Bionic ankle joint device and exoskeleton robot
By using a four-bar universal joint mechanism and limit block design of a bionic ankle joint device, the problem of motion interference in lower limb assistive robots is solved, achieving high matching with human gait and smooth assistive effect.
Patent Information
- Application Number
- CN202522042179.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-23
- Publication Date
- 2025-11-04
- Estimated Expiration
- 2035-09-23
AI Technical Summary
Existing lower limb assistive robots are mostly composed of rigid structural components and lack a variable rotation center design, resulting in poor motion interference and human-machine interaction, making it difficult to match the natural gait of the human body.
Employing a bionic ankle joint device, it simulates the multi-degree-of-freedom movement of the ankle joint through a four-bar linkage and universal joint mechanism. Combined with torsion springs and limit blocks, it provides compliant assistance and ensures that the exoskeleton's movement trajectory matches the human gait.
It achieves a high degree of matching between the exoskeleton's movement trajectory and the human body's natural gait, avoiding movement interference, reducing joint impact, and improving human-computer interaction and assistive effect.
Smart Images
Figure CN223507189U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of wearable assistive device technology, specifically to a bionic ankle joint device and exoskeleton robot, which is suitable for rehabilitation training and sports assistance scenarios. Background Technology
[0002] An ankle exoskeleton robot is a wearable assistive device primarily used for rehabilitation training to restore gait in stroke patients or to assist in movement to enhance walking / running efficiency.
[0003] For patients with lower limb mobility impairments and those requiring gait rehabilitation or walking assistance in certain environments, lower limb assistive robots can provide relevant rehabilitation training and walking assistance to various joints of the lower limbs. Specifically, lower limb patients need lower limb rehabilitation to restore lower limb strength and mobility; the elderly or other individuals requiring walking assistance need lower limb joint assistance to meet basic walking requirements such as walking and weight-bearing.
[0004] Existing lower limb assistive robots are mostly composed of rigid structural components, lack a variable rotation center design, have poor compliance, and poor human-machine interaction. This results in a low degree of matching between the exoskeleton's movement trajectory and the human body's natural gait, leading to movement interference and easy joint impact. Utility Model Content
[0005] This invention provides a bionic ankle joint device and an exoskeleton robot to solve the problem of motion interference in existing rigid lower limb assistive robots.
[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:
[0007] A bionic ankle joint device includes a leg fixation sleeve and a foot fixation sleeve. The leg fixation sleeve and the foot fixation sleeve are movably connected by two sets of symmetrically arranged joint self-alignment mechanisms. The joint self-alignment mechanism includes a parallelogram structure formed by four connecting rods connected in sequence. The connection between two adjacent connecting rods is rotatably connected by a pin bolt. The pin bolt located at one end of a diagonal of the parallelogram structure is rotatably connected to the leg fixation sleeve through a first universal bearing, and the pin bolt at the other end is rotatably connected to the foot fixation sleeve through a second universal bearing.
[0008] As a further embodiment of this utility model: torsion springs are fitted on the pin bolts at both ends of the other diagonal of the parallelogram structure, and the two extensions of the torsion springs are respectively engaged in the grooves of two adjacent connecting rods.
[0009] As a further embodiment of this utility model: an extension sleeve is fixedly provided at the end of the pin bolt used for rotating the connecting leg fixing sleeve, and the No. 1 universal bearing is sleeved on the extension sleeve.
[0010] As a further embodiment of this utility model: a limiting block is provided at the position of the foot fixing sleeve facing the ankle joint of the wearer's foot, and the limiting block is used to limit the extreme position of the rotational movement of the leg fixing sleeve.
[0011] As a further embodiment of this utility model: a second limiting block is provided at the position of the foot fixing sleeve facing away from the wearer's instep and ankle joint, and the second limiting block is used to limit the extreme position of the rotational movement of the parallelogram structure.
[0012] As a further embodiment of this utility model: both the leg fixing sleeve and the foot fixing sleeve are provided with straps with locking knobs.
[0013] This utility model also provides an exoskeleton robot, including two sets of any of the above-mentioned bionic ankle joint devices arranged symmetrically, and a drive control box with a drive module inside, wherein the drive control box is drivenly connected to the two sets of bionic ankle joint devices through Bowden wires respectively.
[0014] The drive module in the drive control box transmits power to the bionic ankle joint device through the Bowden wire to drive the wearer's ankle joint movement.
