CN210757815U - Self-adaptive knee joint mechanism for wearable exoskeleton - Google Patents
Self-adaptive knee joint mechanism for wearable exoskeleton Download PDFInfo
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- CN210757815U CN210757815U CN201921456373.4U CN201921456373U CN210757815U CN 210757815 U CN210757815 U CN 210757815U CN 201921456373 U CN201921456373 U CN 201921456373U CN 210757815 U CN210757815 U CN 210757815U
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Abstract
The application provides a self-adaptation knee joint mechanism for wearable ectoskeleton, a serial communication port, knee joint mechanism include at least one in-connection union piece, connect respectively in two outer joint spare of both sides about the in-connection union piece, the in-connection union piece rotate mutually through first pivot and the outer joint spare that is located in-connection union piece upside and be connected, the in-connection union piece rotate mutually through second pivot and the outer joint spare that is located in-connection union piece downside and be connected, first pivot and second pivot be located the inside position of outer joint spare and in-connection union piece, the rear end of outer joint spare install the second pulley, the rear end of in-connection union piece install first pulley.
Description
Technical Field
The present application relates to an adaptive knee joint mechanism for a wearable exoskeleton.
Background
The exoskeleton originally refers to a hard external structure for protecting soft organs in organisms in biology, and the existing exoskeleton robot refers to a mechanical device which simulates the motion state of a human body, enhances the motion capability of the human body, integrates bionics and man-machine ergonomics, is worn on the outer side of a limb of the human body, and can improve the specific capabilities of people in walking durability, load bearing capability and the like. The exoskeleton robot relates to human-computer ergonomics, so that the exoskeleton robot needs to be high in adaptability, is suitable for wearers with different body shapes, and is also used for carrying out dangerous protection on human joints to prevent human body damage in the wearing process.
Many knee joints of exoskeleton robots in the prior art are not adaptive, when the accurate positions of human joints cannot be determined from the outside, the exoskeleton and the human joints are dislocated, so that a wearer feels uncomfortable, even knee joint diseases can be caused in long-term use, and structures with the adaptivity are large in structure, size and weight.
Disclosure of Invention
The technical problem that this application will be solved provides an adaptive knee joint mechanism for wearable ectoskeleton.
In order to solve the technical problem, the application provides a self-adaptation knee joint mechanism for wearable ectoskeleton, a serial communication port, knee joint mechanism include at least one in-connection piece, connect respectively in two outer joint pieces of both sides about the in-connection piece, the in-connection piece rotate with the outer joint piece that is located the in-connection piece upside mutually through first pivot and be connected, the in-connection piece rotate with the outer joint piece that is located the in-connection piece downside mutually through the second pivot and be connected, first pivot and second pivot be located the inside position of outer joint piece and in-connection piece, the rear end of outer joint piece install the second pulley, the rear end of in-connection piece install first pulley.
Preferably, in the bending process of the knee joint mechanism, the inner connecting piece rotates relative to the outer connecting piece positioned on the upper side of the inner connecting piece through the first rotating shaft, the inner connecting piece rotates relative to the outer connecting piece positioned on the lower side of the inner connecting piece through the second rotating shaft, and the adjacent first pulley and the second pulley are far away from each other.
Preferably, the external connecting piece comprises two external connecting pieces which are oppositely arranged and connected through a connecting part, the front end of the external connecting sheet is respectively provided with an upper external shaft hole and a lower external shaft hole, the upper external shaft hole is positioned at the upper side of the connecting part, the lower outer shaft hole is positioned at the lower side of the connecting part, the inner connecting piece comprises an inner connecting block and two inner connecting pieces which are oppositely arranged and positioned at the rear side of the inner connecting block, the inner connecting block is provided with an upper inner shaft hole and a lower inner shaft hole, the upper inner shaft hole of the inner connecting piece is opposite to the lower outer shaft hole of the outer connecting piece positioned at the upper side of the inner connecting piece, and the lower inner shaft hole of the inner connecting piece is opposite to the upper outer shaft hole of the outer connecting piece positioned on the lower side of the inner connecting piece and is rotationally connected with the upper outer shaft hole of the outer connecting piece through the second rotating shaft.
