CN216505104U - Two-degree-of-freedom ankle joint assembly of wearable exoskeleton - Google Patents
Two-degree-of-freedom ankle joint assembly of wearable exoskeleton Download PDFInfo
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- CN216505104U CN216505104U CN202122745419.8U CN202122745419U CN216505104U CN 216505104 U CN216505104 U CN 216505104U CN 202122745419 U CN202122745419 U CN 202122745419U CN 216505104 U CN216505104 U CN 216505104U
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Abstract
The application provides a two degree of freedom ankle joint subassembly of wearing formula ectoskeleton includes: the two-degree-of-freedom connecting piece is provided with two end parts in the length direction of the two-degree-of-freedom connecting piece, wherein the two end parts are a first end part and a second end part respectively; one end of the flexion and extension rotating shaft is connected to the first end part, the other end of the flexion and extension rotating shaft is connected with the lower end of the shank of the wearable exoskeleton, and the axis of the flexion and extension rotating shaft is superposed with the flexion and extension freedom degree of the ankle joint of a wearer; the shoe connecting piece is used for being fixedly connected with a shoe of a wearer; one end of the folding and unfolding rotating shaft is connected to the second end part, the other end of the folding and unfolding rotating shaft is connected with the shoe connecting piece, an included angle between the axis of the folding and unfolding rotating shaft and the axis of the bending and stretching rotating shaft is 90 degrees, and the axis of the folding and unfolding rotating shaft coincides with the folding and unfolding freedom degree of the ankle joint of the wearer. The double-freedom-degree ankle joint component has double degrees of freedom, so that the bionic property of the double-freedom-degree ankle joint component is improved, the wearing comfort level of the ankle joint component is enhanced, and the double-freedom-degree ankle joint component has important practical significance.
Description
Technical Field
The application relates to the technical field of instruments for lower limbs, in particular to a two-degree-of-freedom ankle joint assembly of 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 a robot joint is poor in matching with the degree of freedom of a human body joint, namely the robot joint does not have complete bionic degree of freedom.
The ankle joint of the wearable exoskeleton in the prior art is mainly a single-degree-of-freedom joint component formed by multiple connecting rods, and the single degree of freedom refers to the degree of flexion and extension freedom on the sagittal plane of a wearable person, so that the far end of the ankle joint of the wearable exoskeleton and the foot of the wearable person can keep synchronous motion on the sagittal plane of the wearable person.
However, the human ankle joint has two degrees of freedom in reality, and has a degree of freedom of contraction and expansion in the coronal plane of the wearer in addition to the degree of freedom of flexion and extension in the sagittal plane. And the single degree of freedom ankle joint of wearing formula ectoskeleton can't match the ankle joint of wearing the people and the degree of freedom of taking up and unfolding on the coronal plane, has not only influenced the wearing comfort level of wearing the people, and the action is stiff when still leading to the wearing person to walk, has influenced the motion smoothness nature and the precision of wearing people ankle joint, has reduced the performance of wearing formula ectoskeleton.
Therefore, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
SUMMERY OF THE UTILITY MODEL
The present application aims to provide a solution or a solution to the above-mentioned problems of the prior art.
In order to achieve the above purpose, the present application provides the following technical solutions:
the application provides a two degree of freedom ankle joint subassembly of wearing formula ectoskeleton includes:
the two-degree-of-freedom connecting piece is provided with two end parts in the length direction of the two-degree-of-freedom connecting piece, wherein the two end parts are a first end part and a second end part respectively;
one end of the flexion and extension rotating shaft is connected to the first end part, the other end of the flexion and extension rotating shaft is connected with the lower end of a shank of the wearable exoskeleton, and the axis of the flexion and extension rotating shaft is superposed with the flexion and extension freedom degree of an ankle joint of a wearer;
the shoe connecting piece is used for being fixedly connected with a shoe of a wearer;
and one end of the folding and unfolding rotating shaft is connected to the second end part, the other end of the folding and unfolding rotating shaft is connected with the shoe connecting piece, the included angle between the axis of the folding and unfolding rotating shaft and the axis of the bending and stretching rotating shaft is 90 degrees, and the axis of the folding and unfolding rotating shaft coincides with the folding and unfolding freedom degree of the ankle joint of the wearer.
Further, the two-degree-of-freedom connecting piece is a plate with two end parts folded in the same direction, and comprises the first end part, the middle part and the second end part.
Further, the first end part and the second end part extend for an included angle of 90 degrees;
the axis of the bending and extending rotating shaft is perpendicular to the plate surface of the first end part, and the axis of the folding and extending rotating shaft is perpendicular to the plate surface of the second end part.
Further, the included angle between the first end part and the middle part is 45 degrees, and the included angle between the second end part and the middle part is 45 degrees.
Furthermore, a pose sensor is arranged in the middle.
Furthermore, through-type lightening holes are formed in the first end portion and the second end portion.
