CN109093596A - A kind of passive ankle assistance exoskeleton of double mode - Google Patents
A kind of passive ankle assistance exoskeleton of double mode Download PDFInfo
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- CN109093596A CN109093596A CN201810839260.6A CN201810839260A CN109093596A CN 109093596 A CN109093596 A CN 109093596A CN 201810839260 A CN201810839260 A CN 201810839260A CN 109093596 A CN109093596 A CN 109093596A
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- pawl
- ankle
- ratchet
- mode
- fixed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
The present invention relates to a kind of passive ankle assistance exoskeletons of double mode, belong to wearable power-assisted field of mechanical technique, existing ectoskeleton is solved since own wt causes the elastic element of extra load and ectoskeleton to generate resistance, wearer's walking step state unnatural technical problem to the activity of ankle-joint human body.The present invention provides a kind of passive ankle assistance exoskeletons of double mode, including small leg mechanism, mode-changeover device, lower-leg length adjusting rod, spring, rope, pre-tightening mechanism, tension sensor, ankle-joint mechanism, sole support plate；Mode-changeover device is set on small leg mechanism, and small leg mechanism is connect by lower-leg length adjusting rod with ankle-joint mechanism；Sole support plate is set to below ankle-joint mechanism；Spring is connect by rope with mode-changeover device and pre-tightening mechanism, and pre-tightening mechanism is set in ankle-joint mechanism；The outer skeleton of the passive ankle power-assisted of double mode provided by the invention can provide power-assisted for ankle, reduce body metabolism energy consumption, do not influence the normal gait of wearer.
Description
Technical field
The present invention relates to human body ectoskeleton technical field more particularly to a kind of passive ankle assistance exoskeletons of double mode.
Background technique
Ectoskeleton is that a kind of wearable power-assisted is mechanical, in the process of walking, the center of gravity meeting dipping and heaving of people, when under center of gravity
When shifting, gravitional force converts kinetic energy, and in the moment that foot contacts to earth, a large amount of kinetic energy is converted into impact energy, to human skeleton, muscle
It causes to damage.When pedaling lifting leg, muscle needs to do work again is converted into gravitional force.
Major part ankle assistance exoskeleton is active dynamic ectoskeleton at present, neglects the negative shadow of impact energy bring
Ring, by the energy inputs such as motor replace muscle working, although reducing the power of ankle-joint on the surface, its great number from
Additional load is caused to human body again, can not actually reduce the metabolisable energy that human body consumes in the process of walking.
Another part be the unpowered ectoskeleton of passive type, by elastic element energy storage and release come simulate muscle,
The function of tendon, impact potential when foot is landed store away, and release this portion of energy when pedaling ground, when ground is pedaled in reduction
The function that muscle is done, reduces the metabolisable energy consumption of human body when pedaling ground, and can reduce impact energy to the damage of skeleton, muscle
Wound.But when lift leg freely swings, elastic element produces resistance to the activity of ankle-joint, and improves the metabolisable energy of human body
Consumption, and the walking step state of wearer is made to become unnatural.In conclusion being mounted with after above two ectoskeleton, people exists
Calf muscle peak value of having an effect when pedaling ground can be significantly reduced, but there is no reduce human body in entire gait cycle
Metabolisable energy consumption, or reduced degree are not obvious.
Summary of the invention
In view of above-mentioned analysis, the present invention is intended to provide a kind of passive ankle assistance exoskeleton of double mode, existing to solve:
Existing active ectoskeleton can not reduce what human body consumed in the process of walking since own wt causes extra load to human body
Metabolisable energy；The existing unpowered ectoskeleton of passive type is when wearer lifts leg and freely swings, activity of the elastic element to ankle-joint
Resistance is produced, and improves the metabolisable energy consumption of human body, and the walking step state of wearer is made to become unnatural technology
Problem.
The purpose of the present invention is mainly achieved through the following technical solutions:
The present invention provides a kind of passive ankle assistance exoskeletons of double mode, including small leg mechanism, mode-changeover device, shank
Length adjustment bar, the first elastic element, connector, pre-tightening mechanism, tension sensor, ankle-joint mechanism and sole support plate；Mould
Formula switching device is set on small leg mechanism, and small leg mechanism is connect by lower-leg length adjusting rod with ankle-joint mechanism；Sole support
Plate is set to below ankle-joint mechanism；First elastic element is connect by connector with mode-changeover device and pre-tightening mechanism, is pre-tightened
Mechanism is fixed in ankle-joint mechanism；When the landing of ectoskeleton wearer's foot, mode-changeover device is in locking state, passive ankle
Assistance exoskeleton is in first mode, i.e. energy storage mode；When ectoskeleton wearer's less touch with the ground is swung, mode-changeover device switching
State is freely rotated to be two-way, passive ankle assistance exoskeleton is in second mode, i.e. energy release mode.
