CN113601488B - Lower limb exoskeleton capable of capturing negative power of knee joint by ratchet-bevel gear transmission - Google Patents
Lower limb exoskeleton capable of capturing negative power of knee joint by ratchet-bevel gear transmission Download PDFInfo
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- CN113601488B CN113601488B CN202111088827.9A CN202111088827A CN113601488B CN 113601488 B CN113601488 B CN 113601488B CN 202111088827 A CN202111088827 A CN 202111088827A CN 113601488 B CN113601488 B CN 113601488B
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 136
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 35
- 230000005540 biological transmission Effects 0.000 title claims abstract description 31
- 210000001699 lower leg Anatomy 0.000 claims abstract description 98
- 210000003127 knee Anatomy 0.000 claims abstract description 62
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 230000033001 locomotion Effects 0.000 claims abstract description 41
- 210000000689 upper leg Anatomy 0.000 claims abstract description 40
- 238000010248 power generation Methods 0.000 claims description 35
- 238000005452 bending Methods 0.000 claims description 24
- 230000008275 binding mechanism Effects 0.000 claims description 22
- 230000000712 assembly Effects 0.000 claims description 13
- 238000000429 assembly Methods 0.000 claims description 13
- 125000006850 spacer group Chemical group 0.000 claims description 10
- 230000002441 reversible effect Effects 0.000 claims description 9
- 230000003044 adaptive effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 26
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- 230000005611 electricity Effects 0.000 description 13
- 238000005381 potential energy Methods 0.000 description 12
- 238000004146 energy storage Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 244000309466 calf Species 0.000 description 5
- 230000006378 damage Effects 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 4
- 210000002414 leg Anatomy 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 210000001364 upper extremity Anatomy 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
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- 230000008602 contraction Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 238000012887 quadratic function Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 206010060820 Joint injury Diseases 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 210000002303 tibia Anatomy 0.000 description 1
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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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a ratchet-bevel gear transmission knee joint negative power capturing lower limb exoskeleton which comprises a thigh supporting plate, a lower leg supporting rod, a wheel train carrying platform and a knee joint gear mechanism, wherein one end of the wheel train carrying platform is fixedly connected with the thigh supporting plate, the other end of the wheel train carrying platform is rotatably connected with the knee joint gear mechanism through a first axial rotating piece, one end of the knee joint gear mechanism, far away from the wheel train carrying platform, is connected with the lower leg supporting rod, a coil spring is further arranged on the first axial rotating piece, the inner end point of the coil spring is fixedly connected to the first axial rotating piece, and the outer end point of the coil spring is fixedly connected with the wheel train carrying platform, so that the coil spring can be compressed during knee extension movement and reset during knee flexion movement. This scheme can stretch the knee in-process to the knee joint and carry out effective absorption to negative work, and then alleviates the impact of negative work to the knee joint, effectively protects the knee joint.
Description
Technical Field
The invention relates to the technical field of wearable equipment, in particular to a ratchet-bevel gear transmission knee joint negative power capturing lower limb exoskeleton.
Background
The exoskeleton is a structure capable of being worn on a human body, can closely link behaviors made by the human body with kinetic energy of a mechanical system, and meanwhile provides required additional power for the human body so as to enhance the motion function of the human body; the exoskeleton is divided into an upper limb exoskeleton and a lower limb exoskeleton according to different wearing parts, the upper limb exoskeleton is worn on the upper limb of a human body and mainly provides assistance for carrying the upper limb of the human body, and the lower limb exoskeleton is worn on the lower limb of the human body and mainly provides assistance for the movement of the lower limb of the human body.
The lower limb exoskeleton can be divided into a knee joint exoskeleton, an ankle joint exoskeleton and the like according to different wearing positions, the knee joint exoskeleton in the prior art is mainly used for providing assistance for movement of knee joints of human bodies, if in the military field, the knee joint exoskeleton can provide assistance for knee joints of soldiers in the movement process so as to increase the walking distance on foot, the load bearing capacity is improved, if in the medical field, the knee joint exoskeleton can be used for gait rehabilitation training of patients, the rehabilitation effect is improved, and in the field of helping the old and the disabled, the knee joint exoskeleton can be used for assisting walking of the disabled and helping the old to recover the walking capacity at one level.
The lower limb exoskeleton in the prior art mainly focuses on research on the aspect of providing motion assistance for knee joints, and researches on the motion process of the knee joints of a human body discover that in the walking process of the human body, the motion of the knee joints of the human body is divided into a knee stretching process and a knee bending process, and a part of redundant energy acts on the knee joints in an impact (or friction) mode in the knee stretching process of the knee joints of the human body, the energy is called as knee joint negative work (hereinafter referred to as negative work), and the impact of the negative work on the knee joints is one of main causes of knee joint injury.
Negative work is that after the knee joint stretching process is finished, the knee joint rotation angle cannot be reduced continuously after being reduced to zero, the energy of the exceeding part impacts on the knee joint in a mode that a femur and a tibia collide with each other, and the energy of the exceeding part in the knee stretching process of a human body can be calculated through the following formula:
W
excess energy
=W
Muscular strength
+m
Shank
*g*H
Amount of change in center of gravity
-W
Minimum energy required for shank to fall
In the above formulaW Excess energy Namely negative work; due to the existence of negative work, the knee joint of the human body can be impacted by the negative work during each knee extension movement, and the injury of the knee joint after long-time movement is further caused.
Disclosure of Invention
Aiming at the defects in the prior art, the technical problems to be solved by the invention are as follows: how to provide a ratchet-bevel gear transmission knee joint negative power capturing lower limb exoskeleton capable of effectively absorbing negative power in the knee joint knee extension process, further reducing impact of the negative power on the knee joint and effectively protecting the knee joint.
