CN209347554U - A kind of lower limb exoskeleton knee joint based on torsional spring clutch - Google Patents
A kind of lower limb exoskeleton knee joint based on torsional spring clutch Download PDFInfo
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- CN209347554U CN209347554U CN201721571311.9U CN201721571311U CN209347554U CN 209347554 U CN209347554 U CN 209347554U CN 201721571311 U CN201721571311 U CN 201721571311U CN 209347554 U CN209347554 U CN 209347554U
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- axis
- connecting rod
- knee joint
- torsional spring
- lower limb
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Abstract
The utility model relates to a kind of lower limb exoskeleton knee joint based on torsional spring clutch, femur connecting rod, the shin bone connecting rod, tibial axis, femoral axis that the knee joint includes encoder axis and is axially sequentially sleeved on encoder axis along encoder axis, femur connecting rod is fixedly connected by encoder axis with femoral axis, shin bone connecting rod is fixedly connected with tibial axis, shin bone connecting rod is equipped with linear actuator, torsionspring is arranged in tibial axis and femoral axis, one end of the torsionspring is fixedly connected with femoral axis, and the other end and linear actuator are sequentially connected.Compared with prior art, the utility model utilizes the working principle of torsional spring clutch, realize the being freely rotated when dual pivot locking elements and swing phase in standing phase, relative to traditional lower limb exoskeleton knee joint, the utility model can reliably realize that gait phase switches, and motor driven is not needed, structure is simple, at low cost.
Description
Technical field
The utility model belongs to simulation of human body ectoskeleton technical field, is related to a kind of lower limb dermoskeleton based on torsional spring clutch
Bone knee joint.
Background technique
Lower limb exoskeleton can be applied to auxiliary walking, power-assisted and the rehabilitation instruction of the elderly, disabled person and related disorder patients
Practice, is one of the hot spot of current robot field's research.Knee joint realizes most important, knee joint to the function of lower limb exoskeleton
Body gait can be divided into support phase and swing phase, and can the submissive switching and self-locking between two function phases.In support phase,
Lower limb exoskeleton knee joint and human synovial bear human bady gravitational jointly, and human body parts gravity is transmitted to by knee joint ectoskeleton
Ground；In swing phase, lower limb exoskeleton knee joint can free buckling, do not interfere the normal gait of human body.Lower limb exoskeleton knee
There are many kinds of joints, according to stablize damping producing method difference, can be divided into load-bearing knee joint with locking function, link mechanism knee joint and
Heavy damping knee joint.Wherein, load-bearing knee joint with locking function be using human body weight provide standing state under stablize it is self-locking, such as moral
The 3R80 knee joint of ottobock company, state；Link mechanism knee joint is to guarantee standing shape using the characteristic of link mechanism itself
The stability of state, such as the TGK-4P00 knee joint of Sino-German woods；Heavy damping knee joint is to guarantee standing shape by the means of external force
Stability under state, such as the English-Chinese resistance to Adaptive Knee in the U.S..
Application publication number is that the Chinese invention patent of CN105012056A discloses a kind of lower limb with bionic knee joint
Ectoskeleton structural body, knee joint therein include motor, motor cabinet, sliding sleeve, screw rod bushing, screw rod etc., and the knee joint is in virtual point
Place, which has, is translatable and rotates two freedom degrees, but there is still a need for driven by motor for the knee joint.Application publication number is
The Chinese invention patent of CN105643598A discloses a kind of semi-passive lower limb exoskeleton of energy conservation based on lasso trick driving, therein
Knee joint uses supported by plate spring mechanism, the purpose of mechanism buffering may be implemented, but its structure is excessively complicated.
Utility model content
The purpose of this utility model is exactly to provide a kind of based on torsional spring to overcome the problems of the above-mentioned prior art
The lower limb exoskeleton knee joint of clutch.
