CN216505101U - Three-degree-of-freedom crotch assembly of wearable exoskeleton - Google Patents
Three-degree-of-freedom crotch assembly of wearable exoskeleton Download PDFInfo
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- CN216505101U CN216505101U CN202122551940.8U CN202122551940U CN216505101U CN 216505101 U CN216505101 U CN 216505101U CN 202122551940 U CN202122551940 U CN 202122551940U CN 216505101 U CN216505101 U CN 216505101U
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Abstract
The application provides three degree of freedom crotch subassemblies of wearing formula ectoskeleton includes: the back connecting rod is horizontally arranged; two hip joint mechanisms, set up respectively at the both ends of back connecting rod, hip joint mechanism includes: adduction/abduction links, diamond-shaped transmission members, flexion/extension inside links, flexion/extension outside links. The hip joint coincides with the three rotation centers of the hip joint of the human body, so that the hip joint accords with the law of human kinematics, has better user experience, and compared with the prior art, the bionic degree of freedom of internal rotation/external rotation of the hip joint is met by only using one rhombic transmission piece, the structure is simplified, and the weight of the exoskeleton is reduced.
Description
Technical Field
The present application relates to the field of lower extremity instrumentation, and more particularly to a three degree-of-freedom crotch assembly for a wearable exoskeleton.
Background
The wearable lower limb exoskeleton can provide functions such as power assistance, protection, body support and the like for the lower limbs of people, and is a man-machine integrated system which can complete functions such as power assistance walking and the like under the unconscious control of an operator. The existing wearable lower limb exoskeleton still faces a plurality of problems, particularly the problem that the degree of freedom of the exoskeleton joints is poor in matching degree with the degree of freedom of human body joints, namely the exoskeleton joints do not have complete bionic degree of freedom, and the difficulty of matching degree of freedom of the joints is that the hip joints: the human hip joint can be similar to a ball joint and has three rotational degrees of freedom of flexion/extension, internal rotation/external rotation and external extension/internal contraction, the three rotational axes of the three rotational degrees of freedom all pass through the spherical center of the ball joint and are perpendicular to each other, and the motion function in the direction is lost if any one degree of freedom is lacked. In order to meet the action requirement of the human body, the exoskeleton hip joint is usually designed into three degrees of freedom, so that the loss of motion capability in the direction due to the lack of joint freedom is avoided.
Under the condition of satisfying three degrees of freedom of the hip joint, the prior art mostly adopts a structure that two degrees of freedom of the hip joint, namely flexion/extension, adduction/abduction, coincide with the motion axis of the hip joint of the human body, and the degree of freedom of internal rotation/external rotation deviates from the motion axis of the hip joint of the human body. Although the structure meets the requirement of the hip joint on the number of degrees of freedom, the structure is relatively simple, the internal rotation/external rotation degree of freedom deviates from the internal rotation/external rotation center of the hip joint of a human body, the rotation angle is small when the hip joint is turned during walking, large-angle turning is not facilitated, otherwise, the robot and the lower limbs of the human body can cause dragging and interference, the user experience is poor due to light people, and the limb joint of the person is damaged due to heavy people.
In order to avoid the problem that the internal rotation/external rotation axes of the exoskeleton and the hip joint of the human body are not coincident, researchers connect the lower limb module and the back structure module through a two-link, so that the internal rotation/external rotation freedom rotation axis of the exoskeleton and the human body freedom rotation axis are coincident, and the external rotation/internal rotation freedom rotation axis of the hip joint of the exoskeleton can be adaptively adjusted along with different central positions of the hip joint of the human body, and users with different body types can be met. Although the structure meets the requirement of the number of degrees of freedom of the hip joint, the rotation center of the internal rotation/external rotation can be coincided with the human body, and when the external rotation is carried out, the connecting rod is close to the back and the center of the human body, so that the interference to the lower limbs is avoided; however, when the internal rotation is performed, the connecting rod approaches to the front and the center of the human body, so that the motion interference is generated on the lower limbs of the human body, and the internal rotation of the lower limbs is blocked.
