CN115723116A - Under-actuated knee joint exoskeleton robot - Google Patents
Under-actuated knee joint exoskeleton robot Download PDFInfo
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- CN115723116A CN115723116A CN202211557319.5A CN202211557319A CN115723116A CN 115723116 A CN115723116 A CN 115723116A CN 202211557319 A CN202211557319 A CN 202211557319A CN 115723116 A CN115723116 A CN 115723116A
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Abstract
The application provides an under-actuated knee joint exoskeleton robot, which comprises a waist structure and leg structures connected to two sides of the waist structure; the lumbar structure comprises a power assist assembly; the leg structure comprises a knee joint rotating disc; the movable end of the power assisting assembly is connected with the knee joint rotating disc on the first side in a first state and drives the knee joint rotating disc on the first side to rotate; the movable end of the power assisting assembly is connected with the knee joint rotating disc on the second side in the second state and drives the knee joint rotating disc on the second side to rotate; when the user wears the under-actuated knee joint exoskeleton robot, the waist structure is fixed at the waist position of the user, the leg structure is fixed at the leg position of the user, and the knee joint rotating disc corresponds to the knee joint position of the user. This application has reduced driving motor's use quantity through using the helping hand subassembly of underactuated, has improved driving motor's rate of utilization, has reduced complete machine weight.
Description
Technical Field
The application relates to the technical field of exoskeleton, in particular to an under-actuated knee joint exoskeleton robot.
Background
The knee joint exoskeleton robot can provide activity assistance for a user to assist the user to go up and down stairs and walk. The existing knee joint exoskeleton robots are mainly divided into two types, wherein the first type is an active knee joint exoskeleton robot which releases energy through a driving motor; the second type is a passive knee joint exoskeleton robot which stores and releases energy through an elastic element.
However, the conventional knee joint exoskeleton robot has the following problems: the active knee joint exoskeleton robot is heavy, the motor utilization rate is low, and the flexibility is low.
Disclosure of Invention
In view of the problems, the present application is developed to provide an under-actuated knee exoskeleton robot that overcomes or at least partially solves the problems, comprising:
an under-actuated knee exoskeleton robot comprising: a waist structure and leg structures connected on both sides of the waist structure;
the lumbar structure comprises a power assist assembly; the leg structure comprises a knee joint rotating disc; the movable end of the power assisting assembly is connected with the knee joint rotating disc on the first side in a first state and drives the knee joint rotating disc on the first side to rotate; the movable end of the power assisting assembly is connected with the knee joint rotating disc on the second side in a second state and drives the knee joint rotating disc on the second side to rotate;
when a user wears the under-actuated knee exoskeleton robot, the waist structure is fixed at a waist position of the user and the leg structure is fixed at a leg position of the user, wherein the knee rotation disk corresponds to a knee position of the user;
when wearing the under-actuated knee joint ectoskeleton robot any side shank diastole of user, the expansion end of helping hand subassembly with correspond the side the knee joint rotary disk is connected and the drive corresponds the side the knee joint rotary disk rotates according to predetermineeing the direction.
Preferably, the waist structure comprises a back plate and the power assisting assembly is arranged on the surface of the back plate;
the power assisting assembly comprises an electric module, an elastic driving module and a driving switching module; the electric module is electrically connected with the elastic driving module and the driving switching module respectively; the elastic driving module is connected with the movable end of the driving switching module and drives the movable end of the driving switching module to rotate; the movable end of the driving switching module reciprocates along a preset axial direction; when the movable end of the driving switching module moves to a first position, the movable end of the driving switching module is connected with the knee joint rotating disc on the first side and drives the knee joint rotating disc on the first side to rotate; when the movable end of the driving switching module moves to the second position, the movable end of the driving switching module is connected with the knee joint rotating disk on the second side and drives the knee joint rotating disk on the second side to rotate.
Preferably, the elastic driving module comprises a driving motor, a motor mounting plate, an elastic driver outer ring, an elastic element and an elastic driver inner ring;
the driving motor is arranged on the surface of the back plate through the motor mounting plate; an output shaft of the driving motor is connected with the outer ring of the elastic driver and drives the outer ring of the elastic driver to rotate; the outer ring of the elastic driver is connected with the inner ring of the elastic driver through the elastic element and drives the inner ring of the elastic driver to rotate; the inner ring of the elastic driver is connected with the movable end of the driving switching module and drives the movable end of the driving switching module to rotate.
