Direct-drive knee joint device, exoskeleton robot equipment and use method of exoskeleton robot equipment

Abstract

The invention discloses a direct-drive knee joint device, exoskeleton robot equipment and a using method thereof. The direct-drive knee joint device comprises a thigh rod; the shank rod is connected with the thigh rod through a knee joint device, a torque sensor and a mechanical limiting structure are arranged on the knee joint device, the torque sensor is arranged in a connecting piece, and the connecting piece is connected with the shank rod and the thigh rod; the lower leg rod length adjusting device is arranged on the lower leg rod; the ankle part is arranged at the lower end of the shank rod; wherein the torque sensor is arranged in the connecting piece to measure the rotation torque in real time, and the angle rotation range of the knee joint is limited through the mechanical limiting structure. Friction force is reduced, and knee joint torque measurement is more accurate; a hidden mechanical limiting structure is adopted at the joint to limit the angle rotation range of the knee joint, and the advantages of attractiveness and light weight are achieved; the ankle structure has the advantages of being light in weight, not hurting heels and capable of buffering.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical manufacturing and exoskeleton robots, and in particular to a direct-drive knee joint device, an exoskeleton robot device and a method of using the same. Background Art

[0002] At present, robot knee torque is one of the important indicators for evaluating the performance of exoskeleton robots. By measuring the robot knee torque, we can understand the force and load borne by the robot knee during the movement of the robot, so as to evaluate its stability and carrying capacity. Secondly, measuring the robot knee torque helps to optimize the design and control strategy of the exoskeleton robot. By analyzing the torque data, we can find out the torque variation law of the robot in different motion modes, and then adjust the structural parameters and control algorithm of the robot to improve its motion performance and the comfort of the wearer. In addition, when the exoskeleton robot moves in coordination with the human body, if the robot knee torque is too large or the transmission is unstable, it may cause human joint injury or discomfort. Therefore, measuring the robot knee torque helps to ensure the safety and reliability of the exoskeleton robot during movement. Finally, measuring the robot knee torque can also provide data support for the application of the exoskeleton robot. In summary, measuring the robot knee torque is of great significance for evaluating the performance of the exoskeleton robot, optimizing the design and control strategy, ensuring safety and reliability, and providing application data support. Inaccurate measurement of the knee torque of the active exoskeleton robot may bring a series of effects. First, inaccurate robot knee torque measurement may lead to a decrease in the accuracy of robot motion control. Knee joint torque is an important basis for the motion control of exoskeleton robots. If the data measurement is inaccurate, the robot's motion trajectory and speed may be affected, thereby affecting the overall motion performance. Secondly, inaccurate torque measurement may also pose a threat to the safety and comfort of the wearer. If the robot cannot accurately sense the torque changes in the knee joint, it may not be able to make adaptive adjustments in time, thereby increasing the risk of injury to the wearer during exercise. At the same time, inaccurate torque data may also cause unnecessary friction and impact on the robot during work, reducing the comfort of the wearer. In addition, inaccurate torque measurement will also affect the evaluation of the application effect of the exoskeleton robot. In the fields of medical rehabilitation, assistance for the elderly and the disabled, etc., accurate torque data is an important basis for evaluating the auxiliary effect of exoskeleton robots. If the measurement is inaccurate, the evaluation results may be distorted and cannot truly reflect the application effect of the robot. Therefore, it is crucial to ensure the accuracy of the knee joint torque of the active exoskeleton robot. Without considering the accuracy of the torque sensor, the structural design of the robot's knee joint component is very important.

[0003] In the prior art, there is friction between the torque sensor and other parts in the robot knee joint assembly structure, which leads to inaccurate torque sensor measurement values. In addition, the structure is bulky and not suitable for wearable lightweight design requirements.

[0004] In summary, there is at least one of the following technical problems:

[0005] In the robot knee joint assembly structure, there is friction between the torque sensor and other parts, which leads to inaccurate torque sensor measurement values. In addition, the structure is bulky and not suitable for wearable lightweight design requirements. Summary of the invention

[0006] The main purpose of the present invention is to provide a direct-drive knee joint device, an exoskeleton robot device and a method of using the same, so as to solve the technical problems in the prior art of the robot knee joint assembly structure, that is, there is friction between the torque sensor and other parts, resulting in inaccurate torque sensor measurement values, and the structure is bulky and not suitable for wearable lightweight design requirements.

