CN209405191U - A kind of exoskeleton robot - Google Patents

Abstract

The utility model provides a kind of exoskeleton robot, the exoskeleton robot includes big leg assembly, shank component and driving assembly, driving assembly is connect with big leg assembly, and including driving mechanism and elastic mechanism, elastic mechanism includes connector and elastic component, connector is connect with being rotated by driving mechanism with driving mechanism, elastic component is used to be connected to connector and shank component in the rotation of driving mechanism drive connection part, to drive shank component to swing relative to big leg assembly, so that driving mechanism is swung by elastic component flexible drive shank component relative to big leg assembly, rigidity driving in compared with the existing technology, it can reduce the impedance upper limit of driving mechanism and the impact force to shank component, improve the wearing comfort degree of user.

Description

A kind of exoskeleton robot

Technical field

The utility model relates to medical instruments fields, more particularly to a kind of exoskeleton robot.

Background technique

Attention of the exoskeleton robot by more and more research institutions at present is widely used in walk help, power-assisted and doctor Treat the fields such as rehabilitation.Exoskeleton robot is the system of coupled, and the good man-machine interaction experience of departed friend is the pass studied at present One of note point.In the exoskeleton robot occurred at present, mostly use traditional driving method, as servo motor driving, it is hydraulic Driving etc..The driving mechanism of this kind of driving method is rigid driving, causes output impedance big, and externally impact is big, user's wearing Comfort level it is lower.

Utility model content

The utility model is mainly to provide a kind of exoskeleton robot, it is intended to solve rigid driving mechanism output impedance it is big, The big problem of external impact force.

In order to solve the above technical problems, the technical solution that the utility model uses is: providing a kind of ectoskeleton machine People, the exoskeleton robot include big leg assembly, shank component and driving assembly；Wherein, the driving component and described big Leg assembly connection, and including driving mechanism and elastic mechanism, the elastic mechanism includes connector and elastic component, the connector It is connect with the driving mechanism with being rotated by the driving mechanism, the elastic component is used to drive in the driving mechanism When moving connector rotation, it is connected to the connector and the shank component, to drive the shank component relative to institute Big leg assembly is stated to swing.

Wherein, the driving mechanism includes motor, the output axis connection of the connector and the motor, the shank group Part includes the first pallet and shank bar, and the shank bar is connect with first pallet, and first pallet is equipped with first and supports Socket part, first abutting part are oppositely arranged in the circumferential direction of the output shaft with the connector, and the elastic component is set to Between the connector and first abutting part, when with the rotation of the connector described in the motor driven, it is connected to the company Fitting and first abutting part, and then drive the shank bar to put relative to the big leg assembly by first pallet It is dynamic.

Wherein, the quantity of first abutting part is at least two, and at least two first abutting part is respectively arranged at The opposite two sides of the connector, the quantity of the elastic component are at least two, and at least two elastic component is respectively arranged at Between the connector and first abutting part, with described in the motor driven when connector reciprocating rotation, described in driving Shank bar is relative to the thigh bar assembly reciprocally swinging.

Wherein, the connector includes interconnecting piece and the second abutting part, the output shaft company of the interconnecting piece and the motor It connects, second abutting part is oppositely arranged in the circumferential direction of the output shaft with first abutting part.

Wherein, the connector and first pallet are rotatablely connected.

Wherein, the shank component further comprises first bearing, first pallet be equipped with mounting hole, described first Bearing is set in the mounting hole, and the outer ring of the first bearing and first pallet are relatively fixed, the connector It further comprise driving section, the driving section is arranged in the inner ring of the first bearing, and the inner ring phase with the first bearing To fixation, when with the rotation of the connector described in the motor driven, the inner ring of the first bearing is relative to the first bearing Outer ring rotating.

Wherein, the exoskeleton robot further comprises angular transducer, the angular transducer and the shank group Part connection, to monitor the swing angle of the shank component.

Wherein, the big leg assembly includes second bearing and thigh bar, the inner ring of the thigh bar and the second bearing Be cooperatively connected, with relatively fixed with the inner ring of the second bearing, the shank component further comprises shell, the shell with First pallet and/or the shank bar connection, and with the outer ring of the second bearing be cooperatively connected, with second axis The outer ring held is relatively fixed, so that the shank bar is swung by second bearing relative to the thigh bar.

Wherein, the driving mechanism further comprises the second pallet, second pallet respectively with motor body and described Thigh bar connection, in the rotation of the output shaft of the motor, the thigh bar and the motor body are relatively fixed.

