A knee-assisted exoskeleton robot with humanoid knee joints

Abstract

The present invention discloses a knee joint assisted exoskeleton robot with a humanoid knee joint, comprising a thigh assembly, a humanoid knee joint mechanism, a calf assembly and a driving mechanism, wherein the thigh assembly and the calf assembly are respectively connected to the humanoid knee joint mechanism, and the driving mechanism drives the calf assembly to drive the humanoid knee joint mechanism to rotate; as the calf assembly swings, the rotation center of the humanoid knee joint mechanism moves up and down, and the rotation radius changes, thereby simulating the movement of the human knee joint. Among them, the humanoid knee joint mechanism is a rotation joint that fully complies with the rotation law of the human knee joint, the joint rotation guide rail is designed according to the rotation trajectory of the human knee joint, and the joint rotation center is a moving block that can be displaced according to a linear groove, which can adapt to the changes in the rotation center and the rotation radius during the joint rotation process, overcoming the disadvantage that the traditional knee joint exoskeleton adopts a single-axis rotation joint, resulting in a low degree of coordination with the wearer, and improving human-machine compatibility.

Description

Technical Field

[0001] The invention relates to a knee joint power-assisted exoskeleton robot, in particular to a knee joint power-assisted exoskeleton robot with a humanoid knee joint. Background Art

[0002] An exoskeleton robot is a human-machine integrated system worn on the operator's body. It uses a combination of sensing, control, information fusion and other robotic technologies to provide the wearer with additional power and enhance human functions while ensuring the wearer's comfort and motion characteristics, thereby completing more complex and difficult tasks, achieving increased strength and extended senses. With the above characteristics, exoskeleton robots have attracted active research from more and more domestic and foreign scientific research institutions, and have broad application prospects in military, police, and medical fields.

[0003] As one of them, the knee joint exoskeleton robot is designed to assist human walking. In view of the problem that front-line police officers are prone to fatigue and even physiological damage to knees, lumbar spine and other joints due to heavy loads and long working hours when performing special patrol, search and bomb disposal tasks, the knee joint exoskeleton robot can increase the walking distance of police officers, improve their load-bearing capacity, reduce the risk of muscle damage, and thus improve the combat capability of individual soldiers.

[0004] Since the knee joint exoskeleton robot is a human-machine interactive system, how to perfectly coordinate and unify with the human body and control it flexibly is a difficult problem that needs to be overcome in the development of knee joint exoskeleton robots. The human knee joint realizes joint movement through the contraction and relaxation of muscle tissue. The flexibility of muscle tissue helps to buffer the impact of the outside world on the knee joint and the human body during movement, protecting the human body from injury. The knee joint is a rotary joint with a variable rotation center and a variable rotation radius. When it rotates, its instantaneous rotation center moves accordingly. However, the current traditional knee joint exoskeleton robot simply designs the knee joint as a single-axis joint with a fixed rotation center. It does not refer to the actual movement law of the human knee joint. It cannot adapt to the dynamic changes of the human knee joint axis during work, resulting in the dislocation of the human-machine knee joint axis. The degree of coordination with the human knee joint during actual movement is low. Long-term use will lead to problems such as uncomfortable wearing and soft tissue contusion. In addition, most of the current knee joint exoskeleton robots use a rigid drive method, which is directly driven by a motor or a hydraulic cylinder. The drive device lacks flexibility and has no buffering function. It is easily damaged by external impact. The safety and comfort of personnel wearing are poor, and there are hidden dangers in terms of safety of use. Therefore, it is necessary to develop a knee-assisted exoskeleton robot with an anthropomorphic knee joint that conforms to the structure and movement mechanism of the human knee joint to ensure that the movement of the exoskeleton robot is consistent with that of the human body. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a knee joint-assisted exoskeleton robot with a humanoid knee joint.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0007] A knee-assisted exoskeleton robot with a humanoid knee joint comprises a thigh assembly, a humanoid knee joint mechanism, a calf assembly and a driving mechanism, wherein the thigh assembly and the calf assembly are respectively connected to the humanoid knee joint mechanism, and the driving mechanism drives the calf assembly to drive the humanoid knee joint mechanism to rotate; wherein, as the calf assembly swings, the rotation center of the humanoid knee joint mechanism moves up and down, and the rotation radius changes, thereby simulating the movement of the human knee joint.

