CN115648178A - Knee joint exoskeleton power assisting device with load-free function and power assisting method thereof - Google Patents
Knee joint exoskeleton power assisting device with load-free function and power assisting method thereof Download PDFInfo
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- CN115648178A CN115648178A CN202211224355.XA CN202211224355A CN115648178A CN 115648178 A CN115648178 A CN 115648178A CN 202211224355 A CN202211224355 A CN 202211224355A CN 115648178 A CN115648178 A CN 115648178A
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Abstract
The invention relates to a knee joint exoskeleton power assisting device with a load-free function and a power assisting method thereof. According to the invention, the thigh binding assembly and the shank binding assembly can be switched between tight and loose binding of the thigh and the shank through inflation and deflation of the air bag, so that the periodic switching between a supporting follow-up state and a supporting working state which are matched with the gait of a human body in the walking process is realized, and then the partial load borne by the knee joint in the walking process is reduced, and the joint abrasion is favorably reduced.
Description
Technical Field
The invention belongs to the technical field of exoskeleton power assisting devices, and particularly relates to a knee joint exoskeleton power assisting device with a load-free function and a power assisting method thereof.
Background
With the continuous innovation of the exoskeleton technology, the wearable characteristic of the exoskeleton is utilized to reduce the internal force of the lower limb joint, so that the exoskeleton has a good prospect. However, during exoskeleton design, one of the most prominent problems is the alignment of the human body with the axis of rotation of the exoskeleton joints, and the alignment of the human-machine joint axis is beneficial to reducing the negative influence of the exoskeleton on the human body. The existing technical solutions mainly include path planning alignment, formation of redundant passive joints by increasing joint degrees of freedom, and the like, wherein the path planning alignment can be adapted to a joint axis motion curve, but has singleness, and is only applicable to a single individual, and the object needs to be redesigned after being changed, so that the applicability is poor, and when the worn exoskeleton position deviates, the exoskeleton motion axis and the human body motion axis are not coincident, so that the human body joints are damaged. The redundant passive joint can automatically align the joint axis, but the mechanical structure is complex, so that the mechanism becomes heavy. The endurance and power of the exoskeleton can be affected, and although the passive exoskeleton avoids the endurance problem, the limited bearing capacity makes the load reduction effect unobvious, and the different requirements of different people on the exoskeleton are lost.
Therefore, the invention provides the knee joint exoskeleton power assisting device with the load-free function and the power assisting method thereof, which have important significance for reducing the stress of the knee joint of a user in the walking process, realizing the load-free function and simultaneously avoiding secondary damage to the human joint caused by the fact that the movement axis of the exoskeleton power assisting device is not coincident with the movement axis of the human body in the use process.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a knee joint exoskeleton power assisting device with a load-free function and a power assisting method thereof, which can realize the switching of tight and loose binding of thighs and shanks by a thigh binding assembly and a shank binding assembly through the inflation and deflation of an air bag, further realize the periodic switching between a support follow-up state and a support working state matched with human gait in the walking process of a user, further lighten the partial load borne by knee joints in the walking process of the user and facilitate the reduction of joint wear.
The technical scheme adopted by the invention is that the knee joint exoskeleton power assisting device with the load-free function comprises a plurality of thigh binding assemblies, a plurality of shank binding assemblies and a rotating assembly arranged between the thigh binding assemblies and the shank binding assemblies, wherein the thigh binding assemblies are connected in series, two adjacent thigh binding assemblies are connected through an upper connecting piece, each thigh binding assembly comprises a thigh framework, a thigh lining and a thigh binding band, the inner side of the thigh framework is provided with the thigh lining, the thigh lining is provided with a thigh air bag, the thigh frameworks are symmetrically arranged on the thigh binding bands, and the outer sides of the thigh frameworks are connected with the upper connecting piece; the rotary assembly is symmetrically arranged between the thigh binding assembly and the shank binding assembly, the rotary assembly comprises a multistage series-connection meshed gear set, an automatic compensation mechanism, a multi-link mechanism, a first transmission assembly and a second transmission assembly, the automatic compensation mechanism is arranged between the multistage series-connection meshed gear set and the thigh framework, the automatic compensation mechanism comprises a fixed chuck and a movable buckle rotatably arranged on the fixed chuck, the fixed chuck is arranged on the thigh framework, a first connecting plate of a first gear in the multistage series-connection meshed gear set is fixed in the fixed chuck through the movable buckle, the multi-link mechanism is arranged on one side of the multistage series-connection meshed gear set, the multistage series-connection meshed gear set comprises a first gear, a second gear, a third gear and a fourth gear, the first gear, the second gear, the third gear and the fourth gear are in gear meshing transmission sequentially, the first gear and the second gear are in transmission connection through the first transmission assembly, the third gear and the fourth gear are in transmission connection through the second transmission assembly, and a fourth connecting plate in the fourth gear is fixed on the shank framework; the lower leg binding assemblies are connected in series, two adjacent lower leg binding assemblies are connected through a lower connecting piece, each lower leg binding assembly comprises a lower leg framework, a lower leg lining and a lower leg binding band, the lower leg lining is arranged on the inner side of the lower leg framework, a lower leg air bag is arranged on the lower leg lining, the lower leg frameworks are symmetrically arranged on the lower leg binding bands, and the outer sides of the lower leg frameworks are connected with the lower connecting piece.