In order to solve the technical problem, the invention adopts the following technical scheme:
a ratchet-bevel gear transmission knee joint negative work capturing lower limb exoskeleton comprises a thigh supporting plate, a shank supporting rod, a wheel train carrying platform and a knee joint gear mechanism, wherein a thigh binding mechanism is arranged on the thigh supporting plate, a shank binding mechanism is arranged on the shank supporting rod, one end of the wheel train carrying platform is fixedly connected with the thigh supporting plate, one end, far away from the wheel train carrying platform, of the wheel train carrying platform, connected with the thigh supporting plate is rotatably connected with the knee joint gear mechanism through a first axial rotating piece so as to be adaptive to knee bending and knee stretching motions of a knee joint of a human body, one end, far away from the wheel train carrying platform, of the knee joint gear mechanism is connected with the shank supporting rod, a coil spring is further arranged on the first axial rotating piece, and the inner end of the coil spring is fixedly connected to the first axial rotating piece, the outer end point of the coil spring is fixedly connected with the gear train carrying platform, so that the coil spring can be compressed during knee extension movement and reset during knee bending movement.
In this scheme, the direction of human body is taken as the reference direction, that is, the front, back, left, right, upper and lower in this scheme correspond respectively to the front, back, left, right, upper and lower of human body, and the axial in this scheme is the left-right direction simultaneously, and vertical is the upper-lower direction, and vertically is the fore-and-aft direction, and the forward direction of rotation of each part in this scheme is the direction of rotation that each part corresponds when stretching the knee motion, and the reverse direction of rotation is the direction of rotation when bending the knee motion.
The working principle of the invention is as follows: when the lower limb exoskeleton of the human body is used, the lower limb exoskeleton is firstly worn on the lower limbs of the human body through the thigh binding mechanism and the shank binding mechanism respectively, and when the human body performs knee bending and knee stretching motions, the gear train carrying platform and the knee joint gear mechanism are in rotary connection through the first axial rotating piece to adapt to the motion of the knee joint of the human body.
In the knee stretching process, the human shank swings forwards relative to the thigh, the human shank drives the shank support rod and the knee joint gear mechanism to swing forwards, the knee joint gear mechanism rotates backwards relative to the wheel train carrying platform at the moment, the inner end point of the coil spring is fixedly connected to the first axial rotation part, the outer end point of the coil spring is used for being connected with the wheel train carrying platform, the coil spring is compressed and stores elastic potential energy at the moment, and therefore in the knee stretching process, the coil spring is compressed, resistance is provided for the falling of the shank by the coil spring, and the knee joint gear mechanism enables the falling of the shank to be prevented from being resistedW Minimum energy required for shank falling Increasing, according to the calculation formula of negative work:
W
excess energy
=W
Muscular strength
+m
Shank
*g*H
Amount of change in center of gravity
-W
Minimum energy required for shank to fall
It can be known that when W Minimum energy required for shank to fall When the power is increased, the negative work acting on the knee joint can be enabledW Excess energy The energy storage movement of the coil spring realizes the effective absorption of the energy of the negative work of the knee joint, thereby achieving the purpose of lightening the impact of the negative work on the knee joint and protecting the knee joint.
Meanwhile, when the knee is bent, the shank of the human body swings backwards relative to the thigh, the shank of the human body drives the shank supporting rod and the knee joint gear mechanism to swing backwards, the knee joint gear mechanism rotates forwards relative to the wheel train carrying platform, and the coil spring is in a continuously compressed state in the knee extending process, so that energy stored by the coil spring is released when the knee is bent, and assistance is provided for the knee bending.
To sum up, this scheme utilization is stretched the knee and is reduced the negative work of effect on the knee joint by the energy storage of wind spring, and then reaches and alleviates the impact of negative work to the knee joint, plays the guard action to the knee joint, and this scheme can also provide the helping hand for the knee joint when bending the knee simultaneously.
Preferably, knee joint gear mechanism includes shank connecting piece and input gear be equipped with drive gear group and electricity generation subassembly on the train carries on the platform, the electricity generation subassembly include the generator and be used for with the output gear that the pivot of generator is connected, drive gear group respectively with input gear with the meshing of output gear, in order to incite gear's power transmission arrives output gear.
Therefore, when a human body walks, the lower leg swings relative to the thigh, the lower leg further drives the knee joint gear mechanism to move through the lower leg supporting rod, an input gear on the knee joint gear mechanism rotates at the moment, power generated when the input gear rotates is further conveyed to an output gear through the transmission gear group, the output gear further drives a rotating shaft of the generator to rotate so as to achieve the effect of power generation, the purpose of power generation through the movement of the knee joint is achieved, the generated electric energy can be used for external charging equipment and electric equipment, meanwhile, the power generation assembly has a certain effect on the absorption of the negative power of the knee joint, and the effect of further reducing the impact force of the negative power on the knee joint is achieved.
Preferably, the transmission gear group includes first gear, second gear and first unidirectional rotating shaft, first gear with the input gear meshing, the second gear with the output gear meshing, first gear passes through first one-way bearing and connects on the first unidirectional rotating shaft, so that can pass through during the rotation of first gear forward first one-way bearing drives first unidirectional rotating shaft rotates, just can be relative during the first gear antiport first one-way rotating shaft free rotation, second gear fixed connection is in on the first unidirectional rotating shaft, so that the second gear can follow first unidirectional rotating shaft synchronous rotation.
Therefore, in the knee stretching process, the lower leg drives an input gear in the knee joint gear mechanism to rotate in the positive direction through the lower leg supporting rod, the input gear further transmits power to a first gear, the first gear further drives a first one-way bearing to rotate in the positive direction, and at the moment, the first one-way bearing and the first one-way rotating shaft are in a locking state, so that the first one-way bearing drives the first one-way rotating shaft to synchronously rotate, the first one-way rotating shaft further drives a second gear to rotate, the second gear rotates and further drives an output gear to rotate, and the output gear rotates and then drives a rotating shaft of a generator to rotate so as to generate electricity; in the knee bending process, the lower leg drives the input gear in the knee joint gear mechanism to rotate reversely through the lower leg supporting rod, the input gear further transmits power to the first gear, the first gear drives the first one-way bearing to rotate reversely, and the first one-way bearing and the first one-way rotating shaft are in a separated rotating state, so that the first one-way rotating shaft cannot be driven to rotate by the first one-way bearing, and the second gear and the output gear are in a static state, so that the purpose of one-way transmission of the power of the input gear is achieved.
