CN113414757A - Knee joint movement energy collecting and utilizing device - Google Patents
Knee joint movement energy collecting and utilizing device Download PDFInfo
- Publication number
- CN113414757A CN113414757A CN202110658324.4A CN202110658324A CN113414757A CN 113414757 A CN113414757 A CN 113414757A CN 202110658324 A CN202110658324 A CN 202110658324A CN 113414757 A CN113414757 A CN 113414757A
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- fixing plate
- pawl
- ratchet
- knee joint
- torsion spring
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a knee joint movement energy collecting and utilizing device, which comprises a thigh fixing plate, a shank fixing plate and a ratchet fixing plate which are symmetrically arranged; an inner arc-shaped ratchet is connected between the two ratchet fixing plates; a round hole is formed in one side, away from the shank fixing hole, of the shank fixing plate, a small bearing is arranged in an interference fit mode and connected with a pawl, the rotation smoothness of the pawl is guaranteed, and a small torsion spring is arranged on the pawl, so that the pawl is guaranteed to be in a working state. The device is arranged at the knee joint of the human body, and in the walking process of the human body, mechanical energy in the walking and kicking process of the human body is collected through the large torsion spring and converted into elastic potential energy through the torsion spring device for storage, and the elastic potential energy is released in the knee bending process of the human body to assist the human body to walk. The device has simple structure and convenient use; the walking aid has strong practicability, helps the human body to walk, improves the utilization rate of human body energy, thereby reducing the energy consumption of the human body and effectively coping with the global energy crisis.
Description
Technical Field
The invention belongs to the technical field of energy collecting devices, and particularly relates to a knee joint movement energy collecting and utilizing device.
Background
In recent years, the number of global population is increased dramatically, only limited space and resources of the earth are being consumed, the state of global resource shortage is gradually increased, meanwhile, a large amount of metabolic energy can be consumed by a human body in the walking process of the human body, a part of metabolic energy can be converted into mechanical energy consumed by human body movement, the other part of metabolic energy is dissipated in the forms of heat energy and other composite energy, when the human body metabolic energy is consumed more, the human body can feel tired, the metabolic energy is reduced, and the working efficiency of the human body can be improved. Therefore, the passive exoskeleton is selected as a research object, mechanical energy generated during human body movement is used as a collection object, the device mechanism, the energy storage mechanism and the energy collection mode are innovatively designed, the lower limb metabolic energy is reduced for normal walking of a power-assisted person, and the human body joint power-assisted energy collection device is designed. If the energy is reasonably developed and utilized, people can better deal with the global energy crisis.
Disclosure of Invention
The invention aims to provide a knee joint movement energy collecting and utilizing device which can assist a human body to walk, reduce energy consumption in walking of the human body and improve working efficiency.
The technical scheme adopted by the invention is as follows: a knee joint movement energy collecting and utilizing device comprises two groups of thigh fixing plates and ratchet fixing plates which are symmetrically arranged, wherein the two groups of thigh fixing plates and the ratchet fixing plates are respectively fixed at two ends of a hexagonal shaft in an embedded mode, and the thigh fixing plates face upwards and the ratchet fixing plates face downwards; the bottom between the two ratchet fixing plates is fixedly connected with an inner arc-shaped ratchet; a shank fixing plate with a downward direction is further connected to the hexagonal shaft in an embedded mode, the shank fixing plate is movably connected to the hexagonal shaft through a large bearing, and the shank fixing plate is arranged between one group of thigh fixing plates and the ratchet fixing plate; the lower end of the shank fixing plate is matched with the shape of the upper surface of the ratchet and can swing around a hexagonal shaft; two ends of the hexagonal shaft are fixed through a central fastener;
the middle position of the hexagonal shaft is also sleeved with a large torsion spring, one end of the large torsion spring is inserted between two limiting shafts a on the inner side of one thigh fixing plate, and the other end of the large torsion spring is inserted between two limiting shafts b on the inner side of the shank fixing plate;
the lower part of the inner side of the shank fixing plate is also movably connected with a pawl meshed with the ratchet through a small bearing, the pawl is also fixedly connected with a small torsion spring, the other end of the small torsion spring is clamped on the shank fixing plate, the pawl is limited through a pawl positioning component, and the pawl positioning component is fixedly connected on the shank fixing plate.
