CN114260881B - Ankle joint assisting exoskeleton and assisting exoskeleton equipment for emergency rescue - Google Patents
Ankle joint assisting exoskeleton and assisting exoskeleton equipment for emergency rescue Download PDFInfo
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- CN114260881B CN114260881B CN202111620083.0A CN202111620083A CN114260881B CN 114260881 B CN114260881 B CN 114260881B CN 202111620083 A CN202111620083 A CN 202111620083A CN 114260881 B CN114260881 B CN 114260881B
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 40
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- 230000007246 mechanism Effects 0.000 claims abstract description 87
- 238000004146 energy storage Methods 0.000 claims abstract description 53
- 244000309466 calf Species 0.000 claims abstract description 25
- 210000004744 fore-foot Anatomy 0.000 claims description 29
- 238000007789 sealing Methods 0.000 claims description 24
- 210000003423 ankle Anatomy 0.000 claims description 20
- 238000005452 bending Methods 0.000 claims description 14
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
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- 239000004575 stone Substances 0.000 abstract description 4
- 210000001503 joint Anatomy 0.000 abstract 1
- 210000000548 hind-foot Anatomy 0.000 description 10
- 238000005381 potential energy Methods 0.000 description 10
- 230000006835 compression Effects 0.000 description 9
- 238000007906 compression Methods 0.000 description 9
- 230000005021 gait Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 210000003371 toe Anatomy 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 108010084652 homeobox protein PITX1 Proteins 0.000 description 4
- 206010050031 Muscle strain Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000037080 exercise endurance Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 206010024453 Ligament sprain Diseases 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 208000010040 Sprains and Strains Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
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- 230000000149 penetrating effect Effects 0.000 description 1
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- 238000012549 training Methods 0.000 description 1
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Abstract
The invention provides an ankle joint power-assisted exoskeleton and power-assisted exoskeleton equipment for emergency rescue, wherein a foot supporting mechanism comprises a front foot support and a rear foot support which are both provided with elastic energy storage components; the passive energy storage mechanism comprises an elastic power assisting piece, a sleeve connected to the rear side of the calf wearing mechanism and a pull rod extending into the sleeve and connected to the rear side of the rear foot support, wherein the elastic power assisting piece is contained in the sleeve, two ends of the elastic power assisting piece are respectively in butt joint with the sleeve and the pull rod, and the pull rod can reciprocate in the sleeve to axially move and extrude or release the elastic power assisting piece. The elastic power assisting piece and the elastic energy storage component can jointly provide power for firefighters, the built-in of the elastic power assisting piece is not exposed, the elastic power assisting piece is prevented from being clamped, the safety of the whole machine is improved, the road with rough and uneven stone can be adapted, and the situation that the applicable environment is limited is avoided.
Description
Technical Field
The invention belongs to the technical field of exoskeleton robots, and particularly relates to an ankle joint power-assisted exoskeleton for emergency rescue and power-assisted exoskeleton equipment.
Background
In recent years, disasters and accidents frequently occur have put higher demands on the rescue efficiency of firefighters. When fire disaster occurs in urban roadways and high-rise buildings, large rescue vehicles are difficult to achieve rescue in the face of natural weather disasters such as earthquakes and forest fires, and single-soldier load transportation becomes particularly important. And the heavy equipment carried by the firefighter and the complex situation in the emergency rescue process can cause fatigue on the firefighter body, so that the rescue efficiency is reduced. The power-assisted exoskeleton device is used as a very typical man-machine integrated system, aims to enhance the exercise capacity of a human body and reduce exercise metabolism consumption, can play a great potential in the field of emergency rescue, and has urgent practical requirements.
The power-assisted exoskeleton devices can be classified into active and passive exoskeletons according to the presence or absence of a power source. Although the active exoskeleton can provide larger power assistance, the lithium battery and the like carried by the active exoskeleton become potential hazards threatening life safety for firefighters who frequently come in and go out of a high-temperature fire scene. The lower limb ankle joint of the passive exoskeleton is a far-end joint with highest output power in the human body movement process, muscle groups driving the ankle joint to move easily feel tired in long-time or high-strength movement, even muscle strain or sprain of feet can occur, but most of the conventional passive ankle joint assisting exoskeleton is designed for the old or is designed for rehabilitation training, the structure of the conventional passive ankle joint assisting exoskeleton is difficult to adapt to the field of emergency rescue, the conventional passive ankle joint assisting exoskeleton faces rugged roads with stones or wet slippery roads, the exoskeleton cannot fully exert efficacy, even can fail, and firefighters fall down, slip or sprain of feet can occur.
