Lower extremity exoskeleton heterogeneous knee joint based on parallel elastomer

A kind of elastic body and knee joint technology, which is applied in the direction of equipment to help people walk, passive exercise equipment, physical therapy, etc., can solve the problems of harming the comfort of human body movement, the occurrence of dead spots, etc., and improve the flexibility of joint movement , increase flexibility, increase the effect of bandwidth

Active Publication Date: 2019-03-29
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to solve the problems that the existing lower extremity exoskeleton knee joint may have a dead point when lifting the leg, it is easy to cause harm to the human body and the human body movement comfort is poor, and further provides a lower extremity exoskeleton heterogeneous knee based on parallel elastic bodies joint

Method used

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  • Lower extremity exoskeleton heterogeneous knee joint based on parallel elastomer
  • Lower extremity exoskeleton heterogeneous knee joint based on parallel elastomer
  • Lower extremity exoskeleton heterogeneous knee joint based on parallel elastomer

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specific Embodiment approach 1

[0024] Specific implementation mode one: as Figure 1~5 As shown, the lower extremity exoskeleton heterogeneous knee joint based on parallel elastic body in this embodiment includes a motor 1, a fixed cover 2, a harmonic reducer 3, a connecting plate 4, a knee joint body, a thigh rod connecting piece 5, and a calf rod connecting piece. 7 and the reducer output shaft 8, the lower end of the thigh rod connector 5 is provided with an outer edge, the fixed cover 2 and the connecting plate 4 are arranged in parallel and fixed on the outer edge of the thigh rod connector 5, and the motor 1 is fixed on the fixed On one end of the cover 2, one end of the harmonic reducer 3 is fixed on the other end of the fixed cover 2, the other end of the harmonic reducer 3 is connected to the connecting plate 4, and the output shaft 8 of the reducer is fixed on the harmonic On the reducer 3, the knee joint body is installed on the output shaft 8 of the reducer through the deep groove ball bearing 6...

specific Embodiment approach 2

[0026] Specific implementation mode two: as Figure 4 As shown, the adjustable limit block 501 in this embodiment includes a rubber pad and two adjustment pieces. The rubber pad is located between the two adjustment pieces. on the slot. In such a design, when the adjustable limit block 501 needs to be adjusted, the bolts and nuts are loosened and the adjustable limit block 501 is slid to a desired position, and then locked to limit the position. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0027] Specific implementation mode three: as figure 1 and figure 2 As shown, the parallel elastic body 9 of this embodiment includes an elastic outer ring 901, an elastic inner ring 903, six pairs of rectangular springs 902, three pairs of triangular blocks 905 and six pairs of elastic positioning pins 906. There are three dovetail blocks for uniform processing, and three pairs of triangular blocks 905 are evenly distributed in the circumferential direction on the inner wall of the elastic outer ring 901, and each pair of triangular blocks 905 is arranged side by side. One end of the spring 902 is in contact with a pair of triangular blocks 905 , the other end of each pair of rectangular springs 902 is in contact with a corresponding dovetail block, and each rectangular spring 902 is positioned by an elastic positioning pin 906 . In this design, the parallel elastic body 9 uses the compression deformation of the rectangular spring to realize the relative rotation of the inn...

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Abstract

The invention relates to a lower extremity exoskeleton heterogeneous knee joint based on parallel elastomer, and relates to a heterogeneous knee joint. The invention solves the problems that a dead point is possible to easily cause injury to a human body and the comfort of human movement is poor when a conventional lower extremity exoskeleton knee joint makes a leg lift. An end cover is fixed on the outer annulus surface of a knee joint body through a flange, and the parallel elastomer is fixed in the end cover; the parallel elastomer is coaxially fixedly connected with an output shaft of a speed reducer through a shaft frame. A magnetic encoder magnetic ring is arranged on the knee joint body, a magnetic encoder magnetic head is arranged on the parallel elastomer, and the magnetic encodermagnetic ring is arranged relative to the magnetic encoder magnetic head; the knee joint body is processed with a circular arch groove along an outer edge, two adjustable limit blocks are arranged inthe circular arc groove, and the circular arc groove and a connecting plate are arranged in a directly facing manner; a plurality of limit holes are processed in the connecting plate in a circumferential direction. Limit pins are inserted on the connecting plate, and elastic rubber blocks are arranged between the adjustable limit blocks and the limit pins. The lower extremity exoskeleton heterogeneous knee joint is applied to a lower extremity exoskeleton robot.

Description

technical field [0001] The invention relates to a lower limb exoskeleton knee joint, in particular to a lower limb exoskeleton heterogeneous knee joint based on parallel elastic bodies. Background technique [0002] An exoskeleton robot is a wearable device that integrates various technologies such as sensing technology and control technology. In particular, a lower limb exoskeleton robot is an exoskeleton robot that is similar in structure to the lower limbs of a human body, and can help the wearer realize Assist walking, lower limb rehabilitation, up and down stairs and other actions. [0003] The lower extremity exoskeleton robot is mainly composed of hip joints, knee joints and ankle joints. The ankle joint, as the connection between the lower extremity exoskeleton and the plantar pressure shoes, is a very important part of the structural design. The ankle joint mainly includes three degrees of freedom: Plantarflexion and dorsiflexion in the sagittal plane, valgus and v...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H3/00A61H1/02
CPCA61H1/0262A61H3/00A61H2003/005A61H2201/1207A61H2201/5007A61H2201/5061A61H2203/0406A61H2205/102
Inventor 董为杜志江陈朝峰毛薇
Owner HARBIN INST OF TECH
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