CN110559162B - Lower limb exoskeleton driver - Google Patents
Lower limb exoskeleton driver Download PDFInfo
- Publication number
- CN110559162B CN110559162B CN201910806014.5A CN201910806014A CN110559162B CN 110559162 B CN110559162 B CN 110559162B CN 201910806014 A CN201910806014 A CN 201910806014A CN 110559162 B CN110559162 B CN 110559162B
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- pawl
- ratchet wheel
- turntable
- state
- main shaft
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
Abstract
The invention discloses a lower limb exoskeleton driver, which comprises a driving device, a rack, a main shaft, a turntable, a ratchet wheel and a pawl assembly, wherein the main shaft is freely and rotatably arranged on the rack; the turntable is fixed on the main shaft; the ratchet wheel can be freely rotatably sleeved on the main shaft; the pawl assembly comprises a first pawl and a second pawl, the first pawl is pivotally arranged on the rack, and the second pawl is pivotally arranged on the turntable; when the first pawl is meshed with the ratchet wheel and the second pawl is separated from the ratchet wheel, the ratchet wheel is static, and the rotary disc can extend along with the backswing of the lower limb and rotate from the first position to the second position against the ratchet direction of the ratchet wheel; when the rotating disc rotates to the second position, the first pawl is separated from the ratchet wheel, the second pawl is meshed with the ratchet wheel, and the driving device drives the rotating disc to rotate along the ratchet direction of the ratchet wheel, so that the lower limbs are pushed to step forwards. The invention can provide external force for the walking of the patient with spinal cord injury, so that the patient with a higher muscle injury plane can use the device, and the device has small volume and convenient control.
Description
Technical Field
The invention relates to the technical field of bionic robots in rehabilitation engineering, in particular to a lower limb exoskeleton driver.
Background
Studies have shown that standing and upright walking have many benefits for spinal cord injured patients, such as increasing bone density, reducing the likelihood of decubitus ulcers and urinary tract infections, maintaining joint mobility, relieving muscle spasms, improving the cardiovascular system, and communicating equally with healthy people standing at the same height to increase social engagement. The lower limb walking assisting exoskeleton can help patients with spinal cord injury to realize standing and upright walking, and has positive significance.
At present, a series of researches are carried out on walking aid equipment for patients with spinal cord injury at home and abroad, and fruitful results are obtained in the aspects of core technology and clinical application. The existing walking aid equipment is mainly divided into a power type and an unpowered type. The development of powered walking exoskeleton began in the 60's of the last century and now underwent exploration, accumulation and rapid development, and is now advancing into the future concept. Some powered walking exoskeletons are commercialized, and most typically, like ReWalk of ReWalk Robotics company in israel, the powered walking exoskeletons realize joint rotation of a walking aid device through system program control by using a motor, and then transfer interaction force to a human body through a binding system to compensate muscles with damaged motion functions of lower limbs of the human body, and keep balance by using a crutch or a walking aid frame, so that a patient can walk. Powered walking exoskeletons have evolved from primarily addressing the realization of simulating gait walking of healthy persons initially to addressing lightweight, intelligent and better ergonomic fusion. In the key technical aspect, the main focus of the power walking aid equipment is on the core technical aspects such as a mechanical structure, a power source, a detection sensing device, a control and information processing system and the like. Although powered walking exoskeletons such as Rewalk have been commercialized and are beginning to serve patients on the market, such exoskeletons are generally bulky and heavy and expensive and are not affordable to general households due to their complex electrical controls, sensing and power systems.
Unpowered walker devices began with lower extremity joint orthoses and have been developed for over a hundred years. Initially, unpowered walker devices, represented by knee-ankle-foot orthotics (KAFO), provide lower limb joint support for patients, prevent accidents such as falling of patients due to flexion of knee joints, and improve stability of patients during standing and walking. When a patient walks by using KAFO, the gravity center of the body is firstly transferred to the lower limb at one side of the body, and then the lower limb is thrown out by the trunk muscle group (and the residual hip bending muscle group) to keep walking by using inertia; by further development, Walkabout connects the lower limbs on both sides with herringbone hinges on the basis of KAFO to further improve the balance of the patient in standing; the Louisiana State university interactive orthosis (LSU-RGO) connects two hip joints through a steel cable, when a patient walks, the gravity center of the body is transferred to the lower limb on one side of a support, then the trunk is stretched to enable the hip joint on the same side to do hyperextension movement, the moment generated by pedaling the ground is transferred to the hip joint on the opposite side through the steel cable to drive the hip joint on the opposite side to do flexion movement, and the purpose of forming interactive walking by utilizing the extension of the trunk is achieved. The subject group of the red teacher in Qinghua university forest finds that compared with normal gait, the walking of the fixed knee and ankle joint increases the energy absorbed by the flexor of the hip joint in the supporting period, and on the basis, the technical concept and the implementation method of energy storage through the hip joint are provided, the stretching spring is used for simulating the ilium muscle to absorb the energy generated by the stretching of the hip joint, and the stretching spring is released in the swinging period to provide assistance for the flexion of the hip joint. The bionic energy storage exoskeleton (ES-EXO) system further improves the performance of the Unpowered walking assisting exoskeleton. Compared with a complex control system and a huge driving device of a powered walking aid device, the unpowered walking aid device realizes the control of the device through the nervous system of a patient, and the energy generated by the muscle with undamaged upper limb and trunk movement functions is transmitted to the lower limb by using the mechanical structure of the walking aid device, so that the muscle with damaged lower limb movement functions is compensated, and the human body and the exoskeleton move simultaneously. Because the walking principle of different types of unpowered walking aid devices is different, the muscles playing the role of compensation are different, and the requirements on the residual capacity of the patient are also different.
