技术领域Technical Field
本发明涉及康复医疗设备技术领域，尤其涉及一种基于主动变刚度关节的下肢外骨骼。The present invention relates to the technical field of rehabilitation medical equipment, and in particular to a lower limb exoskeleton based on active variable stiffness joints.
背景技术Background technique
研究显示科学的运动康复训练可有效改善肢体运动功能。另外，助老助残问题也得到了社会的广泛关注。康复机器人可有效降低康复医师的工作强度，同时还能满足不同患者的训练强度要求，因此有着广泛的应用需求。Research shows that scientific sports rehabilitation training can effectively improve limb motor function. In addition, the issue of helping the elderly and the disabled has also received widespread attention from society. Rehabilitation robots can effectively reduce the workload of rehabilitation physicians and meet the training intensity requirements of different patients, so they have a wide range of application needs.
随着技术发展，下肢康复训练外骨骼得到飞速发展，基于仿生学和人体工程学设计的外骨骼机器人拥有末端牵引式康复机器人无法比拟的治疗效果与用户体验。下肢外骨骼辅助行走机器人可以模拟人体正常行走时下肢的运动规律，并且能承担一部分人体的重量，能够对下肢运动功能障碍的患者进行有效锻炼。With the development of technology, lower limb rehabilitation training exoskeletons have developed rapidly. Exoskeleton robots designed based on bionics and ergonomics have treatment effects and user experience that end-traction rehabilitation robots cannot match. Lower limb exoskeleton-assisted walking robots can simulate the movement of the lower limbs when the human body walks normally, and can bear part of the body's weight, which can effectively exercise patients with lower limb motor dysfunction.
现有的下肢康复训练外骨骼包括腰部和两个腿部，但腰部和两个腿部都是一体结构无法分离，这就导致穿戴者要以一定的姿势完成穿戴，过程复杂且繁重，甚至会对患者造成二次伤害；同时若腰部和两个腿部中的某一处出现故障，就需要整个结构一起更换，造成不必要的浪费，大大增加了使用成本。Existing lower limb rehabilitation training exoskeletons include a waist and two legs, but the waist and the two legs are an integrated structure and cannot be separated. This requires the wearer to wear the exoskeleton in a certain posture. The process is complicated and arduous, and may even cause secondary injuries to the patient. At the same time, if a fault occurs in one of the waist and the two legs, the entire structure needs to be replaced, causing unnecessary waste and greatly increasing the cost of use.
此外，随着变刚度关节的不断发展，其具备的刚度调节范围广、被动弹性储能容量大、任务适应能力强、控制带宽灵活性好、安全性高等优势逐渐凸显，更适合于要求兼顾安全性和控制精度的康复训练外骨骼。In addition, with the continuous development of variable stiffness joints, their advantages such as wide stiffness adjustment range, large passive elastic energy storage capacity, strong task adaptability, good control bandwidth flexibility and high safety have gradually become prominent, making them more suitable for rehabilitation training exoskeletons that require both safety and control accuracy.
发明内容Summary of the invention
本发明为解决上述问题，提供一种基于主动变刚度关节的下肢外骨骼，将腰部和两条腿部结构进一步细化为腰部、大腿、小腿、脚部、髋部关节以及膝部关节，实现通用化、可拆卸，只需在不同部位的外骨骼支撑机构上安装相同结构的变刚度关节，即可使人机交互过程更加安全和自然。In order to solve the above problems, the present invention provides a lower limb exoskeleton based on active variable stiffness joints, in which the waist and two leg structures are further refined into waist, thigh, calf, foot, hip joints and knee joints, achieving universality and detachability. By simply installing variable stiffness joints of the same structure on the exoskeleton support mechanisms in different parts, the human-computer interaction process can be made safer and more natural.
本发明提供的基于主动变刚度关节的下肢外骨骼包括腰部支撑机构和下肢训练机构，腰部支撑机构固定在穿戴者的腰部位置，下肢训练机构对称安装在腰部支撑机构的两侧；其中，下肢训练机构包括两个变刚度关节、大腿组件、小腿组件和脚部支撑组件；腰部支撑机构与大腿组件可拆卸连接，其中一个变刚度关节可拆卸安装在腰部支撑机构与大腿组件的连接处，用于模拟穿戴者的髋部活动；大腿组件与小腿组件可拆卸连接，另一个变刚度关节可拆卸安装在大腿组件和小腿组件的连接处，用于模拟穿戴者的膝部活动；小腿组件和脚部支撑组件通过球铰可拆卸连接，用于模拟穿戴者的踝部活动。The lower limb exoskeleton based on active variable stiffness joints provided by the present invention includes a waist support mechanism and a lower limb training mechanism, the waist support mechanism is fixed at the waist position of the wearer, and the lower limb training mechanism is symmetrically installed on both sides of the waist support mechanism; wherein the lower limb training mechanism includes two variable stiffness joints, a thigh assembly, a calf assembly and a foot support assembly; the waist support mechanism is detachably connected to the thigh assembly, wherein one variable stiffness joint is detachably installed at the connection between the waist support mechanism and the thigh assembly, for simulating the wearer's hip movement; the thigh assembly is detachably connected to the calf assembly, wherein the other variable stiffness joint is detachably installed at the connection between the thigh assembly and the calf assembly, for simulating the wearer's knee movement; the calf assembly and the foot support assembly are detachably connected via a ball joint, for simulating the wearer's ankle movement.
进一步的，腰部支撑机构包括两个一体结构的腰板和腰部连接件；其中，两个腰板上安装有用于固定穿戴者的腰部绑带；两个腰部连接件分别与两个腰板仿形固接，用于支撑变刚度关节。Furthermore, the waist support mechanism includes two waist plates and waist connectors of an integral structure; wherein waist straps for fixing the wearer are installed on the two waist plates; and the two waist connectors are respectively fixedly connected to the two waist plates in a conformal manner to support the variable stiffness joints.
进一步的，大腿组件包括大腿支撑板、大腿伸缩连接件和大腿绑带；其中，大腿伸缩连接件包括一体结构的大腿伸缩滑板和膝关节安装架，膝关节安装架位于大腿伸缩滑板的一端，用于支撑变刚度关节；大腿绑带安装在大腿支撑板上，用于绑缚穿戴者的大腿；大腿支撑板的一端开设有连接口，使变刚度关节与大腿支撑板相连；从大腿支撑板的另一端向大腿支撑板的内部开设有与大腿伸缩滑板匹配的大腿伸缩滑槽，使大腿伸缩滑板伸入大腿伸缩滑槽中，进而调节大腿支撑板和大腿伸缩连接件的总长度。Furthermore, the thigh component includes a thigh support plate, a thigh telescopic connector and a thigh strap; wherein the thigh telescopic connector includes a thigh telescopic slide plate and a knee joint mounting frame of an integrated structure, the knee joint mounting frame is located at one end of the thigh telescopic slide plate, and is used to support the variable stiffness joint; the thigh strap is installed on the thigh support plate, and is used to bind the wearer's thigh; a connecting port is opened at one end of the thigh support plate, so that the variable stiffness joint is connected to the thigh support plate; a thigh telescopic slide groove matching the thigh telescopic slide plate is opened from the other end of the thigh support plate to the inside of the thigh support plate, so that the thigh telescopic slide plate is extended into the thigh telescopic slide groove, thereby adjusting the total length of the thigh support plate and the thigh telescopic connector.