The present invention is also characterized in that,
the pawl positioning component comprises a fixing piece which is connected on the shank fixing plate and is provided with a step hole, a limiting rod with a conical boss at the lower end is movably connected at the step hole of the fixing piece, and a spring is nested on the limiting rod;
a groove is formed in one side, close to the shank fixing plate, of the pawl, a fixing shaft is arranged in the groove, a small torsion spring is nested on the fixing shaft, one end of the small torsion spring is fixed on the pawl, and the other end of the small torsion spring is inserted and clamped between two limiting shafts c of the shank fixing plate; the conical boss at the lower end of the limiting rod is attached to the triangular boss at the upper end of the pawl, so that the pawl is meshed with the ratchet when moving clockwise and is separated from the ratchet when rotating anticlockwise.
The ratchet fixing plate is fixedly connected with the ratchet through a bottom fastener.
A transverse stop pin is further arranged at the lower part of the ratchet fixing plate close to one side of the shank fixing plate, the lower part of the stop pin is arranged close to the end head of the ratchet, and the stop pin is used for limiting the pawl.
The small bearing is embedded in the shank fixing plate in an interference fit manner.
The upper ends of the two thigh fixing plates are fixedly connected together through a pin shaft.
Two big through holes are further formed in one side, far away from the pawl, of the shank fixing plate, two big through holes are also formed in one side of the thigh fixing plate, and the knee joint movement energy collecting and utilizing device is connected to the knee joint bandage assembly through the big through holes and is installed at the knee joint of a human body.
The invention has the beneficial effects that: the knee joint movement energy collecting and utilizing device is arranged at the knee joint of a human body, and in the walking process of the human body, mechanical energy in the walking process of the human body is collected through the torsion spring and the ratchet wheel and pawl device and converted into elastic potential energy through the torsion spring device for storage, so that the device can assist the human body to walk, improve the utilization rate of the human body energy, reduce the energy consumption of the human body and effectively deal with the global energy crisis; the device is simple in structure, convenient to use and high in practicability.
Drawings
FIG. 1 is a general external view of a knee joint exercise energy collecting and utilizing device according to the present invention;
FIG. 2 is a schematic view of the overall structure of a knee joint exercise energy collecting and utilizing device according to the present invention;
FIG. 3 is a schematic view of a pawl structure of a knee joint exercise energy collecting and utilizing device according to the present invention;
FIG. 4 is a schematic view of the internal structure of a knee joint exercise energy collecting and utilizing device according to the present invention;
FIG. 5 is a front view of the device of the present invention with the pawl positioned to the right of the pawl as the first half cycle of the device begins during knee flexion (with the upper thigh retaining plate and ratchet retaining plate removed);
FIG. 6 is a front view of the device of the present invention in a state of left side of pawl positioning after the pawl touches the positioning pin after the first half cycle of motion is started when the human body bends knees (the upper fixing plate and the ratchet fixing plate of the thigh are removed);
FIG. 7 shows the state of the device after the pawl is disengaged from the ratchet (the upper thigh fixing plate and the ratchet fixing plate are removed) after the first half cycle of the device movement is finished when the human body bends the knees;
FIG. 8 shows the state of the device of the present invention (removing the upper thigh fixing plate and the ratchet fixing plate) when the pawl collides with the ratchet at the beginning of the second half cycle of the device movement when the person bends the knees;
FIG. 9 shows the state of the right side of the pawl positioning (removing the upper thigh fixing plate and the ratchet fixing plate of the parts) after the pawl touches the ratchet after the device starts to move in the back half cycle when the human body bends the knees according to the present invention;
FIG. 10 shows the state of the device after the pawl is disengaged from the ratchet (the upper thigh fixing plate and the ratchet fixing plate are removed) after the end of the latter half cycle of the device when the human body bends the knees;
FIG. 11 is a state diagram of the present invention in use.