Disclosure of Invention
The invention mainly aims to provide an ankle-joint assisting exoskeleton and assisting exoskeleton equipment for emergency rescue, and aims to solve the technical problems that the use safety of the ankle-joint assisting exoskeleton in the prior art is low and the environment is limited.
In order to achieve the above object, the present invention provides an ankle-assisting exoskeleton for emergency rescue, wherein the ankle-assisting exoskeleton for emergency rescue comprises: a calf wearing mechanism; the foot supporting mechanism comprises a front foot support and a rear foot support which are both provided with elastic energy storage components, and the calf wearing mechanism, the rear foot support and the front foot support are hinged to two ankle joints symmetrically arranged along the central line of the foot supporting mechanism through two rotating shafts; the passive energy storage mechanism comprises an elastic power assisting piece, a sleeve connected to the rear side of the calf wearing mechanism and a pull rod extending into the sleeve and connected to the rear side of the rear foot support, wherein the elastic power assisting piece is contained in the sleeve, two ends of the elastic power assisting piece are respectively abutted to the sleeve and the pull rod, and the pull rod can reciprocate in the sleeve and can extrude or release the elastic power assisting piece.
In an embodiment of the present invention, the passive energy storage mechanism further includes: the first shaft sleeve is rotatably arranged on the calf wearing mechanism, and the upper end of the sleeve is detachably connected with the first shaft sleeve; the second sleeve is rotatably arranged on the rear foot support, and the lower end of the pull rod is detachably connected with the second sleeve.
In the embodiment of the invention, the first shaft sleeve is hung on the calf wearing mechanism through a hook, the rear foot support is provided with a mounting frame and a pin shaft which sequentially penetrates through the mounting frame and the second shaft sleeve, and the pin shaft is in clearance fit with the second shaft sleeve while being in interference fit with the mounting frame.
In an embodiment of the invention, the forefoot support comprises a forefoot plate and a forefoot skeleton hinged to the ankle joint point with the calf wearing mechanism, the elastic energy storage component is sealed between the forefoot skeleton and the forefoot plate, the hindfoot support comprises a hindfoot plate and a hindfoot skeleton hinged to the ankle joint point with the calf wearing mechanism, and the elastic energy storage component is sealed between the hindfoot skeleton and the hindfoot plate.
In the embodiment of the invention, the foot supporting mechanism further comprises two elastic sealing elements, and the front foot plate and the front foot framework are in sealing connection through one of the elastic sealing elements; the back foot plate and the back foot framework are connected in a sealing way through another elastic sealing piece.
In the embodiment of the invention, an adjusting gap is arranged between the front foot plate and the rear foot plate, two sides of the front foot framework are hinged with the rotating shaft through adjusting connecting rods, the two adjusting connecting rods are symmetrically arranged along the central line of the foot supporting mechanism, and a plurality of connecting holes for connecting with the front foot framework are arranged on the adjusting connecting rods.
In the embodiment of the invention, the elastic sealing elements are leaf springs, and the two elastic sealing elements are respectively positioned at two sides of the adjusting gap.
In the embodiment of the invention, the front foot framework comprises a front foot main body plate, triangular foot protection plates and front foot binding belts, wherein the front foot main body plate is in sealing connection with the front foot plate, the triangular foot protection plates are respectively arranged on two sides of the front foot main body plate and are provided with triangular lightening holes, the front foot binding belts are connected between the two triangular foot protection plates, and the tops of the triangular foot protection plates are inwards bent and are hinged with the rotating shaft through the adjusting connecting rods.
The invention also provides a power-assisted exoskeleton device, which comprises the ankle joint power-assisted exoskeleton for emergency rescue.
In the embodiment of the invention, tooth-shaped protrusions are arranged at the bottoms of the front foot plate and the rear foot plate.
In the embodiment of the invention, the rear foot framework comprises a rear foot main body plate and a U-shaped coaming which is arranged around the edge of the rear foot main body plate, wherein connecting lugs which are hinged with the rotating shaft and symmetrically arranged along the central line of the foot supporting mechanism are arranged on two sides of the U-shaped coaming, and rear weight reducing holes are formed in the connecting lugs and the U-shaped coaming.
