Variable center of rotation coupling device
By using a combination of elastic components and continuous modules in the exoskeleton connection device, a variable rotation center is achieved, which solves the shortcomings of rigid limiting and single rotation center, improves the stability and applicability of the exoskeleton, and conforms to the biomechanical characteristics of the human body.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- YROBOT SUZHOU CO LTD
- Filing Date
- 2023-07-17
- Publication Date
- 2026-05-29
AI Technical Summary
In existing exoskeleton connection devices, rigid limiting structures restrict the flexibility of human movement, while single rotation center structures cannot adapt to changes in the rotation center of human joints, thus disrupting natural biomechanical properties.
By employing a combination of elastic components and multiple continuous modules, the bending angle range is limited through the continuous modules, thereby achieving a variable rotation center to adapt to the flexible movement of human joints.
The stability and applicability of the exoskeleton have been improved, conforming to human biomechanical characteristics, adapting to different connection requirements, and enhancing the rigidity and stability of the device.
Smart Images
Figure CN116690541B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of mechanical connections, and in particular to a connection device with a variable rotation center. Background Technology
[0002] Exoskeletons are wearable mechanical devices that provide assistance to the human body, and can be applied in fields such as rehabilitation aids and weight-bearing aids. Some joint-type exoskeletons use rigid materials as inter-joint supports and provide a certain degree of restraint, but rigid restraint can easily limit the flexibility of human movement. Some joint-type exoskeletons use a single rotation center structure as a connecting device, but since human joints often need to rotate flexibly, and the position of the rotation center of the joint changes with various human movements, the single rotation center structure is not aligned with the rotation center of the human joint, which can easily disrupt the natural biomechanical characteristics of the human body. Chinese patent CN205905014U discloses a thigh and lower leg connection device for an exoskeleton robot, including a lower leg drive motor and a leg connector. The lower end of the thigh and the upper end of the lower leg are connected by the lower leg drive motor shaft and the leg connector. The leg connector has a restraining mechanism to prevent the lower leg from continuing to rotate forward when the lower leg is at a 180-degree angle to the thigh, but its rotation center is fixed and requires the drive motor for restraint, making the structure complex. Summary of the Invention
[0003] The purpose of this application is to provide a connection device with a variable rotation center, which has a variable rotation center and a simple structure.
[0004] To achieve the above objectives, the technical solution provided in this application is as follows:
[0005] A connecting device with a variable rotation center includes an elastic component and multiple continuous modules. The elastic component is used to connect other components and provide a certain rigidity to the overall connecting device with the variable rotation center. The multiple continuous modules are disposed on one side of the elastic component, disconnected from each other and arranged continuously. The multiple continuous modules are used to limit the bending angle range of the elastic component along the side where the multiple continuous modules are disposed.
[0006] Preferably, the elastic component has a certain curvature after being provided with multiple continuum modules, and the multiple continuum modules are fixedly installed on the outer side of the curved surface of the elastic component.
[0007] Preferably, the elastic component is a leaf spring with a certain thickness, and the material of the continuous module has a certain strength so that it will not deform when compressed.
[0008] Preferably, the plurality of continuous modules are sequentially fixed on the leaf spring along the longitudinal direction of the leaf spring, which is used to unidirectionally limit the bending angle range of one side of the elastic component. When the bending angle range of the elastic component along the side where the plurality of continuous modules are set reaches the maximum limit, the plurality of continuous modules are in close contact with each other.
[0009] Preferably, the leaf spring has bases at both ends for accommodating the connecting ends of the components to be connected, and the bases are detachably fixedly connected to both ends of the leaf spring.
[0010] Preferably, the base includes an upper base and a lower base, the upper base being detachably and fixedly connected to the upper end of the leaf spring, and the lower base being detachably and fixedly connected to the lower end of the leaf spring; the upper base has a groove of a certain length on the side away from the leaf spring, and the lower base has a groove of a certain length on the side away from the leaf spring.
[0011] Preferably, the continuum module includes a continuum module mounting end for fixing the continuum module on the elastic component. The upper and lower sides of the continuum module mounting end are provided with concave planes or chamfered grooves, so that the height or thickness of the upper and lower sides of the continuum module mounting end is less than the height or thickness of the continuum module body.
