CN114310943A - Joint module, assistance lower limb exoskeleton capable of freely bending in leg lifting state and whole body exoskeleton - Google Patents
Joint module, assistance lower limb exoskeleton capable of freely bending in leg lifting state and whole body exoskeleton Download PDFInfo
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- CN114310943A CN114310943A CN202111586573.3A CN202111586573A CN114310943A CN 114310943 A CN114310943 A CN 114310943A CN 202111586573 A CN202111586573 A CN 202111586573A CN 114310943 A CN114310943 A CN 114310943A
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Abstract
The invention discloses a joint module which is provided with at least one coil spring box and a brake matched with the coil spring box to lock and brake the coil spring box, wherein the coil spring box and the brake are relatively fixed in the direction of a joint rotating axis, so that the coil spring box is fixed and limited to rotate under the brake, and a coil spring in the coil spring box starts to accumulate force, so that the power-assisted mode of a joint can be switched; on the basis, the joint modules are arranged on the hip joint and the knee joint, so that the whole lower limb exoskeleton can be switched into the power-assisted mode, the exoskeleton can completely accord with the power assistance of the human kinematics rule, is comfortable to wear and extremely high in popularity, and is deeply favored by various operation fields; in addition, the lower limb exoskeleton has the assistance characteristic and can also have certain assistance on the upper limb, so that the exoskeleton has a stronger assistance effect.
Description
Technical Field
The invention relates to the technical field of exoskeletons bound on human body assistance, in particular to a joint module, an assistance lower limb exoskeleton capable of freely bending in a leg lifting state and a whole-body exoskeleton.
Background
With the development of logistics, military, medical treatment, fire fighting and the like, particularly in some special environments, related operators need to be in a stooping and half-squatting state for a long time or carry materials to walk for a long distance, the situations of fatigue, attention reduction and the like easily occur when the operators maintain the same posture and walk with overload for a long time, so that the working efficiency is reduced, the danger is increased, the related units cannot effectively complete tasks, and a lot of health and potential safety hazards are brought to the operators.
At present, a large number of exoskeletons are available in the fields of auxiliary logistics transportation, military logistics, medical rehabilitation, fire rescue and the like, and because the active power auxiliary mode is limited by technical bottlenecks such as acting force identification and output control systems, and the exoskeletons are large in size and gravity, are not easy to wear and are not selected, the passive power-assisted exoskeletons are popular in various fields.
The existing passive exoskeleton is mainly wearable waist power assistance, and the lower limbs cannot assist power, such as patent numbers CN2017120225U, CN208147844U, CN107150335A and CN107150335A, which have all power assistance functions but are limited to the waist, and only have a working mode, so that when walking is needed, the walking is not capable of stepping in a large span, and the walking burden is increased. Patent numbers CN2021102202455, CN200910088396.9, CN201910223205.9 and CN201610300374.4 all realize the power assistance of the whole lower limb at any time, but still do not solve the problem that only the working mode and the passive power storage device can limit the complete state of leg lifting when a human body wears and walks, and the walking is abnormal and the walking is hard. Therefore, real-time assistance of the lower limbs of the passive exoskeleton conforming to normal walking motion of a human body needs to be solved urgently.
Disclosure of Invention
In view of the above, the invention aims to provide a power-assisted exoskeleton which has the characteristics of energy storage, large pretightening force, automatic mode switching, convenience in wearing, strong universality, accordance with the leg bending motion rule of human body walking motion and the like.
In one aspect, to solve the above technical problems, the present invention provides a joint module, where the joint module is provided with at least one coil spring box and a brake adapted to lock and brake the coil spring box, and the coil spring box and the brake are relatively fixed in the direction of the joint rotation axis, so that the coil spring box performs fixed rotation limitation under the brake of the brake, and a coil spring in the coil spring box starts to store force.
