CN213890011U - Lower limb exoskeleton robot with hip joint having three degrees of freedom - Google Patents
Lower limb exoskeleton robot with hip joint having three degrees of freedom Download PDFInfo
- Publication number
- CN213890011U CN213890011U CN202022871302.XU CN202022871302U CN213890011U CN 213890011 U CN213890011 U CN 213890011U CN 202022871302 U CN202022871302 U CN 202022871302U CN 213890011 U CN213890011 U CN 213890011U
- Authority
- CN
- China
- Prior art keywords
- hip joint
- joint
- shaft
- hip
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses a lower limb exoskeleton robot with hip joints having three degrees of freedom. The hip joint design of the existing exoskeleton robot has the problems of complex structure, low structural coupling with a human body and the like. The hip joint of the utility model comprises a hip joint connecting rod, a tapered roller bearing, a hip joint harmonic reducer, a hip joint servo motor, a hip joint shaft, a hip joint rotating frame and an elastic body; the knee joint comprises a thigh supporting piece, a knee joint harmonic reducer, a knee joint servo motor, a driving shaft, a driving belt wheel, a synchronous belt, a driven shaft and a driven belt wheel; the ankle joint includes a calf support, an ankle joint axis, a spring assembly, and a sole plate. The utility model discloses design hip joint for three degree of freedom: the sagittal plane flexion and extension movement, the frontal plane abduction or adduction movement and the horizontal plane external rotation or internal rotation movement can simplify the complex design structure in the current market and complete the design optimization of the hip joint structure.
Description
Technical Field
The utility model relates to a health care apparatus and mechanical auxiliary device field especially relate to a hip joint has low limbs ectoskeleton robot of three degrees of freedom.
Background
The exoskeleton robot technology integrates the technologies of machinery, mechanics, sensing, control, information and the like, and provides a wearable mechanical auxiliary device for a user. The exoskeleton robot plays a great role in various fields, so that the development prospect is very wide.
In recent 20 years, the exoskeleton robot is widely used as a human body auxiliary device.
1) In the civil field, the exoskeleton robot can help the old to normally act;
2) in the aspect of medical field, the exoskeleton robot can assist the disabled in normal life and greatly reduce the working pressure of medical staff;
3) in the aspect of military field, the exoskeleton robot can improve the rescue efficiency of a battlefield and help more injured people.
In the 60 s of the 20 th century, the american general electric company first proposed and developed a search for a reinforcement-type exoskeleton robot for enhancing the body function and applied it to the military field, and it was not able to obtain ideal results because it was the initial search for exoskeleton robots. A lower extremity exoskeleton robot was developed in 2004 by the university of california at berkeley university, usa, with an overall mass of about 45kg, and was worn by the wearer while still being able to move freely, even with a load of 35 kg. In the coming years, domestic scholars and various scientific research units gradually start to research exoskeleton robot technology. However, the existing exoskeleton robot hip joint design has the problems of complex structure, low coupling with human body structure and the like.
Disclosure of Invention
The utility model aims at providing a low limbs ectoskeleton robot that hip joint has three degrees of freedom to the not enough of prior art.
The utility model mainly comprises a hip joint, a knee joint and an ankle joint. The hip joint comprises a hip joint connecting rod, a tapered roller bearing, a hip joint harmonic reducer, a hip joint servo motor, a hip joint shaft, a hip joint rotating frame and an elastic body; the hip joint shaft is supported on a hip joint connecting rod through a tapered roller bearing, one end of the hip joint shaft is fixed with the output end of the hip joint harmonic reducer, and the other end of the hip joint shaft is fixed with the hip joint rotating frame; the input end of the hip joint harmonic reducer is fixed with the output shaft of the hip joint servo motor; the base body of the hip joint harmonic reducer is fixed with the outer ring of the tapered roller bearing; the seat body of the hip joint servo motor is fixed with the seat body of the hip joint harmonic reducer; the elastic body is fixed with the hip joint rotating frame.
The knee joint comprises a thigh supporting piece, a knee joint harmonic reducer, a knee joint servo motor, a driving shaft, a driving belt wheel, a synchronous belt, a driven shaft and a driven belt wheel; the top of the thigh support is fixed with the elastic body; the driving shaft and the thigh supporting part form a revolute pair and are fixed with the output end of the knee joint harmonic reducer; the input end of the knee joint harmonic reducer is fixed with the output shaft of the knee joint servo motor; the seat body of the knee joint harmonic reducer is fixed with the thigh supporting part; the base body of the knee joint servo motor is fixed with the base body of the knee joint harmonic reducer; the driving belt wheel is fixed on the driving shaft and is connected with the driven belt wheel fixed on the driven shaft through a synchronous belt; the driven shaft and the bottom of the thigh supporting part form a revolute pair.
