CN215358523U - Bionic ankle joint of exoskeleton robot - Google Patents
Bionic ankle joint of exoskeleton robot Download PDFInfo
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- CN215358523U CN215358523U CN202121366624.7U CN202121366624U CN215358523U CN 215358523 U CN215358523 U CN 215358523U CN 202121366624 U CN202121366624 U CN 202121366624U CN 215358523 U CN215358523 U CN 215358523U
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Abstract
The utility model discloses a bionic ankle joint of an exoskeleton robot, which comprises: the ankle joint structural part is arranged between the crus structural part and the foot supporting part, is of a spherical hinge structure and comprises a spherical support and a spherical connecting rod, the spherical support is connected with the foot supporting part, and the spherical connecting rod is connected with the crus structural part; the first driving piece is connected with the ball support and drives the ball support to rotate around the axial direction of the ball connecting rod; and the second driving piece is connected with the ball support and drives the ball support to swing up and down relative to a horizontal plane. This bionical ankle joint adopts the human ankle joint of ball hinge structure simulation, can effectively restore human ankle joint's actual motion state, can conveniently realize the bionical simulation to ankle joint multi freedom state, can realize the simultaneous action on a plurality of degrees of freedom, makes the ankle joint can realize more complicated motion, really realizes the bionical simulation to human ankle joint action.
Description
Technical Field
The utility model relates to the technical field of robot bionics, in particular to a bionic ankle joint of an exoskeleton robot.
Background
At present, research on exoskeleton power assisting devices is gradually developed, and the exoskeleton power assisting devices have wide application prospects, such as the fields of old and disabled assisting, medical rehabilitation, industrial production, earthquake rescue, individual combat and the like. A typical power-assisted exoskeleton has the following characteristics: joint freedom and joint rotation space similar to the human body can be detected according to the motion intention of the human body; have the necessary joint active drive to assist in the output; the system is provided with a control system and an energy system; has a certain safety protection mechanism.
Due to the complexity of actions during human body movement, the power assisting exoskeleton needs to realize multi-degree-of-freedom actions at each joint part during human body movement simulation, so that the structure of the exoskeleton power assisting device is complex, interference is easy to occur among all action parts, and the normal operation of the device is influenced. In the design of the exoskeleton robot, the final performance of the exoskeleton robot is directly influenced by the bionic structure design of hip joints, knee joints and ankle joints. In the bionic design of the ankle joint, due to the influence of the design space on the position of the ankle joint, the difficulty of the bionic design of the ankle joint on a plurality of free ends is high, and the bionic simulation of the motion of the ankle joint of a human body is difficult to truly realize.
SUMMERY OF THE UTILITY MODEL
Aiming at the technical problems in the prior art, the utility model provides the bionic ankle joint of the exoskeleton robot, which can well realize the bionic simulation of the motion of the human ankle joint.
In order to solve the technical problems, the technical scheme adopted by the utility model is as follows:
the bionic ankle joint of the exoskeleton robot comprises:
the ankle joint structural part is arranged between the crus structural part and the foot supporting part, is of a spherical hinge structure and comprises a spherical support and a spherical connecting rod, the spherical support is connected with the foot supporting part, and the spherical connecting rod is connected with the crus structural part;
the first driving piece is connected with the ball support and drives the ball support to rotate around the axial direction of the ball connecting rod;
and the second driving piece is connected with the ball support and drives the ball support to swing up and down relative to a horizontal plane.
In the above technical solution, further, the first driving member includes a first motor, a first rotating member and a transmission assembly;
the first motor and the first rotating piece are arranged on the lower leg structural piece, the first rotating piece and the lower leg structural piece are in rotating connection through a first rotating shaft, and the first motor is connected with the first rotating shaft and drives the first rotating shaft to rotate;
one end of the transmission assembly is connected with the first rotating piece, the other end of the transmission assembly is connected with the ball support, and the rotating piece drives the ball support to rotate around the axial direction of the ball connecting rod through the transmission assembly when swinging up and down along a horizontal plane.
