CN114770589B - Self-locking controllable compliant knee joint exoskeleton device - Google Patents
Self-locking controllable compliant knee joint exoskeleton device Download PDFInfo
- Publication number
- CN114770589B CN114770589B CN202210581341.7A CN202210581341A CN114770589B CN 114770589 B CN114770589 B CN 114770589B CN 202210581341 A CN202210581341 A CN 202210581341A CN 114770589 B CN114770589 B CN 114770589B
- Authority
- CN
- China
- Prior art keywords
- self
- plate
- bearing
- locking
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention relates to a self-locking controllable compliant knee joint exoskeleton device which comprises a connecting mechanism, wherein the connecting mechanism comprises a mounting shaft, one end of the mounting shaft is provided with a side plate A, the other end of the mounting shaft is provided with a side plate B, the side plate A and the side plate B are respectively connected with a thigh connecting plate, a variable rigidity lasso transmission mechanism is arranged on the thigh connecting plate, the mounting shaft is provided with a controllable self-locking mechanism, the variable rigidity lasso transmission mechanism is connected with the controllable self-locking mechanism, the controllable self-locking mechanism is provided with a shank connecting plate, and an angle detection mechanism is arranged between the shank connecting plate and the mounting shaft. The novel portable electronic device has the advantages of reasonable structural design, compact structure, light weight, flexible application, variable rigidity, comfort in wearing, no need of additional power to realize the driving mode, the free movement mode, the switching of the two modes and the like.
Description
Technical Field
The invention relates to the technical field of medical rehabilitation assistance apparatuses, in particular to a self-locking controllable compliant knee joint exoskeleton device.
Background
The lower limb exoskeleton robot is an artificial exoskeleton worn outside a human body, can protect the human body and provide additional power, and can help an operator to complete a plurality of difficult tasks. The knee joint is taken as an important component of the exoskeleton, plays an important role in realizing various auxiliary functions of the exoskeleton robot, for example, the knee joint device is required to provide certain torque and radial supporting force when the mechanical exoskeleton assists the human body to walk.
Vibration of the knee exoskeleton device can cause discomfort to the wearer and even injury to the wearer's limbs, and therefore, good compliance of the knee exoskeleton device is required to improve the user's wearing experience. The knee joint device based on lasso driving can effectively isolate a driving element (such as a motor, a hydraulic cylinder and the like) from an executing mechanism, so that the overall flexibility of the device is improved, and long-distance transmission is easy to realize.
In actual use, it is sometimes necessary to assist the movement of the knee joint by the lasso, and sometimes to disengage the lasso from the movement of the knee joint, so that the limb of the wearer may move freely out of the constraint of the exoskeleton device, which requires both controlled and free modes of movement of the knee exoskeleton device. When controlled movement of the knee joint is desired, it is necessary to correlate the lasso with the movement of the knee joint; when free movement of the knee joint is desired, it is necessary to separate the knee joint from the movement of the lasso. The current controllable knee exoskeleton device with the above two modes needs to provide other driving mechanisms (named as mode switching driving mechanisms) besides lasso to achieve the function, and the design of the mode switching driving mechanism on the knee exoskeleton device not only increases the weight of the whole device, but also affects wearing comfort.
The foregoing is not necessarily a prior art, and falls within the technical scope of the inventors.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a self-locking controllable compliant knee joint exoskeleton device which has the advantages of reasonable structural design, compact structure, light weight, flexible application, variable rigidity, comfortable wearing, free movement mode realization, driving mode realization, switching of the two modes and the like.
The invention realizes the aim by adopting the following technical scheme:
a self-locking controllable compliant knee exoskeleton device comprising:
the connecting mechanism comprises a mounting shaft, wherein one end of the mounting shaft is provided with a side plate A, the other end of the mounting shaft is provided with a side plate B, the side plate A and the side plate B are respectively connected with a thigh connecting plate, a variable rigidity lasso transmission mechanism is arranged on the thigh connecting plate, a controllable self-locking mechanism is arranged on the mounting shaft, the variable rigidity lasso transmission mechanism is connected with the controllable self-locking mechanism, a shank connecting plate is arranged on the controllable self-locking mechanism, and an angle detection mechanism is arranged between the shank connecting plate and the mounting shaft;
the variable-rigidity lasso transmission mechanism comprises a variable-rigidity unit and a lasso transmission unit, wherein the variable-rigidity unit is arranged on one side of a thigh connecting plate, the lasso transmission unit comprises two lasso and a sheave, two grooves are symmetrically formed in the sheave, the upper end of the lasso is arranged on the variable-rigidity unit, the lower end of the lasso is arranged in the grooves, and a grooved wheel plate is arranged on the sheave;
the controllable self-locking mechanism comprises a bearing A and a bearing B which are arranged on an installation shaft at intervals, an inner wheel A is arranged on the bearing A, an inner wheel B is arranged on the bearing B, the inner wheel A and the inner wheel B are arranged at intervals, one side, far away from the inner wheel A, of the inner wheel B is provided with a grooved wheel, a plurality of groups of bolts are arranged on a grooved wheel plate at intervals along the circumferential direction, each group of bolts comprises two bolts which are arranged at intervals, the grooved wheel plate, the grooved wheel, the inner wheel B and the inner wheel A are connected together to synchronously rotate by the bolts, a self-locking ejector rod is rotationally arranged on the bolts, the self-locking ejector rod is positioned between the inner wheel A and the inner wheel B, a waist-shaped hole is formed in the self-locking ejector rod, a bearing C is arranged on the bearing C, a plurality of poking rods are arranged on the idler wheel at intervals along the circumferential direction, the group of poking rods correspond to one group of bolts, the distance between the poking rods in the same group of bolts is larger than the distance between the two bolts in the same group, the poking rods penetrate through the waist-shaped hole and are arranged on the idler plate, a bearing D is arranged on the idler wheel, an E is arranged on the inner wheel B, a bearing is arranged on the bearing, a waist-shaped hole is arranged on the idler plate, a small end cover is arranged on the side cover, or the end cover is arranged on the bearing B, and is close to the end cover, and one end of the self-locking ejector rod is arranged on the side end cover, and is in contact with the bearing A.
