技术领域technical field
本发明涉及一种膝关节助力外骨骼机器人，尤其涉及具有仿人膝关节的膝关节助力外骨骼机器人。The invention relates to a knee joint assisting exoskeleton robot, in particular to a knee joint assisting exoskeleton robot with a humanoid knee joint.
背景技术Background technique
外骨骼机器人是一种穿戴在操作者身体外部的人机一体化系统，综合运用传感、控制、信息融合等机器人技术，在保证穿戴者的舒适性和运动特性的前提下，为穿戴者提供额外的动力，增强人体机能，从而完成更加复杂困难的任务，实现力量的增强和感官的延伸。外骨骼机器人以上述特点，吸引了越来越多国内外科研机构的积极研究，在军事、警用、医疗等方面具有广阔应用前景。An exoskeleton robot is a human-machine integration system worn outside the operator's body. It comprehensively uses robotic technologies such as sensing, control, and information fusion to provide the wearer with comfort and movement characteristics under the premise of ensuring the wearer's comfort and movement characteristics. The extra power enhances the function of the human body, so as to complete more complex and difficult tasks, realize the enhancement of strength and the extension of senses. With the above-mentioned characteristics, exoskeleton robots have attracted more and more active researches from scientific research institutions at home and abroad, and have broad application prospects in military, police, medical and other fields.
膝关节外骨骼机器人作为其中的一种，旨在助力人体行走。针对一线警员在执行特殊巡逻、搜查与排爆任务时背负重量大、工作时间长，极易产生疲劳现象，甚至造成膝盖、腰椎等关节的生理损伤的问题，膝关节外骨骼机器人可增长警员徒步距离，提升负重能力，降低肌肉损伤风险，从而提升单兵作战能力。Knee-joint exoskeleton robot, as one of them, is designed to assist the human body to walk. Aiming at the problem that front-line police officers carry heavy loads and long working hours when performing special patrols, searches, and detonation tasks, they are prone to fatigue, and even cause physiological damage to knees, lumbar spine and other joints. The walking distance of soldiers can be increased, the weight-bearing capacity can be improved, and the risk of muscle damage can be reduced, thereby improving the combat capability of individual soldiers.
由于膝关节外骨骼机器人是人机交互系统，如何与人体完美协调统一、控制柔顺是膝关节外骨骼机器人发展需要克服的难题。人体膝关节通过肌肉组织的收缩和舒张实现关节运动，肌肉组织所具有的柔性有助于缓冲运动时外界对膝关节和人体的冲击，保护人体免受伤害。膝关节是变旋转中心、变旋转半径的旋转关节，旋转时其瞬时转动中心随之移动。然而，目前传统的膝关节外骨骼机器人将膝关节单纯地设计为单轴关节，转动中心固定，未参照人体膝关节的实际运动规律，工作过程中无法适应人体膝关节转轴的动态变化，造成人-机膝关节转轴错位，实际运动过程中与人体膝关节的配合度较低，长时间使用将导致穿戴不舒适、软组织挫伤等问题。此外，目前膝关节外骨骼机器人大多使用刚性驱动方式，以电机直接驱动或液压缸驱动。驱动装置缺乏柔性，不具有缓冲功能，容易受到外界冲击的损害，人员穿戴安全性与舒适性较差，使用安全性方面存在隐患。因此，有必要研发符合人体膝关节结构与运动机理的具有仿人膝关节的膝关节助力外骨骼机器人，确保外骨骼机器人运动与人体运动一致。Since the knee-joint exoskeleton robot is a human-computer interaction system, how to perfectly coordinate with the human body and control suppleness is a difficult problem to be overcome in the development of knee-joint exoskeleton robots. The human knee joint moves through the contraction and relaxation of muscle tissue. The flexibility of muscle tissue helps to buffer the impact of the outside world on the knee joint and the human body during exercise and protect the human body from injury. The knee joint is a revolving joint with a variable center of rotation and a variable radius of rotation, and its instantaneous center of rotation moves with it when it rotates. However, the current traditional knee-joint exoskeleton robot simply designs the knee joint as a single-axis joint with a fixed center of rotation, without referring to the actual motion law of the human knee joint, and cannot adapt to the dynamic changes of the human knee joint rotation axis during work, resulting in human -The machine's knee joint shaft is misaligned, and the degree of cooperation with the human knee joint is low during actual exercise. Long-term use will cause problems such as uncomfortable wearing and soft tissue contusion. In addition, most of the current knee-joint exoskeleton robots use a rigid drive method, which is directly driven by a motor or driven by a hydraulic cylinder. The driving device lacks flexibility, does not have a buffer function, and is easily damaged by external impacts. The safety and comfort of personnel wearing are poor, and there are hidden dangers in use safety. Therefore, it is necessary to develop a knee-assisted exoskeleton robot with a humanoid knee joint that conforms to the structure and motion mechanism of the human knee joint to ensure that the movement of the exoskeleton robot is consistent with the movement of the human body.
发明内容Contents of the invention
本发明所要解决的技术问题在于提供一种具有仿人膝关节的膝关节助力外骨骼机器人。The technical problem to be solved by the present invention is to provide a knee joint assisting exoskeleton robot with a humanoid knee joint.
为了实现上述技术目的，本发明采用下述技术方案：In order to realize above-mentioned technical purpose, the present invention adopts following technical scheme:
一种具有仿人膝关节的膝关节助力外骨骼机器人，包括大腿组件、仿人膝关节机构、小腿组件与驱动机构，大腿组件与小腿组件分别与仿人膝关节机构相连接，驱动机构驱动小腿组件带动仿人膝关节机构转动；其中，随着小腿组件的摆动，所述仿人膝关节机构的旋转中心上下移动，并且旋转半径发生变化，从而模仿人体膝关节运动。A knee-assisted exoskeleton robot with a humanoid knee joint, including a thigh assembly, a humanoid knee joint mechanism, a lower leg assembly and a driving mechanism, the thigh assembly and the lower leg assembly are respectively connected to the humanoid knee joint mechanism, and the driving mechanism drives the lower leg The component drives the humanoid knee joint mechanism to rotate; wherein, as the calf component swings, the rotation center of the humanoid knee joint mechanism moves up and down, and the radius of rotation changes, thereby simulating the movement of the human knee joint.
