CN208464578U - Mechanical exoskeleton joint and lower limb exoskeleton assistant robot - Google Patents

Abstract

The utility model discloses a kind of mechanical exoskeleton joint, including first support arm and second support arm, the first support arm and the second support arm, which are mutually pivotally connected, forms joint shaft, the mechanical exoskeleton joint further includes motor, mounting base, steel wire, driving wheel and driven wheel, the mounting base is fixed on the first support arm, the motor and the driving wheel are set to the mounting base, the output end of the motor is connect with the driving wheel, the driven wheel is fixed on the second support arm, and the central axis of the driven wheel and the joint shaft are coaxial；Between the driving wheel and the driven wheel that the steel wire is wound in.The utility model mechanical exoskeleton joint has the advantages that control is simple, stable transmission is reliable.In addition, a kind of lower limb exoskeleton assistant robot is also disclosed in the utility model.

Description

Mechanical exoskeleton joint and lower limb exoskeleton assistant robot

Technical field

The utility model relates to a kind of mechanical exoskeletons more particularly to a kind of mechanical exoskeleton joint and lower limb exoskeleton to help Row robot.

Background technique

For some disabled persons or limbs function are damaged the patient for needing boot recovery, mechanical exoskeleton is used Bracket secondary row movement use is very big, not only the life of disabled person or patient can be made to can take care of oneself, can be also used for guiding Patient carries out functional recovery training, and therefore, exoskeleton robot is vital to disabled person and patient.

Existing mechanical exoskeleton is by the way that made of imitation human skeleton and joint designs, the joint between bone is usual It is to be driven using motor and gear set, to reach the movement of limbs；However, due to the variability of limb motion movement and multiple Polygamy will imitate realization completely and just need more complicated gear drive, therefore, positional relationship and company between gear and gear The relationship of connecing will be more complicated, and control is just more difficult, so that it is reliable to be not sufficiently stable transmission.

Utility model content

The purpose of this utility model is to provide a kind of controls simply, the reliable mechanical exoskeleton joint of stable transmission.

The purpose of this utility model is to provide a kind of controls simply, the reliable lower limb exoskeleton walk help machine of stable transmission People.

To achieve the goals above, mechanical exoskeleton joint provided by the utility model includes first support arm and second Arm, the first support arm and the second support arm, which are mutually pivotally connected, forms joint shaft, the mechanical exoskeleton joint further include motor, Mounting base, steel wire, driving wheel and driven wheel, the mounting base are fixed on the first support arm, the motor and the driving wheel It is set to the mounting base, the output end of the motor is connect with the driving wheel, and the driven wheel is fixed on described second Arm, the central axis of the driven wheel and the joint shaft are coaxial；The driving wheel and the driven wheel that the steel wire is wound in Between.

Compared with prior art, it is carried out between the driving wheel and the driven wheel using steel wire due to the utility model Transmission, and by the way that steel wire to be wound between the driving wheel and the driven wheel, so that the steel wire is set around institute in multi-turn State driving wheel and be fixedly connected with the driving wheel in single-point, and make the steel wire be set around in individual pen the driven wheel and with The driven wheel is fixedly connected in single-point, to drive the driving wheel that the driven wheel can be driven to rotate when rotating, in turn Realize that the movement in joint, entire movement only need to control the motor, control is simple, moreover, because steel wire and driving wheel And driven wheel is fixedly connected in single-point, during steel wire-driven, will not be sent out between steel wire and driving wheel and driven wheel Raw to skid, therefore, the stability and reliability of transmission are very high.

Preferably, the steel wire is fixedly connected with the driving wheel and driven wheel in single-point respectively.

Preferably, the mechanical exoskeleton joint further includes several guide wheel groups, the steel wire is set around the guide wheel Group.

Specifically, the guide wheel group includes a pair of first guide wheel, and first guide wheel is articulated in the mounting base.

Specifically, the guide wheel group includes a pair of second guide wheel, and second guide wheel is articulated in described first Arm.