[0008] Preferably, the humanoid knee joint mechanism comprises an inner thigh connection piece, an outer thigh connection piece, an inner calf connection piece, an outer calf connection piece, a moving block, a compression spring I and a compression spring II;

[0009] The inner calf connecting piece and the outer calf connecting piece are respectively provided with mounting holes, and the inner calf connecting piece and the outer calf connecting piece are respectively provided with rotating guide rails arranged according to the movement track of the human knee joint;

[0010] The inner thigh connecting piece is connected to the outer thigh connecting piece; a linear groove is respectively opened on the opposite side of the inner thigh connecting piece and the outer thigh connecting piece, and a long strip through hole is arranged in the middle of the linear groove; the compression spring I, the moving block and the compression spring II are pressed in the two closed linear grooves in sequence;

[0011] Cylindrical connecting columns are fixed on the left and right sides of the moving block, respectively. The two connecting columns extend out of the through holes and are arranged in the mounting holes of the inner and outer calf connecting pieces through bearings.

[0012] A cylindrical block is respectively arranged outside the lower end of the inner thigh connecting piece and the outer thigh connecting piece, and the two cylindrical blocks are respectively arranged in the rotating guide rails of the inner calf connecting piece and the outer calf connecting piece through bearings;

[0013] As the calf assembly swings, the two cylindrical blocks slide in the rotating guide rails respectively, and the moving block moves up and down in the linear groove. The moving block is the rotation center of the thigh assembly and the calf assembly, and the distance between the moving block and the cylindrical block constitutes a variable rotation radius.

[0014] Preferably, the shape of the rotating guide rail conforms to the moving trajectory of the center of curvature of the horizontal rotation axis of the human knee joint, that is, a J-shaped curve.

[0015] Preferably, the driving mechanism adopts a series flexible driver, and drives the input and output through a spring connection mechanism to achieve flexible driving.

[0016] Preferably, the driving mechanism includes a driving motor assembly, a screw shaft, a linear guide rail, an output shaft, a screw nut, an upper connecting plate, a middle connecting plate, a lower connecting plate, a support plate, a fixing plate, a compression spring, a calf connecting rod connecting block, a calf connecting rod and a motor support seat;

[0017] The driving motor assembly is arranged at the upper end of the entire driving mechanism, and the driving motor assembly is fixed to the thigh assembly through a motor support seat; the calf connecting rod connecting block is arranged at the lower end of the entire driving mechanism, and the calf connecting rod connecting block is connected to the calf assembly through the calf connecting rod, so that the calf connecting rod can drive the calf assembly to swing;

[0018] The support plate is arranged between the drive motor assembly and the shank connecting rod connecting block, the upper end and the lower end of the lead screw shaft are connected to the drive motor assembly and the support plate respectively, and the lead screw shaft rotates under the drive of the drive motor assembly;

[0019] The upper connecting plate, the middle connecting plate and the lower connecting plate are arranged between the driving motor assembly and the supporting plate; the fixing plate connects the upper connecting plate and the lower connecting plate together;

[0020] The lead screw shaft passes through the upper connecting plate, the middle connecting plate and the lower connecting plate in sequence; a lead screw nut is arranged on the lead screw shaft, and the lead screw nut is fixed to the middle connecting plate. As the lead screw shaft rotates, the lead screw nut drives the middle connecting plate to move up and down along the lead screw shaft;

[0021] The two ends of the linear guide rail are fixedly connected to the drive motor assembly and the support plate respectively, and the two linear guide rails pass through the diagonal positions of the upper connecting plate, the middle connecting plate and the lower connecting plate through fixed linear bearings;

[0022] The two ends of the output shaft are fixedly connected to the upper connecting plate and the shank connecting rod connecting block respectively, and the two output shafts pass through the middle connecting plate, the lower connecting plate and the other diagonal position of the support plate through fixed linear bearings;

[0023] Two compression springs are sleeved on each output shaft, one of which is arranged between the upper connecting plate and the middle connecting rod, and the other is arranged between the middle connecting plate and the lower connecting plate;

[0024] In the driving mechanism, the driving motor assembly drives the screw shaft to rotate, and the screw nut moves linearly along the screw shaft, thereby driving the middle connecting plate connected to the screw nut to move along the linear guide rail; then, the middle connecting plate acts on the upper connecting plate and the lower connecting plate through the compression spring, driving the output shaft connected to the upper connecting plate to move linearly.

[0025] The knee joint assisted exoskeleton robot with a humanoid knee joint provided by the present invention comprises a thigh component, a humanoid knee joint mechanism, a calf component and a driving mechanism. Among them, the humanoid knee joint mechanism is a rotary joint that fully complies with the rotation law of the human knee joint. The joint rotation guide rail is designed according to the rotation trajectory of the human knee joint. The joint rotation center is a moving block that can be displaced according to a linear groove, which can adapt to the changes in the rotation center and the rotation radius during the joint rotation process, overcomes the disadvantage that the traditional knee joint exoskeleton adopts a single-axis rotation joint, which leads to low coordination with the wearer, and improves human-machine compatibility. In addition, the driving mechanism adopts a series flexible driver, so that there is a certain rotation displacement tolerance rate during the driving process, and when encountering an impact, it can appropriately shrink and buffer the energy generated by the collision. At the same time, it can also absorb, store and reuse the energy, which not only improves the energy utilization rate, but also eliminates mechanical vibration to a certain extent, reduces the mechanical damage of parts and components, and ensures the safety of the wearer. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic structural diagram of a knee joint-assisted exoskeleton robot with a humanoid knee joint provided by the present invention;

