阅读说明：本技术 用于下肢外骨骼的欠驱动膝关节装置 (Under-actuated knee joint device for lower limb exoskeleton ) 是由 黄锟 刘斌 杨洪波 于 2020-05-20 设计创作，主要内容包括：本发明公开了一种用于下肢外骨骼的欠驱动膝关节装置,包括：上安装板、可转动连接在上安装板上的驱动轮、第一端与上安装板可转动连接的第一连杆、可转动连接在第一连杆的第二端的第一从动轮、第一端与第一从动轮固连的第二连杆、可转动连接在第二连杆的第二端的第二从动轮、固接在第二从动轮上的下安装板以及用于为驱动轮输入驱动力和用于实现驱动轮、第一从动轮、第二从动轮之间的依次传动的若干绳索。本发明的装置具有两个自由度,即辅助小腿进行屈伸的同时,还具有矢状面内移动的自由度,能适应膝关节的运动特性,不会造成关节压力；且两个自由度的驱动通过一个驱动机构即可实现,驱动机构可设置在远离膝关节的位置,能减轻膝关节处的重量。(The invention discloses an under-actuated knee joint device for a lower limb exoskeleton, which comprises: go up the mounting panel, rotatable coupling is the drive wheel on last mounting panel, first end and last mounting panel rotatable coupling's first connecting rod, rotatable coupling is at the first driven wheel of the second end of first connecting rod, first end and the first second connecting rod of following the driving wheel and linking firmly, rotatable coupling is at the second of the second connecting rod end from the driving wheel, the lower mounting panel of rigid coupling on the second is followed the driving wheel and is used for realizing the drive wheel for the drive wheel input drive power and being used for, first from the driving wheel, the second is followed a plurality of ropes of transmission in proper order between the driving wheel. The device has two degrees of freedom, namely the device has the degree of freedom of movement in a sagittal plane while assisting the flexion and extension of the crus, can adapt to the motion characteristic of the knee joint, and cannot cause joint pressure; and the driving of two degrees of freedom can be realized through a driving mechanism, and the driving mechanism can be arranged at a position far away from the knee joint, so that the weight of the knee joint can be reduced.)

1. An under-actuated knee device for a lower extremity exoskeleton, comprising: go up mounting panel, rotatable coupling go up drive wheel, first end on the mounting panel with go up mounting panel rotatable coupling's first connecting rod, rotatable coupling and be in the first follow driving wheel, first end of the second end of first connecting rod with first second connecting rod, the rotatable coupling that links firmly from the driving wheel second end of second connecting rod is in from driving wheel, rigid coupling the second is followed the last lower mounting panel of driving wheel and is used for doing drive wheel input drive power with be used for realizing drive wheel, first from driving wheel, second from a plurality of ropes of transmission in proper order between the driving wheel.

2. The under-actuated knee joint apparatus for a lower extremity exoskeleton of claim 1 wherein said cables include first and second drive cables wound around the tread of said drive wheel in opposite directions for inputting driving force to said drive wheel, first and second transmission cables connected between said drive wheel and first driven wheel, third and fourth transmission cables connected between said first and second driven wheels.

3. The under-actuated knee device for a lower extremity exoskeleton of claim 2 wherein a first end of said first transmission cable and a first end of said second transmission cable are wrapped around a tread of said drive wheel in opposite directions, and a second end of said first transmission cable and a second end of said second transmission cable are wrapped around a tread of said first driven wheel in opposite directions;

the first end of the third transmission rope and the first end of the fourth transmission rope are wound on the wheel surface of the first driven wheel in opposite directions, and the second end of the third transmission rope and the second end of the fourth transmission rope are wound on the wheel surface of the second driven wheel in opposite directions.

4. The under-actuated knee joint device for lower extremity exoskeletons according to claim 3, wherein the wheel surfaces of the driving wheel, the first driven wheel and the second driven wheel are respectively provided with a winding groove for winding a rope and a fixing groove for fixing the rope, and the plurality of ropes are respectively fixedly connected with a fixing block for fixing in the corresponding fixing groove.

5. The under-actuated knee joint device for lower extremity exoskeletons of claim 4 wherein the fixing block includes a tab portion for fixedly inserting into the fixing groove and a connecting portion connected to the tab portion for fixedly connecting to the cable.