[0012] Preferably, the continuum module further includes a symmetrical limiting plate, which is fixed to both sides of the continuum module in a wing-like structure and is partially higher than the upper and / or lower surface of the continuum module, for limiting the torsional movement of the connecting device of the variable rotation center.
[0013] Preferably, the upper and lower sections of the limiting plate are respectively provided with corresponding protrusions and grooves, so that when multiple continuous modules are in close contact, the limiting plates on them can be interlocked from top to bottom or from bottom to top.
[0014] Preferably, the continuum module is a hexahedron. By changing the angle between the upper and lower sides of the continuum module toward the mounting end of the continuum module, the range of angles restricting the bending of the elastic component along one side can be changed. By changing the thickness of the leaf spring, the stiffness of the connecting device of the variable rotation center can be changed.
[0015] The variable rotation center connection device provided in this application, by setting multiple interconnected and continuously arranged continuous body modules on one side of the elastic component, can unidirectionally limit the bending angle range of the entire device along the side where multiple continuous modules are set, and can be widely used in wearable devices such as exoskeletons and prostheses with limited positioning requirements such as joints and back.
[0016] Furthermore, the variable rotation center connection device, through the cooperation of its elastic components and continuous module structure, allows the applied equipment to change its rotation center as it rotates when connected to equipment that needs to move, which is more in line with the natural biomechanical characteristics of the human body.
[0017] In addition, by changing the shape parameters of the elastic component, the stiffness of the connection device with a variable rotation center can be altered, thereby improving the overall stability of the device and making it suitable for different types of connection requirements, thus expanding its applicability.
[0018] In addition, by changing the angle and number of continuous modules in the connecting device with a variable rotation center, the range of its limiting angle can be changed, thereby adapting to different application scenarios.
[0019] In addition, by setting limit plates on both sides of the continuum module, the torsional motion of the connecting device with the variable rotation center can be restricted, further improving the overall stability of the connecting device with the variable rotation center. Attached Figure Description
[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0021] Figure 1 This is a schematic diagram of the structure of the connecting device with a variable rotation center in the embodiments of this application;
[0022] Figure 2 This is an exploded view of the connecting device portion of the variable rotation center in the embodiment of this application.
[0023] Figure 3 This is a schematic diagram of a single continuum module in an embodiment of this application;
[0024] Figure 4 This is a partial exploded diagram of multiple continuum modules in the embodiments of this application;
[0025] Figure 5 This is a partial exploded view of multiple continuum modules in another embodiment of this application;
[0026] Figure 6 This is a schematic diagram of a wearable knee exoskeleton structure that uses a connection device with a variable rotation center in an embodiment of this application.
[0027] Figure 7This is an exploded view of a wearable knee exoskeleton with a variable rotation center connection device in an embodiment of this application.
[0028] Figure 8 This is a schematic diagram of the knee joint rotation limiting device in a wearable knee exoskeleton that uses a variable rotation center connection device in the embodiments of this application. Detailed Implementation
[0029] To make the technical means, creative features, objectives and effects of this application easier to understand, the following description, in conjunction with specific illustrations, further elaborates on this application.
[0030] In the description of this application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In the description of this application, unless otherwise stated, "a plurality of" means two or more.
[0031] like Figure 1 As shown, this application provides a connecting device 230 with a variable rotation center, including an elastic component 231 and multiple continuous modules 232. The elastic component is used to connect other components and provide a certain rigidity to the entire connecting device with the variable rotation center. The multiple continuous modules are used to limit the bending angle range of the elastic component along one side where the multiple continuous modules are arranged. The multiple continuous modules 232 are disconnected from each other and arranged continuously on one side of the elastic component 231, so that the connecting device 230 with the variable rotation center can bend or bend elastically along one side of the elastic component 231. When it returns to the other side, it is limited by the mutual interference of the multiple continuous modules, and its return angle is limited.
[0032] Please see further. Figure 2The elastic component 231 is used to connect other components and provides a certain rigidity to the overall connecting device 230 with a variable rotation center. The overall rigidity of the connecting device 230 with a variable rotation center can be changed by altering the shape parameters of the elastic component 231. In this embodiment, the elastic component 231 is a leaf spring with a certain thickness, ranging from 0.2mm to 1.0mm. Changing the thickness of the leaf spring alters the rigidity of the connecting device 230 with a variable rotation center; the greater the thickness of the leaf spring, the stronger the rigidity of the connecting device 230 with a variable rotation center, thus enabling better stability between the connected components. The leaf spring has multiple mounting holes, and the multiple continuous modules 232 are sequentially fixed to the leaf spring through these mounting holes. Bases for adapting to the connecting ends of the components to be connected are provided at both ends of the leaf spring. These bases are detachably fixed to both ends of the leaf spring through the mounting holes. In this embodiment, bolts are used for the fixed connections. In one embodiment of this application, the elastic component 231, such as a leaf spring, has a certain curvature after being provided with multiple continuous modules 232, and the multiple continuous modules 232 are fixedly installed on the outer side of the curved surface of the elastic component 231.
