CN107569362A - A kind of exoskeleton robot and its hip joint components - Google Patents
A kind of exoskeleton robot and its hip joint components Download PDFInfo
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- CN107569362A CN107569362A CN201710766943.9A CN201710766943A CN107569362A CN 107569362 A CN107569362 A CN 107569362A CN 201710766943 A CN201710766943 A CN 201710766943A CN 107569362 A CN107569362 A CN 107569362A
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- hip joint
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- hip
- friction pulley
- knee
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The invention provides a kind of exoskeleton robot and its hip joint components, the hip joint components include hip joint drive component and hip joint transmission component, hip joint drive component includes hip joint friction pulley, hip joint transmission component and hip joint friction pulley frictional connection, to be rotated under the friction-driven of hip joint friction pulley.The present invention includes hip joint friction pulley with friction-driven hip joint transmission component by using the hip joint drive component of exoskeleton robot, and then drive the mode of joint motions, so that hip joint drive component volume is light and handy, smooth running, and then exoskeleton robot is adapted to dress and is easy to carry.
Description
Technical field
The present invention relates to medical instruments field, more particularly to a kind of exoskeleton robot and its hip joint components.
Background technology
Relevant exoskeleton robot at present, for the drive pattern of joint motions, mainly there is chain driven, pneumatic
The mechanical traction modes such as formula, hydraulic drive type, these drive patterns, one is that drive mechanism is bulky the characteristics of common, no
It is adapted to wearing, with less portable function, and needs multidigit support staff to be aided in simultaneously.
The content of the invention
The present invention is mainly to provide a kind of exoskeleton robot and its hip joint components, it is intended to solves exoskeleton robot
Hip joint drive mechanism it is bulky and be not easy to wearing the problem of.
In order to solve the above technical problems, one aspect of the present invention is：A kind of exoskeleton robot is provided
Hip joint components, the hip joint components include hip joint drive component and hip joint transmission component, the hip joint driving group
Part includes hip joint friction pulley, the hip joint transmission component and the hip joint friction pulley frictional connection, to be closed in the hip
Save and rotated under the friction-driven of friction pulley.
Wherein, the hip joint drive component further comprises hip joint motor mechanism, and the hip joint friction pulley is in institute
State and be relatively fixed in the axial direction of hip joint motor mechanism with the hip joint motor mechanism, with the hip joint motor mechanism
It is rotated by.
Wherein, the hip joint transmission component includes the driving member of hip joint first and the driving member of hip joint second, the hip
The driving member of joint first and the hip joint friction pulley are towards being provided with hip joint bullet between the side of the hip joint motor mechanism
Property part, the hip joint elastic component produces the elastic force on the axial direction, and the driving member of hip joint second is in the hip joint
The opposite side of friction pulley is fixedly connected with the driving member of hip joint first, to be close to the hip in the presence of the elastic force
Joint-friction wheel, so with the hip joint friction pulley frictional connection.
Wherein, the hip joint elastic component and the hip joint friction pulley towards the side of the hip joint motor mechanism it
Between be additionally provided with the hip joint friction plate and hip joint steel disc being sticked successively, one end of the hip joint elastic component is connected to the hip
The driving member of joint first, the other end are connected to the hip joint steel disc, to cause the hip joint friction plate to be close to the hip
Joint-friction wheel, and then cause the driving member of hip joint first to pass through hip joint friction plate and the hip joint friction pulley friction
Connection.
Wherein, the hip joint motor mechanism includes hip joint motor and money joint support seat, the branch to hip joint
Support seat is provided with through hole, the drive shaft of the hip joint driving electricity section from the side of the hip joint support base through the through hole and
The hip joint support base is fixedly connected.
Wherein, the money joint support seat is provided with the limiting section of hip joint first, and the driving member of hip joint first is provided with
The limiting section of hip joint second, in the friction-driven, the limiting section of hip joint first and the limiting section of hip joint second
It is engaged, to limit the rotational freedom of the hip joint transmission component.
Wherein, the further hip joint reducing gear of the hip joint drive component, the hip joint reducing gear includes can
The foreign steamer and lubrication groove of relative rotation, the foreign steamer are fixed in the opposite side of the hip joint support base with the hip joint support base
Connection, the lubrication groove be sheathed on the drive shaft of the hip joint motor and with the drive shaft phase of the hip joint motor
To fixation, with being rotated by the drive shaft of the hip joint motor.
Wherein, the hip joint drive component further comprises hip joint Bearning mechanism, the hip joint Bearning mechanism bag
Relatively turnable outer ring and inner ring are included, the outer ring is fixedly connected with the hip joint support base, and the inner ring is sheathed on institute
State the drive shaft of hip joint motor and be relatively fixed with the lubrication groove, rotated with following the rotation of the lubrication groove.
Wherein, the hip joint friction pulley side of the hip joint Bearning mechanism away from hip joint gear reducer mechanism with
The inner ring of hip joint Bearning mechanism is relatively fixed, and is rotated with following the rotation of the inner ring.
In order to solve the above technical problems, another technical solution used in the present invention is：A kind of exoskeleton robot is provided,
The exoskeleton robot includes above-mentioned hip joint components.
The beneficial effects of the invention are as follows：The situation of prior art is different from, the present invention is by using exoskeleton robot
Hip joint drive component includes hip joint friction pulley with friction-driven hip joint transmission component, and then drives the side of joint motions
Formula so that hip joint drive component volume is light and handy, smooth running, and then causes exoskeleton robot to be adapted to dress and be easy to take
Band.
