CN209850913U - Lower limb exoskeleton with variable-axis knee joint - Google Patents
Lower limb exoskeleton with variable-axis knee joint Download PDFInfo
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- CN209850913U CN209850913U CN201920501961.9U CN201920501961U CN209850913U CN 209850913 U CN209850913 U CN 209850913U CN 201920501961 U CN201920501961 U CN 201920501961U CN 209850913 U CN209850913 U CN 209850913U
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Abstract
The utility model discloses a lower limb exoskeleton with variable axis knee joints, which comprises a backpack module, a left part and a right part; the left part and the right part have the same structure and are symmetrically arranged at the lower part of the backpack module; the left part comprises a hip joint module, a thigh module, a knee joint module, a shank module, an ankle joint module, a foot module, a rear connecting rod and an energy storage module; the knee joint module comprises a knee joint upper connecting rod, a knee joint rear connecting rod, a knee joint lower connecting rod, a knee joint left rocking rod and a knee joint right rocking rod. The exoskeleton selects the variable-axis knee joint as the knee joint module, so that the requirement of the human knee joint on single degree of freedom is met, the variation of the instantaneous rotation center is realized through the structural design and the size parameter optimization of the knee joint module, the instantaneous center track of the lower knee joint connecting rod relative to the upper knee joint connecting rod is close to the theoretical instantaneous center track of the human knee joint, and the coordination of the exoskeleton and the human legs is improved.
Description
Technical Field
The utility model relates to the field of mechanical engineering, specifically a low limbs ectoskeleton with become axis knee joint.
Background
In recent years, more and more human body assisting exoskeleton devices are beginning to be applied in military and civil fields. In the military field, soldiers need to carry packages including bulletproof vests, rifle ammunition, communication equipment and the like when fighting each other, and face complex terrains, so that the exoskeleton for assisting load bearing is more and more emphasized in order to improve the load of the soldiers and increase the walking duration of the soldiers. In the civil field, containers, forklifts and cranes greatly reduce the labor intensity of the logistics industry. However, such large-scale equipment cannot be used in all cases, and the large-scale equipment needs a reasonably planned site and a material system matched with the site during use. From the aspect of cost input and output, the transportation of low-weight and low-cost materials is resource waste due to the adoption of a large-scale material system, for example, the weight of bagged grains is below 100kg, but the transportation of a human body is very laborious. Therefore, the exoskeleton can assist the load of the human body in both the civil field and the military field.
The knee joint is composed of the medial and lateral femoral condyles, the tibial plateau, the patella, the anterior and posterior intersected ACL ligament and the PCL ligament, and is the largest and most complex joint of the human body. The contact surface of the thigh end and the upper end of the tibia is irregular in shape, and both surfaces roll and slide in the bending and stretching activities. The knee joint horizontal rotation axis curvature center (instantaneous center of rotation, ICR) is variable, and the movement locus is a J-shaped curve.
The knee joint component is used as a core component of the lower limb exoskeleton, and research on the knee joint component is wide. Because the instant center track of the human knee joint has the characteristic of variability, the coordination between the exoskeleton and the human legs is inevitably poor due to the rotation center fixed by the single-shaft knee joint, namely the fixed-shaft knee joint, and the compatibility between the exoskeleton and the human body is directly influenced by the similarity between the motion track of the knee joint part and the motion track of the human knee joint, so that the knee joint mechanism and the motion track thereof need to be improved.
SUMMERY OF THE UTILITY MODEL
To the deficiency of the prior art, the utility model aims to solve the technical problem of providing a lower limb exoskeleton with axis-variable knee joint.
