A knee joint exoskeleton robot

Abstract

The application relates to a knee joint exoskeleton robot, which comprises a thigh assembly connected with a thigh, a shank assembly connected with a shank, and a driving assembly used for connecting the thigh assembly and the shank assembly and forming a parallelogram mechanism with the thigh assembly and the shank assembly respectively and rotating around the center of the driving assembly. Compared with the prior art, the knee joint exoskeleton robot has the advantages of good coordination with lower limb movement, good power assisting effect for the movement of the lower limb and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rehabilitation robots, in particular to a knee exoskeleton robot. BACKGROUND

[0002] With the aggravation of population aging, stroke has become one of the main causes of human disability, in order to help the patients with lower limb function impairment to recover the lower limb function such as walking, the exoskeleton robot is widely used in the rehabilitation of patients or the power-assisted function of normal people.

[0003] The existing knee exoskeleton is located in the coronal plane with the lower limbs of the human body, and the lower limbs of the human body are connected to the exoskeleton by a strap, since the driving joint of the exoskeleton deviates from the knee joint of the human body on the coronal axis, which will cause the movement of the exoskeleton and the movement of the knee joint of the human body to be uncoordinated. SUMMARY

[0004] The purpose of the present application is to solve the defects such as the deviation of the driving joint of the existing knee exoskeleton and the knee joint of the human body on the coronal axis, and provide a knee exoskeleton robot, so that the exoskeleton and the lower limbs of the human body are located in the sagittal plane, and a mechanism with a virtual rotation center is adopted to ensure the coincidence of the rotation center of the exoskeleton and the rotation center of the human body.

[0005] The purpose of the present application can be realized by the following technical scheme:

[0006] The technical scheme of the present application provides a knee exoskeleton robot, comprising:

[0007] The thigh assembly is connected with the thigh, which comprises a second thigh connecting rod and a first thigh connecting rod connected in rotation, a first deformation mechanism connected with one end of the first thigh connecting rod and the second thigh connecting rod in rotation, a second thigh shaft connected with the other end of the second thigh connecting rod in rotation, and a first thigh shaft connected with the other end of the first thigh connecting rod in rotation;

[0008] The calf assembly is connected with the calf, which comprises a second calf connecting rod and a first calf connecting rod connected in rotation, a second deformation mechanism connected with one end of the second calf connecting rod and the first calf connecting rod in rotation, a second calf shaft connected with the other end of the second calf connecting rod in rotation, and a first calf shaft connected with the other end of the first calf connecting rod in rotation;

[0009] The driving assembly comprises a driving motor, a driven rod assembly arranged on both sides of the driving motor respectively, and a torque rod connected with the driven rod assembly in rotation;

[0010] One end of the driven assembly is rotatably connected to the first thigh shaft, and the same end of the torque rod is rotatably connected to the second thigh shaft. The second thigh connecting rod, the first thigh connecting rod, the driven assembly, and the torque rod form a second parallelogram, so that when the drive motor drives the torque rod to rotate, the angle of the second parallelogram changes, thereby driving the first deformation mechanism to deform.

[0011] The other end of the driven component is rotationally connected to the first calf shaft, and the other end of the torque rod is also rotationally connected to the second calf shaft. The second calf connecting rod, the first calf connecting rod, the driven component and the torque rod form a fourth parallelogram, so that when the drive motor drives the torque rod to rotate, it drives the fourth parallelogram to change its angle, thereby driving the second deformation mechanism to deform.

[0012] In some specific embodiments, the first deformation mechanism includes a third thigh link rotatably connected to the first thigh link, and a thigh base rotatably connected to the third thigh link. The thigh base is also rotatably connected to the second thigh axis and the second thigh link. The first thigh link, the third thigh link, the thigh base, and the second thigh link form a first parallelogram, namely the first deformation mechanism.

[0013] In some specific embodiments, the thigh component further includes a thigh fixing seat fixedly connected to the thigh base and used for binding to the thigh.

[0014] In some specific embodiments, the second deformation mechanism includes a third calf link rotatably connected to the first calf link, and a calf base rotatably connected to the third calf link. The calf base is also rotatably connected to the second calf axis and the second calf link. The first calf link, the third calf link, the calf base, and the second calf link form a third parallelogram, namely the second deformation mechanism.

[0015] In some specific embodiments, the calf assembly further includes a calf fixing seat fixedly connected to the calf base and used for binding to the calf.

[0016] In some specific embodiments, a posture sensor is provided on the first thigh link.

[0017] In some specific embodiments, a posture sensor is provided on the first shank link.

[0018] In some specific embodiments, the driven rod assembly includes a first driving rod and a second driving rod respectively disposed on two sides of the driving motor.