[0015] As a further embodiment of this utility model: the foot fixing sleeve of the bionic ankle joint device is supported and connected to a tension sensor by a pull ear bracket, and the tension sensor is connected to the steel wire at the bottom of the Bowden line.
[0016] As a further aspect of this invention: both the leg and foot fixing sleeves of the bionic ankle joint device are equipped with inertia sensors, which, in conjunction with tension sensors, collect the wearer's gait characteristics.
[0017] As a further embodiment of this invention, the exoskeleton robot also includes a strap for securing the drive control box.
[0018] The beneficial effects of this utility model are:
[0019] (1) This utility model uses two sets of joint self-alignment mechanisms to movably connect the leg fixing sleeve and the foot fixing sleeve. The joint self-alignment mechanism is designed as a parallelogram structure formed by four connecting rods connected in sequence. The connection points of two adjacent connecting rods are rotatably connected by pin bolts, so that the joint self-alignment mechanism of the parallelogram structure can move. The pin bolt at one end of one diagonal of the parallelogram structure is rotatably connected to the leg fixing sleeve through a first universal bearing, and the pin bolt at the other end is rotatably connected to the foot fixing sleeve through a second universal bearing. This application uses a four-bar linkage plus universal joint mechanism to biomimize the multi-degree-of-freedom movement of the wearer's ankle joint, which can simulate the instantaneous change of the rotation center of the wearer's ankle joint, ensuring that the exoskeleton's movement trajectory is highly matched with the wearer's natural gait and avoiding movement interference.
[0020] (2) This utility model also provides a torsion spring on the pin bolts at both ends of the other diagonal of the parallelogram structure. The two extensions of the torsion spring are respectively engaged in the grooves of the two adjacent connecting rods. During the movement of the joint self-alignment mechanism, the torsion spring simulates the elastic characteristics of human ligaments, provides compliant assistance, and reduces the impact of rigid structure on the joint.
[0021] (3) This utility model also sets a first limiting block at the position of the foot fixing sleeve facing the wearer's instep and ankle joint, and sets a second limiting block at the position of the foot fixing sleeve facing away from the wearer's instep and ankle joint. The limiting structure formed by the first limiting block and the second limiting block can prevent the multi-degree-of-freedom movement from exceeding the range, ensure the force transmission efficiency, and avoid damage to the joint self-alignment mechanism due to excessive activity. Attached Figure Description
[0022] The present invention will be further described below with reference to the accompanying drawings.
[0023] Figure 1 This is a schematic diagram of the overall structure of a bionic ankle joint device provided by this utility model;
[0024] Figure 2 This is a schematic diagram of a symmetrically arranged self-aligning mechanism for two sets of joints.
[0025] Figure 3 This is a schematic diagram of part of the joint self-alignment mechanism;
[0026] Figure 4 This is a schematic diagram of the overall structure of an exoskeleton robot provided by this utility model;
[0027] Figure 5 yes Figure 4 Enlarged view of the structure at point A in the middle.
[0028] In the diagram: 1. Leg support sleeve; 2. Foot support sleeve; 201. Limiting block No. 1; 202. Limiting block No. 2; 3. Joint self-alignment mechanism; 301. Connecting rod; 302. Pin bolt; 303. Universal bearing No. 1; 304. Universal bearing No. 2; 305. Torsion spring; 306. Slide groove; 307. Extension sleeve; 4. Strap; 5. Locking knob; 6. Drive control box; 7. Bowden wire; 701. Steel wire; 8. Pull ear bracket; 9. Tension sensor; 10. Inertia sensor; 12. Shoulder strap. Detailed Implementation
[0029] The technical solutions in the embodiments of this utility model are described clearly and completely below. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.
[0030] In the description of this utility model, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or a specific orientational structure and operation. Therefore, they should not be construed as limitations on this utility model.
[0031] Furthermore, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0032] Please see Figure 1 As shown, this utility model embodiment provides a bionic ankle joint device, including a leg fixing sleeve 1 and a foot fixing sleeve 2. The leg fixing sleeve 1 and the foot fixing sleeve 2 are movably connected by two sets of symmetrically arranged joint self-alignment mechanisms 3.