Further, the first transmission assembly comprises a first motor, a first connecting belt and a first driven belt wheel, the first motor is arranged on the first gear, the axis of an output shaft of the first motor is overlapped with the central axis of the first gear, a first driving belt wheel is arranged on an output shaft of the first motor, the first driven belt wheel is arranged on the second gear, the central axis of the second gear is overlapped with the central axis of the first driven belt wheel, and the first driven belt wheel is in transmission connection with the first driving belt wheel through the first connecting belt.
Furthermore, the second transmission assembly comprises a second motor, a second connecting belt and a second driven pulley, the second motor is arranged on the fourth gear, the axis of the output shaft of the second motor is coincident with the central axis of the fourth gear, a second driving pulley is arranged on the output shaft of the second motor, the second driven pulley is arranged on the third gear, the central axis of the third gear is coincident with the central axis of the second driven pulley, and the second driven pulley is in transmission connection with the second driving pulley through the second connecting belt.
Further, the multi-link mechanism comprises a first link, a second link and a third link, wherein the first end of the first link is connected with the center of the first gear, the second end of the first link is connected with the center of the second gear, the first end of the second link is connected with the center of the second gear, the second end of the second link is connected with the center of the third gear, the first end of the third link is connected with the center of the third gear, and the second end of the third link is connected with the center of the fourth gear.
Preferably, the central axis of the first gear, the central axis of the second gear, the central axis of the third gear and the central axis of the fourth gear are all parallel, and the perpendicular distance from the central axis of the first gear to the central axis of the second gear is equal to the perpendicular distance from the central axis of the third gear to the central axis of the fourth gear.
Preferably, a first connecting plate is arranged in the circumferential direction of the first gear, clamping grooves are uniformly formed in the first connecting plate, the first connecting plate is arranged in the fixed chuck, and the movable buckle is buckled in the clamping grooves and used for connecting the first connecting plate and the fixed chuck.
Preferably, the thigh lining is in the shape of a cone.
Preferably, the lower leg lining is in a conical structure shape, and a groove is formed in the position, where the human body tibia tubercle is located, of the lower leg lining.
In a second aspect of the present invention, a power assisting method for a knee joint exoskeleton power assisting device with a load-free function is provided, which includes the following steps:
s1, respectively fixing a thigh binding assembly and a shank binding assembly of the exoskeleton power assisting device at the thigh and the shank of a lower limb;
s2, detecting the pressure value of the sole through a sole sensor arranged on the sole of the lower limb, and judging the gait cycle of the lower limb;
s3, when the sole pressure value is smaller than a set sole pressure threshold value, the lower limbs are in a gait swing phase, the exoskeleton power assisting device is in a supporting follow-up state, the thigh binding assembly and the shank binding assembly can loosely bind the thighs and the shanks by releasing gas in the thigh air bags and the shank air bags, meanwhile, the first motor and the second motor stop rotating, and the exoskeleton power assisting device moves along with the movement of the lower limbs;
s4, work as when the sole pressure value is greater than the sole pressure threshold value of setting for, the low limbs are in the gait support phase, and ectoskeleton booster unit is in and supports operating condition, through to thigh gasbag and shank portion gasbag are aerifyd, can realize the thigh is tied up and is tied up subassembly and shank and tie up the tight of tying up of subassembly to thigh and shank and tie up, simultaneously first motor passes through first connecting belt drives the second gear rotates, the second motor passes through the second connecting belt drives third gear rotates, just second gear and third gear meshing transmission, and ectoskeleton booster unit exerts the separating force to thigh and shank this moment, realizes the helping hand of exempting from with the lotus of knee joint then.