6. The under-actuated knee device for lower extremity exoskeletons of claim 1 wherein a first connecting shaft is affixed to the upper mounting plate and the drive wheel is rotatably coupled to the first connecting shaft by a first bearing.

7. The under-actuated knee joint device for lower extremity exoskeletons of claim 6, wherein a second connecting shaft is rotatably inserted into a shaft hole formed in the first connecting shaft through a second bearing, and the other end of the second connecting shaft is fixedly connected to the first end of the first connecting rod.

8. The under-actuated knee device for a lower extremity exoskeleton of claim 7 wherein a third connecting shaft is fixedly connected to a second end of the first link, and the first driven wheel is rotatably connected to the third connecting shaft through a third bearing.

9. The under-actuated knee device for lower extremity exoskeletons of claim 8 wherein a first end of the second link is fixedly coupled to the first driven wheel and a second end of the second link is fixedly coupled to a fourth coupling shaft.

10. The under-actuated knee device for a lower extremity exoskeleton of claim 9 wherein said second driven wheel is rotatably coupled to said fourth coupling shaft via a fourth bearing, and said lower mounting plate is affixed to said second driven wheel.

Technical Field

The invention relates to the field of medical rehabilitation instruments, in particular to an under-actuated knee joint device for a lower limb exoskeleton.

Background

Research shows that the human knee joint moves complicatedly, when the knee joint does flexion and extension movement, the femur can rotate and slide on the tibia instead of simple single-degree-of-freedom rotation, but the structure of the knee joint of the lower limb exoskeleton at present generally has single-degree-of-freedom rotation, does not conform to ergonomics, not only causes uncoordinated human-computer movement, but also causes pressure of the joint, and therefore the joint can be damaged. In addition, the motors of the existing active exoskeleton are all arranged at joints, so that the weight of the whole lower limb is increased, and the inertia of joint motion is increased.

A more reliable solution is now needed.

Disclosure of Invention

The present invention has been made to solve the above-mentioned problems occurring in the prior art, and an object of the present invention is to provide an under-actuated knee joint device for a lower extremity exoskeleton.

In order to solve the technical problems, the invention adopts the technical scheme that: an under-actuated knee device for a lower extremity exoskeleton, comprising: go up mounting panel, rotatable coupling go up drive wheel, first end on the mounting panel with go up mounting panel rotatable coupling's first connecting rod, rotatable coupling and be in the first follow driving wheel, first end of the second end of first connecting rod with first second connecting rod, the rotatable coupling that links firmly from the driving wheel second end of second connecting rod is in from driving wheel, rigid coupling the second is followed the last lower mounting panel of driving wheel and is used for doing drive wheel input drive power with be used for realizing drive wheel, first from driving wheel, second from a plurality of ropes of transmission in proper order between the driving wheel.

Preferably, the ropes include first and second drive ropes wound around a tread of the drive wheel in opposite directions for inputting a driving force to the drive wheel, first and second transmission ropes connected between the drive wheel and the first driven wheel, and third and fourth transmission ropes connected between the first and second driven wheels.

Preferably, a first end of the first transmission rope and a first end of the second transmission rope are wound on the wheel surface of the driving wheel in opposite directions, and a second end of the first transmission rope and a second end of the second transmission rope are wound on the wheel surface of the first driven wheel in opposite directions;

the first end of the third transmission rope and the first end of the fourth transmission rope are wound on the wheel surface of the first driven wheel in opposite directions, and the second end of the third transmission rope and the second end of the fourth transmission rope are wound on the wheel surface of the second driven wheel in opposite directions.

Preferably, the driving wheel, the first driven wheel and the second driven wheel are provided with winding grooves for winding ropes and fixing grooves for fixing the ropes on the wheel surfaces, and the ropes are fixedly connected with fixing blocks for fixing the ropes in the corresponding fixing grooves.

Preferably, the fixing block includes an insertion piece portion for fixedly inserting into the fixing groove and a connection portion connected with the insertion piece portion for being fixedly connected with the rope.

Preferably, the upper mounting plate is fixedly connected with a first connecting shaft, and the driving wheel is rotatably connected to the first connecting shaft through a first bearing.