The technical solution of the present invention is to provide a lower limb exoskeleton with variable axis knee joint, which is characterized in that the exoskeleton comprises a backpack module, a left part and a right part; the left part and the right part have the same structure and are symmetrically arranged at the lower part of the backpack module; the shoulder bandage and the waist bandage are fixed on the backpack module;
the left part comprises a hip joint module, a thigh module, a knee joint module, a shank module, an ankle joint module, a foot module, a rear connecting rod and an energy storage module; the knee joint module comprises a knee joint upper connecting rod, a knee joint rear connecting rod, a knee joint lower connecting rod, a knee joint left rocking rod and a knee joint right rocking rod;
one end of the hip joint module is connected with the backpack module in a revolute pair mode, and the other end of the hip joint module is connected with one end of the thigh module in a revolute pair mode; the other end of the thigh module is fixedly connected with one end of the upper connecting rod of the knee joint; a thigh binding belt is fixed on the thigh module; the other end of the knee joint upper connecting rod is respectively connected with one end of a knee joint left rocker and one end of a knee joint right rocker in a revolute pair mode; one end of the knee joint lower connecting rod is fixedly connected with one end of the shank module, and the other end of the knee joint lower connecting rod is respectively connected with the other end of the knee joint left rocker and the other end of the knee joint right rocker in a revolute pair mode; the other end of the shank module is connected with one end of the ankle joint module in a revolute pair mode; a shank binding band is fixed on the shank module; the other end of the ankle joint module is fixedly connected with the foot module; the foot module is fixed with a foot bandage; one end of the rear connecting rod is connected with the backpack module in a revolute pair mode, and the other end of the rear connecting rod is connected with one end of the energy storage module and one end of the knee joint rear connecting rod in a revolute pair mode respectively; the other end of the knee joint rear connecting rod is connected with a knee joint left rocker in a revolute pair mode; the other end of the energy storage module is fixedly connected with the foot module.
Compared with the prior art, the utility model discloses beneficial effect lies in:
(1) the exoskeleton selects the variable-axis knee joint as the knee joint module, so that the requirement of the human knee joint on single degree of freedom is met, the instantaneous rotation center is variable through the structural design and the size parameter optimization of the knee joint module, the instantaneous center track is a J-shaped curve, the instantaneous center track of the lower connecting rod of the knee joint relative to the upper connecting rod of the knee joint is close to the theoretical instantaneous center track of the human knee joint, and the coordination of the exoskeleton and the human legs is improved. Meanwhile, the knee joint module is simple in structure and convenient to adjust and disassemble.
(2) When the swing phase of the energy storage module is changed into a support phase, elastic potential energy is stored; when the supporting phase is changed into a swinging phase, the stored elastic potential energy is released, the energy required to be provided by the human body in the leg lifting process is reduced, the leg lifting device can be normally used under the condition of no external drive, the gait of the human body is adapted, the stress of the skeleton of the human body and the load torque of each joint are reduced, and the effect of assisting the load of the human body is achieved.
(3) The exoskeleton is a closed chain mechanism, and has the advantages of large bearing capacity, simple structure, stability and controllability.
Drawings
Fig. 1 is an isometric view of the overall structure of an embodiment of the present invention;
fig. 2 is a left side view schematically illustrating the overall structure of an embodiment of the present invention;
fig. 3 is an isometric illustration of a knee joint module according to an embodiment of the present invention;
in the figure: 1. a backpack module; 2. a hip joint module; 3. a thigh module; 4. a knee joint module; 5. a shank module; 6. an ankle joint module; 7. a foot module; 8. a rear link; 9. an energy storage module; 10. shoulder straps; 11. a thigh strap attachment; 12. a shank strap connector; 13. a foot binding band connecting hole; 14. Waist bandage connecting holes; 41. a knee joint upper connecting rod; 42. a knee joint rear connecting rod; 43. a knee joint lower connecting rod; 44. a knee joint left rocker; 45. a right rocker of the knee joint;
Detailed Description
Specific embodiments of the present invention are given below. The specific embodiments are only used for further elaboration of the invention, and do not limit the scope of protection of the claims of the present application.