Preferably, mode-changeover device includes ratchet mechanism, pulley mechanism, the second elastic element and fixed mechanism；Ratchet
Mechanism, pulley mechanism, the second elastic element are both secured on fixed mechanism；Ratchet mechanism includes ratchet, ratchet shaft, pawl, spine
Pawl axis and pawl spring mechanism；Pulley mechanism includes pulley, the first pawl locating part and the second pawl locating part, the first pawl limit
Position part and the second pawl locating part are respectively arranged on pulley；Pulley, ratchet are fixed on ratchet shaft and rotate synchronously with ratchet shaft；
Pawl is fixed in pawl shaft and rotates synchronously with pawl shaft；Ratchet shaft and pawl shaft are fixed on fixed mechanism by bearing；
Second elastic element is used to provide rotary power for ratchet；Pawl is for limiting ratchet wheel；Pawl spring mechanism
For providing pressure for pawl.
Preferably, fixed structure includes backboard, cover board and at least one column, and backboard and cover board are detachably connected by pillar
It connects；Ratchet shaft and pawl shaft are connect with cover board and backboard by bearing.
Preferably, the second elastic element includes wind spring and wind spring fixed pin；The both ends of wind spring fixed pin respectively with backboard and
Cover board is fixedly connected；Wind spring first end is fixed on wind spring fixed pin, and second end is fixed on ratchet shaft；Wind spring is always ratchet
Apply right handed power.
Preferably, pawl spring mechanism includes sliding slot column, sliding slot, third elastic element and sliding block；Sliding slot column is fixed on back
Between plate and cover board, sliding slot is fixed on pawl top by sliding slot column, and third elastic component and sliding block are set in sliding slot and third
Elastic component is set to above sliding block.
Preferably, the first pawl locating part is to open detent pin, and the second pawl locating part is closure detent pin；Pulley is close
Ratchet side is equipped with interior mother rib lateral rotundum and outer mother rib lateral rotundum, opens detent pin and is set in interior mother rib lateral rotundum and outwardly protrudes a part；Closure
Detent pin is set in outer mother rib lateral rotundum and outwardly protrudes a part；Open the protrusion part of detent pin and the protrusion of closure detent pin
Divide and is used to open or closes pawl.
Preferably, small leg mechanism is equipped with shank bandage, and helicitic texture is equipped on rear side of small leg mechanism, and backboard passes through screw thread knot
Structure is detachably connected with small leg mechanism.
Preferably, the first elastic element is spring, and connector is rope, and spring upper end is connect by rope with pulley, under
End is connect by rope with preload piece, and preload piece lower end is connected with tension sensor；Spring is energy-storage travelling wave tube；Preload piece is used for will
Rope pre-tightens, and tension sensor is used to measure the pulling force of rope.
Preferably, ankle-joint mechanism is U-shaped copper sheathing, and the bottom end two sides of U-shaped copper sheathing are equipped with tripod, and tripod side is equipped with
Strip groove.
Preferably, the bottom plate of sole support plate is identical as wearer's heel shape, and the two sides of sole support plate are equipped with convex
Block, convex block are equipped with circular hole, and convex block is fixedly connected by circular hole with strip groove.
Compared with prior art, the invention has the following advantages:
Invention provides a kind of passive ankle assistance exoskeleton of double mode, stores impact energy in foot landing, releases when pedaling ground
It puts, is ankle-joint power-assisted, and in less touch with the ground, the ankle-joint mechanism of ectoskeleton can freely swing, and will not be limited by spring
System makes the walking step state of wearer more naturally, energy consumption is reduced；In addition, the pattern switching on outer skeleton provided by the invention fills
Being automatically locked, unlocking within a period of motion by pulley rotation realization ratchet, pawl is set, any electrical dress is not needed
It sets, the weight and complexity of ectoskeleton can greatly be mitigated, and ectoskeleton is enable preferably to match different wearers.
It in the present invention, can also be combined with each other between above-mentioned each technical solution, to realize more preferred assembled schemes.This
Other feature and advantage of invention will illustrate in the following description, also, certain advantages can become from specification it is aobvious and
It is clear to, or understand through the implementation of the invention.The objectives and other advantages of the invention can by specification, claims with
And it is achieved and obtained in specifically noted content in attached drawing.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
Fig. 1 is the outer skeleton structural front view of the passive ankle power-assisted of double mode provided by the invention；
Fig. 2 is the outer skeleton structural side view of the passive ankle power-assisted of double mode provided by the invention；
Fig. 3 is the outer skeleton structure top view of the passive ankle power-assisted of double mode provided by the invention；
Fig. 4 is mode-changeover device main view provided by the invention；
Fig. 5 is mode-changeover device side view provided by the invention；
Fig. 6 is mode-changeover device Section A-A figure provided by the invention；
Appended drawing reference:
1- mode-changeover device；2- spring；3- rope；4- pre-tightening mechanism；5- tension sensor；6- shank bandage；7- is small
Leg mechanism；8- lower-leg length adjusting rod；9 ankle-joint mechanisms；10 sole support plates；11- pulley；12- ratchet；13- ratchet shaft；
14- backboard；15- cover board；16- pawl shaft；17- wind spring；18- pillar；19- pawl；20- sliding block；21- pressure spring；22- sliding slot；23-
Sliding slot column；24- wind spring fixed pin；25- opens detent pin；26- is closed detent pin.
Specific embodiment
Specifically describing the preferred embodiment of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes the application a part, and
Together with embodiments of the present invention for illustrating the principle of the present invention, it is not intended to limit the scope of the present invention.