[0027] Figure 2 yes Figure 1 The structural breakdown diagram of the actuator;

[0028] Figure 3 yes Figure 1 The structural breakdown diagram of the humanoid knee joint mechanism;

[0029] Figure 4 yes Figure 3 The assembly status of the humanoid knee joint mechanism Figure 1 ;

[0030] Figure 5 yes Figure 3 The assembly status of the humanoid knee joint mechanism Figure 2 ;

[0031] Figure 6 yes Figure 1 A schematic diagram of the structure of the middle driving mechanism;

[0032] Figure 7 The present invention provides a flowchart of the knee-assisted exoskeleton robot with a humanoid knee joint. DETAILED DESCRIPTION

[0033] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0034] To solve the problems that the traditional knee joint exoskeleton robot simply designs the knee joint as a single-axis joint, cannot adapt to the dynamic changes of the human knee joint rotation axis during work, and has a low degree of coordination with the human knee joint; the driving mechanism mostly adopts a rigid driving device, which is easily damaged by external impact, lacks flexibility, has no buffering function, and has poor safety and comfort for people to wear. The present invention proposes a knee joint assisted exoskeleton robot with a humanoid knee joint, which mainly includes a thigh component 1, a humanoid knee joint mechanism 2, a calf component 3 and a driving mechanism 4. Among them, the humanoid knee joint mechanism 2 is a rotary joint that fully conforms to the rotation law of the human knee joint. The joint rotation guide rail is designed according to the rotation trajectory of the human knee joint. The joint rotation center can adapt to the changes of the rotation center and the rotation radius during the joint rotation process, which overcomes the disadvantage that the traditional knee joint exoskeleton robot adopts a single-axis rotary joint, resulting in a low degree of coordination with the wearer, and improves human-machine compatibility. At the same time, the present invention also improves the driving mechanism 4. The driving mechanism 4 adopts a series flexible driver, which can shrink appropriately when encountering an impact to buffer the energy generated by the collision. At the same time, it can also absorb, store and reuse the energy. It not only improves the energy utilization rate, but also eliminates mechanical vibrations to a certain extent, reduces mechanical damage to components, and ensures the safety of wearers.

[0035] Specifically, if Figure 1 As shown, the knee joint assist exoskeleton robot with a humanoid knee joint provided by the present invention comprises a thigh assembly 1, a humanoid knee joint mechanism 2, a calf assembly 3 and a driving mechanism 4, wherein the thigh assembly 1, the humanoid knee joint mechanism 2 and the calf assembly 3 constitute an actuator. The thigh assembly 1 and the calf assembly 3 are respectively connected to the humanoid knee joint mechanism 2. The driving mechanism 4 is fixedly connected to the thigh assembly 1 through a motor support seat 415, and is connected to the calf assembly 3 through a calf connecting rod 414, thereby driving the calf assembly 3 to drive the humanoid knee joint mechanism 2 to rotate.

[0036] like Figure 2 As shown, the thigh component 1 is composed of an inner thigh plate 11, an outer thigh plate 12, a thigh support rod 13 and a thigh strap plate 14.

[0037] The inner thigh plate 11 and the outer thigh plate 12 are two slender support plates with symmetrical structures; the end shape of the upper end of the support plate is semicircular, and the lower end of the support plate is an end with a square connection block, and the width of the upper half of the support plate is smaller than the width of the lower end. Among them, the lower end of the square connection block has a concave arc-shaped accommodating portion, which is used to accommodate the circular upper end of the calf component 3 and cooperate with the circular upper end of the calf component 3 to allow the upper end of the calf component 3 to rotate inside it. In addition, on the opposite side of the square connection part at the lower end of the inner thigh plate 11 and the outer thigh plate 12, there are respectively provided spaces for embedding and installing the inner thigh connection piece 21 and the outer thigh connection piece 22, and the spaces are arranged at the rear position inside the square connection part. When the inner thigh plate 11 and the outer thigh plate 12 are connected to the anthropomorphic knee joint mechanism 2, the front part of the square connecting part at the lower end of the inner thigh plate 11 and the outer thigh plate 12 is closed and fixed together, and the inner thigh connecting piece 21 and the outer thigh connecting piece 22 are embedded and fixed together in the empty space at the rear of the two square connecting blocks, thereby realizing a stable connection between the thigh component 1 and the anthropomorphic knee joint mechanism 2.