其中较优地，所述仿人膝关节机构包括大腿内侧连接件、大腿外侧连接件、小腿内侧连接件、小腿外侧连接件、移动块、压缩弹簧I和压缩弹簧II；Wherein preferably, the humanoid knee joint mechanism includes inner thigh connector, outer thigh connector, lower leg inner connector, lower leg outer connector, moving block, compression spring I and compression spring II;
在小腿内侧连接件和小腿外侧连接件上分别设置有安装孔，并在小腿内侧连接件和小腿外侧连接件上分别设置有根据人体膝关节运动轨迹设置的旋转导轨；Mounting holes are respectively provided on the inner shank connecting piece and the outer shank connecting piece, and rotating guide rails set according to the motion trajectory of the human knee joint are respectively arranged on the inner shank connecting piece and the outer shank connecting piece;
大腿内侧连接件与大腿外侧连接件连接；在大腿内侧连接件和大腿外侧连接件相对的一侧分别开有直线槽，并在直线槽的中部设置有长条形的通孔；压缩弹簧I、移动块与压缩弹簧II依次按压在两个闭合的直线槽内；The inner thigh connector is connected with the outer thigh connector; a linear groove is respectively provided on the opposite side of the inner thigh connector and the outer thigh connector, and a strip-shaped through hole is provided in the middle part of the linear groove; compression spring 1, The moving block and the compression spring II are sequentially pressed in two closed linear grooves;
在移动块的左右两侧面分别固定有圆柱形的连接柱，两个连接柱分别从通孔内伸出并通过轴承设置在小腿内侧连接件和小腿外侧连接件的安装孔内；Cylindrical connecting columns are respectively fixed on the left and right sides of the moving block, and the two connecting columns protrude from the through holes respectively and are arranged in the mounting holes of the inner leg connector and the outer leg connector through bearings;
在大腿内侧连接件和大腿外侧连接件的下端的外部分别设置有一个圆柱块，两个圆柱块分别通过轴承设置在小腿内侧连接件和小腿外侧连接件的旋转导轨中；A cylindrical block is respectively arranged outside the lower ends of the inner thigh connector and the outer thigh connector, and the two cylindrical blocks are respectively arranged in the rotating guide rails of the inner leg connector and the outer leg connector through bearings;
随着小腿组件的摆动，两个圆柱块分别在旋转导轨中滑动，并且，移动块在直线槽中上下移动，移动块是大腿组件和小腿组件的旋转中心，并且，移动块和圆柱块之间的距离构成变化的旋转半径。With the swing of the lower leg assembly, the two cylindrical blocks slide respectively in the rotating guide rails, and the moving block moves up and down in the linear groove, the moving block is the rotation center of the thigh assembly and the lower leg assembly, and, between the moving block and the cylindrical block The distance of constitutes the changing radius of rotation.
其中较优地，所述旋转导轨的形状符合人体膝关节水平转动轴曲率中心的移动轨迹——J型曲线。Wherein preferably, the shape of the rotating guide rail conforms to the moving track of the center of curvature of the horizontal rotation axis of the human knee joint—J-curve.
其中较优地，所述驱动机构采用串联柔性驱动器，通过弹簧连接机构驱动输入与输出实现柔性驱动。Preferably, the driving mechanism adopts a series flexible driver, and the flexible driving is realized by driving the input and output through the spring connection mechanism.
其中较优地，所述驱动机构包括驱动电机组件、丝杠轴、直线导轨、输出轴、丝杠螺帽、上层连接板、中层连接板、下层连接板、支撑板、固定板、压缩弹簧、小腿连杆连接块、小腿连杆与电机支撑座；Preferably, the drive mechanism includes a drive motor assembly, a screw shaft, a linear guide rail, an output shaft, a screw nut, an upper connecting plate, a middle connecting plate, a lower connecting plate, a supporting plate, a fixing plate, a compression spring, The connection block of the lower leg connecting rod, the lower leg connecting rod and the motor support seat;
所述驱动电机组件设置在整个驱动机构的上端，驱动电机组件通过电机支撑座与大腿组件固定；小腿连杆连接块设置在整个驱动机构的下端，小腿连杆连接块通过小腿连杆与小腿组件连接，使得小腿连杆可带动小腿组件摆动；The driving motor assembly is arranged at the upper end of the entire driving mechanism, and the driving motor assembly is fixed with the thigh assembly through the motor support seat; the lower leg connecting rod connecting block is arranged at the lower end of the entire driving mechanism, and the lower leg connecting rod connecting block is connected to the lower leg assembly through the lower leg connecting rod. connected so that the lower leg link can drive the lower leg assembly to swing;
支撑板设置在驱动电机组件和小腿连杆连接块之间，丝杠轴的上端和下端分别与驱动电机组件和支撑板连接，丝杠轴在驱动电机组件的驱动下旋转；The supporting plate is arranged between the driving motor assembly and the shank link connecting block, the upper end and the lower end of the screw shaft are respectively connected with the driving motor assembly and the supporting plate, and the screw shaft rotates under the drive of the driving motor assembly;
上层连接板、中层连接板和下层连接板设置在驱动电机组件和支撑板之间；固定板将上层连接板与下层连接板连接在一起；The upper connecting plate, the middle connecting plate and the lower connecting plate are arranged between the drive motor assembly and the supporting plate; the fixing plate connects the upper connecting plate and the lower connecting plate together;
丝杠轴依次穿过上层连接板、中层连接板和下层连接板；在丝杠轴上设置有丝杠螺帽，丝杠螺帽与中层连接板固定，随着丝杠轴的旋转，丝杠螺帽带动中层连接板沿着丝杠轴上下移动；The screw shaft passes through the upper connection plate, the middle connection plate and the lower connection plate in turn; a screw nut is arranged on the screw shaft, and the screw nut is fixed with the middle connection plate. As the screw shaft rotates, the screw The nut drives the middle connecting plate to move up and down along the screw shaft;
直线导轨的两端分别与驱动电机组件和支撑板固定连接，两根直线导轨通过固定直线轴承穿过上层连接板、中层连接板与下层连接板的对角线位置；The two ends of the linear guide rail are fixedly connected with the drive motor assembly and the support plate respectively, and the two linear guide rails pass through the diagonal positions of the upper connecting plate, the middle connecting plate and the lower connecting plate through fixed linear bearings;
输出轴的两端分别与上层连接板和小腿连杆连接块固定连接，两根输出轴通过固定直线轴承穿过中层连接板、下层连接板与支撑板的另一对角线位置；The two ends of the output shaft are respectively fixedly connected with the upper connecting plate and the lower leg connecting rod connecting block, and the two output shafts pass through the other diagonal position of the middle connecting plate, the lower connecting plate and the support plate through fixed linear bearings;
在每根输出轴上分别套设有两个压缩弹簧，其中一个压缩弹簧设置在上层连接板和中层连接杆之间，另一个压缩弹簧设置在中层连接板和下层连接板之间；Two compression springs are sheathed on each output shaft, one compression spring is arranged between the upper connection plate and the middle connection rod, and the other compression spring is arranged between the middle connection plate and the lower connection plate;
在所述驱动机构中，驱动电机组件驱动丝杠轴旋转，丝杠螺帽沿丝杠轴直线运动，从而带动与丝杠螺帽连接的中层连接板沿直线导轨移动；然后，中层连接板通过压缩弹簧作用于上层连接板与下层连接板，带动与上层连接板连接的输出轴沿直线运动。In the drive mechanism, the drive motor assembly drives the screw shaft to rotate, and the screw nut moves linearly along the screw shaft, thereby driving the middle connecting plate connected with the screw nut to move along the linear guide rail; then, the middle connecting plate passes through The compression spring acts on the upper connecting plate and the lower connecting plate, driving the output shaft connected with the upper connecting plate to move along a straight line.
