Bionic exoskeleton device based on human knee joint structureTechnical Field
The invention belongs to the technical field of bionic exoskeleton, and particularly relates to a high-efficiency high-bionic light exoskeleton device.
Background
At present, the knee joint exoskeleton related products produced in China mainly comprise simple passive knee joint exoskeleton mainly comprising single-shaft or four-bar mechanisms, and have the defects of single function, insufficient imitation, high energy consumption, poor wearing experience effect and the like, and cannot meet the daily life requirements of disabled people. The single-shaft knee joint exoskeleton has the advantage of simple structure, but has the defect of insufficient imitation due to the fact that the movement of the knee joint of a human body is mixed movement of rotation and sliding, and the four-bar knee joint exoskeleton has certain imitation and stability, but has a complex structure, so that the knee joint exoskeleton is heavy and has high power consumption. Therefore, it is particularly important to design a knee joint exoskeleton device with low quality, high imitation, low energy consumption and good wearing effect.
The invention provides a bionic exoskeleton scheme based on a human knee joint structure, which realizes high-imitation and high-efficiency performance of a device based on a human knee joint motion curve, and simultaneously adopts a part of hollow structure and a simple connecting rod motion structure to realize low-quality and low-energy consumption performance of the device. Plays a certain role in promoting the development of knee joint exoskeleton field in China.
Disclosure of Invention
The invention aims to solve the problems of insufficient imitation of the traditional single-shaft knee joint exoskeleton, complex and heavy four-bar knee joint exoskeleton structure and large power consumption, and provides a brand new scheme for realizing a high-performance exoskeleton device with low quality, high efficiency, high bionic property and low energy consumption.
The invention relates to a bionic exoskeleton device based on a human knee joint structure, which comprises thigh connecting pieces, a screw rod, a sliding block, a connecting rod group, a motor and a lower limb mechanism; the screw rod is driven to rotate by a motor, the sliding block is connected with the screw rod through screw thread fit to realize screw transmission, the connecting rod group comprises a connecting rod I hinged between the sliding block and a thigh connecting piece and a connecting rod II hinged between the thigh connecting piece and a lower limb mechanism, the thigh connecting piece is fixedly provided with a non-circular gear mechanism pinion, and the lower limb mechanism is fixedly provided with a non-circular gear mechanism large gear meshed with the non-circular gear mechanism pinion;
Further, the motor drives the screw rod to rotate through the synchronous belt transmission mechanism;
The lower limb mechanism comprises a lower leg rod, a gear connecting frame fixed on the lower leg rod and a motor mounting frame fixed on the gear connecting frame and used for fixedly mounting the motor, wherein the non-circular gear large gear is arranged at the upper end of the gear connecting frame;
Further, the pitch curve of the non-circular gear mechanism large gear is consistent with the shape of an ideal rotation curve of the knee joint of a human body;
Further, the non-circular gear mechanism pinion is integrally formed at the lower end of the thigh connecting piece, and the non-circular gear mechanism large gear is integrally formed at the upper end of the gear connecting frame;
Further, one end of the connecting rod II is hinged to a non-circular gear mechanism pinion, and the other end of the connecting rod II is hinged to a motor mounting frame;
The screw is supported on the screw mounting frame through a deep groove ball bearing;
further, the motor is a brushless motor, the brushless motor is fixed on the motor mounting frame in a mode that an output shaft faces downwards and keeps coaxial with the shank rod, the output shaft of the brushless motor is connected with a small belt wheel shaft of the synchronous belt transmission mechanism through a coupler, and the small belt wheel shaft is supported at the upper end of the shank rod through a deep groove ball bearing;
further, the connecting portion between the non-circular gear pinion and the thigh link is a hollow structure.
The invention has the beneficial effects that:
(1) The bionic exoskeleton device disclosed by the invention skillfully imitates the movement structure of the knee joint of the human body, so that the movement effect is close to the movement of the human body, the movement transmission efficiency is greatly improved, the defect of movement bionics of the existing exoskeleton device is overcome, the comfort level of a wearer is improved, and the fatigue level of the wearer is relieved;
(2) The bionic exoskeleton device structurally adopts the hollow upper end of the pinion mechanism of the non-circular gear mechanism and the connecting rod support, the transmission mode adopts the combination of the screw rod and the synchronous pulley, and the driving mode adopts the meshing transmission of the non-circular gear, so that the complexity of the device is greatly reduced, and the self weight of the device is reduced;
(3) The bionic exoskeleton device disclosed by the invention is simple in structure, convenient to operate, convenient to detach and install and easy to overhaul;
(4) The pitch curve of the non-circular gear mechanism large gear is consistent with the ideal shape of the knee joint rotation curve of the human body, so that the meshing motion of the non-circular gear mechanism small gear mechanism and the non-circular gear mechanism large gear is consistent with the knee joint motion of the human body, the imitation is high, and the use comfort is good.
Drawings
The invention is further described below with reference to the drawings and examples.
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the hollow structure of the connection between the non-circular gear mechanism pinion and thigh link in accordance with the present invention;
Fig. 3 is an ideal curve of a human knee joint.