Embodiment one
The present invention provides a kind of passive ankle assistance exoskeletons of double mode, as shown in Figure 1 to Figure 2, including small leg mechanism 7,
Mode-changeover device 1, lower-leg length adjusting rod 8, the first elastic element, connector, pre-tightening mechanism 4, tension sensor 5, ankle close
Save mechanism 9, sole support plate 10；Mode-changeover device 1 is set on small leg mechanism 7, and small leg mechanism 7 passes through lower-leg length adjusting rod
8 connect with ankle-joint module；Sole support plate 10 is set to 9 lower section of ankle-joint mechanism；Spring 2 is filled by connector and pattern switching
Set 1 and pre-tightening mechanism 4 connect, pre-tightening mechanism 4 and be fixed on ankle-joint articulation mechanism 9；
When the landing of ectoskeleton wearer's foot, mode-changeover device 1 is in locking state, and passive ankle assistance exoskeleton is in
First mode, i.e. energy storage mode；
When ectoskeleton wearer's less touch with the ground is swung, mode-changeover device 1, which is switched to, two-way is freely rotated state, passive ankle
Assistance exoskeleton is in second mode, i.e., two-way free schema.
Specifically, small leg mechanism 7 is set to the posterior leg of wearer, and small 7 upper end of leg mechanism is U-shaped board, U-shaped board and wearing
Person's shank fits together, and U-shaped board intermediate symmetry is set there are two square hole, and the lower part of small leg mechanism 7 is the lower end two of U-shaped board
Side is equipped with strip groove, which is bolted to connection with the strip groove on lower-leg length adjusting rod 8；When the leg of wearer
Portion head can increase the strip groove of small 7 bottom of leg mechanism and the link position of the strip groove on lower-leg length adjusting rod 8；Together
Reason, the strip groove that can reduce small 7 bottom of leg mechanism when the leg of wearer is shorter and the item on lower-leg length adjusting rod 8
The link position of shape slot；In turn, in the vertical direction can by adjust lower-leg length adjusting rod 8 link position can
Match different wearers.In the process of walking, when foot landing, ankle-joint mechanism 9 rotates wearer to sole direction, mode
Switching device 1 is in locking state, when foot contact the earth gaskin mechanism 7 rotates clockwise, energy by sole support plate 10,
Ankle-joint mechanism 9 and tension sensor 5 pass on the first elastic element, and the first elastic element (such as spring 2) is absorbed and stored
The portion of energy, passive ankle assistance exoskeleton are in first mode, i.e. energy storage mode, and tension sensor 5 can detecte bullet at this time
2 pulling force size of spring；When the feet step on the ground, ankle-joint mechanism 9 lifts direction along heel and rotates backward, and the first spring element returns are released
Elastic potential energy is put, provides power-assisted for ankle；When less touch with the ground swing when, mode-changeover device 1 by locking state be switched to it is two-way from
By rotary state, ankle-joint mechanism 9 can freely swing, and extra work and then will not stretch the first elastic element, passive ankle helps
Power ectoskeleton is in second mode, i.e., two-way free schema；When the foot of wearer, which is swung, terminates landing, mode-changeover device 1
Switch back into locking state；One gait cycle terminates.
Compared with prior art, the present invention provides a kind of passive ankle assistance exoskeleton of double mode, passes through elasticity when contacting to earth
Element absorbs the shock of a fall energy, and releases energy when pedaling ground, provides power-assisted for ankle；And in less touch with the ground,
It can freely swing, will not be limited by spring 2, and then ectoskeleton does not generate resistance to ankle-joint, does not influence the normal of wearer
Gait takes full advantage of body energy, reduces energy consumption, and the research has been filled up such ectoskeleton and worn in China's power-assisted
Wear the blank of machinery field.In addition, the structure of the passive power-assisted ankle assistance exoskeleton of double mode provided by the invention is simple, quality and
Small volume realizes the lightness of ectoskeleton；Finally, ectoskeleton provided by the invention is not necessarily to additional motor, reduce energy consumption.
In order to which the pattern switching of ectoskeleton is better achieved, the mode-changeover device 1 that the present invention uses specifically includes ratchet
Mechanism, pulley mechanism, the second elastic element and fixed mechanism；Ratchet structure includes ratchet 12, ratchet shaft 13, pawl 19, pawl
Axis 16 and pawl spring mechanism；Ratchet mechanism, pulley mechanism, the second elastic element are both secured on fixed mechanism；Pulley mechanism
Including pulley 11, the first pawl locating part and the second pawl locating part；Pulley, ratchet 12 are fixed on ratchet shaft 13 and and ratchet
Axis 13 rotates synchronously；Pawl 19 is fixed in pawl shaft 16 and rotates synchronously with pawl shaft 16；Ratchet shaft 13 and pawl shaft 16 are logical
Bearing is crossed to be fixed on fixed mechanism；Second elastic element is used to provide rotary power for ratchet 12；Pawl 19 is for limiting spine
12 rotation of wheel；Pawl spring mechanism is used to provide downward pressure for pawl 19.
