CN111603356A - Underactuated knee joint device for lower extremity exoskeleton - Google Patents

Abstract

The invention discloses an underactuated knee joint device for lower extremity exoskeleton, comprising: an upper mounting plate, a driving wheel rotatably connected to the upper mounting plate, and a first connection rotatably connected with a first end to the upper mounting plate A rod, a first driven wheel rotatably connected to the second end of the first link, a second link with the first end firmly connected to the first driven wheel, and a second driven wheel rotatably connected to the second end of the second link A driven wheel, a lower mounting plate fixed on the second driven wheel, and several ropes for inputting driving force to the driving wheel and for realizing sequential transmission among the driving wheel, the first driven wheel, and the second driven wheel. The device of the present invention has two degrees of freedom, that is, while assisting the lower leg to perform flexion and extension, it also has the freedom of movement in the sagittal plane, which can adapt to the motion characteristics of the knee joint without causing joint pressure; and the two degrees of freedom drive It can be realized by one driving mechanism, and the driving mechanism can be arranged at a position away from the knee joint, which can reduce the weight of the knee joint.

Description

Underactuated knee joint device for lower extremity exoskeleton

technical field

The invention relates to the field of medical rehabilitation equipment, in particular to an underactuated knee joint device for lower limb exoskeletons.

Background technique

Studies have shown that the motion of the human knee joint is complex. When the knee joint performs flexion and extension movements, it is not a simple single-degree-of-freedom rotation. The femur will rotate and slide on the tibia. At present, the structure of the knee joint of the lower limb exoskeleton is generally to have a single degree of freedom. The rotation of the degrees of freedom is not ergonomic, which not only causes uncoordinated human-machine movements, but also causes pressure on the joints, which may damage the joints. In addition, the motors of the current active exoskeleton are all located at the joints, resulting in an increase in the weight of the entire lower limb and an increase in the inertia of the joint movement.

So now a more reliable solution is needed.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide an underactuated knee joint device for lower extremity exoskeleton in view of the above deficiencies in the prior art.

In order to solve the above technical problems, the technical solution adopted in the present invention is: an underactuated knee joint device for lower limb exoskeleton, comprising: an upper mounting plate, a driving wheel rotatably connected to the upper mounting plate, a first a first connecting rod whose end is rotatably connected with the upper mounting plate, a first driven wheel rotatably connected with the second end of the first connecting rod, and a second connecting rod whose first end is fixedly connected with the first driven wheel A connecting rod, a second driven wheel rotatably connected to the second end of the second connecting rod, a lower mounting plate fixed on the second driven wheel, and used for inputting driving force for the driving wheel and for Several ropes are used to realize the sequential transmission between the driving wheel, the first driven wheel and the second driven wheel.

Preferably, the rope includes a first driving rope and a second driving rope for inputting driving force to the driving wheel, which are wound on the wheel surface of the driving wheel in opposite directions, and are connected to the driving wheel and the driving wheel. The first transmission rope and the second transmission rope between the first driven pulley and the third transmission rope and the fourth transmission rope are connected between the first driven pulley and the second driven pulley.

Preferably, the first end of the first transmission rope and the first end of the second transmission rope are wound on the wheel surface of the driving wheel in opposite directions, and the second end of the first transmission rope and the second The second end of the transmission rope is wound on the wheel surface of the first driven wheel in the opposite direction;

The first end of the third transmission rope and the first end of the fourth transmission rope are wound on the wheel surface of the first driven wheel in opposite directions, and the second end of the third transmission rope and the fourth transmission rope are wound in opposite directions. The second end of the second driven wheel is wound on the wheel surface of the second driven wheel in the opposite direction.

Preferably, the driving wheel, the first driven wheel and the second driven wheel are all provided with a winding groove for winding the rope and a fixing groove for fixing the rope, and a plurality of ropes are fixed on the ropes for A fixing block fixed in the corresponding fixing slot.

Preferably, the fixing block includes a blade portion for fixedly inserting into the fixing groove and a connection portion connected with the blade portion and used for fixing the rope.

