CN212265830U - Ankle joint exoskeleton device for assisting lower limb joints - Google Patents
Ankle joint exoskeleton device for assisting lower limb joints Download PDFInfo
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- CN212265830U CN212265830U CN202020544275.2U CN202020544275U CN212265830U CN 212265830 U CN212265830 U CN 212265830U CN 202020544275 U CN202020544275 U CN 202020544275U CN 212265830 U CN212265830 U CN 212265830U
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Abstract
The utility model provides an ankle joint ectoskeleton device of helping hand low limbs multi-joint belongs to ectoskeleton machinery. The problem of current ankle joint assist drive device can only carry out the helping hand to ankle joint monosrticular is solved. It includes support and assist drive device, assist drive device includes fixing device and transmission, fixing device links to each other with the support side is fixed, two screw holes have been seted up at the fixing device top, through two solidus heads of screw hole spiro union, pass respectively in two solidus heads and reply wire rope and tensile wire rope, transmission includes big pulley mechanism, little pulley mechanism, linear motion system, flexible mechanism and guiding mechanism, big pulley mechanism includes and beats big pulley support and the big pulley that the screw links to each other through first stopper, big pulley support top links to each other with replying wire rope, little pulley mechanism includes and beats little pulley support and the little pulley that the screw links to each other through the second stopper. It is mainly used for ankle exoskeleton.
Description
Technical Field
The utility model belongs to ectoskeleton machinery especially relates to an ankle joint ectoskeleton device of helping hand low limbs multi-joint.
Background
With the rapid development of the economic society and the continuous improvement of the technological level, many countries in the world strive to explore and utilize convenient tools to assist people in walking or working, and the production of the exoskeleton robot meets the requirements to a great extent. The exoskeleton robot is a mechanical device which can be worn by a person, combines human intelligence and the 'physical strength' of the robot together, controls the robot by using the human intelligence, and helps the human body to complete daily activities through the robot. In the household and rehabilitation medical field, the exoskeleton can also help disabled people to walk as fast as healthy young people, and recover a healthy lifestyle. In the military field, the exoskeleton robot can enable soldiers to easily bear heavier and more weaponry and equip the power device and the motion system of the exoskeleton, so that the soldiers can do long-distance and long-time high-speed motion without feeling tired, and the individual combat capability can be effectively improved. In addition, the exoskeleton has wide application prospect in civil aspects, such as disaster relief, construction sites, trainers for lower limb disorder persons, auxiliary walking devices and the like.
At present, most lower limb assistance exoskeleton robots are heavy, poor in comfort and high in price, and are in a clinical experiment stage. When a human body normally walks, energy is mainly provided by ankle joints, knee joints and hip joints, wherein the ankle joints do work to occupy the main part, and the single ankle joint power assisting can reduce about 40% of metabolic consumption of the human body at present, so that the single-joint exoskeleton power assisting structure focuses on the ankle joint structure more at present. At present, the existing ankle joint power-assisted mechanism can only assist the single ankle joint.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a solve the problem among the prior art, provide an ankle joint ectoskeleton device of helping hand low limbs multi-joint.
In order to achieve the above purpose, the utility model adopts the following technical scheme: an ankle joint exoskeleton device for assisting multiple joints of lower limbs comprises a support and an assisting mechanism, wherein the assisting mechanism comprises a fixing device and a transmission device, the fixing device is fixedly connected with the side face of the support, two threaded holes are formed in the top of the fixing device, two wire fixing heads are in threaded connection through the threaded holes, a return steel wire rope and a stretching steel wire rope respectively penetrate through the two wire fixing heads, the transmission device comprises a large pulley mechanism, a small pulley mechanism, a linear motion system, a flexible mechanism and a guide mechanism, the large pulley mechanism comprises a large pulley support and a large pulley which are connected through a first stop screw, the top end of the large pulley support is connected with the return steel wire rope, the small pulley mechanism comprises a small pulley support and a small pulley which are connected through a second stop screw, the small pulley support is connected with a tension sensor, and the tension sensor is connected with the fixing device, the linear motion system comprises a guide shaft and a linear bearing, the linear bearing is arranged at the bottom of the fixing device, the guide shaft penetrates through the linear bearing and then is connected with the large pulley support, the flexible mechanism comprises a spring, a spring end cover, a spring rod and an L-shaped plate, the spring end cover is respectively fixed on two sides of the spring, the spring rod penetrates through the spring end cover and then is connected with the L-shaped plate, the L-shaped plate is fixedly connected with the support, the guide mechanism is connected with the fixing device and the support, and the stretching steel wire rope sequentially penetrates through the small pulley, the large pulley and the guide mechanism and then is connected with the spring rod.