Preferably, the elastic driving module further comprises an encoder gear and an encoder;
the encoder is arranged on the surface of the motor mounting plate; the gear on the inner ring of the elastic driver is meshed with the encoder gear; the encoder gear is connected with the input shaft of the encoder and drives the input shaft of the encoder to rotate.
Preferably, the driving switching module comprises a first transmission rope, a first driving wheel, a movable meshing block, a main shaft, a second driving wheel, a second transmission rope, a steering engine mounting bracket, a steering engine gear, a steering block, a miniature linear slide rail and a slide rail mounting bracket;
one end of the first transmission rope is wound on the first driving wheel, and the other end of the first transmission rope is wound on the knee joint rotating disc on the first side; one end of the second transmission rope is wound on the second driving wheel, and the other end of the second transmission rope is wound on the knee joint rotating disc on the second side;
the inner ring of the elastic driver is connected with the main shaft and drives the main shaft to rotate; the main shaft is connected with the movable meshing block and drives the movable meshing block to rotate; the steering engine is mounted on the surface of the back plate through the steering engine mounting bracket; an output shaft of the steering engine is connected with the steering engine gear and drives the steering engine gear to rotate; the miniature linear slide rail is arranged on the surface of the back plate through the slide rail mounting bracket; the operating block is arranged in the miniature linear slide rail in a sliding manner; the steering engine gear is meshed with the rack structure on the control block; the operation block is connected with the movable meshing block and drives the movable meshing block to reciprocate along the axial direction of the main shaft; when the movable meshing block moves to the first position, the movable meshing block is connected with the first driving wheel and drives the first driving wheel to rotate; and when the movable meshing block moves to the second position, the movable meshing block is connected with the second driving wheel and drives the second driving wheel to rotate.
Preferably, a first D-shaped groove is formed in the center of the inner ring of the elastic driver; a first D-shaped shaft is arranged at the end part of the main shaft; the first D-shaped shaft is inserted in the first D-shaped groove; a second D-shaped groove is formed in the center of the movable meshing block; a second D-shaped shaft is arranged in the middle of the main shaft; the second D-shaped shaft is inserted into the second D-shaped groove; the movable engaging block is slidably connected with the second D-shaped shaft.
Preferably, the two end faces of the movable meshing block are provided with meshing tooth structures; the end faces, facing the movable meshing block, of the first driving wheel and the second driving wheel are provided with meshing tooth adapting structures; when the movable meshing block moves to the first position, the meshing tooth structure on the first side of the movable meshing block is in embedded connection with the meshing tooth adapting structure of the first driving wheel; when the movable engaging block moves to the second position, the engaging tooth structure on the second side of the movable engaging block is in embedded connection with the engaging tooth adapting structure of the second driving wheel.
Preferably, the leg structure comprises a thigh module, a shank module and the knee joint rotation disc;
the knee joint rotating disc is fixed at the end part of the shank module; the knee joint rotating disc is rotationally connected with the thigh module;
when the user wears the under-actuated knee exoskeleton robot, the thigh module is fixed at the thigh position of the user, and the shank module is fixed at the shank position of the user.
Preferably, the thigh module comprises a thigh link and a thigh strap connected with the thigh link; the knee joint rotating disc is rotationally connected with the thigh connecting rod;
when a user wears the under-actuated knee exoskeleton robot, the thigh strap is fixed at a thigh position of the user.
Preferably, the shank module comprises a shank connecting rod and a shank binding band connected with the shank connecting rod; the knee joint rotating disc is fixed at the end part of the shank connecting rod;
when the user wears the under-actuated knee exoskeleton robot, the lower leg strap is fixed at the position of the lower leg of the user.