A kind of lower limb exoskeleton assistant robot including bracket and is set to the lower limb of the bracket two sides, the lower limb Including being connected to the big leg joint of the bracket, the thigh support for being connected to the big leg joint, being connected to the thigh support Knee endoprosthesis, be connected to the knee endoprosthesis leg support, the connection leg support ankle arthrosis and be connected to The sole of the ankle arthrosis, it is characterised in that: the big leg joint, knee endoprosthesis and ankle arthrosis are the mechanical dermoskeleton Bone joint.

Preferably, being equipped with the outer Zhang Guanjie of thigh between the bracket and the big leg joint, the outer Zhang Guanjie of the thigh is The joint shaft in the mechanical exoskeleton joint, the outer Zhang Guanjie of the thigh is vertical with the joint shaft of the big leg joint.

Preferably, being pivotally connected central axis along the thigh support in pivot joint between the thigh support and the big leg joint Length direction setting, can enable thigh support rotation certain angle in this way, realize the realistic operation of simulation lower limb.

Specifically, driving device is equipped between the thigh support and the big leg joint, the driving device drives institute State thigh support rotation.

Specifically, the driving device includes driving motor, gear and sector gear, and the sector gear is fixed on described Thigh support, the driving motor are fixed on the second support arm of the big leg joint, and the gear is defeated with the driving motor Outlet is connected and is engaged with the sector gear.Gear and sector gear is driven to realize thigh support using the driving motor Rotation, control is simple, and stable transmission is reliable.

Specifically, arcuate socket is offered in the second support arm of the big leg joint, the thigh support is equipped with spacer pin Nail, the position-limitting pin are slidably plugged in the arcuate socket.The arcuate socket and the position-limitting pin are set, can be prevented described Thigh support rotational angle is excessive.

Detailed description of the invention

Fig. 1 is the structure chart of the utility model lower limb exoskeleton assistant robot.

Fig. 2 is the structure chart of another angle of the utility model lower limb exoskeleton assistant robot.

Fig. 3 is the structure chart in the mechanical exoskeleton joint in the utility model lower limb exoskeleton assistant robot.

Fig. 4 is the enlarged drawing of part A in Fig. 2.

Specific embodiment

For technology contents, the construction feature, the effect realized that the utility model is described in detail, below in conjunction with embodiment And attached drawing is cooperated to be explained in detail.

As shown in Figure 1 and Figure 2, lower limb exoskeleton assistant robot 100 of the present invention includes bracket 1 and described 1 liang of bracket of setting The lower limb 2 of side, the lower limb 2 include being connected to the big leg joint 21 of the bracket 1, being connected to the thigh of the big leg joint 21 Support 22, the knee endoprosthesis 23 for being connected to 22 lower end of thigh support, the leg support 24 for being connected to the knee endoprosthesis 23, It connects the ankle arthrosis 25 of 24 lower end of leg support and is connected to the sole 26 of the ankle arthrosis 25；The thigh closes The 21 control thigh support 22 of section lifts and declines in front-rear direction, and the knee endoprosthesis 23 controls the leg support 24 and exists Front-rear direction lifts and declines, and the ankle arthrosis 25 controls the sole 26 and lifts and decline in front-rear direction, the thigh Joint 21, knee endoprosthesis 23 and ankle arthrosis 25 are mechanical exoskeleton joint.

In conjunction with Fig. 1, then as shown in figure 3, the mechanical exoskeleton joint includes first support arm 31, second support arm 32, motor 33, mounting base 34, steel wire 35, driving wheel 36, driven wheel 37 and several guide wheel groups 38, the round pivot joint of the first support arm 31 Head and the round pivot connector of the second support arm 32 are mutually pivotally connected and form joint shaft a, and the mounting base 34 is fixed on described first Support arm 31, the motor 33 are fixed on the upside of the mounting base 34, and the driving wheel 36 is articulated under the mounting base 34 Side, the drive-connecting shaft b of the driving wheel 36 are mutually perpendicular to the joint shaft a.The output end and the driving wheel of the motor 33 36 connections, the driven wheel 37 are fixed on the second support arm 32, and the central axis of the driven wheel 37 and the joint shaft a are same Axis；Between the driving wheel 36 and the driven wheel 37 that the steel wire 35 is wound in.The steel wire 35 and the driving wheel 36 It is fixedly connected in single-point, the steel wire 35 is fixedly connected with the driven wheel 37 in single-point.When the driving wheel 36 rotates, pass through The steel wire 35 of 36 side of driving wheel pulls the driven wheel 37, and the steel wire 35 of 36 other side of the driving wheel It is then released and the driven wheel 37 is cooperated to rotate, so that the driven wheel 37 be made to rotate, realize the transmitting of power.Specifically, The steel wire 35 is set around steel wire 35 described in the driving wheel 36 in multi-turn and is set around the driven wheel 37 in individual pen, described Steel wire 35 is set around the guide wheel group simultaneously.