Further, the support is formed by 3D printing of carbon fibers or by metal processing.
Furthermore, the fixing device comprises a lower bottom plate, an upper bottom plate and four supporting rods, wherein the lower bottom plate is fixedly connected with the upper bottom plate through the four supporting rods.
Furthermore, the support rod is a stepped shaft with two thin ends and a thick middle, the thin end is provided with threads, the lower bottom plate and the upper bottom plate are respectively provided with four connecting holes, and the support rod is in threaded connection with the connecting holes arranged on the lower bottom plate and the upper bottom plate through the threads of the thin end.
Further, the spring is a compression spring or an extension spring.
Furthermore, the spring rods are stepped shafts, the number of the spring rods is three, two of the spring rods are symmetrically arranged along the spring axis, one end of each spring rod is connected with the spring end cover, the other end of each spring rod is connected with the L-shaped plate, the other spring rod is located at the spring axis, one end of each spring rod is connected with the spring end cover, and the other end of each spring rod is connected with the tensile steel wire rope.
Furthermore, the guide mechanism comprises a connecting shaft, a pulley and a baffle, the connecting shaft is connected with the fixing device and the support, one end of the connecting shaft is connected with the pulley, and the outer side of the pulley is connected with the baffle.
Furthermore, the wire fixing head is of a stepped through hole structure and is used for fixing the rope shell of the return steel wire rope and the tensile steel wire rope.
Compared with the prior art, the beneficial effects of the utility model are that: the problem of current ankle joint assist drive device can only carry out the helping hand to ankle joint monosrticular is solved.
The utility model relates to an ankle joint exoskeleton structure which has simple structure, low cost, convenient use and high popularization rate and can assist multiple joints of lower limbs. The power assisting device can assist the ankle joint, the knee joint and the hip joint of the lower limb, can further reduce the metabolic consumption of the human body, and further saves energy. The driving part can be placed on the part outside the lower limbs by adopting rope transmission, so that the energy consumption of the human body is further reduced, the control is simple, and the power assisting effect is greatly improved. The utility model discloses can be used for the recovered field of medical treatment and ectoskeleton robot field.
Drawings
Fig. 1 is a schematic structural view of an ankle exoskeleton device for assisting lower limb multiple joints according to the present invention;
fig. 2 is a schematic structural view of the power assisting mechanism of the present invention;
fig. 3 is a schematic structural view of the flexible mechanism according to the present invention;
fig. 4 is a schematic structural view of the guiding mechanism of the present invention;
fig. 5 is a schematic structural diagram of the large pulley mechanism of the present invention.
1-a guide shaft, 2-a support, 3-a linear bearing, 4-a lower bottom plate, 5-a tension sensor, 6-a small pulley support, 7-a small pulley, 8-a support rod, 9-a steel wire rope, 10-a large pulley support, 11-a rope shell, 12-a wire fixing head, 13-an upper bottom plate, 14-a large pulley, 15-a first driving screw, 16-a first screw, 17-a spring, 18-a spring end cover, 19-a spring rod, 20-an L-shaped plate, 21-a second screw, 22-a third screw, 23-a restoring steel wire rope, 24-a tensile steel wire rope, 25-a second driving screw, 26-a connecting shaft, 27-a pulley, 28-a baffle plate and 29-a fourth screw.