The application has the following advantages:
in the embodiment of this application, for the great and lower problem of motor utilization ratio of active knee joint ectoskeleton robot weight among the prior art, this application provides the solution of the power-assisted component of underactuated, specifically is: "an under-actuated knee exoskeleton robot, comprising: a waist structure and leg structures connected on either side of the waist structure; the lumbar structure comprises a power assist assembly; the leg structure comprises a knee joint rotating disc; the movable end of the power assisting assembly is connected with the knee joint rotating disc on the first side in a first state and drives the knee joint rotating disc on the first side to rotate; the movable end of the power assisting assembly is connected with the knee joint rotating disc on the second side in a second state and drives the knee joint rotating disc on the second side to rotate; when a user wears the under-actuated knee exoskeleton robot, the waist structure is fixed at a waist position of the user and the leg structure is fixed at a leg position of the user, wherein the knee rotation disk corresponds to a knee position of the user; when wearing the under-actuated knee joint exoskeleton robot any side shank diastole of user, the expansion end of helping hand subassembly with correspond the side the knee joint rotary disk is connected and the drive corresponds the side the knee joint rotary disk rotates according to the default direction ". Through using the underactuated helping hand subassembly, reduced driving motor's use quantity, improved driving motor's rate of utilization, reduced complete machine weight.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings needed to be used in the description of the present application will be briefly introduced below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
Fig. 1 is a schematic structural diagram of an under-actuated knee exoskeleton robot provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a waist structure in an under-actuated knee exoskeleton robot according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an elastic driving module in an under-actuated knee exoskeleton robot according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a driving switching module in an under-actuated knee exoskeleton robot according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an elastic driving module and a driving switching module in an under-actuated knee exoskeleton robot according to an embodiment of the present application in a first state;
fig. 6 is a schematic structural diagram of an elastic driving module and a driving switching module in an under-actuated knee exoskeleton robot provided in an embodiment of the present application in a second state;
fig. 7 is a schematic structural diagram of a leg structure in an under-actuated knee exoskeleton robot according to an embodiment of the present application.
The reference numbers in the drawings attached hereto are as follows:
1 waist structure; 10 a power-assisted assembly; 11 an electrical module; 12 an elastic driving module; 121 driving a motor; 122 motor mounting plate; 123 an outer resilient actuator race; 124 an elastic element; 125 an inner ring of the elastic driver; 126 encoder gear; 127 an encoder; 13 driving the switching module; 131 a first drive line; 132 a first drive wheel; 133 moving the engagement block; 134 a main shaft; 135 second drive wheels; 136 a second drive line; 137 steering engine mounting bracket; 138 steering engine; 139 a steering gear wheel; 1310 a manipulation block; 1311 a micro linear slide; 1312 slide rail mounting brackets; 14 a back plate; 2 a leg structure; 21 a thigh module; 22 knee joint rotation disc; 23 a shank module; 24 length adjustment module.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, the present application is described in further detail with reference to the accompanying drawings and detailed description. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The inventor discovers that the total weight of the multi-joint exoskeleton robot is larger because each joint of the existing active knee joint exoskeleton robot is provided with one driving motor by analyzing the prior art; in a gait cycle, a driving motor of each joint usually works for a part of time, and the rest of time is in a non-working state, so that the utilization rate of the motor is low; the joints are connected with the driving motor through parts such as connecting rods and steel wire ropes, and the motion relation between the joints and the driving motor cannot be changed, so that the exoskeleton robot is lack of flexibility.
Referring to fig. 1, there is shown an under-actuated knee exoskeleton machine provided in an embodiment of the present application, including: a waist structure 1 and leg structures 2 attached to both sides of the waist structure 1;
the lumbar structure 1 comprises a power assist assembly 10; the leg structure 2 comprises a knee joint rotation disc 22; the movable end of the power assisting assembly 10 is connected with the knee joint rotating disc 22 on the first side in a first state and drives the knee joint rotating disc 22 on the first side to rotate; the movable end of the power assisting assembly 10 is connected with the knee joint rotating disc 22 on the second side in the second state and drives the knee joint rotating disc 22 on the second side to rotate;
when a user wears the under-actuated knee exoskeleton robot, the waist structure 1 is fixed at the waist position of the user, and the leg structure 2 is fixed at the leg position of the user, wherein the knee rotation disc 22 corresponds to the knee position of the user;
when wearing the under-actuated knee exoskeleton robot any side of the user's shank is relaxed, the activity end of helping hand subassembly 10 with correspond the side the knee rotary disk 22 is connected and the drive corresponds the side the knee rotary disk 22 rotates according to the direction of predetermineeing.