In the figure, 1, a thigh fixing plate, 2, a limiting shaft a, 3, a large bearing, 4, a central fastener, 5, a large torsion spring, 6, a ratchet fixing plate, 7, a shank fixing plate, 8, a pawl positioning component, 9, a spring, 10, a small torsion spring, 11, a small bearing, 12, a pawl, 13, a stop pin, 14, a limiting shaft b, 15, a ratchet, 16, a bottom fastener, 17, a limiting rod and 18, a limiting shaft c are arranged.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a knee joint movement energy collecting and utilizing device, which comprises two groups of thigh fixing plates 1 and ratchet fixing plates 6 which are symmetrically arranged, wherein the two groups of thigh fixing plates 1 and ratchet fixing plates 6 are respectively fixed at two ends of a hexagonal shaft in a nested manner, the direction of each thigh fixing plate 1 is upward, and the direction of each ratchet fixing plate 6 is downward; the inner arc-shaped ratchet 15 is fixedly connected to the bottom between the two ratchet fixing plates 6; a shank fixing plate 7 with a downward direction is further connected to the hexagonal shaft in an embedded mode, the shank fixing plate 7 is movably connected to the hexagonal shaft through a large bearing 3, and the shank fixing plate 7 is arranged between one group of thigh fixing plates 1 and the ratchet fixing plate 6; the lower end of the shank fixing plate 7 is adaptive to the shape of the upper surface of the ratchet 15 and can swing around a hexagonal shaft; two ends of the hexagonal shaft are fixed through a central fastener 4;
the middle position of the hexagonal shaft is also sleeved with a large torsion spring 5, one end of the large torsion spring 5 is inserted between two limiting shafts a2 on the inner side of one thigh fixing plate 1, and the other end of the large torsion spring 5 is inserted between two limiting shafts b14 on the inner side of a shank fixing plate 7;
the lower part of the inner side of the lower leg fixing plate 7 is also movably connected with a pawl 12 meshed with the ratchet 15 through a small bearing 11, the pawl 12 is also fixedly connected with a small torsion spring 10, the other end of the small torsion spring 10 is clamped on the lower leg fixing plate 7, the pawl 12 is limited through a pawl positioning component 8, and the pawl positioning component 8 is fixedly connected on the lower leg fixing plate 7.
The pawl positioning component 8 comprises a fixing piece which is connected on the shank fixing plate 7 and is provided with a step hole, a limiting rod 17 with a conical boss at the lower end is movably connected at the step hole of the fixing piece, and a spring 9 is nested on the limiting rod 17;
one side of the pawl 12 close to the shank fixing plate 7 is provided with a groove, a fixing shaft is arranged in the groove, the fixing shaft is nested with a small torsion spring 10, one end of the small torsion spring 10 is fixed on the pawl 12, and the other end of the small torsion spring is inserted and clamped between two limiting shafts c18 of the shank fixing plate 7; the conical boss at the lower end of the limiting rod 17 is attached to the triangular boss at the upper end of the pawl 12, so that the pawl 12 is meshed with the ratchet 15 when moving clockwise, and is separated from the ratchet 15 when rotating counterclockwise.
The ratchet fixing plate 6 is fixedly connected with the ratchet 15 through a bottom fastener 16.
A transverse stop pin 13 is further arranged at the lower part of the ratchet fixing plate 6 close to one side of the lower leg fixing plate 7, the lower part of the stop pin 13 is arranged close to the end part of the ratchet 15, and the stop pin 13 is used for limiting the pawl 12.
The small bearing 11 is embedded in the shank fixing plate 7 in an interference fit manner.
The upper ends of the two thigh fixing plates 1 are fixedly connected together through a pin shaft.
Two big through holes are further formed in one side, far away from the pawl 12, of the shank fixing plate 7, two big through holes are also formed in one side of the thigh fixing plate 1, the knee joint movement energy collecting and utilizing device is connected to the knee joint bandage assembly through the big through holes, and the knee joint bandage assembly is installed at the knee joint of a human body.
The ratchets 15 of the knee joint movement energy collecting and utilizing device are arranged between two symmetrical ratchet fixing plates 6, and the bottom fasteners 16 connect the ratchets 15 with the ratchet fixing plates 6 through the bottom of the ratchet and corresponding round holes on the ratchet fixing plates; the upper arc center of the shank fixing plate 7 is provided with a large bearing 3 to ensure the shank fixing plate to rotate smoothly, and the lower part is provided with a pawl positioning component 8 to ensure that a pawl 12 is in a stressed state and the pawl 12 can slide smoothly among the ratchets 15; a spring 9 is arranged in the pawl positioning component 8, so that the pawl positioning component 8 can move up and down, and the pawl 12 can work on the left side or the right side of the pawl positioning component 8 conveniently; a round hole is formed in one side, away from the shank fixing hole, of the shank fixing plate 7, and a small bearing 11 is arranged in an interference fit mode, so that the pawl 12 is guaranteed to rotate smoothly; the pawl 12 is provided with a small torsion spring 10 to ensure that the pawl 12 is in a working state.