[0038] The distance between the inner thigh plate 11 and the outer thigh plate 12 is the same width from top to bottom; a plurality of thigh support rods 13 of equal length are arranged between the inner thigh plate 11 and the outer thigh plate 12, and the plurality of thigh support rods 13 fix the inner thigh plate 11 and the outer thigh plate 12 into a whole from top to bottom; a thigh strap plate 14 is fixed to the outer side of the inner thigh plate 11, and is used to cooperate with the strap to fix the thigh assembly 1 to the side of the thigh.

[0039] The calf assembly 3 is composed of a calf inner plate 31, a calf outer plate 32, a calf support rod 33 and a calf strap plate 34. The calf inner plate 31 and the calf outer plate 32 are two slender support plates with symmetrical structures, the end shape of the lower end is semicircular, and the upper end has a circular end, wherein the diameter of the circular end is greater than the width of the support plate, and the circular end is arranged in the arc-shaped accommodation portion at the lower end of the thigh inner plate 11 and the thigh outer plate 12, and can rotate freely. The distance between the calf inner plate 31 and the calf outer plate 32 is the same width from top to bottom; the distance between the calf inner plate 31 and the calf outer plate 32 is the same width as the distance between the thigh inner plate 11 and the thigh outer plate 12. A plurality of calf support rods 33 of equal length are arranged between the inner calf plate 31 and the outer calf plate 32, and the plurality of calf support rods 33 fix the inner calf plate 31 and the outer calf plate 32 into a whole from top to bottom; a calf strap plate 34 is fixed on the outer side of the inner calf plate 31, and is used to cooperate with the strap to fix the calf assembly 3 on the side of the calf.

[0040] like Figure 3As shown, the anthropomorphic knee joint mechanism 2 includes an inner thigh connecting piece 21, an outer thigh connecting piece 22, an inner calf connecting piece 23, an outer calf connecting piece 24, a moving block 25, a compression spring I 26, a compression spring II 27 and a connecting block 28.

[0041] The inner thigh connecting member 21 and the outer thigh connecting member 22 are two symmetrically arranged rectangular parallelepipeds, and the length directions of the inner thigh connecting member 21 and the outer thigh connecting member 22 are arranged vertically. The inner thigh connecting member 21 and the outer thigh connecting member 22 are connected to the two opposite sides and integrated into one body (see Figure 4 ), the upper end 201 of the inner thigh connecting member 21 is connected to the lower end of the inner thigh plate 11, and the upper end 201 of the outer thigh connecting member 22 is connected to the lower end of the outer thigh plate 12, and the upper ends 201 of the inner thigh connecting member 21 and the outer thigh connecting member 22 are embedded together in the two square connecting parts fixed at the lower ends of the inner thigh plate 11 and the outer thigh plate 12. A rectangular straight groove 202 is respectively opened on the inner side (opposite side) of the inner thigh connecting member 21 and the outer thigh connecting member 22, and the straight groove 202 is a blind hole structure, and a long strip through hole 203 is arranged in the middle of the straight groove 202, and the through hole 203 is vertically arranged on the outer side (opposite side) of the inner thigh connecting member 21 and the outer thigh connecting member 22. The compression spring I 26, the moving block 25 and the compression spring II 27 are pressed in the two closed straight grooves 202 in sequence. The moving block 25 is preferably a cube moving block or a rectangular parallelepiped moving block. Connecting columns are fixed on the upper and lower sides of the moving block 25. The upper connecting column extends into the compression spring I 26, and the lower connecting column extends into the compression spring II 27, which facilitates the installation of the compression spring I 26, the moving block 25 and the compression spring II 27. Figure 3 The orientation in FIG. 2 is based on the orientation in FIG. 2. A cylindrical connecting column 205 is fixed on the left and right sides of the moving block 25. The connecting column 205 fixed on the left side of the moving block 25 extends from the through hole 203 of the outer thigh connecting member 22 and is set in the mounting hole 208 on the outer leg connecting member 24 through a bearing; the connecting column 205 fixed on the right side of the moving block 25 extends from the through hole 203 of the inner thigh connecting member 21 and is set in the mounting hole 208 on the outer leg connecting member 23 through a bearing. A cylindrical block 204 is respectively arranged outside the lower end of the inner thigh connecting member 21 and the outer thigh connecting member 22. The two cylindrical blocks 204 are respectively installed in the rotating guide rails 209 arranged on the inner leg connecting member 23 and the outer leg connecting member 24 through bearings. As the calf assembly 3 swings, the two cylindrical blocks 204 slide in the rotating guide rails 209 respectively. As the cylindrical block 204 slides in the rotating guide rail 209 , the moving block 25 moves up and down in the linear groove 202 , and the cylindrical connecting columns 205 on both sides of the moving block 25 move up and down in the through hole 203 .