Although the ES-EXO based on the energy storage of the torsion spring and the tension spring can effectively help the patient with spinal cord injury to stand and walk, the pelvis of the patient cannot be prevented from being pushed forwards during the energy storage period due to the absence of the clutch in the exoskeleton energy storage structure; meanwhile, due to the limitation of the limb bearing capacity of the patient, the assistance force provided by the energy storage structure is far less than the force required by the actual walking of the patient, so that the patient can use the energy storage structure only by having good trunk control capacity.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a lower extremity exoskeleton actuator, which can provide an external force for a patient with spinal cord injury to walk, reduce the requirement for residual muscle capacity of the patient with spinal cord injury, enable the patient with a higher muscle injury level to use, and has the advantages of small volume, simple structure and convenient control.
A lower extremity exoskeleton actuator according to an embodiment of the present invention comprises:
a drive device;
a frame;
the two ends of the main shaft are respectively and freely rotatably arranged on the two ends of the rack;
the rotary table is sleeved and fixed on the main shaft, and can rotate between a first position and a second position in a reciprocating and periodic manner;
the ratchet wheel is sleeved on the main shaft in a freely rotatable manner and is connected with the driving device;
the pawl assembly comprises a first pawl and a second pawl, the first pawl is pivotally arranged on the rack and is in an engaged or separated state with the ratchet wheel, and the second pawl is pivotally arranged on the turntable and is in an engaged or separated state with the ratchet wheel; when the first pawl is in an engaged state with the ratchet wheel and the second pawl is in a disengaged state with the ratchet wheel, the ratchet wheel keeps a static state, and the rotary plate rotates from the first position to the second position against the ratchet direction of the ratchet wheel; when the turntable rotates to the second position, the first pawl and the ratchet wheel enter a dial-off state, the second pawl and the ratchet wheel enter an engaged state, the driving device drives the turntable to rotate along the ratchet direction of the ratchet wheel until the turntable rotates to the first position, the first pawl and the ratchet wheel enter the engaged state, and the second pawl and the ratchet wheel enter the dial-off state.
According to the lower limb exoskeleton driver disclosed by the embodiment of the invention, the lower limb exoskeleton driver is worn at a hip joint of a lower limb of a patient with spinal cord injury, when the lower limb backswing extends, the first pawl and the ratchet wheel are in an engaged state, the second pawl and the ratchet wheel are correspondingly in a pull-out state, the ratchet wheel is restrained by the first pawl, and the spindle and the turntable can rotate from the first position to the second position against the ratchet direction of the ratchet wheel along with the extension of the lower limb backswing; then, when the lower limb needs to step forward from the back, the first pawl and the ratchet wheel enter a shifting-away state, and the second pawl and the ratchet wheel enter an engaging state. In summary, the core component of the lower limb exoskeleton driver provided by the embodiment of the invention is a ratchet double-pawl mechanism consisting of a ratchet, a first pawl and a second pawl, the mechanism realizes the function of flexible double clutch by using smaller volume, and has simple structure and convenient control. On the basis, the kinetic energy for periodically pushing the lower limbs to walk is further realized by combining with a driving device. Compared with the prior unpowered walking-assisting exoskeleton, the lower limb exoskeleton driver disclosed by the embodiment of the invention can provide external force for patients with spinal cord injury, reduce the requirement on residual muscle capacity of the patients with spinal cord injury, and enable the patients with higher injury plane to use the lower limb exoskeleton driver; compared with the existing power walking aid exoskeleton, the lower limb exoskeleton driving device provided by the embodiment of the invention has the advantages of smaller volume and mass, low energy consumption, low cost and convenience in carrying and use, so that the lower limb exoskeleton driving device has a wider market prospect.