本发明所提供的具有仿人膝关节的膝关节助力外骨骼机器人包括大腿组件、仿人膝关节机构、小腿组件与驱动机构。其中，仿人膝关节机构是完全符合人体膝关节转动规律的旋转关节，关节旋转导轨按照人体膝关节转动轨迹设计，关节旋转中心是一可按直线槽位移的移动块，能够适应关节转动过程中旋转中心及旋转半径的变化，克服了传统膝关节外骨骼采用单轴旋转关节导致其与穿戴人员配合度低的缺点，提升了人机兼容性。另外，驱动机构采用一种串联柔性驱动器，使驱动过程中具有一定的旋转位移容错率，遇到冲击时能够适当收缩进而缓冲碰撞产生的能量，同时还能够将能量吸收、存储、再利用，不仅提高了能量利用率，而且从一定程度上消除机械振荡，减轻零部件的机械损伤，保障穿戴人员的使用安全性。The knee joint assisting exoskeleton robot with humanoid knee joint provided by the present invention includes a thigh assembly, a humanoid knee joint mechanism, a lower leg assembly and a driving mechanism. Among them, the humanoid knee joint mechanism is a rotary joint that completely conforms to the rotation law of the human knee joint. The joint rotation guide rail is designed according to the human knee joint rotation trajectory. The change of the center of rotation and the radius of rotation overcomes the shortcomings of the traditional knee exoskeleton using a single-axis rotating joint, which leads to low cooperation with the wearer, and improves the human-machine compatibility. In addition, the driving mechanism adopts a series flexible driver, so that there is a certain tolerance rate of rotational displacement during the driving process. When encountering an impact, it can properly shrink and buffer the energy generated by the collision. At the same time, it can also absorb, store, and reuse energy. The energy utilization rate is improved, and the mechanical vibration is eliminated to a certain extent, the mechanical damage of the parts is reduced, and the safety of the wearer is guaranteed.
附图说明Description of drawings
图1是本发明所提供的具有仿人膝关节的膝关节助力外骨骼机器人的结构示意图；Fig. 1 is the structural representation of the knee joint assisting exoskeleton robot with humanoid knee joint provided by the present invention;
图2是图1中执行机构的结构分解图；Fig. 2 is an exploded view of the structure of the actuator in Fig. 1;
图3是图1中仿人膝关节机构的结构分解图；Fig. 3 is an exploded view of the structure of the humanoid knee joint mechanism in Fig. 1;
图4是图3中仿人膝关节机构的组装状态图一；Fig. 4 is an assembly state diagram 1 of the humanoid knee joint mechanism in Fig. 3;
图5是图3中仿人膝关节机构的组装状态图二；Fig. 5 is the second assembly state diagram of the humanoid knee joint mechanism in Fig. 3;
图6是图1中驱动机构的结构示意图；Fig. 6 is a schematic structural view of the drive mechanism in Fig. 1;
图7是本发明所提供的具有仿人膝关节的膝关节助力外骨骼机器人的工作流程图。Fig. 7 is a working flow chart of the knee joint assisting exoskeleton robot with humanoid knee joint provided by the present invention.
具体实施方式Detailed ways
下面结合附图和具体的实施例对本发明的技术方案进行进一步地详细描述。The technical solutions of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
为解决传统的膝关节外骨骼机器人将膝关节单纯地设计为单轴关节，工作过程中无法适应人体膝关节转轴的动态变化，与人体膝关节的配合度较低；驱动机构多采用刚性驱动装置，容易受到外界冲击的损害，缺乏柔性，不具有缓冲功能，人员穿戴安全性与舒适性较差等问题。本发明提出了一种具有仿人膝关节的膝关节助力外骨骼机器人，主要包括大腿组件1、仿人膝关节机构2、小腿组件3与驱动机构4。其中，仿人膝关节机构2是完全符合人体膝关节转动规律的旋转关节，关节旋转导轨按照人体膝关节转动轨迹设计，关节旋转中心能够适应关节转动过程中旋转中心及旋转半径的变化，克服了传统膝关节外骨骼机器人采用单轴旋转关节导致其与穿戴人员配合度低的缺点，提升了人机兼容性。同时，本发明对驱动机构4也进行了改进，驱动机构4采用一种串联柔性驱动器，遇到冲击时能够适当收缩进而缓冲碰撞产生的能量，同时还能够将能量吸收、存储、再利用，不仅提高了能量利用率，而且从一定程度上消除机械振荡，减轻零部件的机械损伤，保障穿戴人员的使用安全性。In order to solve the problem of traditional knee exoskeleton robots, the knee joint is simply designed as a single-axis joint, which cannot adapt to the dynamic changes of the human knee joint rotation axis during work, and the degree of cooperation with the human knee joint is low; the driving mechanism mostly adopts rigid drive devices , easily damaged by external shocks, lack of flexibility, no cushioning function, poor safety and comfort for personnel to wear, etc. The present invention proposes a knee-assisted exoskeleton robot with a humanoid knee joint, which mainly includes a thigh assembly 1 , a humanoid knee joint mechanism 2 , a lower leg assembly 3 and a driving mechanism 4 . Among them, the humanoid knee joint mechanism 2 is a rotary joint that completely conforms to the rotation law of the human knee joint. The joint rotation guide rail is designed according to the human knee joint rotation trajectory. Traditional knee-joint exoskeleton robots use single-axis rotating joints, which leads to the disadvantage of low cooperation with the wearer, which improves human-machine compatibility. At the same time, the present invention also improves the driving mechanism 4. The driving mechanism 4 adopts a flexible driver in series, which can properly shrink when encountering an impact and buffer the energy generated by the collision. At the same time, it can also absorb, store, and reuse energy. The energy utilization rate is improved, and the mechanical vibration is eliminated to a certain extent, the mechanical damage of the parts is reduced, and the safety of the wearer is guaranteed.
