Bionic lower limbs

Abstract

The embodiment of the present invention provides a bionic lower limb, including a support frame and a knee joint transmission mechanism assembled on the support frame, the knee joint transmission mechanism including a first power member, a movable block driven by the first power member to move back and forth linearly, and a first elastic buffer member and a transmission block both sleeved on the movable block along the linear moving direction of the movable block and abutting against each other, the transmission block is also transmission-connected to the output end of the knee joint transmission mechanism, and the opposite ends of the movable block are provided with stoppers respectively abutting against one end of the first elastic buffer member and the transmission block away from each other to limit the first elastic buffer member and the transmission block on the movable block. This embodiment can effectively alleviate external impact, and the overall structure is relatively simple, and the volume occupied is relatively small.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of human bionics, and in particular to a bionic lower limb. Background Art

[0002] Bionic lower limbs are rehabilitation aids that are worn on the body of users with lower limb disabilities to replace healthy lower limbs to achieve normal support and walking functions. Existing bionic lower limbs mainly include a support frame, a knee joint mechanism and an ankle joint mechanism assembled on the support frame, and a foot plate connected to the output end of the ankle joint mechanism. In traditional bionic lower limbs, the knee joint mechanism and the ankle joint mechanism are mostly controlled and driven by mechanical pneumatic / hydraulic pressure, and cannot actively provide force assistance. For example, when the user goes up and down stairs and climbs a slope, the bionic lower limb will consume a lot of the user's energy and cannot provide good stability.

[0003] The industry has also begun to set elastic modules in the knee joint mechanism and the ankle joint mechanism to form a series elastic driver, so that the knee joint mechanism and the ankle joint mechanism have advantages such as excellent output impedance, excellent reverse driving ability, high impact resistance, and low energy consumption. However, the existing series elastic drivers used in articulated robots have complex structures, increased joint volume, and increased control difficulty. Summary of the invention

[0004] The technical problem to be solved by the embodiments of the present invention is to provide a bionic lower limb that can provide active force for the human knee joint and has a simple structure.

[0005] In order to solve the above technical problems, an embodiment of the present invention provides the following technical solutions: a bionic lower limb, comprising a support frame and a knee joint transmission mechanism assembled on the support frame, the knee joint transmission mechanism comprising a first power member, a movable block driven by the first power member to move linearly back and forth, and a first elastic buffer member and a transmission block that are both sleeved on the movable block along the linear moving direction of the movable block and abut against each other, the transmission block is also transmission-connected to the output end of the knee joint transmission mechanism, and the opposite ends of the movable block are provided with limit members that respectively abut against one end of the first elastic buffer member and the transmission block, which are away from each other, so as to limit the first elastic buffer member and the transmission block on the movable block.

[0006] Furthermore, the first power part is a motor, and the knee joint transmission mechanism also includes a screw rod assembled to the support frame by means of a screw rod fixing seat and transmission connected to the output end of the motor, and the movable block is a screw rod nut threaded on the screw rod, one end of the screw rod nut is formed with a flange edge and the other end is threaded with a positioning nut, and the flange edge and the positioning nut respectively constitute the limiting member.

[0007] Furthermore, the knee joint transmission mechanism also includes a linear guide rail arranged parallel to the screw rod and a slider slidably arranged on the linear guide rail, and the transmission block is also fixedly connected to the slider.

[0008] Furthermore, the motor and the screw rod are connected via a gear set, and the gear set includes a driving gear fixed on the output shaft of the motor and a driven gear fixed on one end of the screw rod and meshing with the driving gear.

[0009] Furthermore, the knee joint transmission mechanism includes a driving block pivotally connected to the support frame and serving as the output end of the knee joint transmission mechanism, the transmission block is connected to the driving block via a double-headed connecting rod, the two ends of the double-headed connecting rod are respectively pivotally connected to the transmission block and the driving block, and the central axis of the double-headed connecting rod deviates from the pivot axis of the driving block and the support frame.

[0010] Furthermore, the bionic lower limb also includes an ankle transmission mechanism assembled on the support frame and a foot plate driven to rotate by the ankle transmission mechanism, the ankle transmission mechanism including a second power piece, an output shaft pivotally connected to the support frame and transmission connected to the second power piece through a deceleration module, a base sleeved on the output shaft and fixed with the foot plate at one end, and a pressure block circumferentially fixed to the output shaft, the base and the pressure block both extend to the same side of the output shaft to form a first plate body and a second plate body respectively, the first plate body extended from the base is assembled with a pressure column extending toward the second plate body and correspondingly passing through the second plate body, the second plate body is correspondingly provided with a through hole for the pressure column to pass through, the pressure columns of the pressure columns respectively located on both sides of the second plate body are each sleeved with a second elastic buffer, and the end of the pressure column away from the first plate body is also assembled with a locking component that abuts against the second elastic buffer for limiting the position of the second elastic buffer.