Brief description of the drawings
Fig. 1 is the decomposing schematic representation of the hip joint components embodiment of exoskeleton robot provided by the invention；
Fig. 2 is the decomposing schematic representation of the hip joint motor mechanism in Fig. 1；
Fig. 3 is the decomposing schematic representation of hip joint gear reducer mechanism, hip joint Bearning mechanism and hip joint friction pulley in Fig. 1；
Fig. 4 is the assembling schematic cross-section of Tu1Zhong Ge mechanisms；
Fig. 5 is the enlarged diagram of part A in Fig. 4；
Fig. 6 is the decomposing schematic representation of hip joint transmission component and hip joint friction pulley in Fig. 1；
Fig. 7 is the structural representation of exoskeleton robot embodiment provided by the invention；
Fig. 8 is the structural representation of Tu7Zhong thigh supports mechanism；
Fig. 9 is the decomposing schematic representation of knee components in Fig. 7；
Figure 10 is the decomposing schematic representation of the knee joint motor mechanism in Fig. 9；
Figure 11 is the decomposing schematic representation of knee joint gear reducer mechanism, knee joint Bearning mechanism and knee joint friction pulley in Fig. 9；
Figure 12 is the assembling schematic cross-section of Tu9Zhong Ge mechanisms；
Figure 13 is the enlarged diagram of part B in Figure 12；
Figure 14 is the decomposing schematic representation of knee joint transmission component and knee joint friction pulley in Fig. 9；
Figure 15 is the structural representation of shank support member in Fig. 7；
Figure 16 is the decomposing schematic representation of foot support section in Fig. 7；
Figure 17 is the structural representation of shank baffle component in Fig. 7；
Figure 18 is the structural representation of the second connector in Figure 17；
Figure 19 is the schematic top plan view that baffle plate assembly is in buckling state in Figure 17；
Figure 20 is the decomposing schematic representation of lumbar support part in Fig. 7；
Figure 21 is the schematic block diagram that control box electrically connects with other structures in Figure 20；
Figure 22 is the standing schematic diagram of exoskeleton robot and human body in Fig. 7；
Figure 23 is the sitting posture schematic diagram of exoskeleton robot and human body in Fig. 7.
Embodiment
To make those skilled in the art more fully understand technical scheme, below in conjunction with the accompanying drawings and it is embodied
Mode is described in further detail to a kind of exoskeleton robot provided by the present invention and its hip joint components.
Refering to Fig. 1, the embodiment of hip joint components 10 provided by the invention includes hip joint drive component 11 and hip joint passes
Dynamic component 12.
Wherein, hip joint drive component 11 includes hip joint motor mechanism 111, hip joint gear reducer mechanism 112, hip joint
Bearning mechanism 113 and hip joint friction pulley 114.
Refering to Fig. 2, hip joint motor mechanism 111 include hip joint motor 111a, the first connecting plate of hip joint 111b,
Hip joint support base 111c, hip joint division board 111d and hip joint connector 111e.
Wherein, hip joint support base 111c is provided with through hole 1111, and further, hip joint support base 111c is additionally provided with hip
The first limiting section of joint 1112, optionally, first limiting section of hip joint 1112 are stopper slot, and quantity be two.
Further, hip joint the first connecting plate 111b and hip joint support base 111c, optionally, hip joint first connects
Plate 111b is bolted to connection with hip joint support base 111c；Hip joint motor 111a drive shaft 1113 is closed from hip
Through holes 1111 of the section support base 111c close to the first connecting plate of hip joint 111b side through hip joint support base 111c, and with
Hip joint support base 111c is fixedly connected, and in the present embodiment, is closed by flat head bolt from hip joint support base 111c away from hip
The side for saving the first connecting plate 111b is fixedly connected with hip joint motor 111a and hip joint support base 111c；Hip joint is isolated
Plate 111d is sheathed on hip joint motor from sides of the hip joint support base 111c away from the first connecting plate of hip joint 111b
In 111a drive shaft 1113, in the present embodiment, hip joint division board 111d is also covered on for being fixedly connected with hip joint drive
On dynamic motor 111a and hip joint support base 111c flat head bolts, to prevent flat head bolt loosens from causing hip joint motor
111a separates with hip joint support base 111c；Hip joint connector 111e is sheathed on hip joint motor 111a drive shaft
1113 and pressure on the hip joint division board 111d, further, hip joint connector 111e and hip joint motor 111a
Drive shaft 1113 be fixedly connected, to cause hip joint connector 111e in hip joint motor 111a drive shaft 1113
It is rotated by, optionally, hip joint connector 111e is cross coupler, by bolt at the cross axle of cross coupler
It is fixedly connected with hip joint motor 111a drive shaft 1113.
Fig. 2 and Fig. 3 is referred to jointly, hip joint gear reducer mechanism 112 includes foreign steamer 112a and lubrication groove 112b, and lubrication groove 112b can
Rotated relative to foreign steamer 112a.
Specifically, foreign steamer 112a can be fixedly connected by bolt with hip joint support base 111c, and lubrication groove 112b is provided with and hip
The neck (not shown) that joint connector 111e coordinates, lubrication groove 112b are sheathed on hip joint motor 111a drive shaft
1113, and lubrication groove 112b neck engages with hip joint connector 111e, to cause lubrication groove 112b and hip joint motor
111a drive shaft 1113 is relatively fixed, and then causes drives of the lubrication groove 112b in hip joint motor 111a drive shaft 1113
Rotated under dynamic relative to foreign steamer 112a.
