CN215132743U - Multi-movement-axis knee joint exoskeleton structure - Google Patents
Multi-movement-axis knee joint exoskeleton structure Download PDFInfo
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- CN215132743U CN215132743U CN202023197767.8U CN202023197767U CN215132743U CN 215132743 U CN215132743 U CN 215132743U CN 202023197767 U CN202023197767 U CN 202023197767U CN 215132743 U CN215132743 U CN 215132743U
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Abstract
The utility model discloses a multi-motion shaft knee joint exoskeleton structure, in particular to the technical field of bionic knee joints, which comprises a shank component, a link mechanism, a thigh component, a rubber buffer seat and a driving mechanism, wherein the link mechanism is positioned between the shank component and the thigh component, the shank component is connected with the thigh component through the link mechanism, the bottom end of the driving mechanism is arranged at one side of the thigh component and is connected with the shank component through the rubber buffer seat, the link mechanism comprises a connecting plate fixed at one end of the shank component through a bolt, the front end and the rear end of the outer side wall of the connecting plate are respectively provided with a support, and the outer parts of the two supports are provided with a first connecting rod and a second connecting rod, the utility model has good buffer performance, multi-motion shafts and can ensure that the motion instant center and the shank swinging angle accord with the bionic knee joint exoskeleton structure of a human body, the laminating nature is good, and the travelling comfort improves.
Description
Technical Field
The utility model relates to a bionical knee joint technical field, concretely relates to many movement axis knee joint ectoskeleton structure.
Background
In the field of human exoskeleton and biped robots, a bionic knee joint is an important functional component, which can help a human body to realize standing support and flexible natural gait when walking, the motion of the knee joint is very complex, a tibia joint can move along four axes, including flexion-extension, internal rotation-external rotation, internal contraction-external expansion degrees of freedom and front-back translation degrees of freedom, wherein the motion of the knee joint in a sagittal plane is the most main motion of the knee joint, other motions can occur when the flexion-extension motion reaches a certain angle, a general bionic knee joint only needs to research the flexion-extension motion on the sagittal plane, the rotation center of the knee joint of a natural human leg can move along with the flexion-extension motion, namely the rotation center is changed, when the leg moves to different angles, the rotation instant axis is different, the rotation center of the leg in the whole motion process presents a J-shaped curve, and the multiaxial knee joint has inherent advantages compared with a uniaxial knee joint, the motion track can be as close as possible to the motion track of the knee joint of the lower limb of the human body;
the existing knee-joint exoskeleton still has various defects of large impact force on a human body and insufficient correspondence between the instantaneous center position of motion and the swing angle of a shank, for example, Chinese patent application No. CN201911093203.9 discloses a lasso artificial muscle driving type knee-joint exoskeleton device, wherein the knee-joint motion is simulated through a single shaft in the device, and the lasso is used for buffering.
SUMMERY OF THE UTILITY MODEL
Therefore, the utility model provides a many movement axis knee joint ectoskeleton structure aims at solving current knee joint ectoskeleton and still has the problem that the human impact force is big, motion instantaneous center position and shank swing angle do not enough correspond.
In order to achieve the above object, the present invention provides the following technical solutions:
a knee joint exoskeleton structure with multiple motion axes comprises a shank component, a link mechanism, a thigh component, a rubber buffer seat and a driving mechanism, the link mechanism is positioned between the shank component and the thigh component, the shank component is connected with the thigh component through the link mechanism, the bottom end of the driving mechanism is arranged at one side of the thigh component and is connected with the shank component through a rubber buffer seat, the connecting rod mechanism comprises a connecting plate fixed at one end of the shank component through a bolt, the front end and the rear end of the outer side wall of the connecting plate are respectively provided with a support, and the outer parts of the two supports are provided with a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are arranged in a crossed mode on the moving surface, and the support and the first connecting rod, the first connecting rod and the thigh member, the support and the second connecting rod, and the second connecting rod and the thigh member are respectively connected through hinge mechanisms;
the four hinge mechanisms are identical in structure, one of the hinge mechanisms comprises a first self-lubricating bearing arranged inside a support, a hinge rotating shaft is inserted inside the first self-lubricating bearing, the hinge rotating shaft is a stepped shaft, the thicker part of the hinge rotating shaft is matched with an inner ring of the first self-lubricating bearing, the thinner part of the hinge rotating shaft is matched with a second connecting rod, threaded holes are formed in the end parts of the two ends of the hinge rotating shaft, an anti-falling bolt in threaded connection with the hinge rotating shaft is inserted into one side, away from the hinge rotating shaft, of the support, a large gasket is arranged between the anti-falling bolt and the support, one end of the second connecting rod is sleeved with the outside of the hinge rotating shaft, a fastening bolt in threaded connection with the hinge rotating shaft is arranged at the other end of the second connecting rod, and a small gasket is arranged between the fastening bolt and the second connecting rod.
