CN210872826U - Wearable lower limb walking aid exoskeleton simulating human knee joint motion curve - Google Patents
Wearable lower limb walking aid exoskeleton simulating human knee joint motion curve Download PDFInfo
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- CN210872826U CN210872826U CN201921497944.9U CN201921497944U CN210872826U CN 210872826 U CN210872826 U CN 210872826U CN 201921497944 U CN201921497944 U CN 201921497944U CN 210872826 U CN210872826 U CN 210872826U
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Abstract
The utility model discloses a wearable lower limb walking aid exoskeleton simulating human knee joint motion curves, which comprises a back support part, a hip joint part, a thigh part, a shank part and an ankle joint part; the two sides of the back supporting part are respectively connected with the force transmission supporting part of the hip joint part, the hip joint part is connected with the upper end of the thigh part through the lower limb supporting part, the other end of the thigh part is connected with the shank part to form a knee joint, and the lower end of the shank part is connected with the ankle joint part through the shank telescopic part. The utility model discloses imitative human knee joint motion curved rigidity helping hand ectoskeleton can guarantee that human knee joint motion time is unanimous with ectoskeleton knee joint motion, just so can avoid the knee joint alignment problem that single hinge caused. The lower limb walking assisting exoskeleton is smooth and has no protrusion on the wearing side of a human body, and has a large stress area, so that the lower limb walking assisting exoskeleton is more comfortable to wear. Meanwhile, the lower limb walking assisting exoskeleton is simple in structure, convenient to wear and carry and free of complex operation.
Description
Technical Field
The utility model relates to a bionical human ectoskeleton, concretely relates to imitative human knee joint motion curve's wearable low limbs helps capable ectoskeleton.
Technical Field
With the improvement of living standard, the technology is continuously advanced. People are challenged to have the limit by more pursuing high-performance product experience, and the exoskeleton which is worn on the human body to improve the physiological function of the human body is produced. In military affairs, soldiers can improve the capacity of long-distance rushing and carrying equipment by wearing the exoskeleton; medically, doctors reduce fatigue due to the length of the surgery by wearing exoskeletons. The performance of an exoskeleton is evaluated, and an important index is the fitting property of the exoskeleton and a human body, so that how to make the exoskeleton conform to the physiological motion curve of the human body better, and the problem that excessive interference on the original motion of the human body is not generated becomes another important problem in the field of exoskeleton research.
The existing walking assisting exoskeleton device mostly adopts a hinged connection mode at the knee joint, and cannot meet the requirement that the physiological characteristics of the motion curve of the human knee joint generate certain interference on the motion of the human knee joint. For example, patent document "a lower limb exoskeleton robot for walking assistance (CN 104434470B)" relates to an exoskeleton knee joint in which a motor and a reducer are disposed at the knee joint to realize the movement between the thigh and the calf, and the large and small legs adopt a single-hinged connection mode, which has major disadvantages: the knee is connected by only one hinge, and has poor stability and an interference problem with the knee joint of the human body. The patent document "a wearable lower limb assistance exoskeleton (CN 103315834A)" connects thighs, shanks and knee joints together through a triangular iron sheet and transmits force through a V-shaped rod, and this structure can increase the force transmission load, but this structure is slightly heavy and the structure processing technology of the V-shaped rod is complex, and does not meet the requirement of lightness.
SUMMERY OF THE UTILITY MODEL
The utility model provides a not enough to prior art, the utility model provides a curved wearing formula low limbs of imitative human knee joint motion help capable ectoskeleton to supplementary human walking solves human knee joint and ectoskeleton simultaneously and interferes the problem of unalignment, reduces the unexpected moment of torsion of knee joint department, lets dress the human body of laminating more.
The utility model provides a technical scheme is: designing a wearable lower limb walking aid exoskeleton simulating human knee joint motion curves, which is characterized by comprising a back supporting part, a hip joint part, a thigh part, a shank part and an ankle joint part; the two sides of the back supporting part are respectively connected with a force transmission supporting part of a hip joint part, the hip joint part is connected with the upper end of a thigh part through a lower limb supporting part, the other end of the thigh part is connected with a shank part to form a knee joint, and the lower end of the shank part is connected with an ankle joint part through a shank telescopic part; the hip joint part, the thigh part, the shank part and the ankle joint part form a single-side lower limb walking aid exoskeleton, and the two single-side lower limb walking aid exoskeletons are symmetrically assembled on the back support part to form a complete lower limb walking aid exoskeleton;
the back support part comprises a backrest, a telescopic rod, a first connecting rod and a second connecting rod; the backrest is worn on a person through a strap, the backrest is a rectangular thin sheet, three rectangular holes for reducing weight are formed in the thin sheet, a hollowed boss is arranged at the lower end of the thin sheet, two sides of the inner portion of the boss are respectively provided with a telescopic rod, a plurality of bolt holes which are equidistant are formed in the upper surface of the boss and the upper surface of the telescopic rod, and the telescopic rods are fixed at different positions of the backrest through bolts so as to adapt to crowds with different physical states; the other end of the telescopic rod is hinged with one end of the first connecting rod, and the telescopic rod and the first connecting rod can rotate relative to each other by taking a pin shaft as an axis, so that the lower limb exoskeleton can turn, and the telescopic rod and the first connecting rod are protected in a limiting manner; the other end of the first connecting rod is connected with the second connecting rod through a bolt and has limit protection; the other end of the second connecting rod is provided with a through hole along the vertical direction and is fixedly connected with the force transmission supporting piece of the hip joint part through the through hole;
