CN116922355A - Industrial exoskeleton robot ankle joint with vibration reduction and buffering functions - Google Patents
Industrial exoskeleton robot ankle joint with vibration reduction and buffering functions Download PDFInfo
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- CN116922355A CN116922355A CN202310699694.1A CN202310699694A CN116922355A CN 116922355 A CN116922355 A CN 116922355A CN 202310699694 A CN202310699694 A CN 202310699694A CN 116922355 A CN116922355 A CN 116922355A
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- ankle joint
- vibration reduction
- cover plate
- buffering
- exoskeleton robot
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 79
- 230000003139 buffering effect Effects 0.000 title claims abstract description 35
- 230000009467 reduction Effects 0.000 title claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 36
- 238000013016 damping Methods 0.000 claims abstract description 24
- 238000000034 method Methods 0.000 claims abstract description 7
- 230000008569 process Effects 0.000 claims abstract description 7
- 210000003423 ankle Anatomy 0.000 claims description 15
- 229920001971 elastomer Polymers 0.000 claims description 9
- 238000007789 sealing Methods 0.000 claims description 8
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 230000000903 blocking effect Effects 0.000 claims description 4
- 210000003141 lower extremity Anatomy 0.000 claims description 4
- 238000003825 pressing Methods 0.000 claims description 4
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 244000043261 Hevea brasiliensis Species 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 229920003052 natural elastomer Polymers 0.000 claims description 3
- 229920001194 natural rubber Polymers 0.000 claims description 3
- 239000004677 Nylon Substances 0.000 claims description 2
- 229920001778 nylon Polymers 0.000 claims description 2
- 239000010935 stainless steel Substances 0.000 claims description 2
- 229910001220 stainless steel Inorganic materials 0.000 claims description 2
- 239000013585 weight reducing agent Substances 0.000 claims description 2
- 239000000956 alloy Substances 0.000 description 4
- 210000002683 foot Anatomy 0.000 description 4
- 239000000428 dust Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 229910001094 6061 aluminium alloy Inorganic materials 0.000 description 2
- 229910001008 7075 aluminium alloy Inorganic materials 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000010057 rubber processing Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an industrial exoskeleton robot ankle joint with a vibration reduction and buffering function, which relates to the technical field of exoskeleton robots and comprises a shank support rod assembly, a vibration reduction and buffering mechanism and an ankle joint support mechanism, wherein the shank support rod assembly is connected with a shank shell, the ankle joint support mechanism is in contact with the ground, and the vibration reduction and buffering mechanism is positioned in a cavity space formed by the shank support rod assembly and the ankle joint support mechanism; the three are matched to realize vibration reduction and buffering of the industrial exoskeleton robot in the running process. The invention aims at the impact force generated by the contact of the exoskeleton equipment with the ground in the advancing process of the human body, and counteracts the impact force by the damping springs in the ankle joint damping and buffering structure, so that the vibration impact caused by the contact of the exoskeleton with the ground is reduced, the reliability of the exoskeleton equipment is enhanced, and the wearing comfort of a user is improved.
Description
Technical Field
The invention belongs to the field of exoskeleton robots, and particularly relates to an industrial exoskeleton robot ankle joint with a vibration reduction and buffering function.
Background
The industrial exoskeleton robot is a wearable robot capable of assisting and enhancing functions of a human body, can reduce work fatigue strength of a wearer, protects physical health and improves labor efficiency. The ankle joint is taken as an important component of the industrial exoskeleton robot, and has important influence on the support and human body connection of the exoskeleton robot. The prior industrial exoskeleton robot ankle joint design scheme adopts a rigid support structure design, and the impact generated by rigid contact between the structure and the ground in the walking process is very easy to influence the service life of the electric devices and connecting pieces of the equipment and the application experience of the exoskeleton robot. The design of the rigid structure and the flexible part is selected to be adopted in the part of the optimal design scheme, and the patent CN104644381B discloses a three-degree-of-freedom flexible ankle joint device for an exoskeleton, which has three degrees of freedom in motion, namely one translational motion and two rotational motions, and reduces the impact of vibration on a wearer through an elastic support part of a sole support structure, a shockproof filling layer, a flexible revolute pair of a foot side support part and a rear foot damper. However, in the technical scheme, the lower bottom plate of the sole supporting structure is still of a connected steel plate structure, the foot side supporting part and the lower leg supporting frame are connected to the lower bottom plate through hinges, the lower bottom plate is still in rigid connection, and the elastic structure does not have a vibration reduction effect on equipment; in addition, in order to ensure the degree of freedom of the ankle, the main power ankle has a complex structure and a large weight, resulting in high manufacturing and production costs.
