CN107595556A - A kind of exoskeleton robot and its shank baffle component - Google Patents
A kind of exoskeleton robot and its shank baffle component Download PDFInfo
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- CN107595556A CN107595556A CN201710760025.5A CN201710760025A CN107595556A CN 107595556 A CN107595556 A CN 107595556A CN 201710760025 A CN201710760025 A CN 201710760025A CN 107595556 A CN107595556 A CN 107595556A
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- rod
- shank
- baffle plate
- hip joint
- joint
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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 shank baffle component.When the present invention is fastened by the baffle plate assembly of shank baffle component relative to fixed seat, first body of rod and second body of rod of linkage are linearly set relative to both pivoting centres, in the method for locked flapper component, so that baffle plate assembly with human calf when fastening, the situation for even avoiding baffle plate assembly from being come off with human calf is reduced, improves ease of use and security.
Description
Technical field
The present invention relates to medical instruments field, more particularly to a kind of exoskeleton robot and its shank baffle component.
Background technology
As wearable device, the shank baffle component of exoskeleton robot typically passes through bandage when being interacted with shank
In shank, but during human body walking, situation about coming off occurs in flexible bandage for bondage, now, shank baffle group
Part then can equally come off with shank.
The content of the invention
The present invention is mainly to provide a kind of exoskeleton robot and its shank baffle component, it is intended to solves shank baffle component
The problem of easily being come off with human calf.
In order to solve the above technical problems, one aspect of the present invention is：The shank of exoskeleton robot is provided
Baffle component, the shank baffle component include fixed seat；Baffle plate assembly, the baffle plate assembly are articulated in the fixed seat, with
Relative to the fixed seat in the state opened and fastened；Linkage, include first body of rod and second body of rod of the first pivot joint,
First body of rod is articulated in the fixed seat and the baffle plate assembly respectively with second body of rod, to be servo-actuated in the baffle plate
Component；Wherein, when the baffle plate assembly relative to the fixed seat in opened condition when, first body of rod and second bar
Body phase is set for the pivoting centre of first body of rod and second body of rod in angle；When the baffle plate assembly is relative to institute
When to state fixed seat be in buckling state, first body of rod is with second body of rod relative to first body of rod and second bar
The pivoting centre of body is linearly set, to lock the baffle plate assembly.
Wherein, the linkage further comprises the 3rd body of rod, the 3rd body of rod and first body of rod or described
Second body of rod connects, and for promoting first body of rod or second body of rod under external force, and then causes first bar
Body and second body of rod are set from the straight line is changed into the angle setting.
Wherein, it is characterised in that the 3rd body of rod is set with first body of rod or second body of rod in angle.
Wherein, the baffle plate assembly includes shank bandage arm and shank baffle plate, the shank baffle plate and the shank bandage
Arm connection is for fitting human calf.
Wherein, the shank baffle plate and the shank bandage arm are rotatablely connected, with when being bonded with the human calf, with
Rotated with the motion of the human calf relative to the shank bandage arm.
Wherein, the shank baffle plate is detachably connected with the shank bandage arm.
Wherein, the shank baffle plate is provided with shank bandage, with when the shank baffle plate is bonded with the human calf
Human calf described in bondage.
Wherein, the curved setting of shank bandage arm, and the size on the bearing of trend away from the shank baffle plate
Become larger.
Wherein, the fixed seat is provided with locating slot, for the miscellaneous part of the connection exoskeleton robot, and
Link position is adjusted on the length direction of the locating slot.
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 shank baffle component.
The beneficial effects of the invention are as follows：It is different from the situation of prior art, the baffle plate that the present invention passes through shank baffle component
When component fastens relative to fixed seat, first body of rod and second body of rod of linkage are linear relative to both pivoting centres
Set, in the method for locked flapper component so that baffle plate assembly reduces when being fastened with human calf and even avoids baffle plate assembly
Situation about being come off with human calf, improve ease of use and security.