And S5, the exoskeleton power assisting device can correspondingly complete the conversion of the follow-up state and the working state through the inflation and deflation of the thigh air bag and the shank air bag, and then can realize the load-free or load-reducing power assisting of the lower limb knee joint in the advancing process.
The invention has the characteristics and beneficial effects that:
1. according to the knee joint exoskeleton power assisting device with the load-free function and the power assisting method thereof, the thigh binding assembly and the shank binding assembly can be switched between tight and loose thigh and shank binding through inflation and deflation of the air bag, so that periodic switching between a supporting follow-up state and a supporting working state matched with human gait during walking of a user can be realized, partial load borne by knee joints during walking of the user is reduced, and joint wear is reduced.
2. According to the knee-joint exoskeleton power assisting device with the load-free function and the power assisting method thereof, the automatic compensation mechanism is arranged between the thigh binding assembly and the shank binding assembly, when the thigh binding assembly and the shank binding assembly slide, the distance between the thigh binding assembly and the shank binding assembly is increased, the automatic compensation mechanism can compensate the increased distance, and the exoskeleton power assisting device can still achieve the effect of reducing the burden when in a supporting working state.
3. According to the knee-joint exoskeleton power assisting device with the load-free function and the power assisting method thereof, the shank binding assembly is provided with the groove at the position of the human body tibia node, so that the shank binding assembly 3 of the exoskeleton power assisting device in a supporting working state can effectively transfer force to a shank, the compression of the shank binding assembly on the shank of a user is reduced, and the phenomenon that an assistive device integrally slides down can be prevented.
4. According to the knee-joint exoskeleton assisting device with the load-free function and the assisting method thereof, the thigh linings of the thigh binding assemblies are arranged in a conical shape, so that the thigh binding assemblies of the exoskeleton assisting device in a supporting working state effectively transmit force to thighs, and the relative sliding between the thigh binding assemblies of the exoskeleton assisting device and thighs of a user in the supporting working state can be prevented.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the power assisting device for the exoskeleton of the knee joint with the load-free function, provided by the invention;
FIG. 2 is a front view of the whole structure of the power assisting device of the exoskeleton of the knee joint with the load-free function;
FIG. 3 is a left side view of the overall structure of the power assisting device with load-free function for the exoskeleton of the knee joint;
FIG. 4 is a left side view of the rotating assembly of the present invention;
FIG. 5 is a right side view of the rotating assembly of the present invention;
FIG. 6 is a schematic view of a flexure mechanism of the present invention;
FIG. 7 is a schematic view of the support follower condition of the present invention;
fig. 8 is a schematic view of the working state of the support of the invention.
The main reference numbers:
a thigh harnessing assembly 1; a thigh skeleton 11; a thigh inner liner 12; a thigh strap 13; a rotating assembly 2; a multistage series-meshing gear set 21; a first gear 211; a first connection plate 2111; a second gear 212; a third gear 213; a fourth gear 214; the fourth connecting plate 2141; an automatic compensation mechanism 22; a fixed chuck 221; a movable catch 222; a card slot 223; a multi-link mechanism 23; the first link 231; a second link 232; a third link 233; a first transmission assembly 24; a first motor 241; a first connecting belt 242; the first driven pulley 243; a second transmission assembly 25; a second motor 251; a second connecting strap 252; a second driven pulley 253; a shank binding assembly 3; a lower leg skeleton 31; a lower leg liner 32; a calf strap 33; an upper connecting piece 4; a lower connecting piece 5.
Detailed Description
The invention will be described in detail with reference to the drawings for carrying out the invention.
The invention provides a knee joint exoskeleton assisting device with a load-free function, which comprises a plurality of thigh binding assemblies 1, a plurality of shank binding assemblies 3 and a rotating assembly 2 arranged between the thigh binding assemblies 1 and the shank binding assemblies 3, wherein the thigh binding assemblies 1 are arranged in series, two adjacent thigh binding assemblies 1 are connected through an upper connecting piece 4, each thigh binding assembly 1 comprises a thigh framework 11, a thigh lining 12 and a thigh binding band 13, the inner side of the thigh framework 11 is provided with a thigh lining 12, the thigh lining 12 is provided with thigh air bags, the thigh frameworks 11 are symmetrically arranged on the thigh binding bands 13, the outer side of the thigh framework 11 is connected with the upper connecting piece 4, the thigh lining 12 is in a conical structure, and the thigh binding assemblies 1 of the exoskeleton assisting device in a supporting working state can effectively transmit force to thighs by setting the thigh lining 12 to be conical, so that the exoskeleton assisting device in the supporting working state can be prevented from generating relative sliding between the thigh binding assemblies 1 and the thighs of a user in the supporting working state.
