CN209107975U - A kind of wearable exoskeleton robot flexible joint - Google Patents
A kind of wearable exoskeleton robot flexible joint Download PDFInfo
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- CN209107975U CN209107975U CN201721453932.7U CN201721453932U CN209107975U CN 209107975 U CN209107975 U CN 209107975U CN 201721453932 U CN201721453932 U CN 201721453932U CN 209107975 U CN209107975 U CN 209107975U
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- flexible
- driving unit
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- lateral flexibility
- link block
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Abstract
The utility model discloses a kind of wearable exoskeleton robot flexible joint, belongs to flexible robot's technical field.It includes matrix, lateral flexibility driving unit, longitudinal flexible driving unit and link block, flexible drive unit forms smooth full curve using a kind of bending deformation of flexible drive material and joint is driven to generate movement, the position and quantity of flexible drive unit comprehensively consider the distribution of human body representativeness muscle, to simulate the movement of muscle at human synovial；According to the difference of flexible drive unit position, the freedom degree movement in 3 directions of flexible joint may be implemented.The utility model makes flexible joint using flexible material, can satisfy the freedom degree motion requirement in 3 directions of human synovial, and be able to achieve good wearing comfort, flexibility and safety；The joint can be used for joint recovering medical field.
Description
Technical field
The utility model belongs to flexible robot's technical field, and especially a kind of wearable exoskeleton robot flexibility is closed
Section.
Background technique
Existing wearable exoskeleton robot structure and kind of drive rigidity are very strong, and material impact resistance is smaller, structure
Heaviness, wearing is inconvenient, limits comfort and the flexibility of wearer motion, user experience is bad.Using rigid structure material
Material, ectoskeleton structure design, motion profile must or flexible couplings consistent with human synovial, limb motion, if there is
Ectoskeleton joint freedom degrees are not enough to match the movement of human synovial or man-machine articulation center is not overlapped or motion profile not
Unanimously, the rehabilitation training caused by acting on because of Ergonomics restrictions can be caused ineffective, or even be easy to cause " secondary damage to human body
Wound ", there are biggish security risks.Realize that exoskeleton robot remains movement consistent with wearer, between the two
Effect minimum is interfered, development is also needed to meet the drive technology and construction design method of the high efficient and flexible of wearing comfort.
Utility model content
To solve the prior art, there are the movements that ectoskeleton joint freedom degrees are not enough to match human synovial, and that dresses relaxes
Adaptive and the bad defect of safety, the utility model are provided a kind of wearable exoskeleton robot flexible joint, are reached with it
While meeting joint motions freedom degree, the comfortableness and security of wearing are improved.
To achieve the above object, the utility model adopts the following technical solutions:
A kind of wearable exoskeleton robot flexible joint, it includes matrix, lateral flexibility driving unit, longitudinal flexible drive
Moving cell and link block, adjacent lateral flexibility driving unit are connected by link block, adjacent longitudinal flexible driving
Unit is connected by link block；Adjacent lateral flexibility driving unit and longitudinal flexible driving unit passes through link block phase
Connection；
One end of lateral flexibility driving unit and longitudinal flexible driving unit seals, and the other end is air inlet, passes through
The bending deformation that inlet charge generates generates driving force；
Two or more lateral flexibility driving units and/or longitudinal flexible driving unit connection carry out drive segment combination
Movement.
By adopting the above technical scheme, lateral flexibility driving unit and longitudinal flexible driving unit utilize a kind of flexible drive
The bending deformation of material forms smooth full curve to drive joint to generate movement；Lateral flexibility driving unit and longitudinal flexible drive
Moving cell is with may be implemented different degrees of bending deformation from the increase of inlet charge air pressure, with air inlet direction difference
Realize the bending deformation of different directions；The outer shape of lateral flexibility driving unit and longitudinal flexible driving unit is not limited to rectangular
Or it is round, the outer shape of link block is not limited to cross type；The outer shape of matrix is not limited to taper, can be according to people
The customization of body joint status.
Further, lateral flexibility driving unit and longitudinal flexible driving unit according to the distribution of human body representativeness muscle come
Position and quantity simulate the movement of muscle at human synovial.
Further, according to the difference of lateral flexibility driving unit and longitudinal flexible driving unit position, to drive
Joint is moved along 3 direction x, the freedom degree of y, z, is joint buckling/stretching, extension, rotation and abduction/adduction movement respectively.
Further, link block is by including that miniature electromagnetic valve and miniature control circuit encapsulate.
Further, matrix is made of flexible material, and wearing mode includes zipper connection, bandage, button and stickup.
The utility model has the advantages that
The utility model makes flexible joint using flexible material, can satisfy the freedom degree fortune in 3 directions of human synovial
Dynamic demand, and it is able to achieve good wearing comfort, flexibility and safety；The joint can be used for joint recovering medical field.
Detailed description of the invention
Fig. 1 is the schematic perspective view of an embodiment of the present invention；
Fig. 2 is the main view of Fig. 1；
Fig. 3 is the single flexible driving unit deformation pattern of an embodiment of the present invention；
Fig. 4 is multiple flexible drive unit combined deformation figures of an embodiment of the present invention；
Fig. 5 is the joint motions freedom degree schematic diagram of an embodiment of the present invention；
Fig. 6 is the joint wearing schematic diagram of an embodiment of the present invention；
In figure: 1- matrix, 2- longitudinal flexible driving unit, 3- link block, 4- lateral flexibility driving unit.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and examples.