the hip joint part comprises a force transmission supporting piece, a lower limb supporting piece, a hip joint bearing retainer ring, a first bearing, a bearing sleeve, a second bearing, a hip joint torque sensor, a first harmonic reducer flange, a hip joint harmonic reducer, a second harmonic reducer flange, a hip joint motor, a motor supporting piece, a third bearing, a force transmission supporting piece auxiliary piece and a second bearing retainer ring;
the force transmission supporting piece is similar to a door-shaped frame in structure, a bolt hole is formed in the left side of a transverse plate of the force transmission supporting piece, and the force transmission supporting piece is connected with a second connecting rod of the back supporting part through the bolt hole; the lower parts of the vertical plates on the two sides are both transversely provided with mounting holes in the same horizontal position, wherein the tail end of the vertical plate on the left side is longer than that of the vertical plate on the right side, the end surface of the tail end of the vertical plate on the left side is arc-shaped, and the end surface of the tail end of the vertical plate on the right side is square; an auxiliary vertical plate is extended downwards from the right side of the transverse plate, the auxiliary vertical plate is shorter than the right vertical plate, the end face of the tail end of the auxiliary vertical plate is a concave curved surface, and two through holes are formed in the upper part of the concave curved surface; the first bearing and the bearing sleeve are arranged in a mounting hole at the lower part of a left vertical plate of the force transmission supporting piece, and the first bearing is prevented from falling off by a hip joint bearing retainer ring;
the upper part of the lower limb support piece is of a structure comprising two parallel vertical plates and a bottom plate, the lower part of the lower limb support piece is a square vertical rod, bolt holes with equal distances are arranged on the front side of the lower part of the lower limb support piece along the vertical direction, the square vertical rod is arranged on the left side of the lower surface of the bottom plate, the two parallel vertical plates are respectively arranged on the left side and the middle part of the upper surface of the bottom plate, the upper part of the parallel vertical plate on the left side is provided with a mounting hole, the tail end of the upper part; the force transfer supporting piece auxiliary piece is arranged on the right side of the bottom plate of the lower limb supporting piece, the end face of the upper part of the force transfer supporting piece auxiliary piece is a concave curved surface, and a through hole is formed in the lower part of the concave curved surface;
one end of the first bearing is arranged in a mounting hole at the lower part of a left vertical plate of the force transmission supporting piece, the other end of the first bearing is arranged in a mounting hole at the upper part of a parallel vertical plate at the left side of the lower limb supporting piece, and the second bearing is sleeved; the left side surface of the hip joint torque sensor is fixed on the right side of the upper part of the parallel vertical plate on the left side of the lower limb supporting piece through screws, and the right side surface of the hip joint torque sensor is fixed with a first harmonic reducer flange plate through screws;
the other side surface of the flange plate of the first harmonic reducer is connected with a rigid wheel of the hip joint harmonic reducer through a screw, a flexible wheel of the hip joint harmonic reducer is connected with one side surface of the flange plate of the second harmonic reducer through a screw, and the lower part of the flexible wheel of the hip joint harmonic reducer is connected with the upper part of a parallel vertical plate in the middle of the lower limb support through a threaded hole and a bolt; the other side surface of the second harmonic reducer flange is connected with a hip joint motor flange, the hip joint motor flange is fixed on an auxiliary vertical plate of the force transmission supporting piece through bolts, the other side surface of the hip joint motor flange is fixedly connected with a hip joint motor through screws, and a motor shaft of the hip joint motor is connected with a shaft hole in the middle of the hip joint harmonic reducer through a key groove; the hip joint motor is fixed on the motor support piece; the upper surface of the motor supporting piece is provided with an inward concave notch for accommodating the lower part of a right vertical plate of the force transmission supporting piece, the middle part of the motor supporting piece is provided with a through hole along the horizontal direction, the motor supporting piece is connected with the lower part of the right vertical plate of the force transmission supporting piece through a shaft, a third bearing and a second bearing retainer ring are sequentially arranged on the shaft on the right side of the motor supporting piece, and the second bearing retainer ring is fixed on the upper end surface of the force transmission supporting piece auxiliary piece to prevent the third bearing from loosening and sliding;
the thigh part comprises a thigh telescopic part, a thigh main support, a motion curve accessory, a thigh auxiliary support, a binding belt, a plastic cushion block, a thigh motor, a motor base, a thigh first connecting flange plate, a thigh torque sensor, a thigh second connecting flange plate, two nut bases, a lead screw, an auxiliary support connecting piece, a sliding table and a dovetail guide rail; the thigh main support is used as an installation carrier for installing all parts, the thigh telescopic part is of a hollow structure with an opening on the top surface, bolt holes with equal distance are arranged on the front side surface and the rear side surface of the thigh main support along the vertical direction, the bolt holes with the same size and the same distance with the bolt holes on the lower part of the front side of the lower limb support, and the lower part of the lower limb support is installed on the thigh telescopic part through bolts; the bottom surface of the thigh telescopic part is connected with the upper end of the thigh main support through a stud, and the upper part of the thigh main support is provided with four through holes for mounting a plastic cushion block and a motor base; the motor base is fixedly arranged on the thigh main support through a plastic cushion block by using bolts, and the thigh motor is fixed on the motor base; an output shaft of the thigh motor is fixedly connected with a first thigh connecting flange plate through a key, the other side of the first thigh connecting flange plate is fixedly connected with an inner ring of a thigh torque sensor through a screw, an outer ring of the other side of the thigh torque sensor is fixedly connected with a second thigh connecting flange plate through a screw, and the other end of the second thigh connecting flange plate is connected with a lead screw through a key; the screw rod is fixed on the nut seat, and the nut seats are respectively arranged at the middle part and the lower end of the thigh main support and are fixed by bolts; the dovetail guide rail is arranged below the screw rod, the middle part of the sliding table is provided with a threaded hole and is meshed with the screw rod, and the bottom surface of the sliding table is matched with the dovetail guide rail, so that the abrasion of the screw rod is reduced; the binding band is bound in the square hole on the side surface of the main thigh support; the lower end of the main thigh support is provided with a dovetail groove used for being matched with a dovetail boss of a motion curve accessory, and a bolt hole used for fixed connection is designed; the thigh auxiliary support is connected with the shank part through an auxiliary support connecting piece fixed on the sliding table;