According to one embodiment of the invention, the driving device comprises a motor, a transmission assembly and a torsion spring, wherein the transmission assembly is sleeved on the main shaft in a freely rotatable manner, one end of the transmission assembly is connected with the motor, the other end of the transmission assembly is fixed with one end of the torsion spring, and the other end of the torsion spring is fixed with the ratchet wheel; when the first pawl and the ratchet wheel are in an engaged state and the second pawl and the ratchet wheel are correspondingly in a pull-out state, the ratchet wheel keeps in a static state, the rotary disc rotates from the first position to the second position against the ratchet direction of the ratchet wheel, and the motor drives the transmission assembly to rotate so that the torsion spring generates torsional deformation and stores energy; when the turntable rotates to the second position, the first pawl and the ratchet wheel enter a poking-away state, the second pawl and the ratchet wheel enter an engaging state, the torsion spring releases energy to drive the ratchet wheel and the turntable to rotate along the ratchet direction of the ratchet wheel, and the turntable rotates from the second position to the first position; when the turntable rotates to the first position, the first pawl and the ratchet wheel enter an engaged state again, and the second pawl and the ratchet wheel enter a dial-off state.
According to a further embodiment of the present invention, the transmission assembly includes a first gear and a second gear, the first gear being connected to the motor, the first gear being in mesh with the second gear; the second gear can be freely rotatably sleeved on the main shaft and is close to one end of the rack, the turntable is close to the other end of the rack, the ratchet wheel is located between the second gear and the turntable, and one end of the torsion spring is fixed on the second gear.
According to a further embodiment of the present invention, the driving device further includes a motor bracket, the motor bracket is fixed to the frame, and the motor is mounted on the motor bracket.
According to a further embodiment of the invention, the first gear is a small bevel gear and the second gear is a large bevel gear.
According to a further embodiment of the present invention, two ends of the main shaft are respectively mounted on two ends of the frame through first bearings; the second gear is mounted on the main shaft through a second bearing; the ratchet wheel is arranged on the main shaft through a third bearing; the turntable is fixed on the main shaft through a key.
According to some embodiments of the present invention, the drive device further comprises a column assembly including a first column, a second column, a third column and a fourth column, the first column and the second column being fixed to the frame at a distance, the third column and the fourth column being fixed to the turntable at a distance; when the turntable rotates to the first position, the fourth shifting column enables the first pawl and the ratchet wheel to be in an engaged state from a shifting-out state, and meanwhile, the second shifting column enables the second pawl and the pawl to be in an engaged state from a shifting-out state; when the rotary disc rotates to the second position, the third shifting column enables the first pawl and the ratchet wheel to enter a shifting-away state from an engaged state, and meanwhile, the first shifting column enables the second shifting column and the ratchet wheel to enter an engaged state from a shifting-away state.
According to a further embodiment of the present invention, the first column is arranged in a radial direction of the ratchet wheel and opposite to the first pawl, and when the dial is rotated to the second position, the first column presses an outer side surface of the second pawl so that the second pawl is engaged with the ratchet wheel.
According to a further embodiment of the present invention, the second dial is parallel to the axial direction of the main shaft, an arc-shaped sliding hole is provided on the rotary table, the second dial passes through the arc-shaped sliding hole, and when the rotary table rotates to the first position, the second dial is located between the second pawl and the ratchet wheel and dials the second pawl away from the ratchet wheel.
According to a further embodiment of the present invention, the third column is parallel to the axial direction of the main shaft, and when the rotary table is at the second position, the third column is located between the first pawl and the ratchet wheel and shifts the first pawl away from the ratchet wheel; the fourth shifting column is parallel to the axial direction of the main shaft, and when the rotary table is located at the first position, the fourth shifting column extrudes the outer side face of the first pawl, so that the first pawl is meshed with the ratchet wheel.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a perspective view of a lower extremity exoskeleton actuator according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of an internal structure of a lower extremity exoskeleton actuator according to an embodiment of the present invention.
Fig. 3 is another schematic internal structural view of the lower extremity exoskeleton driver according to the embodiment of the present invention.
Fig. 4 is a schematic view of the lower extremity exoskeleton actuator of the present invention in an operational state during lower extremity swing.
Figure 5 is a schematic representation of the lower extremity exoskeleton actuator of an embodiment of the present invention in an operational state with the lower limbs forward swing.
Reference numerals:
lower extremity exoskeleton driver 1000
Arc-shaped sliding hole 301 of rotary table 3
Pawl assembly 5 first pawl 501 second pawl 502
Torsion spring 603 motor support 604
First bearing 7
Second bearing 8
Second bearing 9
First shifting block 1001, second shifting block 1002, third shifting block 1003, fourth shifting block 1004
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A lower extremity exoskeleton actuator 1000 in accordance with an embodiment of the present invention is described below in conjunction with fig. 1-5.
