CN110053019A - A kind of soft exoskeleton robot of knee joint based on the submissive driving of lasso trick - Google Patents
A kind of soft exoskeleton robot of knee joint based on the submissive driving of lasso trick Download PDFInfo
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- CN110053019A CN110053019A CN201910156055.4A CN201910156055A CN110053019A CN 110053019 A CN110053019 A CN 110053019A CN 201910156055 A CN201910156055 A CN 201910156055A CN 110053019 A CN110053019 A CN 110053019A
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- thigh
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
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- Engineering & Computer Science (AREA)
- Physical Education & Sports Medicine (AREA)
- Mechanical Engineering (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Robotics (AREA)
- Rehabilitation Therapy (AREA)
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- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of soft exoskeleton robots of knee joint based on the submissive driving of lasso trick, including including lasso trick, thigh rear side lasso trick on front side of shell, driving device, thigh holding device, shank holding device, thigh.Thigh holding device, shank holding device are moved by actuating sleeve strap to provide torque for kneed stretching, extension and curvature movement.Wherein using compressed spring represent muscle fibre passive ingredient and surrounding elastic fibrous tissue, tendon and the concatenated elastic fibrous tissue of other muscle fibres are represented using torsional spring on rear side of torsional spring on front side of thigh, thigh.Therefore the structural deformation is closer to the motion change of real human body articular muscle, while Flexible element of connecting has the function of flexibility, can buffer extraneous impact and disturbance, safety and comfort during training for promotion.
Description
Technical field
The invention belongs to robot field, especially one kind to be intended to enhance wearer's motion of knee joint ability, provide lower limb
Power-assisted of walking or the exoskeleton robot for assisting motor dysfunction of lower limb patient progress Rehabilitation Training in Treating.
Background technique
With the development of society, China is faced with social population's aging, apoplexy morbidity rejuvenation, frequent accidents
The social concern that change etc. is got worse, dyskinesia seriously threaten the life of the elderly and patients with limb disabilities and are good for
Health, thus exoskeleton robot becomes the research emphasis and hot spot of field of medical rehabilitation, can assist the elderly and motor function
Impaired patients carry out rehabilitation training, prevent muscular atrophy, restore suffering limb locomitivity.Exoskeleton robot is that one kind can be in parallel
It is worn on the limbs of people, provides additional power for the limb motion of people, enhance the intelligent machine system of function of human body, assist
Wearer completes the tasks such as assisted walk, weight carrying, rehabilitation training.
Traditional lower limb exoskeleton robot is mostly rigid structure, but the rigid exo bone robot of this quasi-tradition remains
In many deficiencies, if mechanical structure ontology is more heavy, energy consumption is higher, portability is poor, drive system performance is difficult to meet people
High efficiency, accuracy and flexibility requirement of machine interactive process etc..
In the patent of invention that China Patent Publication No. is CN105856196A, a kind of knee joint ectoskeleton power-assisted is disclosed
Device is made of locking mechanism, cam mechanism, shank rod piece, thigh rod piece and hydraulic mechanism, big using Driven by Hydraulic Cylinder
The cam mechanism being arranged between leg rod piece and shank rod piece, so that thigh rod piece and shank rod piece realize the reality closer to human body
Movement.But entire mechanical mechanism bulky complex, need hydraulic-driven more heavy, the effect is relatively poor for portability.
In the patent of invention that Chinese patent notification number is CN206453957U, disclose outside a kind of knee joint weight bearing power-assisted
Bone device, by pedestal, lead screw, slide unit, thigh rod piece, shank rod piece, connection strap, connecting rod, arc panel, sole and motor
Driving assembly composition, but entire mechanism is more heavy, can only carry out training for recovery in fixed position.