Preferably, be connected with the one-way pivot of second in the pivot of generator, output gear passes through the one-way bearing of second and connects in the one-way pivot of second, so that can pass through during output gear forward rotation the one-way bearing of second drives the one-way pivot of second rotates, just can be relative during output gear antiport the one-way pivot free rotation of second fixedly connected with flywheel subassembly in the one-way pivot of second, flywheel subassembly includes the edge a plurality of flywheels that the axial direction of the one-way pivot of second set up, so that flywheel subassembly can with the one-way pivot synchronous rotation of second.
Thus, when the knee is stretched, the lower leg drives the knee joint gear mechanism to rotate backwards around the wheel train carrying platform through the lower leg supporting rod, at the moment, the coil spring is compressed and stores elastic potential energy, the input gear in the knee joint gear mechanism rotates forwards, the input gear further transmits power to the first gear, the first gear further drives the first one-way bearing to rotate forwards, the first one-way bearing drives the first one-way rotating shaft to rotate synchronously due to the fact that the first one-way bearing and the first one-way rotating shaft are in a locking state at the moment, the first one-way rotating shaft rotates and further drives the second gear to rotate, the second gear rotates and further drives the output gear to rotate, the output gear drives the second one-way bearing to rotate, the second one-way bearing drives the second one-way rotating shaft to rotate, and the second one-way rotating shaft rotates and further drives the flywheel component and the rotating shaft of the generator to rotate, at the moment, the flywheel assembly rotates to store energy, and the rotating shaft of the generator rotates to generate electricity; when the knee is bent, the lower leg drives the knee joint gear mechanism to rotate forwards around the gear train carrying platform through the lower leg supporting rod, the elastic potential energy stored in the coil spring is released and does not provide assistance for the knee bending movement, the input gear in the knee joint gear mechanism rotates reversely at the moment, the input gear further transmits power to the first gear, the first gear drives the first one-way bearing to rotate reversely at the moment, the first one-way bearing and the first one-way rotating shaft are in a separated rotating state, so the first one-way rotating shaft cannot be driven to rotate by the first one-way bearing, the first gear freely rotates on the first one-way rotating shaft, the first one-way rotating shaft is in a static state, the power of the input gear cannot be further transmitted through the first gear, the flywheel component continuously rotates under the inertia effect at the moment, and the flywheel component, the second one-way rotating shaft and the rotating shaft of the generator are in a mutually locked state, therefore, the flywheel assembly can synchronously drive the second unidirectional rotating shaft and the rotating shaft of the generator to continue to rotate in the same direction, the second unidirectional rotating shaft and the second unidirectional bearing are in a state of relative reverse rotation, the output gear cannot rotate along with the second unidirectional rotating shaft under the action of the second unidirectional bearing, the flywheel assembly drives the second unidirectional rotating shaft to rotate when rotating, the second unidirectional rotating shaft rotates to drive the rotating shaft of the generator to rotate for power generation, and continuous unidirectional power generation of the generator is realized.
In conclusion, when the knee is stretched, the power of the input gear is transmitted through the first gear, the second gear and the output gear in sequence, on one hand, the power is transmitted to the flywheel component for energy storage, and on the other hand, the rotating shaft of the generator is driven to rotate for power generation; in the knee bending process, the power of the input gear cannot be transmitted to the rotating shaft of the generator, and at the moment, the inertia of the flywheel component is used for continuously rotating to drive the generator to rotate in the same direction for generating power, so that the aim of converting the low-frequency reciprocating swing of the shank relative to the thigh into the high-frequency unidirectional rotation of the generator shaft is fulfilled, and the continuous power generation effect of the generator is achieved.
Preferably, the second gear includes ratchet portion and bevel gear portion, bevel gear portion be used for with output gear meshes, the ratchet portion is located bevel gear portion dorsad one side of first gear still be equipped with the spring on the train carries on the platform, the one end of spring is connected train carries on the platform, the spring is kept away from its connection the one end that train carries on the platform is equipped with the pawl, the pawl can stretch into corresponding position in the tooth's socket of ratchet portion, ratchet portion with the pawl forms ratchet, just direction when first one-way pivot forward rotation does the free rotation direction of ratchet portion, direction when first one-way pivot counter rotation does the braking direction of ratchet portion.
In this way, the bevel gear part in the second gear is used for meshing with the output gear to realize power transmission, when the ratchet wheel part in the second gear rotates forwards through the first one-way rotating shaft, the pawl and the ratchet wheel part are in a free rotating state, at the moment, the first one-way rotating shaft drives the ratchet wheel part to synchronously rotate forwards, the pawl slides through the back of the teeth of the ratchet wheel part to realize the free rotation of the ratchet wheel part, when the first gear rotates reversely under the action of the input gear, the first one-way bearing and the first one-way rotating shaft are in a free rotating state, the first one-way bearing generates friction force on the first one-way rotating shaft, at the moment, the pawl is inserted into the tooth groove of the ratchet wheel part to be in a braking state with the ratchet wheel part, therefore, the friction force generated by the first one-way bearing to the first one-way rotating shaft during the flexion and extension conversion of the knee joint can be counteracted by utilizing the one-way rotation characteristic of the ratchet mechanism.
Preferably, be equipped with two sets of electricity generation subassemblies on the train carries the platform, it is two sets of electricity generation subassembly sets up along longitudinal direction symmetry on the train carries the platform, and two sets of in the electricity generation subassembly the contained angle between the axis of the pivot of generator is 55-65.
Therefore, two groups of power generation assemblies are arranged on the gear train carrying platform, and power generation is simultaneously carried out by utilizing the two groups of power generation assemblies, so that the power generation energy and the power generation efficiency can be improved, and meanwhile, the included angle between the axes of the rotating shafts of the power generators in the two groups of power generation assemblies is 55-65 degrees, so that the effective meshing of the second gear and the output gears in the two groups of power generation assemblies can be ensured.
Preferably, two gaskets are further arranged between the first gear and the second gear, the two gaskets are fixedly connected to the first unidirectional rotating shaft, and the two gaskets are arranged along the axial direction of the first unidirectional rotating shaft.
In this way, by providing the spacer between the first gear and the second gear, the rotational friction therebetween can be reduced by the spacer.