The device comprises a 1-thigh connecting piece, a 2-non-circular gear mechanism pinion, a 3-connecting rod I, a 4-sliding block, a 5-lead screw, a 6-lead screw mounting frame, a 7-large synchronous pulley, an 8-shank rod, a 9-non-circular gear mechanism pinion, a 10-connecting rod II, an 11-brushless motor, a 12-motor mounting frame, a 13-small synchronous pulley and a 14-gear connecting frame.
Detailed Description
As shown in fig. 1, the bionic exoskeleton device based on the knee joint structure of the present embodiment includes a thigh connecting piece 1, a screw rod 5, a slider 4, a link group, a brushless motor 11 and a lower limb mechanism;
The upper end of the thigh connecting piece 1 is used for connecting the tail end of the thigh of a user, the lower end of the thigh connecting piece is provided with a J-shaped rod, and a non-circular gear pinion 2 is integrally formed at the hook part of the J-shaped rod;
the lower limb mechanism comprises a lower leg rod 8, a foot part arranged at the lower end of the lower leg rod 8, a gear connecting frame 14 fixed at the upper end of the lower leg rod 8 and a motor mounting frame 12 fixed at the middle part of the gear connecting frame 14 and used for fixedly mounting the motor, wherein a non-circular gear mechanism pinion 2 meshed with a non-circular gear mechanism big gear 9 is integrally formed at the upper end of the gear connecting frame 14;
The brushless motor 11 is fixed in a motor mounting frame 12 in a mode that an output shaft faces downwards and keeps coaxial with a shank rod 8, an output shaft of the brushless motor 11 is connected with a wheel shaft of a small synchronous pulley 13 through a coupler, the wheel shaft of the small synchronous pulley 13 is supported at the upper end of the shank rod 8 through a deep groove ball bearing, a lead screw mounting frame 6 is fixedly arranged on the outer side of the motor mounting frame 12, a lead screw 5 is supported on the lead screw mounting frame 6 through a deep groove ball bearing, a large synchronous pulley 7 is fixedly arranged at the lower end of the lead screw 5, the slider 4 is connected with the lead screw 5 through a threaded fit to realize spiral transmission, the connecting rod group comprises a connecting rod I3 and a connecting rod II10, one end of the connecting rod I3 is hinged to a thigh connecting piece 1, the other end of the connecting rod II is hinged to the slider 4, one end of the connecting rod II10 is hinged to a non-circular gear mechanism pinion 2, the other end of the connecting rod I3 is hinged to the motor mounting frame 12, the connecting rod I3 is respectively arranged on two sides of the slider 4 and the non-circular gear mechanism pinion 2 through a pin shaft, the slider 4 drives the non-circular gear mechanism pinion 2 to rotate through the connecting rod I3, the non-circular gear mechanism pinion 2 is meshed with the non-circular gear mechanism 2 through the two sides of the connecting rod 2, the non-circular gear mechanism pinion 2 is meshed with the non-circular gear mechanism 2 through the connecting rod 2 through the pin shaft, and the end of the non-circular gear mechanism 2 is guaranteed to be meshed with one end of the non-circular gear mechanism 2. The connecting frame of the non-circular gear mechanism large gear 9 is fixed with the shank rod 8 of the lower limb mechanism, so that stable meshing support is provided for the non-circular gear mechanism.
The power output by the brushless motor 11 is transmitted to the screw 5 through the small synchronous pulley 13 and the large synchronous pulley 7 in sequence, so as to drive the screw 5 to rotate around the axis of the screw 5, further drive the sliding block 4 to do linear motion along the axis of the screw 5, realize the meshing rotation of the connecting rod I3 to drive the non-circular gear mechanism pinion 2 and the non-circular gear mechanism bull gear 9, drive the thigh connecting piece 1 and the lower limb mechanism to do relative rotation and relative sliding mixed motion, and finally finish walking motion. The motion track of the non-circular gear mechanism pinion 2 can be directly obtained through the rotation angle of the output shaft of the brushless motor 11, the transmission mode of matching the axial displacement output with the belt transmission, the gear transmission and the rod transmission is carried out through the brushless motor 11, the transmission mechanism of the traditional exoskeleton device is simplified, the weight of the mechanism is reduced, on the other hand, the meshing motion of the non-circular gear mechanism pinion 2 and the non-circular gear mechanism big gear 9 is consistent with the shape of an ideal human knee joint rotation curve (as shown in figure 3, the ideal human knee joint rotation curve can be seen in the following document in detail, namely the ideal knee joint instant center track is Shuai Yumei, xu Zhan, li Shizhen, et al, the multi-center knee joint mechanism is selected and optimized [ J ]. Jiang Han petroleum academy, 2001,23 (4): 86-88), so that the meshing motion of the non-circular gear mechanism pinion 2 and the non-circular gear mechanism big gear 9 is consistent with the human knee joint motion, the ideal human knee joint motion is realized, and the imitation of the device is increased.
The bottoms of the motor mounting frame 12 and the screw mounting frame 6 respectively comprise deep groove ball bearings, the motor mounting frame 12 and the screw mounting frame 6 respectively play an axial limiting role on the brushless motor 11 and the screw 5, and the motor mounting frame 12 and the screw mounting frame 6 are made of high-strength aluminum alloy.
The transmission route of the invention is that a brushless motor 11-small synchronous pulley 13-large synchronous pulley 7-screw 5-slide block 4-connecting rod I3-non-circular gear mechanism pinion 2.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.