CN110812132B - Ankle exoskeleton - Google Patents

Ankle exoskeleton Download PDF

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Publication number
CN110812132B
CN110812132B CN201911286592.7A CN201911286592A CN110812132B CN 110812132 B CN110812132 B CN 110812132B CN 201911286592 A CN201911286592 A CN 201911286592A CN 110812132 B CN110812132 B CN 110812132B
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Prior art keywords
transmission
transmission assembly
rod
assembly
power
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CN110812132A (en
Inventor
赵国如
郑凯
王光辉
王永奉
宁运琨
李慧奇
周子业
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
    • 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
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot

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  • Health & Medical Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The embodiment of the invention provides an ankle exoskeleton which comprises a power transmission assembly, a first transmission assembly, a transmission rod and a second transmission assembly, wherein the power transmission assembly is arranged on the first transmission assembly; one end of the power transmission assembly is connected with the first transmission assembly, the other end of the power transmission assembly acts on a user, and the first transmission assembly is connected with the second transmission assembly through a transmission rod; the second transmission assembly comprises a stress component for bearing the force applied by a user and a second transmission component for driving the transmission rod to rotate under the triggering of the stress component; the first transmission assembly comprises a first transmission part which is used for transmission under the driving of the transmission rod; the power transmission assembly includes a power component. The ankle exoskeleton is simple in working principle, simple in equipment structure, small and practical, convenient for old people or people with inconvenient legs to use for a long time, convenient to wear and capable of improving portability of users.

Description

Ankle exoskeleton
Technical Field
The invention relates to the technical field of robot exoskeleton, in particular to an ankle joint exoskeleton.
Background
The aging wave of the population in the 21 st century will wrap the world and bring a serious challenge to social development, and the population of the elderly over 60 years old in China exceeds 2.5 hundred million by 2018. The old people have the problem that the walking ability is reduced to different degrees due to the decline of the muscle strength of the old people. The medical auxiliary equipment is beneficial to the capability of the old people in the muscle strength decline stage without influencing the independent life and completing the basic tasks of daily life.
The unpowered ankle joint exoskeleton is used as a portable and efficient medical auxiliary device, does not need external energy input, and can realize the assisting walking of the old by only depending on the gravity of the human body and the limb movement to do work. Compared with a driving type lower limb exoskeleton which adapts to the changing gait of a human body in real time by means of complex and heavy energy, driving, sensing and control systems, the purely mechanical self-adaptive lower limb exoskeleton has a wider market application prospect.
There have been some efforts in the research of mechanical unpowered ankle exoskeleton, for example;
CN109940583A proposes an adaptive ankle exoskeleton capable of reducing walking metabolism, but its structure is complicated and adaptability is low.
CN109093596A invented a dual-mode passive ankle assisting exoskeleton, which solves the technical problem of unnatural walking gait of the wearer to some extent. But has a great influence on the normal movement of the ankle joint due to the structural design of the ankle joint.
CN207722054U proposes a novel exoskeleton ankle device, which has a simple structure and can absorb shock, but the design of itself considering the damping effect and the use of too much rigid structure can result in the problem of limited free movement of the ankle.
Therefore, the prior unpowered ankle exoskeleton has the problems that the structure is relatively complex, the equipment is relatively heavy, and the use comfort level is still to be improved.
Disclosure of Invention
In view of the above, embodiments of the present invention provide an ankle exoskeleton, which at least partially solves the problems in the prior art.
In a first aspect, embodiments of the present invention provide an ankle exoskeleton comprising: the power transmission assembly, the first transmission assembly, the transmission rod and the second transmission assembly;
one end of the power transmission assembly is connected with the first transmission assembly, the other end of the power transmission assembly acts on a user, and the first transmission assembly is connected with the second transmission assembly through the transmission rod;
the first transmission assembly comprises a first transmission part, and the first transmission part is used for driving the power transmission assembly to accumulate energy when the transmission rod rotates towards a first direction and triggering the power transmission assembly to release energy when the transmission rod rotates towards a second direction;
the second transmission assembly comprises a stress part for bearing the force applied by a user and a second transmission part which drives the transmission rod to rotate under the triggering of the stress part so as to convert the borne external force into transmission force and transmit the transmission force to the first transmission assembly connected with the second transmission assembly; and generating an opposite transmission force to a first transmission component connected with the second transmission component when the external force is removed;
the power transmission assembly comprises a power component, the power component is used for accumulating energy after receiving the transmission force transmitted by the first transmission assembly and releasing the accumulated energy to a user under the trigger of canceling the external force;
the first transmission assembly further includes a reset assembly coupled to the power transmission assembly for returning to an initial state of the power transmission assembly after releasing the accumulated energy.