Further, sides of the lubrication groove 112b of hip joint gear reducer mechanism 112 away from hip joint connector 111e is provided with
Locating dowel 1121.
Hip joint Bearning mechanism 113 includes outer ring 113a and inner ring 113b, and inner ring 113b can rotate relative to outer ring 113a.
Specifically, outer ring 113a hip joint gear reducer mechanism 112 lubrication groove 112b be provided with locating dowel 1121 side with
Hip joint support base 111c is fixedly connected, and in the present embodiment, in outer ring, 113a side passes through bolt and hip joint support base
111c is fixedly connected；Inner ring 113b be sheathed on hip joint motor 111a drive shaft 1113 and with hip joint gear reducer mechanism
The location fit of locating dowel 1121 on 112 lubrication groove 112b, to cause drivings of the inner ring 113b in hip joint motor 111a
Lubrication groove 112b in the axial direction of axle 1113 with hip joint gear reducer mechanism 112 is relatively fixed, and then follows hip joint decelerator machine
The lubrication groove 112b of structure 112 rotation and rotate.
Hip joint friction pulley 114 closes in side of the hip joint Bearning mechanism 113 away from hip joint gear reducer mechanism 112 with hip
The inner ring 113b of bearings mechanism 113 is fixedly connected.
Specifically, hip joint friction pulley 114 and the locating dowel 1121 on the lubrication groove 112b of hip joint gear reducer mechanism 112 are fixed
Position coordinates, to cause the inner ring 113b of hip joint friction pulley 114 and hip joint Bearning mechanism 113 in hip joint motor 111a
Drive shaft 1113 axial direction on be relatively fixed, further can be by bolt by the hip joint Bearning mechanism of hip joint friction pulley 114
113 inner ring 113b is fixedly connected, and then causes hip joint friction pulley 114 to follow the inner ring 113b of hip joint Bearning mechanism 113
Rotate and rotate.
Further, hip joint friction pulley 114 is additionally provided with the first buffer part of hip joint 1141, optionally, the hip joint
One buffer part 1141 is to be arranged at the double wedge of 114 outer avris of hip joint friction pulley.
Fig. 1 is further regarded to, hip joint drive component 11 also includes hip joint motor shield 115, hip joint motor for preventing
Shield 115 covers at hip joint motor 111a to be shielded to hip joint motor 111a.
Hip joint transmission component 12 is linked with hip joint drive component 11 to turn under the driving of ankle-joint drive component 11
It is dynamic.
Specifically, hip joint transmission component 12 and the frictional connection of hip joint friction pulley 114, with hip joint friction pulley 114
Friction-driven under rotate.
Fig. 4 and Fig. 5 is referred to jointly, hip joint transmission component 12 includes the first driving member of hip joint 121 and hip joint second
Driving member 122, the first driving member of hip joint 121 and hip joint friction pulley 114 are towards between the side of hip joint motor mechanism 111
Hip joint elastic component 123 is provided with, the hip joint elastic component 123 produces the elastic force on the axial direction of hip joint motor mechanism 111, hip
Opposite side and hip joint first driving member 121 be bolted company of the second driving member of joint 122 in hip joint friction pulley 114
Connect, to cause the second driving member of hip joint 122 to be close to hip joint friction pulley 114, and then and hip joint under elastic force effect
The frictional connection of friction pulley 114, to cause hip joint friction pulley 114 when rotating, the second driving member of friction-driven hip joint 122.
Further, hip joint elastic component 123 and hip joint friction pulley 114 are towards the side of hip joint motor mechanism 111
Between be additionally provided with the hip joint friction plate 124 and hip joint steel disc 125 being sticked successively, one end of hip joint elastic component 123 abuts
In the first driving member of hip joint 121, the other end is connected to hip joint steel disc 125, to cause hip joint friction plate 124 to be close to hip
Joint-friction wheel 114, and then cause the first driving member of hip joint 121 to pass through hip joint friction plate 124 and hip joint friction pulley film
Layer connection, with when hip joint friction pulley 114 rotates, friction-driven hip joint friction plate 124, to pass through hip joint friction plate
124 the first driving members of friction-driven hip joint 121.
Optionally, hip joint elastic component 123 is helical spring.
Refering to Fig. 6, the first driving member of hip joint 121 is provided with the second limiting section of hip joint 1211, is closed by above-mentioned hip
When saving the rotation of the friction-driven hip joint transmission component 12 of friction pulley 114, the second limiting section of hip joint 1211 limits with hip joint first
Position portion 1112 coordinates, to limit the rotational freedom of hip joint transmission component 12.
Optionally, second limiting section of hip joint 1211 is the limit coordinated with the stopper slot of the first limiting section of hip joint 1112
Position post, the rotational freedom can be configured according to actually required, not be limited herein.
Further, the second driving member of hip joint 122 is provided with the second buffer part of hip joint 1221, in hip joint friction pulley
114 with the second driving member of hip joint 122 when being close to, and second buffer part of hip joint 1221 and the hip of hip joint friction pulley 114 close
The gap setting of the first buffer part 1141 is saved, to pass through the above-mentioned friction-driven hip joint transmission component of hip joint friction pulley 114
When running into velocity jump during 12 rotations, cushioning effect is played.