The ankle joint comprises a shank support part, an ankle joint shaft, a spring assembly and a foot bottom plate; the top of the shank support piece is fixed with the driven shaft; the ankle joint shaft and the bottom of the shank support part form a revolute pair; the rear end of the foot bottom plate is fixed with the ankle joint shaft, and the middle part of the foot bottom plate is connected with the shank support piece through two spring assemblies which are arranged in parallel; the spring assembly consists of a sliding rod, a spring and a sliding sleeve; one end of the sliding rod is hinged with the crus supporting piece, and the other end of the sliding rod and one end of the sliding sleeve form a sliding pair; the other end of the sliding sleeve is hinged with the sole plate.
The knee joint servo motor and the hip joint servo motor are controlled by a controller.
Preferably, the hip joint connecting rod is provided with a hip joint bending travel switch and a hip joint extending travel switch, and an output shaft of the hip joint servo motor is also connected with an encoder; the signal output ends of the hip joint bending travel switch, the hip joint extending travel switch and the encoder are connected with the controller.
Preferably, the thigh supporting part is provided with a knee joint bending travel switch and a knee joint extending travel switch, and an output shaft of the knee joint servo motor is further connected with an encoder. The knee joint bending travel switch, the knee joint stretching travel switch and the signal output ends of the encoders are all connected with the controller.
Preferably, the ankle joint shaft is supported at the bottom of the shank support part through a tapered roller bearing, and two ends of the ankle joint shaft are provided with bearing blank caps; the bearing cap is fixed with the calf support and axially positions the tapered roller bearing supporting the ankle joint shaft.
The utility model discloses beneficial effect who has:
the hip joint of the utility model applies flexible technology, which is exactly corresponding to the passive freedom degree of abduction and adduction movement of the frontal plane of the hip joint and the external rotation and internal rotation movement of the horizontal plane according to the characteristic that the elastic body can be bent and twisted in two directions; in addition, the flexion and extension movements of the hip joint in the sagittal plane are designed as active degrees of freedom, corresponding to the flexion and extension movements in the sagittal plane, and the hip joint is finally designed as three degrees of freedom: the sagittal plane flexion and extension movement, the frontal plane abduction or adduction movement and the horizontal plane external rotation or internal rotation movement can simplify the complex design structure in the current market and complete the design optimization of the hip joint structure.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the hip joint of the present invention;
FIG. 3 is a schematic structural view of a middle knee joint of the present invention;
FIG. 4 is a schematic structural view of a middle ankle joint of the present invention;
in the figure: 1. the hip joint comprises a hip joint connecting rod, 2. a tapered roller bearing, 3. a hip joint harmonic reducer, 4. a hip joint servo motor, 5. a hip joint shaft, 6. a hip joint rotating frame, 7. an elastic body, 8. a thigh supporting piece, 9. a knee joint harmonic reducer, 10. a knee joint servo motor, 11. a driving belt pulley, 12. a synchronous belt, 13. a driven belt pulley, 14. a shank supporting piece, 15. a bearing blank cap, 16. a spring assembly, 17. a sole plate.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
As shown in fig. 1, a lower limb exoskeleton robot with three degrees of freedom in hip joints mainly comprises hip joints, knee joints and ankle joints.
As shown in fig. 2, the hip joint comprises a hip joint connecting rod 1, a tapered roller bearing 2, a hip joint harmonic reducer 3, a hip joint servo motor 4, a hip joint shaft 5, a hip joint rotating frame 6 and an elastic body 7; the hip joint shaft 5 is supported on the hip joint connecting rod 1 through a tapered roller bearing 2 (the outer ring of the tapered roller bearing 2 is matched with the hip joint connecting rod 1, the inner ring is matched with the hip joint shaft 5), one end of the hip joint shaft is fixed with the output end of the hip joint harmonic reducer 3, and the other end of the hip joint shaft is fixed with the hip joint rotating frame 6; the input end of the hip joint harmonic reducer 3 is fixed with the output shaft of the hip joint servo motor 4; the seat body of the hip joint harmonic reducer 3 is fixed with the outer ring of the tapered roller bearing 2; the base body of the hip joint servo motor 4 is fixed with the base body of the hip joint harmonic reducer 3; the elastic body 7 is fixed to the hip joint turret 6.
