技术领域technical field
本发明涉及一种用于下肢外骨骼机器人的膝关节结构，尤其是一种用于膝关节站立到坐下、坐下到站立姿态变换起助力作用而不影响正常步态的膝关节非驱动式助力结构,属于机器人技术领域。The present invention relates to a knee joint structure for a lower extremity exoskeleton robot, in particular to a knee joint non-driven knee joint structure that is used to transform from standing to sitting, and from sitting to standing to provide assistance without affecting the normal gait. A booster structure belongs to the technical field of robots.
背景技术Background technique
外骨骼是一种结合了人工智能和机械动力装置的机器人；穿戴在操作者外部，融合了控制、传感和人机结合等技术，提供支撑、运动、防护等功能的机械装置，在军事、生活、医疗等方面具有广泛的应用前景。人体下肢外骨骼机器人是一种可以让人穿戴的人机一体化机械装置 ，能够提供对人体柔软内部器官进行构型，建筑和保护的外部结构。它的优越性在于能将支撑、运动、防护三项功能紧密结合。对于助老助残或者康复领域，外骨骼的主要目的是辅助人体自身肌肉的运动，已达到帮助截瘫患者和老年人进行肌肉康复训练的效果。当前下肢外骨骼的研究大都集中于各关节电机主动驱动，而电机的尺寸、重量、电池连续使用时间极大地限制了下肢外骨骼的发展。An exoskeleton is a robot that combines artificial intelligence and mechanical power devices; it is worn outside the operator and integrates technologies such as control, sensing and man-machine integration to provide support, movement, protection and other functions. It is used in military, It has broad application prospects in life, medical treatment and other aspects. The human lower extremity exoskeleton robot is a human-machine integrated mechanical device that can be worn by humans, which can provide an external structure for configuring, building and protecting the soft internal organs of the human body. Its superiority lies in its ability to closely combine the three functions of support, movement and protection. For the field of helping the elderly and the disabled or rehabilitation, the main purpose of the exoskeleton is to assist the movement of the human body's own muscles, which has achieved the effect of helping paraplegic patients and the elderly to perform muscle rehabilitation training. Most of the current research on lower extremity exoskeletons focuses on the active drive of motors in each joint, but the size, weight, and continuous use time of the motors greatly limit the development of lower extremity exoskeletons.
申请号201610948436.2提出了一种下肢外骨骼助力结构，在髋关节、膝关节、踝关节处分别使用液压泵驱动，虽然可达到较多的驱动自由度，但是整个下肢外骨骼的重量及操作的困难程度大大增加。Application number 201610948436.2 proposes a lower extremity exoskeleton power-assisted structure, which is driven by hydraulic pumps at the hip joint, knee joint, and ankle joint. Although it can achieve more driving degrees of freedom, the weight and operation of the entire lower extremity exoskeleton are difficult. greatly increased.
申请号201410735565.4提出了一种用于辅助行走的下肢外骨骼机器人结构，在髋关节和膝关节处安装驱动器，膝关节的助力采用电机助力，此膝关节结构无法调整人体行走时的转动瞬心，且增加了外骨骼总体重量和电能的消耗。Application number 201410735565.4 proposes a lower extremity exoskeleton robot structure for assisting walking. Drives are installed at the hip joint and knee joint, and the knee joint is powered by a motor. This knee joint structure cannot adjust the instantaneous center of rotation when the human body walks. And increased the overall weight of the exoskeleton and the consumption of electric energy.
申请号201410353073.9提出了一种单驱动联动式下肢助力外骨骼结构，虽然也采用单电机控制，但是其腰部模块的大腿驱动链轮结构笨重，体积过大，且不能给使用者提供坐下、站立的助力。Application number 201410353073.9 proposes a single-drive linkage type lower limb power-assisted exoskeleton structure. Although it is also controlled by a single motor, the thigh drive sprocket structure of the waist module is bulky and too large, and it cannot provide users with sitting and standing functions. help.