[0011] Furthermore, the deceleration module includes a gear transmission pair drivingly connected to the output end of the second power member and a multi-stage synchronous belt transmission pair having two ends respectively connected to the output end of the gear transmission pair and the output shaft.

[0012] Furthermore, the through hole is a long slot hole opened on the second plate body.

[0013] Furthermore, the gear transmission pair is two bevel gears that are axially perpendicular to each other.

[0014] Furthermore, the double-head connecting rod includes a threaded rod and two connecting heads, one end of the two connecting heads is provided with an internal screw hole and the other end is provided with a pivot hole, the two connecting heads are respectively threadedly connected to the opposite ends of the threaded rod through the internal screw holes and are respectively pivotally connected to the transmission block and the driving block through the pivot holes.

[0015] After adopting the above technical scheme, the embodiment of the present invention has at least the following beneficial effects: the embodiment of the present invention realizes linear reciprocating movement by driving the movable block by the first power member, and by abutting the first elastic buffer member between the movable block and the transmission block, and limiting the first elastic buffer member and the transmission block by limiting members arranged at the opposite ends of the movable block, so that the movable block, the transmission block and the first elastic buffer member form a moving whole to drive the output end of the knee joint transmission mechanism to rotate, actively provide power for the human knee joint, and when the output end of the knee joint transmission mechanism is subjected to external impact, the first elastic buffer member can also effectively alleviate the external impact, and the overall structure is relatively simple, and can output a large torque. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the three-dimensional structure of an optional embodiment of the bionic lower limb of the present invention after a supporting plate is completely removed.

[0017] Figure 2 This is a schematic diagram of the three-dimensional structure of an optional embodiment of the bionic lower limb of the present invention.

[0018] Figure 3 This is a schematic diagram of the three-dimensional structure of a knee joint transmission mechanism of an optional embodiment of the bionic lower limb of the present invention.

[0019] Figure 4 This is a schematic diagram of the three-dimensional structure of the ankle joint transmission mechanism of an optional embodiment of the bionic lower limb of the present invention.

[0020] Figure 5 It is a schematic cross-sectional view of an optional embodiment of the bionic lower limb of the present invention along the length mid-axis of the pressure column. DETAILED DESCRIPTION

[0021] The present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following illustrative embodiments and descriptions are only used to explain the present invention and are not intended to limit the present invention. In addition, the embodiments and features in the embodiments of the present application may be combined with each other without conflict.

[0022] like Figure 1-Figure 3As shown, an optional embodiment of the present invention provides a bionic lower limb, including a support frame 1 and a knee joint transmission mechanism 3 assembled on the support frame 1, the knee joint transmission mechanism 3 including a first power member 30, a movable block 31 driven by the first power member 30 to move linearly back and forth, and a first elastic buffer member 32 and a transmission block 33 both of which are sleeved on the movable block 31 along the linear moving direction of the movable block 31 and abut against each other, the transmission block 33 is also transmission-connected to the output end 34 of the knee joint transmission mechanism 3, and the opposite ends of the movable block 31 are provided with limiting members 310 which respectively abut against one end of the first elastic buffer member 32 and the transmission block 33 away from each other to limit the first elastic buffer member 32 and the transmission block 33 on the movable block 31.

[0023] In the embodiment of the present invention, the movable block 31 is driven by the first power member 30 to realize linear reciprocating movement, and the first elastic buffer member 32 is abutted between the movable block 31 and the transmission block 33, and the first elastic buffer member 32 and the transmission block 33 are limited by the limit members 310 respectively arranged at the opposite ends of the movable block 31, so that the movable block 31, the transmission block 33 and the first elastic buffer member 32 form a moving whole to drive the output end 34 of the knee joint transmission mechanism 3 to rotate, actively providing power for the human knee joint, when the output end 34 of the knee joint transmission mechanism 3 is subjected to external impact, the first elastic buffer member 32 can also effectively alleviate the external impact, and the overall structure is relatively simple and can output a large torque. In a specific implementation, the first elastic buffer member 32 can be a coil spring.

[0024] In another optional embodiment of the present invention, the first power member 30 is a motor, the knee joint transmission mechanism 3 also includes a screw 36 assembled to the support frame 1 by means of a screw fixing seat 35 and transmission-connected to the output end of the motor, the movable block 31 is a screw nut screwed to the screw 36, one end of the screw nut is formed with a flange edge and the other end is screwed with a positioning nut, and the flange edge and the positioning nut respectively constitute the limiter 310. This embodiment adopts a screw 36 to be transmission-connected with the output end of the motor, and the screw 36 guides the screw nut to perform linear motion, so the structure is simple, and the first elastic buffer 32 and the transmission block 33 can be effectively limited by the flange edge on the screw nut and the positioning nut.

