism (C) comprises a crank (C1), a first link (C2) and a second link (C3); one end of a crank (C1) is rotatably connected with the second bevel gear (B3), the other end of the crank (C1) is rotatably connected with one end of a first connecting rod (C2), the other end of the first connecting rod (C2) is rotatably connected with a second connecting rod (C3), and the other end of the second connecting rod (C3) is fixedly connected with the shank (3).
5. The lower extremity assisted exoskeleton robot of claim 4, wherein: the lower limb assistance exoskeleton robot further comprises a pressure sensor (6), wherein the pressure sensor (6) is arranged on a first connecting rod (C2) at the hinge joint of the crank (C1) and the first connecting rod (C2).
6. The lower extremity assisted exoskeleton robot of claim 4, wherein: the output end of the shank motor (B1) is connected with a wheel shaft (B4) which is rotatably arranged at the lower part of the thigh inner shell (21) through a universal joint (4), and the second bevel gear (B3) is arranged on the wheel shaft (B4).
7. The lower extremity assisted exoskeleton robot of claim 6, wherein: the lower limb assistance exoskeleton robot further comprises a shank protector (7) and a knee joint protector (8); the lower leg supporter (7) is installed on the upper part of the lower leg (3), and the knee joint supporter (8) is installed on the lower part of the thigh inner shell (21).
8. The lower extremity assisted exoskeleton robot of claim 7, wherein: the thigh shell (22) is arranged on the bevel gear connecting seat (A2) to cover the thigh motor (A1) and the shank motor (B1).
9. The lower extremity assisted exoskeleton robot of claim 8, wherein: the thigh inner shell (21), the thigh outer shell (22), the shank protector (7), the knee joint protector (8) and the buckle ring (11) are all made of carbon fiber materials.
10. The lower extremity assisted exoskeleton robot of claim 7, wherein: the shank protector (7) and the knee joint protector (8) are both flexible guard plates.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210373267.XA CN114750132A (en) | 2022-04-11 | 2022-04-11 | Lower limb assistance exoskeleton robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210373267.XA CN114750132A (en) | 2022-04-11 | 2022-04-11 | Lower limb assistance exoskeleton robot |
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| CN114750132A true CN114750132A (en) | 2022-07-15 |
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| CN202210373267.XA Pending CN114750132A (en) | 2022-04-11 | 2022-04-11 | Lower limb assistance exoskeleton robot |
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| CN111604890A (en) * | 2019-12-30 | 2020-09-01 | 合肥工业大学 | Motion control method suitable for exoskeleton robot |
| CN111693181A (en) * | 2020-05-20 | 2020-09-22 | 南京航空航天大学 | Man-machine one-dimensional interaction force measuring sensor and measuring method for lower limb exoskeleton |
| CN112060056A (en) * | 2020-08-31 | 2020-12-11 | 南京理工大学 | Exoskeleton robot with motors and exoskeleton lower limb gravity centers collinear and control method |
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2022
- 2022-04-11 CN CN202210373267.XA patent/CN114750132A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103200919A (en) * | 2010-11-24 | 2013-07-10 | 川崎重工业株式会社 | Wearable motion assistance device |
| US20140100493A1 (en) * | 2012-10-04 | 2014-04-10 | Travis Craig | Bipedal Exoskeleton and Methods of Use |
| CN107283395A (en) * | 2016-03-31 | 2017-10-24 | 深圳光启合众科技有限公司 | The lower limb structure and lower limb structure component of exoskeleton robot |
| CN108818496A (en) * | 2018-04-24 | 2018-11-16 | 上海理工大学 | A kind of unpowered ectoskeleton auxiliary robot |
| CN111358667A (en) * | 2018-12-26 | 2020-07-03 | 沈阳新松机器人自动化股份有限公司 | Method for controlling man-machine interactive motion of lower limb exoskeleton based on joint stress |
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