It is described again referring to Fig. 3, the guide wheel group includes the first guide wheel 38a of a pair and a pair of second guide wheel 38b First guide wheel 38a is articulated in the downside of the mounting base 34, and the drive-connecting shaft c of the two first guide wheel 38a is parallel to each other, institute The drive-connecting shaft c for stating the first guide wheel 38a is vertical with the drive-connecting shaft b of the driving wheel 36 and the joint shaft a respectively.Described first Extend interconnecting piece 31a on the round pivot connector of support arm 31, the second guide wheel 38b is articulated in the company of the first support arm 31 On socket part 31a, the drive-connecting shaft d of the two second guide wheel 38b is parallel to each other, the drive-connecting shaft d of the second guide wheel 38b and institute It is parallel to state joint shaft a.

Fig. 1 and Fig. 2 is please referred to again, and the outer Zhang Guanjie 27 of thigh is equipped between the bracket 1 and the big leg joint 21, it is described The outer Zhang Guanjie 27 of thigh controls the side oscillation to left and right of lower limb 2, to realize outer relatively, two lower limb 2；Outside the thigh Zhang Guanjie 27 is also the mechanical exoskeleton joint, the joint shaft e and the big leg joint 21 of the outer Zhang Guanjie 27 of the thigh Joint shaft a is vertical.

As shown in figure 4, pivot joint central axis is along described big in pivot joint between the thigh support 22 and the big leg joint 21 The length direction of leg support 22 is arranged, and in the application, the thigh support 22 is cylindrical, and the upper end of the thigh support 22 is straight Female connector is connected in the second support arm of the big leg joint 21, keeps the central axis of the pivot joint central axis and the big leg joint 21 same Axis.Due to that will be in pivot grounding connection between the thigh support 22 and the big leg joint 21, and make the pivot joint central axis of the two Length direction along the thigh support 22 is arranged, therefore, so that the thigh support 22 can be along the pivot joint central axis Rotation, and then the freedom degree of a rotation is provided for the thigh support 22, the twisting action of the freedom degree analog lower limb, simulation The movement of lower limb is more true, flexible.Driving device 28 is equipped between the thigh support 22 and the big leg joint 21, it is described Driving device 28 drives the thigh support 22 around the pivot joint central axis rotation certain angle.Specifically, the driving dress Setting 28 includes that driving motor 28a, gear 28b and sector gear 28c, the sector gear 28c are fixed on the thigh support 22, The driving motor 28a be fixed in the second support arm 32 of the big leg joint 21 and output end in downwards, the gear 28b with The output end of the driving motor 28a is connected and is engaged with the sector gear 28c.It is driven using the driving motor 28a Gear 28b and sector gear 28c realizes the rotation of thigh support 22, and control is simple, and stable transmission is reliable.

Again as shown in figure 4, offering arcuate socket 32a in the second support arm of the big leg joint 21, the thigh support 22 It is equipped with position-limitting pin 22a, the position-limitting pin 22a is slidably plugged in the arcuate socket 32a.The arcuate socket 32a is set And the position-limitting pin 22a, 22 rotational angle of thigh support can be prevented excessive.