As shown in fig. 1-5, a lower extremity exoskeleton actuator 1000 in accordance with an embodiment of the present invention includes a drive device 6, a frame 1, a main shaft 2, a turntable 3, a ratchet 4, and a pawl assembly 5. Wherein, two ends of the main shaft 2 are respectively and freely rotatably arranged on two ends of the frame 1; the rotary table 3 is sleeved and fixed on the main shaft 2, and the rotary table 3 can rotate between a first position and a second position in a reciprocating and periodic manner; the ratchet wheel 4 can be freely rotatably sleeved on the main shaft 2 and is connected with the driving device 6; the pawl assembly 5 comprises a first pawl 501 and a second pawl 502, the first pawl 501 is pivotably mounted on the frame 1 and is in an engaged or disengaged state with the ratchet wheel 4, and the second pawl 502 is pivotably mounted on the turntable 3 and is in an engaged or disengaged state with the ratchet wheel 4; when the first pawl 501 is in an engaged state with the ratchet wheel 4 and the second pawl 502 is in a pull-out state with the ratchet wheel 4 correspondingly, the ratchet wheel 4 keeps a static state, and the rotary plate 3 rotates from the first position to the second position against the ratchet direction of the ratchet wheel 4; when the rotary plate 3 rotates to the second position, the first pawl 501 and the ratchet 4 enter a dial-off state, and the second pawl 502 and the ratchet 4 enter an engaged state, the driving device 6 drives the rotary plate 3 to rotate along the ratchet direction of the ratchet 4, until the rotary plate 3 rotates to the first position, the first pawl 501 and the ratchet 4 enter the engaged state, and the second pawl 502 and the ratchet 4 enter the dial-off state.
Specifically, the driving device 6 mainly functions to supply and transmit power.
The rack 1 may be formed by assembling and fixing a first rack 101 and a second rack 102, which are separated, to form a housing, so as to facilitate installation and accommodation of other components.
Two ends of the main shaft 2 are respectively and freely rotatably mounted on two ends of the frame 1, that is, one end of the main shaft 2 is mounted on one end of the frame 1, the other end of the main shaft 2 is mounted on the other end of the frame 1, the main shaft 2 can freely rotate relative to the frame 1, that is, the rotation of the main shaft 2 is not restricted by the frame 1, the main shaft 2 is equivalent to a lower limb joint of a human body, for example, when the lower limb exoskeleton driver 1000 of the embodiment of the invention is worn on a hip joint of a lower limb of a patient with spinal cord injury, when the lower limb swings forwards while swings backwards, the lower limb can extend, and at the moment, the main shaft 2 can rotate along with the hip joint of the; when the lower limb needs to step forward from the back, the main shaft 2 can rotate along with the hip joint of the lower limb in the opposite direction.
The rotary table 3 is sleeved and fixed on the main shaft 2, so that the rotary table 3 and the main shaft 2 can synchronously rotate in the same direction; the rotary table 3 can rotate between the first position and the second position in a reciprocating periodic manner, and the requirement that the lower limbs of a patient with spinal cord injury need to do alternate reciprocating periodic movement of swinging backwards, stretching and advancing forwards when walking can be met.
The ratchet wheel 4 can be freely rotatably sleeved on the main shaft 2, namely, the rotation of the ratchet wheel 4 is not restricted by the main shaft 2; the ratchet wheel 4 is connected with the driving device 6, so that the driving device 6 drives the ratchet wheel 4 to rotate; the pawl assembly 5 comprises a first pawl 501 and a second pawl 502, the first pawl 501 is pivotably mounted on the frame 1 and is in an engaged or disengaged state with the ratchet wheel 4, and the second pawl 502 is pivotably mounted on the turntable 3 and is in an engaged or disengaged state with the ratchet wheel 4; when the first pawl 501 is engaged with the ratchet wheel 4 and the second pawl 502 is correspondingly disengaged from the ratchet wheel 4, since the first pawl 501 is connected with the frame 1, the frame 1 is stationary, the ratchet wheel 4 is kept stationary after being engaged with the first pawl 501, meanwhile, the spindle 2 is equivalent to the hip joint of the lower limb on which the lower limb exoskeleton driver 1000 according to the embodiment of the present invention is worn and can freely rotate, and the turntable 3 fixed on the spindle 2 can rotate along with the backward swinging extension movement of the lower limb from the first position to the second position against the ratchet direction of the ratchet wheel 4, it should be noted that for the backward swinging extension movement of the lower limb on which the lower limb exoskeleton driver 1000 according to the embodiment of the present invention is worn, it is basically unnecessary to consume the energy of the hip joint muscle of the lower limb; when the rotary plate 3 rotates to the second position, the first pawl 501 and the ratchet 4 enter a poking-away state and the second pawl 502 and the ratchet 4 enter an engaging state, and the driving device 6 is connected with the ratchet 4, and the ratchet 4 is connected with the rotary plate 3 by engaging with the second pawl 502, so that the driving device 6 can drive the ratchet 4 to rotate along the ratchet direction of the ratchet 4, and further drive the rotary plate 3 and the main shaft 2 to rotate along the ratchet direction of the ratchet 4, and therefore the lower limb can step forward from the back, and the walking aid effect is effectively achieved. When the rotary plate 3 rotates to the first position, the first pawl 501 and the ratchet wheel 4 are engaged again, and the second pawl 502 and the ratchet wheel 4 are disengaged, so that the reciprocating periodic motion is realized, and the purpose of continuously assisting the walking is realized.