Preferably, a second connecting shaft is rotatably inserted into a shaft hole formed in the first connecting shaft through a second bearing, and the other end of the second connecting shaft is fixedly connected with the first end of the first connecting rod.

Preferably, a third connecting shaft is fixedly connected to the second end of the first connecting rod, and the first driven wheel is rotatably connected to the third connecting shaft through a third bearing.

Preferably, the first end of the second connecting rod is fixedly connected with the first driven wheel, and the second end of the second connecting rod is fixedly connected with a fourth connecting shaft.

Preferably, the second driven wheel is rotatably connected to the fourth connecting shaft through a fourth bearing, and the lower mounting plate is fixedly connected to the second driven wheel.

The invention has the beneficial effects that:

the under-actuated knee joint device for the lower limb exoskeleton has two degrees of freedom, namely the degree of freedom for movement in a sagittal plane while assisting the flexion and extension of the shank, can adapt to the motion characteristic of the knee joint, and cannot cause joint pressure; and the drive of two degrees of freedom can be realized through a drive mechanism, and drive mechanism can set up in the position of keeping away from the knee joint, can alleviate the weight of knee joint department, makes knee joint department more nimble. The invention can be applied to patients with knee joint dysfunction or limited functions caused by the injury of knee joints and muscle tissues of lower limbs or bone diseases, and can assist the patients in the rehabilitation treatment of knee joint flexion and extension.

Drawings

FIG. 1 is a front perspective view of an under-actuated knee device for a lower extremity exoskeleton of the present invention;

FIG. 2 is a schematic back view of the under-actuated knee device for a lower extremity exoskeleton of the present invention;

FIG. 3 is a front perspective view of the under-actuated knee device for a lower extremity exoskeleton of the present invention with the first and second links removed;

FIG. 4 is a schematic back view of the under-actuated knee device for the lower extremity exoskeleton of the present invention with some components removed;

fig. 5 presents a schematic view of the arrangement of the rope according to the invention fixed to the driving wheel;

FIG. 6 is a cross-sectional structural schematic view of the drive wheel and first driven wheel portion of the present invention;

FIG. 7 is a cross-sectional structural schematic view of portions of the first and second driven wheels of the present invention;

FIG. 8 is a schematic representation of one state of motion of the under-actuated knee device for a lower extremity exoskeleton of the present invention;

FIG. 9 is a schematic representation of another state of motion of the under-actuated knee device for a lower extremity exoskeleton of the present invention;

FIG. 10 is a schematic structural view of a fixation device for an under-actuated knee device for a lower extremity exoskeleton in one embodiment of the present invention;

figure 11 is a schematic view of an under-actuated knee device for a lower extremity exoskeleton in an embodiment of the present invention secured to a human body.

Description of reference numerals:

10-an upper mounting plate; 11-a drive wheel; 12-a first link; 13 — a first driven wheel; 14-a second link; 15 — a second driven wheel; 16-lower mounting plate; 120 — a first end of a first link; 121 — second end of first link 121; 140 — a first end of a second link; 141-a second end of the second link;

20 — a first drive rope; 21-a second drive rope; 22 — a first transmission rope; 23-a second transmission rope; 24-a third transmission rope; 25-a fourth transmission rope; 220 — a first end of a first transmission rope; 221 — a second end of the first transmission rope; 230 — a first end of a second drive rope; 231 — a second end of the second drive rope; 240 — a first end of a third drive rope; 241 — a second end of a third transmission rope; 250 — a first end of a fourth transmission rope; 251 — a second end of a fourth transmission rope;

30, fixing grooves; 31-fixing block; 32-an insert part; 33-a connecting portion; 34-rope holes; 35-clamping column; 36-winding groove;

40-a first connecting shaft; 41-shaft hole; 42-a second connecting shaft; 43-a third connecting shaft; 44-a fourth connecting shaft; 45-a first bearing; 46 — a second bearing; 47 — a third bearing; 48-a fourth bearing;

50-an under-actuated knee device for lower extremity exoskeleton; 51-human body; 52, a motor;

60, fixing a sleeve; 61-lower fixed sleeve.

Detailed Description

The present invention is further described in detail below with reference to examples so that those skilled in the art can practice the invention with reference to the description.

It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.

