CN208552420U - A kind of flexibility lower limb exoskeleton - Google Patents
A kind of flexibility lower limb exoskeleton Download PDFInfo
- Publication number
- CN208552420U CN208552420U CN201721563575.XU CN201721563575U CN208552420U CN 208552420 U CN208552420 U CN 208552420U CN 201721563575 U CN201721563575 U CN 201721563575U CN 208552420 U CN208552420 U CN 208552420U
- Authority
- CN
- China
- Prior art keywords
- lower limb
- articular lamella
- connecting rod
- limb exoskeleton
- power bias
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The utility model provides a kind of flexible lower limb exoskeleton, including flexible knee protector and bionic joint, bionic joint are set to the side of flexible knee protector；Bionic joint includes articular lamella, power bias slice, supporting element and connecting rod；Articular lamella is fixedly connected with the huckle of flexible knee protector, and power bias slice is fixedly connected with the calf of flexible knee protector；Supporting element is fixed at the first end of power bias slice, is used to support the first end of articular lamella；The both ends of connecting rod are rotatablely connected with the second end of articular lamella and the second end of power bias slice respectively.The utility model constitutes bionic joint by articular lamella, power bias slice, supporting element and connecting rod.Both ends by the way that connecting rod is arranged are rotatablely connected with articular lamella and power bias slice respectively, are separated supporting element with articular lamella, are not influenced bending walking, it is made to be consistent with human body knee joint componental movement；Supporting element generates support force when human body is stood, and mitigates human body self gravity to kneed pressure.In addition, its structure is simple, quality is small, easy to wear.
Description
Technical field
The utility model relates to technical field of medical equipment, and in particular to a kind of flexibility lower limb exoskeleton.
Background technique
Currently, the research of ectoskeleton power assisting device is gradually risen, it is with a wide range of applications, such as helps the elderly and help the disabled, medical treatment
Rehabilitation, industrial production, earthquake rescue, the fields such as individual combat.General assistance exoskeleton, which has the following characteristics that, can detecte people
The motion intention of body；With the joint freedom degrees similar with human body and articulation space；With necessary joint active drive
To assist power output；Included control system and energy resource system；With certain Security mechanism.
Existing lower limb exoskeleton include back bracket, hip joint executing agency, thick link, knee joint executing agency,
Shank link and foot force shoes.Turning joint when its main activities position of the lower limb exoskeleton robot and the day for human beings often walk
It is adapted, is able to satisfy the secondary requirements of daily walking, avoid joint of robot and excessively flexibly lose necessary Auxiliary support
Effect；Using the flexible binding strip of multiple location, comfort level when user's wearing is improved；In waist, joint and sole
It is equipped with sensor or encoder carries out information collection, and focus on information, the daily exercise information for the person of being convenient to use, no
The walking habits for allowing robot predicting to go out user are only capable of, also facilitates observer to understand the physical condition of user, is mentioned for medical treatment
For convenient.
Above-mentioned lower limb exoskeleton has the following deficiencies: that 1) sole mass is larger, and mechanical structure is complex；2) it mainly adopts
With rigid rod, ergonomics relative theory is not met；3) design of the bondage device of the device and human body is complicated, can not be fine
Satisfaction wearing simplification.
Utility model content
(1) technical problems to be solved
The utility model aims to solve at least one of technical problems existing in the prior art or related technologies.For this purpose, this
One purpose of utility model is the flexible lower limb exoskeleton for proposing that a kind of quality is small, structure is simple, easy to wear.
(2) technical solution
In order to solve the above-mentioned technical problem, the utility model provides a kind of flexible lower limb exoskeleton, including flexible knee protector and
Bionic joint, the bionic joint are set to the side of the flexible knee protector；Wherein, the bionic joint includes that articular lamella, power are inclined
Set piece, supporting element and connecting rod；The articular lamella is fixedly connected with the huckle of the flexible knee protector, the power bias slice with it is described
The calf of flexible knee protector is fixedly connected；The supporting element is fixed at the first end of the power bias slice, is used to support described
The first end of articular lamella；The both ends of the connecting rod connect with the second end of the articular lamella and the rotation of the second end of power bias slice respectively
It connects.