进一步的，小腿组件包括小腿绑带、小腿支撑板和小腿伸缩板；小腿绑带安装在小腿支撑板上，用于绑缚穿戴者的小腿；小腿支撑板的一端开设有连接口，使变刚度关节与小腿支撑板相连；从小腿支撑板的另一端向小腿支撑板的内部开设有与小腿伸缩板匹配的小腿伸缩滑槽，使小腿伸缩板伸入小腿伸缩滑槽中，进而调节小腿支撑板和小腿伸缩板的总长度；在小腿伸缩板的一端开设有与安装在脚部支撑组件上的球铰对应的球铰连接座，使脚部支撑组件安装在小腿伸缩板上。Furthermore, the calf assembly includes a calf strap, a calf support plate and a calf expansion plate; the calf strap is installed on the calf support plate to bind the wearer's calf; a connecting port is provided at one end of the calf support plate to connect the variable stiffness joint to the calf support plate; a calf expansion slot matching the calf expansion plate is provided from the other end of the calf support plate to the inside of the calf support plate, so that the calf expansion plate can be extended into the calf expansion slot, thereby adjusting the total length of the calf support plate and the calf expansion plate; a ball joint connecting seat corresponding to the ball joint installed on the foot support assembly is provided at one end of the calf expansion plate, so that the foot support assembly can be installed on the calf expansion plate.
进一步的，两个变刚度关节结构一致，均包括关节外壳、调刚机构、调刚电机、转动机构和转动电机；其中，调刚机构和转动机构同轴安装在关节外壳的内部，调刚电机和转动电机的输出轴伸入关节外壳中，并分别通过联轴器和蜗杆控制调刚机构和转动机构的转速，通过调节调刚机构和转动机构之间的转速比，当调刚机构和转动机构保持特定转速比时，调刚机构和转动机构保持相对静止的转动；当调刚机构和转动机构的转速比偏离特定转速比时，调刚机构配合转动机构进行转动刚度的调整。Furthermore, the two variable stiffness joints have the same structure, both including a joint housing, a stiffness adjustment mechanism, a stiffness adjustment motor, a rotating mechanism and a rotating motor; wherein, the stiffness adjustment mechanism and the rotating mechanism are coaxially installed inside the joint housing, the output shafts of the stiffness adjustment motor and the rotating motor extend into the joint housing, and the rotation speeds of the stiffness adjustment mechanism and the rotating mechanism are controlled by a coupling and a worm respectively, and by adjusting the speed ratio between the stiffness adjustment mechanism and the rotating mechanism, when the stiffness adjustment mechanism and the rotating mechanism maintain a specific speed ratio, the stiffness adjustment mechanism and the rotating mechanism maintain relatively stationary rotation; when the speed ratio of the stiffness adjustment mechanism and the rotating mechanism deviates from the specific speed ratio, the stiffness adjustment mechanism cooperates with the rotating mechanism to adjust the rotation stiffness.
进一步的，调刚机构包括中心轴、调刚涡轮、太阳轮、行星轮、保持架和滚轮滑块组；其中，调刚涡轮同轴固定在中心轴的一端，调刚电机的输出轴通过联轴器和蜗杆驱动调刚涡轮转动，进而带动中心轴转动；保持架通过轴承同轴套设在中心轴上，并沿保持架的周向均匀安装有不少于2个的行星轮，使行星轮与固定在中心轴上的太阳轮啮合；滚轮滑块组与转动机构和关节外壳接触；滚轮滑块组的数量与行星轮的数量一致并与行星轮齿纹啮合。Furthermore, the rigidity adjustment mechanism includes a central shaft, a rigidity adjustment turbine, a sun gear, a planetary gear, a retaining frame and a roller slider group; wherein, the rigidity adjustment turbine is coaxially fixed at one end of the central shaft, and the output shaft of the rigidity adjustment motor drives the rigidity adjustment turbine to rotate through a coupling and a worm gear, thereby driving the central shaft to rotate; the retaining frame is coaxially sleeved on the central shaft through a bearing, and no less than two planetary gears are evenly installed along the circumference of the retaining frame, so that the planetary gears are meshed with the sun gear fixed on the central shaft; the roller slider group is in contact with the rotating mechanism and the joint housing; the number of the roller slider groups is consistent with the number of the planetary gears and meshes with the teeth of the planetary gears.
进一步的，滚轮滑块组包括滚轮、压块、齿条滑块、啮合滑块和滑轨；其中，滑轨安装在转动机构上，齿条滑块安装在滑轨上，在齿条滑块的一侧设有与行星轮啮合的边齿；啮合滑块位于齿条滑块的上方，在啮合滑块的底面和齿条滑块的顶面均匀布设有相吻合的倾斜滑槽，在啮合滑块的两侧开设有保持滑槽，使啮合滑块在关节外壳中设置的卡位和保持滑槽的配合下，将沿倾斜滑槽的运动分解为齿条滑块沿滑轨的平动和啮合滑块面向行星轮的平动；滚轮通过压块安装在啮合滑块上，使滚轮与转动机构接触。Furthermore, the roller slider group includes a roller, a pressure block, a rack slider, an engaging slider and a slide rail; wherein the slide rail is installed on the rotating mechanism, the rack slider is installed on the slide rail, and side teeth engaging with the planetary gear are provided on one side of the rack slider; the engaging slider is located above the rack slider, and matching inclined slide grooves are evenly distributed on the bottom surface of the engaging slider and the top surface of the rack slider, and retaining slide grooves are opened on both sides of the engaging slider, so that the engaging slider, with the cooperation of the locking position and the retaining slide groove set in the joint housing, decomposes the movement along the inclined slide groove into the translational movement of the rack slider along the slide rail and the translational movement of the engaging slider facing the planetary gear; the roller is installed on the engaging slider through the pressure block, so that the roller contacts the rotating mechanism.
进一步的，转动机构包括转动蜗轮、转动齿轮轴、传动齿轮、转动架、转动铰链和输出端；其中，滑轨固定在转动架上，传动齿轮与转动架同轴固接，转动架通过轴承套设在中心轴上，传动齿轮与套装转动蜗轮的转动齿轮轴相啮合，转动电机的输出轴经联轴器和蜗杆驱动转动蜗轮旋转，进而通过转动齿轮轴带动传动齿轮和转动架进行转动；转动铰链通过轴承同轴套设在中心轴上，并与滚轮接触；输出端通过轴承套设在中心轴上，且与转动铰链相连，用于向外部输出转动。Furthermore, the rotating mechanism includes a rotating worm wheel, a rotating gear shaft, a transmission gear, a rotating frame, a rotating hinge and an output end; wherein, the slide rail is fixed on the rotating frame, the transmission gear is coaxially fixed to the rotating frame, the rotating frame is mounted on the central shaft through a bearing sleeve, the transmission gear is meshed with the rotating gear shaft of the rotating worm wheel, the output shaft of the rotating motor drives the rotating worm wheel to rotate through a coupling and a worm, and then drives the transmission gear and the rotating frame to rotate through the rotating gear shaft; the rotating hinge is coaxially mounted on the central shaft through a bearing sleeve and contacts with the roller; the output end is mounted on the central shaft through a bearing sleeve and is connected to the rotating hinge for outputting rotation to the outside.