Wherein, the driving mechanism further comprises harmonic speed reducer and shaft coupling, and the harmonic speed reducer includes from interior To outer sequentially connected wave producer, flexbile gear and firm gear, the shaft coupling is sent out with the output shaft of the motor and the wave respectively Raw device connection, the flexbile gear are connect with the connector, to drive the flexbile gear opposite in the rotation of the output shaft of the motor It is rotated in the firm gear, and then drives the connector rotation.

The beneficial effects of the utility model are: being in contrast to the prior art, ectoskeleton machine provided by the utility model Device people includes big leg assembly, shank component and driving assembly, and driving assembly is connect with big leg assembly, and including driving mechanism and bullet Property mechanism, elastic mechanism includes connector and elastic component, and connector is connect to turn under the driving of driving mechanism with driving mechanism Dynamic, elastic component is used to be connected to connector and shank component in the rotation of driving mechanism drive connection part, to drive shank component It is swung relative to big leg assembly, so that driving mechanism is put by elastic component flexible drive shank component relative to big leg assembly It is dynamic, compared with the existing technology in rigidity driving, can reduce the impedance upper limit of driving mechanism and the impact force to shank component, Improve the wearing comfort degree of user.

Detailed description of the invention

It, below will be to required in embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model Attached drawing to be used is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the utility model Example is applied, for those of ordinary skill in the art, without creative efforts, can also be obtained according to these attached drawings Obtain other attached drawings.

Fig. 1 is the structural schematic diagram of exoskeleton robot embodiment provided by the utility model；

Fig. 2 is the decomposition diagram of shank component in Fig. 1；

Fig. 3 is the schematic cross-section of each component assembly in Fig. 2；

Fig. 4 is the decomposition diagram of driving assembly in Fig. 1；

Fig. 5 is the schematic cross-section of each component assembly in Fig. 4；

Fig. 6 is the structural schematic diagram of elastic mechanism in Fig. 4；

Fig. 7 is the decomposition diagram of shank component in Fig. 1；

Fig. 8 is the schematic cross-section of a component assembly in Fig. 7.

Specific embodiment

To make those skilled in the art more fully understand the technical solution of the utility model, with reference to the accompanying drawing and specifically Embodiment is described in further detail a kind of exoskeleton robot provided by the utility model.

Refering to fig. 1, exoskeleton robot embodiment provided by the utility model include shank component 10, driving assembly 20 and Big leg assembly 30, driving assembly 20 are connect with big leg assembly 30.

Jointly refering to Fig. 2 and Fig. 3, shank component 10 includes the first pallet 11 and shank bar 12.

Wherein, the first pallet 11 is equipped with the first abutting part 111, optionally, the quantity at least two of the first abutting part 111 A, at least two first abutting parts 111 are in be oppositely arranged two-by-two.

Optionally, the first abutting part 111 is equipped with the first anti-delinking part 1111, which can be protrusion.

Optionally, the first pallet 11 is additionally provided with mounting hole 112.

Shank bar 12 is connect with the first pallet 11, bondage human calf is used for, to support human calf.

Specifically, shank bar 12 includes shank support arm 121 and shank bandage block 122, shank support arm 121 and the first pallet 11 Connection, optionally, shank support arm 121 can be connect by bolt with the first pallet 11；Shank bandage block 122 and shank support arm 121 Connection is optionally equipped with shank bandage (not shown), by this for bondage human calf on shank bandage block 122 Shank bandage is by 122 bondage of shank bandage block in human calf.

Wherein, shank bar 12 is connect in side of first pallet 11 far from the first abutting part 111 with the first pallet 11, namely Shank support arm 121 is connect in side of first pallet 11 far from the first abutting part 111 with the first pallet 11.

Optionally, shank support arm 121 is equipped with multiple installation sites, in order to adjust shank bandage block 122 in shank branch Relative position on arm 121, to meet the use demand of different user.

Optionally, shank bandage block 122 is used for the position of human calf's bondage in cambered surface setting, so as to preferably with people The fitting of body shank, improves the wearing comfort degree of user.

Optionally, shank bar 12 is equipped with accommodation groove 123, and in the present embodiment, accommodation groove 123 is set to shank support arm On 121, and it is correspondingly arranged with mounting hole 112.

Further, shank component 10 further includes first bearing 13, and first bearing 13 is set in mounting hole 112, and first The outer ring of bearing 13 and the first pallet 11 are relatively fixed, which can outer ring by first bearing 13 and installation The inner wall in hole 112, which is interference fitted, to be realized, naturally it is also possible to be realized by other means, it is not limited here.

Optionally, first bearing 13 is deep groove ball bearing.

