CN112975914A - Sole control type lower limb energy storage boosting mechanism - Google Patents
Sole control type lower limb energy storage boosting mechanism Download PDFInfo
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- CN112975914A CN112975914A CN202110279928.8A CN202110279928A CN112975914A CN 112975914 A CN112975914 A CN 112975914A CN 202110279928 A CN202110279928 A CN 202110279928A CN 112975914 A CN112975914 A CN 112975914A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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Abstract
The invention discloses a sole control type lower limb energy storage boosting mechanism which comprises a thigh rod, a thigh binding band, a knee joint energy storage device, a shank rod, an air spring, a ball joint, a bottom plate and a spring, wherein the thigh rod is bound on a thigh through the binding band in the using process; the invention realizes man-machine coupling and multi-degree-of-freedom passive walking assistance according to the walking gait principle of a human body, meets the storage requirement of energy by bending the coil spring, realizes full utilization of energy by matching with the use of the air spring, and realizes free and flexible switching between a working state and a non-working state by matching the use of the electromagnet and the meshing teeth. In the daily walking process, the invention can help people to share the load of the knee joint, realize the bearing and the energy storage in the supporting phase so as to assist the stretching in the later period of the middle period of the supporting, simultaneously provide enough power for lifting the legs in the pre-swing period, and lead the legs to swing freely in the swing period without interfering the normal movement of the human body.
Description
Technical Field
The invention relates to a lower limb energy storage assisting mechanism, in particular to a sole control type lower limb energy storage assisting mechanism, and belongs to the technical field of exoskeleton robot technology and mechanical and electrical integration.
Background
The research of the power assisting system starts at the end of the 60 th 20 th century, is mainly developed in developed countries such as Europe and America, and aims at enhancing the capacity of a human body to bear and bear loads. By the end of the 90 s of the last century, along with the improvement of scientific technology, the research on a sensor technology, a driving technology, energy development and a power assisting system associated with the scientific technology has rapidly developed. The power assisting system can show good application prospect in the military field. The power assisting system can be used as a subsystem to be applied to various fields, such as an earthquake rescue system: individual combat systems and polar region scientific research systems, etc. When an individual soldier is in combat, the physical ability of each person is limited, and in the range of the limited physical ability, the reduction of unnecessary energy loss is particularly important for combat personnel. If a power-assisted exoskeleton is provided, unnecessary lost energy can be accumulated and used for helping fighters to walk. Therefore, the physical ability of the soldier can be enhanced, the soldier can carry more weapons, and the individual combat capability of the soldier is improved.
The invention with application number 201510574501.5 discloses a bionic flexible lower limb exoskeleton suit driven by pneumatic artificial muscles, wherein the lower limb exoskeleton suit is associated with a rigid suspension vest of an upper limb to increase the weight of the exoskeleton suit. In addition, the pneumatic driving method has poor stability and is not favorable for control.
The invention with the application number of 201310262919.3 discloses a wearable lower limb assistance exoskeleton, each leg is driven by only one motor, a connecting rod mechanism is matched with one driving motor, so that a joint, a knee joint and an ankle joint can fit a proper rotation angle curve at the same time, but the length of the connecting rod can be designed specifically for different users, the exoskeleton can not be adjusted, the exoskeleton is not universal, and the weight of the exoskeleton is increased by two motors.
Therefore, in order to solve the above technical problems, it is very significant to develop a sole control type lower limb energy storage power assisting mechanism, which realizes energy self-storage and is used as a power assisting system for assisting a human body to walk.
Disclosure of Invention
In order to overcome the defects that the traditional power assisting device cannot adapt to the gait of a human body well and has poor power assisting effect, heavy volume and a summer-miscellaneous structure, the invention provides the sole control type lower limb energy storage power assisting mechanism.
In order to achieve the above purpose, the technical scheme adopted by the patent of the invention for solving the technical problems is as follows: a sole control type lower limb energy storage boosting mechanism comprises a thigh rod, a thigh bandage, a knee joint energy storage device, a shank rod, an air spring, a ball joint, a base plate and a spring, wherein the thigh rod is fixedly connected with a thigh through the thigh bandage, and the thigh rod is fixedly connected with the knee joint energy storage device.
The thigh rod is bound together with the thigh through a thigh binding band, wherein the binding band is made of nylon hasp fabric, the knee joint energy storage device is connected with the shank rod and can rotate mutually, the shank rod is fixedly connected with an air spring, the air spring is fixedly connected with a bottom plate through a ball joint, and the bottom plate is in contact with the sole through a spring.