In the above technical solution, further, the transmission assembly includes a first sliding assembly, a second sliding assembly, a first connecting rod, a second connecting rod and a third connecting rod assembly which are arranged on the lower leg structural member;
the first sliding assembly comprises a first sliding rail arranged on the calf structural part along the horizontal direction and a first sliding block in sliding fit with the first sliding rail;
the second sliding assembly comprises a second sliding rod and a second sliding piece which are connected to the first sliding block, a first strip-shaped sliding groove is formed in the second sliding piece, and the second sliding rod is arranged in the first strip-shaped sliding groove in a matched mode;
the first connecting rod is of a bent rod structure, one end of the first connecting rod is connected with the first rotating piece, the other end of the first connecting rod is connected with the first sliding block in a sliding fit manner, and the first rotating piece drives the first sliding block to horizontally slide on the first sliding rail when rotating up and down;
the second connecting rod is of a bent rod structure, one end of the second connecting rod is fixedly connected with the second sliding piece, the other end of the second connecting rod is movably connected with the third connecting rod assembly, and the other end of the third connecting rod assembly is movably connected with the ball support.
In the above technical scheme, further, a limiting block is arranged below the second sliding part on the shank structural part, a second strip-shaped sliding groove is arranged on the limiting block along the movement direction of the first sliding block, and the second connecting rod is arranged in the second strip-shaped sliding groove and connected with the second strip-shaped sliding groove in a sliding fit manner.
In the above technical scheme, further, a plug connector is arranged between the third connecting rod assembly and the second connecting rod, a plug hole is formed in the plug connector, and one end of the second connecting rod is inserted into the plug hole and is connected with the plug connector in a matched manner.
In the above technical solution, further, the other end of the third connecting rod assembly is hinged to the ball support.
In the above technical solution, further, the third link assembly includes two third links, and the third links are connected by a universal joint.
In the above technical solution, further, the second driving element includes a second motor, a second rotating element, a hinge element and a connecting element;
the second motor and the second rotating part are arranged on the lower leg structural part, the second rotating part is rotatably connected with the lower leg structural part through a second rotating shaft, and the second motor is connected with the second rotating shaft and drives the second rotating shaft to rotate;
the articulated elements both ends rotate the piece and the hinged joint between the connecting piece with the second respectively, swing joint between connecting piece and the ball support, when second motor drive second pivot rotates, the drive the connecting piece drives the relative horizontal plane of ball support and rotates from top to bottom.
In the technical scheme, further, the connecting piece is connected with the ball support in a sliding fit mode, so that the connecting piece and the ball support can move relatively along the circumferential direction of the ball support.
In the above technical scheme, further, an arc-shaped sliding groove is formed in the ball support along the horizontal circumferential direction of the ball support, a second sliding block is arranged on the connecting piece, and the second sliding block is arranged in the arc-shaped sliding groove in a matched mode.
The bionic ankle joint provided by the utility model adopts a ball hinge structure to simulate the ankle joint of a human body, can effectively restore the actual motion state of the ankle joint of the human body, and can conveniently realize the bionic simulation of the multi-degree-of-freedom state of the ankle joint.
This bionical ankle joint adopts the motion of two sets of independent operation's driving piece drive ankle joint under different degrees of freedom, makes the motion under the different degrees of freedom can not produce interference each other, and can realize the simultaneous movement on a plurality of degrees of freedom to make the ankle joint can realize more complicated motion, really realize the bionical simulation to human ankle joint action.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a schematic structural diagram in another direction according to an embodiment of the present invention.
Fig. 3 is a schematic side-view and rear-view structural diagram according to an embodiment of the utility model.
FIG. 4 is a schematic exploded view of the second driving member and the ankle joint structural member according to an embodiment of the present invention.
In the figure: 101. a lower leg structure member 102, a foot support member 103, a first rotating shaft 104 and a second rotating shaft;
200. an ankle joint structural part 201, a ball support 211, an arc chute 202 and a ball connecting rod;
301. a first motor 302, a first rotating member 303, a first sliding rail 304, a first sliding block 305, a second sliding bar 306, a second sliding member 361, a first bar-shaped sliding groove 307, a first connecting rod 308, a second connecting rod 309, a third connecting rod assembly 391, a third connecting rod 310, a limiting block 3101, a second bar-shaped sliding groove 311 and a plug connector;
401. a second motor 402, a second rotating member 403, a hinge member 404, a connecting member 441, and a second slider.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
Referring to fig. 1 to 4, the exoskeleton robot bionic ankle joint in the embodiment comprises:
the ankle joint structural part 200 is arranged between the calf structural part 101 and the foot supporting part 102, the ankle joint structural part 200 is of a ball hinge structure and comprises a ball support 201 and a ball connecting rod 202, the ball support 201 is connected with the foot supporting part 102, and the ball connecting rod 202 is connected with the calf structural part 101; the shank structural part 101 is connected with the leg supporting part 102 through a ball hinge structure, and the ball connecting rod can rotate freely in the ball support, so that the shank structural part and the foot supporting part can rotate freely, and further bionic simulation of motion of the ankle joint of a human body can be realized.
