CN113183176B - Motion decoupling parallel driving type exoskeleton robot ankle joint - Google Patents
Motion decoupling parallel driving type exoskeleton robot ankle joint Download PDFInfo
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- CN113183176B CN113183176B CN202110442716.7A CN202110442716A CN113183176B CN 113183176 B CN113183176 B CN 113183176B CN 202110442716 A CN202110442716 A CN 202110442716A CN 113183176 B CN113183176 B CN 113183176B
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- 230000033001 locomotion Effects 0.000 title claims abstract description 177
- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 94
- 210000002683 foot Anatomy 0.000 claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims description 30
- 230000005484 gravity Effects 0.000 abstract description 8
- 210000001699 lower leg Anatomy 0.000 description 33
- 230000007246 mechanism Effects 0.000 description 15
- 210000003423 ankle Anatomy 0.000 description 9
- 241000469816 Varus Species 0.000 description 8
- 241001227561 Valgus Species 0.000 description 6
- 210000003141 lower extremity Anatomy 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 210000000629 knee joint Anatomy 0.000 description 4
- 230000007306 turnover Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 241000309551 Arthraxon hispidus Species 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 210000004233 talus Anatomy 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
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Abstract
The invention belongs to the technical field of robots, and relates to an ankle joint of a motion decoupling parallel drive type exoskeleton robot, which comprises an ankle joint driving assembly and a foot support assembly; the ankle joint drive assembly includes: the device comprises a shank rod, a flexion-extension driving assembly and an inward and outward turning motion assembly; the shank rod is hinged with the foot support component, the flexion and extension driving component and the inward and outward turning motion component are arranged on the shank rod, and the flexion and extension driving component and the inward and outward turning motion component respectively drive the foot support component to carry out flexion and extension motion and inward and outward turning motion. The motion decoupling parallel driving type exoskeleton robot ankle joint has the advantages that the motion decoupling parallel driving structure has two rotational degrees of freedom, the structure rigidity is good, the integral gravity center is high, and the inertia of the foot end is small, so that the ankle joint active motion assistance of two degrees of freedom of dorsiflexion/plantar flexion and inversion/eversion is realized, and the comfort, the motion flexibility and the stability of human body wearing are improved.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to an ankle joint of a motion decoupling parallel drive type exoskeleton robot.
Background
The lower limb exoskeleton is a wearable bionic robot similar to the structure of the lower limb of a human body, can assist a wearer to realize the functions of lower limb rehabilitation, assisted walking, load enhancement and the like, and has wide application prospects in the fields of rehabilitation, civilian use, military use and the like. According to the motion mechanism research of human joints, the ankle joint is composed of a forked joint socket formed by a lower tibial joint surface, an inner ankle joint surface and an outer ankle joint surface and an ankle joint head of a talus, can do dorsiflexion/plantar flexion, inversion/eversion and smaller internal rotation/external rotation motions around three rotating shafts, and has the characteristics of good flexibility, large supporting force and the like.
The existing lower limb exoskeleton robot has single degree of freedom of ankle joints, generally only comprises single degree of freedom of dorsiflexion/plantarflexion, even adopts an integrated rigid structure with crus, mostly does not have active driving, and greatly influences the motion flexibility, wearing comfort and ankle joint motion assisting capability of an exoskeleton. Therefore, how to design the wearable exoskeleton robot ankle joint with higher overall structural rigidity to realize active motion assistance with two degrees of freedom of dorsiflexion/plantarflexion and inversion/eversion is a key problem in the development process of the lower limb exoskeleton robot.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a motion decoupling parallel driving type exoskeleton robot ankle joint, wherein a motion decoupling parallel driving structure of the motion decoupling parallel driving type exoskeleton robot ankle joint has the characteristics of two rotational degrees of freedom, better structural rigidity, higher overall gravity center and smaller foot end inertia, active motion assistance of the ankle joint with two degrees of freedom of dorsiflexion/plantarflexion and inversion/eversion is realized, and the wearing comfort, the motion flexibility and the stability of a human body are improved.