According to the lower limb exoskeleton driver 1000 of the embodiment of the invention, the lower limb exoskeleton driver is worn at the hip joint of the lower limb of a patient with spinal cord injury, when the lower limb swings backwards and extends, the first pawl 501 and the ratchet wheel 4 are in an engaged state, the second pawl 502 and the ratchet wheel 4 are correspondingly in a pull-out state, the ratchet wheel 4 is restrained by the first pawl 501, and the spindle 2 and the turntable 3 can rotate from the first position to the second position against the ratchet direction of the ratchet wheel 4 along with the backward swinging extension of the lower limb; subsequently, when the lower limb needs to step from the back to the front, the first pawl 501 and the ratchet wheel 4 enter a pulling-away state and the second pawl 502 and the ratchet wheel 4 enter an engaging state, and as the driving device 6 is connected with the ratchet wheel 4, the ratchet wheel 4 is connected with the rotating disc 3 through the second pawl 502, the driving device 6 can drive the ratchet wheel 4 to rotate along the ratchet direction of the ratchet wheel 4, and further drive the rotating disc 3 and the main shaft 2 to rotate along the ratchet direction of the ratchet wheel 4, so that the lower limb can step from the back to the front, and the function of walking aid is effectively realized. To sum up, the core component of the lower extremity exoskeleton driver 1000 according to the embodiment of the present invention is a ratchet 4 double-pawl mechanism composed of a ratchet 4, a first pawl 501 and a second pawl 502, which utilizes a small volume to realize the flexible double-clutch function, and has a simple structure and convenient control. On the basis, the kinetic energy for periodically pushing the lower limbs to walk is further realized by combining the driving device 6. Compared with the existing unpowered walking-aid exoskeleton, the lower limb exoskeleton driver 1000 provided by the embodiment of the invention can provide external force for patients with spinal cord injury, reduce the requirement on residual muscle capacity of the patients with spinal cord injury, and enable the patients with higher injury level to use the device; compared with the existing power walking aid exoskeleton, the lower limb exoskeleton driver 1000 provided by the embodiment of the invention has the advantages of smaller volume and mass, low energy consumption, low cost and convenience in carrying and using, so that the lower limb exoskeleton driver has a wider market prospect.
As shown in fig. 1 to 3, according to a further embodiment of the present invention, the driving device 6 includes a motor 601, a transmission assembly 602, and a torsion spring 603; the transmission assembly 602 can be freely rotatably sleeved on the main shaft 2, i.e. the rotation of the transmission assembly 602 is not restricted by the main shaft 2; one end of the transmission assembly 602 is connected with the motor 601, the other end of the transmission assembly 602 is fixed with one end of the torsion spring 603, and the other end of the torsion spring 603 is fixed with the ratchet 4; as shown in fig. 4 and 5, when the first pawl 501 is engaged with the ratchet wheel 4 and the second pawl 502 is correspondingly disengaged from the ratchet wheel 4, the ratchet wheel 4 remains stationary, the turntable 3 rotates from the first position to the second position against the ratchet direction of the ratchet wheel 4, and the motor 601 drives the transmission assembly 602 to rotate, so that the torsion spring 603 generates torsional deformation and stores energy; when the rotary plate 3 rotates to the second position, the first pawl 501 and the ratchet 4 enter a poking-away state, the second pawl 502 and the ratchet 4 enter an engaging state, the torsion spring 603 releases energy to drive the ratchet 4 and the rotary plate 3 to rotate along the ratchet direction of the ratchet 4, and the rotary plate 3 rotates from the second position to the first position; when the dial 3 is rotated to the first position, the first pawl 501 and the ratchet 4 are engaged again and the second pawl 502 and the ratchet 4 are disengaged.