Preferably, two inner connecting pieces of the inner connecting piece are provided with first pulley mounting holes, and the first pulley is mounted between the two inner connecting pieces through the first pulley mounting holes.
Preferably, the outer connecting pieces are also provided with second pulley mounting holes, and the second pulleys are mounted between the two outer connecting pieces through the second pulley mounting holes.
Preferably, the outer wall of the inner connecting piece is further provided with a limiting block, the upper edge and the lower edge of the limiting block are respectively provided with a first outer limiting surface, the upper side and the lower side of the outer connecting piece are respectively provided with a second outer limiting surface matched with the first outer limiting surface, when the knee joint mechanism is in a non-bending state, the limiting block is clamped between the connecting pieces positioned on the upper side and the lower side of the inner connecting piece, and the two first outer limiting surfaces of the limiting block are respectively contacted with the adjacent second outer limiting surfaces.
Preferably, the upper and lower edges of the connecting part are inner limiting surfaces, the upper and lower sides of the inner connecting block of the inner connecting part are provided with inner limiting angles corresponding to the inner limiting surfaces, and when the inner limiting angles are in contact with the inner limiting surfaces in the bending process of the knee joint mechanism, the knee joint mechanism is bent to the maximum angle.
Preferably, at least a portion of the inner connecting piece is embedded between two outer connecting pieces of the outer connecting piece.
Preferably, the knee joint mechanism comprises a plurality of outer connecting pieces and a plurality of inner connecting pieces, and the outer connecting pieces and the inner connecting pieces are connected in series at intervals.
The application provides a self-adaptation knee joint structure for wearable ectoskeleton, provides a small, light in weight, compact structure's self-adaptation knee joint structure that has the adaptability, makes things convenient for different size wearers to adjust the ectoskeleton. Compared with the prior art, the utility model provides a self-adaptation knee joint structure makes the knee joint smooth self-heating when rotating, and the mutual gomphosis of outer joint piece and interconnection splicing can bear great side direction moment of torsion to spacing protect function has.
Specific embodiments of the present application are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the application may be employed. It should be understood that the embodiments of the present application are not so limited in scope. The embodiments of the application include many variations, modifications and equivalents within the spirit and scope of the appended claims.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.
Drawings
The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. In addition, the shapes, the proportional sizes, and the like of the respective members in the drawings are merely schematic for assisting the understanding of the present application, and are not particularly limited to the shapes, the proportional sizes, and the like of the respective members in the present application. Those skilled in the art, having the benefit of the teachings of this application, may select various possible shapes and proportional sizes to implement the present application, depending on the particular situation. In the drawings:
fig. 1 is a schematic structural diagram of an adaptive knee joint mechanism for a wearable exoskeleton;
FIG. 2 is a schematic structural view of the outer joint member of the present application;
FIG. 3 is a schematic structural view of an inner connector of the present application;
FIG. 4 is a side view of the knee mechanism of the present application;
FIG. 5 is a cross-sectional view taken in the direction A-A of FIG. 4;
fig. 6 is a schematic structural view of the knee joint mechanism of the present application in a distorted state.