In a preferred mode, thigh bandage 13 comprises elastic belt and non-elastic belt, adopts the magic subsides to transversely paste thigh bandage 13 on thigh skeleton 11, and thigh bandage 13's both ends all are connected to thigh skeleton 11 on, and thigh bandage 13 makes thigh skeleton 11 shrink through the mode of tightly twining pasting, and then makes thigh inside lining 12 laminate the thigh.
As shown in fig. 1 to 3, the rotating assembly 2 is symmetrically disposed between the thigh binding assembly 1 and the shank binding assembly 3, and the rotating assembly 2 includes a multi-stage series-meshing gear set 21, an automatic compensation mechanism 22, a multi-link mechanism 23, a first transmission assembly 24 and a second transmission assembly 25, the automatic compensation mechanism 22 is disposed between the multi-stage series-meshing gear set 21 and the thigh frame 11, and the automatic compensation mechanism 22 includes a fixed chuck 221 and a movable buckle 222 rotatably disposed on the fixed chuck 221, the fixed chuck 221 is disposed on the thigh frame 11, and a first connection plate 2111 of a first gear 211 in the multi-stage series-meshing gear set 21 is fixed in the fixed chuck 221 through the movable buckle 222, the multi-link mechanism 23 is disposed on one side of the multi-stage series-meshing gear set 21, and the multi-stage series-meshing gear set 21 includes the first gear 211, a second gear 212, a third gear 213 and a fourth gear 214, the first gear 211, the second gear 212, the third gear 213 and the fourth gear 214 are sequentially meshed and are connected through the shank binding assembly 31, and the shank binding assembly 214 is fixed on the shank binding assembly 3.
In a preferable mode, a first connection plate 2111 is arranged in the circumferential direction of the first gear 211, and the first connection plate 2111 is uniformly provided with slots 223, the slots 223 are oblique straight slots, the first connection plate 2111 is arranged in the fixed chuck 221, the movable buckle 222 is buckled in the slot 223 for connecting the first connection plate 2111 and the fixed chuck 221, and the first connection plate 2111 can only slide in one direction in the fixed chuck 221. When the thigh binding assembly 1 and the calf binding assembly 3 slide relative to the thigh or the calf, the distance between the thigh skeleton 11 and the calf skeleton 31 will be lengthened, at this time, the first connection plate 2111 and the fixed chuck 221 in the automatic compensation mechanism 22 will slide relative to each other, and the movable buckle 222 on the fixed chuck 221 rotates to enter the slot 223 on the other first connection plate 2111, because the first connection plate 2111 can only slide in one direction in the fixed chuck 221, the length of the automatic compensation mechanism 22 cannot be reduced after being lengthened, and further the compensation function is realized.
In a preferred mode, the central axis of the first gear 211, the central axis of the second gear 212, the central axis of the third gear 213 and the central axis of the fourth gear 214 are all parallel, and the perpendicular distance from the central axis of the first gear 211 to the central axis of the second gear 212 is equal to the perpendicular distance from the central axis of the third gear 213 to the central axis of the fourth gear 214.
As shown in fig. 1 to 3, a plurality of lower leg binding assemblies 3 are arranged in series, two adjacent lower leg binding assemblies 3 are connected through a lower connecting piece 5, each lower leg binding assembly 3 comprises a lower leg skeleton 31, a lower leg lining 32 and a lower leg binding band 33, a lower leg lining 32 is arranged on the inner side of the lower leg skeleton 31, a lower leg air bag is arranged on the lower leg lining 32, the lower leg skeleton 31 is symmetrically arranged on the lower leg binding band 33, the outer side of the lower leg skeleton 31 is connected with the lower connecting piece 5, the lower leg lining 32 is in a conical structure shape and accords with ergonomics, human lower legs can be well attached, meanwhile, grooves are formed in the positions of the human tibial nodes by the lower leg lining 32, the lower leg binding assemblies 3 of the exoskeleton power assisting device in a supporting working state can effectively transfer force to the lower legs, the compression of the lower leg binding assemblies 3 on users is reduced, and the phenomenon that the whole auxiliary device slides down can be prevented.