Fig. 1 is further regarded to, hip joint components 10 also include the second connecting plate of hip joint 13, the connecting plate of hip joint second
13 are bolted to connection with the first connecting plate of hip joint 111b, wherein, the second connecting plate of hip joint 13 is provided with hanging plate
131。
Refering to Fig. 7, exoskeleton robot embodiment provided by the invention includes above-mentioned hip joint components 10, further bag
Include thigh support part 20, knee components 30, leg support part 40 and foot support section 50.
One end of thigh support part 20 is connected with hip joint transmission component 12, to follow turning for hip joint transmission component 12
Move and swing.
Refering to Fig. 8, thigh support part 20 includes thigh support plate 21 and thigh bandage device 22, and the one of thigh support plate 21
End is bolted to connection with the second driving member of knee joint 122, is put with following the rotation of the second driving member of knee joint 122
Dynamic, thigh bandage device 22, which is bolted, to be arranged on thigh support plate 21, for connecting thigh bandage, to fix thigh.
Fig. 7 and Fig. 9 is referred to jointly, knee components 30 are connected with the other end of thigh support mechanism 20, including knee joint
Drive component 31 and knee joint transmission component 32.
Wherein, knee joint drive component 31 includes knee joint motor mechanism 311, knee joint gear reducer mechanism 312, knee joint
Bearning mechanism 313 and knee joint friction pulley 314.
Refering to Figure 10, knee joint motor mechanism 311 includes knee joint motor 311a, the connecting plate of knee joint first
311b, knee brace seat 311c, knee joint division board 311d and knee joint connector 311e.
Wherein, knee brace seat 311c is provided with through hole 3111, and further, knee brace seat 311c is additionally provided with knee
The first limiting section of joint 3112, optionally, first limiting section of knee joint 3112 are stopper slot, and quantity be two.
Further, knee joint the first connecting plate 311b is fixedly connected with knee brace seat 311c, optionally, knee joint
First connecting plate 311b is bolted to connection with knee brace seat 311c；Knee joint motor 311a drive shaft
3113 pass through leading to for knee brace seat 311c from knee brace seat 311c close to the first connecting plate of knee joint 311b side
Hole 3111, and being fixedly connected with knee brace seat 311c, in the present embodiment, by flat head bolt from knee brace seat
Sides of the 311c away from the first connecting plate of knee joint 311b is fixedly connected with knee joint motor 311a and knee brace seat
311c；Knee joint division board 311d is sheathed on knee from sides of the knee brace seat 311c away from the first connecting plate of knee joint 311b
In joint drive motor 311a drive shaft 3113, in the present embodiment, knee joint division board 311d is also covered on for fixing
Connect on knee joint motor 311a and knee brace seat 311c flat head bolts, to prevent flat head bolt loosens from causing knee to close
Section motor 311a separates with knee brace seat 311c；Knee joint connector 311e is sheathed on knee joint motor 311a
Drive shaft 3113 and pressure on the knee joint division board 311d, further, knee joint connector 311e drives with knee joint
Motor 311a drive shaft 3113 is fixedly connected, to cause drivings of the knee joint connector 311e in knee joint motor 311a
Axle 3113 is rotated by, and optionally, knee joint connector 311e is cross coupler, by bolt in cross coupler
Drive shaft 3113 at cross axle with knee joint motor 311a is fixedly connected.
Figure 10 and Figure 11 is referred to jointly, knee joint gear reducer mechanism 312 includes foreign steamer 312a and lubrication groove 312b, lubrication groove 312b
It can be rotated relative to foreign steamer 312a.
Specifically, foreign steamer 312a can be fixedly connected by bolt with knee brace seat 311c, and lubrication groove 312b is provided with and knee
The neck (not shown) that joint connector 311e coordinates, lubrication groove 312b are sheathed on knee joint motor 311a drive shaft
3113, and lubrication groove 312b neck engages with knee joint connector 311e, to cause lubrication groove 312b and knee joint motor
311a drive shaft 3113 is relatively fixed, and then causes drives of the lubrication groove 312b in knee joint motor 311a drive shaft 3113
Rotated under dynamic relative to foreign steamer 312a.
Further, sides of the lubrication groove 312b of knee joint gear reducer mechanism 312 away from knee joint connector 311e is provided with
Locating dowel 3121.
Knee joint Bearning mechanism 313 includes outer ring 313a and inner ring 313b, and inner ring 313b can rotate relative to outer ring 313a.
Specifically, outer ring 313a knee joint gear reducer mechanism 312 lubrication groove 312b be provided with locating dowel 3121 side with
Knee brace seat 311c is fixedly connected, and in the present embodiment, in outer ring, 313a side passes through bolt and knee brace seat
311c is fixedly connected；Inner ring 313b be sheathed on knee joint motor 311a drive shaft 3113 and with knee joint gear reducer mechanism
The location fit of locating dowel 3121 on 312 lubrication groove 312b, to cause drivings of the inner ring 313b in knee joint motor 311a
Lubrication groove 312b in the axial direction of axle 3113 with knee joint gear reducer mechanism 312 is relatively fixed, and then follows knee joint decelerator machine
The lubrication groove 312b of structure 312 rotation and rotate.
Knee joint friction pulley 314 closes in side of the knee joint Bearning mechanism 313 away from knee joint gear reducer mechanism 312 with knee
The inner ring 113b of bearings mechanism 313 is fixedly connected.