[0033] It is worth noting that the leg fixation sleeve 1 and foot fixation sleeve 2 of this application are designed based on the bionic movement of the human ankle joint. The leg fixation sleeve 1 corresponds to the position of the tibia of the bionic human, the foot fixation sleeve 2 corresponds to the position of the talus of the bionic human, and the joint self-alignment mechanism 3 corresponds to the position of the ligament of the ankle joint of the bionic human.
[0034] It is understood that this application can use a strap 4 with a locking knob 5 to be provided at the corresponding positions of the leg fixation sleeve 1 and the foot fixation sleeve 2. The leg fixation sleeve 1 and the foot fixation sleeve 2 can be put on the wearer's legs and ankles respectively by the strap 4, and locked and fixed by the locking knob 5.
[0035] Please see Figure 2 As shown, in one specific embodiment of this application, the joint self-alignment mechanism 3 can be designed as a parallelogram structure formed by four connecting rods 301 connected in sequence. The connection points of two adjacent connecting rods 301 are rotatably connected by pin bolts 302, so that the joint self-alignment mechanism 3 of the parallelogram structure can move.
[0036] Specifically, see Figure 2 As shown, an extension sleeve 307 is fixedly installed at the end of the pin bolt 302 located at one end of a diagonal of the parallelogram structure. A first universal bearing 303 is fitted onto the extension sleeve 307, and a second universal bearing 304 is fitted onto the pin bolt 302 at the other end of the diagonal. (See reference...) Figure 1 As shown, the joint self-alignment mechanism 3 is rotatably connected to the leg fixing sleeve 1 via a first universal bearing 303, and the joint self-alignment mechanism 3 is rotatably connected to the foot fixing sleeve 2 via a second universal bearing 304. This application uses a four-bar linkage 301 plus a universal joint mechanism to biomimize the multi-degree-of-freedom movement of the wearer's ankle joint, which can simulate the instantaneous change of the rotation center of the wearer's ankle joint, ensuring that the exoskeleton's movement trajectory is highly matched with the wearer's natural gait and avoiding movement interference.
[0037] Further, please refer to Figure 3 As shown, when designing the joint self-alignment mechanism 3, a torsion spring 305 can be fitted onto the pin bolts 302 at both ends of the other diagonal of the parallelogram structure. The two extensions of the torsion spring 305 are respectively engaged in the grooves 306 of the two adjacent connecting rods 301. In their natural state, the two torsion springs 305 open up the parallelogram structure composed of the four connecting rods 301, keeping the leg fixing sleeve 1 and the foot fixing sleeve 2 in an upright state. When the joint self-alignment mechanism moves, the torsion springs 305 set at the connection of the connecting rods 301 simulate the elastic characteristics of human ligaments, providing compliant assistance and reducing the impact of rigid structures on the joints.
[0038] Please see Figure 1As shown in one specific embodiment of this application, a first limiting block 201 is provided at the position of the foot fixing sleeve 2 facing the wearer's instep and ankle joint. The first limiting block 201 is used to limit the extreme position of the rotational movement of the leg fixing sleeve 1. A second limiting block 202 is provided at the position of the foot fixing sleeve 2 facing away from the wearer's instep and ankle joint. The second limiting block 202 is used to limit the extreme position of the rotational movement of the parallelogram structure. The limiting structure formed by the first limiting block 201 and the second limiting block 202 can prevent multi-degree-of-freedom movement from exceeding its range, ensure force transmission efficiency, and avoid damage to the joint self-alignment mechanism 3 due to excessive activity.
[0039] Please see Figure 4 As shown, this embodiment of the invention also provides an exoskeleton robot, including two symmetrically arranged bionic ankle joint devices as described above, a drive control box 6 with a drive module, and a host computer controller. The host computer controller is electrically connected to the drive module, and the drive module is driven by the two sets of bionic ankle joint devices via Bowden wires 7. During use, the drive control box 6 can be mounted on a shoulder strap 12, which is carried on the wearer's back. This placement allows the drive control box 6 to be as close as possible to the wearer's center of gravity, reducing the negative impact of the device on the wearer's walking process.