Specifically, as shown in Figures 4 to 6, ratchet 12, pulley 11, the second elastic component pass sequentially through ratchet shaft 13 and are fixed on
On fixed mechanism；Pawl 19 is fixed on fixed mechanism by pawl shaft 16 and is rotated synchronously with pawl shaft 16, and pawl 19
Top be equipped with a small protrusion, pawl spring mechanism act on this it is small protrusion on, and be always it is small protrusion provide be pressed downward
Power, pawl 19 rides on ratchet 12 at this time；First pawl locating part and the second pawl locating part are respectively arranged on pulley 11, and first
Pawl locating part is used to open pawl 19, and the second pawl locating part is for being closed pawl 19；Second elastic component is fixed on fixed machine
On structure and the second elastic component provides the power rotated clockwise to ratchet 12 always；Ratchet 12 is under the action of the second elastic component
It is rotated clockwise, the angle that ratchet 12 rotates every time is the traverse of ratchet 12, and the size of 12 traverse of ratchet can pass through tune
It saves the interspersed position of the first pawl locating part and the second pawl locating part on pulley 11 to be changed, the first pawl locating part court
It is corresponding critical that the angle that angle and the second pawl locating part rotationally clockwise counterclockwise rotates is referred to as its
Angle, it should be noted that for different wearers, due to its gait difference, pawl 19 rotates critical toward the clockwise direction
Angle is different with the critical angle counterclockwise rotated；In the clockwise direction, when 19 rotational angle of pawl is less than critical
When angle, the pressure of pawl spring mechanism is pressing against the small protrusion of pawl 19, and pawl 19 continues court under the drive of the second elastic component
Rotationally clockwise, as shown in fig. 6, pawl 19 rides on ratchet 12, ratchet 12 is in and is freely rotated, locks clockwise counterclockwise
Death situation state；When 12 rotational angle of ratchet is equal to its critical angle rotationally clockwise, the opening that is fixed on pulley 11
Detent pin 25 pushes pawl 19 to rotate counterclockwise, and pawl 19 is ridden under the pressure of pawl spring mechanism on sliding slot 22, ratchet 12
State is freely rotated in two-way, after pulley 11 is by external force, pawl 19 starts under the effect of pulley 11 towards side counterclockwise
To rotation, up to the second pawl locating part and detent contact and pawl 19 is pushed down on, rides over pawl 19 again on ratchet 12,
Rotating in an anti-clockwise direction for ratchet 12 is blocked by pawl 19 at this time, and ratchet 12 is in locking state.
The passive ankle assistance exoskeleton of double mode provided by the invention is by being connected to mode for the rope connecting with spring 23
On pulley 11 in switching device 1, and wearer's foot landing, pedal and it is liftoff when, different state procedures is according to foot,
Mode-changeover device 1 can be rotated by pulley 11 and be switched to corresponding state, by ratchet 12, pawl 19 a movement week
Being automatically locked, unlocking in the phase, so that wearer's ankle-joint be enable to be freely rotated, is not limited by ectoskeleton, final to realize just
The walking of row gait；In addition, the mode-changeover device 1 does not need any electric device, this can greatly alleviator weight
And complexity.
For skeleton outside the passive ankle power-assisted of the above-mentioned double mode of stronger fixation, the fixed mechanism that the present invention uses includes back
Plate 14 and cover board 15, backboard 14 and cover board 15 are detachably connected by pillar 18；The both ends of ratchet shaft 13 and pawl shaft 16 point
It is not connect with cover board 15 and backboard 14.
Illustratively, as shown in Figures 4 to 6, in the present invention, fixed mechanism is the bracket of mode-changeover device 1, fixed machine
Structure includes backboard 14, cover board 15 and pillar 18, and dorsulum 14 and 15 bottom of cover board are respectively equipped with the bearing hole location of ratchet shaft 13
With the bearing hole location of pawl shaft 16；Ratchet shaft 13, pawl shaft 16, pillar 18, sliding slot column 23 be set to backboard 14 and cover board 15 it
Between, wherein ratchet shaft 13 and pawl shaft 16 are connect with backboard 14 and cover board 15 by bearing；Pillar 18 and backboard 14 and cover board 15
Backboard 14 and cover board 15 are fixed together by screw thread, 14 medium position of backboard is equipped with the branch of three hollow forms being parallel to each other
Column 18, this three pillars 18 are connect by screw thread with backboard 14 and cover board 15 respectively, and three pillars 18 are parallel and are in equilateral triangle
Distribution, and three pillars 18 are set to above the middle position of ratchet shaft 13 and pawl shaft 16；On backboard 14 above pillar 18,
Two threaded holes are additionally provided with, the purpose that the threaded hole is arranged is to can connect loose-leaf structure by the threaded hole, utilizes loose-leaf knot
Mode-changeover device 1 and small leg mechanism 7 are detachably connected by structure.It should be noted that pawl spring mechanism just on
Side is equipped with sliding slot column 23, and sliding slot column 23 is connect by way of bolt with backboard 14 and cover board 15；Sliding slot column 23 with it is pawl spring
Mechanism is integrally formed connection, and sliding slot column 23 fixes pawl spring mechanism and then connecting with backboard 14 and 15 bolt of cover board,
It is pressed in the bottom of pawl spring mechanism just in the small protrusion of pawl 19, in this way, pawl spring mechanism can be always pawl
19 small protrusion provides a downward pressure.It can be firmly by ratchet mechanism, pulley mechanism and second by fixed mechanism
Elastic component is fixed on one piece, constitutes mode-changeover device 1；The structural compactness of mode-changeover device 1 can be improved in this way, reduce
The occupied space of mode-changeover device 1.