In a preferred mode, the lower leg strap 33 is composed of an elastic belt and a non-elastic belt, the lower leg strap 33 can be transversely adhered to the lower leg skeleton 31 by using a magic tape, two ends of the lower leg strap 33 are connected to the lower leg skeleton 31, the lower leg strap 33 enables the lower leg skeleton 31 to contract in a tightly winding and adhering mode, and then the lower leg lining 32 is attached to the lower leg.
As shown in fig. 4, the first transmission assembly 24 includes a first motor 241, a first connecting belt 242 and a first driven pulley 243, the first motor 241 is disposed on the first gear 211, an axis of an output shaft of the first motor 241 coincides with a central axis of the first gear 211, a first driving pulley is disposed on an output shaft of the first motor 241, the first driven pulley 243 is disposed on the second gear 212, a central axis of the second gear 212 coincides with a central axis of the first driven pulley 243, and the first driven pulley 243 and the first driving pulley are in transmission connection through the first connecting belt 242.
As shown in fig. 4, the second transmission assembly 25 includes a second motor 251, a second connecting belt 252 and a second driven pulley 253, the second motor 251 is disposed on the fourth gear 214, an output shaft axis of the second motor 251 coincides with a central axis of the fourth gear 214, a second driving pulley is disposed on an output shaft of the second motor 251, the second driven pulley 253 is disposed on the third gear 213, a central axis of the third gear 213 coincides with a central axis of the second driven pulley 253, and the second driven pulley 253 is in transmission connection with the second driving pulley through the second connecting belt 252.
As shown in fig. 5, the multi-link mechanism 23 includes a first link 231, a second link 232, and a third link 233, a first end of the first link 231 is connected with a center of the first gear 211, and a second end of the first link 231 is connected with a center of the second gear 212, a first end of the second link 232 is connected with a center of the second gear 212, and a second end of the second link 232 is connected with a center of the third gear 213, a first end of the third link 233 is connected with a center of the third gear 213, and a second end of the third link 233 is connected with a center of the fourth gear 214.
In a second aspect of the present invention, there is provided a power assisting method for a knee joint exoskeleton power assisting device with a load-free function, as shown in fig. 6 to 8, comprising the steps of:
s1, fixing a thigh binding assembly 1 and a shank binding assembly 3 of the exoskeleton power assisting device at the thigh and the shank of a lower limb respectively;
s2, detecting a pressure value of the sole through a sole sensor arranged on the sole of the lower limb, and judging a gait cycle of the lower limb;
s3, when the sole pressure value is smaller than a set sole pressure threshold value, the lower limbs are in a gait swing phase, the exoskeleton power assisting device is in a supporting follow-up state, the thigh binding assembly 1 and the shank binding assembly 3 can loosely bind the thighs and the shanks by releasing gas in the thigh air bags and the shank air bags, meanwhile, the first motor 241 and the second motor 251 stop rotating, and the exoskeleton power assisting device moves along with the movement of the lower limbs;
s4, when the sole pressure value is larger than a set sole pressure threshold value, the lower limbs are in a gait support period, the exoskeleton power assisting device is in a support working state, and the thigh air bags and the shank air bags are inflated, so that tight binding of the thigh binding assembly 1 and the shank binding assembly 3 on the thigh and the shank can be realized, meanwhile, the first motor 241 drives the second gear 212 to rotate through the first connecting belt 242, the second motor 251 drives the third gear 213 to rotate through the second connecting belt 252, the second gear 212 is in meshing transmission with the third gear 213, at the moment, the exoskeleton power assisting device applies separating force to the thigh and the shank, and then the load-free power assisting of the knee joint is realized.
S5, the exoskeleton power assisting device can correspondingly complete the conversion of the follow-up state and the working state through the inflation and deflation of the thigh air bag and the shank air bag, and then can realize the load-free power assisting of the knee joint of the lower limb in the advancing process.
