CN106003137B - A kind of two degrees of freedom /V exoskeleton ankle joint and its application - Google Patents

Abstract

The invention discloses a two-degree-of-freedom limiting exoskeleton ankle joint and an application thereof. The lower end of the calf rod is fixedly connected with the upper part of the upper part of the ankle joint. The upper part of the ankle joint forms an approximate ball hinge with the lower part of the ankle joint through a transfer ball. The lower part of the lower part of the ankle joint is fixedly connected to the sole of the foot. Both sides of the transfer ball are opened For arc-shaped grooves less than 360 degrees and greater than 180 degrees, the slotting directions of the arc-shaped grooves on both sides are perpendicular to each other, and the lower end of the upper part of the ankle joint and the upper end of the lower part of the ankle joint have a fixed arc ring structure The pliers body, the pliers body opening and closing is embedded in the arc-shaped groove. The present invention only realizes plantar flexion, dorsiflexion, varus and valgus movements of the ankle joint at the same center through extremely simple structure and cooperation, and limits each degree of freedom at different angles.

Description

A two-degree-of-freedom limited exoskeleton ankle joint and its application

technical field

The invention relates to an ankle joint structure, in particular to a two-degree-of-freedom limited exoskeleton ankle joint and its application.

Background technique

Exoskeleton robot is a kind of wearable power-assisted machinery, which can increase the wearer's load-bearing capacity and endurance, and can adapt to various complex terrains. It has important applications in disaster rescue, battlefield, medical rehabilitation and other occasions. The ankle joint is a key component of an exoskeleton robot. Existing exoskeleton ankle joints usually use a structure of multiple rotation axes to achieve multiple degrees of freedom of the ankle joint. Simulates the human ankle joint. The mutated central spherical pair structure is also commonly used in exoskeleton ankle joints, but in order to limit the joint angle, this structure is usually very complicated, and the function can only be realized by the cooperation of multiple parts, which is not easy to promote.

Contents of the invention

In order to solve the problems existing in the background technology, the present invention proposes a two-degree-of-freedom limited exoskeleton ankle joint and its application.

The technical scheme adopted in the present invention is:

1. A two-degree-of-freedom limited exoskeleton ankle joint

The invention comprises a calf rod, the lower end of the calf rod is fixedly connected with the upper end of the upper part of the ankle joint, the lower end of the upper part of the ankle joint is hingedly connected with the transfer ball, the transfer ball is hingedly connected with the upper end of the lower part of the ankle joint, and the upper part of the ankle joint and the transfer ball are perpendicular to the hinge direction between the transfer ball and the lower part of the ankle joint, so that the upper part of the ankle joint forms an approximate ball hinge with the lower part of the ankle joint through the transfer ball, and the lower end of the lower part of the ankle joint is fixedly connected to the foot end.

Both sides of the transfer ball are provided with arc-shaped grooves less than 360 degrees and greater than 180 degrees. The grooves of the arc-shaped grooves on both sides are perpendicular to each other. The upper ends of the components are all pliers with a fixed arc ring structure, and the pliers are opened and closed into the arc-shaped grooves.

The central angle corresponding to the circular arc ring of the pliers body is smaller than the central angle corresponding to the circular arc groove, so that the pliers rotate around the center of the transfer ball along the circular arc groove.

Springs or other flexible materials are arranged between the arc-shaped groove of the transfer ball and the caliper body.

The spring is arranged between the inner end faces of both ends of the arc-shaped groove of the transfer ball and the end faces of the two ends of the caliper body, so that it forms an exoskeleton ankle joint with an elastic structure.

The flexible material is pasted on the contact surface connected between the arc-shaped groove of the transfer ball and the caliper body.

The lower end of the calf rod is connected to the upper end of the upper part of the ankle joint by means of welding, flange or thread.

The lower end of the lower part of the ankle joint is connected to the sole of the foot by means of welding, flange or thread.

2. Application of a two-degree-of-freedom limited exoskeleton ankle joint:

The ankle joint is applied to artificial limbs and other two-degree-of-freedom limiting components.

The beneficial effects that the present invention has are:

The present invention only realizes the flexion, dorsiflexion, varus and valgus movements of the ankle joint in the same center through a very simple structure and cooperation, and limits each degree of freedom at different angles, effectively realizing the exoskeleton Function of the ankle joint.

Description of drawings

Fig. 1 is a structural schematic diagram of the present invention.

Figure 2 is a schematic diagram of the upper part of the ankle joint.

Figure 3 is a schematic diagram of the transfer ball.

Fig. 4 is a sectional view of the transfer ball.

Fig. 5 is an installation diagram of the spring between the arc-shaped groove of the transfer ball and the caliper body.

In the figure: 1, calf rod, 2, upper part of ankle joint, 3, transfer ball, 4, lower part of ankle joint, 5, sole, 6, spring.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

As shown in Figure 1, the two-degree-of-freedom limiting exoskeleton ankle joint of the present invention includes a calf bar 1, an upper part of the ankle joint 2, a transfer ball 3, a lower part of the ankle joint 4 and a sole 5, and the lower end of the calf bar 1 is connected to The upper end of the ankle joint upper part 2 is welded, the lower end of the ankle joint upper part 2 and the transfer ball 3 form a hinge fit connection, the transfer ball 3 forms a hinge fit connection with the ankle joint lower part 4 upper end, the ankle joint upper part 2 and the transfer ball 3 The hinge direction between the transfer ball 3 and the lower part 4 of the ankle joint is perpendicular, so that the upper part 2 of the ankle joint forms an approximate ball hinge with the lower part 4 of the ankle joint through the transfer ball 3, and the lower end of the lower part 4 of the ankle joint is welded to Plantar 5.