[0007] In order to achieve the above object, according to one aspect of the present invention, a direct-drive knee joint device is provided, comprising:

[0008] Thigh bar;

[0009] A calf rod, wherein the calf rod is connected to the thigh rod through a knee joint device, the knee joint device is provided with a torque sensor and a mechanical limit structure, the torque sensor is arranged in a connecting piece, and the connecting piece connects the calf rod and the thigh rod;

[0010] A lower leg rod length adjustment device, wherein the lower leg rod length adjustment device is arranged on the calf rod;

[0011] An ankle component, the ankle component is arranged at the lower end of the calf rod;

[0012] The torque sensor is set in the connector to measure the rotation torque in real time, and the rotation range of the knee joint is limited by a mechanical limit structure.

[0013] Preferably, the knee joint device comprises:

[0014] A motor output flange, wherein the motor output flange is connected to one side of the thigh rod;

[0015] A connecting piece connected to the other side of the thigh rod;

[0016] a torque sensor connected to the connecting member and the shank rod;

[0017] A supporting ring is connected to the connecting piece.

[0018] Preferably, the knee joint device further comprises a motor connecting flange, one side of the motor connecting flange is connected to the motor, and the other side of the motor connecting flange is connected to the thigh rod via a fourth screw.

[0019] Preferably, the motor output flange is connected to the connecting piece via a fourth screw and a cylindrical pin.

[0020] Preferably, an arc-shaped limiting groove is provided on the thigh rod, and a protrusion matching with the limiting groove is provided on the connecting piece.

[0021] Preferably, the torque sensor is fixed to the connecting member by a second screw.

[0022] Preferably, the support ring is mounted on the outer ring of the connecting piece, a groove is provided on the support ring, and grease is applied in the groove.

[0023] Preferably, the calf rod is fixed to the torque sensor by a first screw; and the end cover is fixed to the calf rod by a third screw.

[0024] The present invention also provides an exoskeleton robot device, comprising a direct-drive knee joint device.

[0025] According to another aspect of the present invention, a method for using a direct-drive knee joint device and an exoskeleton robot device is provided, comprising: connecting a thigh rod and a shank rod through a direct-drive knee joint device, measuring the rotational torque between the thigh rod and the shank rod in real time by setting a torque sensor in the connecting piece, and limiting the rotation range of the knee joint angle by a mechanical limit structure.

[0026] The application of the technical solution of the present invention has the following technical effects:

[0027] The thigh rod and the calf rod are connected by a direct-drive knee joint device, and the torque sensor is set in the connector to measure the rotation torque between the thigh rod and the calf rod in real time, and the mechanical limit structure is used to limit the rotation range of the knee joint angle. It has the advantages of reducing friction and making the knee joint torque measurement more accurate; a hidden mechanical limit structure is used at the joint to limit the rotation range of the knee joint angle, which has the advantages of being beautiful and light; the ankle structure has the technical effects of being light, not hurting the heels, and having a cushioning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0029] Figure 1 It shows a schematic structural diagram of a direct-drive knee joint device according to the present invention;

[0030] Figure 2 Shows Figure 1 A side view of a direct drive knee device in FIG.

[0031] Figure 3 Shows Figure 1 View of the knee joint structure of the direct drive knee joint device;

[0032] Figure 4 Shows Figure 1 An exploded view of the knee joint of a direct drive knee joint device;

[0033] The above drawings include the following reference numerals:

[0034] Thigh rod 1; knee joint device 2; end cover 2-1; first screw 2-2; connector 2-3; torque sensor 2-4; second screw 2-5; third screw 2-6; support ring 2-7; motor connecting flange 2-8; motor output flange 2-9; cylindrical pin 2-10; fourth screw 2-11; fifth screw 2-12; calf rod 3; lower leg rod length adjustment device 4; ankle component 5; 65Mn spring clip 6; groove 7; limiting protrusion 8; limiting groove 9. DETAILED DESCRIPTION

[0035] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0036] like Figures 1 to 4 As shown, an embodiment of the present invention provides a direct-drive knee joint device 2 and an exoskeleton robot device, comprising: a thigh rod 1; a calf rod 3, wherein the calf rod 3 is connected to the thigh rod 1 through the knee joint device 2, and a torque sensor 2-4 and a mechanical limit structure are provided on the knee joint device 2, wherein the torque sensor 2-4 is arranged in a connecting member 2-3, and the connecting member 2-3 connects the calf rod 3 and the thigh rod 1; a lower leg rod length adjustment device 4, wherein the lower leg rod length adjustment device 4 is arranged on the calf rod 3; an ankle component 5, wherein the ankle component 5 is arranged at the lower end of the calf rod 3; wherein the torque sensor 2-4 is arranged in the connecting member 2-3 to measure the rotational torque in real time, and the rotation range of the knee joint angle is limited by the mechanical limit structure.