The lower extreme of curb plate A is equipped with axle sleeve A, curb plate B lower extreme is equipped with axle sleeve B, installation axle left end is fixed in axle sleeve A, and the right-hand member is fixed in axle sleeve B, thigh connecting plate left side lower extreme is equipped with side piece A, and the right side upper end is equipped with upside piece B, and the right side lower extreme is equipped with downside piece B, curb plate A is installed on side piece A, curb plate B is installed on downside piece B.
The pressure unit is including setting up the spring clamp plate on curb plate A, be equipped with the pressure post on the spring clamp plate, be equipped with the through-hole A that supplies the pressure post to pass through on the curb plate A, the pressure post passes through-hole A and presses on the idler terminal surface, be equipped with the screw hole on the curb plate A, be equipped with the mounting hole on the spring clamp plate, be equipped with the adjusting screw of adjusting pressure size on the mounting hole, adjusting screw installs on the screw hole.
The installation shaft is designed into a stepped shaft, a through hole B is formed in the center of the installation shaft, one end of the installation shaft with small diameter is provided with a side plate A, and the other end of the installation shaft is provided with a side plate B.
The inner wheel A is designed into a stepped shape, a limiting ring A is arranged on the inner wall of the inner wheel A, a plurality of threaded holes A for installing the bearing end cover A are formed in one end of the inner wheel A along the circumferential direction at intervals, and a plurality of groups of threaded holes B for installing bolts are formed in the other end of the inner wheel A along the circumferential direction at intervals.
The inner wall of the inner wheel B is provided with a limiting ring B, the outer wall of the inner wheel B is provided with a limiting ring C, and a plurality of groups of threaded through holes for installing bolts are formed in the inner wheel B along the circumferential direction at intervals.
The bearing is characterized in that a limiting ring D for limiting the bearing D and a limiting ring E for limiting the bearing E are arranged on the inner wall of the outer wheel, a plurality of threaded holes C for installing the bearing end cover B are formed in the side wall of one end of the outer wheel along the circumferential direction at intervals, and a plurality of threaded holes D for installing the shank connecting plate are formed in the other end of the outer wheel.
The upper end of the shank connecting plate is arranged into a round shape, round holes are formed in the upper end of the shank connecting plate, a plurality of mounting holes A are formed in the upper end of the shank connecting plate at intervals along the circumferential direction, and fastening bolts used for fastening the shank connecting plate on the outer wheel are arranged on the mounting holes A.
The angle detection mechanism comprises an angular displacement sensor arranged in an installation shaft, an auxiliary measuring plate is arranged on the shank connecting plate, a sensor flange is arranged on the auxiliary measuring plate, and a rotating shaft of the angular displacement sensor is arranged on the sensor flange.
The variable stiffness unit comprises two spring sleeves arranged on an upper side block B at intervals, a spring A is arranged in each spring sleeve, a sleeve slider for compressing the spring A is arranged in each spring sleeve, two guide rails are vertically arranged between the upper side block B and a lower side block B, sliding bearings are arranged on the guide rails, the sliding bearings are arranged on clamping heads, the clamping heads are used for clamping lasso, the guide rails between the sliding bearings and the upper side block B are provided with a spring B and a spring washer, two pulleys for improving the wrap angle of a sheave are arranged on the side wall of the lower side block B at intervals, the lasso is respectively fixed on the sleeve slider and the clamping heads, and the lower ends of the lasso are arranged on grooves of the sheave.
The chuck comprises a chuck shell provided with a sliding bearing, a steel ball frame is sleeved on the chuck shell, a plurality of steel balls used for clamping lasso are arranged on the steel ball frame, a chuck rear shell is arranged at the bottom of the chuck shell, and a chuck spring is arranged between the chuck rear shell and the steel ball frame.
The invention adopts the structure, and has the following beneficial effects:
(1) By designing the idler wheel, the poking rod, the self-locking ejector rod, the pressure unit and other parts, the driving mode, the free movement mode and the free switching of the two modes of the knee joint can be realized by means of lasso driving without additional driving, so that the weight of the whole knee joint is lighter, and the wearing comfort is improved.
(2) Traditional knee joint adopts rigid connection, and the motion is not gentle and agreeable, brings bad experiences such as shake, hysteresis for the wearer very easily, can effectively keep apart the shake that the driving element brought through the variable rigidity unit of design, has good cushioning effect, further improves wearing travelling comfort.