[0033] The plurality of continuous modules 232 are used to limit the bending angle range of the elastic component 231 along one side where the multiple continuous modules 232 are set. The material of the continuous modules 232 has a certain strength so that it will not deform when compressed. The continuous module 232 is a hexahedron with a mounting hole on its mounting end for fixed installation on the elastic component 231. Furthermore, the upper and lower sides of the mounting end of the continuous module 232 are provided with concave planes or chamfered grooves, so that the height or thickness of the upper and lower surfaces of the mounting end is less than the height or thickness of the body of the continuous module 232. This allows the continuous module 232 to fit more closely to the connection point with the elastic component 231, and at the same time, it minimizes interference between the continuous modules when the elastic component 231 bends, thus not limiting the bending range of the elastic component. In this embodiment, the continuous module 232 and the elastic component 231 are fixedly connected by bolts. The plurality of continuous modules 232 are sequentially fixed to the leaf spring along its longitudinal direction, used to unidirectionally limit the bending angle range of one side of the elastic component. When the bending angle range of the leaf spring along the side where the plurality of continuous modules 232 are located reaches its maximum limit, the plurality of continuous modules 232 are in close contact. Figure 3 As shown, the angle between the upper and lower sides of each continuum module 232 towards the mounting end of the continuum module 232 is α. This angle can change the range of angles that restrict the elastic member 231 from bending along one side. The larger the angle α, the more continuum modules 232 there are, the stronger the limiting capability of the variable rotation center connecting device 230, and the smaller the range of angles that the elastic member 231 can recover.
[0034] Please see Figure 4 and Figure 5 In a further embodiment, the continuous module 232 also includes symmetrically structured limiting plates 233 on both sides. The limiting plates 233 are fixed to both sides of the continuous module 232 in a wing-like structure and are partially higher than the upper and / or lower surfaces of the continuous module 232, used to restrict the torsional movement of the connecting device 230 with a variable rotation center. The upper and lower sections of the limiting plates 233 are respectively provided with corresponding protrusions and grooves, so that when multiple continuous modules 232 are in close contact, the limiting plates on them can interlock from top to bottom or from bottom to top. This allows the continuous modules 232 to be stacked sequentially from top to bottom or from bottom to top, restricting the overall torsional movement of the connecting device 230 with a variable rotation center in other directions, thereby improving the overall stability of the connecting device 230 with a variable rotation center.
[0035] The variable rotation center connection device 230 provided in this application can be widely used in wearable devices such as exoskeletons and prostheses that have limited positioning requirements, such as joints and lumbar spine. When used in devices with rotatable structures, its rotation center can change with the rotational movement of the device, aligning it with the rotation center of the device. The following provides a further description of an embodiment using the variable rotation center connection device provided in this application.
[0036] like Figure 6 As shown in the illustration, this application also provides a wearable knee exoskeleton using this connecting device, including a thigh support 100, a knee joint rotation limiting device 200, and a lower leg support 300. The thigh support 100 is used to position and support the human thigh near the knee, and the lower leg support 300 is used to position and support the human lower leg near the knee. The knee joint rotation limiting device 200 is used to limit the range of motion of the human knee. The knee joint rotation limiting device 200 is disposed between the thigh support 100 and the lower leg support 300, and is fixedly connected to both. In use, the knee joint rotation limiting device 200 is located on the left or right side of the human knee. Further, there are two knee joint rotation limiting devices 200, located on the left and right sides of the human knee respectively. The thigh support 100 includes a structurally symmetrical left thigh support and a structurally symmetrical right thigh support, and the lower leg support 300 includes a structurally symmetrical left lower leg support and a structurally symmetrical right lower leg support.