Detailed Description
The technical solution in the embodiment of the present invention will be clearly and completely explained below with reference to the drawings in the embodiment of the present invention.
Referring to fig. 1-5 to illustrate the embodiment, the ankle exoskeleton device for assisting multiple joints of lower limbs comprises a support 2 and an assisting mechanism, wherein the assisting mechanism comprises a fixing device and a transmission device, the fixing device is fixedly connected with the side surface of the support 2, the top of the fixing device is provided with two threaded holes, two wire fixing heads 12 are screwed through the threaded holes, return steel wire ropes 23 and stretching steel wire ropes 24 respectively penetrate through the two wire fixing heads 12, the transmission device comprises a large pulley mechanism, a small pulley mechanism, a linear motion system, a flexible mechanism and a guide mechanism, the large pulley mechanism comprises a large pulley support 10 and a large pulley 14 which are connected through a first stopper screw 15, the top end of the large pulley support 10 is connected with the return steel wire ropes 23, the small pulley mechanism comprises a small pulley support 6 and a small pulley 7 which are connected through a second stopper screw 25, the small pulley support 6 is connected with the tension sensor 5, the tension sensor 5 is connected with the fixing device, the linear motion system comprises a guide shaft 1 and a linear bearing 3, the linear bearing 3 is arranged at the bottom of the fixing device, the guide shaft 1 penetrates through the linear bearing 3 and then is connected with the large pulley support 10, the flexible mechanism comprises a spring 17, a spring end cover 18, a spring rod 19 and an L-shaped plate 20, the spring end cover 18 is respectively fixed on two sides of the spring 17, the spring rod 19 penetrates through the spring end cover 18 and then is connected with the L-shaped plate 20, the L-shaped plate 20 is fixedly connected with the support 2, the guide mechanism is connected with the fixing device and the support 2, and the tensile steel wire rope 24 sequentially penetrates through the small pulley 7, the large pulley 14 and the guide mechanism and then is connected with the spring rod 19.
This embodiment support 2 is printed through carbon fiber 3D and is formed or form through metal processing, arranges the shoes inside support 2, uses third screw 22 to connect the fastening with support 2 side and assist drive device lower plate 4. Fixing device includes lower plate 4, upper plate 13 and four spinal branch vaulting poles 8, and lower plate 4 is fixed continuous with upper plate 13 through four spinal branch vaulting poles 8, and bracing piece 8 is thick step shaft in the middle of the both ends are thin, and thin end processing has the screw thread, and it has four connecting holes to equally divide respectively on lower plate 4 and the upper plate 13, and the connecting hole spiro union of seting up on screw thread and lower plate 4 and the upper plate 13 through thin end of bracing piece 8 guarantees that whole device can be stable is connected with shoes. The wire fixing head 12 is of a stepped through hole structure and is used for fixing the rope shell 11 of the return steel wire rope 23 and the stretching steel wire rope 24, so that the steel wire rope 9 can be conveniently fixed and transmitted with force. Big pulley bracket 10 is connected through the one end of first screw 16 and guiding axle 1, and big pulley bracket 10 opposite side is opened there is the circular port, conveniently replies wire rope 23 and stretches out, and linear bearing 3 passes through second screw 21 and is connected with lower plate 4, and linear bearing 3's effect lies in can guaranteeing that big pulley mechanism can not the direction of rotation in the bearing, can keep fixed direction so that the transmission. The tension sensor 5 is connected with the lower bottom plate 4, the tension sensor 5 is used for measuring tension on the steel wire rope, force transmitted to the sole is obtained through calculation, and the assistance numerical range is determined. The spring 17 is a compression spring or an extension spring, the spring end covers 18 are fixed on two sides of the spring 17 through over-fit, the number of the spring rods 19 is three, two of the spring rods 19 are symmetrically arranged along the axis of the spring 17, one end of each spring rod 19 is connected with the spring end cover 18, the other end of each spring rod is connected with the L-shaped plate 20, the other spring rod 19 is located at the axis of the spring 17, one end of each spring rod is connected with the spring end cover 18, the other end of each spring rod is connected with the extension steel wire rope 24, and the flexible mechanism has the effects that the buffering can be increased in the boosting process, excessive steps; meanwhile, the flexible mechanism can absorb a part of energy through the spring 17 and then release the energy, so that the peak energy consumption of the motor can be reduced, and the motor with low power is selected. The guide mechanism comprises a connecting shaft 26, a pulley 27 and a baffle 28, the connecting shaft 26 is connected with the fixing device and the support 2, one end of the connecting shaft 26 is connected with the pulley 27, friction force in the transmission process of the steel wire rope is reduced, the outer side of the pulley 27 is connected with the baffle 28, and the tensile steel wire rope 24 is prevented from shaking and cannot be separated from the pulley 27.