Furthermore, a flexion-extension return spring is arranged between the lower end of the shank of the wearable exoskeleton and the first end part, and a retraction-extension return spring is arranged between the second end part and the shoe connecting piece.
Compared with the closest prior art, the technical scheme of the embodiment of the application has the following beneficial effects:
1) the double-freedom-degree ankle joint component has double degrees of freedom, provides the necessary flexion and extension degrees of freedom in walking on the sagittal plane, and increases the abduction and adduction degrees of freedom on the coronal plane, so that the design not only improves the bionic property of the double-freedom-degree ankle joint component, but also enhances the wearing comfort of the ankle joint component, and has important practical significance.
2) The two-degree-of-freedom ankle joint assembly provided by the utility model has the advantages that the rotation axes of the bending and stretching freedom degree and the folding and stretching freedom degree are intersected at one point, and the intersection point is positioned near the center of the ankle joint of the human body, so that the bionic property of the exoskeleton joint is considered, the synchronism of the rotation center of the exoskeleton joint during bending, stretching and folding rotation and the rotation of the ankle joint of the human body is ensured, and the wearing comfort level is further improved.
3) The two-degree-of-freedom ankle joint component provides an automatic reset function, and the extension springs are arranged on the folding and unfolding rotating shaft and the bending and extending rotating shaft, so that when a wearer walks and rotates at the corresponding sagittal plane and coronal plane, the corresponding springs can be extended to generate elastic force, and the elastic force can pull the rotating shaft back to the initial position.
4) According to the utility model, the position and posture sensor is arranged in the two-degree-of-freedom connecting piece of the flexion-extension rotating shaft, the position and posture sensor is a necessary information source for the wearable exoskeleton to acquire the position and posture of the exoskeleton joint and is an indispensable part in the whole exoskeleton control, and the position and posture sensor in the connecting rod sends information such as the rotation angle and the speed of the exoskeleton ankle joint in the space to the exoskeleton control system, so that the exoskeleton action is accurately controlled, and the wearing comfort level is further improved.
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 an isometric view of an embodiment of a two degree-of-freedom ankle joint assembly of a wearable exoskeleton;
FIG. 2 is an exploded view of the connection of the second end portion and the shoe connector of FIG. 1;
FIG. 3 is an exploded view of the junction of the first end and the lower leg of FIG. 1;
FIG. 4 is a schematic view of an embodiment of a two degree-of-freedom ankle joint assembly of a wearable exoskeleton engaged with a shoe;
fig. 5 is an exploded view of the middle portion of the two-degree-of-freedom link of fig. 1.
Description of reference numerals:
1. the device comprises a double-freedom-degree connecting piece, 11, a first end portion, 12, a middle portion, 13, a second end portion, 2, a bending and stretching rotating shaft, 3, a folding and unfolding rotating shaft, 4, a bending and stretching return spring, 5, a folding and unfolding return spring, 6, a shoe connecting piece, 7, a sensor housing, 71, a U-shaped hole, 8, a deep groove ball bearing, 9, a shoe, 10 and a pose sensor.
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 application provides a specific embodiment of a two-degree-of-freedom ankle joint assembly of a wearable exoskeleton, which is shown in fig. 1-5 and comprises a two-degree-of-freedom connecting piece 1, a flexion-extension rotating shaft 2, a shoe connecting piece 6, a folding-unfolding rotating shaft 3, a pose sensor 10, a flexion-extension reset spring 4 and a folding-unfolding reset spring 5.
The two-degree-of-freedom connecting piece 1 is a plate with two end parts folded in the same direction and comprises a first end part 11, a middle part 12 and a second end part 13. The first end 11 extends at an angle of 90 ° to the second end 13: the included angle between the first end part 11 and the middle part 12 is 45 degrees, the included angle between the second end part 13 and the middle part 12 is 45 degrees, and through-type lightening holes are formed in the first end part 11 and the second end part 13.
The middle part 12 is provided with a pose sensor 10: the middle part 12 is provided with a sensor placing cavity and a sensor housing 7, the pose sensor 10 is arranged in the sensor placing cavity, the sensor housing 7 is fixed on the middle part 12 through four screws and used for plugging an opening of the sensor placing cavity so as to prevent the pose sensor 10 from falling off, and the sensor housing 7 is provided with a U-shaped hole for a cable for signal transmission of the pose sensor 10 to pass through.
One end of the flexion-extension rotating shaft 2 is fixedly connected to the first end part 11, and the axis of the flexion-extension rotating shaft 2 is perpendicular to the plate surface of the first end part 11 and is superposed with the flexion-extension freedom degree of the ankle joint of a wearer. The other end is rotatably connected with the lower end of the shank of the wearable exoskeleton: one end of the flexion-extension rotating shaft 2 is fixed on the first end part 11 through four screws, and the other end of the flexion-extension rotating shaft is rotatably connected to the lower end of a shank of the wearable exoskeleton through a bearing, so that the degree of freedom of rotation in a sagittal plane is formed.