the shank part comprises a shank main support, a shank telescopic part and four ball studs; the shank main support is of a cuboid hollowed structure, an oval bulge is arranged above the shank main support, an extending end is arranged at the middle upper part of the shank main support, a round hole is formed in the extending end and used for being connected with a thigh auxiliary support through a bolt, a threaded hole is formed in the upper part of the shank main support, and four ball studs are arranged in the threaded hole; the shank telescopic part is fixedly connected with the lower end of the shank main support through a bolt, and a plurality of through holes are formed in the shank telescopic part and used for different height requirements; the lower part of the motion curve fitting is provided with two parallel arc grooves which are matched with the ball rollers of the shank part to enable the arc grooves to rotate along the radian of the groove opening in the arc grooves to form a motion curve imitating the knee joint of a human body;
the ankle joint part comprises an ankle joint main support, a foot fixing plate, a foot binding band, a connecting plate, an ankle joint motor, a first ankle joint connecting flange plate, a cylindrical part, a second ankle joint connecting flange plate, an ankle joint harmonic reducer, a third ankle joint connecting flange plate, an ankle joint torque sensor and a U-shaped shaft;
the upper part of the ankle joint main support is of a hollow structure with a plurality of through holes, and the part is arranged at the lower part of the shank telescopic part and is fixed by bolts; the middle part of the ankle joint main support is a semicircular sleeve, the upper part of the ankle joint main support is positioned at the upper part of one end of the semicircular sleeve, two ends of the semicircular sleeve extend downwards to form ankle joint supporting rods, one end of each ankle joint supporting rod is larger than the other end of each ankle joint supporting rod, and the tail end of the shorter ankle joint supporting rod is fixed with the cylindrical component through a bolt; the output end of an ankle joint motor is connected with one surface of a first ankle joint connecting flange plate, the other surface of the first ankle joint connecting flange plate is fixed with a cylinder part through bolts, the cylinder part is fixed at the tail end of a shorter ankle joint support rod through bolts, a second ankle joint connecting flange plate is fixed with the cylinder part, the other surface of the second ankle joint connecting flange plate is connected with an ankle joint harmonic reducer, the output end of the ankle joint harmonic reducer is fixedly connected with a third ankle joint connecting flange plate, the other surface of the third ankle joint connecting flange plate is connected with an ankle joint torque sensor, one end of a U-shaped shaft is connected with a third ankle joint connecting flange plate through a key groove, and the other end of the U-shaped shaft is connected with a foot fixing plate; the end of the longer ankle joint supporting rod is also connected with a foot fixing plate, the two foot fixing plates are connected through a connecting plate, and foot bandages are arranged at two ends of the connecting plate.
Compared with the prior art, the utility model discloses there is following beneficial effect: the utility model discloses imitative human knee joint motion curved rigidity helping hand ectoskeleton can guarantee that human knee joint motion time is unanimous with ectoskeleton knee joint motion, just so can avoid the knee joint alignment problem that single hinge caused. The lower limb walking assisting exoskeleton is smooth and has no protrusion on the wearing side of a human body, and has a large stress area, so that the lower limb walking assisting exoskeleton is more comfortable to wear. Meanwhile, the lower limb walking assisting exoskeleton is simple in structure, convenient to wear and carry and free of complex operation.
Drawings
Fig. 1 is a schematic overall structure diagram of an embodiment of the present invention;
fig. 2 is a schematic view of a back support structure according to an embodiment of the present invention;
FIG. 3 is a schematic view of a hip joint portion according to an embodiment of the present invention;
FIG. 4 is an exploded view of a hip joint portion of one embodiment of the present invention (with force transmitting support removed);
FIG. 5 is a schematic view of a force transmitting support member of a hip joint portion according to an embodiment of the present invention;
fig. 6 is a schematic structural view of a thigh portion according to an embodiment of the present invention;
FIG. 7 is a schematic view of a lower leg portion of an embodiment of the present invention;
FIG. 8 is a schematic view of an ankle portion of an embodiment of the invention;
fig. 9 is an exploded view of an ankle joint motor portion according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The utility model provides a wearable lower limb walking aid exoskeleton (for short, see the lower limb walking aid exoskeleton in figures 1-9) imitating human knee joint motion curve, which is characterized by comprising a back support part 1, a hip joint part 2, a thigh part 3, a shank part 4 and an ankle joint part 5; the two sides of the back supporting part 1 are respectively connected with a force transmission supporting part 21 of a hip joint part, the hip joint part 2 is connected with the upper end of a thigh part 3 through a lower limb supporting part 22, the other end of the thigh part 3 is connected with a shank part 4 to form a knee joint, and the lower end of the shank part 4 is connected with an ankle joint part 5 through a shank telescopic part 42; a hip joint part 2, a thigh part 3, a shank part 4 and an ankle joint part 5 form a single-side lower limb walking exoskeleton, and the two single-side lower limb walking exoskeleton are symmetrically assembled on the back support part 1 to form the complete lower limb walking exoskeleton.