The patent document of application No. 202110442682.1 provides a bionic three-axis intersection type exoskeleton robot hip joint, which uses a double-parallelogram structure to realize internal rotation/external rotation movement of the hip joint, and essentially strengthens a double-connecting-rod structure, and two connecting rods are additionally arranged at the periphery of the two connecting rods to form the double-parallelogram structure, so that the double-parallelogram structure has better rigidity and stability. The internal rotation/external rotation movement of the hip joint is realized by using a double-parallelogram structure, the movement rule of the internal rotation/external rotation movement is the same as that of a two-link mechanism, the external rotation movement of the hip joint can be ensured, but the internal rotation movement is blocked.
Therefore, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
SUMMERY OF THE UTILITY MODEL
It is an object of the present application to provide a three degree of freedom crotch assembly for a wearable exoskeleton that solves or alleviates the above-mentioned problems of the prior art.
In order to achieve the above purpose, the present application provides the following technical solutions: a three degree-of-freedom crotch assembly for a wearable exoskeleton, comprising:
the back connecting rod is close to the waist or the back of a wearer and is horizontally arranged;
two hip joint mechanisms respectively arranged at two ends of the back connecting rod, the hip joint mechanisms comprise: adduction/abduction connecting rods, rhombic driving parts, flexion/extension inner connecting rods and flexion/extension outer connecting rods;
one end of the adduction/abduction connecting rod is rotatably connected with the end part of one end of the back connecting rod, the rotating axis is superposed with the adduction/abduction axis of the hip joint of the wearer, and the other end of the adduction/abduction connecting rod is provided with a hinge hole;
the rhombic transmission part comprises four transmission rods and four hinged shafts, the four transmission rods are hinged through the four hinged shafts respectively to realize end-to-end connection, the hinged shafts are perpendicular to the stretching/buckling axes of hip joints of a wearer, the four hinged shafts are divided into two pairs, two positions of each pair of hinged shafts are opposite, and one hinged shaft of each pair of hinged shafts is inserted into the hinged hole and is in rotating fit with the hinged hole;
the buckling/extending inner connecting rod is hinged with the rhombic transmission piece through the other one of the pair of hinged shafts, the buckling/extending outer connecting rod is fixed on the thigh of a wearer, the buckling/extending inner connecting rod is in rotating fit with the buckling/extending outer connecting rod, and the rotating axis is superposed with the extending/buckling axis of the hip joint of the wearer.
Further, the adduction/abduction linkage is L-shaped.
Further, two opposite transmission rods are positioned in the same plane.
Further, the adduction/abduction connecting rod is formed by assembling at least two parts.
Furthermore, the middle parts of the adduction/abduction connecting rod and the transmission rod are provided with weight reducing holes or grooves.
Compared with the closest prior art, the technical scheme of the embodiment of the application has the following beneficial effects:
1) the utility model provides a three-degree-of-freedom crotch component of a wearable exoskeleton, the flexion/extension and abduction/adduction motions of which are respectively realized by two rotary pairs, the internal rotation/external rotation motion of which is realized by a diamond-shaped transmission part, four transmission rods of the diamond-shaped transmission part are connected end to end by four articulated shafts, two ends of the diamond-shaped transmission part are respectively connected with an adduction/abduction connecting rod and a flexion/extension inner connecting rod by the articulated shafts to form a bionic three-degree-of-freedom hip joint, the motion in three directions of hip joint flexion/extension, internal rotation/external rotation and abduction/adduction can be realized, and the hip joint is superposed with three rotation centers of the hip joint of a human body, accords with the law of kinematics of the human body, has better user experience feeling, and compared with the prior art, the bionic freedom degree of the internal rotation/external rotation of the hip joint is satisfied by only one diamond-shaped transmission part, the structure is simplified, and the weight of the exoskeleton is reduced.
2) The three-degree-of-freedom hip assembly of the wearable exoskeleton has the advantages that the rhombic transmission piece is tightly attached to the center of the outer side of a hip joint of a wearer, the rhombic transmission piece is simple and reliable in structure, small in size and light in weight, the size of a hip joint mechanism is reduced, the width of the hip joint mechanism is greatly reduced, the interference between an arm and the hip joint mechanism is avoided when the wearer walks through a swing arm, the rhombic transmission piece and a special mounting position are used, the wearable exoskeleton has the functions of internal rotation and external rotation at the same time, and the problem that a two-link mechanism and a double-parallelogram mechanism in the prior art can only rotate outwards but cannot rotate inwards is solved.