In the patent of invention that China Patent Publication No. is CN107854279A, the knee in parallel for disclosing a kind of rehabilitation is closed
Exoskeleton mechanism is saved, it is made of shank ectoskeleton, thigh ectoskeleton, pedestal, compliant member, rigid element and the soft hinge of four bars,
Mechanism makes ectoskeleton movement coincide with motion of knee joint using flexure hinge mechanism, but there is still a need for bulky rigid for mechanism body
Property component as support, and the rotation center of mechanism, on the outside of joint, coupled is poor.
Therefore above-mentioned some technical problems are directed to, need to design a kind of softness for meeting human cinology's characteristic
The knee joint exoskeleton robot of light security, overcomes the defect of conventional rigid ectoskeleton.
Summary of the invention
Goal of the invention: it the technical problem to be solved by the present invention is to be directed to the defect of background technique, provides a kind of soft light
The soft exoskeleton robot of knee joint based on the submissive driving of lasso trick of matter and safety, and can satisfy human cinology spy
Property.
Technical solution: in order to achieve the above objectives, following technical solution can be used in the present invention:
A kind of soft exoskeleton robot of knee joint based on the submissive driving of lasso trick, including shell, driving device, thigh are solid
Determine device, shank holding device, thigh front side lasso trick, thigh rear side lasso trick；
The driving device is equipped with main shaft, thigh anterior lateral tooth wheel shaft, the thigh posterior lateral tooth wheel shaft of installation inside the shell；
And main shaft, thigh anterior lateral tooth wheel shaft, thigh posterior lateral tooth wheel shaft are arranged in parallel, main shaft is located at thigh forward side gear
Between axis and thigh posterior lateral tooth wheel shaft；Main shaft is equipped with main drive gear；Thigh anterior lateral tooth wheel shaft is equipped on front side of thigh
Line wheel and thigh front side torsional spring on front side of gear, thigh；Thigh posterior lateral tooth wheel shaft is equipped with thigh rear side gear, thigh rear side line wheel
And torsional spring on rear side of thigh；
It is set on the shell there are two cylindrical outlet-pipe, is fixed with the set coaxial with outlet-pipe inside each outlet-pipe
Pipe, described sleeve pipe bottom are equipped with block, and the outer peripheral surface of the outlet-pipe is by screw thread and cage connection and outlet-pipe passes through spiral
It is moved inside and outside mode opposite shell；Outlet-pipe inner bottom is fixed with compressed spring, and compressed spring top is against block and outlet
Pipe；
The main drive gear is between thigh forward side gear and thigh rear side gear, on front side of main drive gear and thigh
Gear and thigh rear side gear engage simultaneously；And the diameter of thigh forward side gear is greater than the diameter of thigh rear side gear；It is described big
Lasso trick is fixed on front side of thigh on torsional spring and is wound on front side of thigh in line wheel on front side of leg, and lasso trick automatic drive device prolongs on front side of thigh
After stretching simultaneously passes outwards through corresponding casing from block, then fixed device is pierced by front side of thigh, knee joint bending device is bypassed
It is connected to fixed mechanism device on front side of shank；Lasso trick is fixed on rear side of thigh on torsional spring and is wound on line wheel on rear side of thigh on rear side of thigh
On, and lasso trick automatic drive device extends and passes outwards through corresponding casing from block on rear side of thigh, then fixes on rear side of thigh
Device is connected to the fixed device of posterior leg；The thigh in casing and casing is given against block and outlet-pipe in compressed spring top
Lasso trick pre-tensioning on rear side of front side lasso trick or thigh；Torsional spring gives thigh forward side gear and drives lasso trick fortune on front side of thigh on front side of thigh
Intermediary's damping buffering when dynamic；Torsional spring gives intermediary's resistance when thigh rear side gear drives lasso trick movement on rear side of thigh on rear side of thigh
Buddhist nun's buffering.