Specifically, knee joint friction pulley 314 and the locating dowel 3121 on the lubrication groove 312b of knee joint gear reducer mechanism 312 are fixed
Position coordinates, to cause the inner ring 313b of knee joint friction pulley 314 and knee joint Bearning mechanism 313 in knee joint motor 311a
Drive shaft 3113 axial direction on be relatively fixed, further can be by bolt by the knee joint Bearning mechanism of knee joint friction pulley 314
313 inner ring 313b is fixedly connected, and then causes knee joint friction pulley 314 to follow the inner ring 313b of knee joint Bearning mechanism 313
Rotate and rotate.
Further, knee joint friction pulley 314 is additionally provided with the first buffer part of knee joint 3141, optionally, the knee joint
One buffer part 3141 is to be arranged at the double wedge of 314 outer avris of knee joint friction pulley.
Fig. 9 is further regarded to, knee joint drive component 31 also includes knee joint motor shield 315, knee joint motor for preventing
Shield 315 covers at knee joint motor 311a to be shielded to knee joint motor 311a.
Knee joint transmission component 32 is linked with knee joint drive component 31 to turn under the driving of ankle-joint drive component 31
It is dynamic.
Specifically, knee joint transmission component 32 and the frictional connection of knee joint friction pulley 314, with knee joint friction pulley 314
Friction-driven under rotate.
Common refer to Figure 12 and Figure 13, knee joint transmission component 32 includes the first driving member of knee joint 321 and knee joint the
Two driving members 322, the first driving member of knee joint 321 and knee joint friction pulley 314 towards the side of knee joint motor mechanism 311 it
Between be provided with knee joint elastic component 323, the knee joint elastic component 323 produces the elastic force on the axial direction of knee joint motor mechanism 311,
The second driving member of knee joint 322 is bolted in the opposite side of knee joint friction pulley 314 with the first driving member of knee joint 321
Connection, to cause the second driving member of knee joint 322 to be close to knee joint friction pulley 314 under elastic force effect, and then closed with knee
The frictional connection of friction pulley 314 is saved, to cause knee joint friction pulley 314 when rotating, the driving member of friction-driven knee joint second
322。
Further, knee joint elastic component 323 and knee joint friction pulley 314 are towards the side of knee joint motor mechanism 311
Between be additionally provided with the knee joint friction plate 324 and knee joint steel disc 325 being sticked successively, one end of knee joint elastic component 323 abuts
In the first driving member of knee joint 321, the other end is connected to knee joint steel disc 325, to cause knee joint friction plate 124 to be close to knee
Joint-friction wheel 314, and then cause the first driving member of knee joint 321 to pass through knee joint friction plate 324 and knee joint friction pulley film
Layer connection, with when knee joint friction pulley 314 rotates, friction-driven knee joint friction plate 324, to pass through knee joint friction plate
324 the first driving members of friction-driven knee joint 321.
Optionally, knee joint elastic component 323 is helical spring.
Refering to Figure 14, the first driving member of knee joint 321 is provided with the second limiting section of knee joint 3211, is closed by above-mentioned knee
When saving the rotation of the friction-driven knee joint transmission component 32 of friction pulley 314, the second limiting section of knee joint 3211 limits with knee joint first
Position portion 3112 coordinates, to limit the rotational freedom of knee joint transmission component 32.
Optionally, second limiting section of knee joint 3211 is the limit coordinated with the stopper slot of the first limiting section of knee joint 3112
Position post, the rotational freedom can be configured according to actually required, not be limited herein.
Further, the second driving member of knee joint 322 is provided with the second buffer part of knee joint 3221, in knee joint friction pulley
314 with the second driving member of knee joint 322 when being close to, and second buffer part of knee joint 3221 and the knee of knee joint friction pulley 314 close
The gap setting of the first buffer part 3141 is saved, to pass through the above-mentioned friction-driven knee joint transmission component of knee joint friction pulley 314
When running into velocity jump during 32 rotations, cushioning effect is played.
In other embodiments, other type of drive can also be used in the knee components 30 in the present embodiment, such as
Hydraulic-driven or connecting rod driving etc..
Leg support part 40 is connected with knee joint transmission component 32, is put with following the rotation of knee joint transmission component 32
It is dynamic.
Refering to Figure 15, leg support part 40 includes first end to end the first supporting plate of shank 41 and shank second supports
Plate 42, one end of the first supporting plate of shank 41 are consolidated with the second driving member of knee joint 322 of knee joint transmission component 32 by bolt
Fixed connection, is swung with following the rotation of the second driving member of knee joint 322, and the other end passes through bolt with the second supporting plate of shank 42
It is fixedly connected.
Fig. 7 and Figure 16 is referred to jointly, foot support section 50 is connected with leg support mechanism 40, to follow leg support machine
The swing of structure 40 and move, including resilient snubber 51 and foot's bearing assembly 52.
Optionally, resilient snubber 51 is that strip piece coiling forms.
Wherein, resilient snubber 51 includes ankle-joint matching part 511 and supporting part 512, ankle-joint matching part 511 and support
Portion 512 tilts bending connection, to produce first elastic force opposite with the overbending direction of ankle-joint matching part 511.
In the present embodiment, ankle-joint matching part 511 is in torsion spring type.
Further, the quantity of supporting part 512 is two, and resilient snubber 51 also includes heel string matching part 513, the heel string
The both ends of matching part 513 tilt bending connection with two supporting parts 512 respectively, for wrapping up the heel string of human foot, and produce
Raw second elastic force opposite with the overbending direction of heel string matching part 513.
Optionally, two supporting parts 512 are parallel to each other or in splayed.