人体正常行走时，膝关节的转动中心是动态变化的，当前电机驱动式、及液压驱动式下肢外骨骼膝关节均不能模拟膝关节的此种变化；而人体姿态（坐下-站立、站立-坐下）的变换通过驱动式结构实现使得电机耗电增加、驱动结构复杂。When the human body walks normally, the rotation center of the knee joint changes dynamically. The current motor-driven and hydraulically driven lower extremity exoskeleton knee joints cannot simulate such changes in the knee joint; while the human body posture (sitting-standing, standing- Sit down) transformation is realized through the driving structure, which increases the power consumption of the motor and complicates the driving structure.
发明内容Contents of the invention
针对以上问题，本发明提出一种符合人体行走时膝关节转动中心变化规律的、且在人体姿态（站立-坐下、坐下-站立）变化时起到助力作用的非驱动式膝关节结构。In view of the above problems, the present invention proposes a non-driven knee joint structure that conforms to the changing law of the knee joint rotation center when the human body walks, and plays a role in assisting when the human body posture (standing-sitting, sitting-standing) changes.
为实现上述目的，本发明采取以下技术方案：一种用于下肢外骨骼机器人的膝关节结构，包括小腿组件、大腿组件，所述小腿组件与大腿组件之间通过四连杆膝关节连接，使下肢助力外骨骼的速度瞬心和使用者膝关节的速度瞬心变化一致，实现更加自然的步态，并且小腿组件与大腿组件之间还安装有气弹簧，所述气弹簧的一端连接在大腿组件上，另一端与固定在小腿组件上的气弹簧滑槽机构滑动连接，利用气弹簧实现站立到坐下、坐下到站立姿态变换时的助力。In order to achieve the above object, the present invention adopts the following technical solutions: a knee joint structure for a lower extremity exoskeleton robot, comprising a shank assembly and a thigh assembly, the shank assembly and the thigh assembly are connected by a four-link knee joint, so that The instantaneous center of velocity of the lower limb power-assisted exoskeleton is consistent with the instantaneous center of velocity of the user's knee joint to achieve a more natural gait, and a gas spring is installed between the calf component and the thigh component, and one end of the gas spring is connected to the thigh On the component, the other end is slidingly connected with the gas spring chute mechanism fixed on the calf component, and the gas spring is used to realize the assist when changing from standing to sitting, and from sitting to standing.
所述气弹簧上设有气弹簧锁定机构，当使用者完全坐下时，气弹簧锁定机构中的销钉会在弹簧的作用下插入气弹簧中预先加工的凹槽中，从而将气弹簧锁定，当使用者从坐下到站立的进行姿态变换时，压回气弹簧锁定机构中的销钉实现解锁。The gas spring is equipped with a gas spring locking mechanism. When the user sits down completely, the pin in the gas spring locking mechanism will be inserted into the pre-processed groove in the gas spring under the action of the spring, thereby locking the gas spring. When the user changes posture from sitting to standing, the pin in the gas spring locking mechanism is pressed back to unlock.
所述四连杆膝关节上安装有助力板簧，用于使用者的正常行走、站立到坐下、坐下到站立的姿态变换的助力。A booster leaf spring is installed on the four-link knee joint, which is used for boosting the posture transformation of the user from normal walking, from standing to sitting, and from sitting to standing.
当使用者从站立到坐下进行姿态变换时，所述大腿组件相对于小腿组件向下弯曲，当置于气弹簧滑槽机构中的气弹簧一端滑动到气弹簧滑槽机构底部，大腿组件继续往下弯曲时，所述气弹簧受力压缩，给坐下提供支撑助力，防止使用者突然坐下。When the user changes posture from standing to sitting, the thigh assembly is bent downward relative to the calf assembly, and when one end of the gas spring placed in the gas spring chute mechanism slides to the bottom of the gas spring chute mechanism, the thigh assembly continues When bending downward, the gas spring is compressed by force, providing support and assistance for sitting down, and preventing the user from sitting down suddenly.
本发明由于采取以上技术方案，其具有以下有益效果：The present invention has the following beneficial effects due to the adoption of the above technical solutions:
1、膝关节处不采用驱动式助力结构，无需电机、液压泵等即可实现助力。1. The knee joint does not use a driving power-assisted structure, and it can realize power-assisted without motors and hydraulic pumps.