As a preferable technical solution in some embodiments, the coil spring box is a cylindrical structure, the brake is a brake hub wrapped and adapted with an outer side wall, a friction layer is arranged on a side surface of the coil spring box, the friction layer is a uniformly distributed raised strip or raised points or racks, and the brake hub is a circular ring or at least two segments of arc ring segments hinged to each other.
As the preferable technical scheme in some embodiments, the coil spring box is of a circular disc-shaped structure, and the brake is a brake caliper matched with the circular end face of the brake box in a clamping mode.
As a preferable technical solution in some embodiments, the joint module further includes: the flange base is parallel to the flange shell, is connected with the flange base through bolts to form a cylindrical shell with a hollowed side surface, and is used for internally mounting the coil spring box and the brake; the coil spring shaft is used for being rotatably matched with a cylindrical shell and a coil spring box which are formed after the flange base and the flange shell are connected through bolts and are respectively and rotatably connected with the flange base, the flange shell and the coil spring box; the coil spring is positioned in the coil spring box and close to the side of the flange base and is used for connecting the coil spring shaft with the coil spring box; the first bearing is sleeved in the flange base; the one-way bearing is sleeved on the coil spring shaft; the one-way bearing block is sleeved between the first bearing and the one-way bearing and is used for enabling the one-way bearing block to rotate in a single direction relative to the spring coiling box and the spring coiling shaft which are limited to rotate after being braked by the brake; the second bearing is used for rotationally connecting the spring coiling box and the spring coiling shaft; the coil spring shaft cover is positioned in the center of the flange shell and used for fixing the coil spring shaft in the axial direction; and the third bearing is used for rotationally connecting the coil spring shaft cover with the flange shell.
As a preferable technical scheme in some embodiments, the single rotation direction of the one-way bearing seat is consistent with the non-power winding rotation direction of the coil spring.
In order to solve the technical problems, the invention further provides a power-assisted lower limb exoskeleton capable of freely bending in a leg lifting state, which comprises a hip pendulum base, a thigh rotating arm, a shank rotating arm and a foot plate, wherein joint modules are arranged between the hip pendulum base and the thigh rotating arm and between the thigh rotating arm and the shank rotating arm, at least one of the two joint modules is the joint module, the shank rotating arm is hinged with the foot plate, a pressing flashboard assembly is arranged on the foot plate, a connecting assembly is arranged between the pressing flashboard assembly and the joint modules, and the pressing flashboard assembly and the joint modules are in power connection through the connecting assembly;
the pressing flashboard assembly comprises two auxiliary foot boards with different horizontal plane heights and two guide clamps for fixedly guiding the auxiliary foot boards, the guide clamps transmit mechanical power to the brake coil spring box through the connecting assembly, and the connecting assembly is of a mechanical transmission structure.
As a preferable technical scheme in some embodiments, the side surface of the flange base is fixedly connected with the upper part of a thigh rotating arm and/or the upper part of a calf rotating arm, and the side surface of the one-way bearing seat is fixedly connected with the hip pendulum base and/or the lower part of a thigh rotating arm.
As a preferable technical scheme in some embodiments, the foot plate comprises a front sole, a rear sole and a connecting frame with side faces used for being hinged and connected with the front sole and the rear sole.
As a preferable technical scheme in some embodiments, the two auxiliary foot plates are a part of the forefoot.
As a preferable technical solution in some embodiments, the guide clamp includes two guide posts, a guide block sleeved with the guide posts, and a return spring sleeved on the guide posts and located at the bottom of the guide block, the guide block is a part of the auxiliary foot plate with a higher horizontal plane, and the two guide posts are a part of the auxiliary foot plate with a lower horizontal plane.
As the preferable technical scheme in some embodiments, the guide clamp is arranged on the side surface of the front sole, and the connecting frame is hinged with the guide block.
As a preferable technical solution in some embodiments, the guide clamp is disposed at a front side of the forefoot, and the connecting frame is hinged to a side of the sub-footboard with a lower horizontal height.