进一步的，在输出端的一侧设置有装配孔，与转动铰链的一侧表面设置的凸起块相配合，使凸起块插入装配孔中完成转动铰链与输出端的连接；在转动铰链的周向设置有柔性部分，柔性部分的组数与行星轮的数量相同，每一组柔性部分包括两个柔性片，滚轮伸入两个柔性片之间并与两个柔性片接触，通过改变两个柔性片对滚轮的支撑位置调整输出端向外输出的转动刚度。Furthermore, an assembly hole is provided on one side of the output end, which cooperates with a protruding block provided on the surface of one side of the rotating hinge, so that the protruding block is inserted into the assembly hole to complete the connection between the rotating hinge and the output end; a flexible part is provided in the circumference of the rotating hinge, and the number of groups of flexible parts is the same as the number of planetary gears, and each group of flexible parts includes two flexible sheets, and the roller extends between the two flexible sheets and contacts with the two flexible sheets. The rotational stiffness of the output end outputting outward is adjusted by changing the supporting position of the two flexible sheets on the roller.
进一步的，关节外壳包括输出连接盘、前端盖、电机前壳和电机后壳；其中，在电机前壳的内壁设置有与保持滑槽相对应的卡位，将调刚机构和转动机构放置在电机前壳和电机后壳连接后组成的内部空间中，调刚电机的输出轴和转动电机的输出轴伸入电机后壳后分别驱动调刚涡轮和转动蜗轮；前端盖安装在电机前壳上，输出连接盘同轴固接在输出端上；在输出连接盘的表面开设有不少于3个的连接孔，使大腿支撑板和小腿支撑板分别与输出连接盘可拆卸连接，使输出连接盘带动大腿支撑板和小腿支撑板进行转动。Furthermore, the joint housing includes an output connecting disk, a front end cover, a motor front shell and a motor rear shell; wherein, a latching position corresponding to the retaining groove is provided on the inner wall of the motor front shell, and the rigidity adjustment mechanism and the rotating mechanism are placed in the internal space formed after the motor front shell and the motor rear shell are connected, and the output shaft of the rigidity adjustment motor and the output shaft of the rotating motor extend into the motor rear shell to drive the rigidity adjustment turbine and the rotating worm gear respectively; the front end cover is installed on the motor front shell, and the output connecting disk is coaxially fixed to the output end; no less than 3 connecting holes are provided on the surface of the output connecting disk, so that the thigh support plate and the calf support plate are respectively detachably connected to the output connecting disk, so that the output connecting disk drives the thigh support plate and the calf support plate to rotate.
与现有技术相比，本发明能够取得如下有益效果：Compared with the prior art, the present invention can achieve the following beneficial effects:
1）各部位驱动关节结构相同，灵活拆卸、维修方便，节约成本；1) The driving joints of each part have the same structure, which is flexible to disassemble and easy to maintain, saving costs;
2）驱动关节为变刚度关节，在人机交互的康复训练中，可根据患者的身体状况和运动能力主动调节康复训练外骨骼的运动刚度，使人机交互过程更加安全和自然；2) The driving joint is a variable stiffness joint. In the rehabilitation training of human-computer interaction, the movement stiffness of the rehabilitation training exoskeleton can be actively adjusted according to the patient's physical condition and motor ability, making the human-computer interaction process safer and more natural;
3）本发明提供的变刚度关节通过设计太阳轮、行星轮和滚轮滑块组的位置和结构，使用调刚电机和转动电机改变太阳轮和滚轮滑块组绕中心轴线的相对运动状态，进而改变行星轮的运动状态，在行星轮与滚轮滑块组的配合下完成后续的调刚工作，这一过程调刚电机和转动电机持续保持工作状态，提出的变刚度关节也始终保持输出旋转的工作状态，真正实现了边工作边调节刚度的技术效果，使得关节及与关节连接的外部设备运行更加平稳；3) The variable stiffness joint provided by the present invention designs the position and structure of the sun gear, planetary gear and roller slider group, uses the stiffness adjustment motor and the rotating motor to change the relative motion state of the sun gear and the roller slider group around the central axis, and then changes the motion state of the planetary gear. The subsequent stiffness adjustment work is completed with the cooperation of the planetary gear and the roller slider group. During this process, the stiffness adjustment motor and the rotating motor continue to maintain the working state, and the proposed variable stiffness joint also always maintains the working state of output rotation, which truly realizes the technical effect of adjusting stiffness while working, so that the joint and the external equipment connected to the joint run more smoothly;
4）由于本发明提供的变刚度关节通过调刚电机和转动电机的转速比改变行星轮的运动状态，进而利用行星轮与滚轮滑块组的配合完成后续的调刚工作，因此较于传统的人工拆卸刚度调节方式和停止转动再调节刚度的方式，本发明提供的变刚度关节仅需调节调刚电机和转动电机的转速比即可实现刚度调节，无需过多的人工参与调节，有效提升了刚度调节的准确性和便捷性。4) Since the variable stiffness joint provided by the present invention changes the motion state of the planetary wheel by the speed ratio of the stiffness adjustment motor and the rotating motor, and then uses the cooperation of the planetary wheel and the roller slider group to complete the subsequent stiffness adjustment work, compared with the traditional manual disassembly stiffness adjustment method and the method of stopping rotation and then adjusting the stiffness, the variable stiffness joint provided by the present invention only needs to adjust the speed ratio of the stiffness adjustment motor and the rotating motor to achieve stiffness adjustment, without excessive manual participation in the adjustment, which effectively improves the accuracy and convenience of stiffness adjustment.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1是根据本发明实施例提供的基于主动变刚度关节的下肢外骨骼的整体结构图；FIG1 is an overall structural diagram of a lower limb exoskeleton based on an active variable stiffness joint according to an embodiment of the present invention;
图2是根据本发明实施例提供的变刚度关节的整体结构示意图；FIG2 is a schematic diagram of the overall structure of a variable stiffness joint provided according to an embodiment of the present invention;
图3是根据本发明实施例提供的变刚度关节的外部结构示意图；3 is a schematic diagram of the external structure of a variable stiffness joint according to an embodiment of the present invention;
图4是根据本发明实施例提供的变刚度关节的部分内部结构示意图；FIG4 is a schematic diagram of a partial internal structure of a variable stiffness joint provided according to an embodiment of the present invention;
图5是根据本发明实施例提供的调刚机构和转动机构的组合结构示意图；5 is a schematic diagram of the combined structure of the rigidity adjustment mechanism and the rotation mechanism provided in an embodiment of the present invention;
图6是根据本发明实施例提供的调刚机构的结构示意图；6 is a schematic structural diagram of a rigidity adjustment mechanism provided according to an embodiment of the present invention;
图7是根据本发明实施例提供的滚轮滑块组的结构示意图；7 is a schematic structural diagram of a roller slider group provided according to an embodiment of the present invention;
图8是本发明实施例提供的腰部支撑机构和大腿组件的组合结构示意图；FIG8 is a schematic diagram of the combined structure of a waist support mechanism and a thigh assembly provided in an embodiment of the present invention;
图9是根据本发明实施例提供的大腿组件和小腿组件的组合结构示意图；FIG9 is a schematic diagram of the combined structure of a thigh assembly and a calf assembly according to an embodiment of the present invention;
图10是根据本发明实施例提供的小腿组件和脚部支撑组件的组合结构示意图。FIG. 10 is a schematic diagram of the combined structure of a calf assembly and a foot support assembly according to an embodiment of the present invention.