[0042] The inner calf connecting piece 23 and the outer calf connecting piece 24 are two equal-sized circular disks, and the sizes of the inner calf connecting piece 23 and the outer calf connecting piece 24 are the same as the sizes of the circular ends of the inner calf plate 31 and the outer calf plate 32 upper ends. The outer side of the inner calf connecting piece 23 overlaps with the upper end of the inner calf plate 31 and is connected, and the outer side of the outer calf connecting piece 24 overlaps with the upper end of the outer calf plate 32 and is connected. The inner calf connecting piece 23 and the outer calf connecting piece 24 are connected by an arc connecting piece 28, and the left and right sides of the arc connecting piece 28 are respectively fixed to the lower half side arc edges of the inner calf connecting piece 23 and the outer calf connecting piece 24, thereby the inner calf connecting piece 23 and the outer calf connecting piece 24 are connected as a whole (such as Figure 4 The width of the arc-shaped connecting block 28 is equal to or slightly greater than the sum of the thickness of the inner thigh connecting member 21 and the thickness of the outer thigh connecting member 22.

[0043] like Figure 5 As shown, mounting holes 208 are respectively provided on the inner calf connecting member 23 and the outer calf connecting member 24. The mounting holes 208 are provided on the upper half of the inner calf connecting member 23 and the outer calf connecting member 24, and are used to connect with the cylindrical connecting posts 205 provided on the left and right sides of the moving block 25 through bearings. Rotating guide rails 209 are respectively provided on the inner calf connecting member 23 and the outer calf connecting member 24 according to the movement trajectory of the human knee joint. The shape of the rotating guide rails 209 conforms to the movement trajectory of the center of curvature of the horizontal rotation axis of the human knee joint - the J-shaped curve (see Figure 5 The cylindrical block 204 disposed outside the lower ends of the thigh outer connecting member 21 and the thigh inner connecting member 22 is installed in the rotating guide rail 209 through a bearing and can move along the rotating guide rail 209.

[0044] When the calf component 3 moves, the inner calf connector 23 and the outer calf connector 24 in the humanoid knee joint mechanism 2 connected thereto are driven to rotate, and the cylindrical block 204 assembled with bearings arranged on the outside of the lower ends of the inner thigh connector 21 and the outer thigh connector 22 moves along the rotating guide rail 209 arranged on the inner thigh connector 23 and the outer thigh connector 24 according to the movement trajectory of the human knee joint, and the moving block 25 inside the inner thigh connector 21 and the outer thigh connector 22 moves up and down with the change of the rotation radius of the knee joint, thereby realizing the humanoid knee joint movement.

[0045] During the swinging of the calf assembly 3, as the cylindrical block 204 slides in the rotating guide rail 209 and the moving block 25 moves up and down in the linear groove 202, the rotation center of the thigh assembly 1 and the calf assembly 3 (moving block 25) moves up and down, and the distance between the moving block 25 and the cylindrical block 204 constitutes a variable rotation radius, thereby simulating the movement of the human knee joint.

[0046] like Figure 6 As shown, the driving mechanism 4 includes a driving motor assembly 41, a screw shaft 42, a linear guide rail 43, an output shaft 44, a screw nut 45, an upper connecting plate 46, a middle connecting plate 47, a lower connecting plate 48, a support plate 49, a fixing plate 410, a compression spring 411, a pull-wire displacement sensor 412, a calf connecting rod connecting block 413, a calf connecting rod 414 and a motor support seat 415.

[0047] The driving motor assembly 41 is arranged at the upper end of the entire driving mechanism 4 , and the driving motor assembly 41 is fixed to the inner thigh plate 11 and the outer thigh plate 12 in the thigh assembly 1 through a motor support seat 415 .

[0048] The calf connecting rod connecting block 413 is arranged at the lower end of the entire driving mechanism 4, and the calf connecting rod connecting block 413 is connected to the calf inner plate 31 and the calf outer plate 32 in the calf assembly 3 through the calf connecting rod 414; the calf connecting rod connecting block 413 and the calf connecting rod 414, and the calf connecting rod 414 and the calf side plates (including the calf inner plate 31 and the calf outer plate 32) are respectively hinged through the connecting rod shaft, so that the calf connecting rod 414 can drive the calf assembly 3 to swing.

[0049] The support plate 49 is arranged between the drive motor assembly 41 and the calf connecting rod connecting block 413 . The upper end and the lower end of the screw shaft 42 are respectively connected to the drive motor assembly 41 and the support plate 49 . The screw shaft 42 rotates under the drive of the drive motor assembly 41 .

[0050] The upper connecting plate 46, the middle connecting plate 47 and the lower connecting plate 48 are sequentially arranged between the driving motor assembly 41 and the supporting plate 49. The fixing plate 410 connects the upper connecting plate 46 and the lower connecting plate 48 together.