As a preferable technical solution in some embodiments, the mechanical transmission structure is a brake line tube, and two ends of the brake line tube are directly connected to the guiding clamp and the brake connecting end respectively, so that the rope inside the guiding clamp moves relative to the line tube to drive the brake.
As a preferable technical solution in some embodiments, the mechanical transmission mechanism is a pneumatic tube transmission mechanism, and specifically includes a compressed air pump disposed on the guide clamp, a compressed actuator disposed on the brake, and a compressed air tube having two ends respectively connected to an output end of the compressed air pump and an input end of the compressed actuator, where the compressed actuator may be an air cylinder.
As a preferable technical solution in some embodiments, the mechanical transmission structure is a hydraulic pipe transmission mechanism, and specifically includes an output cylinder disposed on the guide clamp, an input cylinder disposed on the brake, and a hydraulic oil pipe connecting the input cylinder and the input cylinder.
As a preferable technical scheme in some embodiments, the thigh rotating arm is formed by a thigh sleeve plate and a thigh inserting plate into a telescopic length, a first binding piece is arranged on the thigh sleeve plate, the shank rotating arm is formed by a shank sleeve plate and a shank inserting plate into a telescopic length, and a second binding piece is arranged on the shank sleeve plate.
In a third aspect, the invention further provides a whole body exoskeleton, which comprises a waist support, assistance lower limb exoskeletons symmetrically arranged on two sides of the waist support, a shoulder backboard, an elastic backboard arranged between the waist support and the middle part of the shoulder backboard, and a pallet arranged on the waist support and positioned at the bottom of the arm power bar backboard, wherein the assistance lower limb exoskeletons are any one of the assistance lower limb exoskeletons.
As a preferable technical scheme in some embodiments, the elastic back plate is formed by a plurality of arm-force rods in parallel or is made of plastic plates or is provided with a connecting rod assembly with two ends connected by a spring and a rotating center.
Compared with the prior art, the invention has the following advantages:
the wearable exoskeleton is provided with a lower limb and an upper limb, wherein the lower limb is provided with a knee joint and a hip joint and is provided with a joint module which can store energy, has larger pretightening force and can automatically switch whether to need pretightening or not, a pressing flashboard component which can be controlled by the foot of a wearer through treading is arranged on a foot plate of the lower limb and transmits power to the joint module to brake and store energy to form the pretightening force, so that the exoskeleton can assist the knee joint and the hip joint of the wearer when bearing the reaction force of the ground, and the leg can be freely bent when lifting the leg to walk, thereby completely conforming to the human motion law when the human body walks. In addition, the exoskeleton can bear heavy loads, and the elastic back plate can assist when the back of the exoskeleton bends, so that the whole body is assisted, the assistance effect is good, the pretightening force is large, and the exoskeleton is deeply favored by military, logistics and operation related fields.
Drawings
Fig. 1 is a schematic overall perspective structure of the whole-body exoskeleton of the present invention.
Figure 2 is a schematic view of one embodiment of the assisted lower extremity exoskeleton of the present invention.
Figure 3 is a schematic view of another embodiment of the assisted lower extremity exoskeleton of the present invention.
Fig. 4 is a schematic perspective view of a joint module according to an embodiment of the present invention.
Fig. 5 is a cross-sectional view of the joint module of the embodiment of fig. 4.
Fig. 6 is an exploded view of the joint module of the embodiment of fig. 4.
Fig. 7 is an exploded view from another perspective of the joint module of the embodiment of fig. 4.
Figure 8 is an exploded view of another embodiment of a joint module of the present invention.
Figure 9 is an exploded view of another embodiment of a joint module of the present invention.
Figure 10 is an exploded view of another embodiment of a joint module of the present invention.
Fig. 11 is a perspective view of an embodiment of the foot plate of the present invention.
Fig. 12 is a perspective view of another embodiment of the foot plate of the present invention.
