CN210205292U - Lower limb exoskeleton capable of jumping - Google Patents
Lower limb exoskeleton capable of jumping Download PDFInfo
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- CN210205292U CN210205292U CN201920121905.2U CN201920121905U CN210205292U CN 210205292 U CN210205292 U CN 210205292U CN 201920121905 U CN201920121905 U CN 201920121905U CN 210205292 U CN210205292 U CN 210205292U
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Abstract
The utility model belongs to the technical field of lower limbs ectoskeleton robot and specifically relates to a but lower limbs ectoskeleton device of jump is disclosed. The device comprises a back part, a left lower limb exoskeleton, a right lower limb exoskeleton and a bouncing mechanism. The left lower limb exoskeleton and the right lower limb exoskeleton respectively comprise thigh exoskeleton, shank exoskeleton, feet, hip joints, knee joints and ankle joints. The bouncing mechanism is divided into a knee joint bouncing mechanism and an ankle joint bouncing mechanism and comprises a rack, an upper auxiliary rod, a lower auxiliary rod, a driving motor, a bevel gear box, an intermittent gear transmission mechanism, a traction rope system and a steel plate spring. The problem of current lower limbs ectoskeleton mainly train the wearing person ability of standing, walking, running, the lower limbs ectoskeleton device that special training jumping ability is less is solved.
Description
Technical Field
The utility model relates to a low limbs ectoskeleton robot technical field, in particular to but low limbs ectoskeleton device of jump.
Background
The wearable lower limb exoskeleton robot is a man-machine integrated system worn on the lower limbs of a human body, and is widely applied to the fields of military, medical treatment and the like. The intelligent walking robot integrates the technologies of sensing, controlling, information fusion, mobile computing and the like, is used for protecting a wearer and providing additional power for the wearer, and assists the wearer in completing actions of standing, walking, running and the like.
At present, the research on the lower limb exoskeleton robot technology has made great progress, but still faces a plurality of problems. Such as: the existing lower limb exoskeleton mainly trains the standing, walking and running abilities of a wearer, and fewer lower limb exoskeleton devices specially train the jumping ability are provided.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a but lower limbs ectoskeleton of jump can help the wearing person to train jumping ability.
In order to achieve the above object, the utility model provides a following technical scheme:
a lower limb exoskeleton capable of jumping comprises a lower limb exoskeleton body and a jumping mechanism;
the lower limb exoskeleton body comprises a thigh exoskeleton, a knee joint and a shank exoskeleton, and the thigh exoskeleton is rotatably connected with the shank exoskeleton through the knee joint; the bouncing mechanism comprises a knee joint bouncing mechanism which is arranged between the thigh exoskeleton and the shank exoskeleton and can bend and/or unbend the knee joint;
and/or the presence of a gas in the gas,
the lower limb exoskeleton body comprises a lower limb exoskeleton, ankle joints and a foot, and the lower limb exoskeleton is rotatably connected with the foot through the ankle joints; the bouncing mechanism comprises an ankle joint bouncing mechanism; the ankle joint bouncing mechanism is arranged between the lower leg exoskeleton and the foot and can enable the ankle joint to bend and/or unbend.
Preferably, the lower limb exoskeleton body comprises a thigh exoskeleton, a knee joint, a shank exoskeleton, an ankle joint and a foot, the bounce mechanism comprises a knee joint bounce mechanism and an ankle joint bounce mechanism, and the knee joint bounce mechanism and the ankle joint bounce mechanism can enable the knee joint and the ankle joint to act synchronously.
Preferably, the knee joint bouncing mechanism and/or the ankle joint bouncing mechanism includes: the device comprises a driving device, an intermittent transmission device and an elastic energy storage device;
the driving device can bend or straighten the knee joint or the ankle joint through the intermittent transmission device in a motion state and store energy for the elastic energy storage device;
when the intermittent transmission device is in an intermittent state, the elastic energy storage device can release energy to enable the knee joint or the ankle joint to be straightened or bent.
Preferably, the driving means includes: the output shaft of the driving motor is matched with the intermittent transmission device through the bevel gear box.
Preferably, the intermittent drive means comprises: intermittent gear drive mechanism.