Wherein, the second end of the articular lamella is equipped with mounting hole, is equipped in can circumferentially rotating along it in the mounting hole
Bearing, the first end of the connecting rod are connect by locating shaft with the inner bearing, the second end of the connecting rod pass through pin with it is described
The second end of power bias slice is rotatablely connected.
Wherein, the inner bearing is spherical bearing, and the mounting hole is equipped with the spherical surface cooperated with the spherical bearing.
Wherein, the outside of the mounting hole is equipped with limit capping, the limit capping and the positioning axis connection, the company
The first end of bar and limit capping connect.
Wherein, mounting hole lug boss with outward extension, the lug boss are to cooperate with the spherical bearing
Spherical structure.
Wherein, the limit capping is equipped with the spherical surface with the raised portion fits.
Wherein, the connecting rod is structure as a whole with limit capping.
Wherein, the supporting element is oil buffer.
It wherein, further include GPS module, the GPS module is set on the articular lamella.
It wherein, further include acceleration transducer, the acceleration transducer is set on the articular lamella.
(3) beneficial effect
Compared with prior art, the utility model has the advantages that
The utility model provides a kind of flexible lower limb exoskeleton, is made up of articular lamella, power bias slice, supporting element and connecting rod
Bionic joint.Both ends by the way that connecting rod is arranged are rotatablely connected with articular lamella and power bias slice respectively, make supporting element and articular lamella point
From, do not influence lower limb bending walking, so that it is consistent with human body knee joint componental movement；Meanwhile supporting element is produced when human body is stood
Raw support force, to mitigate human body self gravity to kneed pressure.In addition, its structure is simple, quality is small, easy to wear.
Detailed description of the invention
In order to illustrate more clearly of the embodiment of the present disclosure or technical solution in the prior art, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Disclosed some embodiments for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these figures.
Fig. 1 is a kind of structural schematic diagram of flexible lower limb exoskeleton of the utility model；
Fig. 2 is a kind of structural schematic diagram of the bionic joint of flexible lower limb exoskeleton of the utility model；
Fig. 3 is a kind of structural schematic diagram of the bionic joint outer ring of flexible lower limb exoskeleton of the utility model；
Fig. 4 is a kind of front view of the bionic joint of flexible lower limb exoskeleton of the utility model；
Fig. 5 is sectional view along A-A in Fig. 4；
Description of symbols
1- thigh fixinig plate；2- articular lamella；3- controller box；4- oil buffer；5- power bias slice；6- shank is fixed
Piece；7- pin；8- limit capping；9- flexible knee protector；10- inner bearing；11- end cover；12- locating shaft.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Example is not intended to limit the scope of the present invention for illustrating the utility model.
In the description of the present invention, it should be noted that unless otherwise indicated, the meaning of " plurality " is two or two
More than a；The instructions such as term " on ", "lower", "left", "right", "inner", "outside", " front end ", " rear end ", " head ", " tail portion "
Orientation or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the utility model and simplification
Description, rather than the device or element of indication or suggestion meaning must have a particular orientation, constructed and grasped with specific orientation
Make, therefore should not be understood as limiting the present invention.In addition, term " first ", " second ", " third " etc. are only used for describing
Purpose is not understood to indicate or imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
Embodiment 1:
It as shown in Figs. 1-5, is a kind of flexible lower limb exoskeleton provided in this embodiment, including flexible knee protector 9 and bionical pass
Section, bionic joint are set to the side of flexible knee protector 9.
Bionic joint includes articular lamella 2, power bias slice 5, supporting element and connecting rod；The huckle of articular lamella 2 and flexible knee protector 9
It is fixedly connected, power bias slice 5 is fixedly connected with the calf of flexible knee protector 9；Supporting element is fixed at the first of power bias slice 5
End, is used to support the first end of articular lamella 2；The both ends of the connecting rod second end with the second end of articular lamella 2 and power bias slice 5 respectively
Rotation connection.
In the present embodiment, articular lamella 2 is fixedly connected by thigh fixinig plate 1 with the huckle of flexible knee protector 9；Power bias slice
5 are fixedly connected by shank fixinig plate 6 with the calf of flexible knee protector 9.
In the present embodiment, the second end of articular lamella 2 is equipped with mounting hole, and being equipped in mounting hole can be along the inner shaft that it is circumferentially rotated
10 are held, the first end of connecting rod is connect by locating shaft 12 with inner bearing 10, and the second end of connecting rod passes through pin 7 and power bias slice 5
Second end rotation connection.