附图标记：腰部支撑机构1、腰板101、腰部连接件102、腰部绑带103、变刚度关节2、关节外壳201、输出连接盘201_1、前端盖201_2、电机前壳201_3、电机后壳201_4、卡位201_5、限位槽201_6、调刚机构202、中心轴202_1、调刚涡轮202_2、太阳轮202_3、行星轮202_4、保持架202_5、滑轨202_6、齿条滑块202_7、啮合滑块202_8、倾斜滑槽202_9、保持滑槽202_10、滚轮202_11、压块202_12、转动机构203、转动蜗轮203_1、转动齿轮轴203_2、传动齿轮203_3、转动架203_4、转动铰链203_5、输出端203_6、调刚电机204、转动电机205、大腿组件3、大腿支撑板301、大腿伸缩连接件302、大腿伸缩滑板302_1、膝关节安装架302_2、大腿绑带303、第一连接口304、小腿组件4、小腿绑带401、小腿支撑板402、小腿伸缩板403、第二连接口404、脚部支撑组件5、输出快换接口6、公输出快换接口601、母输出快换接口602。Reference numerals: waist support mechanism 1, waist plate 101, waist connector 102, waist strap 103, variable stiffness joint 2, joint housing 201, output connection plate 201_1, front end cover 201_2, motor front housing 201_3, motor rear housing 201_4, clamping position 201_5, limiting groove 201_6, stiffness adjustment mechanism 202, central shaft 202_1, stiffness adjustment turbine 202_2, sun gear 202_3, planetary gear 202_4, retaining frame 202_5, slide rail 202_6, rack slider 202_7, meshing slider 202_8, inclined slide groove 202_9, retaining slide groove 202_10, roller 202_11, pressing block 202_12, Rotating mechanism 203, rotating worm gear 203_1, rotating gear shaft 203_2, transmission gear 203_3, rotating frame 203_4, rotating hinge 203_5, output end 203_6, rigidity adjustment motor 204, rotating motor 205, thigh assembly 3, thigh support plate 301, thigh telescopic connector 302, thigh telescopic slide plate 302_1, knee joint mounting frame 302_2, thigh strap 303, first connection port 304, calf assembly 4, calf strap 401, calf support plate 402, calf telescopic plate 403, second connection port 404, foot support assembly 5, output quick-change interface 6, male output quick-change interface 601, female output quick-change interface 602.
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及具体实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，而不构成对本发明的限制。In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation of the present invention.
本发明提供的基于主动变刚度关节的下肢外骨骼，根据人体下肢结构进一步细化，并通过在不同部位的外骨骼支撑机构上安装相同结构的变刚度关节，不仅使人机交互过程更加安全和自然，而且拆卸、维修方便，节约成本。The lower limb exoskeleton based on active variable stiffness joints provided by the present invention is further refined according to the structure of the lower limbs of the human body, and variable stiffness joints of the same structure are installed on the exoskeleton support mechanisms at different parts, which not only makes the human-computer interaction process safer and more natural, but also facilitates disassembly and maintenance, thereby saving costs.
图1示出了根据本发明实施例提供的基于主动变刚度关节的下肢外骨骼的整体结构。FIG1 shows the overall structure of a lower limb exoskeleton based on an active variable stiffness joint according to an embodiment of the present invention.
如图1所示，本发明实施例提供的基于主动变刚度关节的下肢外骨骼包括腰部支撑机构1和下肢训练机构。腰部支撑机构1固定在穿戴者的腰部位置，下肢训练机构对称安装在腰部支撑机构1的两侧。As shown in Fig. 1, the lower limb exoskeleton based on active variable stiffness joints provided by the embodiment of the present invention comprises a waist support mechanism 1 and a lower limb training mechanism. The waist support mechanism 1 is fixed at the waist position of the wearer, and the lower limb training mechanism is symmetrically installed on both sides of the waist support mechanism 1.
下肢训练机构包括两个变刚度关节2、大腿组件3、小腿组件4和脚部支撑组件5。腰部支撑机构1与大腿组件3可拆卸连接，其中一个变刚度关节2可拆卸安装在腰部支撑机构1与大腿组件3的连接处，用于模拟穿戴者的髋部活动。大腿组件3与小腿组件4可拆卸连接，另一个变刚度关节2可拆卸安装在大腿组件3和小腿组件4的连接处，用于模拟穿戴者的膝部活动。小腿组件4和脚部支撑组件5通过球铰可拆卸连接，用于模拟穿戴者的踝部活动。The lower limb training mechanism includes two variable stiffness joints 2, a thigh component 3, a calf component 4 and a foot support component 5. The waist support mechanism 1 is detachably connected to the thigh component 3, wherein one variable stiffness joint 2 is detachably installed at the connection between the waist support mechanism 1 and the thigh component 3, and is used to simulate the hip movement of the wearer. The thigh component 3 is detachably connected to the calf component 4, and another variable stiffness joint 2 is detachably installed at the connection between the thigh component 3 and the calf component 4, and is used to simulate the knee movement of the wearer. The calf component 4 and the foot support component 5 are detachably connected through a ball joint, and are used to simulate the ankle movement of the wearer.
本发明实施例中，两个变刚度关节2的结构一致。In the embodiment of the present invention, the two variable stiffness joints 2 have the same structure.
图2和图3分别示出了根据本发明实施例提供的变刚度关节的整体结构和外部结构。图4示出了根据本发明实施例提供的变刚度关节的部分内部结构。Figures 2 and 3 respectively show the overall structure and external structure of a variable stiffness joint provided according to an embodiment of the present invention. Figure 4 shows a partial internal structure of a variable stiffness joint provided according to an embodiment of the present invention.
如图2~图4所示，变刚度关节2包括关节外壳201、调刚机构202、转动机构203、调刚电机204和转动电机205。调刚机构202和转动机构203安装在关节外壳201的内部，调刚电机204和转动电机205的输出轴伸入关节外壳201中。As shown in Fig. 2 to Fig. 4, the variable stiffness joint 2 comprises a joint housing 201, a stiffness adjustment mechanism 202, a rotation mechanism 203, a stiffness adjustment motor 204 and a rotation motor 205. The stiffness adjustment mechanism 202 and the rotation mechanism 203 are installed inside the joint housing 201, and the output shafts of the stiffness adjustment motor 204 and the rotation motor 205 extend into the joint housing 201.