Preferably, the knee joint bouncing mechanism and/or the ankle joint bouncing mechanism further comprise a frame;
the output part of the intermittent transmission device comprises an output connecting rod, a traction rope system, an upper auxiliary rod and a lower auxiliary rod, the output connecting rod is respectively connected to the upper auxiliary rod and the lower auxiliary rod through the traction rope system, and the upper auxiliary rod and the lower auxiliary rod are both hinged to the rack;
in the knee joint bouncing mechanism, the upper auxiliary rod is hinged with the thigh exoskeleton and the lower auxiliary rod is hinged with the shank exoskeleton;
in the ankle joint bouncing mechanism, the upper auxiliary rod is hinged to the lower leg exoskeleton, and the lower auxiliary rod is hinged to the foot.
Preferably, the traction rope system comprises a first traction rope, a second traction rope and a third traction rope;
one end of the second traction rope is fixed to the output connecting rod, the other end of the second traction rope is fixedly connected with one end of the first traction rope and one end of the third traction rope, the other end of the first traction rope is fixed to the upper auxiliary rod, and the other end of the third traction rope is fixed to the lower auxiliary rod.
Preferably, the intermittent transmission device comprises an intermittent gear transmission mechanism, and the intermittent gear transmission mechanism comprises a first straight gear, a composite gear, an incomplete composite gear and a second straight gear which are meshed in sequence;
the first straight gear is matched with the output end of the driving device, the incomplete composite gear is intermittently matched with the second straight gear, and the output shaft of the second straight gear is matched with the output connecting rod.
Preferably, the elastic energy storage device comprises: and two ends of the steel plate spring are fixedly connected with the upper auxiliary rod and the lower auxiliary rod respectively.
Preferably, the back and the two hip joints are also included;
the number of the lower limb exoskeleton bodies is two, and the lower limb exoskeleton bodies are a left lower limb exoskeleton and a right lower limb exoskeleton respectively; the back is rotatably connected with the left lower limb exoskeleton and the right lower limb exoskeleton through the two hip joints.
According to the technical scheme, the utility model provides a but lower limbs ectoskeleton of jump, its advantage is with positive effect:
1. the utility model adopts the bevel gear box to change the transmission direction of the driving motor and uses the compound gear to form the transmission device, the bouncing mechanism has compact structure, and can meet the application requirements of the lower limb exoskeleton robot;
2. the utility model adopts the intermittent gear transmission mechanism as the transmission device, the bouncing mechanism has light weight, and the burden of the human body can be lightened;
3. the bouncing mechanism of the utility model can store and release the energy of knee joint and ankle joint in good time when people walk, and has the effect of buffering and damping;
4. the utility model provides a current low limbs ectoskeleton mainly train the wearing person ability of standing, walking, running, the less problem of low limbs ectoskeleton device of training jump ability specially.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of the overall structure of a lower extremity exoskeleton capable of jumping provided by the embodiment of the present invention;
fig. 2 is a schematic view of an overall structure of the bouncing mechanism according to the embodiment of the present invention;
fig. 3 is a schematic view of an overall structure of a bevel gear box according to an embodiment of the present invention;
fig. 4 is a schematic structural view of an intermittent gear transmission mechanism provided in an embodiment of the present invention;
fig. 5 is a first schematic diagram of a design of a bouncing mechanism according to an embodiment of the present invention;
fig. 6 is a second schematic diagram of the design of the bouncing mechanism according to the embodiment of the present invention;
fig. 7 is a schematic diagram of a jump model according to an embodiment of the present invention.