The utility model has the advantages that compared with the existing technology, using bionics structure, including compression in the inventive solutions
Spring represents the passive ingredient of muscle fibre and surrounding elastic fibrous tissue, thigh front side torsional spring, thigh rear side torsional spring represent tendon
With the concatenated elastic fibrous tissue of other muscle fibres.The technical solution realizes that the bionical mode of human synovial is as follows: when motor drives greatly
On front side of leg when torsional spring, thigh rear side torsional spring rotation, inner ring drives line wheel rotation after turning an angle；When line wheel rotates Shi Huila
Dynamic lasso trick winds line wheel, and block compresses compressed spring, and casing and block can follow lasso trick to move together, lasso trick generate tension to
Torque is provided for kneed stretching, extension and curvature movement, so that the deformation of the technical solution is closer to real human body articular muscle
The motion change of meat, while Flexible element of connecting has the function of flexibility, can buffer extraneous impact and disturbance, promotes instruction
Safety and comfort during white silk.And the present invention uses the form of lasso trick driving, closes driving mechanism far from human body
Section, effectively alleviates the burden of movable joint, realizes light-weighted structure design, and Portable light cost is lower.This
Invention does not have rotation center outside body, and the effect of rigid member is replaced using human skeleton and joint, can effectively be disappeared
Error caused by not being overlapped except rotation center.
Further, also there are two tension sensors, each tension sensor to have the pickup wire being located in shell for tool
The rotation axis of wheel, one of sensor line wheel is parallel with line wheel on front side of thigh, and lasso trick prolongs from line wheel on front side of thigh on front side of thigh
It is re-extended out after being had mercy in the sensor line wheel of the tension sensor after stretching and passes outwards through corresponding casing from block；
Line wheel is parallel on rear side of the rotation axis of another sensor line wheel and thigh, and lasso trick is from line wheel on rear side of thigh on rear side of thigh
It is re-extended out after being had mercy in the sensor line wheel of the tension sensor after extending and passes outwards through corresponding casing from block.
Further, two pairs of polyurethane wheels are additionally provided in the shell, one pair of them polyurethane wheel is located at set on front side of thigh
To position lasso trick on front side of thigh between the sensor line wheel and casing of rope, another pair polyurethane wheel is located at lasso trick on rear side of thigh
To position lasso trick on rear side of thigh between sensor line wheel and casing.
Further, it is taken including being worn on the ectoskeleton of human body lower limbs, the upper end package human body lower limbs of ectoskeleton clothes
Thigh, the shank of the lower end package human body lower limbs of ectoskeleton clothes；The front side of the ectoskeleton clothes is equipped with fixed mechanism on front side of thigh
And knee joint bending mechanism；The rear side of the ectoskeleton clothes is equipped with fixed mechanism on rear side of thigh；Lasso trick prolongs from shell on front side of thigh
Fixed mechanism on front side of thigh is stretched out and passes through, stretching out from knee joint bending mechanism to be connected to has on fixed mechanism on front side of shank
In tension sensor；Lasso trick extends from shell and pass through thigh rear side fixed mechanism and be connected to posterior leg and fixes on rear side of thigh
In the tension sensor having in mechanism.
Further, fixed mechanism and thigh rear side fixed mechanism are the fixed branch of the thigh with perforation on front side of thigh
Frame, the perforation are passed through for lasso trick on rear side of lasso trick on front side of thigh or thigh.
Further, fixed mechanism and posterior leg fixed mechanism include shank fixed bracket, position on front side of the shank
In the bearing axis on the fixed bracket of shank, the flake bearing that is mounted on bearing axis；The flake bearing is for lasso trick on front side of thigh
Or lasso trick passes through on rear side of thigh.
Further, knee joint bending mechanism includes U-type groove pulley, on front side of thigh on rear side of lasso trick or thigh lasso trick from thigh
It is pierced by the perforation of fixed mechanism, is directed toward small leg restraint gear around the U-type groove of U-type groove pulley.
Further, inertial navigation sensor IMU module is respectively equipped with above and below knee joint bending mechanism, for surveying in real time
Measure kneed bending angle.