[0037] Please see further. Figure 7The knee joint rotation limiting device 200 includes an upper base 210, a lower base 220, and a connecting device 230 for the variable rotation center as described in this application. The upper base 210 is movably and adjustablely fixedly connected to the thigh support 100, and the lower base 220 is movably and adjustablely fixedly connected to the calf support 300. The two ends of the connecting device 230 for the variable rotation center are fixedly connected to the upper base 210 and the lower base 220 or detachably fixedly connected.
[0038] In this embodiment of the application, the upper base 210 is provided with a U-shaped groove of a certain length on the side away from the connecting device 230 of the variable rotation center, and its side wall is provided with a plurality of mounting holes. The thigh support part 100 is provided with an n-shaped groove of a certain length on the side near the upper base 210, and its side wall is provided with limiting holes corresponding to the number and position of the mounting holes on the side wall of the U-shaped groove. The length of the limiting hole of the n-shaped groove at the end of the thigh support part 100 is greater than the length of the mounting hole of the U-shaped groove of the upper base. The U-shaped groove of the upper base 210 and the n-shaped groove of the thigh support 100 are interlocked and can move relative to each other within the groove. The upper base 210 and the thigh support 100 are fixedly connected by a bolt. The bolt passes through the mounting hole on the side wall of the U-shaped groove of the upper base and the limiting hole on the side wall of the n-shaped groove of the thigh support to fix the upper base 210 to the end of the thigh support 100. The fixed position of the upper base 210 is adjusted by adjusting the fixed position of the bolt within the length range of the limiting hole, thereby adjusting the overall position of the knee joint rotation limiting device 200.
[0039] The lower base 220 has an n-shaped groove of a certain length on the side away from the connecting device 230 of the variable rotation center, and its side wall has a number of mounting holes. The lower leg support 300 has a U-shaped groove of a certain length on the side near the lower base 220, and its side wall has a limiting hole corresponding to the number and position of the mounting holes on the side wall of the n-shaped groove. The length of the limiting hole of the U-shaped groove at the end of the lower leg support 300 is greater than the length of the mounting hole of the n-shaped groove of the lower base. The n-shaped groove of the lower base 220 and the U-shaped groove of the lower leg support 300 are interlocked and can move relative to each other within the groove. The lower base 220 and the lower leg support 300 are fixedly connected in an adjustable manner by a bolt. The bolt passes through the mounting hole on the side wall of the n-shaped groove of the lower base and the limiting hole on the side wall of the U-shaped groove of the lower leg support to fix the lower base 220 to the end of the lower leg support 300. The fixed position of the lower base 220 can be adjusted by adjusting the fixed position of the bolt within the length range of the limiting hole, thereby adjusting the overall installation position of the knee joint rotation limiting device 200 on the human lower limb.
[0040] The variable rotation center connecting device 230 includes an elastic component 231 and multiple continuous modules 232. The multiple continuous modules 232 are disposed disconnected from each other on one side of the elastic component 231, so that the variable rotation center connecting device 230 can bend or bend elastically along one side of the elastic component 231. When it returns to the other side, it is limited by the mutual interference of the multiple continuous modules 232, and its return angle is limited.
[0041] The elastic component 231 is used to connect components on the knee joint rotation limiting device 200, providing flexibility for knee flexion and extension while improving the stiffness of the knee joint rotation limiting device 200. The stiffness of the knee joint rotation limiting device 200 can be changed by altering the shape parameters of the elastic component 231. In this embodiment, the elastic component 231 is a leaf spring with a certain thickness, ranging from 0.2mm to 1.0mm. Changing the thickness of the leaf spring alters the stiffness of the knee joint rotation limiting device 200; the greater the thickness of the leaf spring, the stronger the stiffness of the knee joint rotation limiting device 200, thereby improving the stability of the user's knee joint. The leaf spring has multiple mounting holes, and the multiple continuous modules 232 are sequentially fixed to the leaf spring through these mounting holes. The two ends of the leaf spring are respectively fixedly connected to the upper base 210 and the lower base 220 through the mounting holes. In this embodiment, bolts are used for the fixed connection. In one embodiment of this application, the elastic component 231, such as a leaf spring, has a certain curvature after being provided with multiple continuous modules 232, and the multiple continuous modules 232 are fixedly installed on the outer side of the curved surface of the elastic component 231.