The device comprises a back part 1, a hip joint 2, a thigh exoskeleton 3, a knee joint 4, a shank exoskeleton 5, an ankle joint 6, a foot part 7, an upper auxiliary rod 8, a rack 9, a steel plate spring 10, a bevel gear box 11, a motor output shaft 12, a driving motor 13, a lower auxiliary rod 14, a first traction rope 15, a second traction rope 16, a through hole 17, a third traction rope 18, a first gear shaft 19, a second gear shaft 20, a third gear shaft 21, an output connecting rod 22, a fourth gear shaft 23, a first bevel gear 24, a second bevel gear 25, a first straight gear 26, a composite gear 27, an incomplete composite gear 28, a second straight gear 29, a gear box 30 and a gear box cover 31.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The lower limb exoskeleton capable of jumping provided by the embodiment of the utility model comprises a lower limb exoskeleton body and a jumping mechanism, and the structure of the lower limb exoskeleton can be shown in the figures 1 and 2;
the lower limb exoskeleton body comprises a thigh exoskeleton 3, a knee joint 4 and a shank exoskeleton 5, wherein the thigh exoskeleton 3 is rotatably connected with the shank exoskeleton 5 through the knee joint 4; the bounce mechanism comprises a knee joint bounce mechanism which is arranged between the thigh exoskeleton 3 and the shank exoskeleton 5 and can bend and/or straighten the knee joint 4; it can be understood that the bending of the knee joint 4 corresponds to the opposite deflection of the thigh exoskeleton 3 and the shank exoskeleton 5, and the straightening of the knee joint 4 corresponds to the opposite deflection of the thigh exoskeleton 3 and the shank exoskeleton 5, so as to help jumping;
and/or the presence of a gas in the gas,
the lower limb exoskeleton body comprises a lower limb exoskeleton 5, ankle joints 6 and a foot 7, and the lower limb exoskeleton 5 is rotatably connected with the foot 7 through the ankle joints 6; the bounce mechanism comprises an ankle joint bounce mechanism; the ankle joint bouncing mechanism is arranged between the crus exoskeleton 5 and the foot 7 and can bend and/or straighten the ankle joint 6; it will be appreciated that flexion of ankle joint 6 corresponds to deflection of calf exoskeleton 5 and foot 7 towards each other, and extension of ankle joint 6 corresponds to deflection of calf exoskeleton 5 and foot 7 away from each other, facilitating jumping.
According to the technical solution provided by the utility model, the embodiment of the utility model provides a but lower limbs ectoskeleton that jumps has solved the main training wearers ability of standing, walking, running of current lower limbs ectoskeleton, and the lower limbs ectoskeleton device less problem of training ability of jumping specially.
Preferably, the lower limb exoskeleton body comprises a thigh exoskeleton 3, a knee joint 4, a shank exoskeleton 5, an ankle joint 6 and a foot 7, the bouncing mechanism comprises a knee joint bouncing mechanism and an ankle joint bouncing mechanism, and the knee joint bouncing mechanism and the ankle joint bouncing mechanism can enable the knee joint 4 and the ankle joint 6 to act synchronously so as to improve the coordination of the two parts in the jumping process. Specifically, the bounce mechanism enables the knee joint 4 and the ankle joint 6 to be changed from a bending state to a straightening state at the same time, so that the gravity center of the human body is instantly improved, and the jumping is realized.
In this embodiment, the knee joint bouncing mechanism and/or the ankle joint bouncing mechanism includes: the structure of the driving device, the intermittent transmission device and the elastic energy storage device can be shown by referring to fig. 1 and 2;
wherein, the driving device can bend or straighten the knee joint 4 or the ankle joint 6 through an intermittent transmission device in a motion state and store energy for the elastic energy storage device;
when the intermittent transmission device is in an intermittent state, the elastic energy storage device can release energy to enable the knee joint 4 or the ankle joint 6 to be straightened or bent. Due to the arrangement, the intermittent transmission device realizes the alternate operation of energy storage and energy release, realizes the take-off, and the bouncing mechanism has a simple structure and light weight and can reduce the burden of a human body; the elastic energy storage and the instant energy release of the elastic energy storage device enable the knee joint 4 or the ankle joint 6 to be bent firstly and then straightened immediately to help jumping; the elastic energy storage device can also store and release the energy of the knee joint and the ankle joint in time when a person walks, and has the effect of buffering and damping.
Preferably, the driving device includes: a driving motor 13 and a bevel gear box 11, wherein an output shaft 12 of the driving motor 13 is matched with an intermittent transmission device through the bevel gear box 11. The bevel gear box 11 is adopted to change the transmission direction of the driving motor 13, the structure is compact, and the application requirements of the lower limb exoskeleton robot can be met. Specifically, the bevel gear box 11 includes a gear box body 30, a gear box cover 31, a first gear shaft 19, a first bevel gear 24 and a second bevel gear 25, wherein the driving motor 13 is fixed on the gear box body 30 by bolts, the first bevel gear 24 and the second bevel gear 25 are engaged with each other to form a bevel gear pair, the first bevel gear 24 is installed on a motor shaft, the second bevel gear 25 is installed on the first gear shaft 19, the first gear shaft 19 is connected with the gear box body 30, and the gear box cover 31 seals the first bevel gear 24 and the second bevel gear 25. The driving motor 13 rotates to drive the first bevel gear 24 in the gear box to rotate, and the bevel gear pair formed by the first bevel gear 24 and the second bevel gear 25 rotates the driving motor 13 horizontally by 90 degrees and converts the rotation into the rotation of the first gear shaft 19 vertically.