Brief description of the drawings
Fig. 1 is the structural representation of the shank baffle component embodiment of exoskeleton robot provided by the invention；
Fig. 2 is the structural representation of the second connector in Fig. 1；
Fig. 3 is the schematic top plan view that baffle plate assembly is in buckling state in Fig. 1；
Fig. 4 is the structural representation of exoskeleton robot embodiment provided by the invention；
Fig. 5 is the decomposing schematic representation of hip joint components in Fig. 4；
Fig. 6 is the decomposing schematic representation of the hip joint motor mechanism in Fig. 5；
Fig. 7 is the decomposing schematic representation of hip joint gear reducer mechanism, hip joint Bearning mechanism and hip joint friction pulley in Fig. 5；
Fig. 8 is the assembling schematic cross-section of Tu5Zhong Ge mechanisms；
Fig. 9 is the enlarged diagram of part A in Fig. 8；
Figure 10 is the decomposing schematic representation of hip joint transmission component and hip joint friction pulley in Fig. 5；
Figure 11 is the structural representation of Tu4Zhong thigh supports mechanism；
Figure 12 is the decomposing schematic representation of knee components in Fig. 4；
Figure 13 is the decomposing schematic representation of the knee joint motor mechanism in Figure 12；
Figure 14 is the exploded pictorial of knee joint gear reducer mechanism, knee joint Bearning mechanism and knee joint friction pulley in Figure 12
Figure；
Figure 15 is the assembling schematic cross-section of Figure 12 Zhong Ge mechanisms；
Figure 16 is the enlarged diagram of part B in Figure 15；
Figure 17 is the decomposing schematic representation of knee joint transmission component and knee joint friction pulley in Figure 12；
Figure 18 is the structural representation of shank support member in Fig. 4；
Figure 19 is the decomposing schematic representation of foot support section in Fig. 4；
Figure 20 is the decomposing schematic representation of lumbar support part in Fig. 4；
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. 4；
Figure 23 is the sitting posture schematic diagram of exoskeleton robot and human body in Fig. 4.
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 exoskeleton robot provided by the present invention and its shank baffle component.
Refering to Fig. 1, the embodiment of shank baffle component 10 provided by the invention include fixed seat 11, baffle plate assembly 12 and
Linkage 13.
Fixed seat 11 is used for the miscellaneous part for connecting exoskeleton robot in the present embodiment.
Wherein, fixed seat 11 is provided with locating slot 111, can be fixedly connected with fixed seat 11 through locating slot 111 by bolt
With the miscellaneous part of exoskeleton robot, and link position is adjusted on the length direction of locating slot 111.
Baffle plate assembly 12 is articulated in fixed seat 11, to be in the state opened and fastened relative to fixed seat 11.
Specifically, baffle plate assembly 12 includes shank bandage arm 121 and shank baffle plate 122, shank bandage arm 121 and fixed seat
11 pivot joints, to cause shank bandage arm 121 to be rotated relative to fixed seat 11, optionally, shank can be concatenated by straight pin and stretched tight
Armed 121 and fixed seat, then in the both ends construction opening back-up ring of straight pin；Shank baffle plate 122 is connected with shank bandage arm 121
For being bonded with human calf, during fitting, shank baffle plate 122 follow the rotation of shank bandage arm 121 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 122 is rotatablely connected with shank bandage arm 121, when being bonded with human calf, to follow human body
The motion of shank and rotated relative to shank bandage arm 121.
Specifically, baffle plate assembly 12 further comprises the first connector 123 and the second connector 124, the first connector 123
It is fixedly connected with shank baffle plate 122, and middle curved setting, refering to Fig. 2, the second connector 124 includes optical axis portion 1241, the
Two connectors 124 are connected through the first connector 123 with shank bandage arm 121, and cause part and the optical axis of curved setting
Portion 1241 is bonded, and to cause the first connector 123 to be rotated relative to optical axis portion 1241, and then make it that shank baffle plate 122 can phase
Rotated for shank bandage arm 121,
Further, shank baffle plate 122 is detachably connected with shank bandage arm 121.
Specifically, the second connector 124 also includes threaded portion 1242, connects in the second above-mentioned connector 124 through first
When fitting 123 is connected with shank bandage arm 121, it is threadedly coupled by threaded portion 1242 with shank bandage arm 121, to cause second
Connector 124 is detachably connected with shank bandage arm 121, and then shank baffle plate 122 is detachably connected with shank bandage arm 121
Connect.
Optionally, 122 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
122 shape can coincide with the shape of human calf, and to be adapted to wearing, further, the material of shank baffle plate 122 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 121 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 122 becomes larger, and can save material, reduce cost, and mitigate whole
Body weight.
Further, shank baffle plate 122 is provided with shank bandage 1221, with when being bonded with human calf, bondage human body
Shank.
Body of rod mechanism 13 includes first body of rod 131 and second body of rod 132 of the first pivot joint, first body of rod 131 and the second bar
Body 132 is articulated in fixed seat 11 and baffle plate assembly 12 respectively, to be servo-actuated in baffle plate assembly 12.
Wherein, when baffle plate assembly 12 is in buckling state relative to fixed seat 11, first body of rod 131 and second body of rod 132
Linearly set relative to the pivoting centre 1311 of first body of rod 131 and second body of rod 132, with locked flapper component 12.