Furthermore, hinge holes corresponding to the link mechanisms are formed in the front ends of the plate surfaces of the shank member and the thigh member, the outer portions of the first connecting rod and the second connecting rod and the outer portions of the two supports, the length of the thick end of the hinge rotating shaft is longer than the thickness of the hinge holes in the thigh member and the supports, and the length of the thin end of the hinge rotating shaft is shorter than the thickness of the hinge holes in the first connecting rod and the second connecting rod.
Furthermore, one end of the first connecting rod, which is close to the connecting plate, is reamed flat to form a groove, and the hinge hole of the thigh component, which is close to the second connecting rod, is reamed flat to form a groove.
Furthermore, the rubber buffer seats comprise rubber bearing seats and fixing bolts, and the rubber bearing seats are fixed on the shank component through the fixing bolts respectively.
Furthermore, actuating mechanism includes electric push rod, round pin axle, second self-lubricating bearing, split pin and two end sockets, two the end socket is located the both ends of electric push rod respectively and articulated mutually with thigh component and rubber cushion socket respectively.
Furthermore, two end bases are respectively provided with a second self-lubricating bearing at the joint of the thigh component and the rubber buffer base, a pin shaft is inserted into the second self-lubricating bearing, the two end bases are respectively connected with the thigh component and the rubber buffer base through the pin shaft and the second self-lubricating bearing, and a split pin is axially fixed at one end of the pin shaft penetrating through the second self-lubricating bearing.
Furthermore, a connecting line of the two hinge holes at the front end of the plate surface of the thigh member has an angular deviation with a vertical central axis of the thigh member, and a surface of the end part of the shank member, which is in contact with the connecting plate, has an angular deviation with a horizontal central axis of the shank member.
Furthermore, the shank component and the thigh component are composed of sheet metal structures, lightening holes are formed in the outer portions of the shank component and the thigh component, and two pairs of expansion holes are formed in the outer portions of the shank component and the thigh component and located at two ends of the lightening holes.
The utility model has the advantages of as follows:
1. in the utility model, the utility model realizes the flexion and extension actions of the knee joint through the link mechanism, so that the motion of the shank component can better correspond to the rotation instant center and the rotation angle when the human shank bends and extends, thereby the motion of the shank component better fits the motion of the human shank, and simultaneously, the electric push rod is used for driving, thereby simulating the stretching function of the muscle of the human shank, and the stress change in the motion process of the shank component is more close to the stress change when the human shank naturally moves;
2. the utility model uses the rubber buffer seat to be connected with the driving mechanism, thereby effectively reducing the impact on the shank component when the driving mechanism is started and stopped, reducing the impact on the human leg by the exoskeleton, avoiding the extra degree of freedom generated by a common buffer device and improving the precision of the movement;
3. shank component, thigh component adopt the individual layer panel beating to make, and the lightening hole is seted up to the structure outside, can both effectively reduce the whole dead weight of device to improve the laminating nature of ectoskeleton greatly, saved the space, make the structure compacter, the wearing travelling comfort also improves to some extent, in addition, overall structure is simple, easily processing, the usable panel beating of most parts, bar are formed through processes such as turning, milling, drilling, low cost and the batch production of being convenient for.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structure, ratio, size and the like shown in the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by people familiar with the technology, and are not used for limiting the limit conditions which can be implemented by the present invention, so that the present invention has no technical essential significance, and any structure modification, ratio relationship change or size adjustment should still fall within the scope which can be covered by the technical content disclosed by the present invention without affecting the efficacy and the achievable purpose of the present invention.