In the present embodiment, the intermittent drive means includes: the intermittent gear transmission mechanism comprises the incomplete compound gear 28 and a plurality of gears meshed with the incomplete compound gear, and has the advantages of compact structure, stability and reliability. Of course, other intermittent motion mechanisms, such as ratchet mechanisms, geneva mechanisms, and linkage mechanisms, may also be employed.
Specifically, the knee joint bouncing mechanism and/or the ankle joint bouncing mechanism further comprise a rack 9;
the output part of the intermittent transmission device comprises an output connecting rod 22, a traction rope system, an upper auxiliary rod 8 and a lower auxiliary rod 14, the output connecting rod 22 is respectively connected with the upper auxiliary rod 8 and the lower auxiliary rod 14 through the traction rope system, and the upper auxiliary rod 8 and the lower auxiliary rod 14 are both hinged to the rack 9;
in the knee joint bouncing mechanism, an upper auxiliary rod 8 is hinged with a thigh exoskeleton 3, and a lower auxiliary rod 14 is hinged with a shank exoskeleton 5, and the structure can be seen in fig. 1 and 2;
in the ankle joint bouncing mechanism, an upper auxiliary rod 8 is hinged to the lower leg exoskeleton 5, and a lower auxiliary rod 14 is hinged to the foot 7. Due to the arrangement, the bouncing mechanism is optimized, and the movement is smooth.
Taking the knee joint bouncing mechanism as an example, the relevant working process of the structure is as follows: the intermittent gear transmission mechanism in a motion state drives the output connecting rod 22 to deflect, the traction rope system respectively pulls the upper auxiliary rod 8 and the lower auxiliary rod 14 to deflect oppositely, the thigh exoskeleton 3 and the shank exoskeleton 5 are driven to deflect oppositely, namely the knee joint 4 is bent, and meanwhile, the elastic energy storage device stores energy; when the intermittent gear transmission mechanism is in a rest state, the traction rope system is loosened, the elastic energy storage device instantly releases energy, the outward tension at the two ends pushes the upper auxiliary rod 8 and the lower auxiliary rod 14 to reversely deflect, and further pushes the thigh exoskeleton 3 and the shank exoskeleton 5 to reversely deflect, namely the knee joint 4 immediately straightens, the gravity center of a human body is instantly lifted, and the take-off is realized. For the ankle joint bouncing mechanism, the working principle is similar, and the elastic energy storage device stores energy and releases energy instantly to enable the ankle joint 6 to bend and then straighten immediately.
Preferably, the traction ropes comprise a first traction rope 15, a second traction rope 16 and a third traction rope 18, the structure of which can be seen in fig. 2;
wherein, one end of the second hauling cable 16 is fixed on the output connecting rod 22, the other end is fixedly connected with one end of the first hauling cable 15 and one end of the third hauling cable 18, the other end of the first hauling cable 15 is fixed on the upper auxiliary rod 8, and the other end of the third hauling cable 18 is fixed on the lower auxiliary rod 14. In operation, deflection of the output link 22 pulls the second pull cord 16 to deflect the anchor point and, via the first pull cord 15 and the third pull cord 18, the upper auxiliary rod 8 and the lower auxiliary rod 14, respectively, towards each other. This scheme simple structure, light in weight can alleviate human burden.