The invention CN113084862 provides an exoskeleton robot ankle joint with three flexible driving branches, which has three rotational degrees of freedom, each degree of freedom is an active degree of freedom, and as a moving pair of each driving branch comprises a driving motor, the structure is complex, and the whole weight is heavy. The complex structure and high weight make it unsuitable for complex factory conditions.
To sum up, the problems of the prior exoskeleton robot ankle joint mainly comprise: the ankle joint of the rigid structure can not play an effective vibration reduction and buffering effect, the exoskeleton ankle joint of the flexible drive is complex in structure and large in weight, the exoskeleton is not suitable for industrial exoskeleton, and the design scheme of the ankle joint which can realize the vibration reduction and buffering function and is simple in structure and good in applicability is imperative.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide an industrial exoskeleton robot ankle joint with a vibration reduction and buffering function, which reduces vibration impact generated when the exoskeleton robot contacts with the ground, and the joint can reduce impact when contacting with the ground during use, store energy, release energy when lifting feet, enhance reliability of exoskeleton devices, and improve wearing comfort of users.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
an industrial exoskeleton robot ankle joint with a vibration reduction and buffering function comprises a shank support rod assembly, a vibration reduction and buffering mechanism and an ankle joint support mechanism; the lower end of the lower leg supporting rod component is connected with the upper end of the ankle supporting mechanism in a sliding way, a cavity space is formed at the joint, and the vibration reduction buffer mechanism is accommodated in the cavity space formed by the lower leg supporting rod component and the ankle supporting mechanism; the shank support rod assembly, the vibration reduction buffer mechanism and the ankle joint support connection structure are matched to realize vibration reduction buffer in the industrial exoskeleton robot moving process.
Further, the ankle joint supporting mechanism comprises an ankle joint supporting piece, a rubber pad, a left cover plate, a right cover plate, a joint bearing, a bearing stop plug, a clamping plate nut, a fixing strap connecting piece and a fixing strap, wherein the lower end of the ankle joint supporting piece is connected with the rubber pad, and the rubber pad plays roles of damping, buffering and protecting the ankle joint supporting piece; the ankle joint support piece is provided with a mounting hole of a joint bearing in the middle, the joint bearing is in interference fit and is fixed through a set screw, and a bearing stop plug is mounted at the other end of the mounting hole; the left cover plate and the right cover plate are fixed on the joint support piece through screws and pin shafts, the fixing strap connecting piece is connected with the ankle joint support piece through the joint bearing, and the fixing strap is fixedly connected to the fixing strap connecting piece;
further, the shank support rod assembly comprises a shank support rod and a guiding closed cover plate, wherein the upper end of the shank support rod is in sliding fit with the shank shell, a gear groove is formed in the side face of the shank support rod, and the shank support rod assembly can be matched with a gear switch on the shank shell to adjust and lock the height of the exoskeleton shank; the weight reducing groove is arranged on the shank support rod, so that the weight of the part is reduced while the structural strength is ensured; the shank support rod is connected with the guide sealing cover plate through a screw; the lower end of the shank support rod is provided with a groove which is matched with the groove in the ankle joint support piece to form a buffer mechanism accommodating cavity; the guide sealing cover plate slides in a guide chute on the ankle joint support piece, and the guide sealing cover plate and the guide chute are matched to realize sealing of the accommodating cavity.
Further, the shank bracing piece with ankle joint support piece sliding fit, shank bracing piece lower extreme is equipped with the protrusion, and ankle joint support piece top is equipped with the sliding groove, is equipped with the sliding groove on the left apron, is equipped with the sliding groove on the right apron, and the sliding groove cooperation forms the enclosure space, the protrusion is in slide in the enclosure space, through right the enclosure space reaches protruding size design control the buffering stroke of shank bracing piece.