Preferably, the input gear and the first gear are both straight gear structures, and the output gear is a bevel gear structure capable of meshing with the bevel gear part.
Preferably, one end of the shank connecting piece, which is close to the shank supporting rod, is rotatably connected with the shank supporting rod through a hinge.
Like this, rotate through the hinge between shank connecting piece and the shank bracing piece and be connected, make shank part can rotate around the frontal plane normal, the leg type of different wearers of adaptation that can be better improves and dresses travelling comfort and flexibility, also can avoid the damage that the external skeleton caused of nonstandard dress.
Preferably, a coil spring pre-tightening box is further arranged on the first axial rotating member, an outer end point of the coil spring is fixedly connected to the coil spring pre-tightening box, and the coil spring pre-tightening box is fixedly connected with the gear train carrying platform.
Therefore, the coil spring pre-tightening box can pre-tighten the coil spring before use, so that the coil spring can store enough energy in the knee extending process, and the effect of absorbing the negative work of the knee joint is ensured. When the spring is used specifically, the rotation angle of the coil spring and the elastic potential energy are in a quadratic function relationship, and the larger the pre-tightening amount is, the larger the increment of the elastic potential energy rotating by the same angle is.
Compared with the prior art, the scheme has the following advantages:
1. the exoskeleton device can effectively capture the negative work at the knee joint in the use process, and converts the captured negative work into the elastic potential energy of the coil spring, the electric energy of the generator, the rotational kinetic energy in the flywheel component and the loss in the transmission process of each gear, so that the impact of the negative work on the knee joint is reduced, and the effective protection of the knee joint is realized.
2. The scheme utilizes the motion of the knee joint to drive the generator to generate electricity, the generated electricity can be used for external charging equipment and electric equipment, manpower and time do not need to be additionally consumed to supplement the electric quantity of the electric equipment, the outdoor mobile power utilization problem is solved, long-time unlimited cruising of electric energy is realized, and the outdoor mobile power utilization device is applied to outdoor activities such as marching operations, emergency rescue and relief, mountain climbing and exploration and the like.
3. According to the scheme, the second gear adopts a ratchet-bevel gear structure form, so that the friction force of the first one-way bearing on the first one-way rotating shaft generated during knee joint flexion-extension conversion can be effectively offset, one-way continuous rotation of the flywheel assembly is guaranteed, and continuous power supply of the generator is realized.
4. According to the scheme, the reciprocating intermittent low-frequency repeated flexion and extension movement of the knee joint is converted into the continuous high-frequency unidirectional rotation effect of the generator through the characteristic of gear transmission.
5. According to the scheme, the damping effect on the negative work of the knee joint and the assisting effect during knee bending movement are realized through the periodic contraction and release of the coil spring.
6. The hinge is used for rotatably connecting the shank support rod and the shank connecting piece, so that the shank part can rotate around the normal line of the frontal plane, the flexibility of the exoskeleton device is improved, people with different leg types can normally wear the exoskeleton device, and damage to the exoskeleton device caused by irregular wearing can be avoided.
7. The flywheel assembly is installed on the rotating shaft of the generator, and the purpose of uninterrupted continuous power supply of the generator is achieved by means of inertia of the flywheel assembly.
Drawings
FIG. 1 is a schematic structural view of a ratchet-bevel gear driven knee joint negative power capturing lower extremity exoskeleton of the present invention;
FIG. 2 is a schematic view of the ratchet-bevel gear driven knee joint after negative power capturing of the lower extremity exoskeleton is removed from the shell;
FIG. 3 is an exploded view of the ratchet-bevel gear driven lower extremity exoskeleton (not shown) for negative power capture of the knee joint according to the present invention;
FIG. 4 is an exploded view of the ratchet-bevel gear driven knee joint negative power capturing lower extremity exoskeleton removal shell, thigh support plate, calf support bar, thigh binding mechanism and calf binding mechanism of the present invention;
FIG. 5 is a front side schematic view of a ratchet-bevel gear driven knee joint negative power capturing lower extremity exoskeleton removal shell, a thigh support plate, a shank support rod, a thigh binding mechanism and a shank binding mechanism of the present invention;
FIG. 6 is a rear side schematic view of a ratchet-bevel gear driven knee joint negative power capturing lower extremity exoskeleton removal shell, a thigh support plate, a shank support rod, a thigh binding mechanism and a shank binding mechanism of the present invention;
FIG. 7 is a rear side schematic view of a ratchet-bevel gear driven knee joint negative power capturing lower limb exoskeleton removing gear train carrying platform, a shell, a thigh supporting plate, a shank supporting rod, a thigh binding mechanism and a shank binding mechanism of the invention;
FIG. 8 is a schematic structural diagram of the ratchet-bevel gear transmission knee joint negative power capturing lower limb exoskeleton removing gear train carrying platform, the shell, the thigh supporting plate, the shank supporting rod, the thigh binding mechanism and the shank binding mechanism.
Description of the reference numerals: the device comprises a thigh supporting plate 1, a calf supporting rod 2, a thigh binding mechanism 3, a calf binding mechanism 4, a gear train carrying platform 5, a knee joint gear mechanism 6, a calf connecting piece 61, an input gear 62, a shell 7, a hinge 8, a generator 9, a flywheel assembly 10, an output gear 11, a first gear 12, a first axial rotating piece 13, a coil spring 14, a pre-tightening coil spring box 15, a second unidirectional rotating shaft 16, a first unidirectional rotating shaft 17, a gasket 18, a second gear 19, a ratchet part 191, a bevel gear part 192, a second unidirectional bearing 20, a pawl 21, a spring 22 and a first unidirectional bearing 23.
Detailed Description
The invention will be further explained with reference to the drawings and the embodiments.