Specifically, the intermittent transmission device comprises an intermittent gear transmission mechanism, the intermittent gear transmission mechanism comprises a first straight gear 26, a compound gear 27, an incomplete compound gear 28 and a second straight gear 29 which are meshed in sequence, the structure of the intermittent gear transmission mechanism can be shown in fig. 1 and 4, and the intermittent gear transmission mechanism has the advantages of being compact in structure, stable and reliable;
the first spur gear 26 is fitted to the output of the drive, the incomplete compound gear 28 is intermittently fitted to the second spur gear 29, and the output shaft of the second spur gear 29 is fitted to the output link 22. The outer teeth of the compound gear 27 are engaged with the first spur gear 26, the inner teeth of the compound gear 27 are engaged with the outer teeth of the incomplete compound gear 28, the inner teeth of the incomplete compound gear 28 are engaged with the second spur gear 29, and the second gear shaft 20, the third gear shaft 21, and the fourth gear shaft 23 are coupled with the gear bracket through gear end through holes. The first straight gear 26 drives the compound gear 27, the incomplete compound gear 28 and the second straight gear 29 in the intermittent gear transmission mechanism to rotate in sequence, and the output shaft drives the output connecting rod 22 to deflect through the second straight gear 29. When the incomplete compound gear 28 rotates to a specific position, the smooth part of the inner teeth thereof causes the incomplete compound gear 28 to be no longer meshed with the second spur gear 29, and the output shaft of the second spur gear 29 loses torque.
Preferably, the elastic energy storage means comprises: the structure of the leaf spring 10 can be seen from fig. 1 and 2, and the leaf spring 10 can store energy by compression, and both ends of the leaf spring 10 are respectively fixed with the upper auxiliary rod 8 and the lower auxiliary rod 14.
The embodiment of the utility model provides a lower limb exoskeleton capable of jumping, which also comprises a back part 1 and two hip joints 2;
the structure of the exoskeleton can be shown in fig. 1, the number of the lower limb exoskeleton bodies is two, and the lower limb exoskeleton bodies are a left lower limb exoskeleton and a right lower limb exoskeleton respectively; the back part 1 is respectively connected with the left lower limb exoskeleton and the right lower limb exoskeleton in a rotatable way through two hip joints 2. The motor is driven by the hip joint 2 to drive the thigh and the shank of the human body to move.
The present solution is further described below with reference to specific embodiments:
as shown in fig. 1, a lower extremity exoskeleton capable of jumping comprises a back 1, a left lower extremity exoskeleton, a right lower extremity exoskeleton and a jumping mechanism. The left lower limb exoskeleton and the right lower limb exoskeleton respectively comprise a thigh exoskeleton 3, a shank exoskeleton 5, a foot 7, a hip joint 2, a knee joint 4 and an ankle joint 6. The bouncing mechanism is divided into a knee joint bouncing mechanism and an ankle joint bouncing mechanism and comprises a rack 9, an upper auxiliary rod 8, a lower auxiliary rod 14, a driving motor 13, a bevel gear box 11, an intermittent gear transmission mechanism, a traction rope system and a steel plate spring 10.
As shown in fig. 1, a back part 1 is rotatably connected with a thigh exoskeleton 3 through a hip joint 2, the thigh exoskeleton 3 is rotatably connected with a shank exoskeleton 5 through a knee joint 4, and the shank exoskeleton 5 is rotatably connected with a foot part 7 through an ankle joint 6. The motor is driven by the hip joint 2 to drive the thigh and the shank of the human body to move.
As shown in fig. 1 and 2, the knee joint bouncing mechanism is connected with the thigh exoskeleton 3 and the shank exoskeleton 5 through an upper auxiliary rod 8 and a lower auxiliary rod 14 respectively. The upper end of the upper auxiliary rod 8 is hinged with the thigh exoskeleton 3, and the lower end of the upper auxiliary rod 8 is hinged with the upper end of the frame 9. The lower end of the lower auxiliary rod 14 is hinged with the crus exoskeleton 5, and the upper end of the lower auxiliary rod 14 is hinged with the lower end of the frame 9. Two ends of the steel plate spring 10 are fixedly connected with the upper auxiliary rod 8 and the lower auxiliary rod 14 respectively. The ankle joint bouncing mechanism is similar and is respectively connected with the lower leg exoskeleton 5 and the foot 7 through an upper auxiliary rod 8 and a lower auxiliary rod 14.
As shown in fig. 2, a driving motor 13, a bevel gear box 11 and an intermittent gear transmission mechanism are arranged on a frame 9. The intermittent gear transmission mechanism is fixed on the frame 9 through a gear shaft and is connected with an output shaft 12 of a driving motor 13 through a bevel gear box 11.