The utility model provides a lower limb exoskeleton (exoskeleton for short, see fig. 1-3) with variable axis knee joint, which is characterized in that the exoskeleton comprises a backpack module 1, a left part and a right part; the left part and the right part are completely the same and are symmetrically arranged at the lower part of the backpack module 1; the shoulder bandage 10 is fixed on the backpack module 1 and is used for fixing the shoulder of the human body; a waist binding belt is fixed on the backpack module 1;
the left part comprises a hip joint module 2, a thigh module 3, a knee joint module 4, a shank module 5, an ankle joint module 6, a foot module 7, a rear connecting rod 8 and an energy storage module 9; the knee joint module 4 comprises a knee joint upper connecting rod 41, a knee joint rear connecting rod 42, a knee joint lower connecting rod 43, a knee joint left rocking rod 44 and a knee joint right rocking rod 45;
one end of the hip joint module 2 is connected with the backpack module 1 in a revolute pair mode (the revolute pair is a shaft and shaft sleeve or a shaft and bearing fit, in the embodiment, the shaft and shaft sleeve fit is selected, specifically, a hole at the end part of the hip joint module 2 is in interference fit with the outer surface of the shaft sleeve, the inner surface of the shaft sleeve is in clearance fit with the shaft, and the shaft is in interference fit with the hole at the end part of the backpack module 1 to realize the relative rotation of the hip joint module 2 and the backpack module 1; the other end of the thigh module 3 is fixedly connected with one end of the knee joint upper connecting rod 41; a thigh binding belt is fixed on the thigh module 3; the other end of the knee joint upper connecting rod 41 is respectively connected with one end of a knee joint left rocker 44 and one end of a knee joint right rocker 45 in a revolute pair mode; one end of the knee joint lower connecting rod 43 is fixedly connected with one end of the shank module 5, and the other end is respectively connected with the other end of the knee joint left rocker 44 and the other end of the knee joint right rocker 45 in a revolute pair mode; the other end of the shank module 5 is connected with one end of the ankle joint module 6 in a revolute pair mode; a shank binding belt is fixed on the shank module 5; the other end of the ankle joint module 6 is fixedly connected with the foot module 7; a foot binding belt is fixed on the foot module 7; one end of the rear connecting rod 8 is connected with the backpack module 1 in a revolute pair mode, and the other end of the rear connecting rod is respectively connected with one end of the energy storage module 9 and one end of the knee joint rear connecting rod 42 in a revolute pair mode; the other end of the knee joint rear connecting rod 42 is connected with the middle part of the knee joint left rocker 44 in a revolute pair mode; the other end of the energy storage module 9 is fixedly connected with the foot module 7.
The backpack module 1 is used for placing heavy objects to be carried; the waist bandage is fixed on the backpack module 1 through the waist bandage connecting hole 14 and a screw and is used for fixing the waist of a human body;
the thigh module 3 is of a telescopic structure, and can adopt two connecting plates to realize length adjustment through waist-shaped hole connection so as to adapt to the thigh length of a user; the thigh bandage is fixed on the thigh module 3 through a thigh bandage connecting piece 11 and a screw and is used for fixing the thigh of the human body;
the knee joint module 4 forms a double-rocker structure, the instantaneous center track of the knee joint lower connecting rod 43 relative to the knee joint upper connecting rod 41 is the instantaneous center track of the shank module 5 relative to the thigh module 3, and the instantaneous center track of the shank module 5 relative to the thigh module 3 is close to the ideal instantaneous center track of a human body.
The rod lengths of the upper knee joint connecting rod 41, the rear knee joint connecting rod 42, the lower knee joint connecting rod 43, the left knee joint rocking rod 44 and the right knee joint rocking rod 45 are optimized, and the method specifically comprises the following steps:
1. establishing an exoskeleton mathematical model, and calculating a function relation between the instantaneous center trajectory of the variable-axis knee joint and rod length parameters of the knee joint upper connecting rod 41, the knee joint rear connecting rod 42, the knee joint lower connecting rod 43, the knee joint left rocker 44 and the knee joint right rocker 45;
2. converting a coordinate system, and converting a function relation in the absolute coordinate system into a local coordinate system;
3. the sum of the coordinate squares and variances of the theoretical instant center trajectory and the calculated trajectory of the human knee joint is taken as a target function, a standing stability condition, a double-rocker kinematic condition, a bionic condition and a transmission angle constraint are taken as constraint conditions, a rod length parameter is taken as a variable for optimization, and a rod length parameter when the target function is minimum is calculated.
(1) Standing stability conditions: the lower extremity exoskeleton needs to satisfy the following conditions: the supporting legs are positioned in a supporting phase and need stability; the swing legs are in the swing phase and need to be bent and extended. Therefore, the instant center of the variable axis knee joint needs to be higher than the anatomical axis of the human knee joint and located behind the hip ankle line when the human knee joint is in the fully extended position to improve the stability of the knee joint. By referring to the national technical supervision of the people's republic of China GB/T10000-;
(2) double rocker kinematic conditions: the double-rocker kinematics is as follows: firstly, the opposite rod of the shortest rod is the frame, and the sum of the lengths of the shortest rod and the longest rod is less than or equal to the sum of the lengths of the other two rods; the sum of the shortest rod and the longest rod is larger than the sum of the other two rods.
(3) Bionic conditions are as follows: in the process of wearing the exoskeleton by a human body to move, the instant center of the exoskeleton knee joint does not exceed the knee joint space (sagittal plane) equivalent to a normal human leg all the time, so that the condition is met by restricting the rod length of the double-rocker mechanism and the thigh rod in combination with the structural size of the human knee joint.
