CN117001642A - A kind of knee joint assist exoskeleton device - Google Patents

Abstract

The invention provides a knee joint assistance exoskeleton device, in particular to the technical field of assistance devices, wherein the knee joint assistance exoskeleton device comprises an assistance component, and the assistance component comprises the following components: the power assisting component comprises a shank connecting piece and a thigh connecting piece, wherein a protruding part is fixed on one side of the bottom of the thigh connecting piece, a first elastic piece is sleeved on the protruding part, one end of the first elastic piece is fixedly connected with the thigh connecting piece, the other end of the first elastic piece is fixedly connected with the shank connecting piece, the thigh connecting piece and the shank connecting piece are connected with the same bowden wire, the bowden wire drags the shank connecting piece to rotate around the thigh connecting piece and rebound to assist by matching with the first elastic piece.

Description

A kind of knee joint assist exoskeleton device

Technical field

The present invention relates to the technical field of power-assist devices, and in particular to a knee joint power-assist exoskeleton device.

Background technique

The exoskeleton robot is a human-computer interaction device that uses mechanical devices to enhance limb functions. It has broad future application prospects. In the military field, it can assist soldiers in walking, effectively reduce physical energy consumption and enhance combat effectiveness. In the field of medical rehabilitation, it can help patients improve their health. Walking, improving walking efficiency or assisting rehabilitation, in the industrial field can help assist workers in their work and reduce work intensity.

In the prior art, for example, application number CN115229768A, the present invention discloses a human knee joint power-assisted exoskeleton device, which includes a flexible connector, a rigid connector and a ratchet and pawl clutch; the two flexible connectors are provided with penetration holes on the curvature planes, and the penetration holes It is connected to the screw holes on the plane of the rigid connector and fixed with the thigh and calf respectively; the two rigid connectors are respectively connected and fixed with the thigh clutch and calf coil spring part by screws; the clutch is internally connected with a pawl and a tooth with a certain angle. ratchet. It is installed at the knee joint of the human body. During the human walking process, the mechanical energy during the human body's walking and kicking process is collected through the coil spring, and is released during the human body's knee bending process to assist the human body in walking. The invention has a simple structure and is convenient to use; it can be worn on the human body to assist during walking, reducing wear and tear on the knee joint and energy consumption of the human body, improving the walking durability and load-bearing capacity of the human body, and increasing work efficiency at the same time. However, the patent uses coil springs. The boosting effect is limited and cannot provide obvious boosting effect.

Contents of the invention

In order to solve the problem of limited assisting effect of coil springs in the prior art, the present invention proposes a knee joint assisting exoskeleton device.

The present invention is achieved through the following technical solutions:

The present invention proposes that the knee joint assisting exoskeleton device includes a calf connecting piece and a thigh connecting piece, wherein:

A circular groove is provided on the top of one side of the calf connector, and a rotation hole is provided in the circular groove. A convex portion is fixed on one side of the bottom of the thigh connector, and a first elastic is placed on the convex portion. piece, the convex portion of the thigh connecting piece is inserted into the rotation hole of the calf connecting piece for rotational connection, one end of the first elastic member is fixedly connected to the thigh connecting piece, and the other end is fixed to the calf connecting piece The thigh connecting piece and the calf connecting piece are connected with the same Bowden wire. The Bowden wire drags the calf connecting piece to rotate around the thigh connecting piece and cooperates with the rebound of the first elastic member to perform active and passive power assist.

Further, a buffer portion is provided on one side of the thigh connecting piece, and at least four first rotating shafts are provided on the buffering portion, and both ends of the first rotating shaft are respectively rotatably connected to the buffering portion.

Furthermore, a limit plate is fixed on one side of the buffer portion, and a limit hole is provided on the limit plate. One end of the limit plate is connected to a fixed pipe, and the fixed pipe is connected with the limit hole. , the fixed tube faces the bottom side.

Further, the calf connector is also provided with a square groove, the square groove is located at the bottom of the circular groove, a slider is provided in the square groove, and the slider is slidingly connected to the calf connector. , a second elastic member is also provided in the square groove. One end of the second elastic member is fixedly connected to the calf connecting piece, and the other end is fixedly connected to the slider. The slider is fixedly connected to the Bowden wire. .