2、利用气弹簧实现站立到坐下、坐下到站立姿态变换时的助力，但不影响使用者的正常行走。2. The gas spring is used to realize the power assist when changing from standing to sitting, and from sitting to standing, but it does not affect the normal walking of the user.
3、大腿组件和小腿组件之间采用四连杆膝关节，使下肢助力外骨骼的速度瞬心和使用者膝关节的速度瞬心变化一致。3. A four-link knee joint is used between the thigh assembly and the calf assembly, so that the instantaneous center of velocity of the lower limb power-assisted exoskeleton is consistent with the instantaneous center of velocity of the user's knee joint.
4、四连杆膝关节上加有板簧，为使用者的正常行走、站立到坐下、坐下到站立的姿态变换提供助力。4. A leaf spring is added to the four-link knee joint to provide assistance for the user's normal walking, standing to sitting, and sitting to standing posture changes.
附图说明Description of drawings
图1是用于下肢外骨骼机器人的膝关节结构主视图；Fig. 1 is the front view of the knee joint structure used for the lower extremity exoskeleton robot;
图2是用于下肢外骨骼机器人的膝关节结构在站立、行走、坐下时的变化视图；Fig. 2 is the changing view of the knee joint structure used for the lower extremity exoskeleton robot when standing, walking and sitting down;
图3是用于下肢外骨骼机器人的膝关节结构坐下视图；Fig. 3 is a seated view of the knee joint structure used for the lower limb exoskeleton robot;
图4是坐下时气弹簧锁定机构局部视图。Fig. 4 is a partial view of the gas spring locking mechanism when sitting down.
具体实施方式detailed description
下面结合附图对本发明进行详细的描述。The present invention will be described in detail below in conjunction with the accompanying drawings.
如图1到图4所示，本发明提供一种用于下肢外骨骼机器人的膝关节结构，包括脚板1、小腿组件2、气弹簧滑槽机构3、气弹簧4、助力板簧5、四连杆膝关节6、气弹簧锁定机构7、大腿组件8、髋关节驱动电机9。As shown in Figures 1 to 4, the present invention provides a knee joint structure for a lower extremity exoskeleton robot, including a foot plate 1, a lower leg assembly 2, an air spring chute mechanism 3, an air spring 4, a booster leaf spring 5, four Connecting rod knee joint 6, gas spring locking mechanism 7, thigh assembly 8, hip joint driving motor 9.
小腿组件2与大腿组件8之间通过四连杆膝关节6连接，并且小腿组件2与大腿组件8之间还安装有气弹簧4，气弹簧4的一端连接在大腿组件8上，另一端与固定在小腿组件2上的气弹簧滑槽机构3滑动连接，利用气弹簧4实现站立到坐下、坐下到站立姿态变换时的助力。气弹簧4上设有气弹簧锁定机构7。四连杆膝关节6上安装有助力板簧5，The shank assembly 2 and the thigh assembly 8 are connected by a four-bar knee joint 6, and a gas spring 4 is also installed between the shank assembly 2 and the thigh assembly 8. One end of the gas spring 4 is connected to the thigh assembly 8, and the other end is connected to the thigh assembly 8. The gas spring chute mechanism 3 fixed on the calf assembly 2 is slidably connected, and the gas spring 4 is used to realize power assisting when standing up to sitting down, and sitting down to standing up. The gas spring 4 is provided with a gas spring locking mechanism 7 . A booster plate spring 5 is installed on the four-link knee joint 6,
当使用者正常行走时，由于大腿组件8和小腿组件2之间采用四连杆膝关节6连接，在支撑相，膝关节转动中心在对线力线的后方，地面反力在膝关节处形成逆时针力矩，阻止膝关节屈曲，保持站立稳定。当开始屈曲时，转动中心立即移动到力线前方，从而很容易进入摆动相。所以可以使下肢助行外骨骼膝关节的速度瞬心和使用者膝关节的速度瞬心变化一致，以此实现更加自然的步态，并且在四连杆膝关节6上加有助力板簧5，在行走时也进行助力。由于气弹簧4的下端可以在固定于小腿组件2上的气弹簧滑槽机构3中滑动，且正常行走时最大滑动距离不会到达气弹簧滑槽机构3的底部，因此气弹簧不会受力压缩，不影响正常步态。When the user walks normally, since the thigh assembly 8 and the calf assembly 2 are connected by the four-link knee joint 6, in the support phase, the knee joint rotation center is behind the alignment line of force, and the ground reaction force is formed at the knee joint Torque counterclockwise to prevent knee flexion and keep standing stable. When flexion begins, the center of rotation immediately moves in front of the line of force, making it easy to enter the swing phase. Therefore, the instantaneous center of velocity of the knee joint of the exoskeleton exoskeleton of the lower limbs can be consistent with the change of the instantaneous center of velocity of the user's knee joint, so as to achieve a more natural gait, and a booster leaf spring 5 is added to the four-link knee joint 6 , also assists when walking. Since the lower end of the gas spring 4 can slide in the gas spring chute mechanism 3 fixed on the calf assembly 2, and the maximum sliding distance will not reach the bottom of the gas spring chute mechanism 3 during normal walking, the gas spring will not be stressed Compression without affecting normal gait.