In the embodiment of this application, for the great and lower problem of motor utilization ratio of active knee joint ectoskeleton robot weight among the prior art, this application provides the solution of the power-assisted component 10 of underactuated, specifically is: "an under-actuated knee exoskeleton robot, comprising: a waist structure 1 and leg structures 2 attached to both sides of the waist structure 1; the lumbar structure 1 comprises a power assist assembly 10; the leg structure 2 comprises a knee joint rotation disc 22; the movable end of the power assisting assembly 10 is connected with the knee joint rotating disc 22 on the first side in a first state and drives the knee joint rotating disc 22 on the first side to rotate; the movable end of the power assisting assembly 10 is connected with the knee joint rotating disc 22 on the second side in the second state and drives the knee joint rotating disc 22 on the second side to rotate; when a user wears the under-actuated knee exoskeleton robot, the waist structure 1 is fixed at the waist position of the user, and the leg structure 2 is fixed at the leg position of the user, wherein the knee rotation disc 22 corresponds to the knee position of the user; when any side leg of the user wearing the under-actuated knee exoskeleton robot is relaxed, the movable end of the power assisting assembly 10 is connected with the knee rotating disc 22 on the corresponding side and drives the knee rotating disc 22 on the corresponding side to rotate in the preset direction ". By using the underactuated power assisting assembly 10, the number of the driving motors 121 is reduced, the utilization rate of the driving motors 121 is improved, and the weight of the whole machine is reduced.
Next, a description will be further made of an under-actuated knee exoskeleton robot in the present exemplary embodiment.
Referring to fig. 2, in the present embodiment, the waist structure 1 includes a back plate 14 and the boosting assembly 10 mounted on a surface of the back plate 14;
the power assisting assembly 10 comprises an electric module 11, an elastic driving module 12 and a driving switching module 13; the electrical module 11 is electrically connected with the elastic driving module 12 and the driving switching module 13 respectively; the elastic driving module 12 is connected with the movable end of the driving switching module 13 and drives the movable end of the driving switching module 13 to rotate; the movable end of the driving switching module 13 reciprocates along a preset axial direction; when the movable end of the driving switching module 13 moves to the first position, the movable end is connected with the knee joint rotating disc 22 on the first side and drives the knee joint rotating disc 22 on the first side to rotate; when the movable end of the driving switching module 13 moves to the second position, the movable end is connected with the knee joint rotating disc 22 on the second side and drives the knee joint rotating disc 22 on the second side to rotate.
Referring to fig. 3, in the present embodiment, the elastic driving module 12 includes a driving motor 121, a motor mounting plate 122, an elastic driver outer ring 123, an elastic element 124, and an elastic driver inner ring 125;
the driving motor 121 is mounted on the surface of the back plate 14 through the motor mounting plate 122; an output shaft of the driving motor 121 is connected with the outer ring 123 of the elastic driver and drives the outer ring 123 of the elastic driver to rotate; the elastic driver outer ring 123 is connected with the elastic driver inner ring 125 through the elastic element 124 and drives the elastic driver inner ring 125 to rotate; the elastic driver inner ring 125 is connected to the movable end of the driving switching module 13 and drives the movable end of the driving switching module 13 to rotate.
Specifically, the elastic element 124 is a bungee cord, a torsion spring, a disc spring or other elastic element 124. Through set up elastic element 124 between elastic drive outer lane 123 with elastic drive inner lane 125 for driving motor 121 can the elasticity output moment, has improved the flexibility of underactuated knee joint ectoskeleton robot can provide more gentle and agreeable helping hand for the user.
In this embodiment, the elastic driving module 12 further includes an encoder gear 126 and an encoder 127;
the encoder 127 is mounted on the surface of the motor mounting plate 122; the gear on the inner ring 125 of the elastic driver is meshed with the encoder gear 126; the encoder gear 126 is connected to the input shaft of the encoder 127 and drives the input shaft of the encoder 127 to rotate. The encoder 127 is used for collecting the output angle information of the inner ring 125 of the elastic driver.