As shown in fig. 3, the lower extremity exoskeleton capable of jumping, the bevel gear box 11 comprises a gear box body 30, a gear box cover 31, a first gear shaft 19, a first bevel gear 24 and a second bevel gear 25, wherein, the driving motor 13 is fixed on the gear box body 30 by bolts, the first bevel gear 24 and the second bevel gear 25 are meshed with each other to form a bevel gear pair, the first bevel gear 24 is installed on a motor shaft, the second bevel gear 25 is installed on the first gear shaft 19, the first gear shaft 19 is connected with the gear box body 30, and the gear box cover 31 seals the first bevel gear 24 and the second bevel gear 25. The driving motor 13 rotates to drive the first bevel gear 24 in the gear box to rotate, and the bevel gear pair formed by the first bevel gear 24 and the second bevel gear 25 rotates the driving motor 13 horizontally by 90 degrees and converts the rotation into the rotation of the first gear shaft 19 vertically.
As shown in fig. 4, the intermittent gear train includes a first spur gear 26, a compound gear 27, an incomplete compound gear 28, a second spur gear 29, a second gear shaft 20, a third gear shaft 21, and a fourth gear shaft 23, external teeth of the compound gear 27 are engaged with the first spur gear 26, internal teeth of the compound gear 27 are engaged with external teeth of the incomplete compound gear 28, internal teeth of the incomplete compound gear 28 are engaged with the second spur gear 29, and the second gear shaft 20, the third gear shaft 21, and the fourth gear shaft 23 are coupled to the gear bracket through gear end through holes. The first straight gear 26 drives the compound gear 27, the incomplete compound gear 28 and the second straight gear 29 in the intermittent gear transmission mechanism to rotate in sequence, and the output shaft drives the output connecting rod 22 to deflect through the second straight gear 29. When the incomplete compound gear 28 rotates to a specific position, the smooth part of the inner teeth thereof causes the incomplete compound gear 28 to be no longer meshed with the second spur gear 29, and the output shaft of the second spur gear 29 loses torque.
As shown in fig. 2, the traction ropes comprise a first traction rope 15, a second traction rope 16 and a third traction rope 18. One end of a second traction rope 16 is fixed on an output connecting rod 22 of the intermittent gear transmission mechanism, the other end of the second traction rope 16 is fixedly connected with one end of a first traction rope 15 and one end of a third traction rope 18 at one point through a through hole 17, and the other end of the first traction rope 15 and the other end of the third traction rope 18 are respectively fixed on the upper auxiliary rod 8 and the lower auxiliary rod 14.
The working principle is as follows:
in an initial state, a human body keeps a standing posture under the action of the lower limb exoskeleton, the included angles between the upper auxiliary rod 8 and the lower auxiliary rod 14 of the bouncing mechanism and the rack 9 are the largest, and the leaf spring 10 is in an extending state. For the knee joint bouncing mechanism, the driving motor 13 rotates to drive the bevel gear in the gear box to rotate, the radial rotation of the output shaft 12 of the driving motor 13 is converted into the radial rotation of the first gear shaft 19, the torque is transmitted to the output shaft of the second straight gear 29 through the intermittent gear transmission mechanism, and the output connecting rod 22 is driven to deflect. The deflection of the output connecting rod 22 pulls the second traction rope 16, so that the consolidation point is deviated away from the direction of the through hole 17, the upper auxiliary rod 8 and the lower auxiliary rod 14 are respectively pulled to deflect oppositely through the first traction rope 15 and the third traction rope 18, the thigh exoskeleton 3 and the shank exoskeleton 5 are driven to deflect oppositely, namely the knee joint 4 is bent, and meanwhile, the steel plate spring 10 is bent, deformed and stored with energy. When the incomplete compound gear 28 rotates to a specific position, the incomplete compound gear is not meshed with the second spur gear 29 any more, the traction rope system is loosened, and the steel plate spring 10 releases energy instantly. The outward tension of the two ends of the steel plate spring 10 pushes the upper auxiliary rod 8 and the lower auxiliary rod 14 to deflect reversely, and further pushes the thigh exoskeleton 3 and the shank exoskeleton 5 to deflect reversely, namely the knee joint 4 is straightened immediately. For the ankle joint bouncing mechanism, the working principle is similar, and the ankle joint 6 is firstly bent and then immediately straightened by the bending energy storage and the instant energy release of the steel plate spring 10. The drive motors 13 for controlling the knee joint bouncing mechanism and the ankle joint bouncing mechanism work simultaneously, so that the knee joint 4 and the ankle joint 6 are changed from a bending state to a straightening state simultaneously, the gravity center of a human body is lifted instantly, and the take-off is realized.