According to a particular implementation of the embodiments of the invention, the power transmission assembly further comprises a sheath, the sheath being connected to the power component.
According to a specific implementation manner of the embodiment of the invention, the power component comprises an elastic member, a first connecting member and a second connecting member, one end of the elastic member is connected with the sheath through the first connecting member, and the other end of the elastic member is connected with the first transmission assembly through the second connecting member.
According to a specific implementation manner of the embodiment of the invention, the ankle exoskeleton further comprises a containing box, and the containing box is used for containing the transmission rod and the second transmission assembly.
According to a specific implementation manner of the embodiment of the invention, a fixing through hole for clamping the transmission rod is arranged in the accommodating box, and the transmission rod penetrates through the fixing through hole in the accommodating box.
According to a specific implementation manner of the embodiment of the invention, the first transmission component comprises a reset ratchet wheel and a linkage pawl, the linkage pawl comprises a connecting end and a protruding end, the connecting end of the linkage pawl is connected with the transmission rod and used for receiving the transmission force of the transmission rod, and the protruding end of the linkage pawl is meshed with and separated from the tooth part of the reset ratchet wheel under different transmission forces of the transmission rod.
According to a specific implementation manner of the embodiment of the invention, the reset ratchet comprises a ratchet body, the reset assembly comprises a coil spring arranged opposite to a tooth part of the ratchet body, a hollow cover body and a synapse arranged on the hollow cover body, the ratchet body is connected with the coil spring through a fixed rod, one side of the coil spring is connected with the fixed rod, and the other side of the coil spring is connected with the hollow cover body; the synapse is connected with the second connector.
According to a specific implementation manner of the embodiment of the invention, the first transmission assembly further comprises a bracket, the bracket is connected with the accommodating box and is used for fixing the accommodating box, and the bracket is connected to two ends of the fixing rod of the reset ratchet wheel.
According to a specific implementation manner of the embodiment of the invention, the stress-bearing component comprises a gear sleeved at one end of the transmission rod, a connecting rod erected on the transmission rod, and a first pressure rod and a second pressure rod which are respectively fixed at two ends of the connecting rod, wherein the connecting rod is perpendicular to the length extension direction of the transmission rod; and one surface of the second pressure rod facing the gear is provided with a gear rack matched with the gear.
According to a specific implementation manner of the embodiment of the invention, springs are further mounted above the connecting rod, the number of the springs is 3, and the 3 springs are arranged on the connecting rod in parallel and at equal intervals.
The ankle exoskeleton in an embodiment of the present invention is characterized in that the ankle exoskeleton comprises: the power transmission assembly, the first transmission assembly, the transmission rod and the second transmission assembly;
one end of the power transmission assembly is connected with the first transmission assembly, the other end of the power transmission assembly acts on a user, and the first transmission assembly is connected with the second transmission assembly through the transmission rod;
the first transmission assembly comprises a first transmission part, and the first transmission part is used for driving the power transmission assembly to accumulate energy when the transmission rod rotates towards a first direction and triggering the power transmission assembly to release energy when the transmission rod rotates towards a second direction;
the second transmission assembly comprises a stress part for bearing the force applied by a user and a second transmission part which drives the transmission rod to rotate under the triggering of the stress part so as to convert the borne external force into transmission force and transmit the transmission force to the first transmission assembly connected with the second transmission assembly; and generating an opposite transmission force to a first transmission component connected with the second transmission component when the external force is removed;
the power transmission assembly comprises a power component, the power component is used for accumulating energy after receiving the transmission force transmitted by the first transmission assembly and releasing the accumulated energy to a user under the trigger of canceling the external force;
the first transmission assembly further includes a reset assembly coupled to the power transmission assembly for returning to an initial state of the power transmission assembly after releasing the accumulated energy.