In an embodiment of the present invention, the calf wearing mechanism includes: the lower end of the connecting rod assembly is provided with the rotating shaft, and the two connecting rod assemblies are symmetrically arranged along the central line of the foot supporting mechanism; the shank bandage is arranged between the two connecting rod assemblies through the adjustable snap lock ring, and at least two shank bandages are sequentially arranged on the connecting rod assemblies at intervals along the upper and lower directions.
In an embodiment of the present invention, the connecting rod assembly includes: the shank connecting rods are arranged in a hollow mode, and the shank binding bands are arranged on the shank connecting rods; the upper end of the bending plate is inserted into the shank connecting rod and can stretch and retract relative to the shank connecting rod.
In the embodiment of the invention, the bending plate comprises a straight part, a transition part and a protection part which are sequentially connected from top to bottom, wherein the transition part is inclined from top to bottom inwards.
In an embodiment of the present invention, the elastic energy storage assembly includes at least two belleville spring groups symmetrically arranged along the centerline of the foot support mechanism.
In the embodiment of the invention, the two passive energy storage mechanisms are symmetrically arranged along the center line of the foot supporting mechanism.
Through the technical scheme, the ankle joint assistance exoskeleton for emergency rescue provided by the embodiment of the invention has the following beneficial effects:
When the ankle joint assisting exoskeleton for emergency rescue is adopted for emergency rescue, a firefighter can wear the ankle joint assisting exoskeleton through the lower leg wearing mechanism and the foot supporting mechanism, and when the firefighter walks, the lower leg wearing mechanism, the rear foot supporting mechanism and the front foot supporting mechanism can rotate around a rotating shaft at an ankle joint point, so that the freedom degree between a sole and toes in the movement process is met, and wearing comfort is improved; when the front sole and the rear sole fall to the ground in the early support period of the gait cycle, the elastic energy storage components in the rear sole support and the front sole support start to store elastic potential energy under pressure, at the moment, the pull rod moves downwards in the sleeve along the axial direction, the upper end of the elastic power assisting piece in the sleeve is extruded by the pull rod, and the lower end of the elastic power assisting piece is abutted against the sleeve and is in a compression state; when entering the middle support period of the gait cycle and the lower leg is vertical to the ground, the elastic energy storage components in the rear foot support and the front foot support are in the maximum compression state, and the elastic power assisting piece is still in the compression state; when entering the later stage of the support period of the gait cycle, the rear sole is about to leave the ground, at the moment, the dorsiflexion angle of the ankle joint is maximum, the elastic energy storage components in the rear foot support and the front foot support release elastic potential energy, and the elastic power assisting piece is in the maximum compression state; the rear sole is lifted off, the pull rod moves upwards in the sleeve along the axial direction and releases the elastic assistance part in the sleeve, so that the elastic potential energy of the elastic assistance part provides assistance to help the ankle joint to bend, the assistance can be provided for the ankle joint of a firefighter in emergency rescue, the impact of the ground on the ankle joint in severe exercise is reduced, the exercise consumption is reduced, and the exercise endurance is improved; when the swing period of the gait cycle is entered, the elastic energy storage components in the hindfoot support and the forefoot support are not stressed, and the elastic power assisting piece is compressed again to store elastic potential energy along with the forward swing of the lower leg by means of inertia. The elastic power assisting piece and the elastic energy storage component can jointly provide power assistance for firefighters, so that the movement consumption is reduced, the movement endurance is improved, meanwhile, the elastic power assisting piece is always positioned in the sleeve in the process of storing and releasing elastic potential energy, the built-in of the elastic power assisting piece can be ensured not to be exposed, sundries can be prevented from entering the passive energy storage mechanism, the elastic power assisting piece is prevented from being blocked, the safety of the whole machine is improved, the ankle joint power assisting exoskeleton of emergency rescue in the embodiment can adapt to rugged roads with stones, and the situation that applicable environments are limited is avoided.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide an understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate the invention and together with the description serve to explain, without limitation, the invention. In the drawings:
FIG. 1 is a schematic view of an ankle-assisted exoskeleton for emergency rescue according to an embodiment of the present invention;
FIG. 2 is a schematic cross-sectional view of an ankle-assisted exoskeleton for emergency rescue according to an embodiment of the present invention;
FIG. 3 is an enlarged schematic view of area A of FIG. 2;
FIG. 4 is a schematic cross-sectional view of a portion of a foot support mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic view of a portion of a foot support mechanism according to an embodiment of the present invention;
fig. 6 is a schematic view of a structure of a bending plate according to an embodiment of the present invention.