[0037] In this embodiment, the thigh rod 1 is used to realize the thigh function; the calf rod 3 is used to realize the calf function, the calf rod 3 is connected to the thigh rod 1 through the knee joint device 2, the knee joint device 2 is used to realize the mutual rotation between the thigh rod 1 and the calf rod 3, and the knee joint device 2 is provided with a torque sensor 2-4 and a mechanical limit structure, wherein the torque sensor 2-4 is used to measure the rotation torque of the thigh rod 1 and the calf rod 3 in real time, the torque sensor 2-4 is arranged in the connecting member 2-3, the connecting member 2-3 plays a role in protecting the torque sensor 2-4, the connecting member 2-3 connects the calf rod 3 and the thigh rod 1, and is used to realize the connection transmission between the thigh rod 1 and the calf rod 3; the knee joint device 2 includes: a motor output flange, wherein the motor output flange is used to output the power of the motor, the power of the motor is transmitted to the thigh rod 1 through the motor output flange, and the motor output flange is connected to one side of the thigh rod 1; the connecting member 2-3 is used to connect the thigh rod 1 and the calf rod 3, and the connecting member 2-3 is connected to the other side of the thigh rod 1.

[0038] In this embodiment, the torque sensor 2-4 is used to measure the torque in real time and reliably, and the torque sensor 2-4 is connected to the connecting member 2-3 and the calf rod 3; the support ring 2-7 plays a supporting role, and the support ring 2-7 is connected to the connecting member 2-3. The knee joint device 2 also includes a motor connecting flange 2-8, one side of the motor connecting flange 2-8 is connected to the motor, and the other side of the motor connecting flange 2-8 is connected to the thigh rod 1 through a fourth screw 2-11.

[0039] In this embodiment, the lower leg rod length adjustment device 4 is used to adjust the length of the lower leg rod, and the lower leg rod length adjustment device 4 is arranged on the calf rod 3; the ankle component 5 realizes the ankle function, and the ankle component 5 is arranged at the lower end of the calf rod 3; the torque sensor 2-4 is arranged in the connecting member 2-3 to measure the rotation torque in real time, and the rotation range of the knee joint angle is limited by the mechanical limit structure, and the motor output flange 2-9 is connected to the connecting member 2-3 through the fourth screw 2-11 and the cylindrical pin 2-10. The thigh rod 1 is provided with an arc-shaped limit groove 9, and the connecting member 2-3 is provided with a protrusion that matches the limit groove 9. The torque sensor 2-4 is fixed to the connecting member 2-3 by the second screw 2-5. The support ring 2-7 is installed on the outer ring of the connecting member 2-3, and the support ring 2-7 is provided with a groove 7, and grease is applied in the groove 7 to reduce friction resistance.

[0040] In this embodiment, the calf rod 3 is fixed to the torque sensor 2-4 by the first screw 2-2; the end cover 2-1 is fixed to the calf rod 3 by the third screw 2-6, and the end cover 2-1 plays a sealing role. The thigh rod 1 and the calf rod 3 are connected by the direct-drive knee joint device 2, and the torque sensor 2-4 is set in the connecting member 2-3 to measure the rotation torque between the thigh rod 1 and the calf rod 3 in real time, and the rotation range of the knee joint angle is limited by the mechanical limit structure. It has the effect of reducing friction and making the knee joint torque measurement more accurate; a hidden mechanical limit structure is used at the joint to limit the rotation range of the knee joint angle, which has the advantages of being beautiful and light in weight; the ankle structure is light in weight, does not hurt the heel, and has a buffering effect.

[0041] Specifically, this embodiment includes a thigh rod 1, a knee joint device 2, a calf rod 3, a lower leg rod length adjustment device 4, and an ankle component 5; wherein the knee joint device 2 includes: an end cap 2-1, a first screw 2-2, a connector 2-3, a torque sensor 2-4, a second screw 2-5, a third screw 2-6, a support ring 2-7 (copper alloy), a motor connection flange 2-8, a motor output flange 2-9, a cylindrical pin 2-10, a fourth screw 2-11, and a fifth screw 2-12. Figure 1 The force is transmitted to the ankle component 5, in which the 65Mn spring piece 6 acts as an anti-impact buffer; the ankle support part in the ankle component 5 is specially designed to prevent the heel from being hurt.