Further, the damping buffer mechanism comprises a damping spring and a guide shaft, a shaft mounting hole and a limit pin hole are formed in the ankle joint support piece, the guide shaft is mounted on the ankle joint support piece, the damping spring is fixed to the guide shaft through a limit pin shaft, and the damping spring penetrates through the guide shaft, and two ends of the damping spring are in butt connection with the ankle joint support piece and the shank support rod assembly.
Further, the damper springs include, but are not limited to, compression springs, rectangular springs, gas springs, and the calculation of the stiffness coefficient k thereof can be calculated according to the following formula:
K＝S×k (3)
wherein: v 0 For the initial speed of the ankle joint when falling to the ground, x is the preset travel of a damping spring, m is the mass of the lower limb exoskeleton robot (including a lower leg supporting rod and a guide cover plate of the ankle joint), u sliding friction coefficient, F n For the compression force applied to the shank support rod, k is the calculated stiffness of the spring, F 0 The spring pretightening force is adopted, and S is the spring safety coefficient.
Further, the pressing force F n Can be calculated by the following formula:
F n ＝n×F m (4)
n is the number of fastening screws, F m The screw tightening force is calculated by an empirical calculation formula:
wherein: t is the applied torque, P is the pitch, u g Is the friction coefficient in the screw pair, d 2 Is the diameter of the bolt, D km ＝(d w +d h )/2，u g Is the friction coefficient under the bolt head, d w Outer diameter of contact supporting surface, d h The inner diameter of the contact bearing surface.
Compared with the prior art, the invention has the advantages that:
(1) The buffer mechanism can effectively reduce vibration impact, has reliable structure, and does not influence normal activities such as walking, standing and the like of a human body after being worn;
(2) The main body structure of the invention is processed by adopting an aluminum alloy material, and is fastened by adopting threads and pins, so that the weight is light and the rigidity performance is good;
(3) The spring and the rubber pad selected in the invention are replaceable consumable products, and the optimal use state of the equipment can be maintained by periodically replacing the replaceable parts;
(4) The basic principle of the invention is that a spring buffer connection structure is adopted to replace a rigid connection mechanism, and the supporting force and the supporting rigidity of the ankle joint are given by designing the rigidity of a proper compression spring, so that the vibration impact generated by the contact of equipment and the ground is reduced, and the reliability and the comfort of the exoskeleton are optimized.
Drawings
Fig. 1 is a schematic diagram of a calf structure of an industrial exoskeleton robot according to the present invention.
Fig. 2 is a schematic view of the ankle joint structure of the present invention.
Fig. 3 is a partial exploded view of the present invention.
Fig. 4 is an exploded view of the structure at a first view angle of the present invention.
Fig. 5 is an exploded view of the structure at a second view angle of the present invention.
Fig. 6 is an enlarged schematic view of the structure of fig. 4 a according to the present invention.
Fig. 7 is a structural cross-sectional view of the ankle joint of the invention.
In the figure: 1 is an ankle joint support piece, 2 is a rubber pad, 3 is a left cover plate, 4 is a right cover plate, 5 is a guiding closed cover plate, 6 is a joint bearing, 7 is a joint bearing stop plug, 8 is a clamping plate nut, 9 is a fixing strap connecting piece, 10 is a fixing strap, 11 is a damping spring, 12 is a guide shaft, 13 is a limiting pin shaft, 20 is a shank support rod assembly, 21 is a shank support rod, 22 is a shank support shell, 23 is a shank shell gear switch, 30 is an ankle joint support structure, 40 is a damping buffer mechanism, 201 is a shank support rod gear groove, 203 is a limiting protrusion, 206 is accommodated in a groove, 208 is a weight reducing groove, 301 is an installation hole, 302 is a guiding chute, 303 is a sliding groove of the left cover plate, 304 is a sliding groove of the right cover plate, 305 is a closed space, 307 is a groove, 308 is accommodated in a cavity, 309 is a chute, 310 is a sliding groove of the ankle joint support piece, 311 is a shaft installation hole, and 312 is a limiting pin hole.
Detailed Description
The invention is further described with reference to the drawings and specific embodiments.