As shown in Figure 3 and Figure 4, both sides of the transfer ball 3 are provided with arc-shaped grooves less than 360 degrees and greater than 180 degrees, and the slotting directions of the arc-shaped grooves on both sides are perpendicular to each other, similar to the tennis ball structure The lower end of the upper part 2 of the ankle joint and the upper end of the lower part 4 of the ankle joint are pliers with a fixed circular arc ring structure, the pliers are opened and closed and embedded in the arc-shaped groove, and the inner surface of the pliers structure is in line with the circular arc The inner surfaces of the grooves are in contact with spherical surfaces.

As shown in FIG. 2 , the central angle corresponding to the arc ring of the pliers body is smaller than the central angle corresponding to the arc-shaped groove, so that the pliers body rotates around the center of the transfer ball 3 along the arc-shaped groove.

A spring 6 or other flexible material is arranged between the arc-shaped groove of the transfer ball 3 and the caliper body, so that the ankle joint is flexible and can store or release energy.

As shown in Figure 5, in specific implementation, a spring 6 is respectively provided at both ends of the arc-shaped slot of the transfer ball 3, and the two ends of the spring are connected to the inner end surface of the arc-shaped slot of the transfer ball 3 and the outer surface of the caliper body. Between the end faces, an elastic support is formed at the two ends of the hinge, and the device of the present invention is equipped with four springs in total, so that it forms an exoskeleton ankle joint with an elastic structure.

Concrete implementation work process of the present invention is as follows:

As shown in Figure 2-4, in the standing posture, there is no relative movement between the upper part 2 of the ankle joint, the transfer ball 3 and the lower part 4 of the ankle joint, and the ankle joint of the exoskeleton mainly plays the role of supporting the exoskeleton robot. When the ankle joint is varus or valgus, the caliper body of upper part 2 of the ankle joint rotates around the center of the transfer ball 3 along the arc groove, and the spring 6 deforms to store energy. Since the angle A is equal to the angle D, the angle B is equal to the angle D. C is equal, so when the relative rotation of the upper part 2 of the ankle joint and the receiving ball 3 reaches the angle A, that is, reaching the valgus limit or the angle B that reaches the varus limit, the end surface of the upper part 2 of the ankle joint and the transfer ball 3 The end faces of the arc-shaped grooves coincide, and the relative movement angle reaches the maximum, and the limit is completed. Similarly, when the ankle joint is plantar flexed or dorsi flexed, the same relative movement and position limitation occurs between the transfer ball 3 and the lower part 4 of the ankle joint. Since the sizes of the above-mentioned angles can be controlled by the designer, the limit angle of the ankle joint of the exoskeleton can be changed according to different specific working conditions.

The above-mentioned specific embodiments are used to explain the present invention, rather than to limit the present invention. Within the spirit of the present invention and the protection scope of the claims, any modification and change made to the present invention will fall into the protection scope of the present invention.

Claims (4)

1. a kind of two degrees of freedom /V exoskeleton ankle joint, including shank bar (1), it is characterised in that：Under the shank bar (1) End is fixedly connected with ankle-joint upper-part (2) upper end, and ankle-joint upper-part (2) lower end forms hinged cooperation with switching ball (3) and connects It connects, switching ball (3) forms hinged mating connection, ankle-joint upper-part (2) and switching ball (3) with ankle-joint lower component (4) upper end Between switching ball (3) and ankle-joint lower component (4) between hinged direction it is vertical so that ankle-joint upper-part (2) by turn (3) are received with the approximate ball-joint of ankle-joint lower component (4) formation, ankle-joint lower component (4) lower end is fixedly attached to vola (5)；

The both sides of the switching ball (3) are provided with less than 360 degree and are more than the arc-shaped slot of 180 degree, both sides arc-shaped slot Fluting direction is mutually perpendicular to orthogonal, and the lower end of ankle-joint upper-part (2) and the upper end of ankle-joint lower component (4) are with fixing The caliper of circular arc ring structure, caliper folding are embedded into arc-shaped slot；

Central angle corresponding to the circular arc ring of the caliper is less than the central angle corresponding to arc-shaped slot so that caliper is along circular arc Shape slot is rotated around the centre of sphere of switching ball (3)；

Spring (6) is equipped between the arc-shaped slot and caliper of the switching ball (3)；

The spring is arranged between the both ends inner face of switching ball (3) arc-shaped slot and the both ends end face of caliper so that its Form the exoskeleton ankle joint with elastic construction.

2. a kind of two degrees of freedom /V exoskeleton ankle joint according to claim 1, it is characterised in that：The shank bar (1) lower end is connected with ankle-joint upper-part (2) upper end by welding, flange or engagement thread.

3. a kind of two degrees of freedom /V exoskeleton ankle joint according to claim 1, it is characterised in that：The ankle-joint Lower component (4) lower end is connected with vola (5) by welding, flange or engagement thread.

4. according to a kind of application of any two degrees of freedom /V exoskeleton ankle joint of claims 1 to 3, feature exists In：The ankle-joint is applied to artificial limb and other two degrees of freedom limiting components.