Preferably, a first connecting shaft is fixed on the upper mounting plate, and the driving wheel is rotatably connected to the first connecting shaft through a first bearing.

Preferably, a second connecting shaft is rotatably inserted in a shaft hole inside the first connecting shaft through a second bearing, and the other end of the second connecting shaft is connected to the first end of the first connecting rod. fixed.

Preferably, a third connecting shaft is fixedly connected to the second end of the first connecting rod, and the first driven wheel is rotatably connected to the third connecting shaft through a third bearing.

Preferably, the first end of the second connecting rod is fixedly connected with the first driven wheel, and the second end of the second connecting rod is fixedly connected with a fourth connecting shaft.

Preferably, the second driven wheel is rotatably connected to the fourth connecting shaft through a fourth bearing, and the lower mounting plate is fixedly connected to the second driven wheel.

The beneficial effects of the present invention are:

The underactuated knee joint device for lower extremity exoskeleton of the present invention has two degrees of freedom, that is, while assisting the flexion and extension of the calf, it also has the freedom of movement in the sagittal plane, which can adapt to the kinematic characteristics of the knee joint without causing Joint pressure; and the driving of the two degrees of freedom can be realized by one driving mechanism, and the driving mechanism can be arranged at a position away from the knee joint, which can reduce the weight of the knee joint and make the knee joint more flexible. The present invention can be applied to patients with knee joint dysfunction or functional limitation caused by lower limb knee joint, muscle tissue injury or bone disease, and can assist patients in the rehabilitation treatment of knee joint flexion and extension.

Description of drawings

Fig. 1 is the structural schematic diagram of the front view of the underactuated knee joint device for lower extremity exoskeleton of the present invention;

Fig. 2 is the structural schematic diagram of the back view of the underactuated knee joint device for lower limb exoskeleton of the present invention;

3 is a schematic structural diagram of the front view of the underactuated knee joint device for lower extremity exoskeleton of the present invention after removing the first link and the second link;

4 is a schematic structural diagram of the underactuated knee joint device for lower extremity exoskeleton according to the present invention from a rear view after some components are removed;

Fig. 5 is the structural schematic diagram of the rope fixed on the driving wheel of the present invention;

Fig. 6 is the sectional structure schematic diagram of the driving wheel and the first driven wheel part of the present invention;

Fig. 7 is the sectional structure schematic diagram of the first driven wheel and the second driven wheel part of the present invention;

8 is a schematic diagram of a motion state of the underactuated knee joint device for lower extremity exoskeleton of the present invention;

9 is a schematic diagram of another motion state of the underactuated knee joint device for lower extremity exoskeleton of the present invention;

10 is a schematic structural diagram of a fixing device for an underactuated knee joint device of a lower extremity exoskeleton according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of fixing the underactuated knee joint device for lower extremity exoskeleton on the human body according to an embodiment of the present invention.

Description of reference numbers:

10—upper mounting plate; 11—driving wheel; 12—first connecting rod; 13—first driven wheel; 14—second connecting rod; 15—second driven wheel; 16—lower mounting plate; 120—first connecting rod The first end of the rod; 121—the second end of the first connecting rod; 140—the first end of the second connecting rod; 141—the second end of the second connecting rod;

20—first drive rope; 21—second drive rope; 22—first drive rope; 23—second drive rope; 24—third drive rope; 25—fourth drive rope; 220—first drive rope of the first drive rope One end; 221—the second end of the first transmission rope; 230—the first end of the second transmission rope; 231—the second end of the second transmission rope; 240—the first end of the third transmission rope; 241—the first end of the second transmission rope The second end of the three transmission ropes; 250—the first end of the fourth transmission rope; 251—the second end of the fourth transmission rope;

30—fixing slot; 31—fixing block; 32—insert part; 33—connecting part; 34—rope hole; 35—post; 36—winding groove;

40—first connecting shaft; 41—shaft hole; 42—second connecting shaft; 43—third connecting shaft; 44—fourth connecting shaft; 45—first bearing; 46—second bearing; 47—third bearing ;48—the fourth bearing;

50—underactuated knee joint device for lower extremity exoskeleton; 51—human body; 52—motor;

60—upper fixing sleeve; 61—lower fixing sleeve.