Fig. 1 is a schematic view of a buckling state provided by the present invention;
fig. 2 is an overall schematic view of the exoskeleton of the knee joint provided by the present invention;
fig. 3 is an exploded view of the link mechanism provided by the present invention;
fig. 4 is an exploded view of a hinge structure in the link mechanism provided by the present invention;
fig. 5 is an exploded view of the rubber buffer seat provided by the present invention;
fig. 6 is an exploded view of the driving mechanism provided by the present invention;
in the figure: 1. a lower leg member; 2. a link mechanism; 201. a connecting plate; 202. a first connecting rod; 203. a second connecting rod; 204. an anti-drop bolt; 205. a large washer; 206. a first self-lubricating bearing; 207. a hinge shaft; 208. a small pad; 209. Fastening a bolt; 210. a support; 3. a thigh member; 4. a drive mechanism; 401. an electric push rod; 402. a pin shaft; 403. a second self-lubricating bearing; 404. a cotter pin; 405. an end seat; 5. a rubber cushion seat; 501. a rubber bearing seat; 502. fixing the bolt; 6. lightening holes; 7. the hole is expanded.
Detailed Description
The present invention is described in terms of specific embodiments, and other advantages and benefits of the present invention will become apparent to those skilled in the art from the following disclosure. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to the accompanying drawings 1-6 in the specification, the multi-motion-axis knee joint exoskeleton structure of the embodiment is composed of a shank member 1, a link mechanism 2, a thigh member 3, a rubber buffer seat 5 and a driving mechanism 4, wherein the link mechanism 2 is located between the shank member 1 and the thigh member 3, the shank member 1 is connected with the thigh member 3 through the link mechanism 2, the bottom end of the driving mechanism 4 is arranged at one side of the thigh member 3 and is connected with the shank member 1 through the rubber buffer seat 5, the link mechanism 2 comprises a connecting plate 201 fixed at one end of the shank member 1 through a bolt, front and rear ends of the outer side wall of the connecting plate 201 are respectively provided with a support 210, a first connecting rod 202 and a second connecting rod 203 are arranged outside the two supports 210, the first connecting rod 202 and the second connecting rod 203 are arranged in a crossing manner on a motion plane, the support 210 and the first connecting rod 202, the first connecting rod 202 and the thigh member 3, the support 210 and the second connecting rod 203, and the second connecting rod 203 and the thigh member 3 are respectively connected by hinge mechanisms;
the four hinge mechanisms are identical in structure, wherein one hinge mechanism comprises a first self-lubricating bearing 206 arranged inside a support 210, and a hinge rotating shaft 207 is inserted into the first self-lubricating bearing 206, the hinge rotating shaft 207 is a stepped shaft, the thicker part of which cooperates with the inner ring of the first self-lubricating bearing 206, the thinner part of which cooperates with the second connecting rod 203, threaded holes are respectively arranged at the two end parts of the hinge rotating shaft 207, an anti-falling bolt 204 which is in threaded connection with the hinge rotating shaft 207 is inserted at one side of the support 210 far away from the hinge rotating shaft 207, and a large gasket 205 is arranged between the anti-falling bolt 204 and the support 210, one end of the second connecting rod 203 is sleeved with the outside of the hinge rotating shaft 207, and the other end of the second connecting rod 203 is provided with a fastening bolt 209 which is connected with the hinge rotating shaft 207 through screw threads, a small gasket 208 is arranged between the fastening bolt 209 and the second connecting rod 203.