关节外壳201包括输出连接盘201_1、前端盖201_2、电机前壳201_3和电机后壳201_4。前端盖201_2安装在电机前壳201_3上，并在前端盖201_2的表面开设有用于连接的螺纹孔。The joint housing 201 comprises an output connection plate 201_1, a front cover 201_2, a motor front housing 201_3 and a motor rear housing 201_4. The front cover 201_2 is mounted on the motor front housing 201_3, and a threaded hole for connection is provided on the surface of the front cover 201_2.
输出连接盘201_1同轴固接在输出端203_6上，并在输出连接盘201_1的表面开设有用于安装母输出快换接口602的限位槽201_6。调刚机构202和转动机构203放置在电机前壳201_3和电机后壳201_4连接后组成的内部空间中。电机前壳201_3和电机后壳201_4的连接方式包括且不限于通过螺栓、连接板等其他连接件连接，以及在电机前壳201_3和电机后壳201_4的连接口处布设有相咬合的螺纹。在本发明实施例中，电机前壳201_3和电机后壳201_4采用在连接口处布置螺纹咬合的方式进行连接。在电机前壳201_3的内壁设置有与调刚机构202中啮合滑块202_8相对应的卡位201_5。调刚电机204的输出轴和转动电机205的输出轴伸入电机后壳201_4后分别驱动调刚机构202和转动机构203。优选的，在电机后壳201_4中设有辅助放置调刚机构202和转动机构203的稳定架，用于向调刚机构202和转动机构203提供稳定且具有一定活动空间的工作位置，避免调刚机构202和转动机构203在转动的过程中出现过度错位导致损伤器件的情况。The output connection disk 201_1 is coaxially fixed to the output end 203_6, and a limit groove 201_6 for installing the female output quick-change interface 602 is provided on the surface of the output connection disk 201_1. The rigidity adjustment mechanism 202 and the rotating mechanism 203 are placed in the internal space formed by connecting the motor front shell 201_3 and the motor rear shell 201_4. The connection method of the motor front shell 201_3 and the motor rear shell 201_4 includes but is not limited to connecting through other connecting parts such as bolts and connecting plates, and arranging interlocking threads at the connection port of the motor front shell 201_3 and the motor rear shell 201_4. In an embodiment of the present invention, the motor front shell 201_3 and the motor rear shell 201_4 are connected by arranging threaded engagement at the connection port. A clamping position 201_5 corresponding to the engaging slider 202_8 in the rigidity adjustment mechanism 202 is provided on the inner wall of the motor front shell 201_3. The output shaft of the rigidity adjustment motor 204 and the output shaft of the rotating motor 205 extend into the motor rear housing 201_4 to respectively drive the rigidity adjustment mechanism 202 and the rotating mechanism 203. Preferably, a stabilizing frame for assisting the rigidity adjustment mechanism 202 and the rotating mechanism 203 is provided in the motor rear housing 201_4, which is used to provide a stable working position with a certain activity space for the rigidity adjustment mechanism 202 and the rotating mechanism 203, so as to avoid excessive misalignment of the rigidity adjustment mechanism 202 and the rotating mechanism 203 during the rotation process, thereby causing damage to the components.
图5示出了根据本发明实施例提供的调刚机构和转动机构的组合结构，图6示出了根据本发明实施例提供的调刚机构的结构。FIG. 5 shows a combined structure of a rigidity adjustment mechanism and a rotation mechanism according to an embodiment of the present invention, and FIG. 6 shows a structure of a rigidity adjustment mechanism according to an embodiment of the present invention.
如图5和图6所示，调刚机构202包括中心轴202_1、调刚涡轮202_2、太阳轮202_3、行星轮202_4、保持架202_5和滚轮滑块组。As shown in FIG. 5 and FIG. 6 , the rigidity adjustment mechanism 202 includes a central shaft 202_1 , a rigidity adjustment turbine 202_2 , a sun gear 202_3 , planetary gears 202_4 , a retaining frame 202_5 and a roller slider assembly.
其中，调刚涡轮202_2与中心轴202_1过盈配合，使调刚涡轮202_2同轴固定在中心轴202_1的一端。调刚电机204的输出轴通过联轴器和蜗杆与调刚涡轮202_2相接，使调刚电机204驱动调刚涡轮202_2转动，进而带动中心轴202_1转动。保持架202_5通过轴承同轴套设在中心轴202_1上，并沿保持架202_5的周向均匀安装有不少于2个的行星轮202_4。优选的，本发明实施例中采用3个行星轮202_4，且保持架202_5配合3个行星轮202_4设置为带有弧度的等边三角形。太阳轮202_3同轴固定在中心轴202_1上，且与行星轮202_4啮合。Among them, the adjustable rigid turbine 202_2 is interference fit with the central shaft 202_1, so that the adjustable rigid turbine 202_2 is coaxially fixed on one end of the central shaft 202_1. The output shaft of the adjustable rigid motor 204 is connected to the adjustable rigid turbine 202_2 through a coupling and a worm, so that the adjustable rigid motor 204 drives the adjustable rigid turbine 202_2 to rotate, thereby driving the central shaft 202_1 to rotate. The retainer 202_5 is coaxially sleeved on the central shaft 202_1 through a bearing, and no less than two planetary gears 202_4 are evenly installed along the circumference of the retainer 202_5. Preferably, three planetary gears 202_4 are used in the embodiment of the present invention, and the retainer 202_5 is arranged in an equilateral triangle with an arc in cooperation with the three planetary gears 202_4. The sun gear 202_3 is coaxially fixed on the central shaft 202_1 and meshes with the planetary gears 202_4.
图7示出了根据本发明实施例提供的滚轮滑块组的组合。FIG. 7 shows a combination of a roller slider group provided according to an embodiment of the present invention.
如图5~图7所示，滚轮滑块组的数量与行星轮202_4的数量一致，因此在本发明实施例中同样采用3组滚轮滑块组。其中，滚轮滑块组包括滑轨202_6、齿条滑块202_7、啮合滑块202_8、倾斜滑槽202_9、保持滑槽202_10、滚轮202_11和压块202_12。As shown in Fig. 5 to Fig. 7, the number of roller slider groups is consistent with the number of planetary gears 202_4, so three roller slider groups are also used in the embodiment of the present invention. The roller slider group includes a slide rail 202_6, a rack slider 202_7, an engagement slider 202_8, an inclined slide groove 202_9, a retaining slide groove 202_10, a roller 202_11 and a pressure block 202_12.