As shown in the attached drawings 1 to 3, the ratchet-bevel gear transmission knee joint negative power capturing lower limb exoskeleton comprises a thigh supporting plate 1, a shank supporting rod 2, a wheel train carrying platform 5 and a knee joint gear mechanism 6, wherein the thigh supporting plate 1 is provided with a thigh binding mechanism 3, the shank supporting rod 2 is provided with a shank binding mechanism 4, one end of the wheel train carrying platform 5 is fixedly connected with the thigh supporting plate 1, one end of the wheel train carrying platform 5, which is far away from the thigh supporting plate 1, is rotatably connected with the knee joint gear mechanism 6 through a first axial rotating piece 13 so as to adapt to the bending and extending movements of the knee joint of a human body, one end of the knee joint gear mechanism 6, which is far away from the wheel train carrying platform 5, is connected with the shank supporting rod 2, a coil spring 14 is further arranged on the first axial rotating piece 13, and the inner end of the coil spring 14 is fixedly connected on the first axial rotating piece 13, the outer end point of the coil spring 14 is used for fixedly connecting with the wheel train carrying platform 5, so that the coil spring 14 can be compressed during knee extending movement and reset during knee bending movement, and a shell 7 is further arranged on the thigh supporting plate 1 and used for protecting parts on the wheel train carrying platform 5.
In this scheme, the direction of human body is used as the reference direction, and preceding, back, left and right, upper and lower in this scheme corresponds respectively to be preceding, back, left and right, upper and lower of human body promptly, and the axial in this scheme is left and right direction simultaneously, and vertical is upper and lower direction, vertically is the fore-and-aft direction, and the forward direction of rotation of each part in this scheme is the direction of rotation that each part corresponds when stretching the knee motion, and the reverse direction of rotation is the direction of rotation when bending the knee motion then.
The working principle of the invention is as follows: when the negative work capturing lower limb exoskeleton of the knee joint is used, the lower limb exoskeleton is firstly worn on the lower limb of a human body through the thigh binding mechanism 3 and the shank binding mechanism 4 respectively, and when the human body performs knee bending and knee stretching motions, the gear train carrying platform 5 and the knee joint gear mechanism 6 are in rotary connection through the first axial rotating piece 13 to adapt to the motions of the knee joint of the human body.
During the knee extending process, the human shank swings forwards relative to the thigh, the human shank drives the shank support rod 2 and the knee joint gear mechanism 6 to swing forwards, the knee joint gear mechanism 6 rotates backwards relative to the gear train carrying platform 5, the inner end point of the coil spring 14 is fixedly connected to the first axial rotation piece 13, the outer end point of the coil spring 14 is used for being connected with the gear train carrying platform 5, the coil spring 14 is compressed and stores elastic potential energy, and therefore during the knee extending process, the coil spring 14 is compressed, the coil spring 14 provides resistance to the falling of the shank, and the resistance is provided for the falling of the shank, so that the knee joint gear mechanism 6 can rotate backwards relative to the gear train carrying platform 5 W Minimum energy required for shank to fall Increasing, according to the calculation formula of negative work:
W
excess energy
=W
Muscular strength
+m
Shank
*g*H
Amount of change in center of gravity
-W
Minimum energy required for shank to fall
It can be known that when W Minimum energy required for shank to fall When the power is increased, the negative work acting on the knee joint can be enabledW Excess energy The energy is reduced, and then the energy storage motion of the coil spring 14 realizes the effective absorption of the energy of the negative work of the knee joint, thereby achieving the purpose of reducing the impact of the negative work on the knee joint and protecting the knee joint.
Meanwhile, when the knee is bent, the shank of the human body swings backwards relative to the thigh, the shank of the human body drives the shank support rod 2 and the knee joint gear mechanism 6 to swing backwards, at the moment, the knee joint gear mechanism 6 rotates forwards relative to the gear system carrying platform 5, and the coil spring 14 is in a continuously compressed state in the knee extending process, so that energy stored in the coil spring 14 is released when the knee is bent, and assistance is further provided for the knee bending.
To sum up, this scheme utilization is stretched knee when wind spring 14's energy storage reduces the negative work of effect on the knee joint, and then reaches to alleviate the impact of negative work to the knee joint, plays the guard action to the knee joint, and this scheme can also provide the helping hand for the knee joint when bending the knee simultaneously.
As shown in fig. 4 and 5, in the present embodiment, the knee joint gear mechanism 6 includes a shank link 61 and an input gear 62, a transmission gear set and a power generation assembly are provided on the gear train mounting platform 5, the power generation assembly includes a power generator 9 and an output gear 11 for connecting with a rotating shaft of the power generator 9, and the transmission gear set is respectively engaged with the input gear 62 and the output gear 11 to transmit the power of the input gear 62 to the output gear 11.
Therefore, when a human body walks, the lower leg swings relative to the thigh, the lower leg further drives the knee joint gear mechanism 6 to move through the lower leg supporting rod 2, the input gear 62 on the knee joint gear mechanism 6 rotates at the moment, power generated when the input gear 62 rotates is further conveyed to the output gear 11 through the transmission gear set, the output gear 11 further drives the rotating shaft of the generator 9 to rotate so as to achieve the effect of power generation, the purpose of generating power by utilizing the movement of the knee joint is achieved, the generated electric energy can be used for external charging equipment and electric equipment, meanwhile, the power generation assembly has a certain effect on absorption of negative work of the knee joint, and therefore the effect of further reducing impact force of the negative work on the knee joint is achieved.
In this embodiment, the transmission gear set includes a first gear 12, a second gear 19 and a first unidirectional rotation shaft 17, the first gear 12 is engaged with the input gear 62, the second gear 19 is engaged with the output gear 11, the first gear 12 is connected to the first unidirectional rotation shaft 17 through a first unidirectional bearing 23, so that the first gear 12 can drive the first unidirectional rotation shaft 17 to rotate through the first unidirectional bearing 23 during forward rotation, and the first gear 12 can rotate freely relative to the first unidirectional rotation shaft 17 during reverse rotation, the second gear 19 is fixedly connected to the first unidirectional rotation shaft 17, so that the second gear 19 can rotate synchronously along with the first unidirectional rotation shaft 17.