The purpose of this utility model can be achieved through the following technical solutions:
A kind of lower limb exoskeleton knee joint based on torsional spring clutch, the knee joint include encoder axis and along encoder
Axis is axially sequentially sleeved at femur connecting rod, shin bone connecting rod, tibial axis, femoral axis on encoder axis, and the femur connecting rod is logical
It crosses encoder axis to be fixedly connected with femoral axis, the shin bone connecting rod is fixedly connected with tibial axis, is set on the shin bone connecting rod
There is linear actuator, be arranged with torsionspring in the tibial axis and femoral axis, one end of the torsionspring and femoral axis are solid
Fixed connection, the other end and linear actuator are sequentially connected.
The other end of torsionspring is fixedly connected with the push rod of linear actuator as a preferred technical solution,.
By the flexible of push rod, torsionspring corresponding sports are driven.
Further, the outer diameter of the tibial axis and the outer diameter of femoral axis are equal, and the torsionspring is arranged simultaneously
In tibial axis and femoral axis.
The internal diameter of the torsionspring is slightly less than the outer diameter of femoral axis and tibial axis as a preferred technical solution, into
Row interference fit, and along axial direction, there are appropriate gaps between femoral axis and tibial axis after the assembly is completed.Excessive gap will lead to
Torsionspring shrinks and is stuck in gap, and can cause permanent damage to torsionspring.
Torsionspring winding direction is contrary with knee sprung.It, can be with by the way that the position of torsionspring is rationally arranged
When making lower limb exoskeleton full extension, torsionspring makes torsionspring since the stretching routine of lower limb makes its own internal diameter become smaller
Frictional force between femoral axis, tibial axis increases, thus make not continuing to relatively rotate between femoral axis and tibial axis,
Knee joint is sealed；When knee joint does curvature movement, since motion of knee joint direction and torsionspring winding direction are on the contrary, therefore
Frictional force between torsionspring and femoral axis, tibial axis reduces, and can slide relatively between femoral axis, tibial axis and torsionspring
It is dynamic, to realize kneed unlock.
Further, offer polygonal hole on the femur connecting rod, one end of the encoder axis be equipped with it is more
The compatible polygon snap-gauge in side shape hole, the encoder axis are fixedly connected by polygon snap-gauge with femur connecting rod.It is polygon
Shape hole is chosen as quadrangle, pentagon, hexagon etc..
Further, scallop hole is offered in the femoral axis, one end of the encoder axis is equipped with and scallop hole
Compatible fan-shaped cylinder, the encoder axis are fixedly connected by fan-shaped cylinder with femoral axis.The end face of fan-shaped cylinder is in
It is fan-shaped.Fan-shaped cylinder and polygon snap-gauge are located at the both ends of encoder axis.
The central angle of the scallop hole is 200-250 ° (preferably 225 °) as a preferred technical solution,.
Further, torsional spring clip is arranged in the femoral axis, one end of the torsionspring passes through torsional spring card
Hoop is fixedly connected with femoral axis.
Further, centre bore is offered at the center of the encoder axis, magnetic coder is equipped in the centre bore and is read
Several heads, the shin bone connecting rod are equipped with magnet steel mounting bracket, which is equipped with and magnetic coder reading head phase
The magnet steel of adaptation.When femur connecting rod and shin bone connecting rod relatively rotate, magnet steel changes with respect to the position of magnetic coder reading head
Become, magnetic coder reading head can identify the relative rotation of femur connecting rod Yu shin bone connecting rod according to the position change situation of magnet steel
Angle.
Further, thrust bearing is equipped between the femur connecting rod and shin bone connecting rod.
Further, femur connecting-rod bearing slot compatible with thrust bearing is offered on the femur connecting rod, it is described
Shin bone connecting rod on offer shin bone connecting-rod bearing slot compatible with thrust bearing, the thrust bearing is located at femur connecting rod
In bearing groove and shin bone connecting-rod bearing slot.
Further, sliding bearing is equipped between the encoder axis and shin bone connecting rod.Thrust bearing and sliding bearing
The frictional force between each part can be reduced.
Further, which further includes the shell being fixedly connected with femur connecting rod.