3) The three-degree-of-freedom crotch component of the wearable exoskeleton is short in side length of the rhombic transmission part, has a short lower limb gravity force arm, is small in internal rotation and external rotation additional moment caused by the gravity of the lower limbs when the upper body inclines, is beneficial to improving the stability during walking, and does not interfere with thighs of a wearer during internal rotation.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. Wherein:
fig. 1 is a top view of a three degree-of-freedom crotch assembly of the wearable exoskeleton of the present application;
FIG. 2 is a front view of FIG. 1;
FIG. 3 is a front view of FIG. 1 with the hip joint of the right leg of the wearer in abduction;
FIG. 4 is a front view of FIG. 1 with the hip joint of the right leg of the wearer in place;
FIG. 5 is a top plan view of the hip pronation of the right leg of the wearer of FIG. 1;
FIG. 6 is a top plan view of the hip supination of the right leg of the wearer of FIG. 1;
FIG. 7 is a right side view of the wearer's right leg of FIG. 1 with the hip joint flexed;
FIG. 8 is a right side view of the wearer's right leg of FIG. 1 with the hip joint extended;
fig. 9 is a three-dimensional schematic view of a portion of the structure of fig. 1.
Description of reference numerals:
1. a back connecting rod; 2. adduction/abduction linkage; 21. a first portion; 22. a second portion; 3. an outboard rear drive link; 4. an outside front drive lever; 5. an inner front drive rod; 6. an inboard rear drive link; 7. flexion/extension medial links; 8. flexion/extension of the lateral links; 9. adduction/abduction axes; 10. a second hinge shaft; 11. internal/external rotation axis; 12. a first hinge shaft; 13. a third hinge shaft; 14. a fourth hinge shaft; 15. a left leg; 16. and (4) a right leg.
Detailed Description
The present application will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the application and are not limiting of the application. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present application without departing from the scope or spirit of the application. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present application cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
In the description of the present application, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present application but do not require that the present application must be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the connection may be a wired electrical connection, a wireless electrical connection, or a wireless communication signal connection, and a person skilled in the art can understand the specific meaning of the above terms according to specific situations.
The three degree-of-freedom crotch assembly of the worn exoskeleton is illustrated in fig. 1-9 in conjunction with left and right legs 15 and 16 of the person wearing the figure. The three degree-of-freedom crotch assembly of the wearable exoskeleton comprises: the back connecting rod 1 is close to the waist or the back of a wearer and is horizontally arranged.
Two hip joint mechanisms are respectively arranged at two ends of the back connecting rod 1, and each hip joint mechanism comprises: adduction/abduction connecting rods 2, rhombic driving parts, a flexion/extension inner connecting rod 7 and a flexion/extension outer connecting rod 8; one end of the adduction/abduction connecting rod 2 is rotatably connected with the end part of one end of the back connecting rod 1, the adduction/abduction axis 9 is the rotating axis of the back connecting rod 1 and the adduction/abduction connecting rod, the rotating axis is coincided with the adduction/abduction axis of the hip joint of the wearer, and the other end of the adduction/abduction connecting rod 2 is provided with a hinge hole. The adduction/abduction link 2 is L-shaped and is formed by assembling a first portion 21 and a second portion 22. In other embodiments, the adduction/abduction link may have other shapes, and the adduction/abduction link may be formed by splicing more than three parts as long as the hinge position of the adduction/abduction link and the back link and the position of the hinge hole can satisfy the requirement.