具体来说，如图1所示，本发明所提供的具有仿人膝关节的膝关节助力外骨骼机器人，包括大腿组件1、仿人膝关节机构2、小腿组件3与驱动机构4，其中，大腿组件1、仿人膝关节机构2和小腿组件3组成了执行机构。大腿组件1与小腿组件3分别与仿人膝关节机构2相连接。驱动机构4通过电机支撑座415与大腿组件1固定连接，通过小腿连杆414与小腿组件3连接，从而驱动小腿组件3带动仿人膝关节机构2转动。Specifically, as shown in FIG. 1 , the knee-assisted exoskeleton robot with a humanoid knee joint provided by the present invention includes a thigh assembly 1, a humanoid knee joint mechanism 2, a lower leg assembly 3 and a drive mechanism 4, wherein, The thigh component 1, the humanoid knee joint mechanism 2 and the lower leg component 3 constitute the actuator. The thigh assembly 1 and the lower leg assembly 3 are respectively connected with the humanoid knee joint mechanism 2 . The driving mechanism 4 is fixedly connected with the thigh assembly 1 through the motor support base 415 , and connected with the lower leg assembly 3 through the lower leg connecting rod 414 , thereby driving the lower leg assembly 3 to drive the humanoid knee joint mechanism 2 to rotate.
如图2所示，大腿组件1由大腿内侧板11、大腿外侧板12、大腿支撑杆13与大腿绑带板14组成。As shown in FIG. 2 , the thigh assembly 1 is composed of a thigh inner board 11 , a thigh outer board 12 , a thigh support rod 13 and a thigh strap board 14 .
大腿内侧板11和大腿外侧板12是两个具有对称结构的细长的支撑板；支撑板的上端的端部形状为半圆形，支撑板的下端为具有方形连接块的端部，支撑板上半部分的宽度小于下端的宽度。其中，方形连接块的下端具有内凹的弧形容纳部，弧形容纳部用于容纳小腿组件3的圆形上端，并与小腿组件3的圆形上端配合，允许小腿组件3的上端在其内部旋转。此外，在大腿内侧板11和大腿外侧板12下端的方形连接部相对的一侧分别设置有用于嵌入安装大腿内侧连接件21和大腿外侧连接件22的空位，空位设置在方形连接部内部靠后的位置。当大腿内侧板11和大腿外侧板12与仿人膝关节机构2连接时，大腿内侧板11和大腿外侧板12下端的方形连接部靠前的部分闭合并固定在一起，大腿内侧连接件21和大腿外侧连接件22一起嵌入固定在两个方形连接块内部靠后的空位中，从而实现大腿组件1和仿人膝关节机构2的稳定连接。The inner thigh plate 11 and the outer thigh plate 12 are two elongated support plates with symmetrical structure; the end shape of the upper end of the support plate is a semicircle, and the lower end of the support plate is an end with a square connecting block, and the support plate The width of the upper part is smaller than the width of the lower end. Wherein, the lower end of the square connection block has a recessed arc-shaped receiving part, which is used to accommodate the circular upper end of the lower leg assembly 3, and cooperate with the circular upper end of the lower leg assembly 3, allowing the upper end of the lower leg assembly 3 to rest on its Internal rotation. In addition, on the opposite side of the square connecting part at the lower end of the inner thigh plate 11 and the outer thigh plate 12, there are spaces for inserting and installing the inner thigh connecting piece 21 and the outer thigh connecting piece 22 respectively, and the spaces are arranged behind the square connecting portion. s position. When the inner thigh plate 11 and the outer thigh plate 12 were connected with the humanoid knee joint mechanism 2, the front part of the square connecting part at the lower end of the inner thigh plate 11 and the outer thigh plate 12 was closed and fixed together, and the inner thigh connector 21 and The outer thigh connecting piece 22 is embedded and fixed in the rear space inside the two square connecting blocks together, so as to realize the stable connection between the thigh assembly 1 and the humanoid knee joint mechanism 2 .
大腿内侧板11和大腿外侧板12之间的距离上下等宽；在大腿内侧板11和大腿外侧板12之间设置有多个等长的大腿支撑杆13，多个大腿支撑杆13从上到下将大腿内侧板11和大腿外侧板12固定成一个整体；大腿绑带板14固定在大腿内侧板11的外侧，用于与绑带配合将大腿组件1固定在大腿的侧面。The distance between the inner thigh plate 11 and the outer thigh plate 12 is equal in width up and down; between the inner thigh plate 11 and the outer thigh plate 12, a plurality of equal-length thigh support rods 13 are arranged, and a plurality of thigh support rods 13 are arranged from top to bottom. Next, fix the inner thigh plate 11 and the outer thigh plate 12 as a whole; the thigh strap plate 14 is fixed on the outside of the inner thigh plate 11, and is used to cooperate with the strap to fix the thigh assembly 1 on the side of the thigh.
小腿组件3由小腿内侧板31、小腿外侧板32、小腿支撑杆33与小腿绑带板34组成。小腿内侧板31和小腿外侧板32是两个具有对称结构的细长的支撑板，其下端的端部形状为半圆形，上端具有圆形的端部，其中，圆形端部的直径大于支撑板的宽度，圆形端部设置在大腿内侧板11和大腿外侧板12下端的弧形容纳部中，并且可以自由旋转。小腿内侧板31和小腿外侧板32之间的间距上下等宽；小腿内侧板31和小腿外侧板32之间的间距和大腿内侧板11和大腿外侧板12之间的间距等宽。在小腿内侧板31和小腿外侧板32之间设置有多个等长的小腿支撑杆33，多个小腿支撑杆33从上到下将小腿内侧板31和小腿外侧板32固定成一个整体；小腿绑带板34固定在小腿内侧板31的外侧，用于与绑带配合将小腿组件3固定在小腿的侧面。The calf assembly 3 is composed of a calf inner plate 31 , a calf outer plate 32 , a calf support rod 33 and a calf strap plate 34 . The calf inner plate 31 and the calf outer plate 32 are two elongated support plates with a symmetrical structure, the shape of the lower end is semicircular, and the upper end has a circular end, wherein the diameter of the circular end is larger than The width of the support plate, the circular end is set in the arc-shaped receiving portion of the lower ends of the inner thigh plate 11 and the outer thigh plate 12, and can rotate freely. The spacing between the calf inner plate 31 and the calf outer plate 32 is equally wide up and down; A plurality of equal-length calf support bars 33 are arranged between the calf inner plate 31 and the calf outer plate 32, and a plurality of calf support bars 33 fix the calf inner plate 31 and the calf outer plate 32 into a whole from top to bottom; The strap plate 34 is fixed on the outside of the calf inner plate 31, and is used to cooperate with the strap to fix the calf assembly 3 on the side of the calf.
如图3所示，仿人膝关节机构2包括大腿内侧连接件21、大腿外侧连接件22、小腿内侧连接件23、小腿外侧连接件24、移动块25、压缩弹簧I 26、压缩弹簧II 27与连接块28。As shown in Figure 3, the humanoid knee joint mechanism 2 includes a thigh inner connector 21, a thigh outer connector 22, a calf inner connector 23, a calf outer connector 24, a moving block 25, a compression spring I 26, and a compression spring II 27 with connection block 28.
