CN113829327A

CN113829327A - Knee joint energy collecting and assisting device

Info

Publication number: CN113829327A
Application number: CN202110910885.9A
Authority: CN
Inventors: 王旭鹏; 黄昱喆
Original assignee: Xian University of Technology
Current assignee: Xian University of Technology
Priority date: 2021-08-09
Filing date: 2021-08-09
Publication date: 2021-12-24
Anticipated expiration: 2041-08-09
Also published as: CN113829327B

Abstract

The invention discloses a knee joint energy collecting and assisting device.A pawl penetrates through a stepped hole on the front side of a torque input end thin plate to be connected with the stepped hole, and one end of the pawl is attached to a boss on the front side of a ratchet wheel, so that the pawl is ensured to be in a stressed state. A spring is arranged between the pawl and the torque input end thin plate, so that the pawl can move up and down, and the pawl can be attached to or detached from the ratchet teeth according to requirements in the moving process; the ratchet wheel is in interference fit with the inner wall of the front end cover; the working positions of all parts are ensured to be stable; the shank fixing plate is connected with the torque input end thin plate in an interference fit mode through a key groove, and coaxial fixed-shaft rotation is guaranteed. The device is arranged at the rotating central shaft of the knee joint of a human body, and in the walking process of the human body, mechanical energy generated in the walking process of the human body is collected through the cooperation of the tension spring and the ratchet wheel and pawl device, and is converted into elastic potential energy through the tension spring device to be stored and utilized. The walking of the human body is assisted, the energy utilization rate of the human body is improved, the metabolic consumption of the human body is reduced, and the innovation of an energy collection mode is realized.

Description

Knee joint energy collecting and assisting device

Technical Field

The invention belongs to the technical field of energy collecting devices, and particularly relates to a knee joint energy collecting and assisting device.

Background

In recent years, the global population is increased, so that the resource utilization tension of the earth is increased, and meanwhile, with the continuous improvement of the electric quantity requirements of electronic equipment, wearable equipment and implanted equipment, the traditional battery technology cannot meet the requirement of equipment continuation. Among different energy collection sources, the human body serves as a stable energy reservoir and has huge energy collection potential. A large amount of metabolic energy is consumed in the walking process of a human body and is respectively converted into mechanical energy, heat energy or other compound energy consumed in movement. Excessive consumption of metabolic energy can cause fatigue of a human body, so that the efficiency of human body movement and work can be effectively improved by reducing the consumption of metabolic energy. Research shows that the muscle has higher negative work efficiency, and in the lower limb joints of healthy adults, the knee joint performs negative work by 91 percent, so the knee joint is the preferential part for energy collection. Therefore, the passive power-assisted exoskeleton is selected as a research object, mechanical energy generated during the movement of the knee joint of the human body is taken as a collection object, and the innovative design is carried out on the device structure, the energy storage mechanism and the energy collection mode. The knee joint assisting energy collecting device designed for reducing the metabolism energy of the lower limbs of the human body and assisting the walking of the human body has great application prospect as the human body performance enhanced exoskeleton in the military field and the civil field.

Disclosure of Invention

The invention aims to provide a knee joint energy collecting and assisting device which is used for assisting the knee joint to rotate so as to reduce the walking metabolism consumption of a human body and improve the efficiency of human body movement and work.

The technical scheme adopted by the invention is as follows: a knee joint energy collecting and boosting device comprises a thigh fixing plate and a shank fixing plate, wherein a disc-shaped shell is axially connected between the thigh fixing plate and the shank fixing plate, the shell comprises a front end cover and a fastening cover which are mutually buckled, and a coaxial torque input end thin plate and a ratchet wheel which can axially move are sequentially arranged in the shell; the front end cover is internally provided with three groups of arc guide rails which are arranged at intervals and annularly surround the inner wall of the front end cover, a torque input end thin plate is arranged in a circumferential space surrounded by the three groups of arc guide rails, each arc guide rail is fixedly nested with a tension spring, the other end of each tension spring is fixedly connected with the edge of the torque input end thin plate, the torque input end thin plate is fixedly connected with the front end cover through a fixed shaft arranged at the center of the front end cover, the center of the torque input end thin plate is also provided with an axial cylindrical bulge, the bulge is provided with a stepped hole perpendicular to the axial direction, and a pawl is inserted in the stepped hole; the ratchet wheel is connected with the inner wall of the front end cover in an interference fit manner, an inner arc guide sheet for limiting the pawl is arranged on the inner side of the ratchet wheel, the front claw end of the pawl is meshed with the ratchet wheel, the other end of the pawl is attached to the inner wall of the guide sheet, and a spring for limiting the pawl is sleeved on the pawl.

The invention is also characterized in that:

the front end cover is fixedly connected with the thigh fixing plate,

the fixed shaft is connected with the torque input end thin plate through a bearing.