Referring to fig. 1-3, a vibration damping and buffering mechanism for an ankle joint of an industrial exoskeleton robot for a passive lower limb of the present embodiment includes a shank support rod assembly 20, an ankle joint support mechanism 30, and a vibration damping and buffering mechanism 40, wherein the upper end of the shank support rod assembly 20 is connected with a shank housing 22 of the exoskeleton, the lower end is connected with the ankle joint support mechanism 30, a cavity is formed at the connection, the ankle joint support mechanism 30 contacts with the ground, and is connected and fixed with an ankle of a human body by a fixing strap 10, and the vibration damping and buffering mechanism 40 is accommodated in a cavity space formed by the shank support rod assembly 20 and the ankle joint support mechanism 30; the three components are matched to realize vibration reduction and buffering in the process of industrial exoskeleton robot travelling.
Referring to fig. 3-6, in an embodiment of the present invention, the ankle support mechanism 30 includes an ankle support 1, a rubber pad 2, a left cover plate 3, a right cover plate 4, a knuckle bearing 6, a knuckle bearing stopper 7, a clamp nut 8, a fixing strap connector 9, and a fixing strap 10. Wherein, ankle joint support 1 adopts 7075 aluminum alloy processing, reduces the quality when guaranteeing part structural strength, and rubber pad 2 is connected in ankle joint support 1 bottom, adopts natural rubber processing for reduce vibration impact and ankle joint support wearing and tearing.
Further, a mounting hole 301 of the knuckle bearing 6 is arranged in the middle of the ankle joint support piece 1, and the knuckle bearing 6 is in interference fit with the mounting hole 301 and is fixed through a set screw; the other end of the mounting hole 301 is provided with the joint bearing blocking plug 7, which is processed by natural rubber and is mounted by interference fit, so that dust and other sundries can be prevented from entering the mounting hole 301 after the blocking plug 7 is mounted, and the application effect of the joint bearing 6 is ensured.
Further, the fixing strap connecting piece 9 is processed by 6061 aluminum alloy and is connected with the ankle joint supporting piece 1 through the clamping plate nut 8 and the knuckle bearing 6; the fixing strap 10 is fixedly connected to the fixing strap connector 9 and is made of nylon materials, and the fixing strap 10 is connected with the ankle of a human body when the device is used.
Further, the left cover plate 3 and the right cover plate 4 are processed by 7075 aluminum alloy and are fixed on the ankle joint support piece 1 through a pin shaft and a screw, a sliding groove 310 is formed above the ankle joint support piece 1, a sliding groove 303 is formed in the left cover plate 3, a sliding groove 304 is formed in the right cover plate 4, and the sliding grooves are matched with each other to form a closed space 305.
Further, the ankle support 1 is provided with the chute 309, so that dust accumulation can be reduced, and the risk of clamping hands in the application process of the equipment can be avoided;
referring to fig. 1-7, in this embodiment, the lower leg support rod assembly 20 includes a lower leg support rod 21 and a guiding closing cover plate 5, the lower leg support rod 21 is made of stainless steel, the upper end is slidably matched with the lower leg support shell 22, a gear slot 201 is arranged on the side surface, and the gear slot is matched with a gear switch 23 on the lower leg shell 22 to realize the height adjustment of the lower leg of the equipment. The shank support bar 21 is provided with a weight reduction groove 208, which reduces the weight of the parts while ensuring strength. Further, the lower leg support rod 21 is slidably matched with the ankle joint support member 1, the lower end of the lower leg support rod 20 is provided with a limit protrusion 203, the limit protrusion 203 slides in the closed space 305, and the buffer stroke of the lower leg support rod 21 is controlled by the size design of the chute forming the closed space 305.
Further, the guiding sealing cover plate 5 is processed by 6061 aluminum alloy and is fixedly connected to the lower end of the shank support rod 21 through screws; the lower end of the shank support bar 21 is provided with a containing groove 206 which is matched with a groove 307 in the ankle support 1 to form a buffer mechanism containing cavity 308; the guiding closing cover plate 5 slides in the guiding chute 302 on the ankle joint support, and the guiding closing cover plate and the guiding chute cooperate to close the accommodating cavity 308, so as to prevent dust or other sundries from entering the accommodating cavity 308.