Further, it also includes a baffle, the baffle is located on the side of the calf connecting member close to the buffer portion, a pulley is fixed in the baffle, and the pulley is rotationally connected to the baffle.

Further, it also includes a connection component, the connection component includes a flexible connector, at least two of the flexible connectors are provided, and at least two of the flexible connectors are respectively fixed to the calf connector and the thigh connector. of the same side.

Further, it also includes a cover plate and an assembly plate, the cover plate is fixed on the back side of the circular groove of the lower leg connector, and the assembly plate is fixed on one side of the square groove.

Further, a limiting block is provided on one side of the thigh connecting piece along the rotation direction of the calf connecting piece.

Further, the top of the thigh connecting piece is hollow, and a control element is fixed on the inside of the hollow of the thigh connecting piece.

Further, it also includes a second rotating shaft, the second rotating shaft is fixed in the circular groove, one end of the second rotating shaft is fixedly connected to the calf connecting piece, and the other end is fixedly connected to the thigh connecting piece.

Beneficial effects of the present invention:

(1) The knee joint assisting exoskeleton device proposed by the present invention is rotationally connected by the thigh connector and the calf connector. The connecting part of the thigh connector and the calf connector is provided with a first elastic member, and the thigh connector is fixed with a Bowden wire to pull it. The slider drives the calf connecting piece to rotate, actively assist and compress the spring. After the assist of the Bowden line is completed, the first elastic member rebounds to complete the passive assist, thereby realizing the assistive movement of the human body. Through the passive assist of the first elastic member And the active assist of Bowden line can significantly improve the assist effect.

(2) The knee joint power-assisted exoskeleton device proposed by the present invention uses a slider and a second elastic member. When the Bowden wire pulls the calf connector to rotate, the second elastic member and the slider can play a buffering role. , will not interfere with the wearer's normal movements, and can also reduce damage caused by long-term stress on the knee joint.

(3) The knee joint power-assisting exoskeleton device proposed by the present invention is connected to the joints of the human body through flexible connectors, which can fit the wearer's body better and has good interactivity. Secondly, it can be limited by limiting blocks. Limit the reverse movement of the thigh link and calf link.

(4) The knee joint power-assisting exoskeleton device proposed by the present invention is provided with a plurality of first rotating shafts on the buffer part of the thigh connecting piece and baffles and pulleys on the calf connecting piece. The Bowden wire is threaded through the first rotating shaft and the pulleys. The threading and winding can, on the one hand, make the Bowden wire move more smoothly, and on the other hand, through the deceleration of the first rotating shaft, the motor can better control the sliding of the Bowden wire.

Description of the drawings

Figure 1 is an overall structural diagram of the knee joint assisting exoskeleton device of the present invention;

Figure 2 is an exploded view of the knee joint assisting exoskeleton device of the present invention;

Figure 3 is another side view of the knee joint assisting exoskeleton device of the present invention;

Figure 4 is an internal structural diagram of the thigh connector of the knee joint assisting exoskeleton device of the present invention;

In the figure: thigh connector 1, raised portion 11, buffer portion 12, first rotating shaft 13, fixed tube 14, limit plate 15, calf connector 2, second elastic member 21, baffle 22, pulley 23, limit Block 24, assembly plate 25, square groove 26, circular groove 27, rotation hole 271, slider 28, cover plate 29, first elastic member 3, second rotating shaft 4, connecting component 5, flexible connector 51;

The realization of the purpose, functional features and advantages of the present invention will be further described with reference to the embodiments and the accompanying drawings.

Detailed ways

In order to explain the technical solution of the present invention more clearly and completely, the present invention will be further described below in conjunction with the accompanying drawings.

Please refer to the accompanying drawings 1 to 4. The present invention proposes a knee joint assisting exoskeleton device including a calf connecting piece 2 and a thigh connecting piece 1, wherein:

A circular groove 27 is provided on the top of one side of the calf connector 2, and a rotation hole 271 is provided in the circular groove 27. A raised portion 11 is fixed on one side of the bottom of the thigh connector 1, and a first elastic member is placed on the raised portion 11. 3. The raised portion 11 of the thigh connector 1 is inserted into the rotation hole 271 of the calf connector 2 for rotational connection. One end of the first elastic member 3 is fixedly connected to the thigh connector 1, and the other end is fixedly connected to the calf connector 2. The thigh The connector 1 and the calf connector 2 are connected with the same Bowden wire. The Bowden wire drags the calf connector 2 to rotate around the thigh connector 1 and cooperates with the rebound of the first elastic member 3 to perform active and passive power assist.