Specifically, the first half period of the positioning is performed during the leg kicking process from the knee bending state to the leg straightening state of the human body, and the second half period of the positioning is performed during the leg lifting process from the leg straightening state to the knee bending state of the human body.
When a human body is in a knee bending state, the large torsion spring 5 is in an initial unstressed state, the angle of the knee joint is increased along with the change of the leg kicking action, at the moment, the angle of the large torsion spring 5 is gradually increased by the fixed plate structure fixed on the thigh and the shank, and the mechanical energy of the falling leg is converted into the elastic potential energy of the large torsion spring 5; as shown in fig. 5, 6, and 7: when the process is started, the pawl 12 is positioned at the left side of the pawl positioning component 8 by touching the stop pin 13, the pawl 12 is meshed with the ratchet 15, the resistance of the large torsion spring 5 on the human body is counteracted in the walking process of the human body, the leg naturally falls to a straightening state, the pawl 12 is separated from the ratchet 15 in the meshing state, and the motion of the previous half period is finished;
when the leg is stretched, the large torsion spring 5 is stretched to the maximum angle state at the moment, elastic potential energy is stored, the large torsion spring 5 fixed on the fixing plate structures on the thigh and the shank provides assistance for lifting the leg of the human body along with the change of the knee bending action, the elastic potential energy stored in the torsion spring is converted into mechanical energy for assisting in lifting the leg, and in the process, the mechanical energy of the falling leg is converted into the elastic potential energy of the torsion spring; as shown in fig. 8, 9, 10: when the process is started, the pawl 12 touches the first tooth of the ratchet 15, the lower part of the pawl 12 is stressed and then is positioned on the right side of the pawl positioning component 8, the pawl 12 is disengaged from the ratchet 15, the large torsion spring 5 is enabled to smoothly convert elastic potential energy into mechanical energy for assisting in lifting the leg, the leg is enabled to rise easily until the knee bending state is reached, and the movement of the second half cycle is finished.
As shown in fig. 11, the knee joint movement energy collecting and utilizing device of the invention is connected with the thigh fixing component through two large through holes arranged side by side on one side of the thigh fixing plate at the upper part, and is connected with the shank fixing component through two through holes on one side of the shank fixing plate close to the limiting shaft at the lower part, so as to realize energy utilization and collection. The thigh fixing component and the shank fixing component are inherent parts and are not described in detail.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (7)
1. The knee joint movement energy collecting and utilizing device is characterized by comprising two groups of thigh fixing plates (1) and ratchet fixing plates (6) which are symmetrically arranged, wherein the two groups of thigh fixing plates (1) and the ratchet fixing plates (6) are respectively fixed at two ends of a hexagonal shaft in a nested manner, and the directions of the thigh fixing plates (1) are upward and the ratchet fixing plates (6) are downward; the bottom between the two ratchet fixing plates (6) is fixedly connected with an inner arc ratchet (15); a shank fixing plate (7) with a downward direction is further connected to the hexagonal shaft in a nested manner, the shank fixing plate (7) is movably connected to the hexagonal shaft through a large bearing (3), and the shank fixing plate (7) is arranged between one group of thigh fixing plates (1) and the ratchet fixing plate (6); the lower end of the shank fixing plate (7) is matched with the upper surface of the ratchet (15) in shape and can swing around a hexagonal shaft; two ends of the hexagonal shaft are fixed through a central fastener (4);
a large torsion spring (5) is further sleeved in the middle of the hexagonal shaft, one end of the large torsion spring (5) is inserted between two limiting shafts a (2) on the inner side of one thigh fixing plate (1), and the other end of the large torsion spring is inserted between two limiting shafts b (14) on the inner side of a shank fixing plate (7);
the inner side lower portion of the lower leg fixing plate (7) is movably connected with a pawl (12) meshed with the ratchet (15) through a small bearing (11), the pawl (12) is fixedly connected with a small torsion spring (10), the other end of the small torsion spring (10) is connected to the lower leg fixing plate (7) in a clamped mode, the pawl (12) is limited through a pawl positioning component (8), and the pawl positioning component (8) is fixedly connected to the lower leg fixing plate (7).