In order to apply right handed power to ratchet 12 always, the second elastic component in the present invention can be using volume
The both ends of spring 17 and wind spring fixed pin 24,17 fixed pin of wind spring are fixedly connected with backboard 14 and cover board 15 respectively；Wind spring 17 first
End is fixed on wind spring fixed pin 24, and second end is fixed on ratchet shaft 13；Using wind spring 17 is pre-tightened before outer skeleton, wind spring 17 begins
It is eventually that ratchet 12 applies right handed power.Specifically, wind spring fixed pin 24 passes through bolt mode and backboard 14 and lid
Plate 15 is fixedly connected, and one end of wind spring 17 is fixed on wind spring fixed pin 24, and the other end is fixed on ratchet shaft 13, is pre-tightened in advance
Size can be adjusted in good wind spring fixed pin 24, the preload degree of wind spring 17 according to actual needs, and wind spring 17 passes through ratchet shaft
13 provide right handed power to ratchet 12 always.Ratchet can be rotated clockwise under the action of wind spring 17.
In order to preferably act on the small protrusion of pawl 19, pawl spring mechanism includes sliding slot column 23, sliding slot 22,
Three elastic elements and sliding block 20；Sliding slot column 23 is fixed between backboard 14 and cover board 15, and sliding slot 22 is fixed on by sliding slot column 23
19 top of pawl, third elastic component and sliding block 20 are set in sliding slot 22 and third elastic component is set to 20 top of sliding block, sliding block 20
It above pawl 19 and is always that pawl 19 applies downward pressure；Third elastic component, 20 upper end of sliding block are equipped in sliding slot 22
Spring 2 is withstood, lower end, which is pressed on pawl 19 and is continuously pawl 19, provides downward pressure.
Specifically, sliding slot column 23 is connected through a screw thread with backboard 14 and cover board 15, and sliding slot 22 and sliding slot column 23 are integrally formed,
Sliding slot 22 is fixed between backboard 14 and cover board 15 by sliding slot column 23, and sliding slot 22 is that hollow form is cylindrical, in sliding slot 22
Upper ends have third elastic element (such as pressure spring), and pressure spring 21 is sliding block 20 below, and sliding block 20 is small with beneath pawl 19
Protrusion is just corresponding and applies downward pressure to small protrusion.
When passive ankle assistance exoskeleton is in second mode, i.e. two-way free schema, the kick of pawl 19 is located at sliding block
On the left of 20 middle lines, pawl spring mechanism, which applies downward pressure to pawl 19 and can be realized pawl 19, to be rotated in an anti-clockwise direction, makes
Pawl 19 is against always on sliding slot 22, drives 12 direction of ratchet when wearer's foot lands and pass through rope 3, spring 2 and pulley 11
It when rotating in an anti-clockwise direction, can be rotated within the scope of certain angle, i.e., anticlockwise face be formed by closure detent pin 26
It is rotated in boundary's angle.This design can enable to be freely rotated when less touch with the ground, i.e., after less touch with the ground, ankle-joint can be one
Determine front and back rotation in range；Ectoskeleton will not have an impact ankle-joint, to will not influence the normal gait of wearer.
In order to preferably control 19 slewing area of pawl, as shown in fig. 6, above-mentioned first pawl locating part is to open detent pin
25, the second pawl locating part is to close detent pin；Pulley 11 is equipped with interior mother rib lateral rotundum and outer mother rib lateral rotundum, opens detent pin 25 set on interior
In mother rib lateral rotundum and outwardly protrude a part；Closure detent pin 26 is set in outer mother rib lateral rotundum and outwardly protrudes a part；Open pawl
The protrusion part of pin 25 and the protrusion part of closure detent pin 26 are used to open or close pawl 19.