Wherein: 100. an outer connecting member; 200. an inner connecting member; 300. a first pulley; 400. a second pulley;
11. an outer connecting sheet; 12. an upper outer axle hole; 13. a lower outer shaft hole; 14. a second pulley mounting hole; 15. a connecting portion;
21. an inner connection block; 22. an inner connecting piece; 23. a first pulley mounting hole; 24. an upper inner shaft hole; 25. a lower inner shaft hole; 26. a limiting block;
111. a second outer limiting surface; 211. an inner limiting angle; 151. an inner limiting surface; 261. a first outer limiting surface.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art without any inventive work based on the embodiments in the present application are within the scope of protection of the present application.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in the figure, the application provides a self-adaptation knee joint mechanism for wearable ectoskeleton, a serial communication port, knee joint mechanism include at least one interior connecting piece 200, connect respectively in two outer connecting pieces 100 of interior connecting piece 200 upper and lower both sides, interior connecting piece 200 rotate with the outer connecting piece 100 that is located interior connecting piece 200 upside mutually through first pivot and be connected, interior connecting piece 200 rotate with the outer connecting piece 100 that is located interior connecting piece 200 downside mutually through the second pivot and be connected, first pivot and second pivot be located the inside position of outer connecting piece 100 and interior connecting piece 200, the rear end of outer connecting piece 100 install second pulley 400, the rear end of interior connecting piece 200 install first pulley 300. In the bending process of the knee joint mechanism, the inner connecting piece 200 rotates relative to the outer connecting piece 100 positioned on the upper side of the inner connecting piece 200 through a first rotating shaft, the inner connecting piece 200 rotates relative to the outer connecting piece 100 positioned on the lower side of the inner connecting piece 200 through a second rotating shaft, and the adjacent first pulley 300 and the second pulley 400 are far away from each other.
The outer connecting piece 100 comprises two outer connecting pieces 11 which are oppositely arranged, the two outer connecting pieces 11 are connected through a connecting part 15, the front ends of the outer connecting pieces 11 are respectively provided with an upper outer shaft hole 12 and a lower outer shaft hole 13, the upper outer shaft hole 12 is positioned on the upper side of the connecting part 15, the lower outer shaft hole 13 is positioned on the lower side of the connecting part 15, the inner connecting piece 200 comprises an inner connecting piece 21 and two inner connecting pieces 22 which are oppositely arranged and positioned on the rear side of the inner connecting piece 21, the inner connecting piece 21 is provided with an upper inner shaft hole 24 and a lower inner shaft hole 25, the upper inner shaft hole 24 of the inner connecting piece 200 is oppositely arranged with the lower outer shaft hole 13 of the outer connecting piece 100 which is positioned on the upper side of the inner connecting piece 200 and is rotatably connected through the first rotating shaft, the lower inner shaft hole 25 of the inner connecting piece 200 is oppositely arranged with the upper outer shaft hole 12 of the outer connecting piece 100 which is positioned on the lower side of the, and is rotationally connected with the second rotating shaft. The two inner connecting pieces 22 of the inner connecting member 200 are provided with first pulley mounting holes 23, and the first pulley 300 is mounted between the two inner connecting pieces 22 through the first pulley mounting holes 23. The outer connecting sheets 11 are further provided with second pulley mounting holes 14, and the second pulleys 400 are mounted between the two outer connecting sheets 11 through the second pulley mounting holes 14. At least a portion of the inner connecting block 21 is inserted between the two outer connecting pieces 11 of the outer connecting member 100 to stabilize the knee joint mechanism.
The outer wall of the inner connecting piece 22 is further provided with a limiting block 26, the upper edge and the lower edge of the limiting block 26 are respectively provided with a first outer limiting surface 261, the upper side and the lower side of the outer connecting piece 11 are respectively provided with a second outer limiting surface 111 matched with the first outer limiting surface 261, when the knee joint mechanism is in a non-bending state, the limiting block 26 is clamped between the connecting pieces positioned at the upper side and the lower side of the inner connecting piece 21, and the two first outer limiting surfaces 261 of the limiting block 26 are respectively contacted with the adjacent second outer limiting surfaces 111. The upper and lower edges of the connecting part 15 are respectively inner limiting surfaces 151, the upper and lower sides of the inner connecting block 21 of the inner connecting part 200 are provided with inner limiting angles 211 corresponding to the inner limiting surfaces 151, and when the inner limiting angles 211 are in contact with the inner limiting surfaces 151 in the bending process of the knee joint mechanism, the knee joint mechanism bends to the maximum angle, can bear larger lateral torque and protect the knee joint of a human body.