The gas spring comprises a gas spring pipe and a gas spring rod, the gas spring pipe is fixedly connected with the shank rod through a flat joint, and the gas spring rod is fixedly connected with the bottom plate through a ball joint.
The knee joint energy storage device comprises a front cover, a middle shell, a rear cover and a thigh rod connecting piece, the knee joint energy storage device is fixedly connected with a thigh rod through the thigh rod connecting piece, and the front cover, the rear cover and the middle shell are fixedly connected.
The knee joint energy storage device comprises a fixing piece, an iron core, an electromagnet spring, a coil, two meshing teeth, a coil spring and a rotating disk, wherein the fixing piece is fixedly connected with a front cover, the coil is embedded in the hollow part of the fixing piece, one end of the electromagnet spring is fixedly connected with the coil, the other end of the electromagnet spring is fixedly connected with the iron core, the iron core is fixedly connected with the meshing teeth, the center of the coil spring is fixedly connected with the meshing teeth, and the outer ring of the coil spring is fixedly connected with the rotating disk.
The knee joint energy storage device is connected with the shank rod in a relatively rotatable mode through the rotating disc, and the shank rod is designed to bend from the side face to one side of the rear portion of the shank to achieve assistance.
The thigh rod and the shank rod are made of aluminum alloy materials, one surface of the shank rod, which is in contact with the legs of a person, is wrapped by soft fabric, and then direct contact between metal and the human body is avoided, so that the skin of the human body is prevented from being damaged in movement.
The invention has the beneficial effects that: the invention has the advantages of simple and compact integral structure, small integral thickness, light weight, convenient wearing and capability of passively realizing the power assisting effect. The invention can realize the flexible switching between working states, share the load in the support period, reduce the pressure of the knee joint, assist the stretching in the middle and later periods of the support, simultaneously provide enough power for lifting the legs in the pre-swing period, and realize the free swing of the legs in the swing period without interfering the normal movement of the human body. The invention can realize the effect of fully utilizing energy and save the energy of the human body in the walking process.
Drawings
FIG. 1 is a total effect diagram;
FIG. 2 is an external view of the knee energy storage device;
FIG. 3 is an exploded view of the internal structure of the knee energy storage device;
fig. 4 a detail view of the sole assembly;
figure 5 is an external view of a lower leg shaft.
The leg-knee-joint energy storage device comprises a thigh rod 1, a thigh bandage 2, a knee-joint energy storage device 3, a shank rod 4, an air spring 5, a ball joint 6, a bottom plate 7, a spring 8, a shoe 9, a front cover 10, a middle shell 11, a thigh rod connecting piece 12, a rear cover 13, a fixing piece 14, an iron core 15, an electromagnet spring 16, a coil 17, a first meshing tooth 18, a second meshing tooth 19, a coil spring 20, a rotating disk 21, an air spring pipe 22 and an air spring rod 23.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist the person skilled in the art to further understand the invention, but do not limit it in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1 to 5, a sole control type lower limb energy storage boosting mechanism is composed of a thigh rod 1, a thigh bandage 2, a knee joint energy storage device 3, a shank rod 4, a gas spring 5, a ball joint 6, a base plate 7 and a spring 8. The thigh rod 1 is fixedly connected with a thigh through a thigh binding band 2, and the thigh rod 1 is fixedly connected with a knee joint energy storage device 3. Therefore, the thigh rod 1 will drive the knee joint energy storage device 3 to swing together with the human gait.
The knee joint energy storing device 3 is connected with the shank rod 4 and can rotate relatively, and when the shank swings, the shank rod 4 is driven to rotate by taking the knee joint energy storing device 3 as a center. Shank 4 and air spring 5 fixed connection, air spring 5 passes through ball joint 6 and bottom plate 7 fixed connection, bottom plate 7 passes through spring 8 and sole contact.