The hip joint can be approximated as a ball joint, designed for three degrees of freedom of motion: flexion and extension movements in the sagittal plane, abduction or adduction movements in the frontal plane, and external or internal rotation movements in the horizontal plane. The design of the hip joint of the existing lower limb exoskeleton robot mainly has the problems of complicated structure, low coupling with the human body structure and the like, aiming at the phenomenon, the utility model applies the flexible technology when designing the hip joint structure of the robot, and the flexible technology has the characteristic of bidirectional bending and torsion according to the elastic body, and is exactly corresponding to the passive freedom degrees of abduction and adduction motions of the frontal plane of the hip joint and the external rotation and internal rotation motions of the horizontal plane; additionally, the utility model discloses hip joint is designed as initiative degree of freedom at the motion of stretching to bend of sagittal plane, utilizes hip joint servo motor 4 drive hip joint axle 5 rotatory, just in time with the motion of stretching to bend of sagittal plane corresponding, finally designs the hip joint for three degree of freedom: sagittal plane flexion and extension, frontal plane abduction or adduction, and horizontal plane supination or pronation. Therefore, the complex design structure in the current market can be simplified, and the design optimization of the hip joint structure is completed.
As shown in fig. 3, the knee joint includes a thigh support 8, a knee joint harmonic reducer 9, a knee joint servo motor 10, a driving shaft, a driving pulley 11, a synchronous belt 12, a driven shaft, and a driven pulley 13; the top of the thigh support 8 is fixed with the elastic body 7; the driving shaft and the thigh supporting part 8 form a revolute pair and are fixed with the output end of the knee joint harmonic reducer 9; the input end of the knee joint harmonic reducer 9 is fixed with the output shaft of the knee joint servo motor 10; the seat body of the knee joint harmonic reducer 9 is fixed with the thigh support part 8; the seat body of the knee joint servo motor 10 is fixed with the seat body of the knee joint harmonic reducer 9; the driving belt wheel 11 is fixed on the driving shaft and is connected with the driven belt wheel 13 fixed on the driven shaft through a synchronous belt 12; the driven shaft and the bottom of the thigh support 8 form a revolute pair.
When designing the knee joint structure, the design principle of considering both cost and safety is followed. Based on bionics knowledge, the knee joint has only one degree of freedom in the sagittal plane, and other minor rotational motions can be ignored. The knee joint has the characteristics of maximum assistance in the human joint, heavier load, larger impact force when the foot touches the ground, capabilities of driving a rotating shaft (driven shaft) to complete flexion and extension motions of the knee joint by adopting a synchronous belt and realizing stable buffering, vibration absorption and transmission and the like by adopting a knee joint servo motor 10 in a synchronous belt transmission mode.
As shown in FIG. 4, the ankle joint includes a calf support 14, ankle joint axis, spring assembly 16 and sole plate 17; the top of the shank support part 14 is fixed with the driven shaft; the ankle joint shaft and the bottom of the shank support member form a revolute pair; the rear end of the foot bottom plate 17 is fixed with the ankle joint shaft, and the middle part of the foot bottom plate is connected with the shank support part 14 through two spring components 16 which are arranged in parallel; the spring assembly 16 consists of a sliding rod, a spring and a sliding sleeve; one end of the sliding rod is hinged with the crus supporting piece 14, and the other end of the sliding rod and one end of the sliding sleeve form a sliding pair; the other end of the sliding sleeve is hinged with the foot bottom plate 17.
The knee joint servo motor 10 and the hip joint servo motor are controlled by a controller.
As the preferred embodiment, the hip joint connecting rod 1 is provided with a hip joint bending travel switch and a hip joint extending travel switch, and the output shaft of the hip joint servo motor 4 is also connected with an encoder; the signal output ends of the hip joint bending travel switch, the hip joint extending travel switch and the encoder are connected with the controller. It can be seen that the flexion and extension movement of the hip joint on the sagittal plane adopts the double limitation of hard limitation (a hip joint bending travel switch and a hip joint extension travel switch) and soft limitation (an encoder), so that the exoskeleton does not exceed the flexion and extension range of the hip joint of the human body.