其中，大腿内侧连接件21和大腿外侧连接件22是两个对称设置的长方体，大腿内侧连接件21和大腿外侧连接件22的长度方向竖直设置。大腿内侧连接件21与大腿外侧连接件22相对的两个侧面连接并合为一体(参见图4)，大腿内侧连接件21的上端201与大腿内侧板11的下端连接，大腿外侧连接件22的上端201与大腿外侧板12的下端连接，大腿内侧连接件21和大腿外侧连接件22的上端201一起嵌入固定在大腿内侧板11和大腿外侧板12下端的两个方形连接部的内部。在大腿内侧连接件21和大腿外侧连接件22的内侧(相对一侧)分别开有长方形的直线槽202，直线槽202是盲孔结构，并在直线槽202的中部设置有长条形的通孔203，通孔203竖直设置在大腿内侧连接件21和大腿外侧连接件22的外侧(相背一侧)。压缩弹簧I 26、移动块25与压缩弹簧II 27依次按压在两个闭合的直线槽202内。移动块25优选为正方体移动块或长方体移动块。在移动块25的上下两侧面固定有连接柱，上侧的连接柱伸入压缩弹簧I 26内，下侧的连接柱伸入压缩弹簧II 27内，便于压缩弹簧I 26、移动块25和压缩弹簧II 27的安装。以图3中的方位为准，在移动块25的左右两侧面分别固定有圆柱形的连接柱205，固定在移动块25左侧的连接柱205从大腿外侧连接件22的通孔203内伸出并通过轴承设置在小腿外侧连接件24上的安装孔208内；固定在移动块25右侧的连接柱205从大腿内侧连接件21的通孔203内伸出并通过轴承设置在小腿外侧连接件23上的安装孔208内。在大腿内侧连接件21和大腿外侧连接件22的下端的外部分别设置有一个圆柱块204，两个圆柱块204分别通过轴承安装在设置于小腿内侧连接件23和小腿外侧连接件24上的旋转导轨209中，随着小腿组件3的摆动，两个圆柱块204分别在旋转导轨209中滑动。随着圆柱块204在旋转导轨209中的滑动，移动块25在直线槽202中上下移动，移动块25两侧的圆柱形连接柱205在通孔203中上下移动。Wherein, the inner thigh connector 21 and the outer thigh connector 22 are two symmetrically arranged cuboids, and the length directions of the inner thigh connector 21 and the outer thigh connector 22 are vertically arranged. The inner thigh connector 21 is connected to two opposite sides of the outer thigh connector 22 and merged into one (see FIG. 4 ), the upper end 201 of the inner thigh connector 21 is connected to the lower end of the inner thigh plate 11, and the outer thigh connector 22 The upper end 201 is connected to the lower end of the outer thigh plate 12, and the upper end 201 of the inner thigh connecting piece 21 and the outer thigh connecting piece 22 are embedded together and fixed in the inside of the two square connecting parts at the lower ends of the inner thigh plate 11 and the outer thigh plate 12. Rectangular straight grooves 202 are respectively opened on the inner side (opposite side) of the inner thigh connecting piece 21 and the outer thigh connecting piece 22. The hole 203, the through hole 203 is vertically arranged on the outer side (opposite side) of the inner thigh connection part 21 and the outer thigh connection part 22. The compression spring I 26 , the moving block 25 and the compression spring II 27 are sequentially pressed in the two closed linear grooves 202 . The moving block 25 is preferably a cube moving block or a cuboid moving block. The upper and lower sides of the moving block 25 are fixed with connecting posts, the connecting posts on the upper side stretch into the compression spring I 26, and the connecting posts on the lower side extend into the compression spring II 27, so as to facilitate the compression spring I 26, the moving block 25 and the compression Installation of spring II 27. Based on the orientation in FIG. 3 , cylindrical connecting columns 205 are respectively fixed on the left and right sides of the moving block 25 , and the connecting column 205 fixed on the left side of the moving block 25 extends from the through hole 203 of the connecting piece 22 on the outside of the thigh. out and is arranged in the mounting hole 208 on the outer leg connecting piece 24 through the bearing; the connecting column 205 fixed on the right side of the moving block 25 protrudes from the through hole 203 of the inner thigh connecting piece 21 and is arranged on the outer leg connecting piece through the bearing In the mounting hole 208 on the part 23. A cylindrical block 204 is respectively arranged on the outside of the lower ends of the inner thigh connecting piece 21 and the outer thigh connecting piece 22, and the two cylindrical pieces 204 are mounted on the rotating shaft provided on the inner leg connecting piece 23 and the outer leg connecting piece 24 through bearings respectively. In the guide rail 209 , with the swing of the calf assembly 3 , the two cylindrical blocks 204 slide in the rotating guide rail 209 respectively. As the cylindrical block 204 slides in the rotating guide rail 209 , the moving block 25 moves up and down in the linear groove 202 , and the cylindrical connecting columns 205 on both sides of the moving block 25 move up and down in the through hole 203 .
小腿内侧连接件23和小腿外侧连接件24是两个等大的圆盘，小腿内侧连接件23和小腿外侧连接件24的大小与小腿内侧板31和小腿外侧板32上端的圆形端部的大小相同。小腿内侧连接件23的外侧与小腿内侧板31的上端重合后连接，小腿外侧连接件24的外侧与小腿外侧板32的上端重合后连接。小腿内侧连接件23和小腿外侧连接件24之间通过弧形连接块28连接，弧形连接块28的左右两侧分别与小腿内侧连接件23和小腿外侧连接件24的下半侧圆弧边沿固定，从而将小腿内侧连接件23和小腿外侧连接件24连接为一个整体(如图4所示)。弧形连接块28的宽度等于或略大于大腿内侧连接件21的厚度和大腿外侧连接件22的厚度之和。The inner connecting part 23 of the calf and the outer connecting part 24 of the calf are two discs of equal size, and the size of the inner connecting part 23 of the calf and the outer connecting part 24 of the calf is the same as that of the circular end of the upper end of the inner plate 31 of the calf and the outer part of the calf 32. same size. The outside of the calf inner connector 23 overlaps with the upper end of the calf inner plate 31 and then connects, and the outer side of the calf outer connector 24 coincides with the upper end of the calf outer plate 32 and then connects. The inner calf connecting piece 23 and the outer calf connecting piece 24 are connected by an arc-shaped connecting block 28, and the left and right sides of the arc-shaped connecting block 28 are respectively connected with the lower half arc edges of the inner calf connecting piece 23 and the outer calf connecting piece 24. fixed, so that the inner shank connecting piece 23 and the outer shank connecting piece 24 are connected as a whole (as shown in FIG. 4 ). The width of the arc-shaped connecting block 28 is equal to or slightly greater than the sum of the thickness of the inner thigh connecting piece 21 and the thickness of the outer thigh connecting piece 22 .