(4) And (3) transmission angle restraint: the transmission angle varies in magnitude when the mechanism is in motion, but in order to ensure good transmission of the mechanism, a lower limit of the minimum transmission angle must be specified. The allowable transmission angle of the machine is 40 degrees, the high-speed high-power machine is 50 degrees, and the low-power machine is lower than 40 degrees. The exoskeleton is not driven and has low speed, so that the allowable transmission angle is 30 degrees.
The shank module 5 is of a telescopic structure, and can adopt two connecting plates to realize length adjustment through waist-shaped hole connection so as to adapt to the shank length of a user; the shank bandage is fixed on the shank module 5 through a shank bandage connecting piece 12 and screws and is used for fixing the shank of the human body;
the foot bandage is fixed on the foot module 7 through the foot bandage connecting hole 13 and the screw, and is used for fixing the foot of the human body.
The rear connecting rod 8 is of a telescopic structure, and two connecting plates can be connected through a waist-shaped hole to achieve length adjustment.
In the walking process, when the swing phase is changed into the support phase, the energy storage module 9 converts the gravitational potential energy of the human body and the weight in the backpack module 1 into elastic potential energy for storage; when the next gait changes from the supporting phase to the swinging phase, the energy storage module 9 releases the stored elastic potential energy, reduces the energy required to be provided by the human body in the leg lifting process, and achieves the effect of assisting the load of the human body. The energy storage module 9 may be the energy storage module disclosed in application No. 201610385317.0, i.e. a variable stiffness spring with pre-load force.
The utility model discloses a theory of operation and work flow are:
the user starts to wear the thigh module, and the length of the thigh module 3 is adjusted to match with the length of the thigh of the user; the length of the shank module 5 is adjusted to be matched with the length of the shank of the user; the sole of the user is placed on the foot module 7, and the foot bandage is arranged on the foot bandage connecting hole 13 and fixed with the foot of the user; a thigh bandage is arranged on the thigh bandage connecting part 11 and is fixed with the thigh of the user, and a shank bandage is arranged on the shank bandage connecting part 12 and is fixed with the shank of the user; the shoulder straps 10 are back-worn on the shoulders of a user, waist straps are mounted on the waist strap connecting holes 14 and fixed with the waist of the user, the hip joint module 2 corresponds to hip joints of the human body, the knee joint module 4 corresponds to knee joints of the human body, and the ankle joint module 6 corresponds to ankle joints of the human body, so that the correct positions of the exoskeleton relative to the human body are guaranteed.
After the backpack is worn, the backpack is in a standing posture at present, and the energy storage module 9 converts gravitational potential energy of a human body and heavy objects in the backpack module 1 into elastic potential energy for storage. The user starts to walk, the left leg is taken as an example by means of the human body to provide torque, the left foot is lifted, the supporting phase is changed into the swinging phase, meanwhile, the energy storage module 9 releases elastic potential energy, the thigh binding band 11 and the shank binding band 12 respectively drive the thigh module 3 and the shank module 5 to start to move, the thigh module 3 drives the upper knee joint connecting rod 41 to move, and the shank module 5 drives the lower knee joint connecting rod 43 to move. The knee joint upper connecting rod 41 and the knee joint lower connecting rod 43 move simultaneously to drive the knee joint left rocker 44 and the knee joint right rocker 45 to move, the knee joint left rocker 44 drives the knee joint rear connecting rod 42 to move, and the knee joint rear connecting rod 42 drives the rear connecting rod 8 and the energy storage element 9 to move together. The left foot falls to the ground and changes from a swinging phase to a supporting phase, and the energy storage module 9 stores elastic potential energy to realize forward stepping of the left leg. The right leg realizes the movement that the whole exoskeleton drives the human body to move forwards.
The utility model discloses the nothing is mentioned the part and is applicable to prior art.