[0019] In some embodiments, the driving motor comprises a driving motor output end exposed from the second driving rod end, the driving motor output end is connected with the torque rod and performs concentric circular motion.

[0020] In some embodiments, the driving assembly further comprises a torque sensor for monitoring the interaction torque between the human joint and the exoskeleton, one side of the torque sensor is connected with the driving motor output end, and the other side is connected with the torque rod, the driving motor output end, the torque sensor and the torque rod perform concentric circular rotation.

[0021] Compared with the prior art, the present application has the following beneficial effects:

[0022] (1) The knee joint exoskeleton robot of the present application adopts a layout mode parallel to the lower limbs of the human body in the sagittal plane, which can ensure good coordination between the movement of the knee joint exoskeleton robot and the movement of the lower limbs.

[0023] (2) The knee joint exoskeleton robot of the present application adopts a plurality of parallelograms on the robot, forming a linkage mechanism with a virtual rotation center P, which coincides with the rotation center of the human knee joint. On the one hand, it avoids the asynchronization of the rotation angle between the knee joint exoskeleton robot and the human knee joint due to the operation of the driving motor, and on the other hand, the thigh base fixed on the thigh and the calf base fixed on the calf rotate around the virtual rotation center P, which provides good assistance effect for the rotation between the thigh and the calf under the rotation of the driving motor, and provides good assistance effect for the movement of the lower limbs.

[0024] (3) The knee joint exoskeleton robot of the present application has compact structure, good fit with the thigh and calf of the human body, high movement coincidence degree and high comfort. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 The figure is a structural schematic diagram of the present application.

[0026] Figure 2 The figure is a structural schematic diagram of the thigh assembly of the present application.

[0027] Figure 3 The figure is a structural schematic diagram of the driving assembly of the present application.

[0028] Figure 4 The figure is a structural schematic diagram of the calf assembly of the present application.

[0029] Figure 5 The figure is a schematic diagram of the virtual rotation center P of the present application.

[0030] Figure 6 The figure is a schematic diagram of the combination of the leg and the present application.

[0031] The following are marked in the figure:

[0032] 1 is the thigh assembly, 11 is the first thigh axis, 12 is the second thigh axis, 13 is the second thigh connecting rod, 14 is the first thigh connecting rod, 15 is the thigh base, 16 is the leg fixing seat, 17 is the third thigh connecting rod,

[0033] 2 is a driving assembly, 21 is a first driving rod, 22 is a driving motor, 23 is a second driving rod, 24 is an output end of the driving motor, 25 is a torque sensor, 26 is a torque rod,

[0034] 3 is a calf assembly, 31 is a first calf axis, 32 is a second calf axis, 33 is a second calf connecting rod, 34 is a first calf connecting rod, 35 is a calf base, 36 is a calf fixing seat, 37 is a third calf connecting rod,

[0035] A1~2, B1~4, C1~2, and D1~4 are all rotation points. DETAILED DESCRIPTION

[0036] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0037] In the following embodiments, unless otherwise specified, functional components or structures are conventional components or structures used in the art to achieve corresponding functions.

[0038] like Figures 1 to 4 Figure 1 shows a knee exoskeleton robot comprising a thigh assembly 1, a shank assembly 3, and a drive assembly 2 rotatably connected to the thigh and shank assemblies 1 and 3. The thigh assembly 1 comprises a second thigh link 13 and a first thigh link 14 rotatably connected about a rotation point D1; a third thigh link 17 rotatably connected to the first thigh link 14 about a rotation point D2; a thigh base 15 rotatably connected to the third thigh link 17 about a rotation point D3; a second thigh shaft 12 rotatably connected to the thigh base 15 and the second thigh link 13 about a rotation point D4; a first thigh shaft 11 rotatably connected to the first thigh link 14; and a thigh mount 16 fixedly connected to the thigh base 15 and used to bind the thigh. The first thigh link 14 is Y-shaped, with one end opening rotatably connected to the first thigh shaft 11 and the other end rotatably connected to the third thigh link 17. The second thigh link 13 is H-shaped, with one end opening rotatably connected to the second thigh shaft 12 and the other end rotatably connected to the thigh base 15 through the second thigh shaft 12. The first thigh link 14 , the third thigh link 17 , the thigh base 15 , and the second thigh link 13 form a first parallelogram, that is, the rotation points D1 - D4 are respectively the four vertices of the first parallelogram.