[0042] When a human body stands upright, with the knee joint as the origin, the angle between the extension line of the thigh towards the origin and the lower leg is approximately 0°. In the embodiments of this application, the multiple continuum modules 232 are used to unidirectionally limit the range of angles of the human knee joint extension, with the knee joint as the origin, so that the angle between the extension line of the thigh towards the origin and the lower leg is not less than 0°. The multiple continuous modules 232 are sequentially fixed to the leaf spring along its longitudinal direction. Since the mounting end of each continuous module 232 is fixed to the leaf spring, when the user's knee flexes, the leaf spring bends inward, increasing the distance between each continuous module 232 fixed to it, thus not restricting the user's knee flexion angle. When the user's knee extends, the leaf spring bends in the extension direction. When the knee extends to a certain angle, each continuous module 232 on the leaf spring will come into close contact. Because its material does not deform under pressure, the leaf spring cannot continue to bend in the extension direction, thereby limiting the range of knee extension angle. The angle α between the upper and lower sides of each continuous module 232 towards its mounting end can change the range of knee extension angle. The larger the angle α, the more continuous modules 232 there are, the stronger the limiting ability of the knee joint rotation limiting device 200, and the smaller the range of knee extension angle. When 'a' is 0° to 5°, the number of continuum modules is 1 to 10, and the angle range for limiting the extension of the human knee joint is defined as the minimum angle between the extension line of the thigh towards the origin and the lower leg, with the knee joint as the origin, being 0° to 50°. In this embodiment, 'a' is 0°, meaning the upper and lower sides of the continuum module are parallel, the number of continuum modules is 10, and the knee joint rotation limiting device 200 restricts the extension of the human knee joint to an angle greater than or equal to 0°, with the extension line of the thigh towards the origin and the lower leg, with the knee joint as the origin. In another embodiment, 'a' is 1°, the number of continuum modules is 5, and the knee joint rotation limiting device 200 restricts the extension of the human knee joint to an angle greater than or equal to 5°, with the extension line of the thigh towards the origin and the lower leg, with the knee joint as the origin. In another embodiment of this application, 'a' is 1°, the number of continuum modules is 10, and the knee joint rotation limiting device 200 restricts the range of angles for knee joint extension by an angle greater than or equal to 10° between the extension line of the thigh towards the origin and the lower leg, with the knee joint as the origin. In yet another embodiment of this application, 'a' is 5°, the number of continuum modules is 3, and the knee joint rotation limiting device 200 restricts the range of angles for knee joint extension by an angle greater than or equal to 15° between the extension line of the thigh towards the origin and the lower leg, with the knee joint as the origin.
[0043] In a further embodiment, the continuous module 232 also includes symmetrically structured limiting plates 233 on both sides. The limiting plates 233 are fixed to both sides of the continuous module 232 in a wing-like structure and are partially higher than the upper and / or lower surfaces of the continuous module 232, used to restrict the torsional movement of the connecting device 230 with a variable rotation center. The upper and lower sections of the limiting plates 233 are respectively provided with corresponding protrusions and grooves, so that when multiple continuous modules 232 are in close contact, the limiting plates on them can interlock from top to bottom or from bottom to top. Furthermore, the limiting plates of the continuous modules located at the ends of the connecting device 230 with a variable rotation center also interlock with the outer side of the upper or lower base. This allows the continuous modules 232 to be stacked sequentially from top to bottom or from bottom to top, restricting the overall torsional movement of the knee joint rotation limiting device in other directions, thereby improving the motion stability of the knee joint rotation limiting device.
[0044] like Figure 8 As shown, when using the wearable knee exoskeleton described in this application, the knee joint rotation limiting device 200 can change its rotation center as the human knee joint rotates. The rotation center of the knee joint rotation limiting device 200 is the intersection point Q of the extension line of the upper base 100 and the lower base 300 along the direction of the elastic member 231. As the angle of the human knee joint changes, the shape of the elastic member 231 on the variable rotation center connecting device 230 also changes, thereby driving the change of the rotation center, so that the rotation center is located inside or outside the knee joint rotation limiting device.