Further, the driving device includes motor, which is mounted on outer side of shell and the output shaft of motor extends
Enter in shell, and the front end of output shaft has worm screw, the main shaft is equipped with the turbine cooperated with the worm screw.
Further, the proportionate relationship range of the diameter of the thigh forward side gear and thigh rear side gear are as follows: 1:1.4
~1:1.5.
Detailed description of the invention
Fig. 1 is the schematic diagram that the soft exoskeleton robot of the knee joint is worn on human body, and illustrates the front of human body.
Fig. 2 is the schematic diagram that the soft exoskeleton robot of the knee joint is worn on human body, and illustrates the back side of human body.
Fig. 3 is driving mechanism schematic diagram.
Fig. 4 is the main view of driving mechanism.
Fig. 5 is the side view of driving mechanism.
Fig. 6 is driving mechanism A-A cross-sectional view in Fig. 4.
Fig. 7 is driving mechanism B-B cross-sectional view in Fig. 4.
Fig. 8 is driving mechanism C-C cross-sectional view in Fig. 5.
Fig. 9 is the structural perspective of torsional spring on front side of thigh, thigh rear side torsional spring.
Figure 10 is big leg restraint gear's schematic diagram.
Figure 11 is small leg restraint gear's schematic diagram.
Figure 12 is knee joint bending structural scheme of mechanism.
Figure 13 is lasso trick schematic diagram.
Figure 14 is bionical series connection elastic principle comparative diagram.
Specific embodiment
It please refers to shown in Fig. 1 to Fig. 8, the present invention relates to healing robot fields, that is, disclose a kind of based on the submissive drive of lasso trick
The soft exoskeleton robot of dynamic knee joint, when use, may be worn on human body 1, the robot include shell 22, driving device,
Thigh holding device, shank holding device, thigh front side lasso trick 61, thigh rear side lasso trick 8；.
The driving device is equipped on rear side of the main shaft 217, thigh anterior lateral tooth wheel shaft 27, thigh being mounted in shell 22
Gear shaft 29.Main shaft 217, thigh anterior lateral tooth wheel shaft 27, thigh posterior lateral tooth wheel shaft 29 are arranged in parallel, main shaft
217 between thigh anterior lateral tooth wheel shaft 27 and thigh posterior lateral tooth wheel shaft 29.Main shaft 217 is equipped with main drive gear 215.
Thigh anterior lateral tooth wheel shaft 27 is equipped with thigh forward side gear 26, thigh front side line wheel 23 and thigh front side torsional spring 24.On rear side of thigh
Gear shaft 29 is equipped with thigh rear side gear 210, thigh rear side line wheel 212 and thigh rear side torsional spring 211.As shown in figure 9, being big
The structural perspective of torsional spring, thigh rear side torsional spring on front side of leg, which is the cyclic annular torsional spring used in the prior art, is made
Used time has the function of intermediary's damping buffering.
In conjunction with shown in Figure 13, set on the shell 22 there are two cylindrical outlet-pipe 219, it is solid inside each outlet-pipe 219
Surely there is the casing 63 coaxial with outlet-pipe 219,63 bottom of described sleeve pipe is equipped with block 62.The outer peripheral surface of the outlet-pipe 219 passes through
Screw thread is connect with shell 22 and outlet-pipe 219 inside and outside spiral way opposite shell 22 by moving.219 inner bottom of outlet-pipe
End is fixed with compressed spring 221, and 221 top of compressed spring is against block 62 and outlet-pipe 219.The compressed spring 221 and casing
63 form the passive ingredient of the muscle fibre in simulation of human body structure and surrounding elastic fibrous tissue.When in use due to casing 63
There is certain friction between middle lasso trick and casing 63, can be formed by movement inside and outside rotation 219 opposite shell 22 of outlet-pipe to set
Rope it is pre-tensioner.It will pull lasso trick winding line wheel when line wheel rotation, block 62 compresses compressed spring 221, casing 63 and block
62 can follow lasso trick to move together, and lasso trick generates tension to provide torque for kneed stretching, extension and curvature movement.The drive
Dynamic device includes motor 21, which is mounted on 22 outside of shell and the output shaft of motor extends into shell 22, and exports
The front end of axis has worm screw 214, and the main shaft 217 is equipped with the turbine 213 cooperated with the worm screw 213.