Description of the reference numerals
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for purposes of illustration and explanation only and are not intended to limit the present invention.
An ankle-assisting exoskeleton for emergency rescue according to the present invention is described below with reference to the accompanying drawings.
As shown in fig. 1 to 3, in an embodiment of the present invention, there is provided an ankle-joint assisting exoskeleton 100 for emergency rescue, the ankle-joint assisting exoskeleton 100 for emergency rescue including a calf wearing mechanism 1, a foot supporting mechanism 2, and a passive energy storage mechanism 3, the foot supporting mechanism 2 including a forefoot support 21 and a hindfoot support 22 each provided with an elastic energy storage assembly 23, the calf wearing mechanism 1, the hindfoot support 22, and the forefoot support 21 being hinged to two ankle joints 28 symmetrically arranged along a center line of the foot supporting mechanism 2 by two rotation shafts 1121; the passive energy storage mechanism 3 comprises an elastic power assisting piece 31, a sleeve 32 connected to the rear side of the calf wearing mechanism 1 and a pull rod 33 extending into the sleeve 32 and connected to the rear side of the rear foot support 22, wherein the elastic power assisting piece 31 is accommodated in the sleeve 32, two ends of the elastic power assisting piece are respectively abutted to the sleeve 32 and the pull rod 33, and the pull rod 33 can reciprocate in the sleeve 32 to axially move and squeeze or release the elastic power assisting piece 31. It can be understood that the ankle assisting exoskeleton in this embodiment is mainly applied to emergency rescue, and the rotating shaft 1121 is disposed corresponding to the ankle joints 28 on two sides of the center line of the foot supporting mechanism 2, so as to implement a bionic symmetrical design.
In the embodiment, the ankle-joint-assisting exoskeleton 100 for emergency rescue is used for emergency rescue, and a firefighter can wear the lower leg and the front and rear soles through the lower leg wearing mechanism 1 and the foot supporting mechanism 2 respectively. When a firefighter walks, the lower leg wearing mechanism 1, the rear foot support 22 and the front foot support 21 can rotate around the rotating shaft 1121 at the ankle joint point 28, so that the freedom degree between the sole and the toe in the movement process is met, and the wearing comfort is improved. And in the early stage of the support period of the gait cycle, when the front sole and the rear sole fall to the ground, the elastic energy storage assemblies 23 in the rear sole support 22 and the front sole support 21 start to store elastic potential energy under compression, at the moment, the pull rod 33 moves downwards in the sleeve 32 along the axial direction, the upper end of the elastic power assisting piece 31 in the sleeve 32 is extruded by the pull rod 33, and the lower end is abutted against the sleeve 32 and is in a compression state; when entering the middle support period of the gait cycle, the lower leg is perpendicular to the ground, the elastic energy storage components 23 in the hindfoot support 22 and the forefoot support 21 are in the maximum compression state, and the elastic booster 31 is still in the compression state; when the heel sole is about to leave the ground in the later support period of the gait cycle, the ankle dorsiflexion angle is maximum, the elastic energy storage components 23 in the heel support 22 and the forefoot support 21 release elastic potential energy, and the elastic booster 31 is in the maximum compression state; the rear sole is lifted off, the pull rod 33 moves upwards in the sleeve 32 along the axial direction and releases the elastic booster 31 in the sleeve 32, so that the elastic potential energy of the elastic booster 31 provides assistance to help the ankle to bend, the assistance can be provided for the ankle of a firefighter in emergency rescue, the impact of the ground on the ankle in severe exercise is reduced, the exercise consumption is reduced, and the exercise endurance is improved; the elastic energy storage assembly 23 in the hindfoot support 22 and forefoot support 21 is unstressed during the swing phase of the gait cycle, and the elastic booster 31 is again compressed to store elastic potential energy as the calf swings forward by inertia. The elastic assistance piece 31 and the elastic energy storage component 23 in the ankle-joint assistance exoskeleton 100 for emergency rescue can jointly provide assistance for firefighters, so that the movement consumption is reduced, the movement endurance is improved, meanwhile, the elastic assistance piece 31 is always positioned in the sleeve 32 in the process of storing and releasing elastic potential energy, the built-in of the elastic assistance piece 31 can be ensured not to be exposed, sundries can be prevented from entering the passive energy storage mechanism, the elastic assistance piece 31 is prevented from being clamped, the safety of the whole machine is improved, the ankle-joint assistance exoskeleton 100 for emergency rescue in the embodiment can adapt to rugged roads with stones, and the situation that applicable environments are limited is avoided.