The first driving piece is connected with the ball support and drives the ball support to rotate around the axial direction of the ball connecting rod; and the second driving piece is connected with the ball support and drives the ball support to swing up and down relative to a horizontal plane.
The first driving member in this embodiment includes a first motor 301, a first rotating member 302, and a transmission assembly; the first motor 301 and the first rotating member 302 are disposed on the upper portion of the lower leg structure member 101, the first rotating member 302 is rotatably connected with the lower leg structure member 101 through the first rotating shaft 103, the first motor 301 is connected with the first rotating shaft 103 to drive the first rotating shaft 103 to rotate, and the first rotating shaft 103 drives the first rotating member 302 to rotate when rotating.
One end of the transmission assembly is connected with the first rotating piece 302, the other end of the transmission assembly is connected with the ball support 201, when the first rotating piece 302 swings up and down along a horizontal plane under the driving of the first motor, the ball support can be driven to rotate around the axial direction of the ball connecting rod through the transmission assembly, so that the action of one degree of freedom of the ball support is realized, at the moment, the ball support drives the foot support to move, and the relative motion of one degree of freedom between the foot support and the calf structural member is realized.
As an implementable solution, the transmission assembly comprises a first sliding assembly, a second sliding assembly, a first link 307, a second link 308 and a third link assembly 309 arranged on the lower leg structure. The first sliding assembly includes a first sliding rail 303 disposed on the lower leg structure 101 along a horizontal direction and a first sliding block 304 slidably engaged with the first sliding rail, wherein the first sliding block 304 can move along the first sliding rail 303 along the horizontal direction. The second sliding assembly comprises a second slide bar 305 and a second slide 306 which are connected to the first slide block 304, a first strip-shaped sliding groove 361 which is arranged along the vertical direction is arranged on the second slide 306, and the second slide bar 305 is arranged in the first strip-shaped sliding groove 361 in a matching way; when the first sliding block moves in the horizontal direction, the second sliding rod is driven to move in the horizontal direction, and at the moment, the second sliding rod drives the second sliding piece to move in the horizontal direction.
As shown in fig. 3, the first connecting rod 307 is a bent rod structure similar to an L shape, one end of the first connecting rod 307 is connected to the first rotating member 302, and the other end of the first connecting rod 307 is connected to the first sliding block 304 in a sliding fit manner, so that the first sliding block can be driven to horizontally slide on the first sliding rail through the transmission function of the first connecting rod when the first rotating member rotates up and down. The second link 308 is an L-shaped bent rod structure, one end of the second link 308 is fixedly connected with the second sliding member 306, the other end of the second link 308 is movably connected with the third link assembly 309, and the other end of the third link assembly 309 is movably connected with the ball support 201. Further, a limiting block 310 is arranged on the lower leg structure member 101 below the second sliding member, a second strip-shaped sliding groove 3101 is arranged on the limiting block 310 along the movement direction of the first sliding block, and the second connecting rod 308 is arranged in the second strip-shaped sliding groove 3101 and is connected with the second strip-shaped sliding groove 3101 in a sliding fit manner. As shown in fig. 2 and 3, when the second sliding member moves horizontally along the second strip-shaped sliding groove under the driving of the second sliding rod, the connection end of the second connecting rod and the third connecting rod assembly is vertically arranged with the third connecting rod assembly, the third connecting rod assembly is located at the outer side of the ball support, and the ball support rotates along the axis of the ball connecting rod under the action of the second connecting rod and the third connecting rod assembly.