Fig. 5 and 6 show the principle diagram of the design of the bouncing mechanism in the patent:
in order to select a suitable drive motor and design the gear transmission, the force and moment required for storing energy in the leaf spring need to be calculated.
Let the bending angle of the leaf spring be α and the horizontal tension be F1。
The leaf spring in the bent state was analyzed and the cross-section at point N' (indicated by line mn) was
Where E is Young 'S modulus, I is area moment of inertia, S is B' N 'length, and ψ is the angle of the tangent to the horizontal at N'.
Order to
The overall length of the leaf spring is denoted L.
For large deflection curved sheets, K is determined from the following equation
Wherein the content of the first and second substances,
for a given α horizontal tension F of the leaf spring1Is composed of
Projection length L of steel plate spring in horizontal directioncCan be pushed out by the following formula
To obtain pull force F of a pull-cord2Firstly, a few in a schematic diagram are deduced by using geometric relationsA single angle
Wherein β is the corner of the auxiliary rod, L1＝|OC|，L2＝|BC|
Similarly, λ - ∠ QO 'P, γ - ∠ MA' H, δ - ∠ QMP are solvable.
F1 and F2 act equally at point C on the auxiliary lever, pushing out
Under quasi-static state, point M 'is balanced under the action of three pulling ropes M' Q, M 'A' and M 'G', F is 2F2
The output torque required for storing energy in the leaf spring is obtained
During the change of the bending angle of the leaf spring, the maximum required output torque value should be smaller than the output torque of the gear transmission.
The steel plate spring is viewed as a circular arc with radius when being bent
The energy stored in the leaf spring
The human body is simplified into a system consisting of 3 sections of rigid bodies, and as shown in fig. 7, the jumping model diagram of the patent is as follows:
in the figure, three limbs respectively represent the lower leg and foot, thigh, head, body and upper limb, and the mass of each limb is miThe mass center moment of inertia of each limb is IiEach limb has a length of liThe distance from the mass center of each limb to the revolute joint is aiThe ankle position is (x)0,y0) Angle of articulation thetai(i＝1,2,3)。
Finding the mass center position of each rod piece in the absolute coordinate system, wherein the mass center position of the ith rod piece is
The position of the mass center of each rod piece is derived to obtain the speed of the mass center of each rod piece
In the formula
And solving a kinetic equation by adopting a Lagrange method. The Lagrange method is described mathematically as follows:
the kinetic energy of the system is the sum of the kinetic energy of each rod piece
The system potential energy is the sum of the potential energy of each rod piece
Since the kinetic energy is qiAnd
potential energy is qiThus substituting the formulae (15) and (16) for the formula (14)
Wherein tau is the stored energy E of the leaf springbendProvided is a method.