The knee joint energy storing device 3 comprises a front cover 10, a middle shell 11, a thigh rod connecting piece 12 and a rear cover 13, the knee joint energy storing device 3 is fixedly connected with the thigh rod 1 through the thigh rod connecting piece 12, and the front cover 10, the rear cover 13 and the middle shell 11 are fixedly connected. The knee joint energy storage device 3 comprises a fixing piece 14, an iron core 15, an electromagnet spring 16, a coil 17, a first meshing tooth 18, a second meshing tooth 19, a coil spring 20 and a rotating disk 21, the fixing piece 14 is fixedly connected with the front cover 10, the coil 17 is embedded in the hollow part of the fixing piece 14, one end of the electromagnet spring 16 is fixedly connected with the coil 17, one end of the electromagnet spring is fixedly connected with the iron core 15, the iron core 15 is fixedly connected with the first meshing tooth 18, the center of the coil spring 20 is fixedly connected with the second meshing tooth 19, and the outer ring of the coil spring 20 is fixedly connected with the rotating disk 21. The fixing piece 14 mainly plays a role of preventing the coil 17 from radial displacement, and the first meshing teeth 18 and the second meshing teeth 19 play a role of clutch in cooperation with the iron core 15, the electromagnet spring 16 and the coil 17. When the coil 17 is electrified, the iron core 15 is attracted and compresses the electromagnet spring 16, so that the first meshing teeth 18 and the second meshing teeth 19 are in contact locking, and when the rotary disk 21 drives the coil spring 20 to rotate, the coil spring 20 is compressed and stored with energy because the center of the coil spring 20 is fixedly connected with the second meshing teeth 19 and the second meshing teeth 19 are locked by the first meshing teeth 18; when the coil 17 is powered off, the iron core 15 is reset by the action of the electromagnet spring 16, the first meshing tooth 18 is driven to be separated from the second meshing tooth 19, and when the coil spring 20 is driven to rotate by the rotating disc 21, the coil spring 20 rotates freely due to the separation of the first meshing tooth 18 and the second meshing tooth 19, and energy storage is not involved.
The knee joint energy storage device 3 is connected with the shank rod 4 in a relatively rotatable mode through the rotating disc 21, the shank rod 4 is designed to be bent from the side face to the rear side of the shank to achieve assisting power, and the design is used for better pushing the legs of a person to step forwards. The thigh rod 1 and the shank rod 4 are made of aluminum alloy materials, and the surface of the shank rod, which is in contact with the legs of a person, is wrapped by soft fabric, so that the direct contact between metal and the human body is avoided, and the skin of the human body is prevented from being damaged in movement.
The working principle and the process of the invention are as follows:
referring to fig. 1 to 5, after the overall assembly of the sole control type lower limb energy storage power assisting mechanism provided by the invention is completed, different functions are realized in different phases of a human body according to a passive walking principle, at the initial stage of supporting, the knee joint is in a fully extended state, at the moment, the heel is initially contacted with the ground, so that the coil 17 is electrified, the iron core 15 is attracted and compresses the electromagnet spring 16, and the first meshing teeth 18 are contacted with the second meshing teeth 19 and locked; in the process from initial landing of the heel to bending of the knee joint to the maximum angle, the shank rod 4 rotates along with the shank by taking the knee joint energy storage device 3 as the center, the shank rod 4 is fixedly connected with the rotating disc 21, so the rotating disc 21 is driven to rotate by the motion, the center is fixedly connected with the second meshing tooth 19 as the end part of the outer ring of the coil spring 20 is fixedly connected with the rotating disc 21, and the second meshing tooth 19 is contacted and locked with the first meshing tooth 18 in the process, so the second meshing tooth 19 cannot rotate, namely the center of the coil spring 20 is fixed, the outer ring rotates along with the rotating disc 21, and further the rotary energy storage of the coil spring 20 is realized; when the knee joint bends to the maximum angle, the extension movement is realized, at the moment, the coil 17 is still in the power-on state, the second meshing teeth 19 and the first meshing teeth 18 are in contact locking, when the knee joint has the extension trend, the energy stored in the coil spring 20 is reversed to release the energy, and the rotating disk 21 drives the shank 4 to swing so as to assist the shank to extend; when the knee joint is fully extended, the energy stored in the coil spring 20 is completely exhausted, the coil 17 is powered off, the second meshing teeth 19 are separated from the first meshing teeth 18, the calf drives the calf shank 4 to swing in the subsequent swinging period, and the calf shank 4 drives the coil spring 20 and the second meshing teeth 19 to rotate freely through the rotating disk 21 because the second meshing teeth 19 can not rotate freely under the action of the first meshing teeth 18.