As a preferred embodiment, a plug connector 311 is arranged between the third connecting rod assembly 309 and the second connecting rod 308, the plug connector 311 is arranged at one end of the third connecting rod assembly 309, a plug hole is arranged on the plug connector 311, one end of the second connecting rod 308 is inserted into the plug hole and is connected with the plug connector 311 in a matching manner, so that the movable connection between the second connecting rod and the third connecting rod assembly is realized, and at the moment, the sliding and rotating movement between the second connecting rod and the plug connector can be realized.
In a preferred embodiment, the other end of the third connecting rod assembly 309 is hinged to the ball support 201.
As a preferred embodiment, the third connecting rod assembly 309 comprises two third connecting rods 391, said third connecting rods 391 being connected by a universal joint.
By adopting the connection mode, the connection between the second connecting rod and the ball support and the connection between the third connecting rod and the ball support can be facilitated, meanwhile, the interference between the second connecting rod and the ball support in the transmission process can be effectively avoided, and the stability and the reliability of the action of the first driving piece are ensured.
As shown in fig. 1 and 4, the second driving member in this embodiment includes a second motor 401, a second rotating member 402, a hinge 403, and a connecting member 404; the second motor 401 and the second rotating member 402 are arranged on the lower leg structural member 101, the second rotating member 402 is rotatably connected with the lower leg structural member 101 through the second rotating shaft 104, the second motor 401 is connected with the second rotating shaft 104 to drive the second rotating shaft 104 to rotate, and the second rotating shaft 104 drives the second rotating member 402 to rotate when rotating; the two ends of the hinge 403 are respectively hinged with the second rotating part 402 and the connecting part 403, and a link mechanism is formed among the second rotating part, the hinge and the connecting part; the connecting piece 404 is movably connected with the ball support 201, and when the second motor 401 drives the second rotating shaft to rotate, the connecting piece is driven to drive the ball support to rotate up and down relative to a horizontal plane. The second driving piece drives the ball support to do up-and-down swinging motion in the plane where the second rotating piece is located, so that the motion of the ball support with the other degree of freedom is realized, at the moment, the ball support drives the foot supporting piece to move, and the relative motion of the foot supporting piece and the crus structural piece with the other degree of freedom is realized.
In order to avoid interference between the rotation motion of the ball support in the horizontal direction and the rotation motion of the ball support in the vertical direction, a sliding fit connection structure is adopted between the connecting piece and the ball support, so that the connecting piece and the ball support can relatively move along the circumferential direction of the ball support. At the moment, when the first driving piece drives the ball support to rotate along the axis of the ball connecting rod, the ball support and the connecting piece cannot interfere with each other, and when the second driving piece acts, the connecting piece can drive the ball support.
As a possible implementation manner of the above structure, an arc-shaped sliding groove 211 is arranged on the ball support 201 along the horizontal circumferential direction thereof, and a second sliding block 441 is arranged on the connecting member 404, wherein the second sliding block 441 is arranged in the arc-shaped sliding groove 211 in a matching manner, so that the connecting member and the ball support perform relative sliding movement along the circumferential direction of the ball support.
The bionic ankle joint in the embodiment adopts two sets of driving pieces which independently run to drive the ankle joint to move under different degrees of freedom, so that the movement under different degrees of freedom can not generate mutual interference, and the simultaneous movement on multiple degrees of freedom can be realized, thereby enabling the ankle joint to realize more complex movement and really realizing the bionic simulation of the movement of the human ankle joint.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like used herein refer to the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which the products of the present invention are usually placed in when used, and are used only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
Furthermore, the terms "horizontal", "vertical" and the like when used in the description of the present invention do not require that the components be absolutely horizontal or overhanging, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The bionic ankle joint of the exoskeleton robot is characterized by comprising:
the ankle joint structural part is arranged between the crus structural part and the foot supporting part, is of a spherical hinge structure and comprises a spherical support and a spherical connecting rod, the spherical support is connected with the foot supporting part, and the spherical connecting rod is connected with the crus structural part;
the first driving piece is connected with the ball support and drives the ball support to rotate around the axial direction of the ball connecting rod;
and the second driving piece is connected with the ball support and drives the ball support to swing up and down relative to a horizontal plane.