As shown in fig. 3, the elastic booster 31 in this embodiment is a cylindrical coil spring, and the upper end of the pull rod 33 is provided with a sheet-shaped limiting portion, so that the contact area between the upper end of the pull rod 3 and the upper end of the elastic booster 31 can be ensured, the pull rod 33 can be prevented from being separated from the sleeve 32, and the use stability of the passive energy storage mechanism 3 can be improved.
As shown in fig. 1 and 2, the passive energy storage mechanism 3 further includes a first shaft sleeve 34 and a second shaft sleeve 36, the first shaft sleeve 34 is rotatably mounted on the calf wearing mechanism 1, and the upper end of the sleeve 32 is detachably connected with the first shaft sleeve 34; the second sleeve 36 is rotatably mounted to the rear foot support 22, and the lower end of the pull rod 33 is detachably connected to the second sleeve 36. In an embodiment, the first shaft sleeve 34 and the second shaft sleeve 36 are both provided with internal threads, the sleeve 32 and the first shaft sleeve 34 can be detachably connected in a threaded connection manner, the second shaft sleeve 36 and the pull rod 33 can be detachably connected, the pull rod 33 and the sleeve 32 in the passive energy storage mechanism 3 in the embodiment are both detachably installed, the replacement of the passive energy storage mechanism 3 can be facilitated, the first shaft sleeve 34 and the second shaft sleeve 36 can rotate relative to the leg wearing mechanism 1 and the rear foot support 22 respectively, the safety of the ankle-joint assisting exoskeleton 100 for emergency rescue can be further improved, and the situation that the passive energy storage mechanism 3 is blocked in the moving process is avoided.
Specifically, in one embodiment, the first shaft sleeve 34 is hung on the calf wearing mechanism 1 through the hook 35, the rear foot support 22 is provided with a mounting frame 221 and a pin shaft 222 sequentially penetrating through the mounting frame 221 and the second shaft sleeve 36, and the pin shaft 222 and the mounting frame 221 are in clearance fit with the second shaft sleeve 36 while being in interference fit. In the embodiment, the upper end of the passive energy storage mechanism 3 is hung on the calf wearing mechanism 1 through the first shaft sleeve 34 and the hook 35, so that the passive energy storage mechanism 3 can be conveniently assembled; and the lower extreme of passive energy storage mechanism 3 passes through second bushing 36 and round pin axle 222 clearance fit can guarantee the rotation degree of freedom of passive energy storage mechanism 3, and round pin axle 222 and mounting bracket 221 interference fit can guarantee the installation tightness of round pin axle 222.
As shown in fig. 2, 4 and 5, the forefoot support 21 includes a forefoot plate 211 and a forefoot frame 212 hinged to the ankle joint 28 with the calf-wearing mechanism 1, the elastic energy storage assembly 23 is sealed between the forefoot frame 212 and the forefoot plate 211, the rearfoot support 22 includes a rearfoot plate 223 and a rearfoot frame 224 hinged to the ankle joint 28 with the calf-wearing mechanism 1, and the elastic energy storage assembly 23 is sealed between the rearfoot frame 224 and the rearfoot plate 223. The elastic energy storage component 23 supporting and assisting the front sole and the rear sole in the embodiment is used as a main energy storage element and is always in a sealing state, so that no foreign matters enter the elastic energy storage component 23, and the energy storage and shock absorption effects of the elastic energy storage component 23 are improved.
As shown in fig. 4 and 5, the foot supporting mechanism 2 further includes two elastic sealing members 24, and the forefoot plate 211 and the forefoot skeleton 212 are connected in a sealing manner by one of the elastic sealing members 24; the back foot plate 223 and the back foot frame 224 are sealingly connected by another resilient seal 24. In this embodiment, two elastic sealing elements 24 are specifically added to seal, and meanwhile, the elastic sealing elements 24 can be used as secondary energy storage elements, so that the assistance performance of the ankle assistance exoskeleton 100 for emergency rescue can be improved.