Compared with prior art, steel wire is utilized between the driving wheel 36 and the driven wheel 37 due to the utility model 35 are driven, and by the way that steel wire 35 to be wound between the driving wheel 36 and the driven wheel 37, make the steel wire 35 be in It is set around to multi-turn the driving wheel 36 and is fixedly connected with the driving wheel 36 in single-point, and make the steel wire 35 in individual pen It is set around the driven wheel 37 and is fixedly connected with the driven wheel 37 in single-point, thus when driving the driving wheel 36 rotation i.e. The driven wheel 37 can be driven to rotate, and then realize the movement in joint, entire movement only needs to control the motor 33, controls System is simple, moreover, because steel wire 35 is fixedly connected with driving wheel 36 and driven wheel 37 in single-point, in the mistake that steel wire 35 is driven Cheng Zhong will not skid between steel wire 35 and driving wheel 36 and driven wheel 37, and therefore, the stability and reliability of transmission are very It is high；And entire lower limb exoskeleton assistant robot 100 is driven since each joint is all made of the mechanical exoskeleton joint, Therefore, also very simple is controlled, the effect for simulating limb motion is good, and motion stability is reliable.

The control method of each motor 33 involved by the utility model lower limb exoskeleton assistant robot 100 is ability Known to the those of ordinary skill of domain, no longer it is described in detail herein.

Above disclosed is only the preferred embodiments of the utility model, cannot limit the utility model certainly with this Interest field, therefore equivalent variations made according to the patent scope of the utility model still falls within the utility model and covered Range.

Claims (11)

1. a kind of mechanical exoskeleton joint, including first support arm and second support arm, the first support arm and the second support arm phase Mutually pivot joint form joint shaft, it is characterised in that: the mechanical exoskeleton joint further include motor, mounting base, steel wire, driving wheel and Driven wheel, the mounting base are fixed on the first support arm, and the motor and the driving wheel are set to the mounting base, described The output end of motor is connect with the driving wheel, and the driven wheel is fixed on the second support arm, the central axis of the driven wheel It is coaxial with the joint shaft；Between the driving wheel and the driven wheel that the steel wire is wound in.

2. mechanical exoskeleton joint as described in claim 1, it is characterised in that: the steel wire respectively with the driving wheel and from Driving wheel is fixedly connected in single-point.

3. mechanical exoskeleton joint as described in claim 1, it is characterised in that: the mechanical exoskeleton joint further includes several Guide wheel group, the steel wire are set around the guide wheel group.

4. mechanical exoskeleton joint as claimed in claim 3, it is characterised in that: the guide wheel group includes that a pair first guides Wheel, first guide wheel are articulated in the mounting base.

5. mechanical exoskeleton joint as claimed in claim 4, it is characterised in that: the guide wheel group includes that a pair second guides Wheel, second guide wheel are articulated in the first support arm.

6. a kind of lower limb exoskeleton assistant robot, including bracket and it is set to the lower limb of the bracket two sides, the lower limb packet It includes and is connected to the big leg joint of the bracket, the thigh support that is connected to the big leg joint, be connected to the thigh support Knee endoprosthesis, the leg support for being connected to the knee endoprosthesis, the connection leg support ankle arthrosis and be connected to institute State the sole of ankle arthrosis, it is characterised in that: the big leg joint, knee endoprosthesis and ankle arthrosis are that claim 1-5 appoints Mechanical exoskeleton joint described in one.

7. lower limb exoskeleton assistant robot as claimed in claim 6, it is characterised in that: the bracket and the big leg joint Between be equipped with the outer Zhang Guanjie of thigh, the outer Zhang Guanjie of the thigh is the mechanical exoskeleton joint.

8. lower limb exoskeleton assistant robot as claimed in claim 6, it is characterised in that: the thigh support and the thigh In pivot joint between joint, pivot joint central axis is arranged along the length direction of the thigh support.

9. lower limb exoskeleton assistant robot as claimed in claim 8, it is characterised in that: the thigh support and the thigh Driving device is equipped between joint, the driving device drives the thigh support rotation.

10. lower limb exoskeleton assistant robot as claimed in claim 9, it is characterised in that: the driving device includes driving Motor, gear and sector gear, the sector gear are fixed on the thigh support, and the driving motor is fixed on the thigh The second support arm in joint, the gear connect with the output end of the driving motor and engage with the sector gear.

11. lower limb exoskeleton assistant robot as claimed in claim 8, it is characterised in that: second of the big leg joint Arcuate socket is offered on arm, the thigh support is equipped with position-limitting pin, and the position-limitting pin is slidably plugged in the arc Hole.