The working principle of the utility model are as follows: when turning to standing phase by swing phase, torsionspring internal diameter becomes smaller, to make
Torsionspring is adjacent to femoral axis, tibial axis completely, and the movement of shin bone connecting rod is fully transmitted to femur connecting rod, is realized kneed
It is sealed；When being rotated by standing to swing phase, torsionspring internal diameter becomes larger, rubbing between torsionspring and femoral axis, tibial axis
It wipes power and is not enough to passing movement, femoral axis and tibial axis unlock, and knee joint can freely swing.When knee joint needs at an arbitrary position
When locking, the push rod of linear actuator drives torsionspring to move to the winding direction of torsionspring, becomes torsionspring internal diameter
It is small, femoral axis, tibial axis are locked；When knee joint needs to unlock at an arbitrary position, the push rod of linear actuator to
The opposite direction of torsionspring winding direction pushes torsionspring, so that knee joint be made to unlock.
Compared with prior art, the utility model has the following characteristics that
1) the utility model utilizes the working principle of torsional spring clutch, realizes dual pivot locking elements and swing phase in standing phase
When be freely rotated, relative to traditional lower limb exoskeleton knee joint, the utility model can reliably realize gait phase switch, and
Motor driven is not needed, structure is simple, at low cost；
2) during knee sprung or stretching, extension, torsionspring is applied to tibial axis, the normal load in femoral axis
Change, enable tibial axis and femoral axis automatically according to lower limb walking step state demand unlock or it is sealed, to realize lower limb
The switching of ectoskeleton gait；
3) the utility model can simulate the motion change of normal human's knee joint in the process of walking to a certain extent,
And there is lighter weight and higher adaptability, provide higher freedom degree and operability.
Detailed description of the invention
Fig. 1 is the schematic cross-sectional view of the utility model；
Fig. 2 is the three-dimensional exploded structural schematic diagram of the utility model；
Fig. 3 is the structural schematic diagram of femur connecting rod in the utility model；
Fig. 4 is the structural schematic diagram of encoder axis in the utility model；
Fig. 5 is the structural schematic diagram of femoral axis in the utility model；
Fig. 6 is the structural schematic diagram of shin bone connecting rod in the utility model；
Fig. 7 is the structural schematic diagram of the utility model in the expanded state；
Fig. 8 is structural schematic diagram of the utility model under flexion；
Description of symbols in figure:
1-torsional spring clip, 2-femoral axis, 3-shells, 4-torsionsprings, 5-tibial axis, 6-linear actuators, 7-
Encoder axis, 8-shin bone connecting rods, 9-sliding bearings, 10-thrust bearings, 11-femur connecting rods, 12-magnetic coders reading
Head, 13-magnet steel, 14-magnet steel mounting brackets, 15-polygonal holes, 16-polygon snap-gauges, 17-scallop holes, 18-sectors
Cylinder, 19-centre bores.
Specific embodiment
The utility model is described in detail in the following with reference to the drawings and specific embodiments.The present embodiment is with the utility model
Implemented premised on technical solution, the detailed implementation method and specific operation process are given, but the guarantor of the utility model
Shield range is not limited to the following embodiments.
Embodiment:
A kind of lower limb exoskeleton knee joint based on torsional spring clutch as shown in Figure 1 and Figure 2, the knee joint include coding
Device axis 7 and along the axial femur connecting rod 11 being sequentially sleeved on encoder axis 7 of encoder axis 7, shin bone connecting rod 8, tibial axis 5,
Femoral axis 2, femur connecting rod 11 are fixedly connected by encoder axis 7 with femoral axis 2, and shin bone connecting rod 8 is fixedly connected with tibial axis 5,
Shin bone connecting rod 8 is equipped with linear actuator 6, is arranged with torsionspring 4 in tibial axis 5 and femoral axis 2, and the one of the torsionspring 4
End is fixedly connected with femoral axis 2, and the other end and linear actuator 6 are sequentially connected.The outer diameter of tibial axis 5 and the outer diameter of femoral axis 2
Equal, torsionspring 4 is set in simultaneously in tibial axis 5 and femoral axis 2.