滑轨202_6安装在转动机构203中的转动架203_4上，齿条滑块202_7安装在滑轨202_6上。在齿条滑块202_7的一侧设有与行星轮202_4啮合的边齿。啮合滑块202_8位于齿条滑块202_7的上方，在啮合滑块202_8的底面和齿条滑块202_7的顶面均匀布设有相吻合的倾斜滑槽202_9，在啮合滑块202_8的两侧开设有保持滑槽202_10，使啮合滑块202_8在卡位201_5和保持滑槽202_10的配合下，将沿倾斜滑槽202_9的运动分解为齿条滑块202_7沿滑轨202_6的平动和啮合滑块202_8面向行星轮202_4的平动。滚轮202_11通过压块202_12安装在啮合滑块202_8上。The slide rail 202_6 is mounted on the rotating frame 203_4 in the rotating mechanism 203, and the rack slider 202_7 is mounted on the slide rail 202_6. A side tooth meshing with the planetary gear 202_4 is provided on one side of the rack slider 202_7. The meshing slider 202_8 is located above the rack slider 202_7, and matching inclined slide grooves 202_9 are evenly arranged on the bottom surface of the meshing slider 202_8 and the top surface of the rack slider 202_7. Retaining slide grooves 202_10 are provided on both sides of the meshing slider 202_8, so that the meshing slider 202_8, under the cooperation of the clamping position 201_5 and the retaining slide groove 202_10, decomposes the movement along the inclined slide groove 202_9 into the translation of the rack slider 202_7 along the slide rail 202_6 and the translation of the meshing slider 202_8 facing the planetary gear 202_4. The roller 202_11 is mounted on the engagement slider 202_8 via the pressing block 202_12.
因此，当调刚电机204的输出轴通过联轴器和蜗杆驱动调刚涡轮202_2转动时，调刚涡轮202_2带动中心轴202_1转动，进而带动固定在中心轴202_1上的太阳轮202_3转动。由于保持架202_5与中心轴202_1之间是通过轴承连接的，所以中心轴202_1不会带动保持架202_5进行转动。Therefore, when the output shaft of the rigid motor 204 drives the rigid turbine 202_2 to rotate through the coupling and the worm, the rigid turbine 202_2 drives the central shaft 202_1 to rotate, and then drives the sun gear 202_3 fixed on the central shaft 202_1 to rotate. Since the retainer 202_5 and the central shaft 202_1 are connected by a bearing, the central shaft 202_1 will not drive the retainer 202_5 to rotate.
如图5所示，转动机构203包括转动蜗轮203_1、转动齿轮轴203_2、传动齿轮203_3、转动架203_4、转动铰链203_5和输出端203_6。其中，转动蜗轮203_1同轴套装在转动齿轮轴203_2上，传动齿轮203_3与转动齿轮轴203_2啮合。传动齿轮203_3与转动架203_4同轴固接，转动架203_4通过轴承套设在中心轴202_1上，使转动电机205的输出轴经联轴器和蜗杆驱动转动蜗轮203_1旋转，进而通过转动齿轮轴203_2带动传动齿轮203_3和转动架203_4进行转动。在本发明实施例中，为配合3组滚轮滑块组，将转动架203_4设置为带圆弧的等边三角形结构，3个滑轨202_6沿转动架203_4的3条直线边固定。为减轻因转动架203_4自身重力对滚轮滑块组的转动带来的影响，根据力学原理在转动架203_4上开设3个减重孔，从而降低转动架203_4和滚轮滑块组的整体重力，提升转动和调节效果。As shown in FIG5 , the rotating mechanism 203 includes a rotating worm wheel 203_1, a rotating gear shaft 203_2, a transmission gear 203_3, a rotating frame 203_4, a rotating hinge 203_5 and an output end 203_6. The rotating worm wheel 203_1 is coaxially sleeved on the rotating gear shaft 203_2, and the transmission gear 203_3 is meshed with the rotating gear shaft 203_2. The transmission gear 203_3 is coaxially fixed to the rotating frame 203_4, and the rotating frame 203_4 is sleeved on the central shaft 202_1 through a bearing sleeve, so that the output shaft of the rotating motor 205 drives the rotating worm wheel 203_1 to rotate through the coupling and the worm, and then drives the transmission gear 203_3 and the rotating frame 203_4 to rotate through the rotating gear shaft 203_2. In the embodiment of the present invention, in order to cooperate with the three groups of roller slider groups, the rotating frame 203_4 is set to an equilateral triangle structure with an arc, and the three slide rails 202_6 are fixed along the three straight lines of the rotating frame 203_4. In order to reduce the influence of the rotating frame 203_4's own gravity on the rotation of the roller slider group, three weight-reducing holes are opened on the rotating frame 203_4 according to the principle of mechanics, thereby reducing the overall gravity of the rotating frame 203_4 and the roller slider group, and improving the rotation and adjustment effect.
转动铰链203_5通过轴承同轴套设在中心轴202_1上。在转动铰链203_5一侧表面设置有不少于2个的凸起块，并在转动铰链203_5的周向设置有柔性部分，柔性部分的组数与行星轮202_4的数量相同，因此在本具体实施例中柔性部分的组数同样为3组。每一组柔性部分包括两个柔性片，啮合滑块202_8带动滚轮202_11伸入两个柔性片之间并与两个柔性片接触。The rotating hinge 203_5 is coaxially sleeved on the central shaft 202_1 through a bearing. No less than two protrusions are arranged on the surface of one side of the rotating hinge 203_5, and a flexible part is arranged in the circumferential direction of the rotating hinge 203_5. The number of groups of the flexible part is the same as the number of the planetary gears 202_4, so in this specific embodiment, the number of groups of the flexible part is also 3. Each group of flexible parts includes two flexible sheets, and the meshing slider 202_8 drives the roller 202_11 to extend between the two flexible sheets and contact the two flexible sheets.
输出端203_6通过轴承套设在中心轴202_1上，且与转动铰链203_5相连，用于向外部输出转动。在输出端203_6的一侧设置有装配孔，与转动铰链203_5的凸起块相配合，使凸起块插入装配孔中完成转动铰链203_5与输出端203_6的固接。为了使转动铰链203_5与输出端203_6的连接更加牢固，在本发明实施例中，转动铰链203_5上的凸起块与输出端203_6上的装配孔沿圆周方向对应设置3对。The output end 203_6 is mounted on the central shaft 202_1 through a bearing sleeve and connected to the rotary hinge 203_5 for outputting rotation to the outside. An assembly hole is provided on one side of the output end 203_6, which cooperates with the protruding block of the rotary hinge 203_5, so that the protruding block is inserted into the assembly hole to complete the fixed connection between the rotary hinge 203_5 and the output end 203_6. In order to make the connection between the rotary hinge 203_5 and the output end 203_6 more secure, in the embodiment of the present invention, three pairs of protruding blocks on the rotary hinge 203_5 and the assembly holes on the output end 203_6 are correspondingly provided along the circumferential direction.