As shown in fig. 1 and 2, in the embodiment of the present invention, an adjustment gap 25 is provided between the front foot board 211 and the rear foot board 223, both sides of the front foot frame 212 are hinged through adjustment links 26 and a rotation shaft 1121, the two adjustment links 26 are symmetrically arranged along the center line of the foot supporting mechanism 2, and a plurality of connection holes 27 for connecting with the front foot frame 212 are provided on the adjustment links 26. In this embodiment, the size of the adjusting gap 25 can be changed by adjusting the connection position of the forefoot frame 212 and the adjusting link 26, so as to adapt to the people with different sole sizes.
In one embodiment, the elastic sealing members 24 are leaf springs, and the two elastic sealing members 24 are located on both sides of the adjustment gap 25, respectively. The elastic sealing member 24 in this embodiment is a long U-shaped plate spring, and is located at the center of the foot, so that the assistance of the elastic sealing member 24 can be more convenient.
As shown in fig. 1 and 2, the forefoot frame 212 includes a forefoot main body plate 2121 sealingly connected to the forefoot plate 211, triangular toe guards 2122 provided on both sides of the forefoot main body plate 2121 and having triangular weight-reducing holes 2123, and a forefoot strap 213 connected between the two triangular toe guards 2122, the top of the triangular toe guard 2122 being bent inward and hinged to the rotation shaft 1121 via an adjustment link 26. For convenient wearing, the front foot strap 213 in this embodiment is rotatably mounted on the triangular foot guard 2122 by rivets, the triangular design can improve structural strength, and the top of the triangular foot guard 2122 is bent inwards, so that the foot can be further protected, and meanwhile, the weight of the foot supporting mechanism 2 can be reduced by the hollow design, so that the structure is more compact and concise, and the wearing and the taking-off are facilitated.
In the embodiment of the present invention, the bottoms of the front foot plate 211 and the rear foot plate 223 are each provided with a tooth-shaped protrusion 29. The tooth-shaped protrusions 29 in the embodiment can better adapt to mountain terrains and wet and slippery terrains, so that the application limitation is eliminated, and the use safety is improved.
In one embodiment, the rear leg frame 224 includes a rear leg main body panel 2241 and a U-shaped surrounding plate 2242 surrounding the edge of the rear leg main body panel 2241, both sides of the U-shaped surrounding plate 2242 are provided with connection lugs 2243 hinged with the rotation shaft 1121 and symmetrically arranged along the center line of the foot supporting mechanism 2, and the connection lugs 2243 and the U-shaped surrounding plate 2242 are provided with rear lightening holes 2244. In this embodiment, the U-shaped coaming 2242 and the connecting lugs 2243 of the rear leg skeleton 224 are all designed in a hollow manner, so that the weight of the product is further reduced, and the convenience in use of the product is improved.
As shown in fig. 2,3 and 6, in the embodiment of the present invention, the calf wearing mechanism 1 includes a link assembly 11 and a calf strap 12, a rotation shaft 1121 is provided at the lower end of the link assembly 11, and the two link assemblies 11 are symmetrically arranged along the center line of the foot supporting mechanism 2; the shank strap 12 is looped between the two link assemblies 11 by an adjustable latch 13, and at least two shank straps 12 are sequentially arranged at intervals in the link assemblies 11 in the up-down direction. The length of the shank strap 12 can be freely adjusted through the adjustable lock 13, so that the shank strap is suitable for people with different shank leg circumferences, and the wearing comfort is improved.
In the embodiment of the invention, the connecting rod assembly 11 comprises a shank connecting rod 111 and a bending plate 112, the shank connecting rod 111 is arranged in a hollow manner, and the shank binding bands 12 are arranged on the shank connecting rod 111; the upper end of the bending plate 112 is inserted into the shank link 111 and can be extended and contracted with respect to the shank link 111. As shown in fig. 6, the upper end of the bending plate 112 is provided with a plurality of groups of round holes capable of being connected with the shank connecting rod 111, people with different lengths of shanks can be suitable for through the extension and retraction of the bending plate 112 relative to the shank connecting rod 111, and the baffle 7 capable of axially resisting the bending plate 112 is arranged on the outer side of the bending plate 112 in the embodiment, so that the bending plate 112 can be ensured not to be axially separated in the moving process, and the use safety is further improved.