The knee joint mechanism comprises a plurality of outer connecting pieces 100 and a plurality of inner connecting pieces 200, wherein the outer connecting pieces 100 and the inner connecting pieces 200 are connected in series at intervals.
The application provides a self-adaptation knee joint structure for wearable ectoskeleton, provides a small, light in weight, compact structure's self-adaptation knee joint structure that has the adaptability, makes things convenient for different size wearers to adjust the ectoskeleton. Compared with the prior art, the utility model provides a self-adaptation knee joint structure makes the knee joint smooth self-heating when rotating, and the mutual gomphosis of outer joint piece 11 and interconnection splicing piece 22 can bear great side direction moment of torsion to have spacing protect function.
The upper and lower longitudinal directions described in this application are defined as shown in fig. 1, and the upper outer shaft hole 12 is provided at the front end of the outer joint member 100, and the lower outer shaft hole 13 is provided at the lower side of the upper outer shaft hole 12.
It is to be noted that, in the description of the present application, the meaning of "a plurality" is two or more unless otherwise specified.
All articles and references disclosed, including patent applications and publications, are hereby incorporated by reference for all purposes. The term "consisting essentially of …" describing a combination shall include the identified element, ingredient, component or step as well as other elements, ingredients, components or steps that do not materially affect the basic novel characteristics of the combination. The use of the terms "comprising" or "including" to describe combinations of elements, components, or steps herein also contemplates embodiments that consist essentially of such elements, components, or steps. By using the term "may" herein, it is intended to indicate that any of the described attributes that "may" include are optional.
A plurality of elements, components, parts or steps can be provided by a single integrated element, component, part or step. Alternatively, a single integrated element, component, part or step may be divided into separate plural elements, components, parts or steps. The disclosure of "a" or "an" to describe an element, ingredient, component or step is not intended to foreclose other elements, ingredients, components or steps.
It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided will be apparent to those of skill in the art upon reading the above description. The scope of the present teachings should, therefore, be determined not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. The disclosures of all articles and references, including patent applications and publications, are hereby incorporated by reference for all purposes. The omission in the foregoing claims of any aspect of subject matter that is disclosed herein is not intended to forego the subject matter and should not be construed as an admission that the applicant does not consider such subject matter to be part of the disclosed subject matter.
Claims (9)
1. A self-adaptive knee joint mechanism for wearable exoskeleton is characterized in that the knee joint mechanism comprises at least one inner connecting piece and two outer connecting pieces which are respectively connected to the upper side and the lower side of the inner connecting piece,
the inner connecting piece is rotationally connected with the outer connecting piece positioned at the upper side of the inner connecting piece through a first rotating shaft, the inner connecting piece is rotationally connected with the outer connecting piece positioned at the lower side of the inner connecting piece through a second rotating shaft,
the first rotating shaft and the second rotating shaft are positioned in the inner positions of the outer connecting piece and the inner connecting piece,
the rear end of the outer connecting piece is provided with a second pulley, and the rear end of the inner connecting piece is provided with a first pulley.
2. The adaptive knee joint mechanism for wearable exoskeletons of claim 1, wherein during flexion of the knee joint mechanism, the inner link rotates relative to the outer link at an upper side of the inner link via a first rotation axis, the inner link rotates relative to the outer link at a lower side of the inner link via a second rotation axis, and adjacent first and second pulleys are spaced apart from each other.