The method comprises the following specific operation steps:
as shown in fig. 1 to 8, the invention provides a knee joint exoskeleton power assisting device with a load-free function and a power assisting method thereof, wherein a thigh binding assembly 1 and a shank binding assembly 3 of the exoskeleton power assisting device are respectively fixed at the thigh and the shank of a lower limb, and the thigh binding assembly 1 and the shank binding assembly 3 can tightly bind the thigh and the shank by inflating the thigh airbag and the shank airbag, and the exoskeleton power assisting device is in a supporting working state; through releasing the gas in the thigh part air bag and the crus part air bag, the thigh binding assembly 1 and the crus binding assembly 3 can loosely bind the thigh and the crus, and the exoskeleton power assisting device is in a supporting follow-up state at the moment. The tight and loose binding switching is realized through the inflation and deflation of the air bag. The foot pressure sensors arranged on the soles of the lower limbs are adopted for controlling the air bags to be inflated and deflated, whether the lower limbs are in a gait support period or not is judged by detecting the conditions of the foot pressure, namely when the lower limbs are detected to exceed a set foot pressure threshold value, the knee joints are in a support state at the moment, the exoskeleton power assisting device supports the working state, the air bags of the thigh parts and the air bags of the shank parts are inflated to tightly bind the thigh and the shank, meanwhile, the first transmission assembly 24 and the second transmission assembly 25 drive the gears to rotate, separating force is applied to the thigh and the shank of a user, and the knee joints are free of load. Similarly, when the detected pressure is smaller than the set plantar pressure threshold, the knee joint is judged to be in a follow-up state, the thigh air bag and the crus air bag are deflated, the thigh and the crus are loosely bound, the first transmission assembly 24 and the second transmission assembly 25 do not work, and the exoskeleton assisting device moves along with the movement of the lower limbs of the human body.
In a specific use process, when the lower limbs of a user wearing the exoskeleton power assisting device are in a bent state to a straightened state, the exoskeleton power assisting device enters a supporting working state from a supporting follow-up state, the thigh binding assembly 1 in the supporting working state tightly binds the thighs, the shank binding assembly 3 tightly binds the shanks, and the first transmission assembly 24 and the second transmission assembly 25 drive the four serially meshed rotating gears to rotate, so that acting forces of the thigh binding assembly 1 and the shank binding assembly 3 deviating along the direction of the mechanical tibial axis A2 are generated, and further, the knee joint of the user wearing the exoskeleton power assisting device is relieved, as shown in fig. 7 and 8. And along with worn the user's of ectoskeleton booster unit lower limbs from straightening the state to during the bucking state, ectoskeleton booster unit supports the slave state by supporting operating condition entering, the thigh that is in support slave state is tied up subassembly 1 pine and is tied up the thigh, the shank is tied up and is tied up subassembly 3 pine and tie up the shank, first transmission assembly 24 and second transmission assembly 25 no longer drive four series connection meshing rotating gear, four series connection meshing rotating gear move along with user's lower limbs motion, thigh tie up subassembly 1 and shank and tie up subassembly 3 and can not produce the effort that deviates from along shin bone mechanical axis A2's direction this moment. It should be noted that the four serially meshed rotary gears have three degrees of freedom and can adapt to the J-shaped track of the human knee joint rotation center. The thigh and calf binding assemblies 1, 3 will move relative to the user's thigh and calf skin as the exoskeleton assisting device is moved by the user. When the thigh is tied up and is tied up subassembly 1 and shank and tie up subassembly 3 and tie up the distance increase along shin bone mechanical axis A2, relative slip can take place for first connecting plate 2111 and fixed chuck 221 in the automatic compensation mechanism 22, and movable buckle 222 on the fixed chuck 221 rotates, get into in the draw-in groove 223 on another first connecting plate 2111, make the thigh tie up and tie up the support distance grow between the subassembly 3 with the shank, realize the compensation of sliding, when knee joint ectoskeleton booster unit is in support operating condition, still can carry out the relief load to user's knee joint.
Therefore, when a user wearing the exoskeleton power assisting device provided by the invention walks, the lower limbs of the user are driven by the lower limbs of the user to correspondingly shift from the supporting follow-up state to the supporting working state and then from the supporting working state to the supporting follow-up state, which is an automatic switching process matched with the gait of the user. In the walking process of the human body, the legs are in a suspended state in a buckling state, and the knee joints do not need to bear heavy load. At the moment, the exoskeleton power assisting device worn on the lower limbs of the user is in a supporting follow-up state, the rotating assembly 2 has three degrees of freedom in the state, the requirement that the knee joint of the user rotates on a plane is met, and the knee joint of the user cannot be damaged due to the fact that the rotating axes of the exoskeleton of the knee joint and the knee joint of the user are not coincident in the state. Thigh binding assembly 1 and shank binding assembly 3 are both loosely bound in this state, and this state does not affect the blood circulation of the lower limbs of the user.