Further, shank component 10 further includes shell 14, and shell 14 is connect with the first pallet 11 or shank bar 12, this reality It applies in example diagram 3 by taking shell 14 and the first pallet 11 are bolted as an example, and the periphery wall of shell 14 and the first pallet 11 connects It connects, to cover at the first pallet 11.

Jointly refering to Fig. 4 and Fig. 5, driving assembly 20 includes driving mechanism 21 and elastic mechanism 22.

Wherein, elastic mechanism 22 include connector 221 and elastic component 222, connector 221 connect with driving mechanism 21 with Driving mechanism 21 is rotated by.

Specifically, driving mechanism 21 includes motor 211, the output axis connection of connector 221 and motor 211, to pass through electricity The output shaft drive connection part 221 of machine 211 rotates.

Optionally, driving mechanism 21 further includes the second pallet 212, and the second pallet 212 is connect with the ontology of motor 211.

Wherein, the second pallet 212 is equipped with through-hole 2121, with when the second pallet 212 is connect with the ontology of motor 211, The output shaft of motor 211 passes through through-hole 2121.

Optionally, driving mechanism 21 further includes harmonic speed reducer 213 and shaft coupling 214, and harmonic speed reducer 213 includes from interior Except sequentially connected wave producer 2131, flexbile gear 2132 and firm gear 2133, wave producer 2131 and flexbile gear 2132 are relatively fixed, Flexbile gear 2132 can be relatively rotated with firm gear 2133, and firm gear 2133 and the connection of the second pallet 212 are opposite with 211 ontology of motor solid Fixed, shaft coupling 214 is connect with the output shaft of motor 211 and wave producer 2131 respectively, to rotate in the output shaft of motor 211 When, drive wave producer 2131 to rotate by shaft coupling 214, so that flexbile gear 2132 is driven to rotate relative to firm gear 2133, flexbile gear 2132 connect with connector 221, and then drive connection part 221 rotates.

Optionally, shaft coupling 214 passes through the output axis connection of jackscrew 2141 and motor 211.

Jointly refering to Fig. 4 and Fig. 6, connector 221 in the circumferential direction of the output shaft of motor 211 with 111 phase of the first abutting part To setting.

Specifically, connector 221 includes interconnecting piece 2211 and the second abutting part 2212, interconnecting piece 2211 and motor 211 Axis connection is exported, the second abutting part 2122 is oppositely arranged in the circumferential direction of the output shaft of motor 211 with the first abutting part 111.

Optionally, the quantity of the second abutting part 2212 is one or more, in the present embodiment Fig. 6 for three, three Second abutting part 2212 array arrangement in the circumferential direction of the output shaft of motor 211.

Optionally, the second abutting part 2212 is equipped with the second anti-delinking part 221a, and second anti-delinking part 221a can be protrusion.

Further, connector 221 and the first pallet 11 are rotatablely connected.

Specifically, connector 221 further includes driving section 2213, driving section 2213 is arranged in the inner ring of first bearing 13, and It is relatively fixed with the inner ring of first bearing 13, with 211 drive connection part 221 of motor rotation when, the inner ring phase of first bearing 13 For the outer ring rotating of first bearing 13, and due to foregoing description it is found that the outer ring of first bearing 13 is opposite with the first pallet 11 Fixed, therefore, connector 221 is rotatablely connected by first bearing 13 and the first pallet 11.

Optionally, the relatively-stationary mode of inner ring of driving section 2213 and first bearing 13 can be by way of interference fit It realizes, naturally it is also possible to realize by other means, it is not limited here.

Optionally, the end of driving section 2213 is equipped with fastener 221b, to pass through first bearing 13 in driving section 2213 After inner ring, by the interconnecting piece 2211 of fastener 221b and connector 221, by first bearing 13 in the axial direction of motor 211 It is fixed in the mounting hole 112 of the first pallet 11.

Optionally, fastener 221b is circlip.

It should be understood that since connector 221 and the first pallet 11 are rotatablely connected, in 211 drive connection part of motor When 221 rotation, the rotation of the first pallet 11 cannot be directly driven by connector 221, namely shank component 10 cannot be directly driven It swings.

Elastic component 222 is used to be connected to connector 221 and shank group in the rotation of 21 drive connection part 221 of driving mechanism Part 10, to drive shank component 10 to swing.

Specifically, it is between the connector 221 and the first abutting part 111 being oppositely arranged, in electricity that elastic component 222, which is set to, When 211 drive connection part 221 of machine rotates, elastic component 222 is connected to connector 221 and the first abutting part 111, so that first Pallet 11 rotates under the withstanding effect, and then drives shank bar 12 to swing by the first pallet 11.