[0040] Please refer to Figure 5 As shown, the drive module within the drive control box 6 transmits power to the bionic ankle joint device via the Bowden wire 7 to drive the wearer's ankle joint movement. Specifically, the drive module can be a motor that rotates to provide power output torque, thereby tightening the steel wire 701 of the Bowden wire 7 and driving the bionic ankle joint device to move synchronously, achieving an assistive effect. The foot fixing sleeve 2 of the bionic ankle joint device is supported and connected to a tension sensor 9 via a pull ear bracket 8. The tension sensor 9 is connected to the steel wire 701 at the bottom end of the Bowden wire 7. It should be noted that both the leg fixing sleeve 1 and the foot fixing sleeve 2 of the bionic ankle joint device are equipped with inertia sensors 10. The inertia sensors 10, in conjunction with the tension sensors 9, collect the wearer's gait characteristics and send the collected gait information to the host computer controller.
[0041] The exoskeleton robot motion technology solution provided in this application is as follows: The gait characteristics of the wearer can be collected through the inertial sensor 10 and the tension sensor 9 to determine the wearer's physiological state and movement intention. The gait is analyzed by the host computer controller in the drive control box 6, and online algorithm optimization is performed to formulate the assistance strategy. The instructions are sent to the drive module for execution to realize ankle plantar flexion assistance and other modes. This motion control technology solution belongs to the existing technology in the field of ankle joint exoskeleton robots, and will not be described in detail here.
[0042] The preferred embodiments of this utility model have been described in detail above and should not be considered as limiting the scope of this utility model. All equivalent changes and improvements made within the scope of the claims of this utility model should still fall within the patent coverage of this utility model.
Claims
1. A bionic ankle joint device, comprising a leg fixing sleeve (1) and a foot fixing sleeve (2), characterized in that: The leg fixing sleeve (1) and the foot fixing sleeve (2) are movably connected by two sets of symmetrically arranged joint self-alignment mechanisms (3). The joint self-alignment mechanism (3) includes a parallelogram structure formed by four connecting rods (301) connected in sequence. The connection points of two adjacent connecting rods (301) are rotatably connected by pin bolts (302). The pin bolt (302) located at one end of a diagonal of the parallelogram structure is rotatably connected to the leg fixing sleeve (1) through a first universal bearing (303), and the pin bolt (302) at the other end is rotatably connected to the foot fixing sleeve (2) through a second universal bearing (304).
2. The bionic ankle joint device according to claim 1, characterized in that: Torsion springs (305) are fitted on the pin bolts (302) located at both ends of the other diagonal of the parallelogram structure. The two extensions of the torsion springs (305) are respectively engaged in the grooves (306) on the two adjacent connecting rods (301).
3. The bionic ankle joint device according to claim 1, characterized in that: An extension sleeve (307) is fixed to the end of the pin bolt (302) used for rotating the connecting leg fixing sleeve (1), and the first universal bearing (303) is sleeved on the extension sleeve (307).
4. The bionic ankle joint device according to claim 1, characterized in that: The foot fixing sleeve (2) is provided with a first limiting block (201) at the position of the ankle joint facing the wearer's foot. The first limiting block (201) is used to limit the extreme position of the rotational movement of the leg fixing sleeve (1).
5. A bionic ankle joint device according to claim 4, characterized in that: The foot fixing sleeve (2) is provided with a second limiting block (202) at the position of the ankle joint facing away from the wearer's foot. The second limiting block (202) is used to limit the extreme position of the rotational movement of the parallelogram structure.
6. The bionic ankle joint device according to claim 1, characterized in that: Both the leg fixing sleeve (1) and the foot fixing sleeve (2) are provided with straps (4) with locking knobs (5).
7. An exoskeleton robot, characterized in that: The invention includes two sets of bionic ankle joint devices as described in any one of claims 1-6, arranged symmetrically, and a drive control box (6) containing a drive module. The drive control box (6) is connected to the two sets of bionic ankle joint devices via Bowden wires (7). The drive module in the drive control box (6) transmits power to the bionic ankle joint device through the Bowden line (7) to drive the wearer's ankle joint movement.
8. An exoskeleton robot according to claim 7, characterized in that: The foot fixing sleeve (2) of the bionic ankle joint device is supported by a tension sensor (9) connected to a pull ear bracket (8). The tension sensor (9) is connected to the steel wire (701) at the bottom of the Bowden line (7).
9. An exoskeleton robot according to claim 8, characterized in that: Both the leg fixing sleeve (1) and the foot fixing sleeve (2) of the bionic ankle joint device are equipped with inertia sensors (10), which, together with the tension sensor (9), collect the wearer's gait characteristics.
10. An exoskeleton robot according to claim 7, characterized in that: It also includes a strap (12) for securing the drive control box (6) in place.