Referring to fig. 4 to 6, in this embodiment, the driving switching module 13 includes a first transmission rope 131, a first driving wheel 132, a movable engaging block 133, a main shaft 134, a second driving wheel 135, a second transmission rope 136, a steering engine mounting bracket 137, a steering engine 138, a steering engine gear 139, a control block 1310, a micro linear sliding rail 1311, and a sliding rail mounting bracket 1312;
one end of the first transmission rope 131 is wound on the first driving wheel 132, and the other end is wound on the knee joint rotating disc 22 on the first side; one end of the second transmission rope 136 is wound on the second driving wheel 135, and the other end is wound on the knee joint rotating disk 22 on the second side;
the inner ring 125 of the elastic driver is connected with the main shaft 134 and drives the main shaft 134 to rotate; the main shaft 134 is connected with the movable meshing block 133 and drives the movable meshing block 133 to rotate; the steering engine 138 is mounted on the surface of the back plate 14 through the steering engine mounting bracket 137; an output shaft of the steering gear 138 is connected with the steering gear 139 and drives the steering gear 139 to rotate; the micro linear sliding rail 1311 is mounted on the surface of the back plate 14 through the sliding rail mounting bracket 1312; the manipulating block 1310 is slidably disposed inside the micro linear slide 1311; the steering gear 139 is meshed with a rack structure on the control block 1310; the manipulating block 1310 is connected with the movable engaging block 133 and drives the movable engaging block 133 to reciprocate along the axial direction of the main shaft 134; when the movable engaging block 133 moves to the first position, it is connected to the first driving wheel 132 and drives the first driving wheel 132 to rotate; when the movable engaging block 133 moves to the second position, it is connected to the second driving wheel 135 and drives the second driving wheel 135 to rotate.
By providing the steering gear 138 and the steering gear 139, the movement of the control block 1310 can be controlled. In other embodiments, a motor-screw structure may be used to control the movement of the manipulating block 1310.
In this embodiment, a first D-shaped groove is disposed at the center of the inner ring 125 of the elastic driver; a first D-shaped shaft is arranged at the end part of the main shaft 134; the first D-shaped shaft is inserted in the first D-shaped groove; a second D-shaped groove is formed in the center of the movable engaging block 133; a second D-shaped shaft is arranged in the middle of the main shaft 134; the second D-shaped shaft is inserted in the second D-shaped groove; the moving engagement block 133 is slidably coupled to the second D-shaft.
The main shaft 134 is connected to the elastic driver inner ring 125 through the first D-shaped shaft and the first D-shaped groove, so that the output torque of the elastic driving module 12 can be accurately obtained. The movable engaging block 133 is connected to the main shaft 134 through the second D-shaped shaft and the second D-shaped groove, and the output torque of the elastic driving module 12 can be accurately obtained through the main shaft 134.
In this embodiment, the two end surfaces of the movable engaging block 133 are provided with engaging tooth structures; the end surfaces of the first driving wheel 132 and the second driving wheel 135 facing the movable engaging block 133 are respectively provided with an engaging tooth adapting structure; when the movable engaging block 133 moves to the first position, the engaging tooth structure on the first side of the movable engaging block 133 is engaged with the engaging tooth adapting structure of the first driving wheel 132; when the movable engaging block 133 moves to the second position, the engaging tooth structure on the second side of the movable engaging block 133 is engaged with the engaging tooth matching structure of the second driving wheel 135.
Referring to fig. 7, in the present embodiment, the leg structure 2 includes a thigh module 21, a shank module 23, and the knee joint rotation disk 22;
the knee joint rotating disc 22 is fixed at the end part of the lower leg module 23; the knee joint rotating disc 22 is rotationally connected with the thigh module 21;
when the user wears the under-actuated knee exoskeleton robot, the thigh module 21 is fixed at the thigh position of the user, and the shank module 23 is fixed at the shank position of the user.
In this embodiment, the thigh module 21 includes a thigh link and a thigh strap connected to the thigh link; the knee joint rotating disc 22 is in rotating connection with the thigh connecting rod;
when a user wears the under-actuated knee exoskeleton robot, the thigh strap is secured in a thigh position of the user.
By providing the thigh strap, a stable connection of the thigh module 21 with the user's thigh can be ensured.
In this embodiment, the lower leg module 23 includes a lower leg link and a lower leg strap connected to the lower leg link; the knee joint rotating disc 22 is fixed at the end part of the shank connecting rod;
when the user wears the under-actuated knee exoskeleton robot, the lower leg strap is fixed at the position of the lower leg of the user.