The other assistance mode of the invention is as follows: when the heel is in initial contact with the ground, the spring 8 will be compressed because the heel is in direct contact with the spring 8, so the human leg will have a small displacement in the gravity direction relative to the initial position, and the whole lower extremity exoskeleton is fixed with the human body by using the thigh strap 2 at the thigh rod 1, and the displacement of the human leg will be finally transmitted to the bottom end of the shank rod 4 through the thigh rod 1. Since the shank 4 is fixedly connected to the gas spring tube 22 by means of the flat joint and the gas spring rod 23 is connected to the base plate 7 by means of the ball joint 6, the gas spring tube 22 will be displaced relative to the gas spring rod 23 to compensate for the displacement occurring at the heel, while the gas spring 5 will be displaced while compressing the air inside to achieve energy storage. During the period from initial landing of the heel to full extension of the knee joint, the spring 8 and the gas spring 5 are always in a compressed state, when the pre-swing period is entered, the heel tends to leave the ground, the energy stored in the gas spring 5 can react to the shank 4, and because the shank is at an angle of about 60 degrees relative to the ground, a part of the energy acting on the shank 4 can be used for overcoming the gravity to do work when lifting the leg, and a part of the energy is used for providing forward power for lifting the leg.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (6)
1. A sole control type lower limb energy storage boosting mechanism is characterized in that: comprises a thigh rod, a thigh binding band, a knee joint energy storage device, a shank rod, an air spring, a ball joint, a bottom plate and a spring; the thigh rod is fixedly connected with a thigh through a thigh binding band, and the thigh rod is fixedly connected with a knee joint energy storage device;
the knee joint energy storage device is connected with the shank rod, the shank rod is fixedly connected with the air spring, the air spring is fixedly connected with the bottom plate through a ball joint, and the bottom plate is contacted with the sole through the spring;
the bottom plate and the spring are integrally installed at the bottom of the heel, the top end of the spring is in direct contact with the heel, the ball joint can realize free rotation of three degrees of freedom, and the air spring can be freely compressed and extended in the vertical direction.
2. The sole control type lower limb energy storage and boosting mechanism according to claim 1, wherein: the gas spring comprises a gas spring pipe and a gas spring rod, the gas spring pipe is fixedly connected with the shank rod through a flat joint, and the gas spring rod is fixedly connected with the bottom plate through a ball joint.
3. The sole control type lower limb energy storage assisting mechanism according to claim 1, wherein the knee joint energy storage device comprises a front cover, a middle shell, a rear cover and a thigh rod connecting piece, the knee joint energy storage device is fixedly connected with a thigh rod through the thigh rod connecting piece, and the front cover, the rear cover and the middle shell are fixedly connected.
4. The sole control type lower limb energy storage and boosting mechanism according to claim 1, wherein: the knee joint energy storage device comprises a fixed part, an iron core, an electromagnet spring, a coil, a first cheering tooth, a second cheering tooth, a coil spring and a rotating disk; the fixing piece is fixedly connected with the front cover, the coil is embedded in the hollow part of the fixing piece, one end of the electromagnet spring is fixedly connected with the coil, the other end of the electromagnet spring is fixedly connected with the iron core, the iron core is fixedly connected with the first meshing teeth, the center of the coil spring is fixedly connected with the second meshing teeth, and the outer ring of the coil spring is fixedly connected with the rotating disk.
5. The sole control type lower limb energy storage and power assisting mechanism according to claim 1 or 4, characterized in that: the knee joint energy storage device is connected with the shank rod in a relative rotation mode through the rotating disc, and the shank rod is designed to bend from the side face to one side of the rear portion of the shank to achieve assistance.
6. The sole control type lower limb energy storage and boosting mechanism according to claim 1, wherein: the thigh rod and the shank rod are made of aluminum alloy materials, and the surface of the shank rod, which is in contact with the legs of a person, is wrapped by soft fabric.
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| CN202110279928.8A CN112975914A (en) | 2021-03-16 | 2021-03-16 | Sole control type lower limb energy storage boosting mechanism |
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| CN202110279928.8A CN112975914A (en) | 2021-03-16 | 2021-03-16 | Sole control type lower limb energy storage boosting mechanism |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114044065A (en) * | 2021-11-10 | 2022-02-15 | 江苏科技大学 | Lower limb structure of biped robot and movement method thereof |
| CN114102558A (en) * | 2021-11-18 | 2022-03-01 | 华中科技大学 | Passive exoskeleton based on ankle compound physical mobility characteristics |
| CN114310943A (en) * | 2021-12-23 | 2022-04-12 | 杭州太希智能科技有限公司 | Joint module, assistance lower limb exoskeleton capable of freely bending in leg lifting state and whole body exoskeleton |
| CN115229766A (en) * | 2022-07-20 | 2022-10-25 | 北理兆殷智能科技(山东)有限公司 | Exoskeleton robot power-assisted shoe |
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Application publication date: 20210618 |