When the lower limb is in a straightening state, the exoskeleton power assisting device is in a supporting working state, the thigh binding assembly 1 and the calf binding assembly 3 tightly bound by the exoskeleton power assisting device are enabled to apply acting forces deviating along a mechanical axis of the tibia to the thigh and the calf of a user respectively through the first transmission assembly 24 and the second transmission assembly 25, and the load born by part of the knee joint of the human body is offset.
According to the invention, the shank binding component 3 is provided with the groove at the tibia tubercle of the human body, so that the shank binding component 3 of the exoskeleton power assisting device in a supporting working state can effectively transfer force to the shank, the compression of the shank binding component 3 to the shank of a user is reduced, and the phenomenon that the assistive device integrally slides down can be prevented. The thigh lining 12 of the thigh binding assembly 1 is arranged to be conical, so that the thigh binding assembly 1 of the exoskeleton power assisting device in a supporting working state can effectively transmit force to the thigh, and the relative sliding between the thigh binding assembly 1 of the exoskeleton power assisting device and the thigh of a user in the supporting working state can be prevented.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (9)
1. A knee joint exoskeleton power assisting device with a load-free function is characterized by comprising a plurality of thigh binding assemblies, a plurality of shank binding assemblies and a rotating assembly arranged between the thigh binding assemblies and the shank binding assemblies,
the thigh binding assemblies are arranged in series, two adjacent thigh binding assemblies are connected through an upper connecting piece, each thigh binding assembly comprises a thigh framework, a thigh lining and a thigh binding band, the inner sides of the thigh frameworks are provided with the thigh linings, the thigh linings are provided with thigh airbags, the thigh frameworks are symmetrically arranged on the thigh binding bands, and the outer sides of the thigh frameworks are connected with the upper connecting piece;
the rotary assembly is symmetrically arranged between the thigh binding assembly and the shank binding assembly, the rotary assembly comprises a multistage series-connection meshing gear set, an automatic compensation mechanism, a multi-link mechanism, a first transmission assembly and a second transmission assembly, the automatic compensation mechanism is arranged between the multistage series-connection meshing gear set and the thigh framework, the automatic compensation mechanism comprises a fixed chuck and a movable buckle rotatably arranged on the fixed chuck, the fixed chuck is arranged on the thigh framework, a first connecting plate of a first gear in the multistage series-connection meshing gear set is fixed in the fixed chuck through the movable buckle, the multi-link mechanism is arranged on one side of the multistage series-connection meshing gear set, the multistage series-connection meshing gear set comprises a first gear, a second gear, a third gear and a fourth gear, the first gear, the second gear, the third gear and the fourth gear are in gear meshing transmission sequentially, the first gear and the second gear are in transmission connection through the first transmission assembly, the third gear and the fourth gear are in transmission connection through the second transmission assembly, and a fourth connecting plate in the fourth gear is fixed on the shank framework;
the plurality of shank binding assemblies are connected in series, two adjacent shanks are connected through a lower connecting piece, each shank binding assembly comprises a shank skeleton, a shank lining and a shank binding band, the shank lining is arranged on the inner side of the shank skeleton, shank portion air bags are arranged on the shank lining, the shank skeletons are symmetrically arranged on the shank binding bands, and the outer sides of the shank skeletons are connected with the lower connecting piece.
2. The knee joint exoskeleton force assisting device with a load-free function of claim 1, wherein the first transmission assembly comprises a first motor, a first connecting belt and a first driven pulley, the first motor is disposed on the first gear, an output shaft axis of the first motor coincides with a central axis of the first gear, a first driving pulley is disposed on an output shaft of the first motor, the first driven pulley is disposed on the second gear, a central axis of the second gear coincides with a central axis of the first driven pulley, and the first driven pulley is in transmission connection with the first driving pulley through the first connecting belt.
3. The knee joint exoskeleton assistance device with a load-free function of claim 2, wherein the second transmission assembly comprises a second motor, a second connection belt and a second driven pulley, the second motor is disposed on the fourth gear, an axis of an output shaft of the second motor coincides with a central axis of the fourth gear, a second driving pulley is disposed on an output shaft of the second motor, the second driven pulley is disposed on the third gear, a central axis of the third gear coincides with a central axis of the second driven pulley, and the second driven pulley is in transmission connection with the second driving pulley through the second connection belt.