The main drive gear 215 is between thigh forward side gear 26 and thigh rear side gear 210.Main drive gear
215 engage simultaneously with thigh forward side gear 26 and thigh rear side gear 210；And due on front side of thigh during exercise lasso trick 61 than big
Lasso trick 8 is mobile fast on rear side of leg, therefore the diameter of thigh forward side gear 26 is greater than the diameter of thigh rear side gear 210.In this implementation
In mode, the proportionate relationship range of the diameter of thigh forward side gear and thigh rear side gear are as follows: 1:1.4~1:1.5.The thigh
Front side lasso trick 61 is fixed on front side of thigh on torsional spring 24 and is wound on front side of thigh in line wheel 23, and 61 self-powered of lasso trick on front side of thigh
After dynamic device extends and passes outwards through corresponding casing 63 from block 62, then fixed device is pierced by front side of thigh, knee is bypassed
Arthrogryposis device is connected to fixed mechanism device on front side of shank.Lasso trick 8 is fixed on rear side of thigh on torsional spring 211 simultaneously on rear side of thigh
It is wound on rear side of thigh in line wheel 212, and 8 automatic drive device of lasso trick extends and passes outwards through corresponding set from block on rear side of thigh
Pipe, then fixed device is connected to the fixed device of posterior leg on rear side of thigh.Torsional spring 24 gives thigh forward side gear on front side of thigh
26 drive intermediary's damping buffering when lasso trick 61 moves on front side of thigh；Torsional spring 211 gives thigh rear side gear 210 band on rear side of thigh
Intermediary's damping buffering when lasso trick 8 moves on rear side of dynamic thigh.
Also there are two tension sensors 28, each tension sensor 28 to have the sensor line wheel 218 being located in shell for tool,
Line wheel 23 is parallel on front side of the rotation axis of one of sensor line wheel 218 and thigh, and lasso trick 61 is from thigh front side line on front side of thigh
Wheel 23 re-extends out after having mercy in the sensor line wheel 218 of the tension sensor after extending and passes outwards through correspondence from block 62
Casing 63.The rotation axis of another sensor line wheel is parallel with line wheel 212 on rear side of thigh, and lasso trick 8 is from after thigh on rear side of thigh
Side line wheel 212 re-extends out after being had mercy in the sensor line wheel of the tension sensor after extending and passes outwards through correspondence from block
Casing.Two pairs of polyurethane wheels 216 are additionally provided in the shell 22, one pair of them polyurethane wheel 216 is located at lasso trick on front side of thigh
To position lasso trick 61 on front side of thigh between 61 sensor line wheel 218 and casing 63, another pair polyurethane wheel 216 is located at thigh
To position lasso trick 8 on rear side of thigh between the sensor line wheel 218 and casing 63 of rear side lasso trick 8.
In order to the wearable property with human body and with the arthrodesis of human body lower limbs, further include wearing in the technical solution
The ectoskeleton for being worn over human body lower limbs takes 9.The ectoskeleton takes the thigh of 9 upper end package human body lower limbs, and ectoskeleton takes 9 lower end packet
Wrap up in the shank of human body lower limbs.The front side that the ectoskeleton takes 9 is equipped with fixed mechanism and knee joint bending mechanism on front side of thigh；It is described
The rear side that ectoskeleton takes 9 is equipped with fixed mechanism on rear side of thigh.Lasso trick 61 extends from shell 22 and before thigh on front side of thigh
Side fixed mechanism stretches out in the tension sensor 72 for being connected to and having on fixed mechanism on front side of shank from knee joint bending mechanism.