Detailed ways

The present invention will be further described in detail below with reference to the embodiments, so that those skilled in the art can implement according to the description.

It should be understood that terms such as "having", "comprising" and "including" as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

As shown in FIGS. 1-7 , an underactuated knee joint device for lower limb exoskeletons in this embodiment includes: an upper mounting plate 10 , a drive wheel 11 rotatably connected to the upper mounting plate 10 , a first end The first link 12 rotatably connected to the upper mounting plate 10 , the first driven wheel 13 rotatably connected to the second end 121 of the first link 12 , and the second driven wheel 13 , the first end of which is fixedly connected to the first driven wheel 13 . The connecting rod 14 , the second driven wheel 15 rotatably connected to the second end 141 of the second connecting rod, the lower mounting plate 16 fixed on the second driven wheel 15 , and the drive wheel 11 for inputting driving force and use. Several ropes are used to realize the sequential transmission between the driving wheel 11 , the first driven wheel 13 and the second driven wheel 15 .

In the present invention, the first driven wheel 13 is located at the side of the knee joint which is basically flush with the knee joint, the upper mounting plate 10 is located at the side above the knee joint and is fixed with the thigh, and the lower mounting plate 16 is located on the side below the knee joint and is fixed with the lower leg; the device is driven by a rope, and an external driving mechanism (such as a motor) provides a driving force to the rope, so that the first link 12 can rotate relative to the upper mounting plate 10, and the second The connecting rod 14 is rotatable relative to the first connecting rod 12; the underactuated knee joint device of the present invention has two degrees of freedom, that is, the lower mounting plate 16 serving as the output end can rotate relative to the upper mounting plate 10, and can also be relative to the upper mounting plate 10 Moves in the sagittal plane, so that it can well adapt to the movement of the knee joint without causing joint pressure.

Referring to FIG. 4 , wherein the rope includes a first driving rope 20 and a second driving rope 21 for inputting driving force for the driving wheel 11 , which are wound on the wheel surface of the driving wheel 11 in opposite directions, and are connected to the driving wheel 11 and the first driving rope 21 . A first drive rope 22 and a second drive rope 23 between a driven pulley 13 , a third drive rope 24 and a fourth drive rope 25 connected between the first driven pulley 13 and the second driven pulley 15 .

The first end 220 of the first transmission rope and the first end 230 of the second transmission rope are wound on the wheel surface of the driving wheel 11 in opposite directions, and the second end 221 of the first transmission rope and the second end of the second transmission rope 231 is wound on the wheel surface of the first driven wheel 13 in the opposite direction;

The first end 240 of the third transmission rope and the first end 250 of the fourth transmission rope are wound around the wheel surface of the first driven pulley 13 in opposite directions, and the second end 241 of the third transmission rope and the first end 250 of the fourth transmission rope The two ends 251 are wound on the wheel surface of the second driven wheel 15 in opposite directions.

5, the driving wheel 11, the first driven wheel 13 and the second driven wheel 15 are provided with a winding groove 36 for winding the rope and a fixing groove 30 for fixing the rope, and several ropes are fixed and useful. to the fixing blocks 31 fixed in the corresponding fixing grooves 30 . The fixing block 31 includes a blade portion 32 for being inserted into the fixing groove 30 and a connecting portion 33 connected with the blade portion 32 and used for fixing the rope. The rope is clamped into the winding groove 36, the insert part 32 and the inner wall of the fixing groove 30 can be fixed by screws, the rope passes through the rope hole 34 on the connecting part 33, and the end of the rope has a clamping column 35, so as to connect the rope to the connecting part 33 When the rope moves along its stretching direction, the clamping column 35 bears against the rope hole 34, so that the corresponding driving wheel 11 or driven wheel can be driven to rotate by the rope.