(3) Because the lower end of the lasso is fixed at the specific position of the grooved pulley, the pulley is used for pressing the two lasso, so that the distance between the two lasso is reduced, the wrap angle of the lasso on the grooved pulley is increased, and the aim of increasing the angle movement range of the knee joint can be achieved.
Drawings
FIG. 1 is a schematic view of a knee exoskeleton device of the present invention;
FIG. 2 is a schematic view of a knee exoskeleton device of the present invention from another perspective;
FIG. 3 is a side view of the knee exoskeleton device of the present invention;
FIG. 4 is a cross-sectional view taken along A-A in FIG. 3;
FIG. 5 is a front view of the knee exoskeleton device of the present invention;
FIG. 6 is an exploded view of the knee exoskeleton device of the present invention;
FIG. 7 is a schematic view of the structure of the connecting mechanism of the present invention;
FIG. 8 is an exploded view of the connection mechanism of the present invention;
FIG. 9 is a schematic diagram of a variable stiffness lasso transmission mechanism of the present invention;
FIG. 10 is a schematic diagram of another view of a variable stiffness lasso transmission of the present invention;
FIG. 11 is an exploded view of the variable stiffness lasso transmission of the present invention;
FIG. 12 is a schematic view of the installation of the inner wheel A, inner wheel B, sheaves and self-locking ejector pins of the present invention;
FIG. 13 is a schematic view of the installation of the inner wheel A, inner wheel B, grooved wheel and self-locking ejector rod of the present invention from another view;
FIG. 14 is a schematic view of the installation of the inner wheel A, inner wheel B, self-locking ejector pins and bolts of the present invention;
FIG. 15 is a schematic view of the installation of the inner wheel A, self-locking ejector pins and bolts of the present invention;
FIG. 16 is a schematic view of the installation of the inner wheel B, self-locking ejector pins, bolts and sheaves of the present invention;
FIG. 17 is a schematic view of the structure of FIG. 16 with an upper outer wheel mounted thereon;
FIG. 18 is a schematic view of the installation of the idler pulley of the present invention with the inner wheel A and the self-locking ejector rod;
FIG. 19 is a schematic view of the installation of the inner wheel A, idler wheel, self-locking ejector pin and bolt of the present invention;
FIG. 20 is a schematic view of the structure of FIG. 19 with an upper outer wheel mounted thereon;
FIG. 21 is a schematic view of the inner wheel A of the present invention;
FIG. 22 is a schematic view of an alternative view of the inner wheel A of the present invention;
FIG. 23 is a schematic view of the inner wheel B of the present invention;
FIG. 24 is a schematic view of an alternative view of the inner wheel B of the present invention;
FIG. 25 is a schematic view of the structure of an idler of the present invention;
FIG. 26 is a schematic view of an alternate view of the idler of the present invention;
FIG. 27 is a schematic view of the outer wheel of the present invention;
FIG. 28 is a schematic view of an alternative outer wheel view of the present invention;
FIG. 29 is a schematic view of the structure of the shank link plate of the present invention;
in the figure, 1, a connecting mechanism, 101, a mounting shaft, 1011, a through hole B,1012, a screw hole, 102, a side plate a,103, a side plate B,104, a thigh connecting plate, 105, a shank connecting plate, 1051, a round hole, 1052, a mounting hole a,1053, a fastening bolt, 106, a boss a,107, a boss B,108, a side block a,109, an upper side block B,110, a lower side block B,2, a variable stiffness lasso transmission mechanism, 201, a variable stiffness unit, 2011, a spring sleeve, 2012, a spring a,2013, a sleeve slider, 2014, a guide rail, 2015, a slide bearing, 2016, a collet housing, 20162, a steel ball holder, 20163, a steel ball, 20164, a collet back, 20165, a collet spring, 2017, a spring B,2018, a spring washer, 202, a lasso transmission unit, 2021, a lasso, 2022, a sheave, 2023, a groove, 2024, a sheave plate, 2025, a pulley, the device comprises a controllable self-locking mechanism 301, a bearing A,302, a bearing B,303, an inner wheel A,3031, a limit ring A,3032, a threaded hole A,3033, a threaded hole B,304, an inner wheel B,3041, a limit ring B,3042, a limit ring C,3043, a threaded through hole, 305, a bolt, 306, a self-locking ejector rod, 3061, a waist-shaped hole, 307, a bearing C,308, an idler, 309, a toggle rod, 310, an idler plate, 311, a bearing D,312, a bearing E,313, an outer wheel, 3131, a limit ring D,3132, a limit ring E,3133, a threaded hole C,3134, a threaded hole D,314, a bearing end cover A,315, a bearing end cover B,316, a pressure unit, 3161, a spring pressing plate, 3162, a pressing column 3163, a mounting hole, 3164, an adjusting screw, 4, an angle detecting mechanism, 401, an angular displacement sensor, 402, an auxiliary measuring plate, 403, a sensor flange, 404 and a rotating shaft.
Detailed Description
In order to more clearly illustrate the general inventive concept, a detailed description is given below by way of example with reference to the accompanying drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments.