The rhombus-shaped transmission part comprises four transmission rods and four hinged shafts, the four transmission rods of the rhombus-shaped transmission part are respectively an outer side front transmission rod 4, an outer side rear transmission rod 3, an inner side front transmission rod 5 and an inner side rear transmission rod 6, the four transmission rods are hinged end to end through the four hinged shafts respectively, the hinged shafts are perpendicular to the stretching/buckling axes of hip joints of a wearer, and the two opposite transmission rods are positioned in the same plane: the outer side front transmission rod 4 and the inner side rear transmission rod 6 are positioned on the same plane, the inner side front transmission rod 5 and the outer side rear transmission rod 3 are positioned on the same plane, and the two planes are parallel to each other. Four articulated shafts divide into two pairs, and two positions in every pair of articulated shafts are relative, and four articulated shafts are first articulated shaft 12, second articulated shaft 10, third articulated shaft 13 and fourth articulated shaft 14 respectively, and one of a pair of articulated shaft (first articulated shaft 12) is pegged graft and normal running fit with the hinge hole. The main function of the rhombic transmission piece is to enable the hip joint mechanism to be matched with the internal rotation/external rotation movement of the hip joint of a wearer, and the internal rotation/external rotation movement of the hip joint mechanism rotates around an internal rotation/external rotation axis 11. The middle parts of the adduction/abduction connecting rod 2 and the transmission rod are provided with weight reducing holes or grooves.
The flexion/extension inner connecting rod 7 is hinged with the rhombic driving medium through the other one of the pair of hinged shafts (the second hinged shaft 10), the flexion/extension outer connecting rod 8 is fixed on the thigh of the wearer, the flexion/extension inner connecting rod 7 is in rotary fit with the flexion/extension outer connecting rod 8, the rotary axis is a flexion/extension axis which is overlapped with the extension/flexion axis of the hip joint of the wearer, and the flexion/extension outer connecting rod 8 and the flexion/extension inner connecting rod 7 form a flexion/extension mechanism.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (5)
1. A three degree-of-freedom crotch assembly for a wearable exoskeleton, comprising:
the back connecting rod is close to the waist or the back of a wearer and is horizontally arranged;
two hip joint mechanisms respectively arranged at two ends of the back connecting rod, the hip joint mechanisms comprise: adduction/abduction connecting rods, rhombic driving parts, flexion/extension inner connecting rods and flexion/extension outer connecting rods;
one end of the adduction/abduction connecting rod is rotatably connected with the end part of one end of the back connecting rod, the rotating axis is superposed with the adduction/abduction axis of the hip joint of the wearer, and the other end of the adduction/abduction connecting rod is provided with a hinge hole;
the rhombic driving part comprises four driving rods and four hinged shafts, the four driving rods are hinged through the four hinged shafts respectively to realize end-to-end connection, the hinged shafts are perpendicular to the stretching/buckling axis of a hip joint of a wearer, the four hinged shafts are divided into two pairs, two positions of each pair of hinged shafts are opposite, and one of the pair of hinged shafts is inserted into the hinged hole and is in rotating fit with the hinged hole;
the buckling/extending inner connecting rod is hinged with the rhombic transmission piece through the other one of the pair of hinged shafts, the buckling/extending outer connecting rod is fixed on the thigh of a wearer, the buckling/extending inner connecting rod is in rotating fit with the buckling/extending outer connecting rod, and the rotating axis is superposed with the extending/buckling axis of the hip joint of the wearer.
2. The three degree-of-freedom crotch assembly of a wearable exoskeleton of claim 1, wherein said adduction/abduction link is L-shaped.
3. The three degree-of-freedom crotch assembly of a wearable exoskeleton of claim 2, wherein the two opposing transmission bars lie in the same plane.
4. The three degree-of-freedom crotch assembly of a wearable exoskeleton of claim 1, wherein said adduction/abduction link is formed from at least two sections assembled together.
5. The three degree-of-freedom crotch assembly of a wearable exoskeleton of claim 1, wherein weight-reducing holes or slots are provided in the middles of the adduction/abduction links and the transmission rods.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122551940.8U CN216505101U (en) | 2021-10-22 | 2021-10-22 | Three-degree-of-freedom crotch assembly of wearable exoskeleton |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122551940.8U CN216505101U (en) | 2021-10-22 | 2021-10-22 | Three-degree-of-freedom crotch assembly of wearable exoskeleton |
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| CN216505101U true CN216505101U (en) | 2022-05-13 |
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