2. The knee joint movement energy collecting and utilizing device according to claim 1, wherein the pawl positioning component (8) comprises a fixing piece connected to the shank fixing plate (7) and provided with a stepped hole, a limiting rod (17) with a conical boss at the lower end is movably connected to the stepped hole of the fixing piece, and a spring (9) is nested on the limiting rod (17);
a groove is formed in one side, close to the lower leg fixing plate (7), of the pawl (12), a fixing shaft is arranged in the groove, a small torsion spring (10) is nested on the fixing shaft, one end of the small torsion spring (10) is fixed on the pawl (12), and the other end of the small torsion spring is inserted and clamped between two limiting shafts c (18) of the lower leg fixing plate (7); the conical boss at the lower end of the limiting rod (17) is attached to the triangular boss at the upper end of the pawl (12), so that the pawl (12) is meshed with the ratchet (15) when moving clockwise, and is separated from the ratchet (15) when rotating anticlockwise.
3. A knee joint movement energy harvesting and utilization device according to claim 1, characterized in that the ratchet fixing plate (6) is fixedly connected with the ratchet (15) by a bottom fastener (16).
4. The knee joint movement energy collecting and utilizing device according to claim 1, wherein a transverse stop pin (13) is further arranged at the lower part of the ratchet fixing plate (6) close to one side of the shank fixing plate (7), the lower part of the stop pin (13) is arranged close to the end part of the ratchet (15), and the stop pin (13) is used for limiting the pawl (12).
5. The knee joint movement energy collecting and utilizing device according to claim 1, characterized in that the small bearing (11) is embedded in the shank fixation plate (7) with interference fit.
6. The knee joint movement energy collecting and utilizing device according to claim 1, wherein the upper ends of the two thigh fixing plates (1) are fixedly connected together through a pin.
7. The knee joint movement energy collecting and utilizing device according to claim 1, wherein two large through holes are further formed in one side of the shank fixing plate (7) far away from the pawl (12), two large through holes are also formed in one side of the thigh fixing plate (1), and the knee joint movement energy collecting and utilizing device is connected to a knee joint bandage assembly through the large through holes and is installed at the knee joint of a human body.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110658324.4A CN113414757B (en) | 2021-06-11 | 2021-06-11 | Knee joint movement energy collecting and utilizing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110658324.4A CN113414757B (en) | 2021-06-11 | 2021-06-11 | Knee joint movement energy collecting and utilizing device |
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| CN113414757A true CN113414757A (en) | 2021-09-21 |
| CN113414757B CN113414757B (en) | 2022-07-22 |
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| CN202110658324.4A Active CN113414757B (en) | 2021-06-11 | 2021-06-11 | Knee joint movement energy collecting and utilizing device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114932539A (en) * | 2022-06-30 | 2022-08-23 | 西安理工大学 | Knee joint power assisting and energy harvesting device |
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| KR20190067972A (en) * | 2017-12-08 | 2019-06-18 | 박종완 | Assist apparatus of muscular strength for arm |
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| CN212352009U (en) * | 2020-05-18 | 2021-01-15 | 南京杨树穿戴智能科技有限公司 | Passive knee joint exoskeleton |
| CN112356013A (en) * | 2020-11-05 | 2021-02-12 | 安徽大学绿色产业创新研究院 | Passive and energy-storable elbow joint assistance exoskeleton |
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2021
- 2021-06-11 CN CN202110658324.4A patent/CN113414757B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2005000634A (en) * | 2003-05-21 | 2005-01-06 | Wacoal Corp | Walking assisting device |
| CN206677945U (en) * | 2017-03-13 | 2017-11-28 | 杭州国辰机器人科技有限公司 | A kind of wearable knee joint booster of intelligence |
| KR20190067972A (en) * | 2017-12-08 | 2019-06-18 | 박종완 | Assist apparatus of muscular strength for arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114932539A (en) * | 2022-06-30 | 2022-08-23 | 西安理工大学 | Knee joint power assisting and energy harvesting device |
| CN114932539B (en) * | 2022-06-30 | 2023-06-30 | 西安理工大学 | Knee joint boosting and energy harvesting device |
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| CN113414757B (en) | 2022-07-22 |
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