[0039] The drive assembly 2 includes a drive motor 22, a first drive rod 21 and a second drive rod 23, respectively disposed on opposite sides of the drive motor 22, a drive motor output terminal 24 exposed through a hole in the second drive rod 23, a torque sensor 25 connected to the drive motor output terminal 24, and a torque rod 26 connected to the torque sensor 25. The drive motor output terminal 24, the torque sensor 25, and the torque rod 26 rotate concentrically. One end of the first drive rod 21 and the second drive rod 23 are rotationally connected to the first thigh shaft 11 about a rotation point C2, and the same end of the torque rod 26 is rotationally connected to the second thigh shaft 12 about a rotation point C1. The first thigh connecting rod 14, the second thigh connecting rod 13, and the drive motor 22 form a second parallelogram, i.e., the four vertices of the second parallelogram are the rotation points D1, C1, C2, and the center of the drive motor 22.

[0040] The calf assembly 3 includes a second calf link 33 and a first calf link 34, which are rotatably connected about a pivot point B1; a third calf link 37, which is rotatably connected to the first calf link 34 about a pivot point B2; a calf base 35, which is rotatably connected to the third calf link 37 about a pivot point B3; a second calf shaft 32, which is rotatably connected to the calf base 35 and the second calf link 33 about a pivot point B4; a first calf shaft 31, which is rotatably connected to the first calf link 34; and a calf fixing base 36, which is fixedly connected to the calf base 35 and is used to bind the calf. The first calf link 34 is Y-shaped, with an opening at one end rotatably connected to the first calf shaft 31 and the other end rotatably connected to the third calf link 37. The second calf link 33 is H-shaped, with an opening at one end rotatably connected to the second calf shaft 32 and the other end rotatably connected to the calf base 35. The first shank link 34, the third shank link 37, the shank base 35, and the second shank link 33 form a third parallelogram, with rotation points B1 to B4 representing the four vertices of the third parallelogram. The first shank shaft 31 is rotationally connected to the other ends of the first and second drive rods 21 and 23 about rotation point A2, and the second shank shaft 32 is rotationally connected to the other end of the torque rod 26 about rotation point A1. The first shank link 34, the second shank link 33, and the drive motor 22 form a fourth parallelogram, with rotation points A1, A2, B1, and the center of the drive motor 22 representing the four vertices of the fourth parallelogram.

[0041] The first thigh link 14 and the first calf link 34 are both provided with posture sensors. A torque sensor 25 for monitoring the interaction torque between the human joint and the exoskeleton is also connected between the drive motor output end 24 and the torque rod 26. The control system determines the movement trend of the human knee joint by monitoring the movement of the thigh and calf and the interaction torque, and then controls the exoskeleton to perform assisted movement.

[0042] like Figure 6FIG. 1 is a schematic diagram of the combination of the device of the present invention with a thigh and a calf, wherein the thigh fixing seat 16 is fixed to the thigh, and the calf fixing seat 36 is fixed to the calf.

[0043] The operating principle of the present invention is:

[0044] The knee exoskeleton robot of the present invention drives the rods on the thigh component 1 and the calf component 3 to move by rotating the driving component 2, thereby causing the thigh and calf respectively bound to the thigh fixing seat 16 and the calf fixing seat 36 to rotate, providing assistance for the movement of the human knee joint.

[0045] A first parallelogram formed by pivot points D1 to D4 is formed on thigh assembly 1. When thigh assembly 1 and drive assembly 2 are connected, a second parallelogram formed by pivot points D1, C1, and C2, as well as the center of drive motor 22, is formed. A third parallelogram formed by pivot points B1 to B4 is formed on calf assembly 3. When calf assembly 3 and drive assembly 2 are connected, a fourth parallelogram formed by pivot points A1, A2, and B1, as well as the center of drive motor 22, is formed. When drive motor 22 is in operation, the distance between pivot points C1 and C2 changes, thereby driving the first parallelogram to move. Similarly, when drive motor 22 is in operation, the distance between pivot points A1 and A2 changes, thereby driving the third parallelogram to move.

[0046] like Figure 5 As shown, a parallel line parallel to the line connecting the rotation points A2 and C1 is drawn through the rotation point D4; a parallel line parallel to the line connecting the rotation points A1 and C2 is drawn through the rotation point B4. The intersection of the two parallel lines is the virtual rotation center P, which coincides with the rotation center of the human knee joint. The thigh fixing seat 16 fixed on the thigh and the calf fixing seat 36 fixed on the calf rotate around the virtual rotation center P. Under the rotation of the drive motor 22, the rotation between the thigh and the calf is assisted to achieve an assisting effect.

[0047] Through the rotation point C2, extend the line between the center of the drive motor 22 and the rotation point C2; through the rotation point A2, extend the line between the center of the drive motor 22 and the rotation point A2; the two lines and the above two parallel lines form a parallelogram with the virtual rotation center P as the vertex, and the point symmetrical to the virtual rotation center P is the center of the drive motor 22.