The transmission principle of the embodiment lies in rope driving, the rope is connected with the flexible mechanism through the transmission of the large pulley mechanism, the small pulley mechanism and the guide mechanism, one transmission route is the flexible mechanism-the guide mechanism-the large pulley mechanism-the small pulley mechanism-the wire fixing head 12, the other transmission route is the large pulley mechanism-the wire fixing head 12, and the two transmission routes respectively carry out assistance in different stages of a gait cycle; the drive is motor drive, and bidirectional drive is performed through a rope. Different from the effect that ankle joint ectoskeleton structure only carried out the helping hand to the single joint in the past, the utility model discloses an adjustment helping hand structure and ground from 0 to 90 inclination can be so that ground passes through the three joint of low limbs to the helping hand direction of human low limbs through the guiding axle, can accomplish simultaneously to carry out the helping hand to the three joint of low limbs, simple structure, light, the helping hand effect is better.
The above detailed description is given to the ankle exoskeleton device with multiple joints for assisting lower limbs provided by the present invention, and the specific examples are applied herein to explain the principle and the implementation of the present invention, and the description of the above embodiments is only used to help understand the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the specific implementation and application scope, to sum up, the content of the present specification should not be understood as the limitation of the present invention.
Claims (8)
1. The utility model provides an ankle joint ectoskeleton device of helping hand low limbs multiarticular which characterized in that: the device comprises a support (2) and a power-assisted mechanism, wherein the power-assisted mechanism comprises a fixing device and a transmission device, the fixing device is fixedly connected with the side surface of the support (2), two threaded holes are formed in the top of the fixing device, two wire fixing heads (12) are in threaded connection through the threaded holes, a return steel wire rope (23) and a stretching steel wire rope (24) are respectively penetrated in the two wire fixing heads (12), the transmission device comprises a large pulley mechanism, a small pulley mechanism, a linear motion system, a flexible mechanism and a guide mechanism, the large pulley mechanism comprises a large pulley support (10) and a large pulley (14) which are connected through a first stopper beating screw (15), the top end of the large pulley support (10) is connected with the return steel wire rope (23), the small pulley mechanism comprises a small pulley support (6) and a small pulley (7) which are connected through a second stopper beating screw (25), the small pulley support (6) is connected with a tension sensor (5), the tension sensor (5) is connected with the fixing device, the linear motion system comprises a guide shaft (1) and a linear bearing (3), the linear bearing (3) is arranged at the bottom of the fixing device, the upper end of the guide shaft (1) passes through the linear bearing (3) and is connected with the large pulley bracket (10), the flexible mechanism comprises a spring (17), a spring end cover (18), a spring rod (19) and an L-shaped plate (20), the spring end covers (18) are respectively fixed on two sides of the spring (17), the spring rod (19) penetrates through the spring end covers (18) and then is connected with the L-shaped plate (20), the L-shaped plate (20) is fixedly connected with the bracket (2), the guide mechanism is connected with the fixing device and the bracket (2), and the stretching steel wire rope (24) sequentially passes through the small pulley (7), the large pulley (14) and the guide mechanism and then is connected with the spring rod (19).