As shown in fig. 1 to 7, the under-actuated knee joint device for a lower extremity exoskeleton of the present embodiment includes: the driving device comprises an upper mounting plate 10, a driving wheel 11 rotatably connected to the upper mounting plate 10, a first connecting rod 12 with a first end rotatably connected to the upper mounting plate 10, a first driven wheel 13 rotatably connected to a second end 121 of the first connecting rod 12, a second connecting rod 14 with a first end fixedly connected to the first driven wheel 13, a second driven wheel 15 rotatably connected to a second end 141 of the second connecting rod, a lower mounting plate 16 fixedly connected to the second driven wheel 15, and a plurality of ropes used for inputting driving force to the driving wheel 11 and for realizing sequential transmission among the driving wheel 11, the first driven wheel 13 and the second driven wheel 15.

In the invention, the first driven wheel 13 is fixed at the knee joint of a human body, the first driven wheel is positioned at the side part which is basically flush with the knee joint, the upper mounting plate 10 is positioned at the side part above the knee joint and is fixed with the thigh, and the lower mounting plate 16 is positioned at the side part below the knee joint and is fixed with the calf; the device adopts a rope for transmission, an external driving mechanism (such as a motor) provides driving tension for the rope, so that the first connecting rod 12 can rotate relative to the upper mounting plate 10, and the second connecting rod 14 can rotate relative to the first connecting rod 12; the under-actuated knee joint device of the invention has two degrees of freedom, namely the lower mounting plate 16 as an output end can rotate relative to the upper mounting plate 10 and can move in a sagittal plane relative to the upper mounting plate 10, thereby being well adapted to the movement of the knee joint without causing joint pressure.

Referring to fig. 4, the ropes include a first driving rope 20 and a second driving rope 21 wound on the tread of the driving wheel 11 in opposite directions for inputting driving force to the driving wheel 11, a first transmission rope 22 and a second transmission rope 23 connected between the driving wheel 11 and the first driven wheel 13, and a third transmission rope 24 and a fourth transmission rope 25 connected between the first driven wheel 13 and the second driven wheel 15.

The first end 220 of the first transmission rope and the first end 230 of the second transmission rope are wound on the tread of the driving wheel 11 in opposite directions, and the second end 221 of the first transmission rope and the second end 231 of the second transmission rope are wound on the tread of the first driven wheel 13 in opposite directions;

the first end 240 of the third transmission rope and the first end 250 of the fourth transmission rope are wound on the tread of the first driven wheel 13 in opposite directions, and the second end 241 of the third transmission rope and the second end 251 of the fourth transmission rope are wound on the tread of the second driven wheel 15 in opposite directions.

Referring to fig. 5, winding grooves 36 for winding the ropes and fixing grooves 30 for fixing the ropes are formed on the wheel surfaces of the driving wheel 11, the first driven wheel 13 and the second driven wheel 15, and fixing blocks 31 for fixing the ropes in the corresponding fixing grooves 30 are fixedly connected to the ropes. The fixing block 31 includes an insertion piece portion 32 for fixing the insertion into the fixing groove 30 and a connection portion 33 connected to the insertion piece portion 32 for fixing the rope. The rope is clamped in the winding groove 36, the inserting piece part 32 and the inner wall of the fixing groove 30 can be fixedly connected through screws, the rope penetrates through the rope hole 34 in the connecting part 33, the clamping column 35 is arranged at the tail end of the rope, so that the rope is connected to the connecting part 33, and when the rope moves along the stretching direction of the rope, the clamping column 35 abuts against the rope hole 34, so that the corresponding driving wheel 11 or the corresponding driven wheel can be driven to rotate through the rope.

Referring to fig. 3, 4, 6 and 7, the upper mounting plate 10 is fixedly connected with a first connecting shaft 40, and the driving wheel 11 is rotatably connected to the first connecting shaft 40 through a first bearing 45. A second connecting shaft 42 is rotatably inserted into a shaft hole 41 formed in the first connecting shaft 40 through a second bearing 46, and the other end of the second connecting shaft 42 is fixedly connected to the first end 120 of the first connecting rod. So that the drive wheel 11 can rotate relative to the upper mounting plate 10 and the first end 120 of the first link can also rotate relative to the upper mounting plate 10.