Therefore, in the knee stretching process, the lower leg drives the input gear 62 in the knee joint gear mechanism 6 to rotate in the positive direction through the lower leg support rod 2, the input gear 62 further transmits power to the first gear 12, the first gear 12 further drives the first one-way bearing 23 to rotate in the positive direction, and at the moment, because the first one-way bearing 23 and the first one-way rotating shaft 17 are in a locking state, the first one-way bearing 23 drives the first one-way rotating shaft 17 to synchronously rotate, the first one-way rotating shaft 17 rotates and further drives the second gear 19 to rotate, the second gear 19 rotates and further drives the output gear 11 to rotate, and the output gear 11 rotates and then drives the rotating shaft of the generator 9 to rotate so as to generate electricity; in the knee bending process, the lower leg drives the input gear 62 in the knee joint gear mechanism 6 to rotate reversely through the lower leg support rod 2, the input gear 62 further transmits power to the first gear 12, the first gear 12 drives the first one-way bearing 23 to rotate reversely, and at the moment, the first one-way bearing 23 and the first one-way rotating shaft 17 are in a separated rotating state, so that the first one-way rotating shaft 17 cannot be driven to rotate by the first one-way bearing 23, and the second gear 19 and the output gear 11 are in a static state, thereby achieving the purpose of one-way transmission of the power of the input gear 62.
In this embodiment, a second unidirectional rotating shaft 16 is connected to the rotating shaft of the generator 9, the output gear 11 is connected to the second unidirectional rotating shaft 16 through a second unidirectional bearing 20, so that the output gear 11 can drive the second unidirectional rotating shaft 16 to rotate through the second unidirectional bearing 20 when rotating in the forward direction, and the output gear 11 can rotate freely relative to the second unidirectional rotating shaft 16 when rotating in the reverse direction, the flywheel assembly 10 is fixedly connected to the second unidirectional rotating shaft 16, the flywheel assembly 10 includes a plurality of flywheels arranged along the axial direction of the second unidirectional rotating shaft 16, so that the flywheel assembly 10 can rotate synchronously with the second unidirectional rotating shaft 16.
Thus, during the knee-extending exercise, the lower leg drives the knee joint gear mechanism 6 to rotate backwards around the gear train carrying platform 5 through the lower leg support rod 2, at this time, the coil spring 14 is compressed and stores elastic potential energy, the input gear 62 in the knee joint gear mechanism 6 rotates forwards, the input gear 62 further transmits power to the first gear 12, the first gear 12 further drives the first one-way bearing 23 to rotate forwards, because the first one-way bearing 23 and the first one-way rotating shaft 17 are in a locked state at this time, the first one-way bearing 23 drives the first one-way rotating shaft 17 to rotate synchronously, the first one-way rotating shaft 17 rotates and further drives the second gear 19 to rotate, the second gear 19 rotates and further drives the output gear 11 to rotate, the output gear 11 drives the second one-way bearing 20 to rotate, and at this time, the second one-way bearing 20 and the second one-way rotating shaft 16 are in a locked state, therefore, the second unidirectional bearing 20 drives the second unidirectional rotating shaft 16 to rotate, the second unidirectional rotating shaft 16 further drives the rotating shafts of the flywheel component 10 and the generator 9 to rotate, at the moment, the flywheel component 10 rotates to store energy, and the rotating shaft of the generator 9 rotates to generate electricity; during knee bending movement, the lower leg drives the knee joint gear mechanism 6 to rotate forwards around the wheel train carrying platform 5 through the lower leg support rod 2, at this time, the elastic potential energy stored in the coil spring 14 is released and assistance is not provided for knee bending movement, at this time, the input gear 62 in the knee joint gear mechanism 6 rotates reversely, the input gear 62 further transmits power to the first gear 12, the first gear 12 drives the first one-way bearing 23 to rotate reversely, at this time, the first one-way bearing 23 and the first one-way rotating shaft 17 are in a separated rotating state, so that the first one-way rotating shaft 17 cannot be driven to rotate by the first one-way bearing 23, the first gear 12 rotates freely on the first one-way rotating shaft 17, the first one-way rotating shaft 17 is in a static state, the power of the input gear 62 cannot be further transmitted through the first gear 12, and at this time, the flywheel assembly 10 continues to rotate due to inertia effect, because the flywheel component 10, the second unidirectional rotating shaft 16 and the rotating shaft of the generator 9 are in a mutually locked state, the flywheel component 10 can synchronously drive the second unidirectional rotating shaft 16 and the rotating shaft of the generator 9 to continue to rotate along the same direction, at the moment, the second unidirectional rotating shaft 16 and the second unidirectional bearing 20 are in a state of relative reverse rotation, so that the output gear 11 cannot rotate along with the second unidirectional rotating shaft 16 under the action of the second unidirectional bearing 20, the flywheel component 10 can drive the second unidirectional rotating shaft 16 to rotate when rotating, the second unidirectional rotating shaft 16 rotates to drive the rotating shaft of the generator 9 to rotate for power generation, and therefore, the continuous same-direction power generation of the generator 9 is realized.
In conclusion, in the scheme, when the knee is extended, the power of the input gear 62 is transmitted through the first gear 12, the second gear 19 and the output gear 11 in sequence, and is transmitted to the flywheel assembly 10 for energy storage, and drives the rotating shaft of the generator 9 to rotate for power generation; in the knee bending process, the power of the input gear 62 cannot be transmitted to the rotating shaft of the generator 9, and at the moment, the inertia continuous rotation of the flywheel assembly 10 is utilized to drive the generator 9 to rotate in the same direction for generating power, so that the aim of converting the low-frequency reciprocating swing of the shank relative to the thigh into the high-frequency unidirectional rotation of the shaft of the generator 9 is fulfilled, and the continuous power generation effect of the generator 9 is realized.
As shown in fig. 6 to 8, in this embodiment, the second gear 19 includes a ratchet part 191 and a bevel gear part 192, the bevel gear part 192 is configured to engage with the output gear 11, the ratchet part 191 is located on a side of the bevel gear part 192 opposite to the first gear 12, a spring 22 is further disposed on the gear train mounting platform 5, one end of the spring 22 is connected to the gear train mounting platform 5, one end of the spring 22 away from the gear train mounting platform 5 is provided with a pawl 21, the pawl 21 can extend into a tooth slot of the ratchet part 191 at a corresponding position, the ratchet part 191 and the pawl 21 form a ratchet mechanism, a direction when the first unidirectional rotating shaft 17 rotates forward is a free rotation direction of the ratchet part 191, and a direction when the first unidirectional rotating shaft 17 rotates backward is a braking direction of the ratchet part 191.