Lasso trick 8 extends from shell 22 and is connected on posterior leg fixed mechanism by fixed mechanism on rear side of thigh and has on rear side of thigh
72 in some tension sensors.
Incorporated by reference to shown in Figure 10, fixed mechanism and thigh rear side fixed mechanism are that the thigh with perforation is solid on front side of thigh
Fixed rack 31, the perforation are passed through for lasso trick 8 on rear side of lasso trick 61 on front side of thigh or thigh.
Incorporated by reference to shown in Figure 11, fixed mechanism and posterior leg fixed mechanism include the fixed branch of shank on front side of the shank
Frame 41, the bearing axis 42 on the fixed bracket 41 of shank, the flake bearing 43 being mounted on bearing axis 42；The flake axis 43
It holds and is passed through for lasso trick 8 on rear side of lasso trick 61 on front side of thigh or thigh.
Incorporated by reference to shown in Figure 12, knee joint bending mechanism includes U-type groove pulley 52, the pedestal 51 for carrying U-type groove pulley 52
And upper cover 53.Lasso trick 61 or thigh rear side lasso trick 8 are pierced by from the perforation of big leg restraint gear on front side of thigh, sliding around U-type groove
The U-type groove of wheel 52 is directed toward small leg restraint gear.Inertial navigation sensor IMU module is respectively equipped with above and below knee joint bending mechanism
71, it is used for the kneed bending angle of real-time measurement.
Technical solution in present embodiment uses bionics structure, as shown in figure 8, wherein compressed spring represents flesh fibre
The passive ingredient of dimension and surrounding elastic fibrous tissue, thigh front side torsional spring, thigh rear side torsional spring represent tendon and other muscle fibres
Concatenated elastic fibrous tissue.
In present embodiment, taken using D3O smart molecule material production knee joint ectoskeleton, D3O material has in normality
Lower holding relaxed state resilient flexible can become rapidly hard characteristic, the tumble for wearer under shock or extruding
When knee joint protection mechanism.
In present embodiment, the rotation of motor encoder and angular displacement sensor measurement series connection Flexible element Internal and external cycle is utilized
Differential seat angle, wherein motor drives turbine and worm driving main shaft rotation angle that can be measured as θ by encoder1, main shaft band
The rotation angle of dynamic series connection Flexible element outer ring can be measured as θ by angular displacement sensor2, driving can be measured according to τ=k △ θ
Torque saves cost without using additional torque sensor.
Exoskeleton robot in present embodiment is useful on the one leg of human body lower limbs, as shown in Figure 1, 2, such as human body
The two legs of lower limb are required to be assisted in the treatment of, then use in pairs, the exoskeleton robot are respectively provided on every leg, and will
Shell is worn on the waistband of human body.
In addition, there are many concrete methods of realizing and approach of the invention, the above is only a preferred embodiment of the present invention.
It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, can also do
Several improvements and modifications out, these modifications and embellishments should also be considered as the scope of protection of the present invention.What is be not known in the present embodiment is each
The available prior art of component part is realized.