As shown in fig. 6, in the embodiment of the present invention, two bending plates 112 are symmetrically disposed on two sides of the lower leg, and the bending plates 112 include a straight portion 1122, a transition portion 1123, and a protection portion 1124 sequentially connected from top to bottom, wherein the transition portion 1123 is inclined from top to bottom. In this embodiment, the three parts, i.e. the straight part 1122, the transition part 1123 and the protection part 1124, cooperate to reduce the circumference between the two protection parts 1124, so that the protection part 1124 can effectively protect the ankle, and avoid the firefighter from spraining the foot.
In the embodiment of the present invention, the elastic energy storage assembly 23 includes at least two belleville spring groups 231, and the belleville spring groups 231 are symmetrically arranged along the center line of the foot supporting mechanism 2. The disc spring set 231 may be formed by at least two disc springs 2311, and the elastic energy storage assembly 23 in this embodiment adopts a form of storing energy by the disc springs 2311, so that the installation is convenient and the structure is simple. In one embodiment, as shown in FIG. 5, the elastic energy storage assembly 23 includes four belleville springs 2311. In the embodiment of the invention, the two passive energy storage mechanisms 3 are symmetrically arranged along the central line of the foot support mechanism 2, so that the bionic symmetrical design is realized, and the corresponding parts are convenient to detach and replace.
The invention also provides a power-assisted exoskeleton device, which comprises the ankle-joint power-assisted exoskeleton 100 for emergency rescue, wherein the specific structure of the ankle-joint power-assisted exoskeleton 100 for emergency rescue is as described in the embodiment. Because the power-assisted exoskeleton device adopts all the technical schemes of all the embodiments, the power-assisted exoskeleton device has at least all the beneficial effects brought by the technical schemes of the embodiments, and is not described in detail herein.
In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (12)
1. An ankle-assisted exoskeleton for emergency rescue, the ankle-assisted exoskeleton (100) for emergency rescue comprising:
a calf wearing mechanism (1);
the foot supporting mechanism (2) comprises a front foot support (21) and a rear foot support (22) which are respectively provided with an elastic energy storage component (23), wherein the calf wearing mechanism (1), the rear foot support (22) and the front foot support (21) are hinged to two ankle joint points (28) symmetrically arranged along the central line of the foot supporting mechanism (2) through two rotating shafts (1121);
The passive energy storage mechanism (3) comprises an elastic power assisting piece (31), a sleeve (32) connected to the rear side of the calf wearing mechanism (1) and a pull rod (33) extending into the sleeve (32) and connected to the rear side of the rear foot support (22), wherein the elastic power assisting piece (31) is accommodated in the sleeve (32) and two ends of the elastic power assisting piece are respectively abutted to the sleeve (32) and the pull rod (33), and the pull rod (33) can reciprocate in the sleeve (32) to axially move and squeeze or release the elastic power assisting piece (31);
The passive energy storage mechanism (3) further comprises:
The first shaft sleeve (34) is rotatably arranged on the lower leg wearing mechanism (1), and the upper end of the sleeve (32) is detachably connected with the first shaft sleeve (34);
the second sleeve (36) is rotatably arranged on the rear foot support (22), and the lower end of the pull rod (33) is detachably connected with the second sleeve (36);
The front foot support (21) comprises a front foot plate (211) and a front foot framework (212) hinged with the calf wearing mechanism (1) at the ankle joint point (28), the elastic energy storage component (23) is sealed between the front foot framework (212) and the front foot plate (211), the rear foot support (22) comprises a rear foot plate (223) and a rear foot framework (224) hinged with the calf wearing mechanism (1) at the ankle joint point (28), and the elastic energy storage component (23) is sealed between the rear foot framework (224) and the rear foot plate (223);
The foot supporting mechanism (2) further comprises two elastic sealing elements (24), and the front foot plate (211) and the front foot framework (212) are connected in a sealing way through one of the elastic sealing elements (24); the rear foot plate (223) and the rear foot skeleton (224) are connected in a sealing way through the other elastic sealing piece (24);
The utility model discloses a foot rest, including foot support mechanism (2), sole, including sole, sole (211) with be provided with between sole (223) adjust clearance (25), the both sides of sole skeleton (212) all pass through adjusting connecting rod (26) with rotation axis (1121) are articulated, two adjusting connecting rod (26) are followed sole supporting mechanism (2) central line symmetry arranges, just be provided with on adjusting connecting rod (26) a plurality of be used for with connecting hole (27) that sole skeleton (212) are connected.