4. The off-load knee exoskeleton of claim 3 wherein the multi-link mechanism comprises a first link, a second link and a third link, wherein a first end of the first link is connected to a center of the first gear and a second end of the first link is connected to a center of the second gear, a first end of the second link is connected to a center of the second gear and a second end of the second link is connected to a center of a third gear, a first end of the third link is connected to a center of the third gear and a second end of the third link is connected to a center of the fourth gear.
5. The off-load knee exoskeleton force aid device of claim 1 wherein the central axis of the first gear, the central axis of the second gear, the central axis of the third gear and the central axis of the fourth gear are all parallel and the perpendicular distance between the central axis of the first gear and the central axis of the second gear is equal to the perpendicular distance between the central axis of the third gear and the central axis of the fourth gear.
6. The power assisting device for a knee joint exoskeleton as claimed in claim 1, wherein a first connecting plate is arranged in the circumferential direction of the first gear, clamping grooves are uniformly distributed on the first connecting plate, the first connecting plate is arranged in the fixed chuck, and the movable buckle is buckled in the clamping grooves and used for connecting the first connecting plate and the fixed chuck.
7. The off-load knee exoskeleton force assisting device of claim 1, wherein the thigh lining is in a cone-shaped structure.
8. The knee joint exoskeleton force assisting device with a load-free function of claim 1, wherein the lower leg lining is in a conical structure shape, and a groove is formed in the position of a human body tibia tubercle.
9. A power assisting method for realizing the load-free knee exoskeleton power assisting device as claimed in any one of claims 1 to 8, is characterized by comprising the following steps:
s1, fixing a thigh binding assembly and a shank binding assembly of the exoskeleton power assisting device at the thigh and the shank of a lower limb respectively;
s2, detecting a pressure value of a sole through a sole sensor arranged on the sole of the lower limb, and judging a gait cycle of the lower limb;
s3, when the pressure value of the sole is smaller than a set sole pressure threshold value, the lower limbs are in a gait swing phase, the exoskeleton power assisting device is in a supporting follow-up state, the thigh binding assembly and the shank binding assembly can loosely bind the thighs and the shanks by releasing gas in the thigh air bags and the shank air bags, the first motor and the second motor stop rotating, and the exoskeleton power assisting device moves along with the movement of the lower limbs;
s4, work as when the sole pressure value is greater than the sole pressure threshold value of setting for, the low limbs are in the gait support phase, and ectoskeleton booster unit is in and supports operating condition, through to thigh gasbag and shank portion gasbag are aerifyd, can realize the thigh is tied up and is tied up subassembly and shank and tie up the tight of tying up of subassembly to thigh and shank and tie up, simultaneously first motor passes through first connecting belt drives the second gear rotates, the second motor passes through the second connecting belt drives third gear rotates, just second gear and third gear meshing transmission, and ectoskeleton booster unit exerts the separating force to thigh and shank this moment, realizes the helping hand of exempting from with the lotus of knee joint then.
And S5, the exoskeleton power assisting device can correspondingly complete the conversion of the follow-up state and the working state through the inflation and deflation of the thigh air bag and the shank air bag, so that the load-free power assisting of the knee joint of the lower limb in the advancing process can be realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211224355.XA CN115648178A (en) | 2022-10-08 | 2022-10-08 | Knee joint exoskeleton power assisting device with load-free function and power assisting method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211224355.XA CN115648178A (en) | 2022-10-08 | 2022-10-08 | Knee joint exoskeleton power assisting device with load-free function and power assisting method thereof |
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| CN115648178A true CN115648178A (en) | 2023-01-31 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116690647A (en) * | 2023-06-06 | 2023-09-05 | 上海傲鲨智能科技有限公司 | Integrated power system based on toothed belt structure and exoskeleton robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116690647A (en) * | 2023-06-06 | 2023-09-05 | 上海傲鲨智能科技有限公司 | Integrated power system based on toothed belt structure and exoskeleton robot |
| CN116690647B (en) * | 2023-06-06 | 2023-12-12 | 上海傲鲨智能科技有限公司 | Integrated power system based on toothed belt structure and exoskeleton robot |
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