In this way, the bevel gear portion 192 in the second gear 19 is used to mesh with the output gear 11 to effect power transmission, when the ratchet wheel part 191 in the second gear 19 rotates forward along the first unidirectional rotation shaft 17, the pawl 21 and the ratchet wheel part 191 are in a free rotation state, at this time, the first unidirectional rotation shaft 17 drives the ratchet wheel part 191 to rotate forward synchronously, the pawl 21 slides over the back of the teeth of the ratchet wheel part 191 to realize the free rotation of the ratchet wheel part 191, when the first gear 12 rotates in the opposite direction by the input gear 62, the first one-way bearing 23 and the first one-way rotating shaft 17 are in a free rotating state, the first one-way bearing 23 will generate friction force to the first one-way rotating shaft 17, and at this time, the pawl 21 will be inserted into the tooth slot of the ratchet part 191 to be in a braking state with the ratchet part 191, therefore, the friction force generated by the first one-way bearing 23 during the flexion-extension conversion of the knee joint to the first one-way rotating shaft 17 can be counteracted by utilizing the one-way rotation characteristic of the ratchet mechanism.
In this embodiment, two sets of power generation assemblies are disposed on the gear train carrying platform 5, the two sets of power generation assemblies are symmetrically disposed on the gear train carrying platform 5 along the longitudinal direction, and an included angle between axes of rotating shafts of the power generators 9 in the two sets of power generation assemblies is 55-65 °. Specifically, the angle is 60 ° in the present embodiment.
In this way, two sets of power generation assemblies are arranged on the gear train carrying platform 5, and are used for generating power simultaneously, so that the power generation energy and the power generation efficiency can be improved, and meanwhile, the included angle between the axes of the rotating shafts of the power generators 9 in the two sets of power generation assemblies is 55-65 degrees, so that the effective meshing of the second gear 19 and the output gears 11 in the two sets of power generation assemblies can be ensured.
As shown in fig. 4, in the present embodiment, two spacers 18 are further disposed between the first gear 12 and the second gear 19, both spacers 18 are fixedly connected to the first unidirectional rotating shaft 17, and the two spacers 18 are disposed along the axial direction of the first unidirectional rotating shaft 17.
By providing the spacer 18 between the first gear 12 and the second gear 19 in this way, the rotational friction between the two can be reduced by the spacer 18.
In the present embodiment, the input gear 62 and the first gear 12 are both of a spur gear structure, and the output gear 11 is of a bevel gear structure capable of meshing with the bevel gear portion 192.
In this embodiment, the end of the lower leg link 61 near the lower leg strut 2 is pivotally connected to the lower leg strut 2 by a hinge 8.
Like this, rotate through hinge 8 between shank connecting piece 61 and the shank bracing piece 2 and be connected, make shank part can rotate around the frontal plane normal, the leg type of the different wearers of adaptation that can be better improves and dresses travelling comfort and flexibility, also can avoid the damage that the external skeleton caused of nonstandard wearing.
In this embodiment, a coil spring pre-tightening box 15 is further provided on the first axial rotation member 13, an outer end point of the coil spring 14 is fixedly connected to the coil spring pre-tightening box 15, and the coil spring pre-tightening box 15 is fixedly connected to the train wheel mounting platform 5.
Thus, the box 15 can be pre-tightened to the coil spring 14 before use by utilizing the coil spring, so that the coil spring 14 can store enough energy during the knee extension process, and the effect of absorbing the negative work of the knee joint is ensured. When the spring is used specifically, the rotation angle of the coil spring 14 and the elastic potential energy are in a quadratic function relationship, and the larger the pre-tightening amount is, the larger the increment of the elastic potential energy rotating by the same angle is.
Compared with the prior art, the scheme has the following advantages:
the exoskeleton device can effectively capture the negative work at the knee joint in the use process, and converts the captured negative work into the elastic potential energy of the coil spring 14, the electric energy of the generator 9, the rotational kinetic energy in the flywheel component 10 and the loss in the transmission process of each gear, so that the impact of the negative work on the knee joint is reduced, and the effective protection of the knee joint is realized. The scheme utilizes the movement of the knee joint to drive the generator 9 to generate electricity, the generated electricity can be used for external charging equipment and electric equipment, manpower and time do not need to be additionally consumed to supplement the electric quantity of the electric equipment, the outdoor mobile power utilization problem is solved, long-time unlimited cruising of electric energy is realized, and the outdoor mobile power utilization device is applied to outdoor activities such as marching operations, emergency rescue and relief work, mountain climbing and exploration and the like. According to the scheme, the second gear 19 adopts a ratchet-bevel gear structure, so that the friction force generated by the first one-way bearing 23 during knee joint flexion-extension conversion on the first one-way rotating shaft 17 can be effectively offset, the one-way continuous rotation of the flywheel component 10 is ensured, and the continuous power supply of the generator 9 is realized. The scheme realizes the effect of converting reciprocating intermittent low-frequency repeated flexion and extension movement of the knee joint into continuous high-frequency unidirectional rotation of the generator 9 through the characteristic of gear transmission. According to the scheme, the damping effect on the negative work of the knee joint and the assisting effect during the knee bending movement are realized through the periodic contraction and release of the coil spring 14. This scheme is passed through hinge 8 and is rotated shank bracing piece 2 and shank connecting piece 61 and connect, makes shank part can rotate around the frontal plane normal, has promoted exoskeleton device's flexibility from this, makes the crowd of different leg types can both normally dress simultaneously, also can avoid the damage that the external skeleton device caused by the nonstandard dress. According to the scheme, the flywheel assembly 10 is arranged on the rotating shaft of the generator 9, and the purpose of uninterrupted continuous power supply of the generator 9 is achieved by utilizing the inertia of the flywheel assembly 10.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all that should be covered by the claims of the present invention.