The technical scheme for solving the problems is as follows: a motion decoupling parallel driving type exoskeleton robot ankle joint is characterized in that,
comprises an ankle joint driving component and a foot support component;
the ankle joint drive assembly includes: the device comprises a shank rod, a flexion-extension driving assembly and an inward and outward turning motion assembly;
the shank rod is hinged with the foot support component, the flexion and extension driving component and the inward and outward turning motion component are arranged on the shank rod, and the flexion and extension driving component and the inward and outward turning motion component respectively drive the foot support component to carry out flexion and extension motion and inward and outward turning motion.
Furthermore, the flexion and extension driving assembly comprises a flexion and extension driving fixing seat, a flexion and extension driving unit, a flexion and extension motion output end cover, a flexion and extension motion transmission rod and an ankle joint fixing support;
The flexion and extension driving unit is fixed at the upper end of the shank rod through a flexion and extension driving fixing seat, the power output end of the flexion and extension driving unit is connected with a flexion and extension motion output end cover, the flexion and extension motion output end cover is hinged with one end of a flexion and extension motion transmission rod, and the other end of the flexion and extension motion transmission rod is hinged with an ankle joint fixing support; the ankle joint fixing support is fixedly connected with the foot support component.
Furthermore, the other end of the flexion and extension motion transmission rod is connected with the ankle joint fixing support through a flexion and extension motion Hooke hinge.
Furthermore, the power output end of the flexion-extension driving unit is hinged with one end of the flexion-extension driving rod through a flexion-extension movement single-shaft hinge.
Furthermore, the shank rod is connected with the ankle joint fixing support through a shank rod supporting Hooke hinge.
Further, the inward and outward turning motion assembly comprises an inward and outward turning driving unit, the inward and outward turning driving unit is fixed on the upper portion of the shank rod and located below the flexion and extension driving unit, a power output end of the inward and outward turning driving unit is connected with an inward and outward turning motion output end cover, the inward and outward turning motion output end cover is connected with one end of an inward and outward turning motion transmission rod through an inward and outward turning motion radial hinge, an inward and outward turning motion horizontal hinge and an inward and outward turning motion vertical hinge, and the other end of the inward and outward turning motion transmission rod is hinged to the ankle joint fixing support.
Furthermore, the other end of the inside-outside turning motion transmission rod is connected with the ankle joint fixing support through an inside-outside turning motion Hooke hinge.
Furthermore, the foot support component comprises a binding band buckle, an L-shaped buckle fixing seat and a foot support bottom plate; the L-shaped ring buckle fixing seat is fixed on the foot support bottom plate, and the bandage ring buckle is fixed on the L-shaped ring buckle fixing seat.
Further, the device also comprises a shank binding and a foot binding; the shank binding and the foot binding are respectively arranged on the shank rod and the strap ring buckle.