Claims (8)
1. A lower extremity exoskeleton with variable axis knee joints, the exoskeleton comprising a backpack module, a left portion and a right portion; the left part and the right part have the same structure and are symmetrically arranged at the lower part of the backpack module; the shoulder bandage and the waist bandage are fixed on the backpack module;
the left part comprises a hip joint module, a thigh module, a knee joint module, a shank module, an ankle joint module, a foot module, a rear connecting rod and an energy storage module; the knee joint module comprises a knee joint upper connecting rod, a knee joint rear connecting rod, a knee joint lower connecting rod, a knee joint left rocking rod and a knee joint right rocking rod;
one end of the hip joint module is connected with the backpack module in a revolute pair mode, and the other end of the hip joint module is connected with one end of the thigh module in a revolute pair mode; the other end of the thigh module is fixedly connected with one end of the upper connecting rod of the knee joint; a thigh binding belt is fixed on the thigh module; the other end of the knee joint upper connecting rod is respectively connected with one end of a knee joint left rocker and one end of a knee joint right rocker in a revolute pair mode; one end of the knee joint lower connecting rod is fixedly connected with one end of the shank module, and the other end of the knee joint lower connecting rod is respectively connected with the other end of the knee joint left rocker and the other end of the knee joint right rocker in a revolute pair mode; the other end of the shank module is connected with one end of the ankle joint module in a revolute pair mode; a shank binding band is fixed on the shank module; the other end of the ankle joint module is fixedly connected with the foot module; the foot module is fixed with a foot bandage; one end of the rear connecting rod is connected with the backpack module in a revolute pair mode, and the other end of the rear connecting rod is connected with one end of the energy storage module and one end of the knee joint rear connecting rod in a revolute pair mode respectively; the other end of the knee joint rear connecting rod is connected with a knee joint left rocker in a revolute pair mode; the other end of the energy storage module is fixedly connected with the foot module.
2. The lower extremity exoskeleton of claim 1 where said waist strap is attached to said backpack module by a waist strap attachment hole.
3. The lower extremity exoskeleton of claim 1 with variable axis knee joint wherein said thigh module is of a telescopic construction, and is adjustable in length to accommodate the thigh length of the user by the connection of two connection plates through a waist-shaped hole; the shank module is of a telescopic structure, and two connecting plates can be connected through a waist-shaped hole to achieve length adjustment so as to adapt to the shank length of a user.
4. The lower extremity exoskeleton of claim 1 wherein said shank strap is secured to said shank module by a shank strap connection for securing said human shank.
5. The lower extremity exoskeleton of claim 1 wherein said thigh straps are secured to said thigh module by thigh strap attachments for securing said person's thigh.
6. The lower extremity exoskeleton of claim 1 wherein said foot strap is secured to said foot module by a foot strap attachment hole for securing a human foot.
7. The lower extremity exoskeleton of claim 1 where said variable axis knee joint is a telescopic structure that allows for length adjustment using two connecting plates connected by a slotted hole.
8. The lower extremity exoskeleton of claim 1 wherein said energy storage module is a pre-stressed variable rate spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920501961.9U CN209850913U (en) | 2019-04-15 | 2019-04-15 | Lower limb exoskeleton with variable-axis knee joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920501961.9U CN209850913U (en) | 2019-04-15 | 2019-04-15 | Lower limb exoskeleton with variable-axis knee joint |
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| Publication Number | Publication Date |
|---|---|
| CN209850913U true CN209850913U (en) | 2019-12-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920501961.9U Expired - Fee Related CN209850913U (en) | 2019-04-15 | 2019-04-15 | Lower limb exoskeleton with variable-axis knee joint |
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| CN (1) | CN209850913U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927016A (en) * | 2019-04-15 | 2019-06-25 | 河北工业大学 | One kind, which has, becomes the kneed lower limb exoskeleton of axis |
| CN111070187A (en) * | 2019-12-31 | 2020-04-28 | 武汉大学 | Active-passive combined transient center flexible rope driven lower limb exoskeleton robot and control method |
-
2019
- 2019-04-15 CN CN201920501961.9U patent/CN209850913U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927016A (en) * | 2019-04-15 | 2019-06-25 | 河北工业大学 | One kind, which has, becomes the kneed lower limb exoskeleton of axis |
| CN109927016B (en) * | 2019-04-15 | 2023-11-28 | 河北工业大学 | Lower limb exoskeleton with variable axis knee joint |
| CN111070187A (en) * | 2019-12-31 | 2020-04-28 | 武汉大学 | Active-passive combined transient center flexible rope driven lower limb exoskeleton robot and control method |
| CN111070187B (en) * | 2019-12-31 | 2021-07-20 | 武汉大学 | Active-passive combined transient center flexible rope driven lower limb exoskeleton robot and control method |
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Granted publication date: 20191227 |