As a preferred embodiment, a knee joint bending travel switch and a knee joint stretching travel switch are arranged on the thigh supporting part 8, an output shaft of the knee joint servo motor 10 is further connected with an encoder, and signal output ends of the knee joint bending travel switch, the knee joint stretching travel switch and the encoder are all connected with the controller. Therefore, the knee joint adopts double limiting of hard limiting (a knee joint bending travel switch and a knee joint extending travel switch) and soft limiting (an encoder), so that the exoskeleton does not exceed the bending and extending range of the knee joint of the human body.
As a preferred embodiment, the ankle joint shaft is supported at the bottom of the shank support part through a tapered roller bearing 2, and both ends of the ankle joint shaft are provided with bearing blank caps 15; the bearing cap 15 is fixed to the calf support and axially locates the tapered roller bearing 2 which supports the ankle joint axis.
According to human kinematics analysis, the ankle joint moves mainly in the sagittal plane. Because the ankle joint motion range and the stress are small, the ankle joint motion range and the stress are suitable for adopting the passive degree of freedom. As shown in fig. 4, the spring assembly is combined with the ankle joint shaft, when the feet step on the ground, the gravitational potential energy of the human body is converted into the elastic potential energy of the spring, so that the spring is compressed and contracted, when the feet are lifted, the elastic potential energy is slowly released, the spring is freely restored to the maximum length, and the ankle is stably stressed to achieve the purpose of assisting the ankle to stably and slowly flex and stretch. Because the spring has slower extension speed, the change of the force is more moderate, and the human body can not be injured.
It can be seen that the utility model discloses all adopt the anthropomorphic design when designing robot joint structure, keep joint structural design and human joint motion's uniformity as far as possible promptly.
The utility model discloses can single low limbs ectoskeleton robot tie up and tie up on a leg during the use, the motion of supplementary a leg also can be fixed respectively hip joint connecting rod 1 and link both ends of hip joint in two low limbs ectoskeleton robots, and two low limbs ectoskeleton robots tie up and tie up on two legs, the motion of supplementary two legs.
Claims (4)
1. The utility model provides a lower limbs ectoskeleton robot that hip joint has three degrees of freedom, mainly comprises hip joint, knee joint and ankle joint, its characterized in that: the hip joint comprises a hip joint connecting rod, a tapered roller bearing, a hip joint harmonic reducer, a hip joint servo motor, a hip joint shaft, a hip joint rotating frame and an elastic body; the hip joint shaft is supported on a hip joint connecting rod through a tapered roller bearing, one end of the hip joint shaft is fixed with the output end of the hip joint harmonic reducer, and the other end of the hip joint shaft is fixed with the hip joint rotating frame; the input end of the hip joint harmonic reducer is fixed with the output shaft of the hip joint servo motor; the base body of the hip joint harmonic reducer is fixed with the outer ring of the tapered roller bearing; the seat body of the hip joint servo motor is fixed with the seat body of the hip joint harmonic reducer; the elastic body is fixed with the hip joint rotating frame;
the knee joint comprises a thigh supporting piece, a knee joint harmonic reducer, a knee joint servo motor, a driving shaft, a driving belt wheel, a synchronous belt, a driven shaft and a driven belt wheel; the top of the thigh support is fixed with the elastic body; the driving shaft and the thigh supporting part form a revolute pair and are fixed with the output end of the knee joint harmonic reducer; the input end of the knee joint harmonic reducer is fixed with the output shaft of the knee joint servo motor; the seat body of the knee joint harmonic reducer is fixed with the thigh supporting part; the base body of the knee joint servo motor is fixed with the base body of the knee joint harmonic reducer; the driving belt wheel is fixed on the driving shaft and is connected with the driven belt wheel fixed on the driven shaft through a synchronous belt; the driven shaft and the bottom of the thigh supporting part form a revolute pair;
the ankle joint comprises a shank support part, an ankle joint shaft, a spring assembly and a foot bottom plate; the top of the shank support piece is fixed with the driven shaft; the ankle joint shaft and the bottom of the shank support part form a revolute pair; the rear end of the foot bottom plate is fixed with the ankle joint shaft, and the middle part of the foot bottom plate is connected with the shank support piece through two spring assemblies which are arranged in parallel; the spring assembly consists of a sliding rod, a spring and a sliding sleeve; one end of the sliding rod is hinged with the crus supporting piece, and the other end of the sliding rod and one end of the sliding sleeve form a sliding pair; the other end of the sliding sleeve is hinged with the sole plate;
the knee joint servo motor and the hip joint servo motor are controlled by a controller.