因此，当转动电机205通过联轴器和蜗杆驱动转动蜗轮203_1旋转时，转动蜗轮203_1带动同轴的转动齿轮轴203_2旋转，转动齿轮轴203_2通过齿纹配合带动传动齿轮203_3及与传动齿轮203_3固接的转动架203_4一起转动，转动架203_4上的滚轮滑块组也随之转动。而转动铰链203_5随滚轮202_11旋转，且转动铰链203_5，与转动铰链203_5连接的输出端203_6，以及滚轮202_11绕中心轴202_1的旋转同时受转动架203_4和行星轮202_4的影响。由于转动架203_4、转动铰链203_5和输出端203_6与中心轴202_1之间是通过轴承连接的，所以中心轴202_1不会干扰转动架203_4、转动铰链203_5和输出端203_6的转动。Therefore, when the rotating motor 205 drives the rotating worm wheel 203_1 to rotate through the coupling and the worm, the rotating worm wheel 203_1 drives the coaxial rotating gear shaft 203_2 to rotate, and the rotating gear shaft 203_2 drives the transmission gear 203_3 and the rotating frame 203_4 fixedly connected to the transmission gear 203_3 to rotate together through the tooth pattern, and the roller slider group on the rotating frame 203_4 also rotates accordingly. The rotating hinge 203_5 rotates with the roller 202_11, and the rotating hinge 203_5, the output end 203_6 connected to the rotating hinge 203_5, and the rotation of the roller 202_11 around the central axis 202_1 are simultaneously affected by the rotating frame 203_4 and the planetary gear 202_4. Since the rotating frame 203_4, the rotating hinge 203_5 and the output end 203_6 are connected to the central shaft 202_1 through bearings, the central shaft 202_1 will not interfere with the rotation of the rotating frame 203_4, the rotating hinge 203_5 and the output end 203_6.
结合图2~图7，当调刚电机204和转动电机205的输出轴以特定转速比输出时，转动架203_4与太阳轮202_3以同样的角速度旋转，太阳轮202_3与齿条滑块202_7之间的行星轮202_4不会发生转动，此时太阳轮202_3与齿条滑块202_7保持相对静止，啮合滑块202_8上的滚轮202_11与转动铰链203_5的接触位置保持不变，使得与转动铰链203_5固接的输出端203_6带动输出连接盘201_1以恒定刚度进行旋转运动。2 to 7 , when the output shafts of the rigidity-adjusting motor 204 and the rotating motor 205 output at a specific speed ratio, the rotating frame 203_4 and the sun gear 202_3 rotate at the same angular velocity, and the planetary gear 202_4 between the sun gear 202_3 and the rack slider 202_7 does not rotate. At this time, the sun gear 202_3 and the rack slider 202_7 remain relatively stationary, and the contact position of the roller 202_11 on the meshing slider 202_8 and the rotating hinge 203_5 remains unchanged, so that the output end 203_6 fixed to the rotating hinge 203_5 drives the output connecting disk 201_1 to rotate at a constant rigidity.
调刚电机204和转动电机205输出的转速比发生变化时，转动架203_4与太阳轮202_3出现角速度差，使得太阳轮202_3与齿条滑块202_7之间的行星轮202_4发生转动，进而使齿条滑块202_7沿转动架203_4上的滑轨202_6移动，啮合齿块202_8在卡位201_5和保持滑槽202_10的配合下与齿条滑块202_7发生相对运动，使得啮合滑块202_8上的滚轮202_11在转动铰链203_5的柔性部分之间进行前后移动，改变滚轮202_11对转动铰链203_5的支撑位置，进而改变了转动铰链203_5向输出端203_6提供的支撑刚度，使输出端203_6带动输出连接盘201_1完成变刚度调节。When the speed ratio of the output of the rigidity adjustment motor 204 and the rotating motor 205 changes, an angular velocity difference occurs between the rotating frame 203_4 and the sun gear 202_3, so that the planetary gear 202_4 between the sun gear 202_3 and the rack slider 202_7 rotates, thereby causing the rack slider 202_7 to move along the slide rail 202_6 on the rotating frame 203_4, and the meshing gear block 202_8 moves relative to the rack slider 202_7 under the cooperation of the clamping position 201_5 and the retaining slide groove 202_10, so that the roller 202_11 on the meshing slider 202_8 moves back and forth between the flexible parts of the rotating hinge 203_5, changing the supporting position of the roller 202_11 on the rotating hinge 203_5, thereby changing the supporting rigidity provided by the rotating hinge 203_5 to the output end 203_6, so that the output end 203_6 drives the output connecting disk 201_1 to complete the variable rigidity adjustment.
图8示出了本发明实施例提供的腰部支撑机构和大腿组件的组合结构。FIG. 8 shows the combined structure of the waist support mechanism and the thigh component provided by an embodiment of the present invention.
如图1和图8所示，为将变刚度关节2的转动输出，在本发明实施例中使用输出快换接口6实现可拆卸安装与运动传递。As shown in FIG. 1 and FIG. 8 , in order to output the rotation of the variable stiffness joint 2 , an output quick-change interface 6 is used in the embodiment of the present invention to achieve detachable installation and motion transmission.
腰部支撑机构1包括两个一体结构的腰板101和腰部连接件102。其中，两个腰板101上安装有用于固定穿戴者的腰部绑带103。两个腰部连接件102分别与两个腰板101仿形固接，用于支撑变刚度关节2。The waist support mechanism 1 comprises two integrated waist plates 101 and waist connectors 102. The two waist plates 101 are provided with waist straps 103 for fixing the wearer. The two waist connectors 102 are respectively fixedly connected to the two waist plates 101 in a conformal manner to support the variable stiffness joint 2.
图9示出了本发明实施例提供的大腿组件和小腿组件的组合结构。FIG. 9 shows the combined structure of the thigh component and the calf component provided by an embodiment of the present invention.
如图1、图8和图9所示，大腿组件3包括大腿支撑板301、大腿伸缩连接件302和大腿绑带303。其中，大腿伸缩连接件302包括大腿伸缩滑板302_1以及位于在大腿伸缩滑板302_1的一端的膝关节安装架302_2，大腿伸缩滑板302_1与膝关节安装架302_2为一体结构。As shown in Fig. 1, Fig. 8 and Fig. 9, the thigh assembly 3 includes a thigh support plate 301, a thigh telescopic connector 302 and a thigh strap 303. The thigh telescopic connector 302 includes a thigh telescopic slide plate 302_1 and a knee joint mounting frame 302_2 located at one end of the thigh telescopic slide plate 302_1, and the thigh telescopic slide plate 302_1 and the knee joint mounting frame 302_2 are an integrated structure.
大腿绑带303安装在大腿支撑板301上，用于绑缚穿戴者的大腿。大腿支撑板301的一端开设有第一连接口304，从大腿支撑板301的另一端向大腿支撑板301的内部开设有与大腿伸缩滑板302_1匹配的大腿伸缩滑槽，使大腿伸缩滑板302_1伸入大腿伸缩滑槽中，进而调节大腿支撑板301和大腿伸缩连接件302的总长度。The thigh strap 303 is installed on the thigh support plate 301 and is used to bind the wearer's thigh. A first connection port 304 is provided at one end of the thigh support plate 301, and a thigh telescopic slideway matching the thigh telescopic slide plate 302_1 is provided from the other end of the thigh support plate 301 to the inside of the thigh support plate 301, so that the thigh telescopic slide plate 302_1 extends into the thigh telescopic slideway, thereby adjusting the total length of the thigh support plate 301 and the thigh telescopic connector 302.