The ankle exoskeleton is simple in working principle, simple in equipment structure, small and practical, convenient for old people or people with inconvenient legs to use for a long time, convenient to wear and capable of improving portability of users.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an ankle exoskeleton provided by an embodiment of the invention;
FIG. 2 is a schematic side view of an ankle exoskeleton according to an embodiment of the present invention;
FIG. 3 is a schematic view of a sole-removed configuration of an ankle exoskeleton according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a removal accommodation box for an ankle exoskeleton according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a first transmission assembly and a second transmission assembly of the ankle exoskeleton according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a detailed configuration of an ankle exoskeleton provided in accordance with an embodiment of the present invention;
fig. 7 is a structural schematic diagram of an accommodation box of the ankle exoskeleton, provided by the embodiment of the invention.
In the drawings:
1-sole, 2-sheath, 3-calf posterior spring, 4-reset ratchet wheel, 5-bracket, 6-linkage pawl, 61-convex end, 62-connecting end, 7-containing box, 8-transmission rod, 9-spring fixing shell, 10 a-first pressure rod, 10 b-second pressure rod, 11-incomplete gear, 12-spring, c-coil spring, e-fixing through hole, d-synapse and f-synapse.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in practical implementation, and the type, quantity and proportion of the components in practical implementation can be changed freely, and the layout of the components can be more complicated.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
The embodiment of the invention provides an ankle exoskeleton.
Referring to fig. 1 to 4, an ankle exoskeleton provided by an embodiment of the present invention includes: a power transmission assembly (not shown), a first transmission assembly (not shown), a transmission rod 8 and a second transmission assembly (not shown);
one end of the power transmission assembly is connected with the first transmission assembly, the other end of the power transmission assembly acts on a user, and the first transmission assembly is connected with the second transmission assembly through the transmission rod 8;
the second transmission assembly comprises a stressed part (not marked) for bearing the force applied by a user and a second transmission part (not marked) for driving the transmission rod 8 to rotate under the triggering of the stressed part, so that the borne external force is converted into transmission force and transmitted to the first transmission assembly connected with the second transmission assembly; and generating an opposite transmission force to a first transmission component connected with the second transmission component when the external force is removed;
the first transmission assembly comprises a first transmission part, and the first transmission part is used for driving the power transmission assembly to accumulate energy when the transmission rod rotates towards a first direction and triggering the power transmission assembly to release energy when the transmission rod rotates towards a second direction;
the power transmission assembly comprises a power component (not shown) which is used for accumulating energy after receiving the transmission force transmitted by the first transmission assembly and releasing the accumulated energy to a user under the triggering of withdrawing the external force;
the first transmission assembly further comprises a reset assembly connected with the power transmission assembly, and the reset assembly is used for returning to the initial state of the power transmission assembly after releasing the accumulated energy, specifically the position of the synapse f, which is horizontal to the ground and opposite to the advancing direction of the human body.
The ankle exoskeleton is simple in working principle, simple in equipment structure, small and practical, convenient for old people or people with inconvenient legs to use for a long time, convenient to wear and capable of improving portability of users.
The ankle joint exoskeleton disclosed by the embodiment of the invention has the working principle that through the matching of the first transmission assembly and the second transmission assembly, when a user applies external force to the second transmission assembly, the second transmission assembly generates transmission force under the triggering of the condition, the transmission force is transmitted to the first transmission assembly through the transmission rod 8, the first transmission assembly is driven by the transmission rod 8 to transmit the transmission force to the power transmission assembly connected with the first transmission assembly, the power transmission assembly accumulates energy under the action of the transmission force, and the accumulated energy is released to the user under the triggering of another condition, so that the user obtains assistance, and the energy consumed by walking of the user can be further reduced. Another condition for releasing the energy accumulated by the power transmission assembly is that when the user releases the external force applied to the second transmission assembly, the second transmission assembly is no longer stressed, the second transmission assembly which is no longer stressed generates an opposite transmission force, the transmission force is transmitted to the first transmission assembly through the transmission rod 8, the second transmission assembly triggers the power transmission assembly to release the accumulated energy, and the power transmission assembly releases the accumulated energy to the user, particularly to the lower leg of the user, so that the user is assisted in the walking process, and the user can be helped to reduce the energy consumed by walking.