Fig. 13 is a schematic perspective view of the exoskeleton of the upper limb according to the embodiment of the present invention.
Detailed Description
In order to facilitate understanding of the technical solutions of the present invention, the following detailed description is made with reference to the accompanying drawings and specific embodiments.
The present embodiments provide a full body exoskeleton, which is worn by a user, such as a human, to enhance the performance of the user, such as enhancing the performance of the human body.
Referring to fig. 1, the whole-body exoskeleton of the present embodiment includes an upper limb exoskeleton 100 and a power-assisted lower limb exoskeleton 101, wherein the upper limb exoskeleton 100 is connected to the power-assisted exoskeleton 101, specifically, connected in multiple free hinged joints, so as to achieve the motion flexibility of hip joints.
Referring to fig. 2, the power-assisted lower extremity exoskeleton of the present embodiment comprises a hip pendulum base, a thigh rotating arm 1012, a lower leg rotating arm 1013 and a foot plate 1014, wherein, for example, joint modules 1011 are arranged between the hip pendulum base and the thigh rotating arm 1012, and between the thigh rotating arm 1012 and the lower leg rotating arm 1013, that is, joint modules 1011 are arranged at both the hip joint and the knee joint, and a mode of switching power-assisted modes is provided for both the waist and the knee joint, and further, for example, referring to fig. 3, joint modules 1011 are arranged only between the thigh rotating arm 1012 and the lower leg rotating arm 1013, and joint modules 1011b are arranged between the hip pendulum base and the thigh rotating arm 1012, that is, joint modules 1011 are arranged only at the knee joint, and the hip joint is a joint module 1011b with power-assisted only; the bottom of the lower leg rotating arm 1013 is connected with the foot plate 1014, specifically hinged, so that the hip joint has more degrees of freedom, and the restraint to the wearer is reduced, in order to form a reaction force according to the movement law of the wearer when walking, that is, the foot lands on the ground, the exoskeleton will counteract the reaction force to form an assistance force, when the wearer walks forward while lifting the leg, the foot does not receive the reaction force, but the leg needs to bend, and the leg needs to bend freely without the assistance force, therefore, the assistance lower limb exoskeleton of the embodiment is provided with a pressing gate plate assembly on the foot plate, a connecting assembly 1017a is arranged between the pressing gate plate assembly and the joint module 1011, wherein the connecting assembly 1017a is provided with the joint module 1011 corresponding to both the hip joint and the knee joint, that is, the pressing gate plate assembly can convert the gravity of the foot landing of the wearer into mechanical power, and then the mechanical power is transmitted through the connecting assembly, and certainly can also correspond to the joint module 1011 only when the joint module is provided with the knee joint module 1011, the connection assembly is set to the connection assembly 1011 b.
As a research surface, the existing pre-tightening force joint modules with energy storage are all coil springs or torsion springs and other devices with energy storage, although some of them can be adjusted in pre-tightening force, but they do not have a structure that can switch the pre-tightening force, so that a joint module 1011 is provided to solve this problem, for example, referring to fig. 4-7, the joint module 1011a of this embodiment has at least one coil spring 101120a and a brake 10117a adapted to lock the brake coil spring box 101120a, and the coil spring box 101120a and the brake 10117a are relatively fixed in the direction of the joint turning axis, that is, the number of the coil spring boxes 101120a and the brakes 10117a are one-to-one corresponding, when the coil spring box 101120a needs to be fixed to store energy and generate pre-tightening force assistance by the coil springs inside it, the brake 101120a locks the lower limb coil spring box 101120a, and the joints of the assisting exoskeleton can be in an assisting state, when the wearer walks and lifts the leg and bends, the brake 10117a is far away from the coil spring box 101120a, so that the coil spring cannot store energy, and the joint of the wearer can freely bend under the state of non-blocking force; when the coil spring box 101120a is in a columnar structure, the brake 10117a is a brake drum matched with the outer side of the coil spring box 101120a in a wrapping mode; for example, referring