3 , 4 , 6 and 7 , a first connecting shaft 40 is fixedly connected to the upper mounting plate 10 , and the driving wheel 11 is rotatably connected to the first connecting shaft 40 through a first bearing 45 . A second connecting shaft 42 is rotatably inserted in the shaft hole 41 inside the first connecting shaft 40 through the second bearing 46 , and the other end of the second connecting shaft 42 is fixedly connected with the first end 120 of the first connecting rod. Therefore, the driving wheel 11 can rotate relative to the upper mounting plate 10 , and the first end 120 of the first connecting rod can also rotate relative to the upper mounting plate 10 .

A third connecting shaft 43 is fixedly connected to the second end 121 of the first connecting rod 12 , and the first driven wheel 13 is rotatably connected to the third connecting shaft 43 through a third bearing 47 . Therefore, the rotation of the second end 121 of the first link 12 can drive the first driven wheel 13 to move, and the driving force transmitted by the driving wheel 11 through the rope can make the first driven wheel 13 move relative to the second end of the first link 12 121 turns.

The first end 140 of the second connecting rod is fixedly connected with the first driven wheel 13 , and the fourth connecting shaft 44 is fixedly connected with the second end 141 of the second connecting rod. The second driven wheel 15 is rotatably connected to the fourth connecting shaft 44 through the fourth bearing 48 , and the lower mounting plate 16 is fixedly connected to the second driven wheel 15 . Therefore, the rotation of the second end 141 of the second link can drive the second driven wheel 15 to move, and the driving force transmitted by the driving wheel 11 through the rope can make the second driven wheel 15 rotate relative to the second end 141 of the second link .

The working principle of the present invention is:

8 , the first driving rope 20 is provided with a pulling force, the driving wheel 11 rotates clockwise, and the driving wheel 11 drives the first driven wheel 13 to rotate clockwise through the first transmission rope 22; the first driven wheel 13 then passes through the third transmission rope. 24 drives the second driven wheel 15 to rotate clockwise, and at the same time the rotation of the first driven wheel 13 makes the second link 14 rotate clockwise around its first end, so that the lower mounting plate on the second end 141 of the second link 16 is rotated clockwise to drive the lower leg to achieve the action of bending the leg; wherein, since the first end 120 of the first link can freely rotate relative to the upper mounting plate 10, the second end 121 of the first link 12 is relatively The driven wheel 13 can rotate freely. When the second link 14 rotates, the first driven wheel 13 can move away from the knee joint (that is, when the calf is bent, the first driven wheel 13 can move away from the knee joint. direction of the joint), so that it can adapt to the sliding of the knee joint without putting pressure on the knee joint.

Referring to FIG. 9 , a pulling force is provided to the second driving rope 21, the driving wheel 11 rotates counterclockwise, and the driving wheel 11 drives the first driven wheel 13 to rotate counterclockwise through the second driving rope 23; the first driven wheel 13 then passes the fourth driving rope. 25 drives the second driven wheel 15 to rotate counterclockwise, while the rotation of the first driven wheel 13 makes the second link 14 rotate counterclockwise around its first end, so that the lower mounting plate on the second end 141 of the second link 16 rotates counterclockwise, which can drive the lower leg to realize the action of extending the leg; wherein, since the first end 120 of the first link can freely rotate relative to the upper mounting plate 10, the second end 121 of the first link 12 is relatively The driven wheel 13 can rotate freely. When the second link 14 rotates, the first driven wheel 13 can move in the direction close to the knee joint (that is, when the calf is stretched, the first driven wheel 13 can move toward the knee joint. direction movement), so that it can adapt to the sliding of the knee joint without putting pressure on the knee joint.

Referring to FIG. 10 , in an embodiment, an upper fixing sleeve 60 is fixed on the upper mounting plate 10 , the upper fixing sleeve 60 can be fixedly sleeved on the thigh, and a lower fixing sleeve 61 is fixed on the lower mounting plate 16 . The fixing sleeve 61 can be fixedly sleeved on the calf.

In the present invention, since the external driving device provides the driving force for the device through the rope, the driving device can be arranged away from the knee joint to reduce the weight of the knee joint. For example, referring to FIG. 11 , in one embodiment, the underactuated knee joint device 50 for lower extremity exoskeleton is worn on the human body 51 , and the motor 52 provides driving tension for the first driving rope 20 and the second driving rope 21 , and the motor 52 can be worn on the back of the human body. The exposed rope is covered with a wire tube, and the wire tube is made of a hard material that is bent and formed. When the rope is stretched and slid in the wire tube, the wire tube can basically remain stationary, preventing multiple ropes from interfering with each other or entanglement.