2. The ankle joint assistance exoskeleton for emergency rescue as claimed in claim 1, wherein said first shaft sleeve (34) is hung on said calf wearing mechanism (1) by a hook (35), said rear foot support (22) is provided with a mounting frame (221) and a pin shaft (222) passing through said mounting frame (221) and said second shaft sleeve (36) in sequence, and said pin shaft (222) and said mounting frame (221) are in interference fit and simultaneously in clearance fit with said second shaft sleeve (36).
3. Ankle-assisted exoskeleton for emergency rescue according to claim 1, wherein the elastic seals (24) are leaf springs and two elastic seals (24) are located on either side of the adjustment gap (25).
4. The ankle-assisting exoskeleton for emergency rescue as claimed in claim 1, wherein the forefoot skeleton (212) comprises a forefoot main body plate (2121) in sealing connection with the forefoot plate (211), triangular foot protection plates (2122) respectively arranged at two sides of the forefoot main body plate (2121) and provided with triangular lightening holes (2123), and a forefoot strap (213) connected between the two triangular foot protection plates (2122), wherein the top of the triangular foot protection plates (2122) is bent inwards and hinged with the rotating shaft (1121) through the adjusting connecting rod (26).
5. Ankle-assisted exoskeleton for emergency rescue according to any one of claims 1 to 4, wherein the bottoms of said front foot plate (211) and said rear foot plate (223) are each provided with a toothed protrusion (29).
6. The ankle assisting exoskeleton for emergency rescue as defined in any one of claims 1 to 4, wherein the rear foot skeleton (224) includes a rear foot main body plate (2241) and a U-shaped surrounding plate (2242) surrounding the edge of the rear foot main body plate (2241), both sides of the U-shaped surrounding plate (2242) are provided with connection lugs (2243) hinged with the rotation shaft (1121) and symmetrically arranged along the center line of the foot supporting mechanism (2), and both the connection lugs (2243) and the U-shaped surrounding plate (2242) are provided with rear lightening holes (2244).
7. Ankle-assisted exoskeleton for emergency rescue according to any one of claims 1 to 4, wherein said calf wearing mechanism (1) comprises:
the lower end of the connecting rod assembly (11) is provided with the rotating shaft (1121), and the two connecting rod assemblies (11) are symmetrically arranged along the central line of the foot supporting mechanism (2);
The shank bandage (12) is annularly arranged between the two connecting rod assemblies (11) through the adjustable lock (13), and at least two shank bandages (12) are sequentially arranged at intervals in the connecting rod assemblies (11) along the up-down direction.
8. The ankle-assisted exoskeleton for emergency rescue as claimed in claim 7, wherein said link assembly (11) comprises:
the shank connecting rods (111) are arranged in a hollow mode, and the shank binding bands (12) are arranged on the shank connecting rods (111);
And a bending plate (112) having an upper end inserted into the shank link (111) and capable of expanding and contracting with respect to the shank link (111).
9. The ankle-assisted exoskeleton for emergency rescue as defined in claim 8, wherein the bending plate (112) includes a straight portion (1122), a transition portion (1123) and a guard portion (1124) connected in this order from top to bottom, the transition portion (1123) being inclined inwardly from top to bottom.
10. Ankle-assisted exoskeleton for emergency assistance according to any one of claims 1 to 4, wherein said elastic energy storage assembly (23) comprises at least two belleville spring groups (231), said belleville spring groups (231) being symmetrically arranged along the centerline of said foot supporting mechanism (2).
11. Ankle-assisted exoskeleton for emergency assistance according to any one of claims 1 to 4, wherein two said passive energy storage mechanisms (3) are symmetrically arranged along the centerline of said foot support mechanism (2).
12. A power assisted exoskeleton device, characterized in that it comprises an ankle power assisted exoskeleton (100) for emergency rescue according to any one of claims 1to 11.
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| CN202111620083.0A CN114260881B (en) | 2021-12-23 | 2021-12-23 | Ankle joint assisting exoskeleton and assisting exoskeleton equipment for emergency rescue |
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| US20240139054A1 (en) * | 2022-11-02 | 2024-05-02 | Sarcos Corp. | Adjustable Exoskeleton Foot-Supporting Appendage for Variable Human Kinematic Compatibility |
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