The second end 121 of the first link 12 is fixedly connected with a third connecting shaft 43, and the first driven wheel 13 is rotatably connected to the third connecting shaft 43 through a third bearing 47. Therefore, the rotation of the second end 121 of the first link 12 can drive the first driven wheel 13 to move, and the driving force transmitted by the driving wheel 11 through the rope can enable the first driven wheel 13 to rotate relative to the second end 121 of the first link 12.

The first end 140 of the second link is fixedly connected with the first driven wheel 13, and the second end 141 of the second link is fixedly connected with the fourth connecting shaft 44. The second driven wheel 15 is rotatably connected to the fourth connecting shaft 44 through a fourth bearing 48, and the lower mounting plate 16 is fixedly connected to the second driven wheel 15. Therefore, the second driven wheel 15 can be driven to move by the rotation of the second end 141 of the second link, and the second driven wheel 15 can rotate relative to the second end 141 of the second link by the driving force transmitted by the driving wheel 11 through the rope.

The working principle of the invention is as follows:

referring to fig. 8, a tension is applied to the first driving rope 20, the driving wheel 11 rotates clockwise, and the driving wheel 11 drives the first driven wheel 13 to rotate clockwise through the first transmission rope 22; the first driven wheel 13 drives the second driven wheel 15 to rotate clockwise through the third transmission rope 24, and meanwhile, the rotation of the first driven wheel 13 enables the second connecting rod 14 to rotate clockwise around the first end of the second connecting rod, so that the lower mounting plate 16 on the second end 141 of the second connecting rod rotates clockwise, and the lower leg can be driven to realize leg bending; since the first end 120 of the first link is freely rotatable with respect to the upper mounting plate 10, the second end 121 of the first link 12 is freely rotatable with respect to the first driven wheel 13, and the first driven wheel 13 is movable in a direction away from the knee joint while the second link 14 is rotated (i.e., the first driven wheel 13 is movable in a direction away from the knee joint when the lower leg is bent), so that the knee joint can be adapted to sliding without causing stress on the knee joint.

Referring to fig. 9, when tension is applied to the second driving rope 21, the driving wheel 11 rotates counterclockwise, and the driving wheel 11 drives the first driven wheel 13 to rotate counterclockwise through the second transmission rope 23; the first driven wheel 13 drives the second driven wheel 15 to rotate anticlockwise through the fourth transmission rope 25, and meanwhile, the rotation of the first driven wheel 13 enables the second connecting rod 14 to rotate anticlockwise around the first end of the second connecting rod, so that the lower mounting plate 16 on the second end 141 of the second connecting rod rotates anticlockwise, and the leg can be driven to stretch; since the first end 120 of the first link is freely rotatable with respect to the upper mounting plate 10, the second end 121 of the first link 12 is freely rotatable with respect to the first driven pulley 13, and the first driven pulley 13 is movable in a direction close to the knee joint while the second link 14 is rotated (that is, when the leg is extended, the first driven pulley 13 is movable in a direction close to the knee joint), so that the knee joint can be adapted to the sliding movement, and the knee joint is not stressed.

Referring to fig. 10, in one embodiment, an upper fixing sleeve 60 is fixedly connected to the upper mounting plate 10, the upper fixing sleeve 60 can be fixedly sleeved on the thigh, a lower fixing sleeve 61 is fixedly connected to the lower mounting plate 16, and the lower fixing sleeve 61 can be fixedly sleeved on the calf.

In the present invention, since the external driving apparatus provides the driving force to the device through the rope, the driving apparatus can be disposed away from the knee joint to reduce the weight at the knee joint. For example, referring to fig. 11, in one embodiment, the under-actuated knee joint apparatus 50 for a lower extremity exoskeleton is worn on a person 51, the first and second drive cables 20 and 21 are provided with drive tension by a motor 52, and the motor 52 is wearable on the person's back. The rope that exposes externally overlaps establishes the spool, and the spool adopts bending forming's stereoplasm material, and when the rope slides in the spool is flexible, the spool can remain motionless basically, prevents that many ropes from interfering each other or twining.

While embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields of application of the invention, and further modifications may readily be effected by those skilled in the art, so that the invention is not limited to the specific details without departing from the general concept defined by the claims and the scope of equivalents.