Furthermore, the terms "left," "right," "a," "B," "C," "D," "E," "one end," "the other end," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the location of an indicated feature.
In the present invention, unless explicitly stated and limited otherwise, the terms "provided," "configured," "connected," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrated; may be a mechanical connection; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
As shown in fig. 1-29, a self-locking controllable compliant knee exoskeleton device comprising:
the connecting mechanism 1 comprises a mounting shaft 101, wherein one end of the mounting shaft 101 is provided with a side plate A102, the other end of the mounting shaft is provided with a side plate B103, the side plate A102 and the side plate B103 are respectively connected with a thigh connecting plate 104, a variable rigidity lasso transmission mechanism 2 is arranged on the thigh connecting plate 104, a controllable self-locking mechanism 3 is arranged on the mounting shaft 101, the variable rigidity lasso transmission mechanism 2 is connected with the controllable self-locking mechanism 3, a shank connecting plate 105 is arranged on the controllable self-locking mechanism 3, and an angle detection mechanism 4 is arranged between the shank connecting plate 105 and the mounting shaft 101;
the variable stiffness lasso transmission mechanism 2 comprises a variable stiffness unit 201 and a lasso transmission unit 202, wherein the variable stiffness unit 201 is arranged on one side of the thigh connecting plate 104, the lasso transmission unit 202 comprises two lasso 2021 and a sheave 2022, two grooves 2023 are symmetrically arranged on the sheave 2022, the upper end of the lasso 2021 is arranged on the variable stiffness unit 201, the lower end of the lasso 2021 is arranged in the groove 2023, and a sheave plate 2024 is arranged on the sheave 2022;
the controllable self-locking mechanism 3 comprises a bearing A301 and a bearing B302 which are arranged on the mounting shaft 101 at intervals, an inner wheel A303 is arranged on the bearing A301, an inner wheel B304 is arranged on the bearing B302, the inner wheel A303 and the inner wheel B304 are arranged at intervals, a grooved wheel 2022 is arranged on one side of the inner wheel B304 far away from the inner wheel A303, a plurality of groups of bolts are arranged on the grooved wheel plate 2024 at intervals along the circumferential direction, the bolt groups can be two groups, three groups, four groups, five groups and the like, according to practical conditions, 4 groups of bolts (namely 8 bolts) are generally preferred, each group of bolts comprises two bolts 305 which are arranged at intervals, the bolts 305 connect the grooved wheel plate 2024, the grooved wheel 2022, the inner wheel B304 and the inner wheel A303 to synchronously rotate, a self-locking ejector rod 306 is arranged on the bolts 305 and is arranged between the inner wheel A303 and the inner wheel B304, a waist-shaped hole 3061 is arranged on the self-locking ejector rod 306, the bearing C307 is arranged on the inner wheel A303, the idler wheel 308 is arranged on the bearing C307, a plurality of groups of poking rods are arranged on the idler wheel 308 along the circumferential direction at intervals, one group of poking rods corresponds to one group of bolts, the distance between the two poking rods 309 in the same group is larger than the distance between the two bolts 305 in the same group (the included angle between two self-locking ejector rods in the same group is an acute angle, the positive and negative rotation is in a free motion mode in a set angle, the self-locking is performed when the rotation angle exceeds the set angle), the poking rods 309 penetrate through waist-shaped holes 3061 and are arranged on the idler plate 310, the idler wheel 308 is provided with a bearing D311, the inner wheel B304 is provided with a bearing E312, the bearing D311 and the bearing E312 are provided with an outer wheel 313, the self-locking ejector rods 306 are driven by the bolts 305 to be contacted with the outer wheel 313 for self-locking or separation, one end of the inner wheel A303, which is close to the side plate A102, is provided with a bearing end cover A314, the outer wheel 313 is provided with a bearing end cover B315 near one end of the side plate A102, the other end is provided with a shank connecting plate 105, and the side plate A102 is provided with a pressure unit 316 for applying pressure to the idler wheel 308. By designing the idler pulley 308, the poking rod 309, the self-locking ejector rod 306, the pressure unit 316 and other components, the driving mode, the free movement mode and the free switching of the two modes of the knee joint can be realized by means of the lasso 2021 driving without additional driving, so that the whole knee joint is lighter in weight, and the wearing comfort is improved. Traditional knee joint adopts rigid connection, and the motion is not gentle and agreeable, brings bad experiences such as shake, hysteresis for the wearer very easily, can effectively keep apart the shake that the driving element brought through the variable rigidity unit 201 of design, has good cushioning effect, further improves wearing travelling comfort. Since the lower ends of the lasso 2021 are fixed at specific positions of the sheaves 2022, the pulleys 2025 are used to compress the two lasso 2021, so that the distance between the two lasso 2021 is reduced, and the wrap angle of the lasso 2021 on the sheaves 2022 is increased, so that the purpose of increasing the angle movement range of the knee joint can be achieved.