It should be understood that in the present embodiment, elastic component 222 is set in the second abutting part 2212 being oppositely arranged and the Between one abutting part 111.

Optionally, the quantity of elastic component 222 is at least two, and at least two elastic components 222 are respectively arranged at connector 221 Between at least two first abutting parts 111, in 211 221 reciprocating rotation of drive connection part of motor, driving shank bar 12 is past Physical pendulum is dynamic, and further, the quantity of elastic component 222 is at least four, and the every two at least four elastic components 222 is respectively set Between second abutting part 2212 and two the first abutting parts 111, and the every two at least four elastic components 222 at least The array arrangement in the circumferential direction of the output shaft of motor 211, in the stationarity for increasing the driving swing of shank bar 12 of motor 211.

In the present embodiment, the quantity of elastic component 222 is 6, and the quantity of the first abutting part 111 is also 6, they are divided into 3 groups are arranged in equilateral triangle, wherein every group includes 2 elastic components 222 and 2 the first abutting parts 111, is symmetrically disposed in the Two abutting parts, 2212 two sides, the output shaft of motor 211 pass through the geometric center of equilateral triangle and normal thereto in the axial direction, so that The output for obtaining driving assembly 20 is more steady, to increase the stationarity that motor 211 drives shank bar 12 to swing.

Optionally, elastic component 222 is spring, and the protrusion of the first anti-delinking part 1111 and the second anti-delinking part 221a are inserted into spring Both ends, to prevent spring and the first abutting part 111 and the second abutting part 2212 to be detached from.

Wherein, the length of spring can the swing angle according to needed for shank bar 12 adjust, such as 15mm, 20mm or 25mm, Can also the swing speed according to needed for shank bar 12, the coefficient of elasticity of adjustment spring.

Jointly refering to Fig. 7 and Fig. 8, big leg assembly 30 is connect with driving assembly 20, to drive shank group in driving mechanism 21 When part 10 is swung, which swings relative to big leg assembly 30.

Specifically, big leg assembly 30 includes thigh bar 31 and second bearing 32, the inner ring of thigh bar 31 and second bearing 32 It is cooperatively connected, with relatively fixed with the inner ring of second bearing 32, the outer ring of second bearing 32 is matched with the shell 14 of shank component 10 Connection is closed, with relatively fixed with shell 14, so that when driving mechanism 21 drives shank component 10 to swing, in shank component 10 Shank bar 12 by second bearing 32 relative to thigh bar 31 swing.

Optionally, the outer ring of the relatively-stationary mode of inner ring of thigh bar 31 and second bearing 32 and second bearing 32 with it is small The relatively-stationary mode of shell 14 of leg assembly 10 can be realized by way of interference fit, naturally it is also possible to pass through its other party Formula realization, it is not limited here.

Optionally, second bearing 32 is deep groove ball bearing.

Further, thigh bar 31 is connect with the second pallet 212, with the output shaft of motor 211 rotation when, thigh bar 31 It is relatively fixed with 211 ontology of motor.

Wherein, thigh bar 31 includes thigh support arm 311 and thigh bandage block 312, and thigh support arm 311 is equipped with auxiliary section 3111, thigh support arm 311 is cooperatively connected by the inner ring of auxiliary section 3111 and second bearing 32, and is connect with 211 ontology of motor, Thigh bandage block 312 is connect with thigh support arm 311, for human thigh's bondage, optionally, thigh bandage block 312 is equipped with Thigh bandage (not shown), by the thigh bandage by thigh bandage block 312 and human thigh's bondage.

Optionally, the position of thigh bandage block 312 and human body bondage is arranged in cambered surface, preferably to paste with human thigh It closes, improves the wearing comfort degree of user.

Further, big leg assembly 30 further includes the first baffle ring 33 and the second baffle ring 34, the first baffle ring 33 and the second baffle ring 34, the opposite two sides of second bearing 32 are respectively arranged at, and connect respectively with shell 14 with thigh bar 31, in motor 211 Second bearing 32 is fixed in axial direction, in the present embodiment, the second baffle ring 34 is connect with the auxiliary section 3111 of thigh bar 31.

Further regard to Fig. 1, the exoskeleton robot of the present embodiment further includes angular transducer 40, angular transducer 40 with Shank component 10 connects, to detect the swing angle of shank component 10, to adjust electricity according to the swing angle of shank component 10 The driving force and driving speed of machine 211, the length of elastic component 222 and coefficient of elasticity etc..

Specifically, angular transducer 40 is set in the accommodation groove 123 of shank bar 12, to detect the angle of oscillation of shank bar 12 Degree.