Refering to Fig. 3, when baffle plate assembly 12 is in buckling state relative to fixed seat 11, due to first body of rod 131 and second
The body of rod 132 is linearly set relative to the pivoting centre 1311 of first body of rod 131 and second body of rod 132, then if desired by baffle plate
Component 12 departs from buckling state, then needs direction of arrow butterfly component 12 in the example shown, now, the linearly set
One body of rod 131 and second body of rod 132 support shank bandage arm 121 and fixed seat 11 in this direction simultaneously, so as to cause baffle plate
Component 12 can not rotate in this direction, and then locked flapper component 12, when baffle plate assembly 12 is human calf's fitting, drop
The low probability departed from human calf, improves the reliability used.
Further, when baffle plate assembly 12 relative to fixed seat 11 in opened condition when, first body of rod 131 and second body of rod
132 are set relative to the pivoting centre 1311 of first body of rod 131 and second body of rod 132 in angle.
Optionally, link assembly 13 further comprises the 3rd body of rod 133, the 3rd body of rod 133 and first body of rod 131 or the second
The body of rod 132 connects, to promote first body of rod 131 or second body of rod 132 under external force so that first body of rod 131 or the second
The body of rod 132 is set from straight line is changed into angle setting.
In the present embodiment, the 3rd body of rod 133 is connected with first body of rod 131, when first body of rod 131 and second body of rod 132
When being set in above-mentioned straight line, it is only necessary to apply external force to the 3rd body of rod 133 manually so that first body of rod 131 is relative to solid
Reservation 11 rotates, you can so that first body of rod 131 and second body of rod 132 set from straight line and be changed into angle setting, now, baffle group
Part 12 can be at non-locking state, and then be changed into open mode from buckling state.
Optionally, the 3rd body of rod 133 and first body of rod 131 or second body of rod 132 are set in angle.
Refering to Fig. 4, exoskeleton robot embodiment provided by the invention includes above-mentioned shank baffle component 10, further
Including hip joint components 20, thigh support part 30, knee components 40, leg support part 50 and foot support section 60.
Refering to Fig. 5, hip joint components 20 include hip joint drive component 21 and hip joint transmission component 22.
Wherein, hip joint drive component 21 includes hip joint motor mechanism 211, hip joint gear reducer mechanism 212, hip joint
Bearning mechanism 213 and hip joint friction pulley 214.
Refering to Fig. 6, hip joint motor mechanism 211 include hip joint motor 211a, the first connecting plate of hip joint 211b,
Hip joint support base 211c, hip joint division board 211d and hip joint connector 211e.
Wherein, hip joint support base 211c is provided with through hole 2111, and further, hip joint support base 211c is additionally provided with hip
The first limiting section of joint 2112, optionally, first limiting section of hip joint 2112 are stopper slot, and quantity be two.
Further, hip joint the first connecting plate 211b and hip joint support base 211c, optionally, hip joint first connects
Plate 211b is bolted to connection with hip joint support base 211c；Hip joint motor 211a drive shaft 2113 is closed from hip
Through holes 2111 of the section support base 211c close to the first connecting plate of hip joint 211b side through hip joint support base 211c, and with
Hip joint support base 211c is fixedly connected, and in the present embodiment, is closed by flat head bolt from hip joint support base 211c away from hip
The side for saving the first connecting plate 211b is fixedly connected with hip joint motor 211a and hip joint support base 211c；Hip joint is isolated
Plate 211d is sheathed on hip joint motor from sides of the hip joint support base 211c away from the first connecting plate of hip joint 211b
In 211a drive shaft 2113, in the present embodiment, hip joint division board 211d is also covered on for being fixedly connected with hip joint drive
On dynamic motor 211a and hip joint support base 211c flat head bolts, to prevent flat head bolt loosens from causing hip joint motor
211a separates with hip joint support base 211c；Hip joint connector 211e is sheathed on hip joint motor 211a drive shaft
2113 and pressure on the hip joint division board 211d, further, hip joint connector 211e and hip joint motor 211a
Drive shaft 2113 be fixedly connected, to cause hip joint connector 211e in hip joint motor 211a drive shaft 2113
It is rotated by, optionally, hip joint connector 211e is cross coupler, by bolt at the cross axle of cross coupler
It is fixedly connected with hip joint motor 211a drive shaft 2113.
Fig. 6 and Fig. 7 is referred to jointly, hip joint gear reducer mechanism 212 includes foreign steamer 212a and lubrication groove 212b, and lubrication groove 212b can
Rotated relative to foreign steamer 212a.