Further, resilient snubber 51 also includes the first connecting portion 514 that is connected with ankle-joint matching part 511, and this
One connecting portion 514 is used for the miscellaneous part for connecting exoskeleton robot, and in the present embodiment, first connecting portion 514 passes through connection
Set 53 is connected with the second supporting plate of shank 42 of exoskeleton robot.
Wherein, first connecting portion 514 is in hook-shaped and fixed in hook-shaped first connecting portion 514 by bolt and adapter sleeve 53
Connection, it can prevent first connecting portion 514 from rotating or sliding, enhancing structure stability in adapter sleeve 53.
Further, the also included second connecting portion 515 of resilient snubber 51, second connecting portion 515 are hung down with supporting part 512
It is direct-connected to connect.
Further, resilient snubber 51 is provided with the first bandage 516, and the both ends of the first bandage 516 are connected to elasticity and delayed
Stamping 51 with resilient snubber 51 by wrapping up the rear feet of human foot.
In the present embodiment, the first bandage 516 is connected by bandage plate 517 with resilient snubber 51, and the one of bandage plate 517
End be fixedly connected with resilient snubber 51, the other end is connected with one end of the first bandage 516, the other end of the first bandage 516 and
Resilient snubber 51 connects.
Foot's bearing assembly 52 is connected with resilient snubber 51 for common parcel human foot.
Specifically, foot's bearing assembly 52 includes bottom plate 521, and bottom plate 521 is provided with the second bandage 522, the second bandage 522
Both ends be connected to bottom plate 521 to wrap up the forefoot of human foot jointly with bottom plate 521, in conjunction with above-mentioned resilient snubber
51 and first bandage 516 wrap up the rear feet of human foot jointly, and then wrap up human foot.
Wherein, the second connecting portion 516 of bottom plate 521 and resilient snubber 51 is relatively fixed, for carrying human foot,
In the present embodiment, bottom plate 521 is fixedly connected by bottom plate connecting plate 523 with second connecting portion 516.
Specifically, the quantity of bottom plate connecting plate 523 is two, and two bottom plate connecting plates 523 clamp first connecting portion jointly
516 and supporting part 512, and be bolted to connection so that bottom plate connecting plate 523 is relatively fixed with second connecting portion 516,
Then bottom plate 521 is fixedly connected with bottom plate connecting plate 523 by bolt again.
Wherein, bottom plate 521 can be the shape being coincide with human foot shape, to be preferably bonded with human foot, together
When, the front end of bottom plate 521 can also be oblique, and to cause human foot when walking, more preferable branch is played to human foot
The effect of holding.
Further, side of the bottom plate 521 away from the second bandage 522 is additionally provided with pad 524, the pad 524 be used for
When ground contacts, increase and the frictional force on ground.
Optionally, the material for padding 524 is elastomeric material.
Further, when resilient snubber 51 and foot's bearing assembly 52 wrap up human foot jointly, resilient snubber
51 match with human foot, so that when human foot carries out landing, elastic buffer is carried out to human foot.
Specifically, when wrapping up human foot, ankle-joint matching part 511 and the ankle-joint of human foot match, and
Under above-mentioned the first elastic force effect, elastic buffer is carried out to ankle-joint by first elastic force；Heel string matching part 513 and human foot
The heel string in portion matches, and under above-mentioned the second elastic force effect, elastic buffer is carried out to heel string by second elastic force, so that
Obtain when human foot carries out landing, play a part of bumper and absorbing shock.
Further, since in the present embodiment, ankle-joint matching part 511 is in torsion spring shape, and therefore, when being matched with ankle-joint,
Elastic buffer can also be carried out to ankle-joint on the direction perpendicular to ankle-joint, avoid ankle-joint in this direction by violent
Impact, be advantageous to protect ankle-joint.
Fig. 7 is further regarded to, the present embodiment exoskeleton robot also includes shank baffle component 60 and lumbar support part
70。
Refering to Figure 17, shank baffle component 60 includes fixed seat 61, baffle plate assembly 62 and linkage 63.
Fixed seat 61 is used for the miscellaneous part for connecting exoskeleton robot in the present embodiment, in the present embodiment, fixed seat
61 connect with being connected the first supporting plate of shank 42.
Wherein, fixed seat 61 is provided with locating slot 611, can be fixedly connected with fixed seat 61 through locating slot 611 by bolt
And the first supporting plate of shank 62, and adjust link position on the length direction of locating slot 611.
Baffle plate assembly 62 is articulated in fixed seat 61, to be in the state opened and fastened relative to fixed seat 61.
Specifically, baffle plate assembly 62 includes shank bandage arm 621 and shank baffle plate 622, shank bandage arm 621 and fixed seat
61 pivot joints, to cause shank bandage arm 621 to be rotated relative to fixed seat 61, optionally, shank can be concatenated by straight pin and stretched tight
Armed 621 and fixed seat, then in the both ends construction opening back-up ring of straight pin；Shank baffle plate 622 is connected with shank bandage arm 621
For being bonded with human calf, during fitting, shank baffle plate 622 follow the rotation of shank bandage arm 621 and close to people
Body shank, with when being bonded with human calf, in buckling state, when being separated with human calf, in opened condition.
Wherein, shank baffle plate 622 is rotatablely connected with shank bandage arm 621, when being bonded with human calf, to follow human body
The motion of shank and rotated relative to shank bandage arm 621.