to fig. 4-7, a joint module 1011a is provided, where the brake drum of the joint module 1011a of this embodiment is two mutually hinged arc ring segments, which are certainly not limited to two segments of this embodiment, and may be multiple segments, and the inner side of the brake drum is provided with teeth, the coil spring box 101120a is two cups that can be mutually fastened, and a friction layer is provided on the outer surface of the coil spring box 101120a, where the friction layer is a rack, and of course, the friction layer may also be a uniformly distributed raised strip or raised point, etc. without being limited to this embodiment, that is, the brake 10117a has two mutually hinged arc ring segments with teeth on the inner side, and the two arc ring segments are close to each other under the cooperation of rotation to lock the coil spring box 101120a fastened by the two cups, so as to brake the brake, the braking effect is good, the separation is thorough, and the installation of the coil spring is convenient, so that the switching mode is stable; referring to fig. 8, for example, a joint module 1011b is provided, and in the case that the matching of other parts is the same as that of the joint module 1011, the brake drum is a circular ring, the spring box 101120b is a single cup, and a friction layer is arranged on the outer surface of the spring box 101120b, where the friction layer is a rack, but the friction layer may also be uniformly distributed raised strips or raised points, and the like, which is not limited to this embodiment; referring to fig. 9, a joint module 1011c is provided, and in the case that the other parts are matched and are the same as the joint module 1011, the brake drum is a circular ring, the coil spring box 101120c is a single cup body, and no friction layer is arranged on the outer surface of the coil spring box 101120 c. In the case that the other parts are matched with the joint module 1011, for example, referring to fig. 10, the joint module 1011d is provided, the coil spring box 101120d is a circular disk-shaped structure, and the brake 10117d is a brake caliper matched with the circular end surface clamping.
Specifically, the joint module 1011 further has a flange base 10111, a flange housing 10116, which is parallel to the flange base 10111 and is connected by bolts to form a cylindrical shell with hollowed-out side surfaces, and is used for internally mounting a coil spring box 101120a and a brake 10117 a; the coil spring shaft 10114 is used for being in running fit with a cylindrical shell and a coil spring box 101120a which are formed after the flange base 10111 and the flange shell 10116 are connected through bolts, and are respectively in running connection with the flange base 10111, the flange shell 10116 and the coil spring box 101120 a; a coil spring 101121 located inside the coil spring box 101120a near the flange base 10111 side for connecting the coil spring shaft 10114 and the coil spring box 101120 a; the first bearing 10115 is sleeved in the flange base 10111; the one-way bearing 10113 is sleeved on the spring coiling shaft 10114; the one-way bearing seat 10112 is sleeved between the first bearing 10115 and the one-way bearing 10113 and used for enabling the one-way bearing seat 10112 to rotate in a single direction relative to the spring coiling box 101120a and the spring coiling shaft 10114 which are braked by the brake 10117a and then are limited to rotate; a second bearing for rotational connection between the spring reel 101120a and the spring reel 10114; a coil spring shaft cover 10118 located at the center of the flange housing 10116 for fixing the coil spring shaft 10114 in the axial direction; a third bearing 10119 for rotational connection between the coil spring shaft cover 10118 and the flange housing 10116.
It should be noted that the single rotation direction of the one-way bearing seat 10112 is the same as the non-power-storage winding rotation direction of the coil spring 101121, that is, the one-way bearing 10113 enables each part of the lower extremity exoskeleton 101 connected to the one-way bearing seat 10112 to be braked and limited by the brake 10117a at the coil spring box 101120a to rotate, and the coil spring 101121 can store energy, and can enable each part of the curved lower extremity exoskeleton 101 to freely return to the upright position, that is, return to the zero point when reverse power storage is not required, where the zero point refers to the completely upright position of the lower extremity exoskeleton 101. Therefore, the wearer can climb stairs, and the lower limbs above the bent raised legs can be free of resistance in the process of recovering to be upright.