Specifically, foreign steamer 212a can be fixedly connected by bolt with hip joint support base 211c, and lubrication groove 212b is provided with and hip
The neck (not shown) that joint connector 211e coordinates, lubrication groove 212b are sheathed on hip joint motor 211a drive shaft
2113, and lubrication groove 212b neck engages with hip joint connector 211e, to cause lubrication groove 212b and hip joint motor
211a drive shaft 2113 is relatively fixed, and then causes drives of the lubrication groove 212b in hip joint motor 211a drive shaft 2113
Rotated under dynamic relative to foreign steamer 212a.
Further, sides of the lubrication groove 212b of hip joint gear reducer mechanism 212 away from hip joint connector 211e is provided with
Locating dowel 2121.
Hip joint Bearning mechanism 213 includes outer ring 213a and inner ring 213b, and inner ring 213b can rotate relative to outer ring 213a.
Specifically, outer ring 213a hip joint gear reducer mechanism 212 lubrication groove 212b be provided with locating dowel 2121 side with
Hip joint support base 211c is fixedly connected, and in the present embodiment, in outer ring, 213a side passes through bolt and hip joint support base
211c is fixedly connected；Inner ring 213b be sheathed on hip joint motor 211a drive shaft 2113 and with hip joint gear reducer mechanism
The location fit of locating dowel 2121 on 212 lubrication groove 212b, to cause drivings of the inner ring 213b in hip joint motor 211a
Lubrication groove 212b in the axial direction of axle 2113 with hip joint gear reducer mechanism 212 is relatively fixed, and then follows hip joint decelerator machine
The lubrication groove 212b of structure 212 rotation and rotate.
Hip joint friction pulley 214 closes in side of the hip joint Bearning mechanism 213 away from hip joint gear reducer mechanism 212 with hip
The inner ring 213b of bearings mechanism 213 is fixedly connected.
Specifically, hip joint friction pulley 214 and the locating dowel 2121 on the lubrication groove 212b of hip joint gear reducer mechanism 212 are fixed
Position coordinates, to cause the inner ring 213b of hip joint friction pulley 214 and hip joint Bearning mechanism 213 in hip joint motor 211a
Drive shaft 2113 axial direction on be relatively fixed, further can be by bolt by the hip joint Bearning mechanism of hip joint friction pulley 214
213 inner ring 213b is fixedly connected, and then causes hip joint friction pulley 214 to follow the inner ring 213b of hip joint Bearning mechanism 213
Rotate and rotate.
Further, hip joint friction pulley 214 is additionally provided with the first buffer part of hip joint 2141, optionally, the hip joint
One buffer part 2141 is to be arranged at the double wedge of 214 outer avris of hip joint friction pulley.
Fig. 5 is further regarded to, hip joint drive component 21 also includes hip joint motor shield 215, hip joint motor for preventing
Shield 215 covers at hip joint motor 211a to be shielded to hip joint motor 211a.
Hip joint transmission component 22 is linked with hip joint drive component 21 to turn under the driving of ankle-joint drive component 21
It is dynamic.
Specifically, hip joint transmission component 22 and the frictional connection of hip joint friction pulley 214, with hip joint friction pulley 214
Friction-driven under rotate.
Fig. 8 and Fig. 9 is referred to jointly, hip joint transmission component 22 includes the first driving member of hip joint 221 and hip joint second
Driving member 222, the first driving member of hip joint 221 and hip joint friction pulley 214 are towards between the side of hip joint motor mechanism 211
Hip joint elastic component 223 is provided with, the hip joint elastic component 223 produces the elastic force on the axial direction of hip joint motor mechanism 211, hip
Opposite side and hip joint first driving member 221 be bolted company of the second driving member of joint 222 in hip joint friction pulley 214
Connect, to cause the second driving member of hip joint 222 to be close to hip joint friction pulley 214, and then and hip joint under elastic force effect
The frictional connection of friction pulley 214, to cause hip joint friction pulley 214 when rotating, the second driving member of friction-driven hip joint 222.
Further, hip joint elastic component 223 and hip joint friction pulley 214 are towards the side of hip joint motor mechanism 211
Between be additionally provided with the hip joint friction plate 224 and hip joint steel disc 225 being sticked successively, one end of hip joint elastic component 223 abuts
In the first driving member of hip joint 221, the other end is connected to hip joint steel disc 225, to cause hip joint friction plate 224 to be close to hip
Joint-friction wheel 114, and then cause the first driving member of hip joint 221 to pass through hip joint friction plate 224 and hip joint friction pulley film
Layer connection, with when hip joint friction pulley 214 rotates, friction-driven hip joint friction plate 224, to pass through hip joint friction plate
224 the first driving members of friction-driven hip joint 221.
Optionally, hip joint elastic component 223 is helical spring.