The invention has the advantages that:
1) compared with the prior art, the exoskeleton robot ankle joint provided by the invention adopts a novel two-degree-of-freedom parallel mechanism configuration, provides ankle joint dorsiflexion/plantar flexion and ankle joint inversion/eversion active motion assistance, and performs motion decoupling between the ankle joint dorsiflexion/plantar flexion and the ankle joint inversion/eversion active motion assistance, thereby simplifying motion control;
2) the shank rod and the fixed seat are connected by a Hooke hinge, and the ankle joint has two mutually vertical rotating shafts to provide two motion degrees of freedom of ankle joint dorsiflexion/plantar flexion and inversion/eversion;
3) the shank, the flexion-extension driving output motion end cover, the flexion-extension driving rod and the ankle joint fixing seat form a parallelogram mechanism which is used as an ankle joint dorsiflexion/plantar flexion motion branch chain, and the flexion-extension driving unit is arranged at the position of a knee joint to improve the gravity center position and reduce the inertia of a foot end; the shank rod, the inner and outer overturning driving output motion end cover, the inner and outer overturning transmission rod and the ankle joint fixing seat form a parallelogram mechanism which is used as an ankle joint inner overturning/outer overturning motion branch chain, and the inner and outer overturning driving unit is arranged below the flexion and extension driving unit so as to improve the gravity center position and reduce the inertia of a foot end; the two drives are higher in physical position, so that the integral gravity center is improved, and the additional inertia of the foot end is reduced, thereby improving the flexibility of dynamic motion;
4) Flexion and extension movement branch chain A0ABB0And the inner and outer turning motion branched chain B0C0The CDs are perpendicular to each other, the former has 2 single-axis rotating hinges and 1 Hooke hinge, and the latter has 1 single-axis rotating hinge, 1 Hooke hinge, 1 and the likeThe Hooke hinge and the axis of the Hooke hinge which is supported by the shank rod are collinear or parallel; compared with a distributed multi-branched-chain parallel structure, the vertically-arranged two branched-chain parallel structure is more compact, and no motion interference exists between the branched chains.
Drawings
Fig. 1 is a diagrammatic view of an exoskeleton robot ankle mechanism;
fig. 2 is a schematic diagram of exoskeleton robot ankle body wear;
fig. 3 is a schematic view of an exoskeleton robot ankle structure;
FIG. 4 is a cross-sectional view of an exoskeleton robot ankle flexion and extension movement branched chain structure;
FIG. 5 is a cross-sectional view of the ankle joint varus and valgus movement branch structure of the exoskeleton robot;
fig. 6 is a schematic diagram of the ankle joint of the exoskeleton robot in a dorsiflexion state of motion;
fig. 7 is a schematic view of the ankle joint of the exoskeleton robot in a plantar flexion state;
FIG. 8 is a schematic view of an exoskeleton robot ankle joint in a varus motion state;
FIG. 9 is a schematic diagram of an exoskeleton robot ankle joint in an eversion state;
fig. 10 is a schematic view of the ankle joint of the exoskeleton robot in a compound motion state.
Wherein: 1. an ankle joint drive assembly;
11. a shank rod; 12. a flexion and extension movement output end cover; 13. a single-axis hinge for flexion and extension movements; 14. a flexion and extension motion transmission rod; 15. a Hooke hinge for flexion and extension movement; 16. an ankle joint fixing support; 17. a bending and stretching driving fixing seat; 18. a flexion-extension driving unit; 19. an varus-valgus drive unit; 110. an inside-out motion output end cover; 111. a varus-valgus kinematic radial hinge; 112. an inside and outside turning motion horizontal hinge; 113. a varus-valgus kinematic vertical hinge; 114. an eversion and varus motion transmission rod; 115. a hooke hinge for inside and outside turning movement; 116. the shank rod supports a Hooke hinge;
2. a foot rest assembly;
21. a binding band is buckled; 22. the L-shaped ring is buckled with the fixing seat; 23. a foot rest base plate;
3. binding the shank; 4. and (5) binding feet.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.