The bulge passes through the fastening cover and is connected with the crus fixing plate through the key slot at the end head.

The spring is close to the one end setting of leading the position piece, and spring one end is spacing through the arch of pawl end, and the other end is fixed on moment of torsion input end sheet metal, guarantees that the pawl can follow the guide piece and moves about, and the pawl of being convenient for is laminated or breaks away from the ratchet as required in the motion process.

The guide sheet is designed into a slope opposite to the ratchet wheel.

The fastening cover is in interference fit with the front end cover in a buckling mode.

The invention has the beneficial effects that: the invention relates to a knee joint energy collecting and assisting device which is arranged at a rotating central shaft of a knee joint of a human body, and is used for collecting mechanical energy generated in the walking process of the human body through the cooperation of a tension spring and a ratchet wheel and pawl device in the walking process of the human body and converting the mechanical energy into elastic potential energy through the tension spring device for storage and utilization. The walking of the human body is assisted, the energy utilization rate of the human body is improved, the metabolic consumption of the human body is reduced, and the innovation of an energy collection mode is realized; the device has simple structure, convenient use and strong practicability.

Drawings

FIG. 1 is an overall external view of a knee joint energy harvesting and power assisting device;

FIG. 2 is an exploded view of a knee energy harvesting and power assist device;

FIG. 3(a) is a front view of the pawl in the lower end positioning state at the beginning of the first half cycle of device motion when the knee of a human knee of a knee energy harvesting and power assist device of the present invention is ready for extension forward;

FIG. 3(b) is a front view of the pawl in the lower end positioning state (with the tightening cap removed) at the beginning of the first half cycle of device motion when the knee of a human body of the knee joint energy harvesting and power assisting device of the present invention is ready to be extended forward;

FIG. 4(a) is a front view of the energy harvesting and power assisting device for knee joint of the present invention with the pawl in the upper end positioning state at the end of the first half cycle of the device motion when the knee of the human body is at the end of extension;

FIG. 4(b) is a front view of the energy harvesting and power assisting device for knee joint of the present invention with the pawl in the upper end positioning state (with the fastening cover removed) at the end of the first half cycle of the device motion when the knee of the human body is at the end of extension;

in the figure, 1, a thigh fixing plate, 2, a tension spring, 3, a bearing, 4, a torque input end thin plate, 5, a spring, 6, a pawl, 7, a ratchet wheel, 8, a fastening cover, 9, a shank fixing plate, 10, an arc-shaped guide rail, 11, a fixing shaft, 12, a bulge and 13 are guide sheets.

Detailed Description

In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description taken in conjunction with the accompanying drawings.

The invention discloses a knee joint energy collecting and assisting device. As shown in fig. 1, the thigh fixing plate and the shank fixing plate are included, a disc-shaped shell is axially connected between the thigh fixing plate 1 and the shank fixing plate 9, the shell includes a front end cover and a fastening cover 8 which are mutually buckled, and a torque input end thin plate 4 and a ratchet wheel 7 which are coaxial and can axially move are sequentially arranged in the shell; three groups of arc guide rails 10 which are arranged at intervals and annularly surround the inner wall of the front end cover are arranged in the front end cover, a torque input end thin plate 4 is arranged in a circumferential space surrounded by the three groups of arc guide rails 10, a tension spring 2 is fixedly nested on each arc guide rail 10, the other end of the tension spring 2 is fixedly connected to the edge of the torque input end thin plate 4, the torque input end thin plate 4 is fixedly connected with the front end cover through a fixed shaft 11 arranged at the center of the front end cover, an axial cylindrical bulge 12 is further arranged at the center of the torque input end thin plate 4, a stepped hole perpendicular to the axial direction is formed in the bulge 12, and a pawl 6 is inserted in the stepped hole; ratchet 7 is connected with front end housing inner wall interference fit, and ratchet 7 inboard is provided with and leads position piece 13 to the inner arc that pawl 6 carries on spacingly, and the front pawl end and the ratchet 7 of pawl 6 mesh mutually, and the other end laminating ratchet 7 is on leading the inner wall of position piece 13, and the cover is equipped with and carries out spacing spring 5 to pawl 6 on the pawl 6.

The front end cover is fixedly connected with the thigh fixing plate 1.

The stationary shaft 11 is connected to the torque input end sheet 4 through the bearing 3.

The bulge 12 penetrates through the fastening cover 8 and is connected with the shank fixing plate 9 through a key slot at the end head, so that the coaxial fixed shaft is ensured to rotate.

Spring 5 is close to the setting of leading position piece 13 one end, and 5 one ends of spring are spacing through the arch of 6 ends of pawl, and the other end is fixed on moment of torsion input end sheet metal 4, guarantees that pawl 6 can follow and leads position piece 13 activity from top to bottom, and the pawl 6 of being convenient for is laminated or breaks away from the ratchet as required in the motion process.