2. The biomimetic ankle joint in an exoskeleton robot as recited in claim 1, wherein the first drive member comprises a first motor, a first rotating member and a transmission assembly;
the first motor and the first rotating piece are arranged on the lower leg structural piece, the first rotating piece and the lower leg structural piece are in rotating connection through a first rotating shaft, and the first motor is connected with the first rotating shaft and drives the first rotating shaft to rotate;
one end of the transmission assembly is connected with the first rotating piece, the other end of the transmission assembly is connected with the ball support, and the rotating piece drives the ball support to rotate around the axial direction of the ball connecting rod through the transmission assembly when swinging up and down along a horizontal plane.
3. The biomimetic exoskeleton robot ankle of claim 2, wherein the transmission assembly comprises a first slide assembly, a second slide assembly, a first link, a second link, and a third link assembly disposed on the lower leg structure;
the first sliding assembly comprises a first sliding rail arranged on the calf structural part along the horizontal direction and a first sliding block in sliding fit with the first sliding rail;
the second sliding assembly comprises a second sliding rod and a second sliding piece which are connected to the first sliding block, a first strip-shaped sliding groove is formed in the second sliding piece, and the second sliding rod is arranged in the first strip-shaped sliding groove in a matched mode;
the first connecting rod is of a bent rod structure, one end of the first connecting rod is connected with the first rotating piece, the other end of the first connecting rod is connected with the first sliding block in a sliding fit manner, and the first rotating piece drives the first sliding block to horizontally slide on the first sliding rail when rotating up and down;
the second connecting rod is of a bent rod structure, one end of the second connecting rod is fixedly connected with the second sliding piece, the other end of the second connecting rod is movably connected with the third connecting rod assembly, and the other end of the third connecting rod assembly is movably connected with the ball support.
4. The bionic ankle joint of the exoskeleton robot as claimed in claim 3, wherein a limiting block is arranged on the shank structural member below the second sliding member, a second strip-shaped sliding groove is arranged on the limiting block along the movement direction of the first sliding block, and the second connecting rod is arranged in the second strip-shaped sliding groove and is in sliding fit connection with the second strip-shaped sliding groove.
5. The bionic ankle joint of the exoskeleton robot as claimed in claim 3, wherein a plug connector is arranged between the third connecting rod assembly and the second connecting rod, a plug hole is formed in the plug connector, and one end of the second connecting rod is inserted into the plug hole and is connected with the plug connector in a matched manner.
6. The biomimetic ankle joint in an exoskeleton robot as claimed in claim 3, wherein the other end of the third linkage assembly is hinged to the ball support.
7. The biomimetic ankle joint in an exoskeleton robot as claimed in claim 3, wherein the third linkage assembly comprises two third links connected by a universal joint.
8. The biomimetic ankle in exoskeleton robot of claim 1, wherein the second drive comprises a second motor, a second rotating member, a hinge member, and a link member;
the second motor and the second rotating part are arranged on the lower leg structural part, the second rotating part is rotatably connected with the lower leg structural part through a second rotating shaft, and the second motor is connected with the second rotating shaft and drives the second rotating shaft to rotate;
the articulated elements both ends rotate the piece and the hinged joint between the connecting piece with the second respectively, swing joint between connecting piece and the ball support, when second motor drive second pivot rotates, the drive the connecting piece drives the relative horizontal plane of ball support and rotates from top to bottom.
9. The biomimetic ankle of an exoskeleton robot as claimed in claim 8, wherein the connecting member is connected with the ball support in a sliding fit manner, so that the connecting member and the ball support can move relative to each other along the circumferential direction of the ball support.
10. The biomimetic ankle joint of an exoskeleton robot as claimed in claim 9, wherein an arc-shaped sliding groove is formed in the ball support along the horizontal circumferential direction of the ball support, and the second sliding block is arranged on the connecting member and is fittingly arranged in the arc-shaped sliding groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121366624.7U CN215358523U (en) | 2021-06-18 | 2021-06-18 | Bionic ankle joint of exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121366624.7U CN215358523U (en) | 2021-06-18 | 2021-06-18 | Bionic ankle joint of exoskeleton robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215358523U true CN215358523U (en) | 2021-12-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121366624.7U Active CN215358523U (en) | 2021-06-18 | 2021-06-18 | Bionic ankle joint of exoskeleton robot |
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| Country | Link |
|---|---|
| CN (1) | CN215358523U (en) |
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2021
- 2021-06-18 CN CN202121366624.7U patent/CN215358523U/en active Active
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