如图5所示，在小腿内侧连接件23和小腿外侧连接件24上分别设置有安装孔208，安装孔208设置在小腿内侧连接件23和小腿外侧连接件24的上半部分，用于与设置在移动块25的左右两侧的圆柱形连接柱205通过轴承连接。在小腿内侧连接件23和小腿外侧连接件24上分别设置有根据人体膝关节运动轨迹设置的旋转导轨209，旋转导轨209的形状符合人体膝关节水平转动轴曲率中心的移动轨迹——J型曲线(参见图5)。设置在大腿外侧连接件21、大腿内侧连接件22的下端的外部的圆柱块204通过轴承安装于旋转导轨209中，并可沿旋转导轨209移动。As shown in Figure 5, mounting holes 208 are respectively arranged on the inner connecting part 23 of the calf and the outer connecting part 24 of the calf, and the mounting holes 208 are arranged on the upper half of the inner connecting part 23 of the calf and the outer connecting part 24 of the calf, and are used for connecting with the outer connecting part 24 of the lower leg. The cylindrical connection columns 205 arranged on the left and right sides of the moving block 25 are connected by bearings. The inner connecting part 23 of the calf and the outer connecting part 24 of the lower leg are respectively provided with rotating guide rails 209 set according to the motion trajectory of the human knee joint. (See Figure 5). The outer cylindrical block 204 arranged at the lower ends of the outer thigh connecting piece 21 and the inner thigh connecting piece 22 is installed in the rotating guide rail 209 through bearings, and can move along the rotating guide rail 209 .
当小腿组件3运动时带动连接其上的仿人膝关节机构2中的小腿内侧连接件23和小腿外侧连接件24转动，设置在大腿内侧连接件21和大腿外侧连接件22的下端的外部的圆柱块204装配轴承沿小腿内侧连接件23和小腿外侧连接件24上根据人体膝关节运动轨迹设置的旋转导轨209运动，大腿内侧连接件21和大腿外侧连接件22内部的移动块25随着膝关节旋转半径的变化而上下运动，从而实现仿人膝关节运动。When the shank assembly 3 moves, it drives the shank inner connecting piece 23 and the shank outer connecting piece 24 in the humanoid knee joint mechanism 2 connected thereon to rotate, and is arranged on the outside of the lower end of the thigh inner connecting piece 21 and the thigh outer connecting piece 22. Cylindrical block 204 assembly bearing moves along the rotating guide rail 209 that is set according to the human knee joint motion trajectory on the calf inner connecting part 23 and the calf outer connecting part 24, and the moving block 25 inside the thigh inner connecting part 21 and the thigh outer connecting part 22 moves along with the knee joint. The knee joint moves up and down according to the change of the joint rotation radius, so as to realize the humanoid knee joint movement.
在小腿组件3摆动的过程中，随着圆柱块204在旋转导轨209内滑动以及移动块25在直线槽202中上下移动，大腿组件1和小腿组件3的旋转中心(移动块25)发生上下移动，并且，移动块25和圆柱块204之间的距离构成变化的旋转半径，从而模拟人体膝关节运动。During the swinging process of the calf assembly 3, as the cylindrical block 204 slides in the rotating guide rail 209 and the moving block 25 moves up and down in the linear groove 202, the rotation center (moving block 25) of the thigh assembly 1 and the calf assembly 3 moves up and down , and the distance between the moving block 25 and the cylindrical block 204 constitutes a changing radius of rotation, thereby simulating the movement of the human knee joint.
如图6所示，驱动机构4包括驱动电机组件41、丝杠轴42、直线导轨43、输出轴44、丝杠螺帽45、上层连接板46、中层连接板47、下层连接板48、支撑板49、固定板410、压缩弹簧411、拉线式位移传感器412、小腿连杆连接块413、小腿连杆414与电机支撑座415。As shown in Figure 6, the drive mechanism 4 includes a drive motor assembly 41, a screw shaft 42, a linear guide rail 43, an output shaft 44, a screw nut 45, an upper connecting plate 46, a middle connecting plate 47, a lower connecting plate 48, a support Plate 49, fixed plate 410, compression spring 411, pull-wire displacement sensor 412, shank connecting rod connecting block 413, shank connecting rod 414 and motor support seat 415.
其中，驱动电机组件41设置在整个驱动机构4的上端，驱动电机组件41通过电机支撑座415与大腿组件1中的大腿内侧板11和大腿外侧板12固定。Wherein, the driving motor assembly 41 is arranged on the upper end of the entire driving mechanism 4 , and the driving motor assembly 41 is fixed to the inner thigh plate 11 and the outer thigh plate 12 of the thigh assembly 1 through the motor support base 415 .
小腿连杆连接块413设置在整个驱动机构4的下端，小腿连杆连接块413通过小腿连杆414与小腿组件3中的小腿内侧板31和小腿外侧板32连接；小腿连杆连接块413与小腿连杆414、小腿连杆414与小腿侧板(包括小腿内侧板31和小腿外侧板32)分别通过连杆轴铰接，使得小腿连杆414可带动小腿组件3摆动。The shank link connecting block 413 is arranged on the lower end of the whole drive mechanism 4, and the shank link connecting block 413 is connected with the shank inner plate 31 and the shank outer plate 32 in the shank assembly 3 through the shank link 414; The shank connecting rod 414, the shank connecting rod 414 and the shank side plate (including the shank inner plate 31 and the shank outer plate 32) are respectively hinged through the connecting rod shaft, so that the shank connecting rod 414 can drive the shank assembly 3 to swing.
支撑板49设置在驱动电机组件41和小腿连杆连接块413之间，丝杠轴42的上端和下端分别与驱动电机组件41和支撑板42连接，丝杠轴42在驱动电机组件41的驱动下旋转。Support plate 49 is arranged between drive motor assembly 41 and shank link connecting block 413, and the upper end and the lower end of screw shaft 42 are connected with drive motor assembly 41 and support plate 42 respectively, and lead screw shaft 42 is driven by drive motor assembly 41. Rotate down.
上层连接板46、中层连接板47和下层连接板48依次设置在驱动电机组件41和支撑板49之间。固定板410将上层连接板46与下层连接板48连接在一起。The upper connecting plate 46 , the middle connecting plate 47 and the lower connecting plate 48 are sequentially arranged between the driving motor assembly 41 and the supporting plate 49 . The fixing plate 410 connects the upper connecting plate 46 and the lower connecting plate 48 together.