In the embodiment of the present invention, a reset component is further provided at the first transmission component, and the reset component is used for returning to the initial state of the power transmission component after releasing the accumulated energy, specifically, the position of the synapse f which is horizontal to the ground and opposite to the advancing direction of the human body.
The main structure of the ankle exoskeleton is concentrated on the foot, and the exoskeleton design of the ankle joint exoskeleton and the shank support frame which are protruded outwards is not provided, so that the weight of the device can be greatly reduced, the device with the low posture can be easily worn in daily clothes, and the embarrassment of a user when the user uses a similar device in a public place is avoided; the design conforms to the gait rule of the human body, and can reduce the energy consumption of the human body to the maximum extent; the design has strong adaptability, the stress point of the main structure can be changed by manual adjustment, and the design can be adapted to users with various foot lengths. The defect that similar devices can only be customized privately is avoided; the design structure is simple and stable, and the defects of complex maintenance and repair of similar devices are avoided; the design has low cost and wide application prospect.
Referring to fig. 1 to 4, in another embodiment of the ankle exoskeleton, the power transmission assembly further comprises a sheath 2, and the sheath 2 is connected with the power part. The sheath 2 is annular and is used for wearing the sheath 2 on the lower leg when the user uses the sheath. Moreover, the material of the sheath 2 may be soft material, such as rubber, leather material, cloth, etc., which is comfortable, or may be metal material, such as aluminum alloy material, etc. Of course, in other embodiments, the sheath may be designed in other shapes.
In addition, the sheath can also be designed into a structure with a retractable size, for example, when the sheath is made of leather materials, a plurality of fixing holes and a plurality of fixing pieces matched with the fixing holes can be designed on the sheath, each fixing piece corresponds to different diameters of the sheath, and the design can be suitable for users with different leg girth sizes.
The power component comprises an elastic part, a first connecting piece and a second connecting piece, one end of the elastic part is connected with the sheath through the first connecting piece, and the other end of the elastic part is connected with the first transmission assembly through the second connecting piece. The elastic member is a spring in the embodiment of the invention, two ends of the spring are respectively connected with the first connecting member and the second connecting member, one end far away from the spring is connected with the sheath 2, and the other end far away from the spring is connected with the first transmission assembly. The first connecting piece and the second connecting piece are thin and soft wires, and other materials can be selected in other embodiments. And the part of the spring connected with the first transmission component is specifically a reset ratchet wheel of the first transmission component. The elastic member of the power component of the embodiment of the invention is selected from the spring, and the spring can be stretched by utilizing the property of self-restoring, so that the energy can be accumulated and released after being accumulated, and the structure is simple and easy to realize. In the figures, the spring of the power unit is indicated as a lower leg rear spring 3.
Referring to fig. 7, another embodiment of the present invention provides an ankle exoskeleton further comprising a containing box 7, wherein the containing box 7 is used for containing the transmission rod 8 and the second transmission component. Specifically, the accommodating box 7 is a housing, the transmission rod 8 is installed in the accommodating box 7, the accommodating box 7 includes a cover body, a fixing through hole e is formed in the top of the inner side of the cover body, the fixing through hole e is used for fixing the transmission rod 8, and the transmission rod 8 penetrates through the fixing through hole e in the accommodating box 7. It should be noted that the aperture of the fixing through hole e is larger than that of the transmission rod 8, so that the transmission rod 8 can rotate freely in the fixing through hole e.
Further, referring to fig. 6, in another embodiment, the first transmission component includes a reset ratchet 4 and a linkage pawl 6, the linkage pawl 6 includes a connecting end 62 and a protruding end 61, the connecting end 62 of the linkage pawl 6 is connected with the transmission rod 8 to receive the transmission force of the transmission rod 8, and the protruding end 61 of the linkage pawl 6 is engaged with and disengaged from the teeth of the reset ratchet 4 under different transmission forces of the transmission rod 8.