The lower extreme of curb plate A102 is equipped with axle sleeve A106, curb plate B103 lower extreme is equipped with axle sleeve B107, installation axle 101 left end is fixed in axle sleeve A106, and the right-hand member is fixed in axle sleeve B107, thigh connecting plate 104 left side lower extreme is equipped with side piece A108, and the right side upper end is equipped with upside piece B109, and the right side lower extreme is equipped with downside piece B110, curb plate A102 is installed on side piece A108, curb plate B103 is installed on downside piece B110. Through design axle sleeve A106 and axle sleeve B107 guarantee that installation axle 101 installation is firm reliable, through design side piece A108, upside piece B109 and downside piece B110, not only can realize the accurate installation of each part, the variable rigidity unit 201 of installation especially is convenient for, but also has improved the structural strength of whole knee joint.
The pressure unit 316 includes the spring clamp plate 3161 that sets up on curb plate a102, be equipped with the compression leg 3162 on the spring clamp plate 3161, be equipped with the through-hole a1021 that supplies compression leg 3162 to pass through on curb plate a102, compression leg 3162 passes through-hole a1021 and presses on idler 308 terminal surface, be equipped with screw hole 1022 on curb plate a102, be equipped with mounting hole 3163 on the spring clamp plate 3161, be equipped with the adjusting screw 3164 of adjusting pressure size on the mounting hole 3163, adjusting screw 3164 installs on screw hole 1022. The pressure unit 316 can apply a friction force to the idler 308 (the friction force can prevent the idler 308 from rotating randomly), so that the idler 308 can not rotate under the action of the pressure unit 316 when free movement is ensured, and the free movement mode is ensured to be accurate and reliable; however, as the rotation angle increases, the self-locking ejector rod 306 also approaches the inner wall of the outer wheel 313, when the set angle is reached, the self-locking ejector rod 306 contacts with the inner wall of the outer wheel 313 to realize self locking, so that synchronous rotation of the inner wheel A303, the inner wheel B304, the idler wheel 308 and the outer wheel 313 is realized, namely, a driving mode is realized, and under the operation of the driving mode, the lasso 2021 can drive the idler wheel 308 to rotate by overcoming the resistance caused by the pressure unit 316.
The installation shaft 101 is designed into a stepped shaft, a through hole B1011 is arranged in the center of the installation shaft 101, one end of the installation shaft 101 with a small diameter is provided with a side plate A102, and the other end is provided with a side plate B103. Through hole B1011 is designed on installation shaft 101, not only can the weight of installation shaft 101 be lightened, but also the hidden installation of angular displacement sensor 401 can be realized, so that the whole structure is more compact, and angular displacement sensor 401 can be installed in through hole B1011 in a threaded connection mode.
The inner wheel A303 is designed into a stepped shape, a limit circular ring A3031 is arranged on the inner wall of the inner wheel A303, a plurality of threaded holes A3032 for installing the bearing end cover A314 are formed at one end of the inner wheel A303 along the circumferential direction at intervals, and a plurality of groups of threaded holes B3033 for installing the bolts 305 are formed at the other end of the inner wheel A303 along the circumferential direction at intervals. The limit installation of the bearing A301 and the threaded installation of the bearing end cover A314 and the bolt 305 are realized, and the installation of the bearing C307 and the idler pulley 308 is also facilitated.
The inner wall of the inner wheel B304 is provided with a limiting ring B3041, the outer wall of the inner wheel B304 is provided with a limiting ring C3042, and the inner wheel B304 is provided with a plurality of groups of threaded through holes 3043 for installing bolts 305 along the circumferential direction at intervals. And the bearing E312 is subjected to limit installation, and meanwhile, the threaded installation of the bolt 305 is realized.
The inner wall of the outer wheel 313 is provided with a limiting ring D3131 for limiting the bearing D311 and a limiting ring E3132 for limiting the bearing E312, one end side wall of the outer wheel 313 is provided with a plurality of threaded holes C3133 for installing the bearing end cover B315 at intervals along the circumferential direction, and the other end is provided with a plurality of threaded holes D3134 for installing the calf connecting plate 105. The limit installation of the bearing D311 and the bearing E312 is realized, and the lower leg connecting plate 105 is convenient to install.
The upper end of the shank connecting plate 105 is circular, a round hole 1051 is formed in the upper end of the shank connecting plate 105, a plurality of mounting holes A1052 are formed in the upper end of the shank connecting plate 105 at intervals along the circumferential direction, and fastening bolts 1053 for fastening the shank connecting plate 105 on the outer wheel 313 are arranged on the mounting holes A1052. The shank coupling plate 105 is screw-coupled to the outer ring 313 side end surface.
The angle detection mechanism 4 comprises an angular displacement sensor 401 arranged in the mounting shaft 101, an auxiliary measuring plate 402 is arranged on the shank connecting plate 105, a sensor flange 403 is arranged on the auxiliary measuring plate 402, and a rotating shaft 404 of the angular displacement sensor 401 is mounted on the sensor flange 403. The real-time detection of the rotation angle is realized, and the knee joint movement condition is convenient to master.