[0048] As can be seen from the figure, the rotation of the drive motor 22 is the same as the rotation angle between the thigh fixing seat 16 and the calf fixing seat 36, that is, the angle between the thigh and the calf rotates as much as the rotation angle of the drive motor 22.

Claims

1. A knee joint exoskeleton robot, characterized in that: include: A thigh assembly (1) is connected to the thigh and comprises a second thigh link (13) and a first thigh link (14) that are rotatably connected, a first deformation mechanism rotatably connected to one end of the first thigh link (14) and the second thigh link (13), a second thigh shaft (12) rotatably connected to the other end of the second thigh link (13), and a first thigh shaft (11) rotatably connected to the other end of the first thigh link (14); A calf assembly (3) connected to the calf, comprising a second calf link (33) and a first calf link (34) rotatably connected, a second deformation mechanism rotatably connected to one end of the second calf link (33) and the first calf link (34), a second calf shaft (32) rotatably connected to the other end of the second calf link (33), and a first calf shaft (31) rotatably connected to the other end of the first calf link (34); The driving assembly (2) comprises a driving motor (22), a driven rod assembly respectively arranged on two sides of the driving motor (22), and a torque rod (26) rotatably connected to the driven rod assembly; One end of the driven rod assembly is rotatably connected to the first thigh shaft (11), and the same end of the torque rod (26) is rotatably connected to the second thigh shaft (12). The second thigh connecting rod (13), the first thigh connecting rod (14), the driven rod assembly and the torque rod (26) form a second parallelogram, so that when the drive motor (22) drives the torque rod (26) to rotate, the angle of the second parallelogram is changed, thereby driving the first deformation mechanism to deform. The other end of the driven rod assembly is rotationally connected to the first calf shaft (31), and the other end of the torque rod (26) is also rotationally connected to the second calf shaft (32). The second calf connecting rod (33), the first calf connecting rod (34), the driven rod assembly and the torque rod (26) form a fourth parallelogram, so that when the drive motor (22) drives the torque rod (26) to rotate, the fourth parallelogram is driven to change its angle, thereby driving the second deformation mechanism to deform.

2. A knee joint exoskeleton robot according to claim 1, characterized in that: The first deformation mechanism comprises a third thigh link (17) rotatably connected to the first thigh link (14), and a thigh base (15) rotatably connected to the third thigh link (17). The thigh base (15) is also rotatably connected to the second thigh shaft (12) and the second thigh link (13). The first thigh link (14), the third thigh link (17), the thigh base (15), and the second thigh link (13) form a first parallelogram, namely the first deformation mechanism.

3. A knee joint exoskeleton robot according to claim 2, characterized in that: The thigh assembly (1) further comprises a thigh fixing seat (16) fixedly connected to the thigh base (15) and used for binding with the thigh.

4. The knee joint exoskeleton robot according to claim 1, characterized in that: The second deformation mechanism includes a third calf link (37) rotatably connected to the first calf link (34), and a calf base (35) rotatably connected to the third calf link (37). The calf base (35) is also rotatably connected to the second calf axis (32) and the second calf link (33). The first calf link (34), the third calf link (37), the calf base (35), and the second calf link (33) form a third parallelogram, namely the second deformation mechanism.

5. The knee joint exoskeleton robot according to claim 4, characterized in that: The calf assembly (3) further comprises a calf fixing seat (36) fixedly connected to the calf base (35) and used for binding to the calf.

6. The knee joint exoskeleton robot according to claim 1, characterized in that: The first thigh connecting rod (14) is provided with a posture sensor.

7. The knee joint exoskeleton robot according to claim 1, characterized in that: A posture sensor is provided on the first calf connecting rod (34).

8. The knee joint exoskeleton robot according to claim 1, characterized in that: The driven rod assembly comprises a first driving rod (21) and a second driving rod (23) respectively arranged on two side surfaces of the driving motor (22).

9. The knee joint exoskeleton robot according to claim 8, characterized in that: The drive motor (22) includes a drive motor output end (24) exposed from the end of the second drive rod (23), and the drive motor output end (24) is connected to the torque rod (26) and moves in a concentric circle.

10. The knee joint exoskeleton robot according to claim 9, characterized in that: The driving assembly (2) further includes a torque sensor (25) for monitoring the interaction torque between the human joint and the exoskeleton. One side of the torque sensor (25) is connected to the driving motor output end (24), and the other side is connected to the torque rod (26). The driving motor output end (24), the torque sensor (25) and the torque rod (26) rotate in concentric circles.

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