[0025] In another optional embodiment of the present invention, the knee joint transmission mechanism 3 further includes a linear guide rail 37 arranged parallel to the screw rod 36 and a slider 38 slidably arranged on the linear guide rail 37, and the transmission block 33 is also fixedly connected to the slider 38. This embodiment also effectively guides the movement of the transmission block 33 by providing the linear guide rail 37 and the slider 38, thereby preventing the transmission block 33 from being deflected during the movement.

[0026] In another optional embodiment of the present invention, the motor and the screw rod 36 are connected by a gear set 301, and the gear set 301 includes a driving gear 3010 fixed to the output shaft of the motor and a driven gear 3012 fixed to one end of the screw rod 36 and meshing with the driving gear 3010. In this embodiment, the driving gear 3010 and the driven gear 3012 are meshed with each other, so that the transmission coordination between the motor and the screw rod 36 can be effectively achieved, and the structure is relatively simple.

[0027] In another optional embodiment of the present invention, Figure 2 As shown, the knee joint transmission mechanism 3 includes a driving block pivotally connected to the support frame 1 and serving as the output end of the knee joint transmission mechanism 3, the driving block 33 is connected to the driving block via a double-headed connecting rod 341, the two ends of the double-headed connecting rod 341 are pivotally connected to the driving block 33 and the driving block respectively, and the central axis of the double-headed connecting rod 341 deviates from the pivot axis of the driving block and the support frame 1. This embodiment facilitates driving the knee joint of the human body by adopting the driving block as the output end of the knee joint transmission mechanism 3, and by providing the double-headed connecting rod 341, the central axis of the double-headed connecting rod 341 deviates from the pivot axis of the driving block and the support frame 1, avoiding the mutual influence of the two pivot positions, and can effectively realize power transmission, with a simple structure.

[0028] In another optional embodiment of the present invention, Figure 1 , Figure 4 and Figure 5As shown, the bionic lower limb also includes an ankle transmission mechanism 5 assembled on the support frame 1 and a foot plate 7 driven to rotate by the ankle transmission mechanism 5, the ankle transmission mechanism 5 includes a second power member 50, an output shaft 54 ​​pivotally connected to the support frame 1 and transmission-connected to the second power member 50 through a deceleration module 52, a base 56 sleeved on the output shaft 54 ​​and fixed with the foot plate 7 at one end, and a pressure block 58 fixed circumferentially relative to the output shaft 54, the base 56 and the pressure block 58 both extend to the same side of the output shaft 54 ​​and respectively form a first plate body 56. 1 and a second plate 581, the first plate 561 extending from the base 56 is assembled with a pressing column 563 extending toward the second plate 581 and correspondingly passing through the second plate 581, the second plate 581 is correspondingly provided with a through hole 583 for the pressing column 563 to pass through, and the pressing column 563 is respectively sleeved with a second elastic buffer 565 on the columns located on both sides of the second plate 581, and the end of the pressing column 563 away from the first plate 561 is also assembled with a locking member 567 abutting against the second elastic buffer 565 for limiting the second elastic buffer 565. In this embodiment, when the pressing block 58 receives rotation torques in different directions and realizes rotation in different directions with the output shaft 54 ​​in the axial direction, the second plate 581 rotates synchronously and correspondingly presses the second elastic buffer 565 on one side of the rotation direction until the buffer elastic member 783 is in a compression equilibrium state so that the base 56 can be rotated, which can effectively realize power buffering and actively provide power to drive the foot plate 7 to move.

[0029] In another optional embodiment of the present invention, the deceleration module 52 includes a gear transmission pair 521 that is transmission-connected to the output end of the second power member 50 and a multi-stage synchronous belt transmission pair 523 whose two ends are respectively connected to the output end of the gear transmission pair 521 and the output shaft 54. This embodiment can effectively realize the step-by-step transmission and power deceleration of the rotational power through the gear transmission pair 521 and the multi-stage synchronous belt transmission pair 523, and in specific implementation, the ratio of the rotational torque of the foot plate 7 to the ankle joint transmission mechanism 5 can be adjusted by changing the specific number of the multi-stage synchronous belt transmission pair 523.

[0030] In another optional embodiment of the present invention, the through hole 583 is a long slot hole opened on the second plate body 581. In this embodiment, when the second plate body 581 presses the second elastic buffer 565 to move the base 56 and the pressing column 563 fixed on the base 56, since the pressing column 563 actually moves in a circle around the output shaft 54, the through hole 583 is a long slot hole to facilitate the movement of the pressing column 563. In a specific implementation, the second elastic buffer 565 can be a coil spring.

[0031] In another optional embodiment of the present invention, the gear transmission pair 521 is two bevel gears 521a with axial directions perpendicular to each other. In this embodiment, the gear transmission pair 521 uses two bevel gears 521a with axial directions perpendicular to each other, which can effectively realize the steering and transmission of power. Figure 2 As shown, the second power member 50 can be arranged perpendicular to the axial direction of the output shaft 54, and the overall occupied volume is smaller.