In order to provide active motion assistance for dorsiflexion/plantar flexion and inversion/eversion of human ankle joints, the invention provides a parallel driving type exoskeleton robot ankle joint with two completely decoupled rotational degrees of freedom. Firstly, in order to improve the bearing capacity and the structural rigidity of the ankle joint, a hooke-joint-based two-branch-chain parallel mechanism configuration is adopted, and the mechanism schematic diagram is shown in fig. 1. The mechanism consists of two mutually perpendicular motion branches A0ABB0And B0C0CD composition, wherein, A0A, D is a single-axis rotating hinge, C is a spherical hinge, B0、B、C0The Hooke's hinge is respectively corresponding to the ankle flexion and extension branch chain and the ankle internal and external turning branch chain; secondly, in order to realize two-degree-of-freedom rotational motion decoupling of the ankle joint and facilitate motion control, the size parameters of the two motion branched chains are designed to be equal in opposite sides, so that a parallelogram-like mechanism is formed; finally, in order to improve the gravity center of the exoskeleton ankle joint and reduce the additional motion inertia of the foot end, the drive unit A of the flexion and extension motion is adopted0Is mounted at the position of knee joint axis, and the driving unit (D) for inward and outward turning motion is vertically mounted on the driving unit (A)0) The lower adjacent position, both of which remotely transmit motion to the ankle joint through the connecting rod. Compared with the existing exoskeleton robot ankle joint, the mechanism has the advantages that The robot has the advantages of multiple degrees of freedom, more flexible movement, large load capacity and high rigidity of parallel configuration, the mechanism size meets the condition of equal opposite sides, the double-motor drive is adopted, the robot has the characteristics of large movement range, movement decoupling, easiness in operation and control and the like, and can be independently used for ankle joint movement assistance and can also be combined with a knee joint exoskeleton and a hip joint exoskeleton to form a full-joint lower limb exoskeleton robot.
The exoskeleton robot ankle joint mainly comprises an ankle joint driving assembly 1, a foot support assembly 2, a shank binding 3 and a foot binding 4, and the human body wearing effect is shown in figure 2. The left side is taken as an example for detailed description due to the symmetrical structure of the left and right legs, and the overall structure is shown in fig. 3, wherein the ankle joint driving assembly 1 and the foot support assembly 2 are included; the ankle joint drive assembly 1 includes: a shank rod 11, a flexion and extension driving component and an inward and outward turning motion component; shank pole 11 is articulated with foot support subassembly 2, bends and stretches drive assembly and inside and outside turn over the motion subassembly and sets up on shank pole 11, bends and stretches drive assembly and inside and outside turn over the motion subassembly and drive foot support subassembly 2 respectively and bend and stretch the motion and inside and outside turn over the motion, and shank ties up 3, foot ties up 4 and is located shank pole 11 and foot support subassembly 2 respectively.
As a preferred embodiment of the present invention, the flexion-extension driving assembly includes a flexion-extension driving fixing seat 17, a flexion-extension driving unit 18, a flexion-extension output end cap 12, a flexion-extension driving rod 14, and an ankle joint fixing support 16. The flexion and extension driving unit 18 is fixed at the upper end of the shank rod 11 through a flexion and extension driving fixing seat 17, the power output end of the flexion and extension driving unit 18 is connected with a flexion and extension motion output end cover 12, the flexion and extension motion output end cover 12 is hinged with one end of a flexion and extension motion transmission rod 14, and the other end of the flexion and extension motion transmission rod 14 is hinged with an ankle joint fixing support 16; the ankle joint fixing support 16 is fixedly connected with the foot support component 2.
As a preferred embodiment of the present invention, the other end of the flexion and extension transmission rod 14 is connected with the ankle joint fixing support 16 through a flexion and extension Hooke hinge 15.
As a preferred embodiment of the present invention, the power output end of the flexion-extension driving unit 18 is hinged to one end of the flexion-extension driving rod 14 through the flexion-extension single-axis hinge 13.
As a preferred embodiment of the present invention, the above-mentioned shank 11 and the ankle fixing support 16 are connected by a shank support Hooke's hinge 116.
As a preferred embodiment of the present invention, the varus-valgus movement assembly includes a varus-valgus driving unit 19, the varus-valgus driving unit 19 is fixed on the upper portion of the shank 11 and located below the flexion-extension driving unit 18, and the power output end of the varus-valgus driving unit 19 is connected with a varus-valgus movement output end cover 110. Because the existing spherical hinge can not meet the requirement of the ankle joint inversion/eversion motion angle, the spherical hinge C shown in figure 1 is decomposed into three mutually vertical single-degree-of-freedom rotating hinges (a radial hinge 111, a horizontal hinge 112 and a vertical hinge 113). The inner and outer turning motion output end cover 110 is connected with one end of an inner and outer turning motion transmission rod 114 through an inner and outer turning motion radial hinge 111, an inner and outer turning motion horizontal hinge 112 and an inner and outer turning motion vertical hinge 113, and the other end of the inner and outer turning motion transmission rod 114 is hinged with the ankle joint fixing support 16.
As a preferred embodiment of the present invention, the other end of the varus-valgus motion transmission rod 114 is connected with the ankle joint fixing support 16 through a valgus-valgus motion Hooke hinge 115.
In a preferred embodiment of the present invention, the foot rest assembly 2 comprises a strap buckle 21, an L-shaped buckle fixing seat 22, and a foot rest base plate 23; the number of the L-shaped ring buckle fixing seats 22 is four, the L-shaped ring buckle fixing seats 22 are fixed on the foot support bottom plate 23, the bandage buckle 21 is fixed on the L-shaped ring buckle fixing seats 22, and the foot part bandage 4 is arranged on the bandage buckle 21.
The invention relates to a working principle of an ankle joint of an exoskeleton robot, which comprises the following steps:
in determining the exoskeleton robot ankle mechanism configuration, as shown in fig. 1. Firstly, in order to realize dorsiflexion/plantar flexion of ankle joints of the exoskeleton robot, namely flexion and extension movements, and simultaneously in order to improve the overall gravity center position and reduce the moment of inertia of foot ends, an active part (A) of the flexion and extension movements is used0) Is arranged at the position of knee joint axis and adopts a single-degree-of-freedom plane four-bar mechanism (A)0ABB0) Performing motion transmission to form a flexion-extension motion branched chain;secondly, in order to realize the ankle joint varus/valgus movement, i.e. the varus/valgus movement perpendicular to the dorsiflexion/plantar flexion movement axis, the flexion-extension movement branch chain A 0ABB0Two single-axis rotating hinges B0And B evolves into a Hooke hinge, so that an internal and external overturning moving shaft perpendicular to the axis of the flexion and extension movement is obtained, and B0And B form a motion plane π; thirdly, in order to drive the ankle joint to move inwards/outwards, a six-degree-of-freedom spatial motion branched chain (Hooke's joint C) is added0Ball joint C swivel joint D), and C0On the plane of motion pi, D on A0B0In order to form an eversion-in branch B0C0CD, the driving part (D) moving inwards and outwards is arranged on the driving part (A) moving in flexion and extension0) Below to improve the overall center of gravity and reduce the foot end inertia; finally, to achieve motion decoupling, the planes of the two moving branches are perpendicular to each other and satisfy three Hooke's hinges B, B0And C0Are positioned on the same motion plane pi, and simultaneously meet the requirement of equal opposite sides in the aspect of mechanism size for facilitating motion control (A)0B0＝AB、A0A＝BB0、C0C＝B0D、B0C0CD), two parallelogram-like mechanisms are formed with a transmission ratio equal to 1, so that both kinematic chains are equivalent to direct drives.
Fig. 4 is a cross-sectional view of the ankle joint flexion and extension movement branched chain structure of the exoskeleton robot, which mainly comprises four components, namely a shank rod 11, a flexion and extension movement output end cover 12, a flexion and extension movement transmission rod 14 and an ankle joint fixing support 16, wherein a flexion and extension driving unit 18 (a) is arranged between the components 0) A single-axis hinge for flexion and extension 13(A), a Hooke hinge for flexion and extension 15(B) and a Hooke hinge for shank support 116 (B)0) When the flexion-extension motion output end cover 12 rotates clockwise under the action of the flexion-extension driving unit 18, the flexion-extension motion is transmitted to the ankle joint fixing seat 16 through the flexion-extension motion transmission rod 14 to generate ankle joint dorsiflexion motion, as shown in fig. 6; conversely, when the flexion-extension movement output end cap 12 rotates counterclockwise, the ankle joint plantarflexion movement is generatedAs shown in fig. 7.
Fig. 5 is a sectional view of an ankle joint varus-valgus movement branched chain structure of the exoskeleton robot, which mainly comprises four components, namely a shank rod 11, an inner-valgus movement output end cover 110, an inner-valgus movement transmission rod 114 and an ankle joint fixing support 16, wherein the components are connected through an inner-valgus driving unit 19(D), an inner-valgus movement radial hinge 111, an inner-valgus movement horizontal hinge 112, an inner-valgus movement vertical hinge 113 (the combination of the inner-valgus movement radial hinge 111, the inner-valgus movement horizontal hinge 112 and the inner-valgus movement vertical hinge 113 is a spherical hinge C), and an inner-valgus movement hooke hinge 115 (C)0) And shank support Hooke hinge 116 (B) 0) The connection is carried out, an inward and outward turning driving unit 19 perpendicular to the flexion and extension driving unit 18 is installed on the shank rod 11, when the inward and outward turning motion output end cap 110 rotates clockwise under the action of the inward and outward turning driving unit 19, the inward and outward turning motion is transmitted to the ankle joint fixing seat 16 through the inward and outward turning motion transmission rod 114, and the ankle joint inward turning motion is generated, as shown in fig. 8; conversely, when the varus and valgus motion output end cap 110 is rotated counterclockwise, an eversion motion of the ankle is generated, as shown in fig. 9.
If the flexion and extension movement branched chain and the varus and valgus movement branched chain of the ankle joint of the exoskeleton robot move simultaneously, compound movement of dorsiflexion/plantar flexion and varus/valgus of the ankle joint can be generated, as shown in fig. 10.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent structures or equivalent flow transformations made by using the contents of the specification and the drawings, or applied directly or indirectly to other related systems, are included in the scope of the present invention.
Claims (4)
1. A motion decoupling parallel drive type exoskeleton robot ankle joint is characterized in that:
comprises an ankle joint driving component (1) and a foot support component (2);
the ankle joint drive assembly (1) comprises: a shank rod (11), a flexion and extension driving component and an inward and outward turning motion component;
The shank rod (11) is hinged with the foot support assembly (2), the flexion and extension driving assembly and the inward and outward turning motion assembly are arranged on the shank rod (11), and the flexion and extension driving assembly and the inward and outward turning motion assembly respectively drive the foot support assembly (2) to perform flexion and extension motion and inward and outward turning motion;
the flexion and extension driving assembly comprises a flexion and extension driving fixed seat (17), a flexion and extension driving unit (18), a flexion and extension motion output end cover (12), a flexion and extension motion transmission rod (14) and an ankle joint fixed support (16);
the flexion and extension driving unit (18) is fixed at the upper end of the shank rod (11) through a flexion and extension driving fixing seat (17), the power output end of the flexion and extension driving unit (18) is connected with a flexion and extension motion output end cover (12), the flexion and extension motion output end cover (12) is hinged with one end of a flexion and extension motion transmission rod (14), and the other end of the flexion and extension motion transmission rod (14) is hinged with an ankle joint fixing support (16); the ankle joint fixing support (16) is fixedly connected with the foot support component (2);
the other end of the flexion and extension motion transmission rod (14) is connected with an ankle joint fixed support (16) through a flexion and extension motion Hooke hinge (15);
the power output end of the flexion-extension driving unit (18) is hinged with one end of a flexion-extension movement transmission rod (14) through a flexion-extension movement single-shaft hinge (13);
the shank rod (11) is connected with the ankle joint fixing support (16) through a shank rod supporting Hooke hinge (116);
The inner and outer overturning motion assembly comprises an inner and outer overturning driving unit (19), the inner and outer overturning driving unit (19) is fixed on the upper portion of the shank rod (11) and located below the flexion and extension driving unit (18), the power output end of the inner and outer overturning driving unit (19) is connected with an inner and outer overturning motion output end cover (110), the inner and outer overturning motion output end cover (110) is connected with one end of an inner and outer overturning motion transmission rod (114) through an inner and outer overturning motion radial hinge (111), an inner and outer overturning motion horizontal hinge (112) and an inner and outer overturning motion vertical hinge (113), and the other end of the inner and outer overturning motion transmission rod (114) is hinged with the ankle joint fixing support (16).