Refering to Figure 10, the first driving member of hip joint 221 is provided with the second limiting section of hip joint 2211, is closed by above-mentioned hip
When saving the rotation of the friction-driven hip joint transmission component 22 of friction pulley 214, the second limiting section of hip joint 2211 limits with hip joint first
Position portion 2112 coordinates, to limit the rotational freedom of hip joint transmission component 22.
Optionally, second limiting section of hip joint 2211 is the limit coordinated with the stopper slot of the first limiting section of hip joint 2112
Position post, the rotational freedom can be configured according to actually required, not be limited herein.
Further, the second driving member of hip joint 222 is provided with the second buffer part of hip joint 2221, in hip joint friction pulley
214 with the second driving member of hip joint 222 when being close to, and second buffer part of hip joint 2221 and the hip of hip joint friction pulley 214 close
The gap setting of the first buffer part 2141 is saved, to pass through the above-mentioned friction-driven hip joint transmission component of hip joint friction pulley 214
When running into velocity jump during 22 rotations, cushioning effect is played.
Fig. 5 is further regarded to, hip joint components 20 also include the second connecting plate of hip joint 23, the connecting plate of hip joint second
23 are bolted to connection with the first connecting plate of hip joint 211b, wherein, the second connecting plate of hip joint 23 is provided with hanging plate
231。
One end of thigh support part 30 is connected with hip joint transmission component 22, to follow turning for hip joint transmission component 22
Move and swing.
Refering to Figure 11, thigh support part 30 includes thigh support plate 31 and thigh bandage device 32, thigh support plate 31
One end is bolted to connection with the second driving member of hip joint 222, is put with following the rotation of the second driving member of hip joint 222
Dynamic, thigh bandage device 32, which is bolted, to be arranged on thigh support plate 31, for connecting thigh bandage, to fix thigh.
Fig. 4 and Figure 12 is referred to jointly, knee components 40 are connected with the other end of thigh support mechanism 20, including knee joint
Drive component 41 and knee joint transmission component 42.
Wherein, knee joint drive component 41 includes knee joint motor mechanism 411, knee joint gear reducer mechanism 412, knee joint
Bearning mechanism 413 and knee joint friction pulley 414.
Refering to Figure 13, knee joint motor mechanism 411 includes knee joint motor 411a, the connecting plate of knee joint first
411b, knee brace seat 411c, knee joint division board 411d and knee joint connector 411e.
Wherein, knee brace seat 411c is provided with through hole 4111, and further, knee brace seat 411c is additionally provided with knee
The first limiting section of joint 4112, optionally, first limiting section of knee joint 4112 are stopper slot, and quantity be two.
Further, knee joint the first connecting plate 411b is fixedly connected with knee brace seat 411c, optionally, knee joint
First connecting plate 411b is bolted to connection with knee brace seat 411c；Knee joint motor 411a drive shaft
4113 pass through leading to for knee brace seat 411c from knee brace seat 411c close to the first connecting plate of knee joint 411b side
Hole 4111, and being fixedly connected with knee brace seat 411c, in the present embodiment, by flat head bolt from knee brace seat
Sides of the 411c away from the first connecting plate of knee joint 411b is fixedly connected with knee joint motor 411a and knee brace seat
411c；Knee joint division board 411d is sheathed on knee from sides of the knee brace seat 411c away from the first connecting plate of knee joint 411b
In joint drive motor 411a drive shaft 4113, in the present embodiment, knee joint division board 411d is also covered on for fixing
Connect on knee joint motor 411a and knee brace seat 411c flat head bolts, to prevent flat head bolt loosens from causing knee to close
Section motor 411a separates with knee brace seat 411c；Knee joint connector 411e is sheathed on knee joint motor 411a
Drive shaft 4113 and pressure on the knee joint division board 411d, further, knee joint connector 411e drives with knee joint
Motor 411a drive shaft 4113 is fixedly connected, to cause drivings of the knee joint connector 411e in knee joint motor 411a
Axle 4113 is rotated by, and optionally, knee joint connector 411e is cross coupler, by bolt in cross coupler
Drive shaft 4113 at cross axle with knee joint motor 411a is fixedly connected.
Figure 13 and Figure 14 is referred to jointly, knee joint gear reducer mechanism 412 includes foreign steamer 412a and lubrication groove 412b, lubrication groove 412b
It can be rotated relative to foreign steamer 412a.
Specifically, foreign steamer 412a can be fixedly connected by bolt with knee brace seat 411c, and lubrication groove 412b is provided with and knee
The neck (not shown) that joint connector 411e coordinates, lubrication groove 412b are sheathed on knee joint motor 411a drive shaft
4113, and lubrication groove 412b neck engages with knee joint connector 411e, to cause lubrication groove 412b and knee joint motor
411a drive shaft 4113 is relatively fixed, and then causes drives of the lubrication groove 412b in knee joint motor 411a drive shaft 4113
Rotated under dynamic relative to foreign steamer 412a.