Although the embodiment of the present invention has been disclosed as above, it is not limited to the application listed in the description and the embodiment, and it can be applied to various fields suitable for the present invention. For those skilled in the art, it can be easily Therefore, the invention is not limited to the specific details without departing from the general concept defined by the appended claims and the scope of equivalents.

Claims (10)

1. An underactuated knee joint device for lower extremity exoskeleton, characterized in that it comprises: an upper mounting plate, a drive wheel rotatably connected to the upper mounting plate, a first end rotatably connected to the upper mounting plate. A first link connected in rotation, a first driven wheel rotatably connected to the second end of the first link, a second link fixed at the first end with the first driven wheel, rotatably connected at the A second driven wheel at the second end of the second connecting rod, a lower mounting plate fixed on the second driven wheel, and a lower mounting plate for inputting driving force for the driving wheel and for realizing the driving wheel, the first Several ropes are sequentially transmitted between the driven wheel and the second driven wheel. 2 . The underactuated knee joint device for lower extremity exoskeletons according to claim 1 , wherein the rope comprises a pair of wires wound around the wheel surface of the driving wheel in opposite directions for the driving wheel. 3 . The first driving rope and the second driving rope for inputting the driving force, the first driving rope and the second driving rope connected between the driving wheel and the first driven wheel, and the first driven wheel and the second driven wheel are connected The third transmission rope and the fourth transmission rope between the driving wheels. 3 . The underactuated knee joint device for lower limb exoskeleton according to claim 2 , wherein the first end of the first transmission rope and the first end of the second transmission rope are wound around the On the wheel surface of the driving wheel, the second end of the first transmission rope and the second end of the second transmission rope are wound on the wheel surface of the first driven wheel in opposite directions; The first end of the third transmission rope and the first end of the fourth transmission rope are wound on the wheel surface of the first driven wheel in opposite directions, and the second end of the third transmission rope and the fourth transmission rope are wound in opposite directions. The second end of the second driven wheel is wound on the wheel surface of the second driven wheel in the opposite direction. 4 . The underactuated knee joint device for lower limb exoskeleton according to claim 3 , wherein the driving wheel, the first driven wheel and the second driven wheel are all provided with a rope winding surface on the wheel surface. 5 . The winding grooves and the fixing grooves for fixing the ropes are all fixed with fixing blocks for fixing in the corresponding fixing grooves on the several ropes. 5 . The underactuated knee joint device for lower limb exoskeleton according to claim 4 , wherein the fixing block comprises a blade part for being inserted into the fixing groove and a blade part connected with the blade part. 6 . The connecting portion of the connection for securing with the rope. 6 . The underactuated knee joint device for lower limb exoskeleton according to claim 1 , wherein a first connecting shaft is fixed on the upper mounting plate, and the driving wheel is rotatably connected through a first bearing. 7 . on the first connecting shaft. 7 . The underactuated knee joint device for lower extremity exoskeleton according to claim 6 , wherein a second connecting shaft is rotatably inserted into the shaft hole inside the first connecting shaft through a second bearing. 8 . , the other end of the second connecting shaft is fixedly connected with the first end of the first connecting rod. 8 . The underactuated knee joint device for lower limb exoskeleton according to claim 7 , wherein a third connecting shaft is fixedly connected to the second end of the first link, and the first driven wheel passes through the The third bearing is rotatably connected to the third connecting shaft. 9 . The underactuated knee joint device for lower limb exoskeleton according to claim 8 , wherein the first end of the second link is fixedly connected to the first driven wheel, and the second link The second end of the rod is fixedly connected with a fourth connecting shaft. 10 . The underactuated knee joint device for lower extremity exoskeleton according to claim 9 , wherein the second driven wheel is rotatably connected to the fourth connection shaft through a fourth bearing, and the lower The mounting plate is fixed on the second driven wheel.

Images