Illustratively, pulley 11 is fixed between ratchet 12 and wind spring 17 by ratchet shaft 13, the rope 3 on ectoskeleton with
Pulley 11 connects, and pulley 11 is equipped with two circle circular holes, respectively interior mother rib lateral rotundum and outer mother rib lateral rotundum close to the one side of ratchet 12, beats
Opening detent pin 25 can be inserted in any one interior mother rib lateral rotundum, any one outer mother rib lateral rotundum equally can be inserted in closure detent pin 26
In；When less touch with the ground, ankle-joint mechanism 9 can freely swing, at this point, ectoskeleton does not generate resistance to ankle-joint mechanism, therefore
It will not influence the normal gait of wearer, the state of mode-changeover device 1 correspondingly are as follows: when foot is just liftoff, ankle-joint is suitable
Hour hands rotation, ratchet 12 and pawl 19 mesh together, and ratchet 12 can only turn clockwise under the action of wind spring 17
It is dynamic, it rotates in an anti-clockwise direction limited；Being rotated in the clockwise direction specified angle under the action of ratchet 12 is in wind spring 17, (this refers to
Determine angle to be determined by the position that opening detent pin 25 is inserted) when, pawl 19 can be pushed open by opening detent pin 25, and sliding block 20 pushes up pawl 19
On sliding slot 22, ratchet 12 is made to become the two-way state being freely rotated, ratchet 12 continues up time under the action of wind spring 17 at this time
Needle rotation, until (external force refers to that ankle-joint mechanism 9 rotates counterclockwise to external force on pulley 11, draws on pulley 11
It moves spring 2, the rope 3 being connected at the same time with 2 upper end of spring is also tightened up, and the pulley 11 being connected with rope 3 started towards the inverse time
Needle direction rotation, while driving ratchet shaft 13 towards rotating in an anti-clockwise direction, and then ratchet 12 is towards rotating in an anti-clockwise direction),
Ratchet 12 is set to start to rotate counterclockwise；When ratchet 12 turns to specified angle in the counterclockwise direction under the effect of external force, (this refers to
Determine angle to be determined by the position that closure detent pin 26 is inserted) when, detent pin 26 is closed by pawl 19 and pushes ratchet 12 to, and sliding block 20 is by spine
Pawl 19 is withstood on ratchet 12, the state for making ratchet 12 become unidirectionally locking, and after foot landing, ankle-joint mechanism 9 continues to turn counterclockwise
When dynamic, spring 2 is elongated, and realizes storage elastic potential energy, and when the feet step on the ground, spring 2 is reset to the ankle-joint power-assisted of wearer, release
Elastic potential energy (removes external force to refer to when less touch with the ground and when freely swinging) when removing external force, and ratchet 12 is under the action of wind spring 17
Certain angle is rotated clockwise, the initial position in period is returned to.
The present invention is by presetting the opening detent pin 25 of special angle and being closed detent pin 26, when pulley 11 is made in wind spring 17
When carrying out rotating with the counter clockwise direction period under external force clockwise under, passes through and open detent pin 25 and closure spine
Pawl pin 26 automatically switches to locking state and two-way state is freely rotated.It is emphasized that pawl 19 according to the present invention,
It can be by enabling it on the both sides of critical angle by the lasting corresponding side that presses to, unlimited fixture body pawl bullet otherwise
Property mechanism.Likewise, it is emphasized that can be fixed on by the way that detent pin 25 and closure detent pin 26 will be opened otherwise
On pulley 11, it might even be possible to be made of one formula structure, unlimited fixture body connection type.
In order to preferably fix small leg mechanism 7, small leg mechanism 7 is equipped with shank bandage 6, small 7 rear portion interposition of leg mechanism
Helicitic texture is installed, backboard 14 is detachably connected by helicitic texture with small leg mechanism 7.Specifically, small 7 rear portion of leg mechanism is
U-shaped structure, shank bandage 6 are elastic webbing, and 6 one end of shank bandage is connected with the U-shaped structure, and the other end is equipped with hook；This is U-shaped
Structure is nested together with wearer's shank, and shank bandage 6 is reached the U-shaped structure other side around wearer's shank and hung using hook
On small leg mechanism 7.By the elastic webbing of shank bandage 6, double mode ankle assistance exoskeleton tightly can be fitted in wearer
Shank on, will not influence the normal gait of wearer.
It is U-shaped in ankle-joint mechanism 9 to match exoskeleton ankle joint mechanism 9 preferably with the ankle-joint of wearer
Copper sheathing, the bottom end two sides of U-shaped copper sheathing are triangle frame；The triangle type frame side parallel with shank direction is equipped with strip groove, convex block
It is fixedly connected with strip groove.Specifically, between the U-shaped frame of ankle-joint mechanism and the ankle-joint of wearer there are certain safety away from
From the rear side middle position of ankle-joint mechanism 9 is equipped with tension sensor 5, and tension sensor 5 and 9 screw thread of ankle-joint mechanism connect
It connects, which can measure the pulling force of rope 3.The present invention can be good at protection using U-shaped ankle-joint mechanism 9 and wear
The ankle of wearer；When the less touch with the ground of wearer, heel is lifted up, and U-shaped copper sheathing is connected by pin and lower-leg length adjusting rod 8
It connects, and U-shaped copper sheathing has certain rotational freedom.