2. The lower extremity assisted multi-joint ankle exoskeleton device of claim 1, wherein: the support (2) is formed by 3D printing of carbon fibers or by metal processing.
3. The lower extremity assisted multi-joint ankle exoskeleton device of claim 1, wherein: the fixing device comprises a lower bottom plate (4), an upper bottom plate (13) and four supporting rods (8), wherein the lower bottom plate (4) is fixedly connected with the upper bottom plate (13) through the four supporting rods (8).
4. The lower extremity assisted multi-joint ankle exoskeleton device of claim 3, wherein: the utility model discloses a bracing piece, including bracing piece (8), bottom plate (4) and upper plate (13), the bracing piece is thick step shaft in the middle of the both ends are thin, and thin end processing has the screw thread, it has four connecting holes to equally divide on bottom plate (4) and upper plate (13), bracing piece (8) are through the screw thread of thin end and the connecting hole spiro union of seting up on bottom plate (4) and upper plate (13).
5. The lower extremity assisted multi-joint ankle exoskeleton device of claim 1, wherein: the spring (17) is a compression spring or an extension spring.
6. The lower extremity assisted multi-joint ankle exoskeleton device of claim 1, wherein: the spring rods (19) are stepped shafts, the number of the spring rods is three, two of the spring rods (19) are symmetrically arranged along the axis of the spring (17), one end of each spring rod is connected with the spring end cover (18), the other end of each spring rod is connected with the L-shaped plate (20), the other spring rod (19) is located at the axis of the spring (17), one end of each spring rod is connected with the spring end cover (18), and the other end of each spring rod is connected with the stretching steel wire rope (24).
7. The lower extremity assisted multi-joint ankle exoskeleton device of claim 1, wherein: the guide mechanism comprises a connecting shaft (26), a pulley (27) and a baffle (28), the connecting shaft (26) is connected with the fixing device and the support (2), one end of the connecting shaft (26) is connected with the pulley (27), and the outer side of the pulley (27) is connected with the baffle (28).
8. The lower extremity assisted multi-joint ankle exoskeleton device of claim 1, wherein: the wire fixing head (12) is of a stepped through hole structure and is used for fixing the rope shell (11) of the return steel wire rope (23) and the stretching steel wire rope (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020544275.2U CN212265830U (en) | 2020-04-14 | 2020-04-14 | Ankle joint exoskeleton device for assisting lower limb joints |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020544275.2U CN212265830U (en) | 2020-04-14 | 2020-04-14 | Ankle joint exoskeleton device for assisting lower limb joints |
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| CN212265830U true CN212265830U (en) | 2021-01-01 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113858256A (en) * | 2021-08-30 | 2021-12-31 | 北京机械设备研究所 | Exoskeleton hip joint with three degrees of freedom passive energy storage assistance |
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2020
- 2020-04-14 CN CN202020544275.2U patent/CN212265830U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113858256A (en) * | 2021-08-30 | 2021-12-31 | 北京机械设备研究所 | Exoskeleton hip joint with three degrees of freedom passive energy storage assistance |
| CN113858256B (en) * | 2021-08-30 | 2023-06-02 | 北京机械设备研究所 | Three-degree-of-freedom passive energy storage assisted exoskeleton hip joint |
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Inventor after: Zhang Hao Inventor after: Yin Shengjun Inventor after: Jiang Feng Inventor after: Ding Zhen Inventor after: Wang Zhipeng Inventor after: Yang Chifu Inventor after: Zhang Longhai Inventor before: Zhang Hao Inventor before: Jiang Feng Inventor before: Ding Zhen Inventor before: Wang Zhipeng Inventor before: Yang Chifu Inventor before: Zhang Longhai |