[0032] In another optional embodiment of the present invention, the double-ended connecting rod 341 includes a threaded rod 341a and two connecting heads 341b, one end of the two connecting heads 341b is provided with an inner screw hole 341c and the other end is provided with a pivot hole 341d, the two connecting heads 341b are respectively screwed to the opposite ends of the threaded rod 341a through the inner screw holes 341c and are respectively pivoted to the transmission block 33 and the driving block through the pivot holes 341d. In this embodiment, the double-ended connecting rod 341 is composed of the threaded rod 341a and the two connecting heads 341b. During the specific installation, the length of the overall double-ended connecting rod 341 can be adjusted by reasonably adjusting the length of the threaded rod 341a screwed into the inner screw hole 341c, which is convenient for selecting a suitable transmission ratio and more convenient for assembly.

[0033] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, which all belong to the protection scope of the present invention.

Claims

1. A bionic lower limb, comprising a support frame and a knee joint transmission mechanism assembled on the support frame, characterized in that: The knee joint transmission mechanism includes a first power member, a movable block driven by the first power member to move back and forth in a linear manner, and a first elastic buffer member and a transmission block that are both sleeved on the movable block along the linear moving direction of the movable block and abut against each other. The transmission block is also transmission-connected to the output end of the knee joint transmission mechanism, and the opposite two ends of the movable block are provided with limiting members that respectively abut against one end of the first elastic buffer member and the transmission block away from each other to limit the first elastic buffer member and the transmission block on the movable block; the knee joint transmission mechanism includes a driving block pivotally connected to the support frame and serving as the output end of the knee joint transmission mechanism, the driving block is connected to the driving block through a double-headed connecting rod, the two ends of the double-headed connecting rod are respectively pivotally connected to the transmission block and the driving block, and the center axis of the double-headed connecting rod deviates from the pivot axis of the driving block and the support frame.

2. The bionic lower limb according to claim 1, characterized in that: The first power part is a motor, and the knee joint transmission mechanism also includes a screw rod assembled to the support frame by means of a screw rod fixing seat and transmission connected to the output end of the motor. The movable block is a screw rod nut threaded on the screw rod, and a flange edge is formed at one end of the screw rod nut and a positioning nut is threaded on the other end. The flange edge and the positioning nut respectively constitute the limiting parts.

3. The bionic lower limb according to claim 2, characterized in that: The knee joint transmission mechanism also includes a linear guide rail arranged parallel to the screw rod and a slider slidably arranged on the linear guide rail, and the transmission block is also fixedly connected to the slider.

4. The bionic lower limb according to claim 2, characterized in that: The motor and the screw rod are connected through a gear set, and the gear set includes a driving gear fixed on the output shaft of the motor and a driven gear fixed on one end of the screw rod and meshing with the driving gear.

5. The bionic lower limb according to claim 1, characterized in that: The bionic lower limb also includes an ankle transmission mechanism assembled on the support frame and a foot plate driven to rotate by the ankle transmission mechanism. The ankle transmission mechanism includes a second power piece, an output shaft pivotally connected to the support frame and transmission connected to the second power piece through a deceleration module, a base sleeved on the output shaft and fixed with the foot plate at one end, and a pressure block circumferentially fixed to the output shaft. The base and the pressure block both extend to the same side of the output shaft to form a first plate body and a second plate body respectively. A pressure column extending toward the second plate body and correspondingly passing through the second plate body is assembled on the first plate body extended from the base, and a through hole for the pressure column to pass through is correspondingly opened on the second plate body, and a second elastic buffer is respectively sleeved on the columns of the pressure column located on both sides of the second plate body, and a locking member that abuts against the second elastic buffer member and is used to limit the second elastic buffer member is also assembled on the end of the pressure column away from the first plate body.

6. The bionic lower limb according to claim 5, characterized in that: The reduction module includes a gear transmission pair drivingly connected to the output end of the second power member and a multi-stage synchronous belt transmission pair with two ends respectively connected to the output end of the gear transmission pair and the output shaft.

7. The bionic lower limb according to claim 5, characterized in that: The through hole is a long slot hole opened on the second plate body.

8. The bionic lower limb according to claim 6, characterized in that: The gear transmission pair is two bevel gears whose axial directions are perpendicular to each other.

9. The bionic lower limb according to claim 1, characterized in that: The double-head connecting rod includes a threaded rod and two connecting heads, one end of the two connecting heads is provided with an internal screw hole and the other end is provided with a pivot hole, the two connecting heads are respectively screwed to the opposite ends of the threaded rod through the internal screw holes and are respectively pivotally connected to the transmission block and the driving block through the pivot holes.

Images