In order to match ectoskeleton preferably with wearer, the bottom plate of the sole support plate 10 of ectoskeleton and the heel of people
Shape is identical, as shown in figure 3, the two sides of sole support plate 10 are equipped with convex block, convex block is equipped with circular hole.Specifically, of the invention
Sole support plate 10 is connected together with wearer's shoes by screw or glue connection, and lower support plate two sides convex block is equipped with up and down
Two rows of circular holes, every row set there are three circular hole；Convex block is arranged in sole support plate and the purpose that circular hole is arranged on convex block is: passing through tune
The link position between ankle-joint mechanism 9 and sole sole support plate is saved, ankle-joint mechanism 9 is enable to match different wearings
Person.For example, when wearer's ankle-joint joint is bigger and relatively high, by the strip groove and sole support plate in ankle-joint mechanism 9
Circular hole on rear side of upper row on the convex block of two sides is threadedly coupled；It, will be in ankle-joint mechanism 9 when wearer's ankle-joint is smaller
Strip groove is threadedly coupled with the circular hole on front side of the lower row on the convex block of sole support plate two sides；By adjust ankle-joint mechanism 9 with
The link position of sole support plate 10 is different, and making ankle-joint mechanism 9 in the horizontal direction has certain adjusting model with vertical direction
It encloses, the ankle-joint mechanism 9 of ectoskeleton is enable to match the ankle-joint of wearer.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of passive ankle assistance exoskeleton of double mode, which is characterized in that including small leg mechanism, mode-changeover device, leg length
Spend adjusting rod, the first elastic element, connector, pre-tightening mechanism, tension sensor, ankle-joint mechanism and sole support plate；
The mode-changeover device is set on the small leg mechanism, and the small leg mechanism passes through the lower-leg length adjusting rod and institute
State the connection of ankle-joint mechanism；The sole support plate is set to below the ankle-joint mechanism；First elastic element passes through institute
It states connector to connect with the mode-changeover device and the pre-tightening mechanism, the pre-tightening mechanism is fixed on the ankle-joint mechanism
On；
When the landing of ectoskeleton wearer's foot, the mode-changeover device is in locking state, the passive ankle assistance exoskeleton
In first mode, i.e. energy storage mode；
When ectoskeleton wearer's less touch with the ground is swung, the mode-changeover device, which is switched to, two-way is freely rotated state, the quilt
Dynamic ankle assistance exoskeleton is in second mode, i.e., two-way free schema.
2. passive ankle assistance exoskeleton according to claim 1, which is characterized in that the mode-changeover device includes ratchet
Mechanism, pulley mechanism, the second elastic element and fixed mechanism；
The ratchet mechanism, pulley mechanism, the second elastic element are both secured on fixed mechanism；The ratchet mechanism includes spine
Wheel, ratchet shaft, pawl and pawl spring mechanism；The pulley mechanism includes pulley, the first pawl locating part and the second pawl limit
Position part, the first pawl locating part and the second pawl locating part are respectively arranged on pulley；
The pulley, ratchet are fixed on ratchet shaft and rotate synchronously with ratchet shaft；The pawl be fixed in pawl shaft and with
Pawl shaft rotates synchronously；The ratchet shaft and pawl shaft are fixed on fixed mechanism by bearing；
Second elastic element is used to provide rotary power for ratchet；The pawl is for limiting ratchet wheel；The pawl
Elastic mechanism is used to provide pressure for pawl.
3. passive ankle assistance exoskeleton according to claim 2, which is characterized in that the fixed structure includes backboard, lid
Plate and at least one column, the backboard and cover board are detachably connected by pillar；The ratchet shaft and pawl shaft and cover board and
Backboard is connected by bearing.
4. passive ankle assistance exoskeleton according to claim 3, which is characterized in that second elastic element includes wind spring
With wind spring fixed pin；The both ends of the wind spring fixed pin are fixedly connected with backboard and cover board respectively；The wind spring first end is fixed
In on wind spring fixed pin, second end is fixed on ratchet shaft；
The wind spring is always that ratchet applies right handed power.
5. passive ankle assistance exoskeleton according to claim 4, which is characterized in that the pawl spring mechanism includes sliding slot
Column, sliding slot, third elastic element and sliding block；The sliding slot column is fixed between backboard and cover board, and sliding slot is fixed by sliding slot column
Above pawl, third elastic component and sliding block are set in sliding slot and third elastic component is set to above sliding block.
6. passive ankle assistance exoskeleton according to claim 5, which is characterized in that the first pawl locating part is to open
Detent pin, the second pawl locating part are closure detent pin；The pulley is equipped with interior mother rib lateral rotundum and outside close to ratchet side
Circular hole, the opening detent pin are set in interior mother rib lateral rotundum and outwardly protrude a part；The closure detent pin is set to outer mother rib lateral rotundum
It is interior and outwardly protrude a part；The protrusion part for opening detent pin and the protrusion part of closure detent pin are used to open or close
Close pawl.
7. passive ankle assistance exoskeleton described in -6 according to claim 1, which is characterized in that the small leg mechanism is equipped with shank
Bandage, the small leg mechanism rear side are equipped with helicitic texture, and the backboard is detachably connected by helicitic texture and small leg mechanism.
8. passive ankle assistance exoskeleton according to claim 7, which is characterized in that first elastic element is spring,
The connector is rope, and the spring upper end is connect by rope with pulley, and lower end is connect by rope with preload piece, is pre-tightened
Part lower end is connected with tension sensor；
The spring is energy-storage travelling wave tube；For the preload piece for pre-tightening rope, tension sensor is used to measure the pulling force of rope.
9. passive ankle assistance exoskeleton according to claim 8, which is characterized in that the ankle-joint mechanism is U-shaped copper sheathing,
The bottom end two sides of U-shaped copper sheathing are equipped with tripod, and the tripod side is equipped with strip groove.
10. passive ankle assistance exoskeleton according to claim 9, which is characterized in that the bottom plate of the sole support plate with
Wearer's heel shape is identical, and the two sides of the sole support plate are equipped with convex block, and the convex block is equipped with circular hole, the convex block
It is fixedly connected by circular hole with strip groove.