It can be understood that in the present embodiment, the motor 601 can adopt a small-sized motor 601, which is beneficial for miniaturization and light weight, and the transmission assembly 602 is driven by the small-sized motor 601, when the lower limb is swung backwards and extended, the first pawl 501 engages with the ratchet wheel 4 and the second pawl 502 is disengaged from the ratchet wheel 4, on the one hand, since the first pawl 501 is engaged with the ratchet wheel 4, the ratchet wheel 4 can be in a static state, and since the torsion spring 603 is connected between the transmission assembly 602 and the ratchet wheel 4, the motor 601 drives the transmission assembly 602 to rotate, so that the torsion spring 603 generates torsional deformation to store energy, on the other hand, the second pawl 502 is separated from the ratchet wheel 4, the main shaft 2 and the rotary plate 3 can rotate along with the hip joint of the lower limb from the first position to the second position against the ratchet direction of the ratchet wheel 4, namely, during the lower limb backswing extension process, the torsion spring 603 of the lower limb exoskeleton driver 1000 of the present embodiment is in the energy storage phase; when the lower limb needs to step forward from the rear direction, the first pawl 501 is separated from the ratchet wheel 4, and the second pawl 502 is engaged with the ratchet wheel 4, at this time, the torsion spring 603 releases energy to drive the ratchet wheel 4 to rotate along the ratchet direction of the ratchet wheel 4, and the second pawl 502 drives the rotary table 3 and the main shaft 2 to rotate from the second position to the first position along the ratchet direction of the ratchet wheel 4, so that the lower limb is pushed to step forward from the rear direction, that is, the lower limb is driven by the energy released by the spring to step forward from the rear direction.
According to a further embodiment of the present invention, the transmission assembly 602 includes a first gear 6021 and a second gear 6022, the first gear 6021 coupled to the motor 601, the first gear 6021 engaged with the second gear 6022; the second gear 6022 is freely rotatably sleeved on the main shaft 2 and is close to one end of the frame 1, the turntable 3 is close to the other end of the frame 1, the ratchet wheel 4 is positioned between the second gear 6022 and the turntable 3, and one end of the torsion spring 603 is fixed on the second gear 6022. It can be appreciated that the transmission assembly 602 employs the first gear 6021 and the second gear 6022 which are meshed, so that the structure is simple, the motion output by the motor 601 can be steered, and even when the second gear 6022 is larger than the first gear 6021, the motion output by the motor 601 can be amplified, and the torsion spring 603 can store more energy when the lower limb swings backwards.
As shown in fig. 1 and 2, according to a further embodiment of the present invention, the driving device 6 further includes a motor 601 bracket, the motor 601 bracket is fixed to the frame 1, and the motor 601 is mounted on the motor 601 bracket. Therefore, the motor 601 is positioned by the motor 601 support, the motor 601 is convenient to fix, and the structure is reliable. Optionally, the bracket of the motor 601 is fixed on the upper part of the frame 1, and is convenient to use and control.
According to a further embodiment of the present invention, the first gear 6021 is a small bevel gear and the second gear 6022 is a large bevel gear. Therefore, the motion output by the motor 601 can be steered and amplified, and the torsion spring 603 can store more energy when the lower limbs swing backwards and extend.
As shown in fig. 3, according to a further embodiment of the present invention, two ends of the main shaft 2 are respectively mounted on two ends of the frame 1 through the first bearings 7, so that the main shaft 2 can rotate more stably with less rotational friction; the second gear 6022 is mounted on the main shaft 2 through the second bearing 8, so that the second gear 6022 can rotate more stably with small rotation friction; the ratchet wheel 4 is arranged on the main shaft 2 through a third bearing 9, so that the ratchet wheel 4 can rotate more stably, and the rotating friction is small; the turntable 3 is fixed on the main shaft 2 through a key, and the fixing mode is simple.
As shown in fig. 4 and 5, according to some embodiments of the present invention, the column assembly 10 is further included, the column assembly 10 includes a first column 1001, a second column 1002, a third column 1003 and a fourth column 1004, the first column 1001 and the second column 1002 are fixed on the frame 1 at intervals, and the third column 1003 and the fourth column 1004 are fixed on the rotary table 3 at intervals; when the rotary disc 3 rotates to the first position, the fourth dial column 1004 enables the first pawl 501 and the ratchet wheel 4 to enter an engaged state from a dial-off state, and meanwhile, the second dial column 1002 enables the second pawl 502 and the pawls to enter a dial-off state from an engaged state; when the dial 3 is rotated to the second position, the third dial 1003 causes the first pawl 501 and the ratchet 4 to enter a dial-off state from an engaged state, and simultaneously, the first dial 1001 causes the second dial 1002 and the ratchet 4 to enter an engaged state from a dial-off state. Thus, when the turntable 3 is rotated to the first position, the fourth column 1004 mounted on the frame 1 causes the first pawl 501 to engage with the ratchet 4, and correspondingly, the second column 1002 mounted on the turntable 3 causes the second pawl 502 to be disengaged from the ratchet 4; when the turntable 3 is turned to the second position, the third column 1003 mounted on the housing 1 causes the first pawl 501 to be disengaged from the ratchet 4, and correspondingly, the first column 1001 mounted on the turntable 3 causes the second pawl 502 to be engaged with the ratchet 4.