Present embodiment discloses a kind of wearable exoskeleton robot flexible joints, as shown in Figs. 1-2, it include matrix 1,
Lateral flexibility driving unit 2, longitudinal flexible driving unit 3 and link block 4, adjacent lateral flexibility driving unit 2 pass through company
Connection module 4 is connected, and adjacent longitudinal flexible driving unit 3 is connected by link block 4；Adjacent lateral flexibility drives single
Member 2 is connected with longitudinal flexible driving unit 3 by link block 4.
As shown in figure 3, be single flexible driving unit (laterally or longitudinally) deformation pattern, one end sealing, the other end be into
Port, the bending deformation that air inlet generates generate driving force, and air inlet direction is different, flexible drive unit bending direction is different；
Equally, as shown in figure 4, combined deformation may be implemented in two or more flexible drive units (laterally and/or longitudinally).
As shown in Figure 5,6, three direction x, the freedom degree movement of y, z may be implemented in joint.Entire joint be divided into front and back side,
Left and right sides.Flexible drive unit motion direction positioned at the same side is consistent.The position of flexible drive unit and quantity meeting
The distribution of human body representativeness muscle is comprehensively considered, to simulate the movement of muscle at human synovial.
Wherein, joint rotation (direction y) movement, the side before and after being arranged in joint may be implemented in lateral flexibility driving unit 2
Lateral flexibility driving unit 2 drive arthrogryposis direction be counterclockwise, then joint may be implemented and revolve in the counterclockwise direction
Turn, is clockwise, then when the lateral flexibility driving unit 2 for being arranged in joint left and right sides drives arthrogryposis direction similarly
Joint may be implemented to be rotated in a clockwise direction.
Joint buckling/stretching, extension (direction x) may be implemented positioned at the longitudinal flexible driving unit 3 of front and back side arrangement to move, when
Longitudinal flexible driving unit 3 positioned at front side bends backward, and joint curvature movement may be implemented；When the longitudinal flexible for being located at rear side
Joint extension movement may be implemented to front curve in driving unit 3.
Joint abduction/interior receipts (direction z) movement may be implemented positioned at the longitudinal flexible driving unit 3 of left and right sides arrangement,
When be located at right side longitudinal flexible driving unit 3 it is bending to the left, may be implemented joint abduction movement, when be located at left side longitudinal direction it is soft
Property driving unit 3 curve inwardly, the movement of intra-articular receipts may be implemented.
It, can be according to being arranged above when joint needs to realize the freedom degree movement in 1 or 2 or 3 direction.
Entire flexible joint can be realized by modes such as bandage, button, zippers to be connect with the joint of human body, to realize
The robot is connected with human body, increases patient comfort.
Human synovial can be helped to carry out rehabilitation exercise by the driving of flexible joint, can be applied to human synovial rehabilitation
Medical field.
Limitation to scope of protection of the utility model, those skilled in the art should understand that, in the skill of the utility model
On the basis of art scheme, the various modifications or variations that can be made by those skilled in the art with little creative work still exists
Within the protection scope of the utility model.
Claims (5)
1. a kind of wearable exoskeleton robot flexible joint, it is characterised in that: it includes matrix (1), lateral flexibility driving list
First (2), longitudinal flexible driving unit (3) and link block (4), the adjacent lateral flexibility driving unit (2) pass through described
Link block (4) is connected, and the adjacent longitudinal flexible driving unit (3) is connected by the link block (4)；It is adjacent
The lateral flexibility driving unit (2) be connected with the longitudinal flexible driving unit (3) by the link block (4)；
One end of the lateral flexibility driving unit (2) and the longitudinal flexible driving unit (3) seals, the other end be into
Port generates driving force by bending deformation that the inlet charge generates；
Two or more lateral flexibility driving units (2) and/or the longitudinal flexible driving unit (3) connection drive point
Section aggregate motion.
2. wearable exoskeleton robot flexible joint according to claim 1, it is characterised in that: the lateral flexibility is driven
Moving cell (2) and the longitudinal flexible driving unit (3) are according to the distribution of human body representativeness muscle come position and quantity, mould
The movement of anthropomorphic body joint muscle.
3. wearable exoskeleton robot flexible joint according to claim 1 or 2, it is characterised in that: according to the cross
To the difference of flexible drive unit (2) and the longitudinal flexible driving unit (3) position, to drive joint along 3 directions
The freedom degree of x, y, z move, and are joint buckling/stretching, extension, rotation and abduction/adduction movement respectively.
4. wearable exoskeleton robot flexible joint according to claim 1, it is characterised in that: the link block
(4) by including that miniature electromagnetic valve and miniature control circuit encapsulate.
5. wearable exoskeleton robot flexible joint according to claim 1, it is characterised in that: described matrix (1) by
Flexible material composition, wearing mode includes zipper connection, bandage, button and stickup.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721453932.7U CN209107975U (en) | 2017-11-03 | 2017-11-03 | A kind of wearable exoskeleton robot flexible joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721453932.7U CN209107975U (en) | 2017-11-03 | 2017-11-03 | A kind of wearable exoskeleton robot flexible joint |
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| Publication Number | Publication Date |
|---|---|
| CN209107975U true CN209107975U (en) | 2019-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721453932.7U Active CN209107975U (en) | 2017-11-03 | 2017-11-03 | A kind of wearable exoskeleton robot flexible joint |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107648012A (en) * | 2017-11-03 | 2018-02-02 | 中国科学院合肥物质科学研究院 | A kind of wearable exoskeleton robot flexible joint |
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2017
- 2017-11-03 CN CN201721453932.7U patent/CN209107975U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107648012A (en) * | 2017-11-03 | 2018-02-02 | 中国科学院合肥物质科学研究院 | A kind of wearable exoskeleton robot flexible joint |
| CN107648012B (en) * | 2017-11-03 | 2023-12-01 | 中国科学院合肥物质科学研究院 | Flexible joint of wearable exoskeleton robot |
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