Claims (10)
1. a kind of soft exoskeleton robot of knee joint based on the submissive driving of lasso trick, it is characterised in that: including shell, driving dress
It sets, lasso trick, thigh rear side lasso trick on front side of thigh holding device, shank holding device, thigh；
The driving device is equipped with main shaft, thigh anterior lateral tooth wheel shaft, the thigh posterior lateral tooth wheel shaft of installation inside the shell；And it is main
Transmission shaft, thigh anterior lateral tooth wheel shaft, thigh posterior lateral tooth wheel shaft are arranged in parallel, main shaft be located at thigh anterior lateral tooth wheel shaft and
Between thigh posterior lateral tooth wheel shaft；Main shaft is equipped with main drive gear；Thigh anterior lateral tooth wheel shaft be equipped with thigh forward side gear,
Line wheel and thigh front side torsional spring on front side of thigh；Thigh posterior lateral tooth wheel shaft is equipped with line wheel on rear side of thigh rear side gear, thigh and greatly
Torsional spring on rear side of leg；
It is set on the shell there are two cylindrical outlet-pipe, is fixed with the casing coaxial with outlet-pipe, institute inside each outlet-pipe
Sleeve bottom is stated equipped with block, the outer peripheral surface of the outlet-pipe passes through screw thread with cage connection and outlet-pipe passes through spiral way phase
To being moved inside and outside shell；Outlet-pipe inner bottom is fixed with compressed spring, and compressed spring top is against block and outlet-pipe；
The main drive gear is between thigh forward side gear and thigh rear side gear, main drive gear and thigh forward side gear
And thigh rear side gear engages simultaneously；And the diameter of thigh forward side gear is greater than the diameter of thigh rear side gear；Before the thigh
Side lasso trick is fixed on front side of thigh on torsional spring and is wound on front side of thigh in line wheel, and lasso trick automatic drive device extends on front side of thigh
And corresponding casing is passed outwards through from block, then after fixed device is pierced by front side of thigh, connect around knee joint bending device
Fixed mechanism device on front side of to shank；Lasso trick is fixed on rear side of thigh on torsional spring and is wound on rear side of thigh in line wheel on rear side of thigh,
And lasso trick automatic drive device extends and passes outwards through corresponding casing from block on rear side of thigh, then the fixed device on rear side of thigh
It is connected to the fixed device of posterior leg；It is given on front side of the thigh in casing and casing against block and outlet-pipe on compressed spring top
Lasso trick pre-tensioning on rear side of lasso trick or thigh；When torsional spring gives lasso trick movement on front side of thigh forward side gear drive thigh on front side of thigh
Intermediary's damping buffering；Intermediary's damping that torsional spring is given when thigh rear side gear drives thigh rear side lasso trick to move on rear side of thigh is slow
Punching.
2. the soft exoskeleton robot of knee joint according to claim 1, it is characterised in that: also there are two tension to sense for tool
Device, each tension sensor have the sensor line wheel being located in shell, the rotation axis and thigh of one of sensor line wheel
Front side line wheel is parallel, and lasso trick is had mercy in the sensor line wheel of the tension sensor after extending from line wheel on front side of thigh on front side of thigh
After re-extend out and pass outwards through corresponding casing from block；
The rotation axis of another sensor line wheel is parallel with line wheel on rear side of thigh, and lasso trick extends from line wheel on rear side of thigh on rear side of thigh
It is re-extended out after being had mercy in the sensor line wheel of the tension sensor after out and passes outwards through corresponding casing from block.
3. the soft exoskeleton robot of knee joint according to claim 2, it is characterised in that: be additionally provided with two in the shell
To polyurethane wheel, one pair of them polyurethane wheel is located on front side of thigh between the sensor line wheel and casing of lasso trick to position thigh
Front side lasso trick, another pair polyurethane wheel are located on rear side of thigh between the sensor line wheel and casing of lasso trick to position on rear side of thigh
Lasso trick.
4. the soft exoskeleton robot of knee joint according to claim 1 or 2 or 3, it is characterised in that: including being worn on people
The ectoskeleton of body lower limb takes, the thigh of the upper end package human body lower limbs of ectoskeleton clothes, under the lower end package human body of ectoskeleton clothes
The shank of limb；The front side of the ectoskeleton clothes is equipped with fixed mechanism and knee joint bending mechanism on front side of thigh；The ectoskeleton clothes
Rear side be equipped with thigh on rear side of fixed mechanism；Lasso trick extends from shell and passes through fixed mechanism on front side of thigh on front side of thigh, from
Knee joint bending mechanism is stretched out in the tension sensor for being connected to and having on fixed mechanism on front side of shank；Lasso trick is outside on rear side of thigh
Shell, which extends and passes through fixed mechanism on rear side of thigh, to be connected in the tension sensor having on posterior leg fixed mechanism.