By providing the lower leg strap, it is possible to ensure that the lower leg module 23 is stably connected to the lower leg of the user.
In this embodiment, a length adjustment module 24 is further included; the length adjusting module 24 comprises an expansion link and an adjusting bearing; the telescopic rod is arranged on the surface of the thigh module 21; the movable end of the telescopic rod is connected with the adjusting bearing and drives the adjusting bearing to move along the width direction of the thigh module 21; the first transmission rope 131 or the second transmission rope 136 is connected with the knee joint rotating disc 22 through the adjusting bearing.
By providing the length adjustment module 24, the tightness of the first driving rope 131 or the second driving rope 136 can be adjusted.
While preferred embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the true scope of the embodiments of the application.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "include", "including" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or terminal device including a series of elements includes not only those elements but also other elements not explicitly listed or inherent to such process, method, article, or terminal device. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or terminal device that comprises the element.
The above detailed description is given to the under-actuated knee exoskeleton robot provided by the present application, and specific examples are applied herein to explain the principles and embodiments of the present application, and the description of the above embodiments is only used to help understanding the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. An under-actuated knee exoskeleton robot comprising: a waist structure and leg structures connected on either side of the waist structure;
the lumbar structure comprises a power assist assembly; the leg structure comprises a knee joint rotation disc; the movable end of the power assisting assembly is connected with the knee joint rotating disc on the first side in a first state and drives the knee joint rotating disc on the first side to rotate; the movable end of the power assisting assembly is connected with the knee joint rotating disc on the second side in a second state and drives the knee joint rotating disc on the second side to rotate;
when a user wears the under-actuated knee exoskeleton robot, the waist structure is fixed at a waist position of the user and the leg structure is fixed at a leg position of the user, wherein the knee rotation disk corresponds to a knee position of the user;
when wearing the under-actuated knee joint exoskeleton robot any side of user's shank diastole time, the expansion end of helping hand subassembly with correspond the side the knee joint rotary disk is connected and the drive corresponds the side the knee joint rotary disk rotates according to the direction of predetermineeing.
2. The under-actuated knee exoskeleton robot of claim 1, wherein the lumbar structure comprises a back plate and the assistance assembly mounted to a surface of the back plate;
the power assisting assembly comprises an electric module, an elastic driving module and a driving switching module; the electric module is electrically connected with the elastic driving module and the driving switching module respectively; the elastic driving module is connected with the movable end of the driving switching module and drives the movable end of the driving switching module to rotate; the movable end of the driving switching module reciprocates along a preset axial direction; when the movable end of the driving switching module moves to a first position, the movable end of the driving switching module is connected with the knee joint rotating disc on the first side and drives the knee joint rotating disc on the first side to rotate; when the movable end of the driving switching module moves to the second position, the movable end of the driving switching module is connected with the knee joint rotating disc on the second side and drives the knee joint rotating disc on the second side to rotate.
3. The under-actuated knee exoskeleton robot of claim 2, wherein the elastic drive module comprises a drive motor, a motor mounting plate, an elastic driver outer ring, an elastic element and an elastic driver inner ring;
the driving motor is arranged on the surface of the back plate through the motor mounting plate; an output shaft of the driving motor is connected with the outer ring of the elastic driver and drives the outer ring of the elastic driver to rotate; the outer ring of the elastic driver is connected with the inner ring of the elastic driver through the elastic element and drives the inner ring of the elastic driver to rotate; the inner ring of the elastic driver is connected with the movable end of the driving switching module and drives the movable end of the driving switching module to rotate.
4. The under-actuated knee exoskeleton robot of claim 3, wherein the elastic drive module further comprises an encoder gear and an encoder;
the encoder is arranged on the surface of the motor mounting plate; the gear on the inner ring of the elastic driver is meshed with the encoder gear; the encoder gear is connected with the input shaft of the encoder and drives the input shaft of the encoder to rotate.