Further, inner bearing 10 is spherical bearing, and mounting hole is equipped with the spherical surface cooperated with spherical bearing.Spherical bearing can
The axial slight amplitude that carries out along mounting hole swings, and axial freedom degree is increased, with human body knee joint componental movement
It is consistent.In the present embodiment, mounting hole lug boss with outward extension, lug boss is the spherical structure cooperated with spherical bearing,
Increase swing space of the inner bearing 10 in mounting hole.
Further, the outside of mounting hole is equipped with limit capping 8, and limit capping 8 is connect with locating shaft 12, and the first of connecting rod
End is connect with limit capping 8.Limit capping 8 can play the role of limit to inner bearing 10, prevent it from falling off.In the present embodiment,
Connecting rod is structure as a whole with limit capping 8, reduces connector, makes the simpler beauty of structure.
Further, limit capping 8 is equipped with the spherical surface with raised portion fits.
Further, supporting element is oil buffer 4.In person upright, oil buffer 4 is shunk, and buffers articular lamella 2
Impact force, and support the first end of articular lamella 2, reduce to kneed weight bearing.
In the present embodiment, mounting hole is through-hole, is equipped with end cover 11 at interior side port；End cover 11 is used for will be interior
Bearing 10 is limited and is sealed.
Below by specific process, further detailed description.
Flexible knee protector 9 is tightly bonded with human body lower limbs, is buckled and is fixed by 9 rear of flexible knee protector.
Bionic joint and human body knee joint synchronous operation.Specifically, bending when, power bias slice 5 with flexible knee protector 9 shank
Portion is lifted, and the first end of articular lamella 2 is tilted to be detached from oil buffer 4；Meanwhile inner bearing 10 in mounting hole with human body lower limbs
Movement axially swings along it, realizes multivariant movement, reduces the influence to lower limb bending walking.When upright,
Power bias slice 5 protracts with the calf of flexible knee protector 9, and oil buffer 4 plays the work of support against the first end of articular lamella 2
With reduction is to kneed damage.
It further, further include driving assembly；Driving assembly includes hawser and driving motor, the first end and flexibility of hawser
The calf of knee-pad 9 or human calf's connection, the second end of hawser are connect with driving motor, and driving motor is set to human body waist.
Specifically, being equipped with the snap ring for constraining hawser, snap ring and flexible knee protector in the present embodiment, on the downside of shank gastrocnemius
9 rears snap connection, and hawser is connect with snap ring.
The present embodiment provides a kind of flexible lower limb exoskeletons, are made up of articular lamella, power bias slice, supporting element and connecting rod imitative
Raw joint.Both ends by the way that connecting rod is arranged are rotatablely connected with articular lamella and power bias slice respectively, separate supporting element with articular lamella,
Lower limb bending walking is not influenced.It is spherical bearing by setting inner bearing, can swings in mounting hole along its circumferential direction, increases
Freedom degree is added, it is made more to be consistent with human body knee joint componental movement；Meanwhile supporting element generates support force when human body is stood,
To mitigate human body self gravity to kneed pressure.Hawser is pulled to provide power-assisted generation in the process of walking by driving motor
For part human body self power, to slow down because of long-term motion caused by knee joint fatigue；In addition, under flexibility provided in this embodiment
Limb ectoskeleton, structure is simple, and quality is small, easy to wear.
Embodiment 2:
The present embodiment is substantially the same manner as Example 1, brief for description, during the description of the present embodiment, no longer
Technical characteristic same as Example 1 is described, only illustrates the present embodiment difference from Example 1:
It further, further include GPS module, GPS module is set on articular lamella, is positioned by GPS module, and record
User's track route.
It further, further include acceleration transducer, acceleration transducer is set on articular lamella；When human body is stood, add
Consistent immediately ahead of the X-axis and human body of velocity sensor, Z axis is perpendicular to the ground.The information that acceleration transducer detects passes through control
Device processed is handled, and obtains kneed degree of fatigue.Data processing method is as follows:
Acquire real-time gait acceleration SaiThe value is carried out Gassian low-pass filter, to eliminate noise, passed through by (0 < i≤n)
Data after gaussian filtering are denoted as Sa 'i(0 < i≤n), is normalized filtered data
Each user can carry out data acquisition first, record data when non-fatigue stateThe data of real-time detection are through excessively high
This filtering is denoted as with the data after normalizedThe related coefficient of measured value and record value is calculated,Related coefficient value is 0~1, and closer with 0, degree of fatigue is higher.