According to a further embodiment of the invention, the first dial 1001 is arranged in the radial direction of the ratchet wheel 4 and opposite to the first pawl 501, when the dial 3 is turned to the second position, the first dial 1001 presses the outer side face of the second pawl 502, so that the second pawl 502 engages with the ratchet wheel 4. Thus, the first paddle 1001 is arranged at a reasonable position.
According to a further embodiment of the present invention, a second column 1002 is fixed at the other end of the frame 1 and parallel to the axial direction of the main shaft 2, the rotating disc 3 is provided with an arc-shaped sliding hole 301, the second column 1002 penetrates through the arc-shaped sliding hole 301, so that it is ensured that the rotating disc 3 does not interfere with the second column 1002 when rotating back and forth between the first position and the second position, and when the rotating disc 3 rotates to the first position, the second column 1002 is located between the second pawl 502 and the ratchet 4 and pulls the second pawl 502 away from the ratchet 4.
According to a further embodiment of the present invention, the third column 1003 is parallel to the axial direction of the main shaft 2, and when the rotary table 3 is in the second position, the third column 1003 is located between the first pawl 501 and the ratchet 4 and pulls the first pawl 501 away from the ratchet 4; the fourth column 1004 is parallel to the axial direction of the spindle 2, and when the rotary plate 3 is in the first position, the fourth column 1004 presses the outer side surface of the first pawl 501, so that the first pawl 501 is engaged with the ratchet 4. Thus, the third column 1003 and the fourth column 1004 are arranged reasonably.
It should be noted that a manhole (not shown in the figure) is further disposed on the side wall of the bin body 1, so as to facilitate observation and maintenance.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (9)
1. A lower extremity exoskeleton actuator comprising:
a drive device;
a frame;
the two ends of the main shaft are respectively and freely rotatably arranged on the two ends of the rack;
the rotary table is sleeved and fixed on the main shaft, and can rotate between a first position and a second position in a reciprocating and periodic manner;
the ratchet wheel is sleeved on the main shaft in a freely rotatable manner and is connected with the driving device;
the pawl assembly comprises a first pawl and a second pawl, the first pawl is pivotally arranged on the rack and is in an engaged or separated state with the ratchet wheel, and the second pawl is pivotally arranged on the turntable and is in an engaged or separated state with the ratchet wheel; when the first pawl is in an engaged state with the ratchet wheel and the second pawl is in a disengaged state with the ratchet wheel, the ratchet wheel keeps a static state, and the rotary plate rotates from the first position to the second position against the ratchet direction of the ratchet wheel; when the turntable rotates to the second position, the first pawl and the ratchet wheel enter a dial-off state, and the second pawl and the ratchet wheel enter an engaged state, the driving device drives the turntable to rotate along the ratchet direction of the ratchet wheel until the first pawl and the ratchet wheel enter the engaged state and the second pawl and the ratchet wheel enter the dial-off state when the turntable rotates to the first position;
the driving device comprises
The transmission assembly can be freely rotatably sleeved on the main shaft, one end of the transmission assembly is connected with the motor, the other end of the transmission assembly is fixed with one end of the torsion spring, and the other end of the torsion spring is fixed with the ratchet wheel; when the first pawl and the ratchet wheel are in an engaged state and the second pawl and the ratchet wheel are correspondingly in a pull-out state, the ratchet wheel keeps in a static state, the rotary disc rotates from the first position to the second position against the ratchet direction of the ratchet wheel, and the motor drives the transmission assembly to rotate so that the torsion spring generates torsional deformation and stores energy; when the turntable rotates to the second position, the first pawl and the ratchet wheel enter a poking-away state, the second pawl and the ratchet wheel enter an engaging state, the torsion spring releases energy to drive the ratchet wheel and the turntable to rotate along the ratchet direction of the ratchet wheel, and the turntable rotates from the second position to the first position; when the turntable rotates to the first position, the first pawl and the ratchet wheel enter an engaged state again, and the second pawl and the ratchet wheel enter a dial-off state.