Receive and expand 3 one ends of pivot and connect on second end 13, receive and expand the face of the axis perpendicular to second end 13 of pivot 3 to and bend the contained angle between the axis of stretching pivot 2 and be 90, the other end is connected with 6 rotations of shoes 9 connecting piece: the outer rings of the two deep groove ball bearings 8 are embedded in the bearing mounting holes of the second end 13 in an interference fit mode, the inner rings are connected with the folding and unfolding rotating shaft 3, the axis of the folding and unfolding rotating shaft 3 coincides with the folding and unfolding freedom degree of the ankle joint of a wearer, and the rotation freedom degree in the coronal plane is formed. The flexion-extension rotating shaft 2 and the contraction-extension rotating shaft 3 are positioned on the same plane, and the axis of the flexion-extension rotating shaft 2 and the axis of the contraction-extension rotating shaft 3 intersect at a point in the space, and the point is close to the rotation center of the ankle joint of the human body. The design can greatly improve the following performance and the fluency of the exoskeleton ankle joint and the human body ankle joint.
The shoe attachment 6 is intended for fixed connection with a shoe 9 of a wearer. A flexion-extension return spring 4 is arranged between the lower end of the shank of the wearable exoskeleton and the first end part 11, and a retraction-extension return spring 5 is arranged between the second end part 13 and the shoe connecting piece 6. When the two-degree-of-freedom connecting piece 1 rotates along with the bending and stretching rotating shaft 2, the bending and stretching return spring 4 with one end connected to the shank of the wearable exoskeleton can be stretched, and elasticity is generated to drive the two-degree-of-freedom connecting piece 1 to return to the initial position. Similarly, when the shoe connecting member 6 rotates along with the folding and unfolding rotating shaft 3, the folding and unfolding return spring 5 with one end connected to the two-degree-of-freedom connecting member 1 is stretched, and elastic force is generated to drive the shoe connecting member 6 to return to the initial position.
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 (7)
1. A two degree-of-freedom ankle joint assembly for a wearable exoskeleton, comprising:
the two-degree-of-freedom connecting piece is provided with two end parts in the length direction of the two-degree-of-freedom connecting piece, wherein the two end parts are a first end part and a second end part respectively;
one end of the flexion and extension rotating shaft is connected to the first end part, the other end of the flexion and extension rotating shaft is connected with the lower end of a shank of the wearable exoskeleton, and the axis of the flexion and extension rotating shaft is superposed with the flexion and extension freedom degree of an ankle joint of a wearer;
the shoe connecting piece is used for being fixedly connected with a shoe of a wearer;
and one end of the folding and unfolding rotating shaft is connected to the second end part, the other end of the folding and unfolding rotating shaft is connected with the shoe connecting piece, the included angle between the axis of the folding and unfolding rotating shaft and the axis of the bending and stretching rotating shaft is 90 degrees, and the axis of the folding and unfolding rotating shaft coincides with the folding and unfolding freedom degree of the ankle joint of the wearer.
2. The two degree-of-freedom ankle joint assembly of a wearable exoskeleton of claim 1 wherein the two degree-of-freedom link is a plate with two ends that are folded in the same direction, comprising the first end, the middle and the second end.
3. The two degree-of-freedom ankle joint assembly of a wearable exoskeleton of claim 2, wherein the first end portion and the second end portion extend at an angle of 90 °;
the axis of the bending and extending rotating shaft is perpendicular to the plate surface of the first end part, and the axis of the folding and extending rotating shaft is perpendicular to the plate surface of the second end part.
4. The two degree-of-freedom ankle joint assembly of a wearable exoskeleton of claim 3, wherein the first end portion is angled 45 ° from the middle portion and the second end portion is angled 45 ° from the middle portion.
5. The two degree-of-freedom ankle joint assembly of a wearable exoskeleton of claim 2 wherein the mid-section is provided with a pose sensor.
6. The two degree-of-freedom ankle joint assembly of a wearable exoskeleton of claim 2 wherein both the first and second ends are provided with through lightening holes.
7. The dual degree of freedom ankle joint assembly of a wearable exoskeleton of claim 1, wherein a flexion-extension return spring is provided between the lower end of the lower leg of the wearable exoskeleton and said first end, and a retraction-extension return spring is provided between said second end and said shoe link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122745419.8U CN216505104U (en) | 2021-11-10 | 2021-11-10 | Two-degree-of-freedom ankle joint assembly of wearable exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122745419.8U CN216505104U (en) | 2021-11-10 | 2021-11-10 | Two-degree-of-freedom ankle joint assembly of wearable exoskeleton |
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| Publication Number | Publication Date |
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| CN216505104U true CN216505104U (en) | 2022-05-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202122745419.8U Active CN216505104U (en) | 2021-11-10 | 2021-11-10 | Two-degree-of-freedom ankle joint assembly of wearable exoskeleton |
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| CN (1) | CN216505104U (en) |
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- 2021-11-10 CN CN202122745419.8U patent/CN216505104U/en active Active
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