As shown in figure 3, offering polygonal hole 15 on femur connecting rod 11.As shown in figure 4, one end of encoder axis 7 is equipped with
Polygon snap-gauge 16 compatible with polygonal hole 15, encoder axis 7 connect by the way that polygon snap-gauge 16 and femur connecting rod 11 are fixed
It connects.
As shown in figure 5, offering scallop hole 17 in femoral axis 2, one end of encoder axis 7 is equipped with to be adapted with scallop hole 17
Fan-shaped cylinder 18, encoder axis 7 is fixedly connected by fan-shaped cylinder 18 with femoral axis 2.
Torsional spring clip 1 is arranged in femoral axis 2, one end of torsionspring 4 connects by the way that torsional spring clip 1 and femoral axis 2 are fixed
It connects.Centre bore 19 is offered at the center of encoder axis 7, and magnetic coder reading head 12, shin bone connecting rod 8 are equipped in the centre bore 19
It is equipped with magnet steel mounting bracket 14, which is equipped with magnet steel 13 compatible with magnetic coder reading head 12.
Thrust bearing 10 is equipped between femur connecting rod 11 and shin bone connecting rod 8.It is offered on femur connecting rod 11 and thrust bearing
10 compatible femur connecting-rod bearing slots, as shown in fig. 6, offering shin bone compatible with thrust bearing 10 on shin bone connecting rod 8
Connecting-rod bearing slot, thrust bearing 10 are located in femur connecting-rod bearing slot and shin bone connecting-rod bearing slot.
Sliding bearing 9 is equipped between encoder axis 7 and shin bone connecting rod 8.The knee joint further includes fixed with femur connecting rod 11
The shell 3 of connection.
As shown in fig. 7, since stretching routine direction is identical as 4 winding direction of torsionspring, reversing bullet in full extension
Tangential force on spring 4 causes torsionspring 4 radially contracted, and the frictional force between torsionspring 4 and femoral axis 2, tibial axis 5 increases
Greatly, to make without relative rotation between femoral axis 2 and tibial axis 5, knee joint is sealed.
As shown in figure 8, during flexion, due to motion of knee joint direction with 4 winding direction of torsionspring on the contrary, therefore reversing
Frictional force between spring 4 and femoral axis 2, tibial axis 5 reduces, and femoral axis 2, tibial axis 5 and torsionspring 4 are opposite to be slided, from
And realize kneed unlock, shin bone connecting rod 8 and femur connecting rod 11 can swing relatively at this time.
It can understand the above description of the embodiments is intended to facilitate those skilled in the art and use practical
It is novel.Person skilled in the art obviously easily can make various modifications to these embodiments, and illustrating herein
General Principle be applied in other embodiments without having to go through creative labor.Therefore, the utility model is not limited to above-mentioned
Embodiment, those skilled in the art's announcement according to the present utility model, do not depart from improvement that the utility model scope is made and
Modification should be all within the protection scope of the utility model.
Claims (10)
1. a kind of lower limb exoskeleton knee joint based on torsional spring clutch, which is characterized in that the knee joint includes encoder axis (7)
And femur connecting rod (11), shin bone connecting rod (8), tibial axis on encoder axis (7) are axially sequentially sleeved at along encoder axis (7)
(5), femoral axis (2), the femur connecting rod (11) are fixedly connected by encoder axis (7) with femoral axis (2), the shin bone
Connecting rod (8) is fixedly connected with tibial axis (5), and the shin bone connecting rod (8) is equipped with linear actuator (6), the tibial axis
(5) and in femoral axis (2) it is arranged with torsionspring (4), one end of the torsionspring (4) is fixedly connected with femoral axis (2), another
End is sequentially connected with linear actuator (6).
2. a kind of lower limb exoskeleton knee joint based on torsional spring clutch according to claim 1, which is characterized in that described
Tibial axis (5) outer diameter it is equal with the outer diameter of femoral axis (2), the torsionspring (4) be set in simultaneously tibial axis (5) and
In femoral axis (2).