[0051] The lead screw shaft 42 passes through the upper connecting plate 46, the middle connecting plate 47 and the lower connecting plate 48 in sequence. A lead screw nut 45 is arranged on the lead screw shaft 42, and the lead screw nut 45 is arranged between the upper connecting plate 46 and the middle connecting plate 47, and the lead screw nut 45 is fixed to the middle connecting plate 47. As the lead screw shaft 42 rotates, the lead screw nut 45 drives the middle connecting plate 47 to move up and down along the lead screw shaft 42.

[0052] The linear guide rails 43 and the output shafts 44 are arranged diagonally.

[0053] The two ends of the linear guide rail 43 are respectively fixedly connected to the driving motor assembly 41 and the support plate 49. The two linear guide rails 43 pass through the diagonal positions of the upper connecting plate 46, the middle connecting plate 47 and the lower connecting plate 48 through fixed linear bearings.

[0054] The two ends of the output shaft 44 are respectively fixedly connected to the upper connecting plate 46 and the calf connecting rod connecting block 413. The two output shafts 44 pass through the middle connecting plate 47, the lower connecting plate 48 and the other diagonal position of the support plate 49 through fixed linear bearings.

[0055] Two compression springs 411 are sleeved on each output shaft 44 , wherein one compression spring 411 is disposed between the upper connecting plate 46 and the middle connecting plate 47 , and the other compression spring 411 is disposed between the middle connecting plate 47 and the lower connecting plate 48 .

[0056] In the above-mentioned driving mechanism 4, the driving motor assembly 41 drives the screw shaft 42 to rotate; the screw nut 45 is connected to the middle connecting plate 47, and the screw shaft 42 rotates to realize the linear motion of the screw nut 45 along the screw shaft 42, thereby driving the middle connecting plate 47 connected thereto to move along the linear guide rail 43; then, the compression spring 411 acts on the upper connecting plate 46 and the lower connecting plate 48, driving the output shaft 44 connected to the upper connecting plate 46 to move in a linear direction; the output shaft 44 drives the calf connecting rod connecting block 413 and the calf connecting rod 414 to move. In the above-mentioned driving process, the input and output are driven by the spring connection mechanism to realize flexible driving.

[0057] In addition, the wire-type displacement sensor 412 is fixed below the support plate 49, and the wire of the wire-type displacement sensor 412 is tied to the calf connecting rod connecting block 413, and reciprocates with the swing of the calf assembly 3 to measure the motion information of the calf assembly 3 in real time. The wire-type displacement sensor 412 is connected to the control unit of the driving mechanism 4, and the control unit is used to control the driving force and driving speed of the driving motor assembly according to the measurement result of the wire-type displacement sensor 412.

[0058] Combine the following Figure 7 The workflow shown introduces the working process of the knee-assisted exoskeleton robot with a humanoid knee joint provided by the present invention.

[0059] At the beginning of work, the personnel wear the knee joint assisting exoskeleton robot and fix the thigh strap plate 14 and the calf strap plate 34 respectively by straps. The thigh assembly 1 is connected to the inner and outer thigh connectors of the humanoid knee joint mechanism 2 through the inner and outer thigh plates, and the calf assembly 3 is connected to the inner and outer calf connectors of the humanoid knee joint mechanism 2 through the inner and outer calf plates. The driving mechanism 4 is fixedly connected to the thigh assembly 1 through the motor support seat 415, and is connected to the calf assembly 3 through the calf connecting rod 414, so that the driving mechanism 4 can drive the calf assembly 3 to drive the humanoid knee joint mechanism 2 to rotate.

[0060] like Figure 7As shown, the person starts walking, the wire displacement sensor 412 measures the motion signal of the calf assembly 3 in real time, and the drive motor assembly 41 adjusts the driving force and driving speed according to the movement of the calf assembly 3, driving the screw shaft 42 to rotate. The linear guide 43 and the output shaft 44 are arranged diagonally, and the two ends of the linear guide 43 are fixedly connected to the drive motor assembly 41 and the support plate 49 respectively, and the two ends of the output shaft 44 are fixedly connected to the upper connecting plate 46 and the calf connecting rod connecting block 413 respectively. The lead screw nut 45 disposed on the lead screw shaft 42 is connected to the middle connecting plate 47. The lead screw shaft 42 rotates to realize the linear motion of the lead screw nut 45 along the lead screw shaft 42, driving the middle connecting plate 47 connected to the lead screw nut 45 to move along the linear guide rail 43, and then the compression spring 411 acts on the upper connecting plate 46 and the lower connecting plate 48, driving the output shaft 44 connected to the upper connecting plate 46 to move in a linear direction; the input and output are driven by the spring connection mechanism to realize flexible driving, and when encountering an impact, it can appropriately shrink and buffer the energy generated by the collision, thereby playing a buffering and shock-absorbing role. The output shaft 44 moves in a linear direction and drives the calf connecting rod 414 to move through the calf connecting rod connecting block 413, and the calf connecting rod 414 drives the calf assembly 3 to swing back and forth.