丝杠轴42依次穿过上层连接板46、中层连接板47和下层连接板48。在丝杠轴42上设置有丝杠螺帽45，丝杠螺帽45设置在上层连接板46和中层连接板47之间，并且，丝杠螺帽45与中层连接板47固定，随着丝杠轴42的旋转，丝杠螺帽45带动中层连接板47沿着丝杠轴42上下移动。The screw shaft 42 passes through the upper connecting plate 46 , the middle connecting plate 47 and the lower connecting plate 48 in sequence. Lead screw nut 45 is arranged on screw shaft 42, and lead screw nut 45 is arranged between upper connecting plate 46 and middle connecting plate 47, and leading screw nut 45 is fixed with middle connecting plate 47, along with the screw With the rotation of the lever shaft 42 , the screw nut 45 drives the middle connecting plate 47 to move up and down along the screw shaft 42 .
直线导轨42和输出轴44分别呈对角线布置。The linear guide rail 42 and the output shaft 44 are arranged diagonally.
直线导轨42的两端分别与驱动电机组件41和支撑板49固定连接。两根直线导轨42分别通过固定直线轴承穿过上层连接板46、中层连接板47与下层连接板48的对角线位置。Both ends of the linear guide rail 42 are fixedly connected to the driving motor assembly 41 and the support plate 49 respectively. The two linear guide rails 42 respectively pass through the diagonal positions of the upper connecting plate 46 , the middle connecting plate 47 and the lower connecting plate 48 through fixed linear bearings.
输出轴44的两端分别与上层连接板46和小腿连杆连接块413固定连接。两根输出轴44分别通过固定直线轴承穿过中层连接板47、下层连接板48与支撑板49的另一对角线位置。Both ends of the output shaft 44 are fixedly connected to the upper connecting plate 46 and the lower leg connecting rod connecting block 413 respectively. The two output shafts 44 respectively pass through the other diagonal positions of the middle connecting plate 47 , the lower connecting plate 48 and the supporting plate 49 through fixed linear bearings.
在每根输出轴44上分别套设有两个压缩弹簧411，其中一个压缩弹簧411设置在上层连接板46和中层连接杆47之间，另一个压缩弹簧411设置在中层连接板47和下层连接板48之间。Two compression springs 411 are sheathed on each output shaft 44, wherein one compression spring 411 is arranged between the upper connection plate 46 and the middle connection rod 47, and the other compression spring 411 is arranged between the middle connection plate 47 and the lower connection. between plates 48.
在上述驱动机构4中，驱动电机组件41驱动丝杠轴42旋转；丝杠螺帽45与中层连接板47连接，通过丝杠轴42旋转实现丝杠螺帽45沿丝杠轴42的直线运动，从而带动与其连接的中层连接板47沿直线导轨43移动；然后，通过压缩弹簧411作用于上层连接板46与下层连接板47，带动与上层连接板46连接的输出轴44沿直线运动；输出轴44带动小腿连杆连接块413和小腿连杆414运动。在上述驱动过程中，通过弹簧连接机构驱动输入与输出实现柔性驱动。In the above-mentioned drive mechanism 4, the driving motor assembly 41 drives the screw shaft 42 to rotate; the screw nut 45 is connected to the middle connecting plate 47, and the linear movement of the screw nut 45 along the screw shaft 42 is realized by the rotation of the screw shaft 42 , thereby driving the middle connecting plate 47 connected with it to move along the linear guide rail 43; then, the compression spring 411 acts on the upper connecting plate 46 and the lower connecting plate 47, driving the output shaft 44 connected with the upper connecting plate 46 to move along a straight line; output The shaft 44 drives the shank link connecting block 413 and the shank link 414 to move. In the above driving process, the spring connection mechanism is used to drive the input and output to realize flexible driving.
此外，拉线式位移传感器412固定于支撑板49下方，拉线式位移传感器412的拉线缚于小腿连杆连接块413上，随小腿组件3的摆动而实现往复运动，以实时测量小腿组件3的运动信息。拉线式位移传感器412和驱动机构4的控制单元连接，控制单元用于根据拉线式位移传感器412的测量结果对驱动电机组件的驱动力及驱动速度进行控制。In addition, the pull-wire displacement sensor 412 is fixed below the support plate 49, and the pull-wire of the pull-wire displacement sensor 412 is tied to the connecting rod connecting block 413 of the lower leg, and realizes reciprocating motion with the swing of the lower leg assembly 3 to measure the movement of the lower leg assembly 3 in real time. information. The pull-wire displacement sensor 412 is connected to the control unit of the driving mechanism 4, and the control unit is used to control the driving force and the driving speed of the drive motor assembly according to the measurement results of the pull-wire displacement sensor 412.
下面结合图7所示的工作流程对本发明所提供的具有仿人膝关节的膝关节助力外骨骼机器人的工作工程进行介绍。The working engineering of the knee joint assisting exoskeleton robot with humanoid knee joint provided by the present invention will be introduced below in conjunction with the workflow shown in FIG. 7 .
工作开始时，人员穿戴膝关节助力外骨骼机器人，通过绑带分别固定好大腿绑带板14与小腿绑带板34。大腿组件1通过大腿内、外侧板与仿人膝关节机构2的大腿内、外侧连接件连接，小腿组件3通过小腿内、外侧板与仿人膝关节机构2的小腿内、外侧连接件连接。驱动机构4通过电机支撑座415与大腿组件1固定连接，通过小腿连杆414与小腿组件3连接，从而驱动机构4可以驱动小腿组件3带动仿人膝关节机构2转动。When the work starts, the personnel wear the knee-joint power-assisted exoskeleton robot, and fix the thigh strap plate 14 and the calf strap plate 34 respectively by straps. The thigh component 1 is connected with the thigh inner and outer connectors of the humanoid knee joint mechanism 2 through the thigh inner and outer plates, and the calf component 3 is connected with the lower leg inner and outer connectors of the humanoid knee joint mechanism 2 through the lower leg inner and outer plates. The driving mechanism 4 is fixedly connected to the thigh assembly 1 through the motor support base 415 , and connected to the lower leg assembly 3 through the lower leg link 414 , so that the driving mechanism 4 can drive the lower leg assembly 3 to drive the humanoid knee joint mechanism 2 to rotate.