2. The lower extremity exoskeleton robot with three degrees of freedom for hip joints of claim 1, wherein: the hip joint connecting rod is provided with a hip joint bending travel switch and a hip joint extending travel switch, and an output shaft of the hip joint servo motor is also connected with an encoder; the signal output ends of the hip joint bending travel switch, the hip joint extending travel switch and the encoder are connected with the controller.
3. The lower extremity exoskeleton robot with three degrees of freedom for hip joints of claim 1, wherein: a knee joint bending travel switch and a knee joint extending travel switch are arranged on the thigh supporting piece, and an output shaft of the knee joint servo motor is also connected with an encoder; the knee joint bending travel switch, the knee joint stretching travel switch and the signal output ends of the encoders are all connected with the controller.
4. The lower extremity exoskeleton robot with three degrees of freedom for hip joints of claim 1, wherein: the ankle joint shaft is supported at the bottom of the shank support part through a tapered roller bearing, and bearing caps are arranged at two ends of the ankle joint shaft; the bearing cap is fixed with the calf support and axially positions the tapered roller bearing supporting the ankle joint shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022871302.XU CN213890011U (en) | 2020-12-02 | 2020-12-02 | Lower limb exoskeleton robot with hip joint having three degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022871302.XU CN213890011U (en) | 2020-12-02 | 2020-12-02 | Lower limb exoskeleton robot with hip joint having three degrees of freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213890011U true CN213890011U (en) | 2021-08-06 |
Family
ID=77100178
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022871302.XU Active CN213890011U (en) | 2020-12-02 | 2020-12-02 | Lower limb exoskeleton robot with hip joint having three degrees of freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213890011U (en) |
-
2020
- 2020-12-02 CN CN202022871302.XU patent/CN213890011U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Aliman et al. | Design and development of lower limb exoskeletons: A survey | |
| CN107411939B (en) | A kind of dedicated power-assisted healing robot of single lower limb individuals with disabilities | |
| CN104552276B (en) | The ectoskeleton servomechanism that pneumatic muscles drives | |
| CN101810533B (en) | Walking aid exoskeleton rehabilitation robot | |
| Low | Robot-assisted gait rehabilitation: From exoskeletons to gait systems | |
| CN106726363B (en) | Wearable bionic hydraulic lower limb rehabilitation walking-assisting mechanical device | |
| CN204450526U (en) | The ectoskeleton servomechanism that a kind of pneumatic muscles drives | |
| CN109044742B (en) | Rehabilitation type lower limb exoskeleton | |
| CN103892943B (en) | Active/passive is in conjunction with the flexible lower limb exoskeleton of force booster type | |
| CN104490568A (en) | Human lower extremity exoskeleton walking aid rehabilitation robot | |
| CN102327173A (en) | Wearable exoskeleton lower limb rehabilitation robot | |
| CN110652425B (en) | Variable-rigidity lower limb exoskeleton power-assisted robot | |
| CN108836732B (en) | Upper limb rehabilitation training exoskeleton mechanism with human-machine motion compatibility and passive gravity balance characteristics | |
| CN113133898B (en) | Lower limb rehabilitation exoskeleton mechanism with flexible joints | |
| CN112716751B (en) | Exoskeleton finger rehabilitation robot | |
| CN1325229C (en) | Dress-able type flexible exoskeleton manipulator | |
| CN112022631A (en) | Lower limb exoskeleton device for multi-body position rehabilitation training | |
| CN111012627A (en) | Active upper limb movement rehabilitation assistance exoskeleton | |
| CN107042502B (en) | Closed chain link-type drive lacking lower limb exoskeleton mechanism | |
| Hasan et al. | State of the art technologies for exoskeleton human lower extremity rehabilitation robots | |
| Bharadwaj et al. | Kinematics of a robotic gait trainer for stroke rehabilitation | |
| Hu et al. | Design of mechanism and control system for a lightweight lower limb exoskeleton | |
| CN112388617B (en) | Lower limb exoskeleton robot | |
| CN213890011U (en) | Lower limb exoskeleton robot with hip joint having three degrees of freedom | |
| WO2023070466A1 (en) | Walking assistance exoskeleton apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |