CN105856196A - Assisting device for exoskeleton of knee joint - Google Patents
Assisting device for exoskeleton of knee joint Download PDFInfo
- Publication number
- CN105856196A CN105856196A CN201610335226.6A CN201610335226A CN105856196A CN 105856196 A CN105856196 A CN 105856196A CN 201610335226 A CN201610335226 A CN 201610335226A CN 105856196 A CN105856196 A CN 105856196A
- Authority
- CN
- China
- Prior art keywords
- rod member
- stock
- knee joint
- assisting device
- thigh
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000000629 knee joint Anatomy 0.000 title claims abstract description 23
- 210000000689 upper leg Anatomy 0.000 claims abstract description 44
- 210000004907 gland Anatomy 0.000 claims description 12
- 239000007787 solid Substances 0.000 claims 1
- 210000001699 lower leg Anatomy 0.000 abstract description 23
- 210000002414 leg Anatomy 0.000 abstract description 2
- 210000003141 lower extremity Anatomy 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 210000001694 thigh bone Anatomy 0.000 description 2
- 210000002303 tibia Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003041 ligament Anatomy 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The invention discloses an assisting device for exoskeleton of knee joint. The device comprises a crus rod, a cam mechanism, a locking mechanism, a thigh rod and a hydraulic mechanism, wherein the crus rod is in rotating connection with one end of the cam mechanism; the locking mechanism sleeves the thigh rod; the other end of the cam mechanism is positioned between the locking mechanism and the thigh rod and is in sliding connection with the thigh rod; two ends of the hydraulic mechanism are correspondingly hinged with the crus rod and the thigh rod. According to the device, the cam mechanism is arranged between the thigh rod and the crus rod, so that the exoskeleton movement is more similar to the movement of the leg of people, and the degree of mutual interference can be reduced; the locking mechanism is arranged between the thigh rod and the cam mechanism, and thus the size of the thigh rod of the exoskeleton can be conveniently adjusted as actual requirement.
Description
Technical field
The invention belongs to ectoskeleton structure-design technique field, be specifically related to a kind of knee joint ectoskeleton power assisting device.
Background technology
Current lower limb exoskeleton power-assisting robot great majority use the structure design partly personalized, such as the knee joint of human body
Motion uses the fixed-axis rotation simplified secondary, actually human body knee joint motion be tibia and Thigh bone under ligament and muscle drive,
Both are relative to sliding and rotating, thus are to become axle to rotate；On the other hand, preferable ectoskeleton joint and human synovial
Center of rotation be alignment, but owing to individual person joint's size there are differences, thus wish the ectoskeleton joint size energy of design
Enough adjustment, traditional guiding mechanism mostly by nut locking, belongs to and has level adjustable, and need instrument, troublesome poeration.
Summary of the invention
Present invention aim to address the problems referred to above, it is provided that a kind of simple in construction, knee joint ectoskeleton power-assisted easy and simple to handle fill
Put.
For solving above-mentioned technical problem, the technical scheme is that a kind of knee joint ectoskeleton power assisting device, including shank
Rod member, cam mechanism, locking mechanism, thigh rod member and hydraulic mechanism, described shank rod member turns with one end of cam mechanism
Being dynamically connected, described locking mechanism is sheathed on thigh rod member for the relative position between locking cam mechanism and thigh rod member,
The other end of described cam mechanism is slidably connected between locking mechanism and thigh rod member and with thigh rod member, described hydraulic press
The two ends of structure are hinged with shank rod member, thigh rod member respectively.
Preferably, described cam mechanism includes integrated cam body, base and fixed plate, described fixed plate and cam
Body is positioned at base both sides, and described fixed plate is slidably connected with thigh rod member, is fixed with at described cam body center of rotation
Stock two, the two ends of described stock two are rotationally connected with shank rod member, described cam body are positioned at stock two outer rim and also set
Having arc-shaped slot, be placed with stock one in described arc-shaped slot, described stock one two ends are fixing with shank rod member to be connected.
Preferably, described stock one is arranged with bearing one.
Preferably, described shank rod member is intermediate recess both sides bulge-structures with the connection end of cam mechanism, and described both sides are protruding
On be from top to bottom provided with groove and through hole, described stock one two ends are arranged in through hole and fixing with through hole are connected, described stock
The two ends of two are arranged in through hole and are rotationally connected with through hole.
Preferably, described locking mechanism includes that not closed ring body, the two ends at the not closed place of described ring body set respectively
Having end seat one and end seat two, described end seat one is provided with rotating gland, and being equipped with between described end seat one and end seat two can
The lock core assembly moved up and down, described lock core assembly one end is connected with gland, and after pressing under described gland, the other end can clasp end seat
The bottom surface of two, when band movable lock core assembly moves down simultaneously, ring body shrinks thus lock cam mechanism and thigh rod member.
Preferably, described lock core assembly includes several pull bars and the spring being sheathed on pull bar, described spring one end and length
Bar is fixing to be connected, and described end seat one is provided with groove two, is provided with stock moving up and down between the wall of described groove two left and right sides
Three, several pull bars described uniformly hang on stock three, spring between stock three and groove floor, described gland end
Portion is arranged on stock three, and is rotationally connected with stock three.
Preferably, described fixed plate outer surface is provided with several grooves one.
Preferably, described hydraulic mechanism includes interconnective hydraulic cylinder and hydraulic stem, the end of described hydraulic cylinder and thigh bar
Part is hinged, and the end of described hydraulic stem is hinged with shank rod member.
Preferably, described thigh rod member outer surface is provided with chute, and described fixed plate is connected with slide.
The invention has the beneficial effects as follows: the knee joint ectoskeleton power assisting device that the present invention provides, by thigh rod member and shank
Cam mechanism is set between rod member, makes thigh rod member and shank rod member realize the rotation actual closer to human body.By at thigh
Locking mechanism is set between rod member and cam mechanism, adjustment ectoskeleton lower limb bar size according to the actual requirements can be facilitated.
Accompanying drawing explanation
Fig. 1 is knee joint ectoskeleton power assisting device structural representation of the present invention；
Fig. 2 is embodiment cam mechanism and shank rod member exploded perspective view；
Fig. 3 is embodiment locking mechanism structural representation；
Fig. 4 is embodiment locking mechanism exploded perspective view.
Description of reference numerals: 1, shank rod member；2, cam mechanism；3, locking mechanism；4, thigh rod member；5, hydraulic cylinder；
6, hydraulic stem；7, groove one；8, groove；9, bearing one；10, stock one；11, nut；12, stock two；13、
Bearing two；14, end cap；15, spring；16, pull bar.
Detailed description of the invention
The present invention is described further with specific embodiment below in conjunction with the accompanying drawings:
As it is shown in figure 1, the knee joint ectoskeleton power assisting device structural representation of the present invention, including shank rod member 1, cam mechanism
2, locking mechanism 3, thigh rod member 4 and hydraulic mechanism, shank rod member 1 is rotationally connected with one end of cam mechanism 2, lock
Determine mechanism 3 and be sheathed on thigh rod member 4 for the relative position between locking cam mechanism 2 and thigh rod member 4, cam machine
The other end of structure 2 is slidably connected between locking mechanism 3 and thigh rod member 4 and with thigh rod member 4, the two of hydraulic mechanism
End is hinged with shank rod member, thigh rod member respectively.
As in figure 2 it is shown, cam mechanism of the present invention and shank rod member exploded perspective view.Cam mechanism 2 includes integrated convex
Wheel body, base and fixed plate.Cam body and fixed plate are positioned at the both sides of base.In the present embodiment, fixed plate has
Two, form, with base, the U-shape structure that intermediate recess both sides are protruding.Fixed plate outer surface is provided with several grooves 1.Cam
Body forms the T-type structure of intermediate projections both sides depression with base.Circular hole it is provided with at cam body center of rotation, logical in circular hole
Crossing interference fit and be fixed with stock 2 12, stock 2 12 fixes it with cam body relative to position further by two nuts.
For ease of assembling, two nuts are respectively adopted hex nut and round nut.It is positioned on cam body at stock 2 12 outer rim and sets
Having arc-shaped slot, this arc groove profile die intends tibia and Thigh bone sliding trace in human body knee joint, and its lopcus function can lead to
Cross and analyze crowd's knee joint matching of all ages and classes and height and obtain, ectoskeleton motion can be made to be more nearly with human body, reduce two
Person's interference degrees.Being equipped with stock 1 in arc-shaped slot, stock 1 can arcuately groove profile roll.For reducing stock
Friction between one 10 and arc groove, extends the service life of stock 1, is arranged with bearing 1 on stock 1.
It is both sides projection intermediate recess structures at shank rod member 1 and the connection end of cam mechanism.The protruding top edge of both sides is circular arc
Structure.Being provided with through hole at corresponding stock 1 in projection, stock 1 two ends are arranged in through hole, meanwhile, and stock 1
Two ends arrange nut 11, and nut 11 through hole interference is joined.Make stock 1 fix with shank rod member 1 to be connected.For ease of assembling,
The nut 11 at stock 1 two ends uses hex nut and round nut.In projection, corresponding stock 2 12 position is provided with groove
8, stock 2 12 two ends are arranged in groove 8, and can rotate in groove 8.Groove 8 is ellipsoidal structure, is used for limiting
The turned position of stock 2 12 processed.For reducing the friction between stock 2 12 and groove 8, sheathed at the two ends of stock 2 12
Bearing 2 13.What deserves to be explained is, bearing 1 and bearing 2 13 bearing to be used, it is possible to use other cylinders
Type article cover is located on stock 1 stock 2 12 to reduce friction.Thigh rod member outer surface goes out to be provided with chute, fixing bar with
Slide connects.
As shown in Figure 3-4, locking mechanism structural representation of the present invention.Locking mechanism 3 includes not closed ring body, not
End seat one and end seat two it is respectively equipped with at Guan Bi.End seat one is provided with groove two.The arranged on left and right sides wall of groove two is provided with elongated
Groove, is provided with stock three between the arranged on left and right sides wall of groove two, stock three two ends are positioned in elongate recesses, and can be along groove
Move up and down.Being equipped with gland 14 on stock three, gland is rotationally connected with stock three.It is provided with between at end seat one and end seat
Lock core assembly.In the present embodiment, lock core assembly includes several pull bars 16 and the spring 15 being sheathed on pull bar, spring
15 one end are fixing with stock to be connected.Several pull bars 16 uniformly hang on stock three, and spring 15 is positioned at stock three and groove
Between bottom surface.Gland 14 is rotatably held as arcuate structure.Spring 15 is used for increasing pressure.When needing locking, gland 14 times
Pressure, causes spring 15 to compress, thus drives pull bar 16 to strain ring body and shrink, and reaches to compress cam mechanism 2 and thigh
The effect of rod member 4.In the present embodiment, ring body inner surface and cam mechanism 2 contact portion are additionally provided with fine recesses,
Increase force of sliding friction.Locking mechanism 3 can use the bigger metal material of toughness to constitute, recessed with cam mechanism 2 fixed plate
Groove one fits, and is fixed with thigh bar by preload pressure.What deserves to be explained is, locking mechanism be mainly used in cam mechanism with
Locking positioning between thigh rod member, thus it is not limited to the structure described in the present embodiment, it is possible to use fastener type such as to enter
OK.
Hydraulic mechanism includes interconnective hydraulic cylinder 5 and hydraulic stem 6.The end of hydraulic cylinder 5 and thigh rod member 4 pass through bearing pin
Connect.The end of hydraulic stem 6 is connected by bearing pin with shank rod member 1.Hydraulic mechanism is mainly used in providing for shank rod member 1
Power, completes flexor.
Generally speaking, the knee joint ectoskeleton power assisting device that the present invention provides, cam mechanism is offered arc groove, this arc
Groove makes ectoskeleton motion be more nearly with the motion of human leg bar, decreases both interference degrees.Cam mechanism and thigh rod member
It is slidably connected, the length of lower limb rod member can be adjusted according to the practical situation of wearer, and then re-use locking mechanism locking relatively
Position, simple to operate, practicality is good.
Those of ordinary skill in the art is it will be appreciated that embodiment described here is to aid in the reader understanding present invention's
Principle, it should be understood that protection scope of the present invention is not limited to such special statement and embodiment.This area common
It is various specifically that technical staff can make various other without departing from essence of the present invention according to these technology disclosed by the invention enlightenment
Deformation and combination, these deformation and combination are the most within the scope of the present invention.
Claims (9)
1. a knee joint ectoskeleton power assisting device, it is characterised in that: include shank rod member (1), cam mechanism (2), lock
Determining mechanism (3), thigh rod member (4) and hydraulic mechanism, described shank rod member (1) turns with one end of cam mechanism (2)
Being dynamically connected, it is upper for locking cam mechanism (2) and thigh rod member (4) that described locking mechanism (3) is sheathed on thigh rod member (4)
Between relative position, the other end of described cam mechanism (2) be positioned between locking mechanism (3) and thigh rod member (4) and
Being slidably connected with thigh rod member (4), the two ends of described hydraulic mechanism are cut with scissors with shank rod member (1), thigh rod member (4) respectively
Connect.
Knee joint ectoskeleton power assisting device the most according to claim 1, it is characterised in that: described cam mechanism (2)
Including integrated cam body, base and fixed plate, described fixed plate and cam body are positioned at base both sides, described solid
Determine plate to be slidably connected with thigh rod member (4), at described cam body center of rotation, be fixed with stock two (12), described length
The two ends of bar two (12) are rotationally connected with shank rod member (1), described cam body are positioned at stock two (12) outer rim also
It is provided with arc-shaped slot, in described arc-shaped slot, is placed with stock one (10), described stock one (10) two ends and shank rod member (10)
Fixing connection.
Knee joint ectoskeleton power assisting device the most according to claim 2, it is characterised in that: on described stock one (10)
It is arranged with bearing one (9).
Knee joint ectoskeleton power assisting device the most according to claim 2, it is characterised in that: described shank rod member (1)
Be intermediate recess both sides bulge-structures with the connection end of cam mechanism, described both sides projection is from top to bottom provided with groove (8) and
Through hole, described stock one (10) two ends are arranged in through hole and fix with through hole and are connected, the two ends of described stock two (12)
It is arranged in groove (8) and is rotationally connected with groove (8).
Knee joint ectoskeleton power assisting device the most according to claim 1, it is characterised in that: described locking mechanism (3)
Including not closed ring body, the not closed place of described ring body is respectively arranged at two ends with end seat one and end seat two, described end
Seat one is provided with rotating gland (14), is equipped with lock core assembly moving up and down between described end seat one and end seat two,
Described lock core assembly one end is connected with gland (14), and after described gland (14) is pressed down, the other end can clasp the bottom surface holding seat two,
Band movable lock core assembly moves down and makes ring body shrink thus lock cam mechanism (2) and thigh rod member (4) simultaneously.
Knee joint ectoskeleton power assisting device the most according to claim 5, it is characterised in that: if described lock core assembly includes
Dry pull bar (16) and the spring (15) being sheathed on pull bar, described spring (15) one end is fixing with stock to be connected, institute
State end seat one and be provided with groove two, between the wall of described groove two left and right sides, be provided with stock three moving up and down, described several
Pull bar (16) uniformly hang on stock three, spring (15) between stock three and groove floor, described gland (14)
End is arranged on stock three, and is rotationally connected with stock three.
7. according to the arbitrary described knee joint ectoskeleton power assisting device of claim 2-6, it is characterised in that: outside described fixed plate
Surface is provided with several grooves one.
8. according to the arbitrary described knee joint ectoskeleton power assisting device of claim 2-6, it is characterised in that: described thigh rod member
(4) outer surface is provided with chute, and described fixed plate is connected with slide.
9. according to the arbitrary described knee joint ectoskeleton power assisting device of claim 1-6, it is characterised in that: described hydraulic mechanism
Including interconnective hydraulic cylinder (5) and hydraulic stem (6), the end of described hydraulic cylinder (5) is hinged with thigh rod member (4),
The end of described hydraulic stem (6) is hinged with shank rod member (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610335226.6A CN105856196A (en) | 2016-05-19 | 2016-05-19 | Assisting device for exoskeleton of knee joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610335226.6A CN105856196A (en) | 2016-05-19 | 2016-05-19 | Assisting device for exoskeleton of knee joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105856196A true CN105856196A (en) | 2016-08-17 |
Family
ID=56634352
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610335226.6A Pending CN105856196A (en) | 2016-05-19 | 2016-05-19 | Assisting device for exoskeleton of knee joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105856196A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514625A (en) * | 2016-12-20 | 2017-03-22 | 东南大学 | Knee joint power assistance device with self-switching rigidity |