The stiffness variable unit 201 comprises two spring sleeves 2011 arranged on an upper side block B198 at intervals, a spring A2012 is arranged in each spring sleeve 2011, a sleeve slide block 2013 for compressing the spring A2012 is arranged in each spring sleeve 2011, two guide rails 2014 are vertically arranged between the upper side block B109 and a lower side block B110, sliding bearings 2015 are arranged on the guide rails 2014, the sliding bearings 2015 are arranged on the clamping heads 2016, the clamping heads 2016 are used for clamping lasso 2021, a spring B2017 and a spring washer 2018 are arranged on the guide rails 2014 between the sliding bearings 2015 and the upper side block B109, two pulleys 2025 for improving the wrap angle of a grooved pulley 2022 are arranged on the side wall of the lower side block B110 at intervals, the lasso 2021 is respectively fixed on the sleeve slide block 2013 and the clamping heads 2016, and the lower end of the lasso 2021 is arranged on a groove 2023 of the grooved pulley 2022. Spring A2012 is compressed when the lasso is contracted, so that a small-amplitude high-frequency shake can be isolated, and the shock absorption and buffering effects can be realized; under the action of components such as the spring B2017, the clamping head 2016, the guide rail 2014, the sliding bearing 2015 and the like, the spring B2017 is compressed when the knee joint rotates, so that the device can realize the function of stiffness change of the knee joint, and the wearing comfort of the device is improved.
The collet 2016 comprises a collet housing 20161 provided with a sliding bearing 2015, a steel ball rack 20162 is sleeved on the collet housing 20161, a plurality of steel balls 20163 used for clamping a lasso 2021 are arranged on the steel ball rack 20162, a collet rear shell 20164 is arranged at the bottom of the collet housing 20161, and a collet spring 201665 is arranged between the collet rear shell 20164 and the steel ball rack 20162. Sliding along the guide 2014 is achieved while also clamping the lasso 2021.
The application of the self-locking controllable compliant knee joint exoskeleton device has the following description:
in use, the thigh connecting plate 104 is connected to the thigh, the shank connecting plate 105 is connected to the shank, and the lasso 2021 is connected to an electric driving part (generally including a power source, a motor, a hoist, etc., and the human body may be attached to the electric driving part) directly using the prior art, and the electric driving part is not the focus of the present invention. When the lasso 2021 is driven by the electric driving part, the lasso 2021 drives the sheave 2022 to rotate, the sheave 2022 rotates to drive the inner wheel A303, the inner wheel B304 and the self-locking ejector rod 306 thereon to operate through the bolt 305, the rotation of the bolt 305 drives the self-locking ejector rod 306 to move, meanwhile, the distance between the upper end of the self-locking ejector rod 306 and the inner wall of the outer wheel 313 is changed, when the upper end of the self-locking ejector rod 306 is contacted with the outer wheel 313, the self-locking ejector rod 306 presses the outer wheel 313 when the sheave 2022 continues to rotate, the outer wheel 313 synchronously rotates along with the inner wheel A303 and the inner wheel B304, and then a driving mode (also called a booster walking mode) is realized, when the self-locking ejector rod 306 is not contacted with the outer wheel 313, the outer wheel 313 can freely rotate, namely, the lower leg driven by the lower leg connecting plate 105 is in a free motion state (the idle wheel 308 can not rotate under the action of the pressure unit 316 before the self-locking ejector rod 306 contacts with the outer wheel 313, so that the idle wheel 308 can ensure the free motion stably and stably run, and when the driving mode is also used to overcome the friction force brought by the pressure unit 316, so that the idle wheel 308 rotates.
The above embodiments are not to be taken as limiting the scope of the invention, and any alternatives or modifications to the embodiments of the invention will be apparent to those skilled in the art and fall within the scope of the invention.
The present invention is not described in detail in the present application, and is well known to those skilled in the art.
Claims (10)
1. A self-locking controllable compliant knee exoskeleton device, comprising:
the connecting mechanism comprises a mounting shaft, wherein one end of the mounting shaft is provided with a side plate A, the other end of the mounting shaft is provided with a side plate B, the side plate A and the side plate B are respectively connected with a thigh connecting plate, a variable rigidity lasso transmission mechanism is arranged on the thigh connecting plate, a controllable self-locking mechanism is arranged on the mounting shaft, the variable rigidity lasso transmission mechanism is connected with the controllable self-locking mechanism, a shank connecting plate is arranged on the controllable self-locking mechanism, and an angle detection mechanism is arranged between the shank connecting plate and the mounting shaft;
the variable-rigidity lasso transmission mechanism comprises a variable-rigidity unit and a lasso transmission unit, wherein the variable-rigidity unit is arranged on one side of a thigh connecting plate, the lasso transmission unit comprises two lasso and a sheave, two grooves are symmetrically formed in the sheave, the upper end of the lasso is arranged on the variable-rigidity unit, the lower end of the lasso is arranged in the grooves, and a grooved wheel plate is arranged on the sheave;
the controllable self-locking mechanism comprises a bearing A and a bearing B which are arranged on an installation shaft at intervals, an inner wheel A is arranged on the bearing A, an inner wheel B is arranged on the bearing B, the inner wheel A and the inner wheel B are arranged at intervals, one side, far away from the inner wheel A, of the inner wheel B is provided with a grooved wheel, a plurality of groups of bolts are arranged on a grooved wheel plate at intervals along the circumferential direction, each group of bolts comprises two bolts which are arranged at intervals, the grooved wheel plate, the grooved wheel, the inner wheel B and the inner wheel A are connected together to synchronously rotate by the bolts, a self-locking ejector rod is rotationally arranged on the bolts, the self-locking ejector rod is positioned between the inner wheel A and the inner wheel B, a waist-shaped hole is formed in the self-locking ejector rod, a bearing C is arranged on the bearing C, a plurality of poking rods are arranged on the idler wheel at intervals along the circumferential direction, the group of poking rods correspond to one group of bolts, the distance between the poking rods in the same group of bolts is larger than the distance between the two bolts in the same group, the poking rods penetrate through the waist-shaped hole and are arranged on the idler plate, a bearing D is arranged on the idler wheel, an E is arranged on the inner wheel B, a bearing is arranged on the bearing, a waist-shaped hole is arranged on the idler plate, a small end cover is arranged on the side cover, or the end cover is arranged on the bearing B, and is close to the end cover, and one end of the self-locking ejector rod is arranged on the side end cover, and is in contact with the bearing A.