5. The under-actuated knee joint exoskeleton robot as claimed in claim 3, wherein the drive switching module comprises a first transmission rope, a first driving wheel, a movable meshing block, a main shaft, a second driving wheel, a second transmission rope, a steering engine mounting bracket, a steering engine gear, a manipulation block, a micro linear slide rail and a slide rail mounting bracket;
one end of the first transmission rope is wound on the first driving wheel, and the other end of the first transmission rope is wound on the knee joint rotating disc on the first side; one end of the second transmission rope is wound on the second driving wheel, and the other end of the second transmission rope is wound on the knee joint rotating disc on the second side;
the inner ring of the elastic driver is connected with the main shaft and drives the main shaft to rotate; the main shaft is connected with the movable meshing block and drives the movable meshing block to rotate; the steering engine is mounted on the surface of the back plate through the steering engine mounting bracket; an output shaft of the steering engine is connected with the steering engine gear and drives the steering engine gear to rotate; the miniature linear slide rail is arranged on the surface of the back plate through the slide rail mounting bracket; the operating block is arranged in the miniature linear slide rail in a sliding manner; the steering engine gear is meshed with the rack structure on the control block; the operation block is connected with the movable meshing block and drives the movable meshing block to reciprocate along the axial direction of the main shaft; when the movable meshing block moves to the first position, the movable meshing block is connected with the first driving wheel and drives the first driving wheel to rotate; and when the movable meshing block moves to the second position, the movable meshing block is connected with the second driving wheel and drives the second driving wheel to rotate.
6. The under-actuated knee exoskeleton robot as claimed in claim 5, wherein a first D-shaped groove is formed in the center of the inner ring of the elastic driver; a first D-shaped shaft is arranged at the end part of the main shaft; the first D-shaped shaft is inserted into the first D-shaped groove; a second D-shaped groove is formed in the center of the movable meshing block; a second D-shaped shaft is arranged in the middle of the main shaft; the second D-shaped shaft is inserted in the second D-shaped groove; the movable engaging block is slidably connected with the second D-shaped shaft.
7. The under-actuated knee exoskeleton robot as claimed in claim 5, wherein the two end faces of the movable engaging block are provided with engaging tooth structures; the end faces, facing the movable meshing block, of the first driving wheel and the second driving wheel are provided with meshing tooth adapting structures; when the movable meshing block moves to the first position, the meshing tooth structure on the first side of the movable meshing block is in embedded connection with the meshing tooth adapting structure of the first driving wheel; when the movable engaging block moves to the second position, the engaging tooth structure on the second side of the movable engaging block is in embedded connection with the engaging tooth adapting structure of the second driving wheel.
8. The under-actuated knee exoskeleton robot of claim 1, wherein the leg structure comprises a thigh module, a shank module, and the knee turntable;
the knee joint rotating disc is fixed at the end part of the shank module; the knee joint rotating disc is rotationally connected with the thigh module;
when the user wears the under-actuated knee exoskeleton robot, the thigh module is fixed at the thigh position of the user, and the shank module is fixed at the shank position of the user.
9. The under-actuated knee exoskeleton robot of claim 8, wherein the thigh module comprises a thigh link and a thigh strap coupled to the thigh link; the knee joint rotating disc is rotationally connected with the thigh connecting rod;
when a user wears the under-actuated knee exoskeleton robot, the thigh strap is secured in a thigh position of the user.
10. The under-actuated knee exoskeleton robot of claim 8, wherein the lower leg module comprises a lower leg link and a lower leg strap coupled to the lower leg link; the knee joint rotating disc is fixed at the end part of the shank connecting rod;
when the user wears the under-actuated knee exoskeleton robot, the lower leg strap is fixed at the position of the lower leg of the user.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211557319.5A CN115723116A (en) | 2022-12-06 | 2022-12-06 | Under-actuated knee joint exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211557319.5A CN115723116A (en) | 2022-12-06 | 2022-12-06 | Under-actuated knee joint exoskeleton robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115723116A true CN115723116A (en) | 2023-03-03 |
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| CN202211557319.5A Pending CN115723116A (en) | 2022-12-06 | 2022-12-06 | Under-actuated knee joint exoskeleton robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117565024A (en) * | 2023-12-27 | 2024-02-20 | 浙江通势达电动技术有限公司 | Integrated joint driving device and method for exoskeleton robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117565024A (en) * | 2023-12-27 | 2024-02-20 | 浙江通势达电动技术有限公司 | Integrated joint driving device and method for exoskeleton robot |
| CN117565024B (en) * | 2023-12-27 | 2024-04-16 | 浙江通势达电动技术有限公司 | Integrated joint driving device and method for exoskeleton robot |
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