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| CN201810839260.6A CN109093596B (en) | 2018-07-27 | 2018-07-27 | Dual-mode passive ankle power assisting exoskeleton |
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| CN201810839260.6A CN109093596B (en) | 2018-07-27 | 2018-07-27 | Dual-mode passive ankle power assisting exoskeleton |
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| CN109968329A (en) * | 2019-04-17 | 2019-07-05 | 景浩 | Elasticity weight bearing ectoskeleton |
| CN110047351A (en) * | 2019-05-17 | 2019-07-23 | 杭州知天电子商务有限公司 | A kind of VR flight experience machine |
| CN110125908A (en) * | 2019-04-16 | 2019-08-16 | 上海大学 | A kind of laborsaving walking aid of no external impetus input |
| CN110292507A (en) * | 2019-06-10 | 2019-10-01 | 南方科技大学 | A kind of ankle-joint assistance exoskeleton |
| CN110302000A (en) * | 2019-08-02 | 2019-10-08 | 上海博灵机器人科技有限责任公司 | It is a kind of for intervening the dynamic orthotic appliance and method of children's hip anormogenesis |
| CN110974632A (en) * | 2019-11-06 | 2020-04-10 | 中国科学院深圳先进技术研究院 | Ankle joint booster unit |
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| CN110125908A (en) * | 2019-04-16 | 2019-08-16 | 上海大学 | A kind of laborsaving walking aid of no external impetus input |
| CN110125908B (en) * | 2019-04-16 | 2022-06-14 | 上海大学 | Labor-saving walking aid without external power input |
| CN109968329A (en) * | 2019-04-17 | 2019-07-05 | 景浩 | Elasticity weight bearing ectoskeleton |
| CN109968329B (en) * | 2019-04-17 | 2024-04-19 | 景浩 | Elastic load exoskeleton |
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| CN110292507A (en) * | 2019-06-10 | 2019-10-01 | 南方科技大学 | A kind of ankle-joint assistance exoskeleton |
| CN110302000A (en) * | 2019-08-02 | 2019-10-08 | 上海博灵机器人科技有限责任公司 | It is a kind of for intervening the dynamic orthotic appliance and method of children's hip anormogenesis |
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| CN110974632A (en) * | 2019-11-06 | 2020-04-10 | 中国科学院深圳先进技术研究院 | Ankle joint booster unit |
| CN111604887A (en) * | 2020-05-08 | 2020-09-01 | 华南理工大学 | Utensil and wearing formula transport are assisted to two-state locking Assembly and material transport |
| CN111604887B (en) * | 2020-05-08 | 2024-04-12 | 华南理工大学 | Binary locking assembly and material carrying auxiliary tool and wearable carrying auxiliary tool |
| CN111791218A (en) * | 2020-07-27 | 2020-10-20 | 三一建筑机器人(西安)研究院有限公司 | Rotatory stop device and dress seat |
| CN111791218B (en) * | 2020-07-27 | 2023-08-29 | 三一建筑机器人(西安)研究院有限公司 | Rotary stop device and wearable seat |
| CN112077828A (en) * | 2020-09-17 | 2020-12-15 | 中国科学院深圳先进技术研究院 | Power-assisted exoskeleton |
| CN112076070A (en) * | 2020-09-17 | 2020-12-15 | 中国科学院深圳先进技术研究院 | Flexible lower limb exoskeleton and control method thereof |
| CN112077828B (en) * | 2020-09-17 | 2022-02-22 | 中国科学院深圳先进技术研究院 | Power-assisted exoskeleton |
| CN112245238A (en) * | 2020-10-21 | 2021-01-22 | 江南大学 | Rehabilitation exoskeleton walking aid based on human body gravitational potential energy conversion |
| CN112245238B (en) * | 2020-10-21 | 2021-08-24 | 江南大学 | Rehabilitation exoskeleton walking aid based on human body gravitational potential energy conversion |
| CN112936228A (en) * | 2021-02-08 | 2021-06-11 | 延边大学 | Lower limb exoskeleton robot |
| CN112936228B (en) * | 2021-02-08 | 2023-03-14 | 延边大学 | Lower limb exoskeleton robot |
| CN113081697A (en) * | 2021-03-30 | 2021-07-09 | 河北工业大学 | Active energy storage type ankle joint walking aid |
| CN113954053B (en) * | 2021-12-01 | 2023-08-15 | 上海傅利叶智能科技有限公司 | Wearing space adjustable exoskeleton wearing equipment |
| CN113954053A (en) * | 2021-12-01 | 2022-01-21 | 上海傅利叶智能科技有限公司 | Exoskeleton wearing equipment with adjustable wearing space |
| CN114310943A (en) * | 2021-12-23 | 2022-04-12 | 杭州太希智能科技有限公司 | Joint module, assistance lower limb exoskeleton capable of freely bending in leg lifting state and whole body exoskeleton |
| WO2023130968A1 (en) * | 2022-01-05 | 2023-07-13 | The Hong Kong Polytechnic University | Knee exoskeleton device |
| CN114406987B (en) * | 2022-01-17 | 2023-07-04 | 华中科技大学 | Passive exoskeleton device based on energy trans-articular transfer |
| CN114406987A (en) * | 2022-01-17 | 2022-04-29 | 华中科技大学 | Passive exoskeleton device based on energy trans-joint transfer |
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