In this implementation:

The slider 28 is used to provide a fixed structure for the Bowden wire;

The thigh connecting piece 1 and the calf connecting piece 2 form a movable structure and assist the knee joint;

The first elastic member 3 provides an elastic structure for the calf connecting piece 2 relative to the thigh connecting piece 1;

The Bowden wire is used to provide power for the calf connector 2 and the thigh connector 1 to perform power-assisted movements;

Specifically, the thigh connector 1 and the calf connector 2 are both provided with slots for installing Bowden wires, and the raised portion 11 of the thigh connector 1 and the rotation hole 271 of the calf connector 2 cooperate to form a rotatable structure similar to For human thighs and calves, the Bowden wire can pull the calf connector 2 to rotate relative to the thigh connector 1 through the rotation of the motor. The first elastic member 3 can provide a rebound force to help the calf connector 2 relative to the thigh connector 1. To reset, the user fixes the thigh connector 1 and the calf connector 2 to the thigh and calf respectively, and then drives the Bowden wire through the motor to contract and pull the calf connector 2 to rotate for active assistance. Then the motor stops operating, and the Bowden The thread is loosened, and then passive assistance is provided through the first elastic member 3. Active assistance and passive assistance are used to assist the wearer's leg-raising action. The active assistance and passive assistance can further increase the assistance effect.

In a real-time mode: the initial stress point of the first elastic member 3 can be changed. For example, when the spring is not stressed, the angle between the upper leg connector and the lower leg connector is 20 degrees or 10 degrees, or the angle between the upper leg connector and the lower leg connector is 20 degrees or 10 degrees. It is in a straight line with the lower leg connecting piece to adapt to different sports scenarios, thereby reducing the pressure on the joints during long-term movements.

In another real-time method: a locking component can be set between the thigh connector 1 and the calf connector 2, and the locking component locks the thigh connector 1 and the calf connector 2, so that the thigh connector 1 and the calf are connected. Part 2 cannot rotate, and the locking mechanism can save the wearer's effort when standing and working for a long time.

Furthermore, a buffer portion 12 is provided on one side of the thigh connecting piece 1, and at least four first rotating shafts 13 are provided on the buffering portion 12. Both ends of the first rotating shafts 13 are rotatably connected to the buffering portion 12 respectively.

In this implementation:

The first rotating shaft 13 provides a deceleration structure for the Bowden wire;

Specifically, with reference to Figure 4, there are four first rotating shafts 13 in this embodiment. The number of the first rotating shafts 13 can be selected according to the actual situation, and can be one, two, or five. The Bowden wire is threaded around a plurality of first rotating shafts 13, which can play a decelerating effect. When the motor drives the Bowden wire to shrink, the speed slows down. The first rotating shaft 13 can prevent the motor from rotating too fast and causing damage to the knee joint. Secondly, the speed of the motor can be better controlled through the first joint. On the other hand, it can also ensure that the contraction and sliding of the Bowden wire is smoother.

Furthermore, a limit plate 15 is fixed on one side of the buffer part 12. The limit plate 15 is provided with a limit hole. One end of the limit plate 15 is connected to a fixed pipe 16. The fixed pipe 16 is connected with the limit hole. The fixed pipe 16 Towards the bottom side.

In this implementation:

The limiting plate 15 is used to limit the routing direction of the Bowden wire;

The fixed tube 16 is used to provide a protective structure for the Bowden wire;

Specifically, with reference to Figure 4, after the Bowden wire is passed around the plurality of first rotating shafts 13, it is penetrated into the fixed tube 16 through the limit hole on the limit plate 15, and then passes through the inside of the fixed tube 16, passing through The limit plate 15 prevents the Bowden wire from getting messy or entangled with other components when loosened. At the same time, the Bowden wire can also be fixed on the thigh connector 1 without getting stuck. Condition.