[0042] Specifically, Figure 2 , Figure 3 In the figure, the power source is an integrated reduction motor, and the thigh rod 1 is connected to the motor connecting flange 2-8 by the fourth screw 2-11; the connecting piece 2-3 is connected to the motor output flange 2-9 by the fourth screw 2-11 and the cylindrical pin 2-10, and a hidden limit groove 9 (rotation angle 0~130°) is provided on the thigh rod 1, and a limit protrusion 8 is provided on the connecting piece 2-3; the torque sensor 2-4 is fixed to the connecting piece 2-3 by the second screw 2-5; the support ring 2-7 (copper alloy) is installed on the outer ring of the connecting piece 2-3, and in order to make the torque measurement more accurate and reduce the friction between the support ring 2-7 and the connecting piece 2-3, grease is applied to the groove 7 of the support ring 2-7 (copper alloy); the calf rod 3 is fixed to the torque sensor 2-4 by the first; the end cover 2-1 is fixed to the calf rod 3 by the third screw 2-6.

[0043] Another embodiment of the present invention provides a method for using a direct-drive knee joint device 2 and an exoskeleton robot device, comprising:

[0044] The thigh rod 1 and the shank rod 3 are connected by a direct-drive knee joint device 2, and the rotational torque between the thigh rod 1 and the shank rod 3 is measured in real time by setting a torque sensor 2-4 in the connecting part 2-3, and the rotation range of the knee joint angle is limited by a mechanical limit structure.

[0045] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0046] The thigh rod 1 and the shank rod 3 are connected by a direct-drive knee joint device 2, and the torque sensor 2-4 is set in the connector 2-3 to measure the rotation torque between the thigh rod 1 and the shank rod 3 in real time, and the rotation range of the knee joint angle is limited by a mechanical limit structure. The friction is reduced to make the knee joint torque measurement more accurate; a hidden mechanical limit structure is used at the joint to limit the rotation range of the knee joint angle, which has the advantages of being beautiful and light in weight; the ankle structure has the technical effects of being light in weight, not hurting the heel, and having a buffering effect.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A direct-drive knee joint device, characterized in that: include: Thigh bar; A calf rod, wherein the calf rod is connected to the thigh rod through a knee joint device, the knee joint device is provided with a torque sensor and a mechanical limit structure, the torque sensor is arranged in a connecting piece, and the connecting piece connects the calf rod and the thigh rod; A lower leg rod length adjustment device, wherein the lower leg rod length adjustment device is arranged on the calf rod; An ankle component, the ankle component is arranged at the lower end of the calf rod; Among them, a torque sensor is set in the connecting part to measure the rotational torque in real time, and the rotation range of the knee joint angle is limited by a mechanical limit structure.

2. The direct-drive knee joint device according to claim 1, characterized in that: The knee joint device comprises: A motor output flange, wherein the motor output flange is connected to one side of the thigh rod; A connecting piece connected to the other side of the thigh rod; a torque sensor connected to the connecting member and the shank rod; A supporting ring is connected to the connecting piece.

3. The direct drive knee joint device according to claim 1, characterized in that: The knee joint device also includes a motor connecting flange, one side of the motor connecting flange is connected to the motor, and the other side of the motor connecting flange is connected to the thigh rod through a fourth screw.

4. The direct drive knee joint device according to claim 2, characterized in that: The motor output flange is connected to the connecting piece via a fourth screw and a cylindrical pin.

5. The direct-drive knee joint device according to claim 1, characterized in that: The thigh rod is provided with an arc-shaped limiting groove, and the connecting piece is provided with a protrusion matched with the limiting groove.

6. The direct drive knee joint device according to claim 1, characterized in that: The torque sensor is fixed on the connecting member by a second screw.

7. The direct drive knee joint device according to claim 1, characterized in that: The support ring is installed on the outer ring of the connecting piece. A groove is arranged on the support ring. Lubricating grease is coated in the groove.

8. The direct-drive knee joint device according to claim 1, characterized in that: The shank rod is fixed to the torque sensor via a first screw; and the end cover is fixed to the shank rod via a third screw.

9. An exoskeleton robot device, comprising: A direct-drive knee joint device as described in any one of claims 1 to 9.

10. A method for using a direct-drive knee joint device, based on the direct-drive knee joint device according to any one of claims 1 to 8, characterized in that: include: The thigh rod and the shank rod are connected by a direct-drive knee joint device, the rotational torque between the thigh rod and the shank rod is measured in real time by setting a torque sensor in the connecting part, and the rotation range of the knee joint angle is limited by a mechanical limit structure.

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