The utility model discloses an advantage does with positive effect:
1. the utility model adopts the bevel gear box to change the transmission direction of the driving motor and uses the compound gear to form the transmission device, the bouncing mechanism has compact structure, and can meet the application requirements of the lower limb exoskeleton robot;
2. the utility model adopts the intermittent gear transmission mechanism as the transmission device, the bouncing mechanism has light weight, and the burden of the human body can be lightened;
3. the bouncing mechanism of the utility model can store and release the energy of knee joint and ankle joint in good time when people walk, and has the effect of buffering and damping;
4. the utility model provides a current low limbs ectoskeleton mainly train the wearing person ability of standing, walking, running, the less problem of low limbs ectoskeleton device of training jump ability specially.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (5)
1. A lower limb exoskeleton capable of jumping is characterized by comprising a lower limb exoskeleton body and a jumping mechanism;
the lower limb exoskeleton body comprises a thigh exoskeleton (3), a knee joint (4) and a shank exoskeleton (5), and the thigh exoskeleton (3) is rotatably connected with the shank exoskeleton (5) through the knee joint (4); the bouncing mechanism comprises a knee joint bouncing mechanism which is arranged between the thigh exoskeleton (3) and the shank exoskeleton (5) and can bend and/or unbend the knee joint (4);
and/or the presence of a gas in the gas,
the lower limb exoskeleton body comprises a lower limb exoskeleton (5), ankle joints (6) and feet (7), and the lower limb exoskeleton (5) is rotatably connected with the feet (7) through the ankle joints (6); the bouncing mechanism comprises an ankle joint bouncing mechanism; the ankle joint bouncing mechanism is arranged between the shank exoskeleton (5) and the foot (7) and can bend and/or straighten the ankle joint (6);
the knee joint bouncing mechanism and/or the ankle joint bouncing mechanism comprise: the device comprises a driving device, an intermittent transmission device, an elastic energy storage device and a frame (9); the drive device can bend or straighten the knee joint (4) or the ankle joint (6) through the intermittent transmission device in a motion state and store energy for the elastic energy storage device; when the intermittent transmission device is in an off state, the elastic energy storage device can release energy to enable the knee joint (4) or the ankle joint (6) to be straightened or bent;
the driving device includes: the intermittent transmission device comprises a driving motor (13) and a bevel gear box (11), wherein an output shaft (12) of the driving motor (13) is matched with the intermittent transmission device through the bevel gear box (11); the intermittent drive device includes: an intermittent gear drive mechanism; the output part of the intermittent transmission device comprises an output connecting rod (22), a traction rope system, an upper auxiliary rod (8) and a lower auxiliary rod (14), the output connecting rod (22) is respectively connected to the upper auxiliary rod (8) and the lower auxiliary rod (14) through the traction rope system, and the upper auxiliary rod (8) and the lower auxiliary rod (14) are hinged to the rack (9); in the knee joint bouncing mechanism, the upper auxiliary rod (8) is hinged with the thigh exoskeleton (3), and the lower auxiliary rod (14) is hinged with the shank exoskeleton (5); in the ankle joint bouncing mechanism, the upper auxiliary rod (8) is hinged with the crus exoskeleton (5), and the lower auxiliary rod (14) is hinged with the foot (7); the elastic energy storage device comprises: and two ends of the steel plate spring (10) are respectively fixedly connected with the upper auxiliary rod (8) and the lower auxiliary rod (14).
2. The lower extremity exoskeleton of claim 1 wherein said lower extremity exoskeleton body comprises a thigh exoskeleton (3), a knee joint (4), a shank exoskeleton (5), an ankle joint (6) and a foot (7), said bounce mechanism comprises said knee bounce mechanism and said ankle bounce mechanism, and said knee bounce mechanism and said ankle bounce mechanism enable said knee joint (4) and said ankle joint (6) to act in synchrony.
3. The lower extremity exoskeleton of claim 1 wherein said traction ropes comprise a first traction rope (15), a second traction rope (16) and a third traction rope (18);
one end of the second traction rope (16) is fixed to the output connecting rod (22), the other end of the second traction rope is fixedly connected with one end of the first traction rope (15) and one end of the third traction rope (18), the other end of the first traction rope (15) is fixed to the upper auxiliary rod (8), and the other end of the third traction rope (18) is fixed to the lower auxiliary rod (14).
4. A lower extremity exoskeleton according to claim 1 where said intermittent gearing comprises an intermittent gear transmission comprising a first spur gear (26), a compound gear (27), a partial compound gear (28) and a second spur gear (29) meshed in sequence;
the first straight gear (26) is matched with the output end of the driving device, the incomplete compound gear (28) is intermittently matched with the second straight gear (29), and the output shaft of the second straight gear (29) is matched with the output connecting rod (22).
5. The lower extremity exoskeleton of claim 1, further comprising a back (1) and two hip joints (2);
the number of the lower limb exoskeleton bodies is two, and the lower limb exoskeleton bodies are a left lower limb exoskeleton and a right lower limb exoskeleton respectively; the back part (1) is rotatably connected with the left lower limb exoskeleton and the right lower limb exoskeleton through the two hip joints (2).
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| CN109568090A (en) * | 2019-01-24 | 2019-04-05 | 中国科学技术大学 | A kind of lower limb exoskeleton to jump |
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| CN109568090A (en) * | 2019-01-24 | 2019-04-05 | 中国科学技术大学 | A kind of lower limb exoskeleton to jump |
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