Further, the calf connector 2 is also provided with a square groove 26, which is located at the bottom of the circular groove 27. A slider 28 is provided in the square groove 26, and the slider 28 is slidingly connected to the calf connector 2. The square groove 26 There is also a second elastic member 21 inside. One end of the second elastic member 21 is fixedly connected to the calf connector 2, and the other end is fixedly connected to the slider 28. The slider 28 is fixedly connected to the Bowden wire.

In this implementation:

The slider 28 can slide in the square groove 26 and drive the calf connector 2 to move;

The second elastic member 21 is used to provide a buffer structure for the slider 28;

Specifically, referring to Figure 2, the slider 28 can slide in the square groove 26 of the calf connector 2. The second elastic member 21 can enable the slider 28 to obtain a buffer force, and the Bowden wire drives the slider 28 to move. The slider 28 pulls the second elastic member 21 and then the calf connecting member 2 to rotate, and is buffered by the second elastic member 21. The user can still move within the stress of the second elastic member 21, through the thigh connecting member 1 , the calf connecting member 2 and the second elastic member 21 can have three degrees of freedom without interfering with the wearer's normal movement, can adapt to complex terrain, and at the same time improve the wearer's comfort.

Furthermore, the baffle 22 is included. The baffle 22 is located on the side of the calf connector 2 close to the buffer portion 12. A pulley 23 is fixed in the baffle 22, and the pulley 23 is rotationally connected to the baffle 22.

In this implementation:

The baffle 22 is used to provide a fixed structure for the pulley 23;

Pulley 23 is used to provide a sliding structure for the Bowden wire;

Specifically, with reference to Figures 2 and 3, the pulley 23 can rotate on the baffle 22. The Bowden wire bypasses the pulley 23 and is fixed to the slider 28. The pulley 23 can make the Bowden wire slide more smoothly when contracting. Smooth.

Further, it also includes a connection component 5. The connection component 5 includes a flexible connector 51. There are at least two flexible connectors 51. The at least two flexible connectors 51 are respectively fixed on the same side of the calf connector 2 and the thigh connector 1. .

In this implementation:

The flexible connector 51 is used to fix the calf connector 2 and the thigh connector 1 on the person's thigh and calf;

Specifically, the number of flexible connectors 51 can be set according to the actual situation. In this embodiment, there are two, one is fixed on the thigh connector 1 side, and the other is fixed on the calf connector 2 side. The flexible connectors 51 It can be Velcro or other soft structures that are fixed on the thighs and calves. They fit with the human body contact parts through the flexible connector 51, which has better interactivity, improves stability and increases wearing comfort. .

Further, it also includes a cover plate 29 and an assembly plate 25. The cover plate 29 is fixed on the back side of the circular groove 27 of the lower leg connector 2, and the assembly plate 25 is fixed on the square groove 26 side.

In this implementation:

The assembly plate 25 and the cover plate 29 are used to protect the internal structure;

Specifically, the cover plate 29 and the assembly plate 25 are used to respectively separate the internal structure of the calf connector 2 and the internal structure of the square groove 26. At the same time, they can also protect the internal structure from damage caused by external factors. The assembly plate 25 is used during the installation. The slider 28 and the second elastic member 21 are more convenient.

Furthermore, a limiting block 24 is also provided on one side of the thigh connecting piece 1 along the rotation direction of the calf connecting piece 2 .

In this implementation:

The limiting block 24 is used to provide a limiting structure for the calf connector 2;

Specifically, with reference to Figure 3, when the calf connector 2 rotates to a certain angle on the thigh connector 1, the limiting block 24 can restrict the calf connector 2 from rotating again, and the calf connector can be restricted by the limiting block 24. 2 rotate in the opposite direction relative to the thigh connecting piece 1 to prevent damage to the human body.

Furthermore, the top of the thigh connecting piece 1 is hollow, and a control element is fixed on the inside of the hollow of the thigh connecting piece 1 .

In this implementation:

The hollow part of the thigh connector 1 is used to provide a protective structure for the control element;

Specifically, with reference to Figure 4, the control components include motors, drive components, and power supplies. The Bowden wire enters the interior through the small hole of the buffer portion 12 and is fixedly connected to the internal motor. The hollow setting can improve the integration of the entire device. degree, reducing the space occupied by the device.

Further, it also includes a second rotating shaft 4, which is fixed in the circular groove 27. One end of the second rotating shaft 4 is fixedly connected to the calf connecting piece 2, and the other end is fixedly connected to the thigh connecting piece 1.