Specifically, baffle plate assembly 62 further comprises the first connector 623 and the second connector 624, the first connector 623
It is fixedly connected with shank baffle plate 622, and middle curved setting, refering to Figure 18, the second connector 624 includes optical axis portion 6241,
Second connector 624 is connected through the first connector 623 with shank bandage arm 621, and causes part and the light of curved setting
Axle portion 6241 is bonded, and to cause the first connector 623 to be rotated relative to optical axis portion 6241, and then make it that shank baffle plate 622 can
Rotated relative to shank bandage arm 621,
Further, shank baffle plate 622 is detachably connected with shank bandage arm 621.
Specifically, the second connector 624 also includes threaded portion 6242, connects in the second above-mentioned connector 624 through first
When fitting 623 is connected with shank bandage arm 621, it is threadedly coupled by threaded portion 6242 with shank bandage arm 621, to cause second
Connector 624 is detachably connected with shank bandage arm 621, and then shank baffle plate 622 is detachably connected with shank bandage arm 621
Connect.
Optionally, 622 curved setting of shank baffle plate, and the size of upper end is more than the size of lower end so that shank baffle plate
622 shape can coincide with the shape of human calf, and to be adapted to wearing, further, the material of shank baffle plate 622 is flexibility
Material, it is flexible so that when being human calf's fitting, to be bonded with human calf's flexibility, increase comfort, avoid in rigidity
During fitting, to the wear damage of human calf；The 621 curved setting of shank bandage arm, can coincide with the shape of human calf,
And the size on the bearing of trend away from shank baffle plate 622 becomes larger, and can save material, reduce cost, and mitigate whole
Body weight.
Further, shank baffle plate 622 is provided with shank bandage 6221, with when being bonded with human calf, bondage human body
Shank.
Body of rod mechanism 63 includes first body of rod 631 and second body of rod 632 of the first pivot joint, first body of rod 631 and the second bar
Body 632 is articulated in fixed seat 61 and baffle plate assembly 62 respectively, to be servo-actuated in baffle plate assembly 62.
Wherein, when baffle plate assembly 62 is in buckling state relative to fixed seat 61, first body of rod 631 and second body of rod 632
Linearly set relative to the pivoting centre 6311 of first body of rod 631 and second body of rod 632, with locked flapper component 62.
Refering to Figure 19, when baffle plate assembly 62 is in buckling state relative to fixed seat 61, due to first body of rod 631 and second
The body of rod 632 is linearly set relative to the pivoting centre 6311 of first body of rod 631 and second body of rod 632, then if desired by baffle plate
Component 62 departs from buckling state, then needs direction of arrow butterfly component 62 in the example shown, now, the linearly set
One body of rod 631 and second body of rod 632 support shank bandage arm 621 and fixed seat 61 in this direction simultaneously, so as to cause baffle plate
Component 62 can not rotate in this direction, and then locked flapper component 62, when baffle plate assembly 62 is human calf's fitting, drop
The low probability departed from human calf, improves the reliability used.
Further, when baffle plate assembly 62 relative to fixed seat 61 in opened condition when, first body of rod 631 and second body of rod
632 are set relative to the pivoting centre 6311 of first body of rod 631 and second body of rod 632 in angle.
Optionally, link assembly 63 further comprises the 3rd body of rod 633, the 3rd body of rod 633 and first body of rod 631 or the second
The body of rod 632 connects, to promote first body of rod 631 or second body of rod 632 under external force so that first body of rod 631 or the second
The body of rod 632 is set from straight line is changed into angle setting.
In the present embodiment, the 3rd body of rod 633 is connected with first body of rod 631, when first body of rod 631 and second body of rod 632
When being set in above-mentioned straight line, it is only necessary to apply external force to the 3rd body of rod 633 manually so that first body of rod 631 is relative to solid
Reservation 61 rotates, you can so that first body of rod 631 and second body of rod 632 set from straight line and be changed into angle setting, now, baffle group
Part 62 can be at non-locking state, and then be changed into open mode from buckling state.
Optionally, the 3rd body of rod 633 and first body of rod 631 or second body of rod 632 are set in angle.
Jointly refering to Fig. 7 and being connected refering to Figure 20, lumbar support part 70 with hip joint components 10, for human lumbar
Portion is bonded, and then supports human body waist, including the first connector of waist 71, the first supporting plate of waist 72, the connector of waist second
73 and the second supporting plate of waist 74.
One end of the first connector of waist 71 is connected with the second connecting plate of hip joint 13, and quantity is two, and is set in hollow out
Put, material can be saved, reduce cost, realize light and handyization of structure.
Wherein, the first connector of waist 71 is set in bending.
The first supporting plate of waist 72 is connected with the other end of the first connector of waist 71, and is set in hollow out, can be saved
Material, cost is reduced, realize light and handyization of structure.
Wherein, the shape of the first supporting plate of waist 72 and the shape of human body waist are coincide, to be bonded with human body waist.
One end of the second connector of waist 73 and the first supporting plate of waist 72.
The second supporting plate of waist 74 is connected with the other end of the second connector of waist 73, and is set in hollow out, can be saved
Material, cost is reduced, realize light and handyization of structure.
Further, the lumbar support part 70 in the present embodiment also includes control box 75, control box 75 and waist second
Supporting plate 74 connects.
Refering to Figure 21, control box 75 includes the power supply 751 and controller 752 of electrical connection, and controller 752 drives with hip joint
Motor 111a and knee joint motor 311a electrical connections, to control hip joint motor 111a and knee joint motor
311a working condition.