输出快换接口6包括公输出快换接口601和母输出快换接口602，母输出快换接口602安装在变刚度关节2的输出连接盘201_1上，公输出快换接口601安装在第一连接口304的内侧，母输出快换接口602的凸起端依次通过腰部连接件102和第一连接口304，插入公输出快换件601中完成输出快换接口6的锁紧，进而实现变刚度关节2安装在腰部连接件102上，且变刚度关节2的输出连接盘201_1通过输出快换接口6向大腿组件3输出转动，实现辅助穿戴者进行髋部运动。The output quick-change interface 6 includes a male output quick-change interface 601 and a female output quick-change interface 602. The female output quick-change interface 602 is installed on the output connection disk 201_1 of the variable stiffness joint 2, and the male output quick-change interface 601 is installed on the inner side of the first connection port 304. The protruding end of the female output quick-change interface 602 passes through the waist connection piece 102 and the first connection port 304 in turn, and is inserted into the male output quick-change component 601 to complete the locking of the output quick-change interface 6, thereby realizing the variable stiffness joint 2 being installed on the waist connection piece 102, and the output connection disk 201_1 of the variable stiffness joint 2 outputs rotation to the thigh component 3 through the output quick-change interface 6, thereby assisting the wearer in hip movement.
图10示出了本发明实施例提供的小腿组件和脚部支撑组件的组合结构。FIG. 10 shows the combined structure of the calf assembly and the foot support assembly provided by an embodiment of the present invention.
如图1、图9和图10所示，小腿组件4包括小腿绑带401、小腿支撑板402和小腿伸缩板403。其中，小腿绑带401安装在小腿支撑板402上，用于绑缚穿戴者的小腿。小腿支撑板402的一端开设有第二连接口404，从小腿支撑板402的另一端向小腿支撑板402的内部开设有与小腿伸缩板403匹配的小腿伸缩滑槽，使小腿伸缩板403伸入小腿伸缩滑槽中，进而调节小腿支撑板402和小腿伸缩板403的总长度。As shown in Fig. 1, Fig. 9 and Fig. 10, the calf assembly 4 includes a calf strap 401, a calf support plate 402 and a calf expansion plate 403. The calf strap 401 is mounted on the calf support plate 402 to bind the wearer's calf. A second connection port 404 is provided at one end of the calf support plate 402, and a calf expansion slot matching the calf expansion plate 403 is provided from the other end of the calf support plate 402 to the inside of the calf support plate 402, so that the calf expansion plate 403 extends into the calf expansion slot, thereby adjusting the total length of the calf support plate 402 and the calf expansion plate 403.
小腿组件4、大腿组件3以及变刚度关节2之间同样采用输出快换接口6实现可拆卸安装。母输出快换接口602安装在变刚度关节2的输出连接盘201_1上，公输出快换接口601安装在第二连接口404的内侧，母输出快换接口602的凸起端依次通过膝关节安装架302_2和第二连接口404，插入公输出快换接口601中完成输出快换接口6的锁紧，进而实现变刚度关节2安装在膝关节安装架302_2上，且变刚度关节2的输出连接盘201_1通过输出快换接口6向小腿组件4输出转动，实现辅助穿戴者进行膝部运动。The output quick-change interface 6 is also used between the calf component 4, the thigh component 3 and the variable stiffness joint 2 to achieve detachable installation. The female output quick-change interface 602 is installed on the output connection disk 201_1 of the variable stiffness joint 2, and the male output quick-change interface 601 is installed on the inner side of the second connection port 404. The protruding end of the female output quick-change interface 602 passes through the knee joint mounting frame 302_2 and the second connection port 404 in sequence, and is inserted into the male output quick-change interface 601 to complete the locking of the output quick-change interface 6, thereby achieving the variable stiffness joint 2 being installed on the knee joint mounting frame 302_2, and the output connection disk 201_1 of the variable stiffness joint 2 outputs rotation to the calf component 4 through the output quick-change interface 6, so as to assist the wearer in knee movement.
在小腿伸缩板403的一端开设有与安装在脚部支撑组件5上的球铰对应的球铰连接座，使脚部支撑组件5安装在小腿伸缩板403上，通过球铰和球铰连接座的配合，使穿戴者进行踝部运动。A ball joint connection seat corresponding to the ball joint installed on the foot support assembly 5 is provided at one end of the calf expansion plate 403, so that the foot support assembly 5 can be installed on the calf expansion plate 403. Through the cooperation of the ball joint and the ball joint connection seat, the wearer can perform ankle exercises.
应该理解，可以使用上面所示的各种形式的流程，重新排序、增加或删除步骤。例如，本发明公开中记载的各步骤可以并行地执行也可以顺序地执行也可以不同的次序执行，只要能够实现本发明公开的技术方案所期望的结果，本文在此不进行限制。It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the disclosure of the present invention can be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document does not limit this.
上述具体实施方式，并不构成对本发明保护范围的限制。本领域技术人员应该明白的是，根据设计要求和其他因素，可以进行各种修改、组合、子组合和替代。任何在本发明的精神和原则之内所作的修改、等同替换和改进等，均应包含在本发明保护范围之内。The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410343296.0ACN117919061B (en) | 2024-03-25 | 2024-03-25 | Lower limb exoskeleton based on active rigidity-variable joint |
| Application Number | Priority Date | Filing Date | Title |
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| CN202410343296.0ACN117919061B (en) | 2024-03-25 | 2024-03-25 | Lower limb exoskeleton based on active rigidity-variable joint |
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| CN117919061A CN117919061A (en) | 2024-04-26 |
| CN117919061Btrue CN117919061B (en) | 2024-05-31 |
| Application Number | Title | Priority Date | Filing Date |
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| CN202410343296.0AActiveCN117919061B (en) | 2024-03-25 | 2024-03-25 | Lower limb exoskeleton based on active rigidity-variable joint |
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| CN119326632B (en)* | 2024-12-20 | 2025-04-22 | 北京航空航天大学杭州创新研究院 | Lower limb rehabilitation exoskeleton device with self-calibration of joints |
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| WO2023115334A1 (en)* | 2021-12-21 | 2023-06-29 | 迈宝智能科技(苏州)有限公司 | Wearable lower limb weight-bearing power-assisted exoskeleton robot with hip and knee active drive |
| CN115006190A (en)* | 2022-04-06 | 2022-09-06 | 南京航空航天大学 | A sitting variable stiffness exoskeleton and on-demand assisted control method for variable compliance |
| CN219290048U (en)* | 2023-02-15 | 2023-07-04 | 安杰莱科技(杭州)有限公司 | Modular exoskeleton device |
| CN117549282A (en)* | 2023-11-24 | 2024-02-13 | 南京理工大学 | Variable-rigidity flexible knee joint exoskeleton and control method thereof |
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