[0045] In a further embodiment, the thigh support 100 and the calf support 300 are respectively provided with a plurality of mounting holes. The thigh support 100 includes a thigh bracket 101 and a thigh strap 102. The thigh bracket 101 extends from the thigh support 100 toward the front or back of the thigh to form a support plate, with its left and right sides extending out from the left thigh support and the right thigh support, respectively. The two ends of the thigh strap 102 are fixed to the thigh support 100 through the mounting holes on the thigh support 100 and are located behind or in front of the thigh. In use, the thigh bracket 101 is located in front of or behind the human thigh to provide a support point for the human thigh, and the thigh strap 102 is located behind or in front of the human thigh to fix the knee exoskeleton to the thigh part. The lower leg support 300 includes a lower leg bracket 301 and a lower leg strap 302. The lower leg bracket 301 extends from the lower leg support 300 toward the front or back of the lower leg to form a support plate. Its left and right sides extend out from the left and right lower leg support, respectively. The two ends of the lower leg strap 302 are fixed to the lower leg support 300 through mounting holes and are located behind or in front of the lower leg. In use, the lower leg bracket 301 is located in front of or behind the lower leg to provide a support point for the lower leg, and the lower leg strap 302 is located behind or in front of the lower leg to fix the knee exoskeleton to the lower leg. Furthermore, the thigh strap 102 and calf strap 302 are adjustable-length restraints. In this embodiment, the thigh strap 102 and calf strap 302 are adjustable-length elastic bands. In use, the thigh support 101 is located behind the human thigh, the thigh strap 102 is located in front of the human thigh, the calf support 301 is located behind the human calf, and the calf strap 302 is located in front of the human calf.
[0046] Furthermore, the thigh support 101 and the calf support 301 are each provided with a plurality of weight-reducing holes to reduce the weight of the thigh support 101 and the calf support 301, so that the thigh support 101 and the calf support 301 have the rigidity to support the thigh and the calf while reducing the overall weight of the knee joint exoskeleton. The thigh support 101 has a certain degree of curvature, which is defined as follows: the thigh support 101 is adapted to the thigh contour and bends outward of the thigh; the upper edge of the thigh support 101 forms a gradually downward arc from the two ends to the midpoint; and the lower edge of the thigh support 101 forms a gradually upward arc from the two ends to the midpoint. The calf support 301 has a certain degree of curvature, which is defined as follows: the calf support 301 is adapted to the calf contour and bends outward of the calf; the upper edge of the calf support 301 forms a gradually downward arc from the two ends to the midpoint; and the lower edge of the calf support 301 forms a gradually upward arc from the two ends to the midpoint. In use, the thigh support 101 and the calf support 301 fit the thigh and calf of the human body respectively. The curvature setting is more in line with the ergonomic structure design, which makes bending movements such as squatting and standing more smooth and improves the overall wearing comfort of the knee exoskeleton.
[0047] In another embodiment of this application, the thigh support 100 includes a thigh strap, the two ends of which are fixed to the thigh support 100 through mounting holes. In use, the thigh strap is wrapped around the thigh to fix the knee exoskeleton to the thigh. The calf support 300 includes a calf strap, the two ends of which are fixed to the calf support 300 through mounting holes. In use, the calf strap is wrapped around the calf to fix the knee exoskeleton to the calf.
[0048] The wearable knee exoskeleton described in this application can be adapted to the appropriate size according to the user. When wearing the wearable knee exoskeleton described in this application, the user binds the thigh strap to the thigh and the calf strap to the calf, thus completing the wearing process. At this time, the thigh support is located behind the thigh to support the thigh, and the calf support is located behind the calf to support the calf. The knee joint rotation limiting device is located on the side of the knee. The wearer can easily put on and take off the exoskeleton in sitting, standing or other positions. It supports large-angle flexion of the knee joint, does not affect the joint movement when the wearer walks naturally, and can limit movement in one direction to prevent the user from hyperextension of the knee joint.
[0049] The variable rotation center connection device 230 provided in this application, by providing a plurality of mutually disconnected and continuously arranged continuum modules 232 on one side of the elastic member 231, can unidirectionally limit the bending angle range of the entire device along the side where the plurality of continuum modules 232 are provided, and can be widely used in wearable devices such as exoskeletons and prostheses with limited positioning requirements such as joints and back.
[0050] The variable rotation center connection device, through the cooperation of its elastic component 231 and continuous module 232 structure, allows the applied equipment to change its rotation center with the rotational movement when connected to equipment that needs to rotate, which is more in line with the natural biomechanical characteristics of the human body.
[0051] In addition, by changing the shape parameters of the elastic component 231, the stiffness of the connecting device 230 with a variable rotation center can be changed, which improves the overall stability of the device and makes it suitable for different types of connection requirements, thus increasing the applicable scenarios.
