Exoskeleton joint self-locking mechanism, knee joint, and bionic rehabilitation robot
An exoskeleton joint self-locking mechanism, a knee joint and a bionic rehabilitation robot are provided. The self-locking mechanism comprises a first base, a rotating outward expanding locking member, a second base and a locking driving member; the rotating outward expanding locking member comprises a first rotating frame and a second rotating frame, and outer sides of the first rotating frame and the second rotating frame have a first friction surface; one end of the first rotating frame is pivoted with one end of the second rotating frame; the second base is rotationally mounted on the first base, and an inner wall of the second base defines a second friction surface enclosing the first friction surface; the locking driving member applies/removes a force pushing away from free ends of the first rotating frame and the second rotating frame, to make the first friction surface lock/unlock the second friction surface.
1 . An exoskeleton joint self-locking mechanism, characterized in comprising:
a first base having a first compartment;
a rotating outward expanding locking member disposed in the first compartment, the rotating outward expanding locking member comprising a first rotating frame and a second rotating frame, and an outer side of the first rotating frame and an outer side of the second rotating frame correspondingly having a first friction surface; each of one end of the first rotating frame and one end of the second rotating frame is provided with a lug, the lug defines a hole, and two lugs are stacked together and inserted and mounted by a pivot mounting shaft, and another end of the first rotating frame and another end of the second rotating frame being relatively free ends;
a second base having a second compartment; the second base being rotationally mounted on the first base, and an inner wall of the second compartment enclosing the rotating outward expanding locking member and defining a second friction surface matching with the first friction surface; and
a locking driving member capable of applying/removing a force pushing away from the free end of the first rotating frame and the free end of the second rotating frame, to make the first friction surface close contact to lock/unlock the second friction surface; further, the free end of the first rotating frame and/or the free end of the second rotating frame being correspondingly provided with a stress slope surface, the locking driving member comprising a driving motor and a telescopic locking portion, the telescopic locking portion having a force applying slope surface, and the force applying slope surface applying force to the stress slope surface along with the telescopic locking portion,
wherein the driving motor comprises a miniature direct current (DC) motor, a reduction gearbox, and a mounting bearing, the reduction gearbox is mounted on the miniature DC motor, the driving motor is mounted in the first base, and the first base defines a groove adapted to the driving motor in shape and position to mount and limit the driving motor.
2 . The exoskeleton joint self-locking mechanism of claim 1 , wherein an inverted trapezoidal space is formed between the stress slope surface of the first rotating frame and the stress slope surface of the second rotating frame, and a shape of the telescopic locking portion matches with the inverted trapezoidal space.
3 . The exoskeleton joint self-locking mechanism of claim 1 , wherein the first base is further provided with a chute, and the telescopic locking portion is a locking slider disposed in the chute; a driving end of the driving motor is provided with a threaded segment, the locking slider is provided with a threaded groove, and the threaded segment is inserted into the threaded groove.
4 . An exoskeleton knee joint, characterized in comprising a shank connecting rod, a thigh connecting rod and the exoskeleton joint self-locking mechanism of claim 3 ; the shank connecting rod is connected to the first base, and the thigh connecting rod is connected to the second base.
5 . An exoskeleton bionic rehabilitation robot, characterized in comprising the exoskeleton knee joint of claim 4 and an ankle-foot component which is connected to the shank connecting rod of the exoskeleton knee joint.
6 . The exoskeleton bionic rehabilitation robot of claim 5 , wherein the exoskeleton bionic rehabilitation robot further comprises a control unit comprising:
a control motherboard being in control connection to the locking driving member; and
a ranging sensor disposed on the ankle-foot component to measure a distance between the ankle-foot component and a walking surface, and the ranging sensor being in signal connection to the control motherboard.
7 . The exoskeleton bionic rehabilitation robot of claim 6 , wherein the ranging sensor includes, but is not limited to, an infrared ranging sensor, a laser ranging sensor, an ultrasonic ranging sensor, and a radar ranging sensor.
8 . The exoskeleton bionic rehabilitation robot of claim 6 , wherein the exoskeleton bionic rehabilitation robot further comprises a locking measuring mechanism comprising:
a synchronous shaft rotating synchronously with a driving shaft of the driving motor;
a signal transmitter and a signal receiver arranged opposite to each other at intervals;
a measuring turntable, a rotation center of the measuring turntable being connected to the synchronous shaft, and an edge of the measuring turntable being alternately provided with a signal masked area and a signal unmasked area; and the measuring turntable rotating with the synchronous shaft to circularly block/switch on the signal connection between the signal transmitter and the signal receiver.
9 . The exoskeleton bionic rehabilitation robot of claim 8 , wherein the signal transmitter and the signal receiver are a set of infrared transceiver photodiode pairs.
10 . The exoskeleton bionic rehabilitation robot of claim 9 , wherein the measuring turntable is a raster encoder.
11 . The exoskeleton bionic rehabilitation robot of claim 8 , wherein the driving motor is a coaxial motor, and the synchronous shaft and the driving shaft of the driving motor are configured to be coaxial but at two different ends.
12 . The exoskeleton bionic rehabilitation robot of claim 6 , wherein the ankle-foot component and the shank connecting rod are rotationally connected, the shank connecting rod is provided a third base thereon, the ankle-foot component is provided a fourth base thereon, an ankle-foot rotating shaft is disposed on the third base, an ankle-foot bearing is disposed on the fourth base, and the fourth base is mounted on the third base through the ankle-foot component.
13 . The exoskeleton bionic rehabilitation robot of claim 12 , wherein the ranging sensor is mounted at one end of the third base facing the walking surface.
14 . The exoskeleton joint self-locking mechanism of claim 1 , wherein the second base is mounted to the first base through a mounting mechanism, and the mounting mechanism comprises:
a mounting groove provided on the second base;
a bearing, an outer ring of the bearing being fixedly mounted in the mounting groove; and
a rotating shaft disposed in the first compartment of the first base, and an inner ring of the bearing being fixedly mounted on the rotating shaft.
15 . The exoskeleton joint self-locking mechanism of claim 1 , wherein the free end of the first rotating frame and the free end of the second rotating frame are connected to each other through an elastic return member.
16 . The exoskeleton joint self-locking mechanism of claim 1 , further comprising:
a clamp spring, wherein the bearing is fixedly mounted in the mounting groove through the clamp spring.