Further, sides of the lubrication groove 412b of knee joint gear reducer mechanism 412 away from knee joint connector 411e is provided with
Locating dowel 4121.
Knee joint Bearning mechanism 413 includes outer ring 413a and inner ring 413b, and inner ring 413b can rotate relative to outer ring 413a.
Specifically, outer ring 413a knee joint gear reducer mechanism 412 lubrication groove 412b be provided with locating dowel 4121 side with
Knee brace seat 411c is fixedly connected, and in the present embodiment, in outer ring, 413a side passes through bolt and knee brace seat
411c is fixedly connected；Inner ring 413b be sheathed on knee joint motor 411a drive shaft 4113 and with knee joint gear reducer mechanism
The location fit of locating dowel 4121 on 412 lubrication groove 412b, to cause drivings of the inner ring 413b in knee joint motor 411a
Lubrication groove 412b in the axial direction of axle 4113 with knee joint gear reducer mechanism 412 is relatively fixed, and then follows knee joint decelerator machine
The lubrication groove 412b of structure 412 rotation and rotate.
Knee joint friction pulley 414 closes in side of the knee joint Bearning mechanism 413 away from knee joint gear reducer mechanism 412 with knee
The inner ring 113b of bearings mechanism 413 is fixedly connected.
Specifically, knee joint friction pulley 414 and the locating dowel 4121 on the lubrication groove 412b of knee joint gear reducer mechanism 412 are fixed
Position coordinates, to cause the inner ring 413b of knee joint friction pulley 414 and knee joint Bearning mechanism 413 in knee joint motor 411a
Drive shaft 4113 axial direction on be relatively fixed, further can be by bolt by the knee joint Bearning mechanism of knee joint friction pulley 414
413 inner ring 413b is fixedly connected, and then causes knee joint friction pulley 414 to follow the inner ring 413b of knee joint Bearning mechanism 413
Rotate and rotate.
Further, knee joint friction pulley 414 is additionally provided with the first buffer part of knee joint 4141, optionally, the knee joint
One buffer part 4141 is to be arranged at the double wedge of 414 outer avris of knee joint friction pulley.
Figure 12 is further regarded to, knee joint drive component 41 also includes knee joint motor shield 415, knee joint motor for preventing
Shield 415 covers at knee joint motor 411a to be shielded to knee joint motor 411a.
Knee joint transmission component 42 is linked with knee joint drive component 41 to turn under the driving of ankle-joint drive component 41
It is dynamic.
Specifically, knee joint transmission component 42 and the frictional connection of knee joint friction pulley 414, with knee joint friction pulley 414
Friction-driven under rotate.
Common refer to Figure 15 and Figure 16, knee joint transmission component 42 includes the first driving member of knee joint 421 and knee joint the
Two driving members 422, the first driving member of knee joint 421 and knee joint friction pulley 414 towards the side of knee joint motor mechanism 411 it
Between be provided with knee joint elastic component 423, the knee joint elastic component 423 produces the elastic force on the axial direction of knee joint motor mechanism 411,
The second driving member of knee joint 422 is bolted in the opposite side of knee joint friction pulley 414 with the first driving member of knee joint 421
Connection, to cause the second driving member of knee joint 422 to be close to knee joint friction pulley 414 under elastic force effect, and then closed with knee
The frictional connection of friction pulley 414 is saved, to cause knee joint friction pulley 414 when rotating, the driving member of friction-driven knee joint second
422。
Further, knee joint elastic component 423 and knee joint friction pulley 414 are towards the side of knee joint motor mechanism 411
Between be additionally provided with the knee joint friction plate 424 and knee joint steel disc 425 being sticked successively, one end of knee joint elastic component 423 abuts
In the first driving member of knee joint 421, the other end is connected to knee joint steel disc 425, to cause knee joint friction plate 424 to be close to knee
Joint-friction wheel 414, and then cause the first driving member of knee joint 421 to pass through knee joint friction plate 424 and knee joint friction pulley film
Layer connection, with when knee joint friction pulley 414 rotates, friction-driven knee joint friction plate 424, to pass through knee joint friction plate
424 the first driving members of friction-driven knee joint 421.
Optionally, knee joint elastic component 423 is helical spring.
Refering to Figure 17, the first driving member of knee joint 421 is provided with the second limiting section of knee joint 4211, is closed by above-mentioned knee
When saving the rotation of the friction-driven knee joint transmission component 42 of friction pulley 414, the second limiting section of knee joint 4211 limits with knee joint first
Position portion 4112 coordinates, to limit the rotational freedom of knee joint transmission component 42.