Figure 22 and Figure 23 is referred to jointly, in practical application scene, the exoskeleton robot embodiment branch in the present embodiment
Support in standing state of the human body 80 to enable human body to keep as shown in figure 22, when needing that other states, hip joint portion is presented
Drive component in part 10 and/or knee components 30 is by friction pulley friction-driven transmission component, to drive the hip of human body 80
Joint and motion of knee joint, the sitting posture state such as Figure 23 can be presented, only above-mentioned two states are entered in certain the present embodiment
Row explanation, in other embodiments, exoskeleton robot can also cause human body 80 that the shape in other states, such as walking is presented
State.
The situation of prior art is different from, the present invention includes hip by using the hip joint drive component of exoskeleton robot
Joint-friction wheel is with friction-driven hip joint transmission component, in a manner of driving joint motions so that hip joint drive component body
Product is light and handy, smooth running, and then causes exoskeleton robot to be adapted to dress and be easy to carry.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of hip joint components of exoskeleton robot, it is characterised in that the hip joint components include hip joint driving group
Part and hip joint transmission component, the hip joint drive component include hip joint friction pulley, the hip joint transmission component and institute
Hip joint friction pulley frictional connection is stated, to be rotated under the friction-driven of the hip joint friction pulley.
2. hip joint components according to claim 1, it is characterised in that the hip joint drive component further comprises hip
Joint motor mechanism, the hip joint friction pulley in the axial direction of the hip joint motor mechanism with the hip joint motor mechanism
It is relatively fixed, with being rotated by the hip joint motor mechanism.
3. hip joint components according to claim 2, it is characterised in that the hip joint transmission component includes hip joint the
One driving member and the driving member of hip joint second, the driving member of hip joint first close with the hip joint friction pulley towards the hip
Hip joint elastic component is provided between the side of section motor mechanism, the hip joint elastic component produces the elastic force on the axial direction,
The driving member of hip joint second is fixedly connected in the opposite side of the hip joint friction pulley with the driving member of hip joint first,
To be close to the hip joint friction pulley in the presence of the elastic force, so with the hip joint friction pulley frictional connection.
4. hip joint components according to claim 3, it is characterised in that the hip joint elastic component rubs with the hip joint
Wheel face is wiped to being additionally provided with the hip joint friction plate and hip joint steel disc that are sticked successively between the side of the hip joint motor mechanism,
One end of the hip joint elastic component is connected to the driving member of hip joint first, and the other end is connected to the hip joint steel disc,
To cause the hip joint friction plate to be close to the hip joint friction pulley, and then the driving member of hip joint first is passed through
Hip joint friction plate and the hip joint friction pulley frictional connection.
5. hip joint components according to claim 3, it is characterised in that the hip joint motor mechanism drives including hip joint
Dynamic motor and money joint support seat, the hip joint support base are provided with through hole, and the hip joint drives the drive shaft that electricity saves from institute
The side for stating hip joint support base is fixedly connected through the through hole with the hip joint support base.
6. hip joint components according to claim 5, it is characterised in that the money joint support seat is provided with hip joint the
One limiting section, the driving member of hip joint first are provided with the limiting section of hip joint second, in the friction-driven, the hip joint
First limiting section is engaged with the limiting section of hip joint second, to limit the rotational freedom of the hip joint transmission component.
7. hip joint components according to claim 5, it is characterised in that the further hip joint of hip joint drive component
Reducing gear, the hip joint reducing gear include relatively turnable foreign steamer and lubrication groove, and the foreign steamer is in the branch to hip joint
The opposite side of support seat is fixedly connected with the hip joint support base, and the lubrication groove is sheathed on the driving of the hip joint motor
Axle is simultaneously relatively fixed with the drive shaft of the hip joint motor, with the driving of the drive shaft of the hip joint motor
Lower rotation.
8. hip joint components according to claim 7, it is characterised in that the hip joint drive component further comprises hip
Oscillating bearing mechanism, the hip joint Bearning mechanism include relatively turnable outer ring and inner ring, and the outer ring is closed with the hip
Section support base is fixedly connected, and the inner ring is sheathed on the drive shaft of the hip joint motor and relative with the lubrication groove solid
It is fixed, rotated with following the rotation of the lubrication groove.
9. hip joint components according to claim 8, it is characterised in that the hip joint friction pulley is in the hip joint axle
Hold side of the mechanism away from hip joint gear reducer mechanism and the inner ring of hip joint Bearning mechanism is relatively fixed, to follow the inner ring
Rotation and rotate.
10. a kind of exoskeleton robot, it is characterised in that it is any described that the exoskeleton robot includes claim 1~9
Hip joint components.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710766943.9A CN107569362B (en) | 2017-08-29 | 2017-08-29 | Exoskeleton robot and hip joint part thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710766943.9A CN107569362B (en) | 2017-08-29 | 2017-08-29 | Exoskeleton robot and hip joint part thereof |
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| CN107569362A true CN107569362A (en) | 2018-01-12 |
| CN107569362B CN107569362B (en) | 2023-07-07 |
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| CN109895064A (en) * | 2019-02-28 | 2019-06-18 | 中国科学院深圳先进技术研究院 | A kind of exoskeleton robot |
| CN110385693A (en) * | 2018-04-23 | 2019-10-29 | 深圳市肯綮科技有限公司 | A kind of compact power articulation mechanism and its lightweight lower limb power assistive device |
| WO2023070863A1 (en) * | 2021-10-28 | 2023-05-04 | 中国科学院深圳先进技术研究院 | Walking-assistive exoskeleton apparatus |
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| CN107569362B (en) | 2023-07-07 |
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