It is worth mentioning that, referring to fig. 11, the pressing shutter assembly includes two auxiliary foot plates with different horizontal heights and a guide clip 10145 fixedly guiding the two auxiliary foot plates, the guide clip 10145 transmits mechanical power to the brake 10117a to brake the spring box 101120a through a connecting assembly, which corresponds to the first auxiliary foot plate 10142 and the second auxiliary foot plate 10143 respectively, that is, the wearer steps on the first auxiliary foot plate 10142 and the second auxiliary foot plate 10143 with a height difference to convert gravity into mechanical kinetic energy, the guide clip 10145 fixes the sliding stability of the two, and the connecting assembly stably transmits the mechanical kinetic energy to the brake 10117a of the joint module 1011 to brake the spring box 101120 a.
Specifically, referring to fig. 11, the foot plate 1014 includes a front sole, a rear sole 10141 and a connecting frame 10146 for hingedly connecting the two, the first auxiliary foot plate 10142 and the second auxiliary foot plate 10143 are a part of the front sole, the guide clamp 10145 has two guide posts 101452, a guide block 101451 sleeved with the guide post 101452 and a return spring 101453 sleeved on the guide post 101452 and located at the bottom of the guide block 101451, the guide block 101451 is fixedly connected with the upper side of the first auxiliary foot plate 10142 with a higher horizontal plane, the two guide posts 101452 are fixedly connected with the upper side of the second auxiliary foot plate 10143 with a lower horizontal plane, the upper sides of the two guide posts 101452 are fixedly connected through a transverse plate, and the connecting assembly is connected between the guide block 101451 and the transverse plate, that is, the first auxiliary foot plate 10142 with a higher horizontal plane drives the guide block 101451 to descend under the gravity of a wearer to form mechanical kinetic energy, and outputs the mechanical energy through the connecting assembly, and under the gravity of lifting of the wearer, the return spring 101453 pushes the guide block 101451 to move upwards to return to the initial position, the binding of the coil spring box 101120a of the contact joint module 101, even if the joint is free.
It is noted that, referring to fig. 11, a foot plate 1014 is provided, the guide clip 10145 is integrally provided at a side surface of the forefoot, and the link 10146 is hingedly connected at a side surface of the guide block 10145, i.e., maintains the level of the forefoot in real time. With other components and fit unchanged, as an example, referring to fig. 12, a foot plate 1014a is provided, a guide clip 10145 is provided at a front side of the front sole, and a connecting bracket 10146 is hingedly connected at a side of a second subsidiary foot plate 10143 which is lower in the horizontal plane.
It is worth mentioning that the connecting component 1017a is a mechanical transmission structure, for example, referring to fig. 1-3, the mechanical transmission structure is specifically a brake spool, two ends of the brake spool are directly connected to the connecting ends of the guiding clamp 10145 and the brake 10117a respectively, so that the rope inside the guiding clamp 10145 moves relative to the spool to drive the brake 10117 a; the mechanical transmission structure can also be a pneumatic pipe transmission mechanism, and specifically comprises a compression air pump arranged on the guide clamp 10145, a compression actuator arranged on the brake 10117a and a compression air pipe of which two ends are respectively connected with the output end of the compression air pump and the input end of the compression actuator, and the compression actuator can be an air cylinder; the mechanical transmission structure can also be a hydraulic pipe transmission mechanism, and specifically comprises an output oil cylinder arranged on the guide clamp 10145, an input oil cylinder arranged on the brake 10117a, and a hydraulic oil pipe connected with the input oil cylinder and the input oil cylinder.
In addition, the thigh rotating arm 1012 can be extended and contracted by a thigh sleeve plate 10121 and a thigh inserting plate 10122, a first binding part 1015 is arranged on the thigh sleeve plate 10121, the lower leg rotating arm 1013 can be extended and contracted by a lower leg sleeve plate 10131 and a lower leg inserting plate 10132, and a second binding part 1016 is arranged on the lower leg sleeve plate.