The linkage pawl 6 is fixedly connected with the tail part of the transmission rod 8 and is meshed with and separated from the reset ratchet 4 according to the rotation of the transmission rod 8.
The reset ratchet comprises a ratchet body, the reset assembly comprises a coil spring, a hollow cover body and a synapse f, the coil spring is arranged opposite to a tooth part of the ratchet body, the synapse f is arranged on the hollow cover body, the ratchet body is connected with the coil spring through a fixed rod, one side of the coil spring is connected with the fixed rod, and the other side of the coil spring is connected with the hollow cover body; the synapse f is connected with the second connector. It should be noted that the hollow cover and the ratchet main body are fixedly connected.
The reset ratchet 4 is composed of a ratchet body and a hollow cylinder which is connected with a built-in coil spring c in series, a fixed rod which penetrates through the ratchet body and the hollow cylinder is fixed, one side of the built-in coil spring c is connected with the hollow cover body, the other side of the built-in coil spring c is connected with the fixed rod, and the reset ratchet 4 is supported by a ratchet support 5.
The reset ratchet 4 is unique in that it is a combination of a ratchet body and an internal coil spring c so that the reset ratchet 4 can return to the correct starting position after actuation, waiting for the next activation. The built-in coil spring c is placed in a hollow cover body which is a hollow cylinder, and the outer side of the hollow cover body is provided with a synapse which is used for connecting a power component at the rear side of the shank, in particular to the power component. The built-in coil spring c has the function of tightening the connecting line but not stretching the rear spring 3 of the lower leg when the lower limb swings, and if the built-in coil spring c is not arranged, the rear spring 3 of the lower leg can stretch along with the swing of a human body, so that the meaning of meshing and separating the reset ratchet wheel and the linkage pawl is lost.
Specifically, the return ratchet and the linkage pawl are engaged during the ground contact stage (foot flat, standing, pushing) of the unilateral foot walking process, and the built-in coil spring c is not effective. The rear spring 3 of the lower leg is stretched due to the swing of the leg at the moment of the swing (non-touchdown) stage of the single-side leg (toe-off, swing and heel-on), the function of the built-in coil spring c is to reserve a part of distance to ensure that the distance from the sheath to the ratchet wheel is long enough to reduce unnecessary elongation of the rear spring 3 of the lower leg, and the rear spring 3 of the lower leg does not need to stretch and store energy at the stage because the energy consumption of metabolism is influenced. The hollow cover body connected with the ratchet wheel is provided with a synapse f, the initial position of the synapse f is opposite to the direction of the sole and is horizontal, and the maximum position of the synapse f is the maximum distance from the sheath to the ratchet wheel at the top end of the hollow cylinder, namely in the swinging stage of the lower limb.
Further, with reference to fig. 3 and 4, in another embodiment, the first transmission assembly further comprises a bracket 5, the bracket 5 connects the first transmission part and the accommodation box 7 for fixing the first transmission assembly on the accommodation box 7, and the bracket 5 is connected to both ends of the fixing rod of the reset ratchet 4. The bracket 5 is of an inverted L-shaped structure, one end of the inverted L-shaped structure is connected to two ends of the fixed rod of the reset ratchet wheel 4, and the other end of the L-shaped structure is connected to the cover body of the accommodating box 7.
In addition, referring to fig. 5, the second transmission part includes a gear sleeved at one end of the transmission rod 8, the force-receiving part includes a connection rod erected on the transmission rod 8 and a first pressure rod 10a and a second pressure rod 10b respectively fixed at two ends of the connection rod, and the connection rod is perpendicular to the length extension direction of the transmission rod 8; and one surface of the second pressure rod facing the gear is provided with a gear rack matched with the gear. Still install spring 12 above the connecting rod, the quantity of spring 12 is 3, 3 spring 12 is in parallel and equidistant range is in on the connecting rod. In addition, it should be noted that the upper ends of the 3 springs are fixed in the sole 1 and the lower portions of the three springs are fixed to the connecting rods. The first pressure rod and the second pressure rod can enter the accommodating box in a certain buffering mode when being subjected to ground force, and the first pressure rod and the second pressure rod are pushed reversely under the condition that the first pressure rod and the second pressure rod are not subjected to the ground force to drive the transmission rod to enable the reset ratchet wheel 4 and the linkage pawl 6 to be separated from the meshing state.