[0061] The calf assembly 3 drives the inner and outer connecting parts of the calf of the humanoid knee joint mechanism 2 to rotate simultaneously through the inner and outer plates of the calf. The cylindrical block 204 arranged on the outside of the lower ends of the inner and outer connecting parts of the thigh moves along the rotating guide rail 209 arranged according to the movement trajectory of the human knee joint. At the same time, the moving block 25 in the rectangular linear groove 202 changes its position in real time according to the joint movement trajectory, adapting to the changes in the rotation center and the rotation radius during the joint rotation process, thereby cooperating with the movement law of the knee joint when a person walks.

[0062] When the work is finished, the personnel stop walking, untie the thigh and calf straps and take them off.

[0063] In summary, the knee joint assisted exoskeleton robot with a humanoid knee joint provided by the present invention includes a thigh component, a humanoid knee joint mechanism, a calf component and a driving mechanism. Among them, the humanoid knee joint mechanism is a rotating joint that fully conforms to the rotation law of the human knee joint. The joint rotation guide rail is designed according to the rotation trajectory of the human knee joint. The joint rotation center is a moving block that can be displaced according to a linear groove. It changes its position in real time according to the joint motion trajectory, and can adapt to the changes in the rotation center and the rotation radius during the joint rotation process. It overcomes the disadvantage that the traditional knee joint exoskeleton adopts a single-axis rotating joint, which leads to low coordination with the wearer, and improves human-machine compatibility. In addition, the driving mechanism adopts a series flexible driver, so that it has a certain rotation displacement tolerance during the driving process. When encountering an impact, it can appropriately shrink and buffer the energy generated by the collision. At the same time, it can also absorb, store and reuse the energy, which not only improves the energy utilization rate, but also eliminates mechanical vibration to a certain extent, reduces the mechanical damage of parts and components, and ensures the safety of the wearer. The above-mentioned knee-assisted exoskeleton robot with anthropomorphic knee joint is very similar to the human knee joint in terms of joint structure and driving mechanism, overcomes the shortcomings of traditional knee exoskeleton robots, and has strong market competitiveness.

[0064] The above is a detailed description of a knee joint assisted exoskeleton robot with a human-like knee joint provided by the present invention. For a person skilled in the art, any obvious changes made to it without departing from the essential spirit of the present invention will constitute an infringement of the patent right of the present invention and will bear corresponding legal responsibilities.