当使用者从站立到坐下进行姿态变换时，大腿组件8相对于小腿组件2向下弯曲，由于气弹簧4的一端固定在大腿组件8上，所以另一端可以在固定于小腿组件2上的气弹簧滑槽机构3中滑动，当滑动到气弹簧滑槽机构3底部时，大腿组件8还会继续往下弯曲，此时气弹簧4会受力压缩，也既给坐下提供支撑助力，防止使用者突然坐下。当使用者完全坐下时，气弹簧锁定机构7中的销钉会在弹簧的作用下插入气弹簧4中预先加工的凹槽中，从而将气弹簧4锁定，从而完成站立到坐下姿态的变换。When the user changes posture from standing to sitting down, the thigh assembly 8 bends downward relative to the calf assembly 2. Since one end of the gas spring 4 is fixed on the thigh assembly 8, the other end can be fixed on the calf assembly 2. Sliding in the gas spring chute mechanism 3, when sliding to the bottom of the gas spring chute mechanism 3, the thigh assembly 8 will continue to bend downward, at this time the gas spring 4 will be compressed by force, and it will also provide support for sitting down. Prevent users from sitting down suddenly. When the user is fully seated, the pin in the gas spring locking mechanism 7 will be inserted into the pre-processed groove in the gas spring 4 under the action of the spring, thereby locking the gas spring 4, thereby completing the transformation from standing to sitting down .
当使用者从坐下到站立的进行姿态变换时，大腿组件8相对于小腿组件2之间的夹角增大，即气弹簧需要在滑槽机构中向上进行移动，此时使用者手拉外物得到一个比较大的促进站立的力，从而压回气弹簧锁定机构7中的销钉实现解锁，气弹簧4释放坐下时因压缩储存的能量，从而给使用者站立提供助力。When the user changes posture from sitting down to standing, the angle between the thigh assembly 8 and the calf assembly 2 increases, that is, the gas spring needs to move upwards in the chute mechanism. At this time, the user pulls the outer The object obtains a relatively large force to promote standing, thereby pressing back the pin in the gas spring locking mechanism 7 to realize unlocking, and the gas spring 4 releases the energy stored due to compression when sitting down, thereby providing assistance to the user to stand.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710257866.4ACN106891359B (en) | 2017-04-19 | 2017-04-19 | Knee joint structure for lower limb exoskeleton robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710257866.4ACN106891359B (en) | 2017-04-19 | 2017-04-19 | Knee joint structure for lower limb exoskeleton robot |
| Publication Number | Publication Date |
|---|---|
| CN106891359Atrue CN106891359A (en) | 2017-06-27 |
| CN106891359B CN106891359B (en) | 2019-05-21 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710257866.4AActiveCN106891359B (en) | 2017-04-19 | 2017-04-19 | Knee joint structure for lower limb exoskeleton robot |
| Country | Link |
|---|---|
| CN (1) | CN106891359B (en) |
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