Referring to fig. 3, 6 and 7, the damping buffer mechanism 40 includes a damping spring 11 and a guide shaft 12, a shaft mounting hole 311 and a limit pin hole 312 are provided in the ankle support 1, the guide shaft 12 is mounted on the damping spring, the damping spring 11 is fixed to the guide shaft 12 through a limit pin 13, and both ends of the damping spring pass through the guide shaft 12 and are abutted against the ankle support 1 and the shank support rod assembly 30.
In the present embodiment, the damper spring 11 employs a compression spring, and its stiffness coefficient k can be calculated by the following formula:
K＝S×k (3)
wherein: v 0 For the initial speed of the ankle joint when falling to the ground, x is the preset travel of a spring, m is the mass of the lower limb exoskeleton robot (excluding parts in the ankle joint except for a shank support rod), u friction coefficient, F n For the pressing force applied to the shank support rod, F 0 The spring pretightening force is characterized in that S is a spring safety coefficient, and the spring safety coefficient is combined with the requirements of a mechanical design manual, and is selected by the factors of the use reliability, wearing comfort and the like of the comprehensive equipment.
In the embodiment, 4 screws are used to fix the ankle support 1, the left cover plate 3 and the right cover plate 4 (2 screws respectively), and the pressing force F to the shank support rod n Can be calculated by the following formula:
F n ＝4*F m (4)
F m empirical calculation formula for bolt tightening force
Wherein: t is the applied torque, P is the pitch, u g Is the friction coefficient in the screw pair, d 2 Is the diameter of the bolt, D km ＝(d w +d h )/2，u g For friction under the head of the boltCoefficient d w Outer diameter of contact supporting surface, d h The inner diameter of the contact bearing surface.
In the invention, the main processing parts except the shank support rod 20 are all processed by adopting aluminum alloy materials, and are fastened through screw threads and pin connection, so that the whole structure is light in weight and good in rigidity performance.
The flexible parts such as the springs are detachable and replaceable consumable parts, and the optimal use state of the equipment can be maintained by periodically replacing the replaceable parts.
The foregoing is merely an embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The industrial exoskeleton robot ankle joint with the vibration reduction and buffering functions is characterized by comprising a shank support rod assembly (20), an ankle joint support mechanism (30) and a vibration reduction and buffering mechanism (40), wherein the upper end of the shank support rod assembly (20) is connected with a shank shell (22), the ankle joint support mechanism (30) is in contact with the ground, the lower end of the shank support rod assembly (20) is in sliding connection with the upper end of the ankle joint support mechanism (30), a cavity (308) is formed at the joint, and the vibration reduction and buffering mechanism (40) is accommodated in the cavity (308); the three are matched to realize vibration reduction and buffering of the industrial exoskeleton robot in the running process.
2. The industrial exoskeleton robot ankle joint with the vibration reduction and buffering function according to claim 1, wherein the ankle joint supporting mechanism (30) comprises an ankle joint supporting piece (1), a rubber pad (2), a left cover plate (3), a right cover plate (4), a joint bearing (6), a bearing blocking plug (7), a clamping plate nut (8), a fixing strap connecting piece (9) and a fixing strap (10), wherein the lower end of the ankle joint supporting piece (1) is connected with the rubber pad (2), a mounting hole (301) of the joint bearing (6) is arranged in the middle, the bearing blocking plug (7) is mounted at the other end of the mounting hole (301), the left cover plate (3) and the right cover plate (4) are fixedly connected to the joint supporting piece (1), the fixing strap connecting piece (9) is connected with the ankle joint supporting piece (1) through the joint bearing (6), and the fixing strap (10) is fixedly connected to the fixing strap connecting piece (9).
3. An industrial exoskeleton robot ankle joint with vibration reduction and buffering function according to claim 2, wherein the joint bearing (6) and the mounting hole (301) are in interference fit and fixed through a set screw, and the bearing stopper (7) is machined by natural rubber and mounted by interference fit.
4. An industrial exoskeleton robot ankle joint with vibration damping and buffering function as claimed in claim 2, wherein said shank support bar assembly (20) comprises a shank support bar (21) and a guiding closing cover plate (5), wherein said shank support bar (21) is provided with a gear groove (201) and a weight reduction groove (208) which are connected with a shank support housing (22) by a sliding fit through the gear groove (201); the guiding closing cover plate (5) is fixedly connected to the lower end of the shank supporting rod (21).