In this implementation:

The second rotating shaft 4 is used to support the rotation of the thigh connecting piece 1 and the calf connecting piece 2 .

Specifically, the bearing can reduce the friction coefficient between the thigh connecting piece 1 and the calf connecting piece 2, and can withstand a certain load at the same time.

To sum up, during specific use, one end of the Bowden wire is connected to the motor, and the other end passes through multiple first rotation axes, limit holes, fixed tubes 16, pulleys 23 and is fixedly connected to the slider 28. The thigh The motor inside the hollow part of the connector 1 drives the Bowden wire to expand and contract. The Bowden wire shrinks and drives the slider 28 to move. The slider 28 pulls the calf connector 2 through the second elastic member 21 to move. The calf connector 2 passes through The rotating hole 271 and the protruding portion 11 rotate relative to the thigh connecting piece 1 and compress the first elastic member 3. The second motor stops operating and drives the Bowden wire to loosen. Then the first elastic member 3 rebounds and drives the Bowden wire to loosen. The calf connecting piece 2 is reset relative to the thigh connecting piece 1 to complete the power assist.

Of course, the present invention can also have various other implementations. Based on this implementation, other implementations obtained by those of ordinary skill in the art without any creative work fall within the scope of protection of the present invention.

Claims (10)

1. A knee assist exoskeleton device, comprising a shank connector and a thigh connector, wherein:

the utility model discloses a leg connecting piece, including thigh connecting piece, rotary hole, bellying, rotary hole is equipped with at shank connecting piece one side top, be equipped with the rotary hole in the rotary hole, thigh connecting piece bottom one side is fixed with the bellying, the cover has first elastic component on the bellying, the bellying of thigh connecting piece inserts rotate in the rotary hole of shank connecting piece and connect, first elastic component one end with thigh connecting piece fixed connection, the other end with shank connecting piece fixed connection is connected with same bowden line on thigh connecting piece and the shank connecting piece, the bowden line drags the shank connecting piece rotates around the thigh connecting piece and cooperates first elastic component to kick-back and carry out initiative helping hand and passive helping hand.

2. The knee joint assisting exoskeleton device of claim 1, wherein a buffer part is arranged on one side of the thigh connecting piece, at least four first rotating shafts are arranged on the buffer part, and two ends of each first rotating shaft are respectively connected with the buffer part in a rotating way.

3. The knee joint assisting exoskeleton device of claim 2, wherein a limiting plate is further fixed on one side of the buffering portion, a limiting hole is formed in the limiting plate, one end of the limiting plate is connected with a fixing tube, the fixing tube is communicated with the limiting hole, and the fixing tube faces one side of the bottom.

4. The knee joint power assisting exoskeleton device of claim 3, wherein the shank connecting piece is further provided with a square groove, the square groove is located at the bottom of the circular groove, a sliding block is arranged in the square groove and is in sliding connection with the shank connecting piece, a second elastic piece is further arranged in the square groove, one end of the second elastic piece is fixedly connected with the shank connecting piece, the other end of the second elastic piece is fixedly connected with the sliding block, and the sliding block is fixedly connected with the bowden wire.

5. The knee joint assist exoskeleton device of claim 4, further comprising a baffle located on a side of the shank link adjacent to the cushioning portion, wherein a pulley is fixed within the baffle, and the pulley is rotatably connected with the baffle.

6. The knee joint assist exoskeleton device of claim 1 further comprising a connection assembly including at least two flexible connectors, at least two of said flexible connectors being secured to the same side of said shank connector and said thigh connector, respectively.

7. The knee joint assist exoskeleton device of claim 1 further comprising a cover plate secured to a back side of said shank link circular groove and an assembly plate secured to a side of said square groove.

8. The knee joint assist exoskeleton device of claim 1 wherein a stopper is further provided on one side of the thigh link in the rotation direction of the shank link.

9. The knee joint assist exoskeleton device of claim 1 wherein the thigh link top is hollow and the thigh link hollow inner side is fixed with a control element.

10. The knee joint assist exoskeleton device of claim 1, further comprising a second shaft, wherein the second shaft is fixed in the circular groove, one end of the second shaft is fixedly connected with the shank connecting piece, and the other end of the second shaft is fixedly connected with the thigh connecting piece.