Furthermore, the plate front ends of the lower leg member 1 and the thigh member 3, the outer portions of the first connecting rod 202 and the second connecting rod 203, and the outer portions of the two supports 210 are respectively provided with hinge holes corresponding to the link mechanism 2, the thick end length of the hinge shaft 207 is longer than the thickness of the hinge holes on the thigh member 3 and the supports 210, so that a certain gap is left between the anti-falling bolt 204 and the thigh member 3 and the connecting plate 201 after being screwed, the hinge shaft 207 can freely rotate and maintain high precision in the radial direction in the first self-lubricating bearing 206 fixed in the thigh member 3 and the first self-lubricating bearing 206 fixed in the connecting plate 201, and the thin end length of the hinge shaft 207 is shorter than the thickness of the hinge holes of the first connecting rod 202 and the second connecting rod 203, so that the fastening bolt 209 and the small gasket 208 can use pretightening force to connect the hinge shaft 207 and the first connecting rod 202, 208, The second connecting rod 203 is fixed.
Further, the one end of the first connecting rod 202 close to the connecting plate 201 is countersunk to form a groove, so as to avoid interference between the hinge structure at the left end of the first connecting rod 202 and the thigh member 3 in the motion process of the link mechanism 2, and the hinge hole at the position of the thigh member 3 close to the second connecting rod 203 is countersunk to form a groove, so as to avoid interference between the hinge structure at the left end of the thigh member 3 and the second connecting rod 203 in the motion process of the link mechanism 2.
Further, the rubber buffer seats 5 each include a rubber bearing seat 501 and a fixing bolt 502, and the rubber bearing seats 501 are fixed on the lower leg member 1 through the fixing bolts 502, respectively.
Further, the driving mechanism 4 comprises an electric push rod 401, a pin 402, a second self-lubricating bearing 403, a split pin 404, and two end seats 405, wherein the two end seats 405 are respectively located at two ends of the electric push rod 401 and are respectively hinged with the thigh member 3 and the rubber cushion seat 5.
Furthermore, a second self-lubricating bearing 403 is arranged at the joint of each of the two end bases 405 with the thigh member 3 and the rubber cushion base 5, a pin 402 is inserted into the second self-lubricating bearing 403, the two end bases 405 are connected with the thigh member 3 and the rubber cushion base 5 through the pin 402 and the second self-lubricating bearing 403, and a cotter pin 404 is axially fixed at one end of the pin 402 penetrating through the second self-lubricating bearing 403.
Furthermore, a connecting line of two hinge holes at the front end of the plate surface of the thigh member 3 has an angle deviation with a vertical central axis of the thigh member 3 so as to ensure that a knee joint curve fitted by the link mechanism 2 coincides with the position of a knee joint curve of a human body, a surface of the end of the shank member 1 in contact with the connecting plate 201 has an angle deviation with a horizontal central axis of the shank member 1 so as to ensure that the shank member 1 coincides with the position of a shank of the human body when the connecting plate 201 moves to various angles, and the shank member 1 is flush with the thigh member 3 in the vertical direction when the knee joint is in a straightened state.
Furthermore, shank component 1 and thigh component 3 comprise the sheet metal construction and lightening hole 6 has all been seted up to both outsides, alleviate the whole weight of structure, alleviate the burden of wearing, improve the flexibility ratio of using, and the both ends that shank component 1 and thigh component 3's outside is located lightening hole 6 all two pairs of extension holes 7 for install bandage or sensor additional.