The back support part 1 comprises a backrest 11, a telescopic rod 12, a first connecting rod 13 and a second connecting rod 14. The backrest 11 is worn on a human body through a strap (not shown in the figure), the backrest 11 is a rectangular thin sheet, three rectangular holes for reducing weight are formed in the thin sheet, a hollowed boss is arranged at the lower end of the thin sheet, two sides inside the boss are respectively provided with a telescopic rod 12, a plurality of bolt holes which are equidistant are formed in the upper surface of the boss and the upper surface of the telescopic rod 12, and the telescopic rods 12 are fixed at different positions of the backrest 11 through bolts so as to adapt to crowds with different physical states; the other end of the telescopic rod 12 is hinged with one end of the first connecting rod 13, and the telescopic rod 12 and the first connecting rod 13 can rotate relative to each other by taking a pin shaft as an axis, so that the lower limb exoskeleton can turn, and the telescopic rod 12 and the first connecting rod 13 are protected in a limiting manner; the other end of the first connecting rod 13 is connected with the second connecting rod 14 through a bolt and has limit protection; the other end of the second connecting rod 14 is provided with a through hole along the vertical direction, and the through hole is fixedly connected with the force transmission supporting piece 21 of the hip joint part 2.
The one end that a connecting rod 13 links to each other with telescopic link 12 is for being the bending form, is the laminating that the structure of bending form makes the people of different posture wear also can be fine.
The hip joint part 2 comprises a force transmission support part 21, a lower limb support part 22, a hip joint bearing retainer ring 23, a first bearing 24, a bearing sleeve 25, a second bearing 26, a hip joint torque sensor 27, a first harmonic reducer flange 28, a hip joint harmonic reducer 29, a second harmonic reducer flange 210, a hip joint motor flange 211, a hip joint motor 212, a motor support part 213, a third bearing 214, a force transmission support part pair 215 and a second bearing retainer ring 216;
the force transmission supporting piece 21 is similar to a door-shaped frame in structure, and a bolt hole is formed in the left side of a transverse plate of the force transmission supporting piece and is connected with the second connecting rod 14 of the back supporting part 1 through the bolt hole; the lower parts of the vertical plates on the two sides are both transversely provided with mounting holes in the same horizontal position, wherein the tail end of the vertical plate on the left side is longer than that of the vertical plate on the right side, the end surface of the tail end of the vertical plate on the left side is arc-shaped, and the end surface of the tail end of the vertical plate on the right side is square; an auxiliary vertical plate is extended downwards from the right side of the transverse plate, the auxiliary vertical plate is shorter than the right vertical plate, the end face of the tail end of the auxiliary vertical plate is a concave curved surface, and two through holes are formed in the upper part of the concave curved surface; the first bearing 24 and the bearing sleeve 25 are installed in the installation hole at the lower part of the left vertical plate of the force transmission support 21, and the first bearing 24 is prevented from falling off by the hip joint bearing retainer ring 23.
The upper part of the lower limb supporting piece 22 is in a structure of two parallel vertical plates and a bottom plate, the lower part of the lower limb supporting piece is a square vertical rod, bolt holes with equal distances are arranged on the front side along the vertical direction, the square vertical rod is arranged on the left side of the lower surface of the bottom plate, the two parallel vertical plates are respectively arranged on the left side and the middle part of the upper surface of the bottom plate, the upper part of the parallel vertical plate on the left side is provided with a mounting hole, the tail end of the upper part of the parallel vertical plate in the middle part is; the force transmission support member sub-member 215 is mounted on the right side of the bottom plate of the lower limb support member 22, and the upper end surface of the force transmission support member sub-member 215 is a concave curved surface, and a through hole is provided at the lower part of the concave curved surface.
One end of the first bearing 24 is installed in the installation hole at the lower part of the left vertical plate of the force transmission supporting piece 21, the other end is installed in the upper installation hole of the parallel vertical plate at the left side of the lower limb supporting piece 22, and the second bearing 26 is sleeved on the first bearing; the left side surface of the hip joint torque sensor 27 is fixed on the right side of the upper part of the parallel vertical plate on the left side of the lower limb supporting piece 22 through screws, and the right side surface of the hip joint torque sensor 27 is fixed with a first harmonic reducer flange 28 through screws;
the other side surface of the first harmonic reducer flange 28 is connected with a rigid gear of the hip joint harmonic reducer 29 through a screw, a flexible gear of the hip joint harmonic reducer 29 is connected with one side surface of the second harmonic reducer flange 210 through a screw, and the lower part of the flexible gear of the hip joint harmonic reducer 29 is connected with the upper part of a parallel vertical plate in the middle of the lower limb support piece 22 through a threaded hole and a bolt; the other side surface of the second harmonic reducer flange 210 is connected with a hip joint motor flange 211, the hip joint motor flange 211 is fixed on an auxiliary vertical plate of the force transmission supporting piece 21 through bolts, the other side surface of the hip joint motor flange 211 is fixedly connected with a hip joint motor 212 through bolts, and a motor shaft of the hip joint motor 212 is connected with a shaft hole in the middle of the hip joint harmonic reducer 29 through a key slot. The hip joint motor 212 is fixed on the motor support 213; the upper surface of motor support member 213 is provided with the indent notch for the lower part of the right side riser of power transmission support member 21 is held, and motor support member 213's middle part is provided with the through-hole along the horizontal direction, motor support member 213 passes through the hub connection with the lower part of the right side riser of power transmission support member 21, and install No. three bearing 214 and No. two bearing retainer 216 on the epaxial No. three bearing 214 and No. two bearing retainer 216 of installing in proper order on motor support member 213 right side, No. two bearing retainer 216 are fixed on the up end of power transmission support member auxiliary 215, prevent that No. three bearing.
The thigh part comprises a thigh telescopic part 31, a thigh main support 32, a motion curve accessory 33, a thigh auxiliary support 34, a binding belt 35, a plastic cushion block 36, a thigh motor 37, a motor base 38, a thigh first connecting flange 39, a thigh torque sensor 310, a thigh second connecting flange 311, two nut bases 312, a lead screw 313, an auxiliary support connecting part 314, a sliding table 315 and a dovetail guide rail 316; the thigh main support 32 is used as a mounting carrier for mounting all parts, the thigh telescopic part 31 is a hollow structure with an open top surface, bolt holes with equal distance are arranged on the front side surface and the rear side surface of the thigh main support, the bolt holes are the same in size and equal in distance with the bolt holes on the lower part of the front side of the lower limb support 22, and the lower part of the lower limb support 22 is mounted on the thigh telescopic part 31 through bolts; the bottom surface of the thigh telescopic part 31 is connected with the upper end of the thigh main support 32 through a stud, and the upper part of the thigh main support 32 is provided with four through holes for mounting a plastic cushion block 36 and a motor seat 38; the motor base 38 is fixedly arranged on the thigh main support 32 through a plastic cushion block 36 by bolts, and the thigh motor 37 is fixed on the motor base 38; an output shaft of the thigh motor 37 is fixedly connected with a first thigh connecting flange 39 through a key, the other side of the first thigh connecting flange 39 is fixedly connected with an inner ring of a thigh torque sensor 310 through a screw, an outer ring of the other side of the thigh torque sensor 310 is fixedly connected with a second thigh connecting flange 311 through a screw, and the other end (output end) of the second thigh connecting flange 311 is connected with a lead screw 313 through a key; the screw 313 is fixed on the nut seat 312, and the nut seats 312 are respectively arranged at the middle part and the lower end of the thigh main support 32 and fixed by bolts; the dovetail-shaped guide rail 316 is arranged below the lead screw 313, a threaded hole is formed in the middle of the sliding table 315 and is meshed with the lead screw 313, and the bottom surface of the sliding table 315 is matched with the dovetail-shaped guide rail 316, so that the abrasion of the lead screw 313 is reduced; the binding band 35 is bound in a square hole on the side surface of the main thigh support 32; the lower end of the thigh main support 32 is provided with a dovetail groove which is used for being matched with a dovetail boss of the motion curve accessory 33, and a bolt hole is designed for fixed connection; the thigh secondary support 34 is connected to the calf portion by a secondary support link 314 secured to a slide 315.
The calf part comprises a calf main support 41, a calf telescopic part 42 and four ball studs 43; the structure of the shank main support 41 is a cuboid hollowed structure, an oval bulge is arranged above the shank main support, an extending end is arranged at the middle upper part of the shank main support, a round hole is formed in the extending end and used for being connected with the thigh auxiliary support 34 through a bolt, a threaded hole is formed in the upper part of the shank main support 41, and four ball studs 43 are arranged in the threaded hole; the lower leg telescopic part 42 is fixedly connected with the lower end of the lower leg main support 41 through a bolt, and a plurality of through holes are formed in the lower leg telescopic part 42 and used for different height requirements. The lower part of the motion curve fitting 33 is provided with two parallel arc grooves which are matched with the ball rollers 43 of the shank part to enable the arc grooves to rotate along the radian of the groove opening to form a motion curve imitating the knee joint of a human body.
The ankle joint part comprises an ankle joint main support 51, a foot fixing plate 52, a foot binding belt 53, a connecting plate 54, an ankle joint motor 55, a first ankle joint connecting flange 56, a cylindrical part 57, a second ankle joint connecting flange 58, an ankle joint harmonic speed reducer 59, a third ankle joint connecting flange 510, an ankle joint torque sensor 511 and a U-shaped shaft 512.
The upper part of the ankle joint main support 51 is a hollow structure with a plurality of through holes, and the part is arranged at the lower part of the lower leg telescopic part 42 and is fixed by bolts. The middle part of the ankle joint main support 51 is a semicircular sleeve, the upper part of the ankle joint main support 51 is positioned at the upper part of one end of the semicircular sleeve, two ends of the semicircular sleeve extend downwards to form ankle joint support rods, one end of each ankle joint support rod is larger than the other end of each ankle joint support rod, and the tail end of the shorter ankle joint support rod is fixed with the cylindrical part 57 through bolts; the output end of an ankle joint motor 55 is connected with one surface of an ankle joint first connecting flange plate 56, the other surface of the ankle joint first connecting flange plate 56 is fixed with a cylinder part 57 through bolts, the cylinder part 57 is fixed at the tail end of a shorter ankle joint supporting rod through bolts, an ankle joint second connecting flange plate 58 is fixed with the cylinder part 57, the other surface of the ankle joint second connecting flange plate 58 is connected with an ankle joint harmonic reducer 59, the output end of the ankle joint harmonic reducer 59 is fixedly connected with an ankle joint third connecting flange plate 510, the other surface of the ankle joint third connecting flange plate 510 is connected with an ankle joint torque sensor 511, one end of a U-shaped shaft 512 is connected with the ankle joint third connecting flange plate 510 through a key groove, and the other end of the U-shaped shaft 512 is connected with a foot fixing plate 52. The distal end of the longer ankle support rod is also connected to a foot fixing plate 52, the two foot fixing plates 52 are connected by a connecting plate 54, and foot straps 53 are installed at both ends of the connecting plate 54.
The foot fixing plate 52 is a "Y" shaped structure having two bifurcated ends located at the lower side, and two connecting plates 54 are mounted on the two foot fixing plates 52 in parallel.
The hip joint motor 212 is model EC 90flat 607946; the model of the hip joint harmonic reducer 29 is LHSG-20-100; the model of the hip joint torque sensor 27 is M2210E, and the model of the thigh motor 37 is EC 45136207; the ankle motor 55 is of the type EC 60411678, the ankle harmonic reducer 59 is of the type GP42C 66-1, and the ankle torque sensor 511 is of the type M2210E.
The utility model discloses a theory of operation and work flow are: the lower limb walking assisting exoskeleton is worn on a human body through straps, thigh straps 35 and foot straps 53 on the backrest 11, and the length of the telescopic rod 12 extending into a hollowed boss at the lower end of the backrest 11, the length of the lower limb supporting piece 22 extending into the thigh telescopic part 31 and the depth length of the lower limb main support 41 and the lower limb telescopic part 42 are adjusted to enable the lower limb exoskeleton to be matched with the body shape of the human body;
starting a disc type hip joint motor 212, transmitting power to a first harmonic reducer flange 28 and a second harmonic reducer flange 210 after the power is reduced by a hip joint harmonic reducer 29, driving a hip joint torque sensor 27 to rotate by the second harmonic reducer flange 210, and driving a lower limb support piece 22 to rotate by the hip joint torque sensor 27 so as to lift and drop thighs;
the thigh motor 37 is started, the power is transmitted to the thigh torque sensor 310 through the first thigh connecting flange plate 39, the thigh torque sensor 310 drives the second thigh connecting flange plate 311 to rotate, the output end of the second thigh connecting flange plate 311 transmits the power to the lead screw 313, and the sliding table 315 on the lead screw 313 is driven to move up and down through the back-and-forth rotation of the lead screw 313, so that the auxiliary thigh support 34 drives the main shank support 41 to stretch, and the stretching of the knee joint is achieved.
The ankle joint motor 55 is started, power of the ankle joint motor is transmitted to a third harmonic reducer flange 510 after being reduced by the ankle joint harmonic reducer 59, the third harmonic reducer flange 510 drives the ankle joint torque sensor 511 to rotate, the ankle joint torque sensor 511 drives the U-shaped shaft 512 to rotate, the ankle joint is made to rotate, and accordingly lifting and falling of the ankle joint are achieved.
The utility model discloses the nothing is mentioned the part and is applicable to prior art.
Claims (6)
1. A wearable lower limb walking-aid exoskeleton capable of simulating a human knee joint movement curve is characterized by comprising a back supporting part, a hip joint part, a thigh part, a shank part and an ankle joint part; the two sides of the back supporting part are respectively connected with a force transmission supporting part of a hip joint part, the hip joint part is connected with the upper end of a thigh part through a lower limb supporting part, the other end of the thigh part is connected with a shank part to form a knee joint, and the lower end of the shank part is connected with an ankle joint part through a shank telescopic part; the hip joint part, the thigh part, the shank part and the ankle joint part form a single-side lower limb walking aid exoskeleton, and the two single-side lower limb walking aid exoskeletons are symmetrically assembled on the back support part to form a complete lower limb walking aid exoskeleton;
the back support part comprises a backrest, a telescopic rod, a first connecting rod and a second connecting rod; the backrest is worn on a person through a strap, the backrest is a rectangular thin sheet, three rectangular holes for reducing weight are formed in the thin sheet, a hollowed boss is arranged at the lower end of the thin sheet, two sides of the inner portion of the boss are respectively provided with a telescopic rod, a plurality of bolt holes which are equidistant are formed in the upper surface of the boss and the upper surface of the telescopic rod, and the telescopic rods are fixed at different positions of the backrest through bolts so as to adapt to crowds with different physical states; the other end of the telescopic rod is hinged with one end of the first connecting rod, and the telescopic rod and the first connecting rod can rotate relative to each other by taking a pin shaft as an axis, so that the lower limb exoskeleton can turn, and the telescopic rod and the first connecting rod are protected in a limiting manner; the other end of the first connecting rod is connected with the second connecting rod through a bolt and has limit protection; the other end of the second connecting rod is provided with a through hole along the vertical direction and is fixedly connected with the force transmission supporting piece of the hip joint part through the through hole;
the hip joint part comprises a force transmission supporting piece, a lower limb supporting piece, a hip joint bearing retainer ring, a first bearing, a bearing sleeve, a second bearing, a hip joint torque sensor, a first harmonic reducer flange, a hip joint harmonic reducer, a second harmonic reducer flange, a hip joint motor, a motor supporting piece, a third bearing, a force transmission supporting piece auxiliary piece and a second bearing retainer ring;
the force transmission supporting piece is similar to a door-shaped frame in structure, a bolt hole is formed in the left side of a transverse plate of the force transmission supporting piece, and the force transmission supporting piece is connected with a second connecting rod of the back supporting part through the bolt hole; the lower parts of the vertical plates on the two sides are both transversely provided with mounting holes in the same horizontal position, wherein the tail end of the vertical plate on the left side is longer than that of the vertical plate on the right side, the end surface of the tail end of the vertical plate on the left side is arc-shaped, and the end surface of the tail end of the vertical plate on the right side is square; an auxiliary vertical plate is extended downwards from the right side of the transverse plate, the auxiliary vertical plate is shorter than the right vertical plate, the end face of the tail end of the auxiliary vertical plate is a concave curved surface, and two through holes are formed in the upper part of the concave curved surface; the first bearing and the bearing sleeve are arranged in a mounting hole at the lower part of a left vertical plate of the force transmission supporting piece, and the first bearing is prevented from falling off by a hip joint bearing retainer ring;
the upper part of the lower limb support piece is of a structure comprising two parallel vertical plates and a bottom plate, the lower part of the lower limb support piece is a square vertical rod, bolt holes with equal distances are arranged on the front side of the lower part of the lower limb support piece along the vertical direction, the square vertical rod is arranged on the left side of the lower surface of the bottom plate, the two parallel vertical plates are respectively arranged on the left side and the middle part of the upper surface of the bottom plate, the upper part of the parallel vertical plate on the left side is provided with a mounting hole, the tail end of the upper part; the force transfer supporting piece auxiliary piece is arranged on the right side of the bottom plate of the lower limb supporting piece, the end face of the upper part of the force transfer supporting piece auxiliary piece is a concave curved surface, and a through hole is formed in the lower part of the concave curved surface;
one end of the first bearing is arranged in a mounting hole at the lower part of a left vertical plate of the force transmission supporting piece, the other end of the first bearing is arranged in a mounting hole at the upper part of a parallel vertical plate at the left side of the lower limb supporting piece, and the second bearing is sleeved; the left side surface of the hip joint torque sensor is fixed on the right side of the upper part of the parallel vertical plate on the left side of the lower limb supporting piece through screws, and the right side surface of the hip joint torque sensor is fixed with a first harmonic reducer flange plate through screws;
the other side surface of the flange plate of the first harmonic reducer is connected with a rigid wheel of the hip joint harmonic reducer through a screw, a flexible wheel of the hip joint harmonic reducer is connected with one side surface of the flange plate of the second harmonic reducer through a screw, and the lower part of the flexible wheel of the hip joint harmonic reducer is connected with the upper part of a parallel vertical plate in the middle of the lower limb support through a threaded hole and a bolt; the other side surface of the second harmonic reducer flange is connected with a hip joint motor flange, the hip joint motor flange is fixed on an auxiliary vertical plate of the force transmission supporting piece through bolts, the other side surface of the hip joint motor flange is fixedly connected with a hip joint motor through screws, and a motor shaft of the hip joint motor is connected with a shaft hole in the middle of the hip joint harmonic reducer through a key groove; the hip joint motor is fixed on the motor support piece; the upper surface of the motor supporting piece is provided with an inward concave notch for accommodating the lower part of a right vertical plate of the force transmission supporting piece, the middle part of the motor supporting piece is provided with a through hole along the horizontal direction, the motor supporting piece is connected with the lower part of the right vertical plate of the force transmission supporting piece through a shaft, a third bearing and a second bearing retainer ring are sequentially arranged on the shaft on the right side of the motor supporting piece, and the second bearing retainer ring is fixed on the upper end surface of the force transmission supporting piece auxiliary piece to prevent the third bearing from loosening and sliding;
the thigh part comprises a thigh telescopic part, a thigh main support, a motion curve accessory, a thigh auxiliary support, a binding belt, a plastic cushion block, a thigh motor, a motor base, a thigh first connecting flange plate, a thigh torque sensor, a thigh second connecting flange plate, two nut bases, a lead screw, an auxiliary support connecting piece, a sliding table and a dovetail guide rail; the thigh main support is used as an installation carrier for installing all parts, the thigh telescopic part is of a hollow structure with an opening on the top surface, bolt holes with equal distance are arranged on the front side surface and the rear side surface of the thigh main support along the vertical direction, the bolt holes with the same size and the same distance with the bolt holes on the lower part of the front side of the lower limb support, and the lower part of the lower limb support is installed on the thigh telescopic part through bolts; the bottom surface of the thigh telescopic part is connected with the upper end of the thigh main support through a stud, and the upper part of the thigh main support is provided with four through holes for mounting a plastic cushion block and a motor base; the motor base is fixedly arranged on the thigh main support through a plastic cushion block by using bolts, and the thigh motor is fixed on the motor base; an output shaft of the thigh motor is fixedly connected with a first thigh connecting flange plate through a key, the other side of the first thigh connecting flange plate is fixedly connected with an inner ring of a thigh torque sensor through a screw, an outer ring of the other side of the thigh torque sensor is fixedly connected with a second thigh connecting flange plate through a screw, and the other end of the second thigh connecting flange plate is connected with a lead screw through a key; the screw rod is fixed on the nut seat, and the nut seats are respectively arranged at the middle part and the lower end of the thigh main support and are fixed by bolts; the dovetail guide rail is arranged below the screw rod, the middle part of the sliding table is provided with a threaded hole and is meshed with the screw rod, and the bottom surface of the sliding table is matched with the dovetail guide rail, so that the abrasion of the screw rod is reduced; the binding band is bound in the square hole on the side surface of the main thigh support; the lower end of the main thigh support is provided with a dovetail groove used for being matched with a dovetail boss of a motion curve accessory, and a bolt hole used for fixed connection is designed; the thigh auxiliary support is connected with the shank part through an auxiliary support connecting piece fixed on the sliding table;