5. the soft exoskeleton robot of knee joint according to claim 4, it is characterised in that: on front side of thigh fixed mechanism and
Fixed mechanism is the fixed bracket of the thigh with perforation on rear side of thigh, and the perforation is for set on rear side of lasso trick on front side of thigh or thigh
Rope passes through.
6. the soft exoskeleton robot of knee joint according to claim 4, it is characterised in that: fixed machine on front side of the shank
Structure and posterior leg fixed mechanism include the fixed bracket of shank, the bearing axis on the fixed bracket of shank, are mounted on bearing
Flake bearing on axis；The flake bearing is passed through for lasso trick on rear side of lasso trick on front side of thigh or thigh.
7. the soft exoskeleton robot of knee joint according to claim 4, it is characterised in that: knee joint bending mechanism includes
U-type groove pulley, thigh front side lasso trick or thigh rear side lasso trick are pierced by from the perforation of big leg restraint gear, bypass U-type groove pulley
U-type groove be directed toward small leg restraint gear.
8. the soft exoskeleton robot of knee joint according to claim 7, it is characterised in that: above knee joint bending mechanism
Be respectively arranged below with inertial navigation sensor IMU module, be used for the kneed bending angle of real-time measurement.
9. the soft exoskeleton robot of knee joint according to claim 1, it is characterised in that: the driving device includes electricity
Machine, which is mounted on outer side of shell and the output shaft of motor extends into shell, and the front end of output shaft has worm screw, described
Main shaft is equipped with the turbine cooperated with the worm screw.
10. the soft exoskeleton robot of knee joint according to claim 1, it is characterised in that: the thigh forward side gear
With the proportionate relationship range of the diameter of thigh rear side gear are as follows: 1:1.4~1:1.5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910156055.4A CN110053019A (en) | 2019-03-01 | 2019-03-01 | A kind of soft exoskeleton robot of knee joint based on the submissive driving of lasso trick |
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| CN110653796A (en) * | 2019-09-11 | 2020-01-07 | 西北机电工程研究所 | Flexible exoskeleton power-assisted robot |
| CN110861074A (en) * | 2019-12-11 | 2020-03-06 | 山东大学 | Rope-driven flexible exoskeleton power-assisted robot |
| CN113183119A (en) * | 2021-02-26 | 2021-07-30 | 北京大学 | Wearable lower limb exoskeleton robot based on rope-driven redundant flexible driver |
| CN113367941A (en) * | 2021-06-18 | 2021-09-10 | 南开大学 | Rigid knee joint exoskeleton |
| CN113520787A (en) * | 2021-06-16 | 2021-10-22 | 四川大学 | Interactive wearable device for perioperative period of total knee replacement |
| CN115008443A (en) * | 2022-07-06 | 2022-09-06 | 哈尔滨工业大学 | Power-assisted exoskeleton based on bistable flexible hinge |
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| CN110653796A (en) * | 2019-09-11 | 2020-01-07 | 西北机电工程研究所 | Flexible exoskeleton power-assisted robot |
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| CN113183119A (en) * | 2021-02-26 | 2021-07-30 | 北京大学 | Wearable lower limb exoskeleton robot based on rope-driven redundant flexible driver |
| CN113183119B (en) * | 2021-02-26 | 2022-05-31 | 北京大学 | Wearable lower limb exoskeleton robot based on rope-driven redundant flexible driver |
| CN113520787A (en) * | 2021-06-16 | 2021-10-22 | 四川大学 | Interactive wearable device for perioperative period of total knee replacement |
| CN113367941A (en) * | 2021-06-18 | 2021-09-10 | 南开大学 | Rigid knee joint exoskeleton |
| CN115008443A (en) * | 2022-07-06 | 2022-09-06 | 哈尔滨工业大学 | Power-assisted exoskeleton based on bistable flexible hinge |
| CN115008443B (en) * | 2022-07-06 | 2024-08-23 | 哈尔滨工业大学 | Power-assisted exoskeleton based on bistable flexible hinge |
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