5. The industrial exoskeleton robot ankle joint with the vibration reduction and buffering function according to claim 4, wherein the fixing strap connecting piece (9), the left cover plate (3), the right cover plate (4) and the guiding sealing cover plate (5) are all made of aluminum alloy, the shank supporting rod (21) is made of stainless steel materials, and the fixing strap (10) is made of nylon materials.
6. The industrial exoskeleton robot ankle joint with the vibration reduction and buffering function according to claim 1, wherein the vibration reduction and buffering mechanism (40) comprises a vibration reduction spring (11) and a guide shaft (12), a shaft mounting hole (311) and a limit pin hole (312) are formed in the ankle joint support piece (1), the guide shaft (12) is mounted through the shaft mounting hole (311), the guide shaft (12) is fixed through a limit pin shaft (13), the vibration reduction spring (11) penetrates through the guide shaft (12), and two ends of the vibration reduction spring are respectively abutted against the ankle joint support piece (1) and the lower leg support rod assembly (30).
7. The industrial exoskeleton robot ankle joint with the vibration reduction and buffering function according to claim 4, wherein a limit protrusion (203) is arranged at the lower end of the lower leg supporting rod (21), sliding grooves are formed in the upper portion of the ankle supporting piece (1), the left cover plate (3) and the right cover plate (4), the sliding grooves are matched to form a closed space (305), the limit protrusion (203) slides in the closed space (305), and the buffering stroke of the lower leg supporting rod (21) is controlled through the size design of the closed space (305) and the limit protrusion (203).
8. The industrial exoskeleton robot ankle joint with the vibration reduction and buffering function according to claim 4, wherein the lower end of the lower leg supporting rod (21) is provided with a containing groove (206), and the containing groove (307) in the ankle supporting piece (1) is matched with the containing groove to form a containing cavity (308) of the buffering mechanism; the ankle joint support piece (1) is provided with a guide chute (302), the guide sealing cover plate (5) slides in the guide chute (302), and the guide sealing cover plate and the guide chute are matched to seal the accommodating cavity (308) of the damping buffer mechanism.
9. The industrial exoskeleton robot ankle joint with vibration damping and buffering function according to claim 6, wherein the vibration damping spring (11) is a compression spring, a rectangular spring or a gas spring, and the stiffness coefficient k thereof is:
K＝S×k (3)
wherein: v 0 For the initial speed of the ankle joint when falling to the ground, x is the preset travel of a damping spring, m is the mass of the lower limb exoskeleton robot, and the ankle joint does not contain parts except for a lower leg supporting rod, u sliding friction coefficient and F n Is a shank support rodThe compression force is reached, k is the calculated stiffness of the spring, F 0 The spring pretightening force is adopted, and S is the spring safety coefficient.
10. An industrial exoskeleton robot ankle joint with vibration reduction and buffering function according to claim 9, wherein the pressing force F n Can be calculated by the following formula:
F n ＝n×F m (4)
n is the number of fastening screws, F m The screw tightening force is calculated by an empirical calculation formula:
wherein: t is the applied torque, P is the pitch, u g Is the friction coefficient in the screw pair, d 2 Is the diameter of the bolt, D km ＝(d w +d h )/2，u g Is the friction coefficient under the bolt head, d w Outer diameter of contact supporting surface, d h The inner diameter of the contact bearing surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310699694.1A CN116922355A (en) | 2023-06-13 | 2023-06-13 | Industrial exoskeleton robot ankle joint with vibration reduction and buffering functions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310699694.1A CN116922355A (en) | 2023-06-13 | 2023-06-13 | Industrial exoskeleton robot ankle joint with vibration reduction and buffering functions |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116922355A true CN116922355A (en) | 2023-10-24 |
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ID=88381804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310699694.1A Pending CN116922355A (en) | 2023-06-13 | 2023-06-13 | Industrial exoskeleton robot ankle joint with vibration reduction and buffering functions |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116922355A (en) |
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2023
- 2023-06-13 CN CN202310699694.1A patent/CN116922355A/en active Pending
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