Claims (8)
1. A ratchet-bevel gear transmission knee joint negative work lower limb capturing exoskeleton is characterized by comprising a thigh supporting plate, a shank supporting rod, a wheel train carrying platform and a knee joint gear mechanism, wherein a thigh binding mechanism is arranged on the thigh supporting plate, a shank binding mechanism is arranged on the shank supporting rod, one end of the wheel train carrying platform is fixedly connected with the thigh supporting plate, one end, far away from the wheel train carrying platform, of the wheel train carrying platform is rotatably connected with the knee joint gear mechanism through a first axial rotating piece so as to be adaptive to knee bending and knee stretching motions of a knee joint of a human body, one end, far away from the wheel train carrying platform, of the knee joint gear mechanism is connected with the shank supporting rod, a coil spring is further arranged on the first axial rotating piece, and the inner end of the coil spring is fixedly connected to the first axial rotating piece, the outer end point of the coil spring is fixedly connected with the gear train carrying platform, so that the coil spring can be compressed during knee extending movement and reset during knee bending movement;
The knee joint gear mechanism comprises a shank connecting piece and an input gear, a transmission gear set and a power generation assembly are arranged on the gear train carrying platform, the power generation assembly comprises a power generator and an output gear connected with a rotating shaft of the power generator, and the transmission gear set is respectively meshed with the input gear and the output gear so as to transmit the power of the input gear to the output gear;
the transmission gear group comprises a first gear, a second gear and a first unidirectional rotating shaft, the first gear is meshed with the input gear, the second gear is meshed with the output gear, the first gear is connected to the first unidirectional rotating shaft through a first unidirectional bearing, so that the first gear can be driven by the first unidirectional bearing when rotating in the forward direction to rotate the first unidirectional rotating shaft, the first gear can rotate in the reverse direction relatively to the first gear, the second gear is fixedly connected to the first unidirectional rotating shaft, and the second gear can follow the first unidirectional rotating shaft to rotate synchronously.
2. The ratchet-bevel gear transmission knee joint negative power capturing lower limb exoskeleton of claim 1, wherein a second unidirectional rotating shaft is connected to a rotating shaft of the generator, the output gear is connected to the second unidirectional rotating shaft through a second unidirectional bearing, so that the output gear can be driven to rotate through the second unidirectional bearing when rotating in the forward direction, and can rotate freely relative to the second unidirectional rotating shaft when rotating in the reverse direction, a flywheel assembly is fixedly connected to the second unidirectional rotating shaft and comprises a plurality of flywheels arranged in the axial direction of the second unidirectional rotating shaft, so that the flywheel assembly can rotate synchronously with the second unidirectional rotating shaft.
3. The ratchet-bevel gear driven knee negative power capture lower extremity exoskeleton of claim 1, it is characterized in that the second gear comprises a ratchet part and a bevel gear part, the bevel gear part is used for being meshed with the output gear, the ratchet part is positioned on one side of the bevel gear part back to the first gear, a spring is also arranged on the gear train carrying platform, one end of the spring is connected with the gear train carrying platform, the spring is far away from one end connected with the gear train carrying platform and is provided with a pawl, the pawl can extend into a tooth groove of the ratchet part at a corresponding position, the ratchet part and the pawl form a ratchet mechanism, and the direction of the first one-way rotating shaft when rotating in the forward direction is the free rotation direction of the ratchet part, and the direction of the first one-way rotating shaft when rotating in the reverse direction is the braking direction of the ratchet part.
4. The ratchet-bevel gear transmission knee joint negative power capturing lower limb exoskeleton of claim 1, wherein two sets of power generation assemblies are arranged on the gear train carrying platform, the two sets of power generation assemblies are symmetrically arranged on the gear train carrying platform along the longitudinal direction, and an included angle between axes of rotating shafts of the power generators in the two sets of power generation assemblies is 55-65 °.
5. The ratchet-bevel gear transmission knee joint negative power capturing lower extremity exoskeleton of claim 1, wherein two spacers are further arranged between the first gear and the second gear, both of the spacers are fixedly connected to the first unidirectional rotating shaft, and both of the spacers are arranged along the axial direction of the first unidirectional rotating shaft.
6. The ratchet-bevel gear driven knee negative power capturing lower extremity exoskeleton of claim 3, wherein said input gear and said first gear are both straight gear structures and said output gear is a bevel gear structure capable of meshing with said bevel gear portion.
7. The ratchet-bevel gear driven knee negative power capturing lower extremity exoskeleton of claim 1, wherein one end of the lower leg link, which is close to the lower leg support bar, is rotatably connected to the lower leg support bar by a hinge.
8. The ratchet-bevel gear transmission knee joint negative power capturing lower limb exoskeleton of claim 1, wherein a coil spring pre-tightening box is further arranged on the first axial rotation member, an outer end point of the coil spring is fixedly connected to the coil spring pre-tightening box, and the coil spring pre-tightening box is fixedly connected with the gear train carrying platform.
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| US9421143B2 (en) * | 2013-03-15 | 2016-08-23 | Bionik Laboratories, Inc. | Strap assembly for use in an exoskeleton apparatus |
| CN206092299U (en) * | 2016-10-11 | 2017-04-12 | 深圳市华宏昊科技有限公司 | Electricity generation power structure and wearing formula power generation facility and knee joint protection device |
| CN107378915B (en) * | 2017-08-14 | 2024-04-09 | 华南理工大学 | Lower limb power assisting device based on energy feedback |
| CN109834700B (en) * | 2019-02-28 | 2022-03-25 | 中国科学院深圳先进技术研究院 | Knee joint support member and exoskeleton robot |
| CN110744526B (en) * | 2019-10-30 | 2020-11-24 | 重庆理工大学 | Passive lower limb movement assistance exoskeleton device |
| CN111096876B (en) * | 2019-11-14 | 2024-05-14 | 清华大学 | Lower limb load moving exoskeleton |
| CN112621729A (en) * | 2020-12-28 | 2021-04-09 | 华南理工大学 | Knee joint booster unit based on energy recuperation |
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Effective date of registration: 20240109 Address after: 401135 No. 19 Zhuoyue Road, Longxing Town, Liangjiang New Area, Yubei District, Chongqing (cluster registration) Patentee after: Chongqing Polytechnic Fuli Technology Co.,Ltd. Address before: No. 69 lijiatuo Chongqing District of Banan City Road 400054 red Patentee before: Chongqing University of Technology |