The guide piece 13 is designed as a ramp opposite to the ratchet wheel.

The fastening cover 8 is in interference fit with the front end cover and is buckled and connected.

The thigh fixing plate 1 and the shank fixing plate 9 are provided with communication holes for classically giving the whole device to the knee joint.

Specifically, the whole working state is taken as a cycle, the process from the backward leg lifting and knee bending state to the forward leg straightening and kicking process of the human body is determined as the first half cycle, and the process from the forward leg straightening and kicking state to the backward leg lifting and knee bending process of the human body is determined as the second half cycle.

When a human body is in a backward leg lifting and knee bending state, the tension spring 2 is in an initial unstressed state, the angle of a knee joint is increased along with the change of a forward leg kicking action, at the moment, the fixed plates fixed on thighs and shanks pull the stretching length of the tension spring 2 to be gradually increased, and the falling mechanical energy and gravitational potential energy of the legs are converted into the elastic potential energy of the tension spring; as shown in fig. 3(a) -4 (b): when the process is started, the pawl 6 is meshed with the ratchet through the compression spring 5 attached to the inner side wall of the front side guide sheet of the ratchet 7, the resistance force of the tension spring 2 on the human body is counteracted when the human body walks, the leg freely falls to the straightening state, the pawl 6 is disengaged from the ratchet, and the first half cycle of motion is finished;

when the leg is stretched, the tension spring 2 is in a state of stretching to the maximum length at the moment, elastic potential energy is stored, the tension spring 2 fixed on the thigh fixing plate and the torque input end thin plate structure provides assistance for leg lifting action of a human body along with the change of buckling action, and the elastic potential energy stored in the tension spring is converted into mechanical energy for assisting leg lifting; as shown in fig. 4(a) -4(b), at the beginning of the process, the pawl 6 slides to the upper side of the inner wall of the guide sheet along the lower side of the inner wall of the guide sheet on the ratchet 7 in a slope manner, so that the spring 5 returns to an unstressed state, the pawl 6 is pulled to move backwards, the pawl 6 is separated from the ratchet at the moment, the tension spring 2 is ensured to smoothly convert the elastic potential energy into mechanical energy for assisting in lifting the leg, the leg is easily lifted backwards to a knee bending state, and the movement of the second half cycle is finished.

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

1. The knee joint energy collecting and boosting device is characterized by comprising a thigh fixing plate (1) and a shank fixing plate (9), wherein a disc-shaped shell is connected between the thigh fixing plate (1) and the shank fixing plate (9) in a shaft mode, the shell comprises a front end cover and a fastening cover (8) which are mutually buckled, and a coaxial torque input end thin plate (4) and a ratchet wheel (7) which can axially move are sequentially arranged in the shell; the front end cover is internally provided with three groups of arc-shaped guide rails (10) which are arranged at intervals and annularly surround the inner wall of the front end cover, the torque input end thin plate (4) is arranged in a circumferential space surrounded by the three groups of arc-shaped guide rails (10), each arc-shaped guide rail (10) is fixedly nested with a tension spring (2), the other end of each tension spring (2) is fixedly connected with the edge of the torque input end thin plate (4), the torque input end thin plate (4) is fixedly connected with the front end cover through a fixed shaft (11) arranged at the center of the front end cover, the center of the torque input end thin plate (4) is also provided with an axial cylindrical bulge (12), a stepped hole perpendicular to the axial direction is formed in the bulge (12), and a pawl (6) is inserted in the stepped hole; ratchet (7) are connected with front end housing inner wall interference fit, ratchet (7) inboard is provided with and leads position piece (13) to pawl (6) interior arc of carrying on spacingly, the front pawl end and the ratchet (7) of pawl (6) mesh mutually, and the laminating of the other end is on the inner wall of leading position piece (13), the cover is equipped with on pawl (6) and carries out spacing spring (5) to pawl (6).

2. The knee joint energy collecting and assisting device according to claim 1, characterized in that the front end cover is fixedly connected with a thigh fixing plate (1).

3. Knee joint energy harvesting and assisting device according to claim 1, characterized in that the stationary shaft (11) is connected to the torque input end plate (4) via a bearing (3).

4. The knee joint energy harvesting and assisting device according to claim 1, characterized in that the protrusion (12) penetrates through the fastening cover (8) and is connected with the lower leg fixing plate (9) through a key slot at the end.

5. The knee joint energy collecting and assisting device according to claim 1, wherein the spring (5) is arranged close to one end of the guide piece (13), one end of the spring (5) is limited by a protrusion at the end of the pawl (6), and the other end of the spring is fixed on the torque input end thin plate (4), so that the pawl (6) can move up and down along the guide piece (13), and the pawl (6) can be attached to or detached from the ratchet teeth according to requirements in the movement process.

6. A knee joint energy harvesting and assisting device according to claim 1, characterized in that the guide plate (13) is of a ramp design opposite to the ratchet.