| CN106625597A (en) * | 2016-12-20 | 2017-05-10 | 东南大学 | Knee joint power assisting device with automatically changed rigidity |
| CN106625596A (en) * | 2016-12-20 | 2017-05-10 | 东南大学 | Knee joint assisting mechanism having automatic switchover function |
| CN107088872A (en) * | 2017-05-22 | 2017-08-25 | 合肥工业大学 | Ectoskeleton power-assisted is with carrying dual function apparatus |
| CN107243886A (en) * | 2017-06-01 | 2017-10-13 | 浙江大学 | A kind of exoskeleton robot knee joint of adjustable force increasing ratio |
| CN107471194A (en) * | 2017-07-13 | 2017-12-15 | 瑞安市嘉盛机械有限公司 | Mountain-climbing power assisting device |
| CN108685670A (en) * | 2017-03-31 | 2018-10-23 | 本田技研工业株式会社 | Articulation mechanism |
| CN109764029A (en) * | 2019-03-14 | 2019-05-17 | 布法罗机器人科技（成都）有限公司 | A kind of miniature single power source hydraulic system applied to exoskeleton robot |
| WO2019205483A1 (en) * | 2018-04-25 | 2019-10-31 | 深圳市大疆创新科技有限公司 | Mounting mechanism, and robot kit |
| CN110857907A (en) * | 2018-08-24 | 2020-03-03 | 深圳先进技术研究院 | Fatigue testing device for lower limb vascular stent |
| CN113710433A (en) * | 2019-03-29 | 2021-11-26 | 本田技研工业株式会社 | Joint device |
| CN114851163A (en) * | 2022-04-28 | 2022-08-05 | 电子科技大学 | Upper limb assistance exoskeleton robot for providing assistance keeping |
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| CN103932870A (en) * | 2014-05-04 | 2014-07-23 | 浙江大学 | Lower limb rehabilitation training exoskeleton with bionics design |
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| CN104825312A (en) * | 2015-05-06 | 2015-08-12 | 电子科技大学 | Self-adaptive binding design for exoskeleton robot shank |
| CN104887461A (en) * | 2015-06-09 | 2015-09-09 | 电子科技大学 | Walking aid lower limb of exoskeleton robot |
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| CN102036638A (en) * | 2008-05-20 | 2011-04-27 | 加利福尼亚大学董事会 | Device and method for decreasing oxygen consumption of a person during steady walking by use of a load-carrying exoskeleton |
| CN102300484A (en) * | 2009-01-29 | 2011-12-28 | 雷克体育公众有限公司 | Length-adjustable pole and clamping apparatus therefor |
| CN102327173A (en) * | 2011-09-29 | 2012-01-25 | 上海交通大学 | Wearable exoskeleton lower limb rehabilitation robot |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625597A (en) * | 2016-12-20 | 2017-05-10 | 东南大学 | Knee joint power assisting device with automatically changed rigidity |
| CN106625596A (en) * | 2016-12-20 | 2017-05-10 | 东南大学 | Knee joint assisting mechanism having automatic switchover function |
| CN106514625A (en) * | 2016-12-20 | 2017-03-22 | 东南大学 | Knee joint power assistance device with self-switching rigidity |
| CN106514625B (en) * | 2016-12-20 | 2019-02-05 | 东南大学 | A knee joint power assist device with self-transformation stiffness |
| CN106625596B (en) * | 2016-12-20 | 2019-03-12 | 东南大学 | A kind of knee joint servomechanism of automatic switchover |
| CN106625597B (en) * | 2016-12-20 | 2019-03-12 | 东南大学 | A kind of knee joint power assisting device of rigidity auto-changing |
| CN108685670B (en) * | 2017-03-31 | 2020-09-01 | 本田技研工业株式会社 | Joint mechanism |
| CN108685670A (en) * | 2017-03-31 | 2018-10-23 | 本田技研工业株式会社 | Articulation mechanism |
| CN107088872B (en) * | 2017-05-22 | 2019-10-18 | 合肥工业大学 | Exoskeleton booster and handling dual-function device |
| CN107088872A (en) * | 2017-05-22 | 2017-08-25 | 合肥工业大学 | Ectoskeleton power-assisted is with carrying dual function apparatus |
| CN107243886A (en) * | 2017-06-01 | 2017-10-13 | 浙江大学 | A kind of exoskeleton robot knee joint of adjustable force increasing ratio |
| CN107471194A (en) * | 2017-07-13 | 2017-12-15 | 瑞安市嘉盛机械有限公司 | Mountain-climbing power assisting device |
| CN107471194B (en) * | 2017-07-13 | 2021-01-01 | 瑞安市嘉盛机械有限公司 | Mountain climbing power assisting device |
| WO2019205483A1 (en) * | 2018-04-25 | 2019-10-31 | 深圳市大疆创新科技有限公司 | Mounting mechanism, and robot kit |
| CN110857907A (en) * | 2018-08-24 | 2020-03-03 | 深圳先进技术研究院 | Fatigue testing device for lower limb vascular stent |
| CN109764029A (en) * | 2019-03-14 | 2019-05-17 | 布法罗机器人科技（成都）有限公司 | A kind of miniature single power source hydraulic system applied to exoskeleton robot |
| CN113710433A (en) * | 2019-03-29 | 2021-11-26 | 本田技研工业株式会社 | Joint device |
| CN114851163A (en) * | 2022-04-28 | 2022-08-05 | 电子科技大学 | Upper limb assistance exoskeleton robot for providing assistance keeping |
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Application publication date: 20160817 |