如图7所示，人员开始行走作业，拉线式位移传感器412实时测量小腿组件3的运动信号，驱动电机组件41根据小腿组件3的运动调节驱动力及驱动速度，带动丝杠轴42旋转。直线导轨43与输出轴44呈对角线布置，直线导轨43的两端分别与驱动电机组件41和支撑板49固定连接，输出轴44的两端分别与上层连接板46和小腿连杆连接块413固定连接。设置在丝杠轴42上的丝杠螺帽45与中层连接板47连接，通过丝杠轴42旋转实现丝杠螺帽45沿丝杠轴42的直线运动，带动与丝杠螺帽45连接的中层连接板47沿直线导轨43移动，然后通过压缩弹簧411作用于上层连接板46与下层连接板48，带动与上层连接板46连接的输出轴44沿直线运动；通过弹簧连接机构驱动输入与输出从而实现柔性驱动，遇到冲击时能够适当收缩进而缓冲碰撞产生的能量，起到缓冲减震作用。输出轴44沿直线运动通过小腿连杆连接件413带动小腿连杆414运动，小腿连杆414带动小腿组件3往复摆动。As shown in FIG. 7 , when the person starts walking, the pull-wire displacement sensor 412 measures the movement signal of the calf assembly 3 in real time, and the drive motor assembly 41 adjusts the driving force and speed according to the movement of the calf assembly 3 to drive the screw shaft 42 to rotate. The linear guide rail 43 and the output shaft 44 are arranged diagonally, and the two ends of the linear guide rail 43 are fixedly connected with the driving motor assembly 41 and the support plate 49 respectively, and the two ends of the output shaft 44 are respectively connected with the upper connecting plate 46 and the lower leg connecting rod connecting block. 413 fixed connections. The lead screw nut 45 arranged on the lead screw shaft 42 is connected with the middle connecting plate 47, and the lead screw nut 45 moves linearly along the lead screw shaft 42 through the rotation of the lead screw shaft 42, driving the screw nut 45 connected The middle connecting plate 47 moves along the linear guide rail 43, and then acts on the upper connecting plate 46 and the lower connecting plate 48 through the compression spring 411, driving the output shaft 44 connected with the upper connecting plate 46 to move along a straight line; the input and output are driven by the spring connection mechanism In this way, the flexible drive can be realized, and it can properly shrink when encountering an impact, thereby buffering the energy generated by the collision, and playing the role of buffering and shock absorption. The output shaft 44 moves along a straight line to drive the lower leg connecting rod 414 through the lower leg connecting rod connecting piece 413, and the lower leg connecting rod 414 drives the lower leg assembly 3 to swing back and forth.
小腿组件3通过小腿内、外侧板同时带动仿人膝关节机构2的小腿内、外侧连接件转动，设置在大腿内、外侧连接件下端的外部的圆柱块204沿根据人体膝关节运动轨迹设置的旋转导轨209运动，同时使得长方形直线槽202内的移动块25根据关节运动轨迹实时改变位置，适应关节转动过程中旋转中心及旋转半径的变化，从而配合人员行走时膝关节的运动规律。The calf assembly 3 simultaneously drives the inner and outer connecting parts of the humanoid knee joint mechanism 2 to rotate through the inner and outer plates of the lower leg. The rotating guide rail 209 moves, and at the same time makes the moving block 25 in the rectangular linear groove 202 change its position in real time according to the joint movement trajectory, adapting to the change of the rotation center and the rotation radius during the joint rotation process, thereby matching the movement law of the knee joint when people walk.
工作结束时，人员停止行走，解开大、小腿绑带后脱下即可。When the work is over, the personnel stop walking, untie the big and small leg straps and take them off.
综上所述，本发明所提供的具有仿人膝关节的膝关节助力外骨骼机器人，包括大腿组件、仿人膝关节机构、小腿组件与驱动机构。其中，仿人膝关节机构是完全符合人体膝关节转动规律的旋转关节，关节旋转导轨按照人体膝关节转动轨迹设计，关节旋转中心是一可按直线槽位移的移动块，根据关节运动轨迹实时改变位置，能够适应关节转动过程中旋转中心及旋转半径的变化，克服了传统膝关节外骨骼采用单轴旋转关节导致其与穿戴人员配合度低的缺点，提升了人机兼容性。另外，驱动机构采用一种串联柔性驱动器，使驱动过程中具有一定的旋转位移容错率，遇到冲击时能够适当收缩进而缓冲碰撞产生的能量，同时还能够将能量吸收、存储、再利用，不仅提高了能量利用率，而且从一定程度上消除机械振荡，减轻零部件的机械损伤，保障穿戴人员的使用安全性。上述具有仿人膝关节的膝关节助力外骨骼机器人，无论从关节结构还是驱动机理上都与人体膝关节十分类似，克服了传统膝关节外骨骼机器人的缺点，具有较强的市场竞争力。In summary, the knee-assisted exoskeleton robot with a humanoid knee joint provided by the present invention includes a thigh assembly, a humanoid knee joint mechanism, a lower leg assembly and a driving mechanism. Among them, the humanoid knee joint mechanism is a rotary joint that completely conforms to the rotation law of the human knee joint. The joint rotation guide rail is designed according to the human knee joint rotation trajectory. The position can adapt to the change of the rotation center and the rotation radius during the joint rotation process, overcomes the disadvantage of the traditional knee exoskeleton using a single-axis rotation joint, which leads to its low degree of cooperation with the wearer, and improves the man-machine compatibility. In addition, the driving mechanism adopts a series flexible driver, so that there is a certain tolerance rate of rotational displacement during the driving process. When encountering an impact, it can properly shrink and buffer the energy generated by the collision. At the same time, it can also absorb, store, and reuse energy. The energy utilization rate is improved, and the mechanical vibration is eliminated to a certain extent, the mechanical damage of the parts is reduced, and the safety of the wearer is guaranteed. The above-mentioned knee-assisted exoskeleton robot with humanoid knee joint is very similar to the human knee joint in terms of joint structure and driving mechanism, overcomes the shortcomings of traditional knee-joint exoskeleton robots, and has strong market competitiveness.
以上对本发明所提供的一种具有仿人膝关节的膝关节助力外骨骼机器人进行了详细的说明。对本领域的一般技术人员而言，在不背离本发明实质精神的前提下对它所做的任何显而易见的改动，都将构成对本发明专利权的侵犯，将承担相应的法律责任。The knee joint assisting exoskeleton robot provided by the present invention with a humanoid knee joint has been described in detail above. For those skilled in the art, any obvious changes made to it without departing from the essence of the present invention will constitute an infringement of the patent right of the present invention and will bear corresponding legal responsibilities.
| Application Number | Priority Date | Filing Date | Title |
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| CN201910664755.4ACN110393651B (en) | 2019-07-23 | 2019-07-23 | A knee-assisted exoskeleton robot with humanoid knee joints |
| Application Number | Priority Date | Filing Date | Title |
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| CN201910664755.4ACN110393651B (en) | 2019-07-23 | 2019-07-23 | A knee-assisted exoskeleton robot with humanoid knee joints |
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| CN110393651Atrue CN110393651A (en) | 2019-11-01 |
| CN110393651B CN110393651B (en) | 2024-12-27 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201910664755.4AActiveCN110393651B (en) | 2019-07-23 | 2019-07-23 | A knee-assisted exoskeleton robot with humanoid knee joints |
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| CN (1) | CN110393651B (en) |
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