In the present embodiment, articular lamella 2 is equipped with controller box 3, and GPS module and acceleration transducer are set to controller box
In 3.
It further, further include terminal display device, GPS module and acceleration transducer connect with terminal display device
It connects, user can inquire the track route and knee joint degree of fatigue of user in terminal display device at any time.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (10)
1. a kind of flexibility lower limb exoskeleton, which is characterized in that including flexible knee protector and bionic joint, the bionic joint is set to institute
State the side of flexible knee protector；Wherein, the bionic joint includes articular lamella, power bias slice, supporting element and connecting rod；The articular lamella
It is fixedly connected with the huckle of the flexible knee protector, the power bias slice is fixedly connected with the calf of the flexible knee protector；Institute
The first end that supporting element is fixed at the power bias slice is stated, the first end of the articular lamella is used to support；The two of the connecting rod
End is rotatablely connected with the second end of the articular lamella and the second end of power bias slice respectively.
2. flexibility lower limb exoskeleton according to claim 1, which is characterized in that the second end of the articular lamella is equipped with installation
Hole, be equipped in the mounting hole can along the inner bearing that it is circumferentially rotated, the first end of the connecting rod by locating shaft with it is described interior
The second end of bearing connection, the connecting rod is rotatablely connected by the second end of pin and the power bias slice.
3. flexibility lower limb exoskeleton according to claim 2, which is characterized in that the inner bearing is spherical bearing, described
Mounting hole is equipped with the spherical surface cooperated with the spherical bearing.
4. flexibility lower limb exoskeleton according to claim 3, which is characterized in that the outside of the mounting hole is equipped with limit envelope
Lid, the limit capping and the positioning axis connection, the first end of the connecting rod and limit capping connect.
5. flexibility lower limb exoskeleton according to claim 4, which is characterized in that the mounting hole is with outward extension convex
The portion of rising, the lug boss is the spherical structure cooperated with the spherical bearing.
6. flexibility lower limb exoskeleton according to claim 5, which is characterized in that the limit capping is equipped with and the protrusion
The spherical surface of portion's cooperation.
7. flexibility lower limb exoskeleton according to claim 4, which is characterized in that the connecting rod is one with limit capping
Body structure.
8. flexibility lower limb exoskeleton according to claim 1, which is characterized in that the supporting element is oil buffer.
9. flexibility lower limb exoskeleton according to claim 1-8, which is characterized in that it further include GPS module, it is described
GPS module is set on the articular lamella.
10. flexibility lower limb exoskeleton according to claim 1-8, which is characterized in that further include acceleration sensing
Device, the acceleration transducer are set on the articular lamella.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721563575.XU CN208552420U (en) | 2017-11-21 | 2017-11-21 | A kind of flexibility lower limb exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721563575.XU CN208552420U (en) | 2017-11-21 | 2017-11-21 | A kind of flexibility lower limb exoskeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208552420U true CN208552420U (en) | 2019-03-01 |
Family
ID=65445688
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721563575.XU Expired - Fee Related CN208552420U (en) | 2017-11-21 | 2017-11-21 | A kind of flexibility lower limb exoskeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208552420U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107898604A (en) * | 2017-11-21 | 2018-04-13 | 北京林业大学 | A kind of flexibility lower limb exoskeleton |
| CN112076069A (en) * | 2020-09-09 | 2020-12-15 | 浙大宁波理工学院 | Flexible wearable knee joint protection ectoskeleton and walking helping hand system |
-
2017
- 2017-11-21 CN CN201721563575.XU patent/CN208552420U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107898604A (en) * | 2017-11-21 | 2018-04-13 | 北京林业大学 | A kind of flexibility lower limb exoskeleton |
| CN112076069A (en) * | 2020-09-09 | 2020-12-15 | 浙大宁波理工学院 | Flexible wearable knee joint protection ectoskeleton and walking helping hand system |
| CN112076069B (en) * | 2020-09-09 | 2022-08-23 | 浙大宁波理工学院 | Flexible wearable knee joint protection exoskeleton and walking assistance system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190301 Termination date: 20211121 |