The implementation scenario is specifically as follows: the connecting rod mechanism 2 and the thigh component 3 in the utility model are connected through the revolute pair composed of two hinge structures, the connecting plate 201 inside the connecting rod mechanism 2 is connected with the first connecting rod 202 and the second connecting rod 203 through the revolute pair composed of the hinge structures, thereby the connecting rod mechanism 2 and the thigh component 3 form a four-bar mechanism, and the instant center of the connecting plate 201 relative to the thigh component 3 during the motion of the four-bar mechanism is the intersection point of the projection of the first connecting rod 202 and the second connecting rod 203 on the motion surface, the connecting plate 201 can only move according to the fixed track when the thigh component 3 is fixed, the rubber buffer seat 5 and the shank component 1 are consolidated together through the bolt, the shank component 1 is consolidated with the connecting plate 201 through the bolt, so the shank component 1, the connecting plate 201, the rubber buffer seat 5 can only move according to the fixed track when the thigh component 3 is fixed, one end of the driving mechanism 4 and the thigh component 3 form a revolute pair, the other end and the rubber buffer seat 5 form a revolute pair, an electric push rod 401 in the revolute pair is a sliding pair, when the thigh member 3 is fixed, the electric push rod 401 stretches and retracts to enable the driving mechanism 4 to drive the rubber buffer seat 5, the shank member 1 and the connecting plate 201 to move together, and the movement track is fixed and is matched with the movement track of the human knee joint;
when the operation is started, a sensor and a bandage are additionally arranged at the external expanding holes 7 of the shank member 1 and the thigh member 3, a control system for realizing the functions of rehabilitation, training or reinforcement and the like of a human body is prepared and is connected with the additionally arranged sensor and an electric push rod 401 in the driving mechanism 4, the shank member 1 is fixed at the shank part of a person through the bandage, and the thigh member 3 is fixed at the thigh part of the person;
after the installation is finished, rehabilitation, training or boosting operation of a human body is started, the control system controls the electric push rod 401 in the driving mechanism 4 to perform telescopic motion according to the requirement by combining sensor information, the thigh component 3 is fixed on the thigh of the human body, the electric push rod 401 can pull the shank component 1 and the connecting rod mechanism 2 to perform bending and stretching motion relative to the thigh of the human body, the bending and stretching motion can be well fitted with the bending and stretching motion of the human body, the impact of the multi-motion-axis knee joint exoskeleton on the human body when the electric push rod 401 is started and stopped can be well relieved by the elasticity of the rubber buffer seat 5, when the work is finished, the bandage of a person on the body is dismounted, and all equipment is put back to the original position.
Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (8)
1. A multi-movement-axis knee joint exoskeleton structure comprises a shank member (1), a link mechanism (2), a thigh member (3), a rubber buffer seat (5) and a driving mechanism (4), wherein the link mechanism (2) is positioned between the shank member (1) and the thigh member (3), the shank member (1) is connected with the thigh member (3) through the link mechanism (2), the bottom end of the driving mechanism (4) is arranged on one side of the thigh member (3) and is connected with the shank member (1) through the rubber buffer seat (5), and the knee joint exoskeleton structure is characterized in that: the connecting rod mechanism (2) comprises a connecting plate (201) fixed at one end of the shank member (1) through a bolt, supports (210) are arranged at the front end and the rear end of the outer side wall of the connecting plate (201) respectively, a first connecting rod (202) and a second connecting rod (203) are arranged outside the two supports (210), the first connecting rod (202) and the second connecting rod (203) are arranged on a moving surface in a crossed mode, and the supports (210) are connected with the first connecting rod (202), the first connecting rod (202) and the thigh member (3) through hinge mechanisms respectively, the supports (210) are connected with the second connecting rod (203), and the second connecting rod (203) is connected with the thigh member (3) through hinge mechanisms;
the four hinge mechanisms have the same structure, one of the hinge mechanisms comprises a first self-lubricating bearing (206) arranged in a support (210), a hinge rotating shaft (207) is inserted in the first self-lubricating bearing (206), the hinge rotating shaft (207) is a stepped shaft, the thicker part of the hinge rotating shaft is matched with the inner ring of the first self-lubricating bearing (206), the thinner part of the hinge rotating shaft is matched with a second connecting rod (203), threaded holes are formed in the end parts of the two ends of the hinge rotating shaft (207), an anti-falling bolt (204) in threaded connection with the hinge rotating shaft (207) is inserted in one side, away from the hinge rotating shaft (207), of the support (210), a large gasket (205) is arranged between the anti-falling bolt (204) and the support (210), one end of the second connecting rod (203) is sleeved with the outer part of the hinge rotating shaft (207), and a fastening bolt (209) in threaded connection with the hinge rotating shaft (207) is arranged at the other end of the second connecting rod (203), and a small gasket (208) is arranged between the fastening bolt (209) and the second connecting rod (203).