3. a kind of lower limb exoskeleton knee joint based on torsional spring clutch according to claim 1, which is characterized in that described
Femur connecting rod (11) on offer polygonal hole (15), one end of the encoder axis (7) is equipped with and polygonal hole (15)
Compatible polygon snap-gauge (16), the encoder axis (7) are fixed by polygon snap-gauge (16) and femur connecting rod (11)
Connection.
4. a kind of lower limb exoskeleton knee joint based on torsional spring clutch according to claim 1, which is characterized in that described
Femoral axis (2) on offer scallop hole (17), one end of the encoder axis (7) is equipped with compatible with scallop hole (17)
Fan-shaped cylinder (18), the encoder axis (7) are fixedly connected by fan-shaped cylinder (18) with femoral axis (2).
5. a kind of lower limb exoskeleton knee joint based on torsional spring clutch according to claim 1, which is characterized in that described
Femoral axis (2) on be arranged with torsional spring clip (1), one end of the torsionspring (4) passes through torsional spring clip (1) and femoral axis
(2) it is fixedly connected.
6. a kind of lower limb exoskeleton knee joint based on torsional spring clutch according to claim 1, which is characterized in that described
Encoder axis (7) center at offer centre bore (19), be equipped with magnetic coder reading head (12) in the centre bore (19), institute
The shin bone connecting rod (8) stated is equipped with magnet steel mounting bracket (14), which is equipped with reads with magnetic coder
The compatible magnet steel (13) of head (12).
7. a kind of lower limb exoskeleton knee joint based on torsional spring clutch according to claim 1, which is characterized in that described
Femur connecting rod (11) and shin bone connecting rod (8) between be equipped with thrust bearing (10).
8. a kind of lower limb exoskeleton knee joint based on torsional spring clutch according to claim 7, which is characterized in that described
Femur connecting rod (11) on offer with thrust bearing (10) compatible femur connecting-rod bearing slot, the shin bone connecting rod (8)
On offer with thrust bearing (10) compatible shin bone connecting-rod bearing slot, the thrust bearing (10) is located at femur pitman shaft
It holds in slot and shin bone connecting-rod bearing slot.
9. a kind of lower limb exoskeleton knee joint based on torsional spring clutch according to claim 1, which is characterized in that described
Encoder axis (7) and shin bone connecting rod (8) between be equipped with sliding bearing (9).
10. a kind of lower limb exoskeleton knee joint based on torsional spring clutch according to claim 1, which is characterized in that should
Knee joint further includes the shell (3) being fixedly connected with femur connecting rod (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721571311.9U CN209347554U (en) | 2017-11-22 | 2017-11-22 | A kind of lower limb exoskeleton knee joint based on torsional spring clutch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721571311.9U CN209347554U (en) | 2017-11-22 | 2017-11-22 | A kind of lower limb exoskeleton knee joint based on torsional spring clutch |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209347554U true CN209347554U (en) | 2019-09-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721571311.9U Expired - Fee Related CN209347554U (en) | 2017-11-22 | 2017-11-22 | A kind of lower limb exoskeleton knee joint based on torsional spring clutch |
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|---|---|
| CN (1) | CN209347554U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107928995A (en) * | 2017-11-22 | 2018-04-20 | 上海理工大学 | A kind of lower limb exoskeleton knee joint based on torsional spring clutch |
| CN112873174A (en) * | 2020-12-03 | 2021-06-01 | 中国科学院深圳先进技术研究院 | Exoskeleton robot knee joint based on electromagnetic clutch |
-
2017
- 2017-11-22 CN CN201721571311.9U patent/CN209347554U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107928995A (en) * | 2017-11-22 | 2018-04-20 | 上海理工大学 | A kind of lower limb exoskeleton knee joint based on torsional spring clutch |
| CN112873174A (en) * | 2020-12-03 | 2021-06-01 | 中国科学院深圳先进技术研究院 | Exoskeleton robot knee joint based on electromagnetic clutch |
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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: 20190906 Termination date: 20191122 |