Specifically, referring to fig. 13, upper extremity exoskeleton 100 has waist support 1004, assistance lower extremity exoskeleton 101 symmetrically installed on both sides of waist support 1004, shoulder back plate 1001, elastic back plate 1002 installed between waist support 1004 and middle of shoulder back plate 1001, and cargo plate 1003 installed on waist support 1004 at bottom of elastic back plate 1002.
It should be noted that, for example, referring to fig. 13, the elastic back plate 1002 is a structure formed by a plurality of arm-force rods side by side, which can achieve the noted assistance and further increase the assistance effect of the upper limb, and of course, the elastic back plate may also be a plastic plate or a link assembly with two ends connected by a spring and having a rotation center, which is not limited to this embodiment.
The above is only a preferred embodiment of the present invention, and the scope of the present invention is defined by the appended claims, and several modifications and amendments made by those skilled in the art without departing from the spirit and scope of the present invention should be construed as the scope of the present invention.
Claims (15)
1. The joint module is characterized in that the joint module is provided with at least one coil spring box and a brake matched with the coil spring box to brake the coil spring box in a locking manner, the coil spring box and the brake are relatively fixed in the direction of a joint rotation axis, the coil spring box is fixedly limited to rotate under the braking of the brake, and a coil spring in the coil spring box starts to store force.
2. The joint module according to claim 1, wherein the coil spring box is a cylindrical structure, the brake is a brake hub wrapped and adapted with an outer side wall, a friction layer is arranged on a side surface of the coil spring box, the friction layer is a uniformly distributed raised strip or raised points or racks, and the brake hub is a circular ring or at least two segments of arc ring segments hinged with each other;
or the coil spring box is of a circular disc-shaped structure, and the brake is a brake caliper matched with the circular end face of the brake in a clamping manner.
3. The joint module of claim 1, further comprising:
a flange base seat is arranged on the flange base seat,
the flange shell is parallel to the flange base, is connected with the flange base through bolts to form a cylindrical shell with hollowed side surfaces, and is used for internally mounting the coil spring box and the brake;
the coil spring shaft is used for being rotatably matched with a cylindrical shell and a coil spring box which are formed after the flange base and the flange shell are connected through bolts and are respectively and rotatably connected with the flange base, the flange shell and the coil spring box;
the coil spring is positioned in the coil spring box and close to the side of the flange base and is used for connecting the coil spring shaft with the coil spring box;
a first bearing sleeved in the flange base
The one-way bearing is sleeved on the coil spring shaft;
the one-way bearing block is sleeved between the first bearing and the one-way bearing and is used for enabling the one-way bearing block to rotate in a single direction relative to the spring coiling box and the spring coiling shaft which are limited to rotate after being braked by the brake;
the second bearing is used for rotationally connecting the spring coiling box and the spring coiling shaft;
the coil spring shaft cover is positioned in the center of the flange shell and used for fixing the coil spring shaft in the axial direction;
and the third bearing is used for rotationally connecting the coil spring shaft cover with the flange shell.
4. The joint module of claim 3, wherein the single rotational direction of the one-way bearing housing is aligned with the non-power wrap rotational direction of the wrap spring.
5. A power-assisted lower limb exoskeleton capable of freely bending in a leg lifting state comprises a hip pendulum base, a thigh rotating arm, a shank rotating arm and a foot plate, wherein joint modules are arranged between the hip pendulum base and the thigh rotating arm and between the thigh rotating arm and the shank rotating arm respectively, and the power-assisted lower limb exoskeleton is characterized in that at least one of the two joint modules is the joint module according to any one of claims 1 to 4, the shank rotating arm is hinged with the foot plate, a pressing flashboard assembly is arranged on the foot plate, a connecting assembly is arranged between the pressing flashboard assembly and the joint modules, and the pressing flashboard assembly is in power connection with the joint modules through the connecting assembly;
the pressing flashboard assembly comprises two auxiliary foot boards with different horizontal plane heights and two guide clamps for fixedly guiding the auxiliary foot boards, the guide clamps transmit mechanical power to the brake coil spring box through the connecting assembly, and the connecting assembly is of a mechanical transmission structure.