[0052] In addition, by setting the limiting plates 233 on both sides of the continuum module 232, the overall torsional movement of the connecting device 230 with the variable rotation center can be restricted, further improving the overall stability of the connecting device 230 with the variable rotation center.
[0053] In addition, by changing the angle and number of the continuum modules 232 in the connecting device 230 with a variable rotation center, the angle range of its limit can be changed, thereby adapting to different application scenarios.
[0054] Furthermore, in the wearable knee exoskeleton using the variable rotation center connection device 230 of this application, the variable rotation center connection device 230 can change its rotation center with the rotation movement of the human knee joint, which is more in line with the ergonomic structural design, can adapt to the natural movement of the human knee joint, and improve the user's comfort level.
[0055] Understandably, the variable rotation center connection device provided in this application can be used not only in exoskeleton devices such as various joints, but also in other mechanical devices with rotational functions such as robotic arms. The variable rotation center connection device provided in this application, through different settings such as the number of multiple continuous modules, the distance between the continuous modules, and the included angle between the upper and lower surfaces of each continuous module, can limit the angle range of the connected device, thus meeting the precise control and limitation requirements of rotation and bending angles for different types of joints.
[0056] The above provides a detailed description of a connecting device with a variable rotation center provided in this application. For those skilled in the art, based on the ideas of the embodiments of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.
Claims
1. A connecting device with a variable rotation center, characterized in that, The device includes an elastic component and multiple continuous modules. The elastic component connects other components and provides a certain rigidity to the overall connecting device with a variable rotation center. The multiple continuous modules are arranged discontinuously and continuously on one side of the elastic component, limiting the bending angle range of the elastic component along the side where the multiple continuous modules are arranged. The elastic component is a leaf spring. The multiple continuous modules are sequentially fixed to the leaf spring along its longitudinal direction to unidirectionally limit the bending angle range of one side of the elastic component. When the bending angle range of the elastic component along the side where the multiple continuous modules are arranged reaches its maximum limit, the multiple continuous modules are in close contact. The elastic component has a certain curvature after the multiple continuous modules are arranged, and the multiple continuous modules are fixedly installed on the outer side of the curved surface of the elastic component.
2. The connecting device with a variable rotation center as described in claim 1, characterized in that, The thickness of the leaf spring is 0.2mm-1.0mm, and the continuous module will not deform when compressed.
3. The connecting device with a variable rotation center as described in claim 2, characterized in that, The leaf spring has bases at both ends for accommodating the connecting ends of the components to be connected, and the bases are detachably fixed to both ends of the leaf spring.
4. The connecting device with a variable rotation center as described in claim 3, characterized in that, The base includes an upper base and a lower base. The upper base is detachably and fixedly connected to the upper end of the leaf spring, and the lower base is detachably and fixedly connected to the lower end of the leaf spring. The upper base has a groove of a certain length on the side away from the leaf spring, and the lower base has a groove of a certain length on the side away from the leaf spring.
5. The connecting device with a variable rotation center as described in claim 1, characterized in that, The continuous module includes a continuous module mounting end for fixing the continuous module on the elastic component. The upper and lower sides of the continuous module mounting end are provided with concave planes or chamfered grooves, so that the height or thickness of the upper and lower sides of the continuous module mounting end is less than the height or thickness of the continuous module body.
6. The connecting device with a variable rotation center as described in claim 3 or 5, characterized in that, The continuum module also includes a symmetrical limiting plate, which is fixed to both sides of the continuum module in a wing-like structure and is partially higher than the upper and / or lower surfaces of the continuum module, for limiting the torsional movement of the connecting device of the variable rotation center.
7. The connecting device with a variable rotation center as described in claim 6, characterized in that, The upper and lower sections of the limiting plate are respectively provided with corresponding protrusions and grooves, so that when multiple continuous modules are in close contact, the limiting plates on them can be interlocked from top to bottom or from bottom to top.
8. The connecting device with a variable rotation center as described in claim 7, characterized in that, The continuum module is a hexahedron. By changing the angle between the upper and lower sides of the continuum module toward the mounting end of the continuum module, the range of angles restricting the bending of the elastic component along one side can be changed. By changing the thickness of the leaf spring, the stiffness of the connecting device of the variable rotation center can be changed.