3. The adaptive knee joint mechanism for a wearable exoskeleton of claim 2 wherein,
the outer connecting piece comprises two outer connecting pieces which are oppositely arranged and connected through a connecting part,
the front end of the external connecting sheet is respectively provided with an upper external shaft hole and a lower external shaft hole, the upper external shaft hole is positioned at the upper side of the connecting part, the lower external shaft hole is positioned at the lower side of the connecting part,
the inner connecting piece comprises an inner connecting block and two inner connecting pieces which are oppositely arranged and positioned at the rear side of the inner connecting block, the inner connecting block is provided with an upper inner shaft hole and a lower inner shaft hole,
the upper inner shaft hole of the inner connecting piece is opposite to the lower outer shaft hole of the outer connecting piece positioned on the upper side of the inner connecting piece and is rotationally connected with the lower outer shaft hole through the first rotating shaft,
the lower inner shaft hole of the inner connecting piece is opposite to the upper outer shaft hole of the outer connecting piece positioned on the lower side of the inner connecting piece, and is rotationally connected with the upper outer shaft hole of the outer connecting piece through the second rotating shaft.
4. The adaptive knee joint mechanism for a wearable exoskeleton of claim 3 wherein two inner connecting pieces of said inner connecting piece are provided with first pulley mounting holes, and said first pulley is mounted between the two inner connecting pieces through said first pulley mounting holes.
5. The adaptive knee joint mechanism for a wearable exoskeleton of claim 3 wherein said outer connecting plates are further provided with second pulley mounting holes, and said second pulleys are mounted between the two outer connecting plates through said second pulley mounting holes.
6. The adaptive knee joint mechanism for a wearable exoskeleton of claim 3, wherein the outer wall of the inner connecting piece is further provided with a limiting block, the upper edge and the lower edge of the limiting block are respectively provided with a first outer limiting surface, the upper side and the lower side of the outer connecting piece are respectively provided with a second outer limiting surface matched with the first outer limiting surface,
when the knee joint mechanism is in a non-bending state, the limiting block is clamped between the connecting sheets positioned at the upper side and the lower side of the inner connecting block, and two first outer limiting surfaces of the limiting block are respectively contacted with adjacent second outer limiting surfaces.
7. The adaptive knee joint mechanism for wearable exoskeletons of claim 6, wherein the upper and lower edges of the connecting portion are inner limiting surfaces, the upper and lower sides of the inner connecting block of the inner connecting member have inner limiting angles corresponding to the inner limiting surfaces,
when the inner limiting angle is contacted with the inner limiting surface in the bending process of the knee joint mechanism, the knee joint mechanism bends to the maximum angle.
8. An adaptive knee mechanism for a wearable exoskeleton as claimed in claim 3 wherein at least a portion of said inner link is embedded between two outer links of said outer link.
9. An adaptive knee mechanism for a wearable exoskeleton as claimed in claim 1 wherein said knee mechanism comprises a plurality of outer links and a plurality of inner links, said outer and inner links being spaced apart and connected in series.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921456373.4U CN210757815U (en) | 2019-09-03 | 2019-09-03 | Self-adaptive knee joint mechanism for wearable exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921456373.4U CN210757815U (en) | 2019-09-03 | 2019-09-03 | Self-adaptive knee joint mechanism for wearable exoskeleton |
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| Publication Number | Publication Date |
|---|---|
| CN210757815U true CN210757815U (en) | 2020-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921456373.4U Active CN210757815U (en) | 2019-09-03 | 2019-09-03 | Self-adaptive knee joint mechanism for wearable exoskeleton |
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| Country | Link |
|---|---|
| CN (1) | CN210757815U (en) |
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Effective date of registration: 20211012 Address after: 215100 room d306, South third floor, huanxiuhu building (formerly Yicheng Horticulture), high speed railway new town, Xiangcheng District, Suzhou, Jiangsu Province Patentee after: Maybe Intelligent Technology (Suzhou) Co.,Ltd. Address before: 215100 South 3rd and 4th Floors of Huanxiu Lake Building, Xiangcheng High-speed Railway New Town, Suzhou City, Jiangsu Province Patentee before: JIANGSU JICUI MICRO-NANO AUTOMATION SYSTEM AND EQUIPMENT TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. |