Optionally, angular transducer 40 is magnetic angular sensor.

It is in contrast to the prior art, exoskeleton robot provided by the utility model includes big leg assembly, shank group Part and driving assembly, driving assembly are connect with big leg assembly, and including driving mechanism and elastic mechanism, elastic mechanism includes connection Part and elastic component, connector are connect with being rotated by driving mechanism with driving mechanism, and elastic component is used in driving mechanism Drive connection part is connected to connector and shank component when rotating, to drive shank component to swing relative to big leg assembly, so that Driving mechanism is swung relative to big leg assembly by elastic component flexible drive shank component, compared with the existing technology in rigidity Driving, can reduce the impedance upper limit of driving mechanism and the impact force to shank component, improves the wearing comfort degree of user.

Claims (10)

1. a kind of exoskeleton robot, which is characterized in that the exoskeleton robot includes big leg assembly, shank component and driving Component；

Wherein, the driving component is connect with the big leg assembly, and including driving mechanism and elastic mechanism, the elastic mechanism Including connector and elastic component, the connector is connect with being rotated by the driving mechanism with the driving mechanism, The elastic component is used to be connected to the connector and the shank group when the driving mechanism drives connector rotation Part, to drive the shank component to swing relative to the big leg assembly.

2. exoskeleton robot according to claim 1, which is characterized in that the driving mechanism includes motor, the company The output axis connection of fitting and the motor, the shank component include the first pallet and shank bar, the shank bar with it is described The connection of first pallet, first pallet are equipped with the first abutting part, and first abutting part is in the circumferential direction of the output shaft It is oppositely arranged with the connector, the elastic component is set between the connector and first abutting part, described When connector described in motor driven rotates, it is connected to the connector and first abutting part, and then pass through first support Disk drives the shank bar to swing relative to the big leg assembly.

3. exoskeleton robot according to claim 2, which is characterized in that the quantity of first abutting part is at least two A, at least two first abutting part is respectively arranged at the opposite two sides of the connector, and the quantity of the elastic component is extremely Two few, at least two elastic component is respectively arranged between the connector and first abutting part, in the electricity When machine drives the connector reciprocating rotation, drive the shank bar relative to the big leg assembly reciprocally swinging.

4. exoskeleton robot according to claim 2, which is characterized in that the connector includes that interconnecting piece and second are supported Socket part, the output axis connection of the interconnecting piece and the motor, second abutting part is in the circumferential direction of the output shaft and institute The first abutting part is stated to be oppositely arranged.

5. exoskeleton robot according to claim 2, which is characterized in that the connector and first pallet rotate Connection.

6. exoskeleton robot according to claim 5, which is characterized in that the shank component further comprises first axle It holds, first pallet is equipped with mounting hole, and the first bearing is set in the mounting hole, and the first bearing is outer Circle is relatively fixed with first pallet, and the connector further comprises driving section, and the driving section is arranged in described first The inner ring of bearing, and it is relatively fixed with the inner ring of the first bearing, when with the rotation of the connector described in the motor driven, institute State outer ring rotating of the inner ring of first bearing relative to the first bearing.

7. exoskeleton robot according to claim 1, which is characterized in that the exoskeleton robot further comprises angle Sensor is spent, the angular transducer is connect with the shank component, to monitor the swing angle of the shank component.

8. exoskeleton robot according to claim 2, which is characterized in that the big leg assembly includes second bearing and big The inner ring of leg bar, the thigh bar and the second bearing is cooperatively connected, with, institute relatively fixed with the inner ring of the second bearing Stating shank component further comprises shell, and the shell is connect with first pallet and/or the shank bar, and with described The outer rings of two bearings is cooperatively connected, with relatively fixed with the outer ring of the second bearing, so that the shank bar passes through the Two bearings are swung relative to the thigh bar.

9. exoskeleton robot according to claim 8, which is characterized in that the driving mechanism further comprises the second support Disk, second pallet are connect with motor body and the thigh bar respectively, with the output shaft of the motor rotation when, it is described Thigh bar and the motor body are relatively fixed.

10. exoskeleton robot according to claim 2, which is characterized in that the driving mechanism further comprises harmonic wave Retarder and shaft coupling, the harmonic speed reducer includes sequentially connected wave producer, flexbile gear and firm gear from the inside to the outside, described Axis device is connect with the output shaft of the motor and the wave producer respectively, and the flexbile gear is connect with the connector, in institute When stating the output shaft rotation of motor, the flexbile gear is driven to rotate relative to the firm gear, and then drives the connector rotation.