2. The multi-kinematic axis knee exoskeleton structure of claim 1, wherein: hinge holes corresponding to the connecting rod mechanisms (2) are formed in the front ends of the plate surfaces of the lower leg member (1) and the thigh member (3), the outer portions of the first connecting rod (202) and the second connecting rod (203) and the outer portions of the two supports (210), the thick end of the hinge rotating shaft (207) is longer than the thicknesses of the hinge holes in the thigh member (3) and the supports (210), and the thin end of the hinge rotating shaft (207) is shorter than the thicknesses of the hinge holes in the first connecting rod (202) and the second connecting rod (203).
3. The multi-kinematic axis knee exoskeleton structure of claim 1, wherein: one end of the first connecting rod (202) close to the connecting plate (201) is reamed flat and provided with a groove, and the hinge hole of the thigh component (3) close to the second connecting rod (203) is reamed flat and provided with a groove.
4. The multi-kinematic axis knee exoskeleton structure of claim 1, wherein: the rubber buffer seats (5) respectively comprise rubber bearing seats (501) and fixing bolts (502), and the rubber bearing seats (501) are respectively fixed on the shank component (1) through the fixing bolts (502).
5. The multi-kinematic axis knee exoskeleton structure of claim 1, wherein: the driving mechanism (4) comprises an electric push rod (401), a pin shaft (402), a second self-lubricating bearing (403), a cotter pin (404) and two end seats (405), wherein the two end seats (405) are respectively positioned at two ends of the electric push rod (401) and are respectively hinged with the thigh member (3) and the rubber buffer seat (5).
6. The multi-kinematic axis knee exoskeleton structure of claim 5, wherein: two end bases (405) are respectively provided with a second self-lubricating bearing (403) at the joint of the thigh member (3) and the rubber buffer base (5), a pin shaft (402) is inserted into the second self-lubricating bearing (403), the two end bases (405) are respectively connected with the thigh member (3) and the rubber buffer base (5) through the pin shaft (402) and the second self-lubricating bearing (403), and a cotter pin (404) is axially fixed at one end of the pin shaft (402) penetrating through the second self-lubricating bearing (403).
7. The multi-kinematic axis knee exoskeleton structure of claim 1, wherein: the connecting line of the two hinge holes at the front end of the plate surface of the thigh member (3) has angular deviation with the vertical central axis of the thigh member (3), and the surface of the end part of the shank member (1) contacted with the connecting plate (201) has angular deviation with the horizontal central axis of the shank member (1).
8. The multi-kinematic axis knee exoskeleton structure of claim 1, wherein: the shank component (1) and the thigh component (3) are composed of sheet metal structures, lightening holes (6) are formed in the outer portions of the shank component (1) and the thigh component (3), and two pairs of expansion holes (7) are formed in the two ends, located at the lightening holes (6), of the outer portions of the shank component (1) and the thigh component (3).
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| CN202023197767.8U CN215132743U (en) | 2020-12-24 | 2020-12-24 | Multi-movement-axis knee joint exoskeleton structure |
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| CN202023197767.8U CN215132743U (en) | 2020-12-24 | 2020-12-24 | Multi-movement-axis knee joint exoskeleton structure |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114872014A (en) * | 2022-04-07 | 2022-08-09 | 中国科学院深圳先进技术研究院 | Voice-controlled joint robot and voice-controlled joint robot system |
| CN115192286A (en) * | 2022-07-19 | 2022-10-18 | 吉林大学 | Bionic knee pad support |
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2020
- 2020-12-24 CN CN202023197767.8U patent/CN215132743U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114872014A (en) * | 2022-04-07 | 2022-08-09 | 中国科学院深圳先进技术研究院 | Voice-controlled joint robot and voice-controlled joint robot system |
| CN114872014B (en) * | 2022-04-07 | 2023-06-20 | 中国科学院深圳先进技术研究院 | Speech control's joint robot and speech control's joint robot system |
| CN115192286A (en) * | 2022-07-19 | 2022-10-18 | 吉林大学 | Bionic knee pad support |
| CN115192286B (en) * | 2022-07-19 | 2024-05-28 | 吉林大学 | Bionic knee pad support |
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