Wherein the gear of the second transmission component is a partial gear 11. The inner side of the cover body of the accommodating box 7 is also provided with a spring 12 fixing shell 9 for accommodating 3 springs 12 on the connecting rod.
The 3 springs 12 are respectively connected with the connecting rods connected with the first pressure rod 10a and the second pressure rod 10b and fixed in the device accommodating box 7, and have the functions of preventing the linkage pawl 6 and the reset ratchet wheel 4 from being re-engaged in the suspension stage of the ankle exoskeleton besides enabling the transmission rod 8 to be separated and engaged with the linkage pawl 6 and the reset ratchet wheel 4 under the action of the first pressure rod 10a and the second pressure rod 10b, so that the device can operate efficiently and stably.
The invention provides an ankle joint exoskeleton which comprises a sheath 2, a leg rear side spring 3, a reset ratchet wheel 4, a ratchet wheel support 5, a linkage pawl 6, an accommodating box 7, a transmission rod 8, 3 identical spring fixing shells 9, a pressure rod, an incomplete gear 11, 3 identical springs 12 and the like. Wherein the first pressure rod 10a and the second pressure rod 10b are different in that the second pressure rod 10b, the reset ratchet 4 have an internal coil spring c, and the inside front part of the accommodating box 7 has a synapse d; the top of the inner side of the containing box 7 is provided with a fixing through hole e. In addition, because the device is embedded in the sole 1, the sole 1 is added for indicating the requirement.
The whole device except for a part of the interlocking pawl 6, the reset ratchet 4, the lower leg rear side spring 3 and the sheath 2 is accommodated in the accommodating box 7. The first pressure bar 10a and the second pressure bar 10b are placed at the position of the forefoot and are connected to the spring 12 fixed to the containing case 7 by a connecting rod therebetween. The transmission rod 8 moves up and down according to the stress of the pressure rod and the action of the spring 12, so that the linkage pawl 6 regularly rotates at a certain angle to engage or separate the reset ratchet 4.
The following analyses, unless otherwise specified, are for the same leg, specific modes of operation:
when the exoskeleton wearer falls to the ground, the first pressure rod 10a and the second pressure rod 10b are stressed simultaneously and pressed into the accommodating box 7, the gear belt of the second pressure rod 10b drives the incomplete gear 11, so that the transmission rod 8 rotates at a certain angle to drive the linkage pawl 6 to be meshed with the reset ratchet wheel 4, and the lower leg rear side spring 3 is stretched before the toe-off, so that energy is stored.
When the exoskeleton wearer toe-off, the device is in a suspended state. At this time, since the first pressure bar 10a and the second pressure bar 10b are in the suspended state and are no longer stressed, the spring 12 will rebound due to the previous stress compression, so that the first pressure bar 10a and the second pressure bar 10b move downwards, under the action of the gear belts of the first pressure bar 10a and the second pressure bar 10b, the incomplete gear 11 rotates, so that the linkage pawl 6 is separated from the reset ratchet 4, and at this moment, the energy stored in the spring 3 at the rear side of the lower leg is released, thereby assisting the walking of the exoskeleton wearer.