2. The lower extremity exoskeleton driver of claim 1 wherein said transmission assembly includes a first gear and a second gear, said first gear being coupled to said motor, said first gear being in meshing engagement with said second gear; the second gear can be freely rotatably sleeved on the main shaft and is close to one end of the rack, the turntable is close to the other end of the rack, the ratchet wheel is located between the second gear and the turntable, and one end of the torsion spring is fixed on the second gear.
3. The lower extremity exoskeleton driver of claim 2 wherein said drive mechanism further comprises a motor bracket, said motor bracket being fixed to said frame, said motor being mounted to said motor bracket.
4. The lower extremity exoskeleton driver of claim 2 wherein said first gear is a bevel pinion gear and said second gear is a bevel bull gear.
5. The lower extremity exoskeleton actuator of claim 2 wherein said main shaft is mounted at each end to said frame by a first bearing; the second gear is mounted on the main shaft through a second bearing; the ratchet wheel is arranged on the main shaft through a third bearing; the turntable is fixed on the main shaft through a key.
6. The lower extremity exoskeleton driver of any of claims 1 to 5 further comprising a column dial assembly including a first, second, third and fourth column dial, said first and second column dial being fixed to said frame in spaced apart relation and said third and fourth column dial being fixed to said turntable in spaced apart relation; when the turntable rotates to the first position, the fourth shifting column enables the first pawl and the ratchet wheel to be in an engaged state from a shifting-out state, and meanwhile, the second shifting column enables the second pawl and the pawl to be in an engaged state from a shifting-out state; when the rotary disc rotates to the second position, the third shifting column enables the first pawl and the ratchet wheel to enter a shifting-away state from an engaged state, and meanwhile, the first shifting column enables the second shifting column and the ratchet wheel to enter an engaged state from a shifting-away state.
7. The lower extremity exoskeleton driver of claim 6 wherein said first thumb lever is disposed radially of said ratchet wheel and opposite said first pawl, said first thumb lever pressing against an outer side of said second pawl when said turntable is rotated to said second position such that said second pawl engages said ratchet wheel.
8. The lower extremity exoskeleton driver of claim 6 wherein said second post is parallel to the axial direction of said main shaft, said turntable is provided with an arcuate slot, said second post passes through said arcuate slot, and said second post is positioned between said second pawl and said ratchet wheel to pull said second pawl away from said ratchet wheel when said turntable is rotated to said first position.
9. The lower extremity exoskeleton driver of claim 6 wherein said third thumb lever is parallel to said main shaft axial direction, said third thumb lever being located between said first pawl and said ratchet wheel and configured to pull said first pawl away from said ratchet wheel when said turntable is in said second position; the fourth shifting column is parallel to the axial direction of the main shaft, and when the rotary table is located at the first position, the fourth shifting column extrudes the outer side face of the first pawl, so that the first pawl is meshed with the ratchet wheel.
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| CN111388273B (en) * | 2020-03-24 | 2021-04-27 | 吉林大学 | Upper limb rehabilitation exoskeleton based on space gravity balance |
| CN111544262B (en) * | 2020-05-22 | 2021-11-02 | 王明明 | Waist-wearing type rehabilitation walking aid |
| CN111956458A (en) * | 2020-09-25 | 2020-11-20 | 焦彪彪 | Ankle joint power-assisted passive exoskeleton |
| CN112356013B (en) * | 2020-11-05 | 2021-09-07 | 安徽大学绿色产业创新研究院 | Passive and energy-storable elbow joint assistance exoskeleton |
| CN114050702B (en) * | 2021-04-27 | 2023-03-31 | 四川大学华西医院 | Lower limb exoskeleton support self-balancing system based on permanent magnet bearingless motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2117470C1 (en) * | 1994-03-11 | 1998-08-20 | Закрытое акционерное общество "РИКСАНА" | Exoskeleton |
| US7832408B2 (en) * | 2007-06-04 | 2010-11-16 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a directional switching mechanism |
| CN103054692B (en) * | 2013-01-29 | 2015-03-04 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
| CN106580635B (en) * | 2015-10-20 | 2018-10-26 | 沈阳新松机器人自动化股份有限公司 | Simple mechanical walking power assisting device |
| CN107126348B (en) * | 2017-03-31 | 2019-06-18 | 清华大学 | A kind of quasi- passive knee ankle-joint coupling lower limb exoskeleton and its control method |
| CN108972534B (en) * | 2018-09-18 | 2024-01-30 | 清华大学 | Clutch type flexible driver with variable stiffness coil spring and motor connected in parallel |
| CN209036534U (en) * | 2018-09-18 | 2019-06-28 | 清华大学 | The disengaging type flexible actuator of stiffness variable wind spring and motor parallel |
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