2. The self-locking controllable compliant knee exoskeleton device of claim 1, wherein the lower end of the side plate a is provided with a shaft sleeve a, the lower end of the side plate B is provided with a shaft sleeve B, the left end of the mounting shaft is fixed in the shaft sleeve a, the right end of the mounting shaft is fixed in the shaft sleeve B, the left lower end of the thigh connecting plate is provided with a side block a, the right upper end is provided with an upper side block B, the right lower end is provided with a lower side block B, the side plate a is mounted on the side block a, and the side plate B is mounted on the lower side block B.
3. The self-locking controllable compliant knee exoskeleton device of claim 1 or 2, wherein the pressure unit comprises a spring pressing plate arranged on a side plate a, a pressing column is arranged on the spring pressing plate, a through hole a for the pressing column to pass through is arranged on the side plate a, the pressing column passes through the through hole a and presses on the end face of the idler pulley, a threaded hole is arranged on the side plate a, a mounting hole is arranged on the spring pressing plate, an adjusting screw for adjusting the pressure is arranged on the mounting hole, and the adjusting screw is arranged on the threaded hole.
4. A self-locking controllable compliant knee exoskeleton device as claimed in claim 3 wherein said mounting shaft is configured as a stepped shaft, a through hole B is provided in the center of said mounting shaft, and a side plate a is mounted on one end of said mounting shaft having a small diameter, and a side plate B is mounted on the other end of said mounting shaft.
5. The self-locking controllable flexible knee joint exoskeleton device of claim 4, wherein said inner wheel a is designed in a stepped shape, a limiting ring a is arranged on the inner wall of said inner wheel a, one end of said inner wheel a is provided with a plurality of threaded holes a for installing a bearing end cap a along the circumferential direction at intervals, and the other end is provided with a plurality of groups of threaded holes B for installing bolts along the circumferential direction at intervals.
6. The self-locking controllable compliant knee joint exoskeleton device of claim 5, wherein the inner wall of the inner wheel B is provided with a limiting ring B, the outer wall of the inner wheel B is provided with a limiting ring C, and the inner wheel B is provided with a plurality of groups of threaded through holes for installing bolts at intervals along the circumferential direction.
7. The self-locking controllable compliant knee joint exoskeleton device of claim 6, wherein the inner wall of the outer wheel is provided with a limiting ring D for limiting the bearing D and a limiting ring E for limiting the bearing E, the side wall of one end of the outer wheel is provided with a plurality of threaded holes C for installing the bearing end cover B at intervals along the circumferential direction, and the other end of the outer wheel is provided with a plurality of threaded holes D for installing the shank connecting plate.
8. The self-locking controllable compliant knee joint exoskeleton device of claim 7, wherein the upper end of said shank connecting plate is circular, a circular hole is provided at the upper end of said shank connecting plate, a plurality of mounting holes a are provided at intervals along the circumferential direction at the upper end of said shank connecting plate, and fastening bolts for fastening said shank connecting plate to the outer wheel are provided at said mounting holes a.
9. The self-locking controllable compliant knee exoskeleton device of claim 8, wherein said angle detection mechanism includes an angular displacement sensor disposed in the mounting shaft, an auxiliary measurement plate is disposed on the shank connecting plate, a sensor flange is disposed on the auxiliary measurement plate, and a rotation shaft of said angular displacement sensor is mounted on the sensor flange.