6. The power-assisted lower limb exoskeleton of claim 5, wherein the side surface of the flange base is fixedly connected above a thigh rotating arm and/or above a shank rotating arm, and the side surface of the one-way bearing seat is fixedly connected below the hip pendulum base and/or the thigh rotating arm.
7. The leg-lifting state free-bending assistance lower limb exoskeleton of claim 5, wherein the foot plate comprises a front sole, a rear sole and a connecting frame for connecting the front sole with the rear sole in a hinged manner at the side surface;
the two auxiliary foot plates are part of the front sole;
the guide clamp comprises two guide posts, a guide block sleeved with the guide posts and a return spring sleeved on the guide posts and positioned at the bottoms of the guide blocks, the guide block is a part of the auxiliary foot plate with a higher horizontal plane, and the two guide posts are a part of the auxiliary foot plate with a lower horizontal plane.
8. The leg-lifting freely curving assistance lower limb exoskeleton as claimed in claim 7, wherein the guide clamp is arranged on the side of the front sole, and the connecting frame is hinged to the guide block.
9. The leg-lifting, freely-curving, power-assisted lower extremity exoskeleton of claim 7 wherein said guide clamp is positioned on the front side of said forefoot and said link is hingedly connected to the side of said subpedal that is lower in elevation than the horizontal.
10. The leg-lifting state free-bending assistance lower limb exoskeleton as claimed in claim 5, wherein the mechanical transmission structure is a brake wire tube, two ends of the brake wire tube are directly connected with the connecting ends of the guide clamp and the brake respectively, so that a rope in the guide clamp moves relative to the wire tube to drive the brake.
11. The leg-lifting state free-bending assistance lower limb exoskeleton as claimed in claim 5, wherein the mechanical transmission structure is a pneumatic pipe transmission mechanism, and specifically comprises a compression air pump arranged on the guide clamp, a compression actuator arranged on the brake, and a compressed air pipe, two ends of the compressed air pipe are respectively connected with an output end of the compression air pump and an input end of the compression actuator, and the compression actuator is specifically an air cylinder.
12. The leg-lifting state free-bending power-assisted lower limb exoskeleton as claimed in claim 5, wherein the mechanical transmission structure is a hydraulic pipe transmission mechanism, and specifically comprises an output oil cylinder arranged on the guide clamp, an input oil cylinder arranged on the brake and a hydraulic oil pipe connecting the input oil cylinder and the input oil cylinder.
13. An assisted lower limb exoskeleton as claimed in claim 5 wherein the thigh arm is made of a thigh strap and a thigh plate and is of a telescopic length, the thigh strap is provided with a first binding, the shank arm is made of a shank strap and a shank plate and is of a telescopic length, and the shank strap is provided with a second binding.
14. A full-body exoskeleton, comprising a waist support, assistance lower limb exoskeleton symmetrically arranged on two sides of the waist support, a shoulder backboard, an elastic backboard arranged between the waist support and the middle part of the shoulder backboard, and a pallet arranged on the waist support and positioned at the bottom of the elastic arm power bar backboard, wherein the assistance lower limb exoskeleton is the assistance lower limb exoskeleton of any one of claims 5 to 13.
15. The whole body exoskeleton of claim 14 wherein the elastic back plate is made of a plurality of arm-force bars side by side or a plastic plate or a link assembly with spring connection at both ends and a center of rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111586573.3A CN114310943B (en) | 2021-12-23 | 2021-12-23 | Joint module, leg lifting state free bending's helping hand low limbs ectoskeleton and whole body ectoskeleton |
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