the shank part comprises a shank main support, a shank telescopic part and four ball studs; the shank main support is of a cuboid hollowed structure, an oval bulge is arranged above the shank main support, an extending end is arranged at the middle upper part of the shank main support, a round hole is formed in the extending end and used for being connected with a thigh auxiliary support through a bolt, a threaded hole is formed in the upper part of the shank main support, and four ball studs are arranged in the threaded hole; the shank telescopic part is fixedly connected with the lower end of the shank main support through a bolt, and a plurality of through holes are formed in the shank telescopic part and used for different height requirements; the lower part of the motion curve fitting is provided with two parallel arc grooves which are matched with the ball rollers of the shank part to enable the arc grooves to rotate along the radian of the groove opening in the arc grooves to form a motion curve imitating the knee joint of a human body;
the ankle joint part comprises an ankle joint main support, a foot fixing plate, a foot binding band, a connecting plate, an ankle joint motor, a first ankle joint connecting flange plate, a cylindrical part, a second ankle joint connecting flange plate, an ankle joint harmonic reducer, a third ankle joint connecting flange plate, an ankle joint torque sensor and a U-shaped shaft;
the upper part of the ankle joint main support is of a hollow structure with a plurality of through holes, and the part is arranged at the lower part of the shank telescopic part and is fixed by bolts; the middle part of the ankle joint main support is a semicircular sleeve, the upper part of the ankle joint main support is positioned at the upper part of one end of the semicircular sleeve, two ends of the semicircular sleeve extend downwards to form ankle joint supporting rods, one end of each ankle joint supporting rod is larger than the other end of each ankle joint supporting rod, and the tail end of the shorter ankle joint supporting rod is fixed with the cylindrical component through a bolt; the output end of an ankle joint motor is connected with one surface of a first ankle joint connecting flange plate, the other surface of the first ankle joint connecting flange plate is fixed with a cylinder part through bolts, the cylinder part is fixed at the tail end of a shorter ankle joint support rod through bolts, a second ankle joint connecting flange plate is fixed with the cylinder part, the other surface of the second ankle joint connecting flange plate is connected with an ankle joint harmonic reducer, the output end of the ankle joint harmonic reducer is fixedly connected with a third ankle joint connecting flange plate, the other surface of the third ankle joint connecting flange plate is connected with an ankle joint torque sensor, one end of a U-shaped shaft is connected with a third ankle joint connecting flange plate through a key groove, and the other end of the U-shaped shaft is connected with a foot fixing plate; the end of the longer ankle joint supporting rod is also connected with a foot fixing plate, the two foot fixing plates are connected through a connecting plate, and foot bandages are arranged at two ends of the connecting plate.
2. The wearable lower limb walking assisting exoskeleton of claim 1, which simulates the motion curve of human knee joints, wherein one end of the first connecting rod connected with the telescopic rod is curved.
3. The wearable lower limb walking assisting exoskeleton of claim 1, which simulates the motion curve of human knee joints, wherein the foot fixing plates are of a Y-shaped structure, one ends of the two bifurcate parts are located at the lower sides, and two connecting plates are parallelly arranged on the two foot fixing plates.
4. The wearable lower limb walking exoskeleton of claim 1, wherein the model of the hip joint motor is EC 90flat 607946, the model of the hip joint harmonic reducer is LHSG-20-100, and the model of the hip joint torque sensor is M2210E.
5. The wearable lower limb walking exoskeleton of claim 1, wherein the model of the thigh motor is EC 45136207.
6. The wearable lower limb walking exoskeleton of claim 1, wherein the model of an ankle joint motor is EC 60411678, the model of an ankle joint harmonic reducer is GP42C 66-1, and the model of an ankle joint torque sensor is M2210E.
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| CN201921497944.9U CN210872826U (en) | 2019-09-10 | 2019-09-10 | Wearable lower limb walking aid exoskeleton simulating human knee joint motion curve |
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| CN201921497944.9U CN210872826U (en) | 2019-09-10 | 2019-09-10 | Wearable lower limb walking aid exoskeleton simulating human knee joint motion curve |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110464606A (en) * | 2019-09-10 | 2019-11-19 | 河北工业大学 | A kind of wearable lower limb walk-aiding exoskeleton of apery body motion of knee joint curve |
| CN113413305A (en) * | 2021-07-02 | 2021-09-21 | 王坚 | Exoskeleton robot for assisting lower limb handicapped people and load bearing people to walk |
| WO2022068154A1 (en) | 2020-09-29 | 2022-04-07 | 上海傅利叶智能科技有限公司 | Exoskeleton joint self-locking mechanism, knee joint, and bionic rehabilitation robot |
-
2019
- 2019-09-10 CN CN201921497944.9U patent/CN210872826U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110464606A (en) * | 2019-09-10 | 2019-11-19 | 河北工业大学 | A kind of wearable lower limb walk-aiding exoskeleton of apery body motion of knee joint curve |
| WO2022068154A1 (en) | 2020-09-29 | 2022-04-07 | 上海傅利叶智能科技有限公司 | Exoskeleton joint self-locking mechanism, knee joint, and bionic rehabilitation robot |
| CN113413305A (en) * | 2021-07-02 | 2021-09-21 | 王坚 | Exoskeleton robot for assisting lower limb handicapped people and load bearing people to walk |
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