When the exoskeleton wearer lifts off the toes and falls on the ground at the heels, the device is in a suspended state. The reset ratchet 4 will function during this period, and since the initial energy release and the subsequent swinging of the lower limbs in this period will cause the device to swing arbitrarily under the external force condition and store energy in unnecessary period, if there is no reset buffer of the coil spring built in the reset ratchet 4 under the above two conditions, more energy loss will be caused, and the effectiveness of the invention will be reduced. In addition, the spring 12 is responsible for controlling the incomplete gear 11 at this stage, indirectly suspending the first pressure lever 10a and the second pressure lever 10b, so that the transmission rod 8 cannot rotate to cause the meshing separation of the linkage pawl 6 and the reset ratchet 4.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (6)

1. An ankle exoskeleton comprising: the power transmission assembly, the first transmission assembly, the transmission rod and the second transmission assembly;
one end of the power transmission assembly is connected with the first transmission assembly, the other end of the power transmission assembly acts on a user, and the first transmission assembly is connected with the second transmission assembly through the transmission rod;
the first transmission assembly comprises a first transmission part, and the first transmission part is used for driving the power transmission assembly to accumulate energy when the transmission rod rotates towards a first direction and triggering the power transmission assembly to release energy when the transmission rod rotates towards a second direction;
the second transmission assembly comprises a stress part for bearing the force applied by a user and a second transmission part which drives the transmission rod to rotate under the triggering of the stress part so as to convert the borne external force into transmission force and transmit the transmission force to the first transmission assembly connected with the second transmission assembly; and generating an opposite transmission force to a first transmission component connected with the second transmission component when the external force is removed;
the power transmission assembly comprises a power component, the power component is used for accumulating energy after receiving the transmission force transmitted by the first transmission assembly and releasing the accumulated energy to a user under the trigger of canceling the external force;
the first transmission assembly further comprises a reset assembly connected with the power transmission assembly, and the reset assembly is used for returning to the initial state of the power transmission assembly after the power transmission assembly releases accumulated energy;
the power transmission assembly further comprises a sheath connected with the power component;
the power component comprises an elastic part, a first connecting part and a second connecting part, one end of the elastic part is connected with the sheath through the first connecting part, and the other end of the elastic part is connected with the first transmission assembly through the second connecting part;
the first transmission component comprises a reset ratchet wheel and a linkage pawl, the linkage pawl comprises a connecting end and a protruding end, the connecting end of the linkage pawl is fixedly connected with the transmission rod and used for receiving the transmission force of the transmission rod, and the protruding end of the linkage pawl and the tooth part of the reset ratchet wheel are meshed and separated under different transmission forces of the transmission rod;
the reset ratchet comprises a ratchet body, the reset assembly comprises a coil spring, a hollow cover body and a synapse, the coil spring is arranged opposite to a tooth part of the ratchet body, the synapse is arranged on the hollow cover body, the ratchet body is connected with the coil spring through a fixed rod, one side of the coil spring is connected with the fixed rod, and the other side of the coil spring is connected with the hollow cover body; the synapse is connected with the second connector.
2. The ankle exoskeleton of claim 1 further comprising a receptacle for receiving said transmission rod and said second transmission assembly.
3. The ankle exoskeleton of claim 2 wherein a fixing through hole for clamping the transmission rod is installed inside the containing box, and the transmission rod is arranged in the containing box through the fixing through hole.
4. The ankle exoskeleton of claim 3 wherein said first transmission assembly further comprises a bracket connecting said first transmission member and said housing box for securing said first transmission assembly to said housing box, said bracket being connected to both ends of said fixed rod of said reset ratchet.
5. The ankle exoskeleton as claimed in any one of claims 1 to 4, wherein the second transmission member comprises a gear wheel sleeved on one end of the transmission rod, the force-receiving member comprises a connecting rod mounted on the transmission rod and a first pressure rod and a second pressure rod respectively fixed on both ends of the connecting rod, and the connecting rod is perpendicular to the length extension direction of the transmission rod; and one surface of the second pressure rod facing the gear is provided with a gear rack matched with the gear.
6. The ankle exoskeleton of claim 5 wherein said connecting rods further have springs mounted thereon, said springs being 3 in number, said 3 springs being arranged in said connecting rods in a side-by-side and equally spaced arrangement.
CN201911286592.7A 2019-12-14 2019-12-14 Ankle exoskeleton Active CN110812132B (en)

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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
CN112315748B (en) * 2020-11-03 2022-12-06 湖北理工学院 Unpowered lower limb exoskeleton robot
CN112936228B (en) * 2021-02-08 2023-03-14 延边大学 Lower limb exoskeleton robot

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CN107184373A (en) * 2017-06-22 2017-09-22 国家康复辅具研究中心 Rehabilitation walk help accessory
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