Claims

1. A knee joint-assisted exoskeleton robot with a humanoid knee joint, characterized in that: It includes a thigh component, a humanoid knee joint mechanism, a calf component and a driving mechanism, wherein the thigh component and the calf component are respectively connected to the humanoid knee joint mechanism, and the driving mechanism drives the calf component to drive the humanoid knee joint mechanism to rotate; Among them, as the calf assembly swings, the rotation center of the humanoid knee joint mechanism moves up and down, and the rotation radius changes, thereby imitating the movement of the human knee joint; Wherein, the humanoid knee joint mechanism comprises an inner thigh connection piece, an outer thigh connection piece, an inner calf connection piece, an outer calf connection piece, a moving block, a compression spring I and a compression spring II; The inner calf connecting piece and the outer calf connecting piece are respectively provided with mounting holes, and the inner calf connecting piece and the outer calf connecting piece are respectively provided with rotating guide rails arranged according to the movement trajectory of the human knee joint; the shape of the rotating guide rails conforms to the movement trajectory of the center of curvature of the horizontal rotation axis of the human knee joint - a J-shaped curve; The inner thigh connecting piece is connected to the outer thigh connecting piece; a linear groove is respectively opened on the opposite side of the inner thigh connecting piece and the outer thigh connecting piece, and a long strip through hole is arranged in the middle of the linear groove; the compression spring I, the moving block and the compression spring II are pressed in the two closed linear grooves in sequence; cylindrical connecting columns are respectively fixed on the left and right sides of the moving block, and the two connecting columns extend out of the through holes and are arranged in the mounting holes of the inner calf connecting piece and the outer calf connecting piece through bearings; A cylindrical block is respectively arranged outside the lower end of the inner thigh connecting member and the outer thigh connecting member, and the two cylindrical blocks are respectively arranged in the rotating guide rails of the inner calf connecting member and the outer calf connecting member through bearings; as the calf assembly swings, the two cylindrical blocks slide in the rotating guide rails respectively, and the moving block moves up and down in the linear groove, the moving block is the rotation center of the thigh assembly and the calf assembly, and the distance between the moving block and the cylindrical block constitutes a variable rotation radius; The outer side of the inner calf connecting piece is connected to the upper end of the inner calf plate, and the outer side of the outer calf connecting piece is connected to the upper end of the outer calf plate; The thigh assembly includes an inner thigh plate, an outer thigh plate, a thigh support rod and a thigh strap plate; wherein the upper end of the inner thigh connecting piece is connected to the lower end of the inner thigh plate, the upper end of the outer thigh connecting piece is connected to the lower end of the outer thigh plate, and the upper ends of the inner thigh connecting piece and the outer thigh connecting piece are embedded together in the two square connecting parts fixed at the lower ends of the inner thigh plate and the outer thigh plate; The calf assembly comprises an inner calf plate, an outer calf plate, a calf support rod and a calf strap plate; the inner calf connector and the outer calf connector are two equal-sized discs, and the sizes of the inner calf connector and the outer calf connector are the same as the sizes of the circular ends at the upper ends of the inner calf plate and the outer calf plate; the outer side of the inner calf connector overlaps and is connected to the upper end of the inner calf plate, and the outer side of the outer calf connector overlaps and is connected to the upper end of the outer calf plate; The square connecting parts at the lower ends of the inner thigh plate and the outer thigh plate have an inwardly concave arc-shaped accommodation part; the circular ends at the upper ends of the inner calf plate and the outer calf plate are arranged in the arc-shaped accommodation parts at the lower ends of the inner thigh plate and the outer thigh plate, and can rotate freely; The inner calf connecting piece and the outer calf connecting piece are connected by a connecting block; the connecting block is arc-shaped, and the left and right sides of the arc-shaped connecting block are respectively fixed to the lower half of the arc edges of the inner calf connecting piece and the outer calf connecting piece; the width of the arc-shaped connecting block is equal to or slightly greater than the sum of the thickness of the inner thigh connecting piece and the thickness of the outer thigh connecting piece; The drive mechanism adopts a series flexible driver, and realizes flexible drive by driving input and output through a spring connection mechanism; the drive mechanism includes a drive motor assembly, a lead screw shaft, a linear guide rail, an output shaft, a lead screw nut, an upper connecting plate, a middle connecting plate, a lower connecting plate, a support plate, a fixing plate, a compression spring, a calf connecting rod connecting block, a calf connecting rod, a motor support seat and a pull-wire displacement sensor; The driving motor assembly is arranged at the upper end of the entire driving mechanism, and the driving motor assembly is fixed to the thigh assembly through a motor support seat; the calf connecting rod connecting block is arranged at the lower end of the entire driving mechanism, and the calf connecting rod connecting block is connected to the calf assembly through the calf connecting rod, so that the calf connecting rod can drive the calf assembly to swing; The support plate is arranged between the drive motor assembly and the calf connecting rod connecting block, the upper end and the lower end of the screw shaft are connected to the drive motor assembly and the support plate respectively, and the screw shaft rotates under the drive of the drive motor assembly; the upper connecting plate, the middle connecting plate and the lower connecting plate are arranged between the drive motor assembly and the support plate; the fixing plate connects the upper connecting plate and the lower connecting plate together; The screw shaft passes through the upper connecting plate, the middle connecting plate and the lower connecting plate in sequence; a screw nut is arranged on the screw shaft, and the screw nut is fixed to the middle connecting plate. As the screw shaft rotates, the screw nut drives the middle connecting plate to move up and down along the screw shaft; the two ends of the linear guide are fixedly connected to the drive motor assembly and the support plate respectively, and the two linear guides pass through the diagonal positions of the upper connecting plate, the middle connecting plate and the lower connecting plate through fixed linear bearings; the two ends of the output shaft are fixedly connected to the upper connecting plate and the calf connecting rod connecting block respectively, and the two output shafts pass through the middle connecting plate, the lower connecting plate and another diagonal position of the support plate through fixed linear bearings; Two compression springs are sleeved on each output shaft, one of which is arranged between the upper connecting plate and the middle connecting rod, and the other is arranged between the middle connecting plate and the lower connecting plate; In the driving mechanism, the driving motor assembly drives the screw shaft to rotate, and the screw nut moves linearly along the screw shaft, thereby driving the middle connecting plate connected to the screw nut to move along the linear guide rail; then, the middle connecting plate acts on the upper connecting plate and the lower connecting plate through the compression spring, driving the output shaft connected to the upper connecting plate to move linearly; The pull-wire displacement sensor is fixed under the support plate. The pull wire of the pull-wire displacement sensor is tied to the calf connecting rod connecting block, and reciprocates with the swing of the calf component to measure the movement information of the calf component in real time.

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