Optionally, second limiting section of knee joint 4211 is the limit coordinated with the stopper slot of the first limiting section of knee joint 4112
Position post, the rotational freedom can be configured according to actually required, not be limited herein.
Further, the second driving member of knee joint 422 is provided with the second buffer part of knee joint 4221, in knee joint friction pulley
414 with the second driving member of knee joint 422 when being close to, and second buffer part of knee joint 4221 and the knee of knee joint friction pulley 414 close
The gap setting of the first buffer part 4141 is saved, to pass through the above-mentioned friction-driven knee joint transmission component of knee joint friction pulley 414
When running into velocity jump during 42 rotations, cushioning effect is played.
In other embodiments, can also there was only one in the hip joint components 20 in the present embodiment and knee components 40
By the way of above-mentioned friction pulley friction-driven transmission component, another can use other type of drive, such as hydraulic-driven
Or connecting rod driving etc..
Leg support part 50 is connected with knee joint transmission component 42, is put with following the rotation of knee joint transmission component 42
It is dynamic, and be connected with foot support section 10, to drive foot support section 10 to move.
Refering to Figure 18, leg support part 50 includes first end to end the first supporting plate of shank 51 and shank second supports
Plate 52, one end of the first supporting plate of shank 51 are consolidated with the second driving member of knee joint 422 of knee joint transmission component 42 by bolt
Fixed connection, is swung with following the rotation of the second driving member of knee joint 422, and the other end passes through bolt with the second supporting plate of shank 52
It is fixedly connected.
Fig. 4 and Figure 19 is referred to jointly, foot support section 60 is connected with leg support part 50, to follow leg support machine
The swing of structure 50 and move, including resilient snubber 61 and foot's bearing assembly 62.
Optionally, resilient snubber 61 is that strip piece coiling forms.
Wherein, resilient snubber 61 includes ankle-joint matching part 611 and supporting part 612, ankle-joint matching part 611 and support
Portion 612 tilts bending connection, to produce first elastic force opposite with the overbending direction of ankle-joint matching part 611.
In the present embodiment, ankle-joint matching part 611 is in torsion spring type.
Further, the quantity of supporting part 612 is two, and resilient snubber 61 also includes heel string matching part 613, the heel string
The both ends of matching part 613 tilt bending connection with two supporting parts 612 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 613.
Optionally, two supporting parts 612 are parallel to each other or in splayed.
Further, resilient snubber 61 also includes the first connecting portion 614 that is connected with ankle-joint matching part 611, and this
One connecting portion 614 is used for the miscellaneous part for connecting exoskeleton robot, and in the present embodiment, first connecting portion 614 passes through connection
Set 53 is connected with the second supporting plate of shank 42 of exoskeleton robot.
Wherein, first connecting portion 614 is in hook-shaped and fixed in hook-shaped first connecting portion 614 by bolt and adapter sleeve 63
Connection, it can prevent first connecting portion 614 from rotating or sliding, enhancing structure stability in adapter sleeve 63.
Further, the also included second connecting portion 615 of resilient snubber 61, second connecting portion 615 are hung down with supporting part 612
It is direct-connected to connect.
Further, resilient snubber 61 is provided with the first bandage 616, and the both ends of the first bandage 616 are connected to elasticity and delayed
Stamping 61 with resilient snubber 61 by wrapping up the rear feet of human foot.
In the present embodiment, the first bandage 616 is connected by bandage plate 617 with resilient snubber 61, and the one of bandage plate 617
End be fixedly connected with resilient snubber 61, the other end is connected with one end of the first bandage 616, the other end of the first bandage 616 and
Resilient snubber 61 connects.
Foot's bearing assembly 62 is connected with resilient snubber 61 for common parcel human foot.
Specifically, foot's bearing assembly 62 includes bottom plate 621, and bottom plate 621 is provided with the second bandage 622, the second bandage 622
Both ends be connected to bottom plate 621 to wrap up the forefoot of human foot jointly with bottom plate 621, in conjunction with above-mentioned resilient snubber
61 and first bandage 616 wrap up the rear feet of human foot jointly, and then wrap up human foot.
Wherein, the second connecting portion 616 of bottom plate 621 and resilient snubber 61 is relatively fixed, for carrying human foot,
In the present embodiment, bottom plate 621 is fixedly connected by bottom plate connecting plate 623 with second connecting portion 616.
Specifically, the quantity of bottom plate connecting plate 623 is two, and two bottom plate connecting plates 623 clamp first connecting portion jointly
616 and supporting part 612, and be bolted to connection so that bottom plate connecting plate 623 is relatively fixed with second connecting portion 616,
Then bottom plate 621 is fixedly connected with bottom plate connecting plate 623 by bolt again.
Wherein, bottom plate 621 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 621 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 621 away from the second bandage 622 is additionally provided with pad 624, the pad 624 be used for
When ground contacts, increase and the frictional force on ground.
Optionally, the material for padding 624 is elastomeric material.
Further, when resilient snubber 61 and foot's bearing assembly 62 wrap up human foot jointly, resilient snubber
61 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 611 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 613 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 611 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. 4 and Figure 20 is referred to jointly, the present embodiment also includes lumbar support part 70, lumbar support part 70 and hip joint
Part 20 connects, and for being bonded with human body waist, and then supports human body waist, including the first connector of waist 71, waist the
One supporting plate 72, the second connector of waist 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 23, 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 211a and knee joint motor 411a electrical connections, to control hip joint motor 211a and knee joint motor
411a 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 20 and/or knee components 40 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 is fastened by the baffle plate assembly of shank baffle component relative to fixed seat
When, first body of rod and second body of rod of linkage are linearly set relative to both pivoting centres, with locked flapper component
Method so that baffle plate assembly reduces the feelings for even avoiding baffle plate assembly and human calf from coming off when being fastened with human calf
Condition, improve ease of use and security.
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. the shank baffle component of a kind of exoskeleton robot, it is characterised in that the shank baffle component includes：
Fixed seat；
Baffle plate assembly, the baffle plate assembly are articulated in the fixed seat, to be in the shape opened and fastened relative to the fixed seat
State；
Linkage, includes first body of rod and second body of rod of the first pivot joint, and first body of rod is distinguished with second body of rod
The fixed seat and the baffle plate assembly are articulated in, to be servo-actuated in the baffle plate assembly；
Wherein, when the baffle plate assembly relative to the fixed seat in opened condition when, first body of rod and second bar
Body phase is set for the pivoting centre of first body of rod and second body of rod in angle；
When the baffle plate assembly is in buckling state relative to the fixed seat, first body of rod is relative with second body of rod
Linearly set in the pivoting centre of first body of rod and second body of rod, to lock the baffle plate assembly.
2. shank baffle component according to claim 1, it is characterised in that the linkage further comprises the 3rd bar
Body, the 3rd body of rod are connected with first body of rod or second body of rod, for promoting described under external force
One body of rod or second body of rod, and then first body of rod and second body of rod is changed into the angle from straight line setting and is set
Put.
3. shank baffle component according to claim 2, it is characterised in that the 3rd body of rod and first body of rod or
Second body of rod is set in angle.
4. shank baffle component according to claim 1, it is characterised in that the baffle plate assembly include shank bandage arm and
Shank baffle plate, the shank baffle plate are connected with the shank bandage arm for being bonded human calf.
5. shank baffle component according to claim 4, it is characterised in that the shank baffle plate and the shank bandage arm
Rotation connection, when being bonded with the human calf, to follow the motion of the human calf relative to the shank bandage
Arm rotates.
6. shank baffle component according to claim 5, it is characterised in that the shank baffle plate and the shank bandage arm
It is detachably connected.
7. shank baffle component according to claim 6, it is characterised in that the shank baffle plate is provided with shank bandage,
With the human calf described in bondage when the shank baffle plate is bonded with the human calf.
8. shank baffle component according to claim 4, it is characterised in that the curved setting of shank bandage arm, and
Size on the bearing of trend away from the shank baffle plate becomes larger.
9. shank baffle component according to claim 1, it is characterised in that the fixed seat is provided with locating slot, with
In the miscellaneous part of the connection exoskeleton robot, and link position is adjusted on the length direction of the locating slot.
10. a kind of exoskeleton robot, it is characterised in that the exoskeleton robot is included described in any one of claim 1~9
Shank baffle component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710760025.5A CN107595556B (en) | 2017-08-29 | 2017-08-29 | Exoskeleton robot and lower leg baffle component thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710760025.5A CN107595556B (en) | 2017-08-29 | 2017-08-29 | Exoskeleton robot and lower leg baffle component thereof |
Publications (2)
| Publication Number | Publication Date |
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| CN107595556A true CN107595556A (en) | 2018-01-19 |
| CN107595556B CN107595556B (en) | 2023-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710760025.5A Active CN107595556B (en) | 2017-08-29 | 2017-08-29 | Exoskeleton robot and lower leg baffle component thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110179636A (en) * | 2018-02-23 | 2019-08-30 | Lg电子株式会社 | The efficiently wearable auxiliary device of transmitting auxiliary force |
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| Publication number | Publication date |
|---|---|
| CN107595556B (en) | 2023-07-07 |
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