2. The motion decoupled parallel driven exoskeleton robot ankle joint of claim 1, wherein:
the other end of the inside-out turning transmission rod (114) is connected with the ankle joint fixing support (16) through an inside-out turning Hooke hinge (115).
3. The motion decoupled parallel driven exoskeleton robot ankle joint of claim 2, wherein:
the foot support component (2) comprises a bandage buckle (21), an L-shaped buckle fixing seat (22) and a foot support bottom plate (23); the L-shaped ring buckle fixing seat (22) is fixed on the foot support bottom plate (23), and the bandage ring buckle (21) is fixed on the L-shaped ring buckle fixing seat (22).
4. The motion decoupled parallel driven exoskeleton robot ankle joint of claim 3, wherein:
also comprises a shank binding (3) and a foot binding (4); the shank binding (3) and the foot binding (4) are respectively arranged on the shank rod (11) and the binding belt buckle (21).
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| CN202110442716.7A CN113183176B (en) | 2021-04-23 | 2021-04-23 | Motion decoupling parallel driving type exoskeleton robot ankle joint |
| PCT/CN2021/138023 WO2022222503A1 (en) | 2021-04-23 | 2021-12-14 | Motion decoupling parallel-driven exoskeleton robot ankle joint |
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| CN113183176B true CN113183176B (en) | 2022-01-25 |
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| CN113183176B (en) * | 2021-04-23 | 2022-01-25 | 中国科学院深圳先进技术研究院 | Motion decoupling parallel driving type exoskeleton robot ankle joint |
| CN114469646A (en) * | 2022-01-26 | 2022-05-13 | 无锡市精神卫生中心 | Multi-degree-of-freedom bionic exoskeleton body structure |
| CN115476343A (en) * | 2022-09-23 | 2022-12-16 | 哈尔滨理工大学 | Ankle joint rehabilitation exoskeleton robot |
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| US20070123997A1 (en) * | 2005-03-31 | 2007-05-31 | Massachusetts Institute Of Technology | Exoskeletons for running and walking |
| US8864846B2 (en) * | 2005-03-31 | 2014-10-21 | Massachusetts Institute Of Technology | Model-based neuromechanical controller for a robotic leg |
| CN101518898B (en) * | 2009-04-09 | 2010-10-13 | 浙江理工大学 | Parallel mechanism with three freedom degrees of twice rotation and once motion |
| CN103472852A (en) * | 2013-09-10 | 2013-12-25 | 常州大学 | Two-degree-of-freedom two-rotation parallel mechanism |
| WO2016039608A1 (en) * | 2014-09-10 | 2016-03-17 | Uprobots S. De R.L. De C.V. | Adjustable mechanical exoskeleton for a bipedal animal having a bone and muscular disability |
| CN105798888A (en) * | 2016-05-24 | 2016-07-27 | 天津大学 | Novel space translation parallel mechanism |
| CN106726363B (en) * | 2017-03-13 | 2023-11-17 | 东北大学 | Wearable bionic hydraulic lower limb rehabilitation walking-assisting mechanical device |
| CN112109928B (en) * | 2020-08-24 | 2022-03-04 | 北京控制工程研究所 | Multi-size self-adaptive space flexible capture docking mechanism and capture method |
| CN111991767B (en) * | 2020-09-07 | 2021-08-24 | 青岛大学附属医院 | Multifunctional lower limb rehabilitation training device |
| CN112603759B (en) * | 2020-12-22 | 2024-04-26 | 吉林农业大学 | Exoskeleton robot for lower limb paraplegic patient |
| CN113183176B (en) * | 2021-04-23 | 2022-01-25 | 中国科学院深圳先进技术研究院 | Motion decoupling parallel driving type exoskeleton robot ankle joint |
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