10. The self-locking controllable compliant knee joint exoskeleton device of claim 2, wherein the variable stiffness unit comprises two spring sleeves arranged on an upper side block B at intervals, a spring A is arranged in each spring sleeve, a sleeve slider for compressing the spring A is arranged in each spring sleeve, two guide rails are vertically arranged between the upper side block B and a lower side block B, sliding bearings are arranged on the guide rails, the sliding bearings are arranged on clamps, the clamps are used for clamping lasso, a spring B and a spring washer are arranged on the guide rails between the sliding bearings and the upper side block B, pulleys for improving the wrap angle of a sheave are arranged on the side wall of the lower side block B at intervals, the lasso is respectively fixed on the sleeve slider and the clamps, the lower end of the lasso is arranged on a groove of the sheave, the clamp comprises a clamp shell provided with the sliding bearings, a plurality of clamps for clamping the lasso are arranged on the steel ball frame, a clamp rear shell of the clamp is arranged at the bottom of the clamp shell, and a spring clamp shell is arranged between the rear shell and the steel ball frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210581341.7A CN114770589B (en) | 2022-05-26 | 2022-05-26 | Self-locking controllable compliant knee joint exoskeleton device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210581341.7A CN114770589B (en) | 2022-05-26 | 2022-05-26 | Self-locking controllable compliant knee joint exoskeleton device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114770589A CN114770589A (en) | 2022-07-22 |
| CN114770589B true CN114770589B (en) | 2023-07-07 |
Family
ID=82409594
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210581341.7A Active CN114770589B (en) | 2022-05-26 | 2022-05-26 | Self-locking controllable compliant knee joint exoskeleton device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114770589B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115804704A (en) * | 2022-12-09 | 2023-03-17 | 天津大学 | Ankle joint rehabilitation device based on flexible cable driving |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105266939A (en) * | 2015-11-30 | 2016-01-27 | 南京工程学院 | Flexible exoskeleton robot |
| CN107773384A (en) * | 2017-11-02 | 2018-03-09 | 武汉大学 | A kind of variation rigidity lower limb exoskeleton robot |
| CN107928995A (en) * | 2017-11-22 | 2018-04-20 | 上海理工大学 | A kind of lower limb exoskeleton knee joint based on torsional spring clutch |
| CN108042316A (en) * | 2017-10-19 | 2018-05-18 | 布法罗机器人科技（成都）有限公司 | A kind of bionical variation rigidity flexibility knee joint of exoskeleton robot |
| CN112870022A (en) * | 2021-01-19 | 2021-06-01 | 西安交通大学 | Lower limb in-situ rehabilitation training equipment based on lasso exoskeleton |
| WO2022068154A1 (en) * | 2020-09-29 | 2022-04-07 | 上海傅利叶智能科技有限公司 | Exoskeleton joint self-locking mechanism, knee joint, and bionic rehabilitation robot |
-
2022
- 2022-05-26 CN CN202210581341.7A patent/CN114770589B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105266939A (en) * | 2015-11-30 | 2016-01-27 | 南京工程学院 | Flexible exoskeleton robot |
| CN108042316A (en) * | 2017-10-19 | 2018-05-18 | 布法罗机器人科技（成都）有限公司 | A kind of bionical variation rigidity flexibility knee joint of exoskeleton robot |
| CN107773384A (en) * | 2017-11-02 | 2018-03-09 | 武汉大学 | A kind of variation rigidity lower limb exoskeleton robot |
| CN107928995A (en) * | 2017-11-22 | 2018-04-20 | 上海理工大学 | A kind of lower limb exoskeleton knee joint based on torsional spring clutch |
| WO2022068154A1 (en) * | 2020-09-29 | 2022-04-07 | 上海傅利叶智能科技有限公司 | Exoskeleton joint self-locking mechanism, knee joint, and bionic rehabilitation robot |
| CN112870022A (en) * | 2021-01-19 | 2021-06-01 | 西安交通大学 | Lower limb in-situ rehabilitation training equipment based on lasso exoskeleton |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114770589A (en) | 2022-07-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| TWI552743B (en) | Inductive force feedback mechanism | |
| CN114770589B (en) | Self-locking controllable compliant knee joint exoskeleton device | |
| CN101204347A (en) | Automatic gait correcting device in lower limb rehabilitation | |
| US20110009788A1 (en) | Orthotic Device with Removably Attachable Actuator | |
| JP2010075548A (en) | Wearing type motion assisting apparatus, and frame structure | |
| WO2022068154A1 (en) | Exoskeleton joint self-locking mechanism, knee joint, and bionic rehabilitation robot | |
| CN108670732B (en) | Walking aid for hemiplegia patients | |
| KR102115016B1 (en) | A driving module and a motion assist apparatus | |
| CN111168648A (en) | Four-degree-of-freedom hip joint exoskeleton walking-aid robot based on flexible driving | |
| CN113133898B (en) | Lower limb rehabilitation exoskeleton mechanism with flexible joints | |
| CN111531523B (en) | Power-assisted walking and auxiliary supporting mechanism | |
| KR101965070B1 (en) | Elastic Structure Body, Elastic Actuator And Wearable Robot Having The Same | |
| CN110269778B (en) | Orthopedic patient shank rehabilitation training device | |
| CN113101150B (en) | Flexible transmission walking aid rehabilitation exoskeleton system considering individual difference | |
| CN111228743B (en) | Joint movement auxiliary device | |
| CN107414789B (en) | Closed hydraulic transmission wearable leg power assisting device | |
| CN214924594U (en) | Passive gravity compensation hip joint for heavy-load lower limb assistance exoskeleton | |
| CN113545958A (en) | Shoulder joint rehabilitation robot | |
| CN211461066U (en) | Limb rehabilitation exoskeleton and limb rehabilitation system | |
| CN210612483U (en) | Lower limb rehabilitation device | |
| CN112618282A (en) | Passive walking aid lower limb exoskeleton | |
| CN109009889B (en) | Wearable flexible lower limb rehabilitation robot | |
| CN112773668A (en) | Knee joint assistance rehabilitation device | |
| CN115006196A (en) | Dual-mode flexible knee joint based on lasso drive | |
| KR101058436B1 (en) | Walking aid using magnetorheological fluid damper |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |