CN114932539A - Knee joint power assisting and energy harvesting device - Google Patents
Knee joint power assisting and energy harvesting device Download PDFInfo
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- CN114932539A CN114932539A CN202210761920.XA CN202210761920A CN114932539A CN 114932539 A CN114932539 A CN 114932539A CN 202210761920 A CN202210761920 A CN 202210761920A CN 114932539 A CN114932539 A CN 114932539A
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- shank
- thigh
- torsion spring
- knee joint
- energy harvesting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a knee joint power assisting and energy harvesting device which comprises two thigh fixing pieces and a shank fixing piece, wherein the thigh fixing pieces and the shank fixing pieces can extend, the thigh fixing pieces and the shank fixing pieces are respectively connected with a thigh connecting rod and a shank connecting rod, the shank connecting rod is connected with a shank internal gear, the thigh connecting rod is connected with a torsion spring buckle, a torsion spring is sleeved on a torsion spring base column, and two ends of the torsion spring are respectively clamped between two cylinders of a shank rod piece and the torsion spring buckle; three planet wheels are embedded in the shank internal gear, the three planet wheels drive a ratchet wheel rotating shaft, a piezoelectric film box is arranged on one side of the ratchet wheel rotating shaft, and the torsion spring is used for collecting part of positive work done during the motion of the lower limbs of the human body and compensating the part of negative work done so as to achieve the aim of assisting the motion of the knee joint of the human body; meanwhile, the shank swings in the knee joint swing period of the lower limb movement of the human body, the piezoelectric plate in the device deforms through mechanical transmission, and the electric energy generated by the deformation of the piezoelectric plate is collected through the rectifier circuit board and the rechargeable battery, so that the purpose of energy harvesting is achieved.
Description
Technical Field
The invention belongs to the technical field of energy collecting devices, and relates to a knee joint power assisting and energy harvesting device.
Background
With the development of science and technology, a series of energy collecting devices are developed and applied to our lives, so that energy consumption is greatly reduced and the existing energy is more effectively utilized. In recent years, with the progress of research on human body structures, many human body exercise devices such as exoskeletons have been studied by scientists for assisting human bodies or for medical rehabilitation.
The human body consumes a large amount of metabolic energy in the process of movement, wherein one part of the metabolic energy can be converted into mechanical energy consumed by movement, and the other part of the metabolic energy is dissipated in the forms of heat energy and other composite energy. Therefore, the lower limb exoskeleton is designed to achieve assistance and capture energy simultaneously, mechanical energy generated during human motion is taken as a collection object, and the device mechanism, the energy storage mechanism and the energy collection mode are innovatively designed, so that the effects of assisting the human lower limbs and collecting the energy are achieved, the human motion energy is collected and stored in the battery, and the lower limb exoskeleton has a wide prospect in the fields of military, scientific research and the like.
Most of the existing knee joint power assisting devices only use springs to provide power and have a less obvious power assisting effect, and at present, few devices which use knee joint motion energy to generate electric energy and store the electric energy on the premise of providing the power assisting are available.
Disclosure of Invention
The invention aims to provide a knee joint power assisting and energy harvesting device which can collect and store energy in the human body movement process, effectively convert the energy into electric energy for storage, provide power assistance for a knee joint and reduce the human body movement loss.
The technical scheme adopted by the invention is that the knee joint power assisting and energy harvesting device comprises a thigh fixing piece and a shank fixing piece, wherein the thigh fixing piece is connected with a telescopic thigh rod piece;
one end of the shank rod piece, which is far away from the shank fixing piece, is provided with a torsion spring base column, one end of the torsion spring base column, which is far away from the shank rod piece, is connected with a shank internal gear which is parallel to the shank rod piece, and a driving device is arranged in the shank internal gear;
one end, far away from the thigh fixing piece, of the thigh rod piece, close to one side of the shank internal gear, is connected with a torsion spring buckle, the torsion spring buckle is opposite to and parallel to the shank internal gear, a torsion spring is sleeved on a torsion spring base column, and two ends of the torsion spring are respectively connected with the shank rod piece and the torsion spring buckle;
still include the piezoelectric plate box, the piezoelectric plate box erects on the thigh member, the piezoelectric plate box is located the shank internal gear and keeps away from one side of torsional spring knot and parallel with the shank internal gear, the piezoelectric plate box has the ratchet pivot through embedded having the built-in bearing, the ratchet pivot is through the drive arrangement drive, the piezoelectric plate box is close to the ratchet pivot and installs a plurality of piezoelectric plates, ratchet pivot inboard is equipped with bellied lateral wall for with the piezoelectric plate cooperation, rechargeable battery is connected to the piezoelectric plate.
The invention is also characterized in that:
wherein, the two sides of the thigh fixing piece and the shank fixing piece are respectively provided with a binding band;
the outer side of the thigh fixing piece is connected with a thigh extension rod through an extension buckle, the thigh extension rod extends into the thigh rod piece and is embedded with the thigh rod piece, and a sliding rail matched with the thigh extension rod is arranged in the thigh rod piece;
the outer side of the shank fixing piece is also connected with a shank extension rod through an extension buckle, the shank extension rod is embedded in a shank rod piece, and a slide rail matched with the shank extension rod is arranged in the shank rod piece;
wherein, one end of the shank internal gear extends with a connecting plate, and both sides of the connecting plate are respectively connected with shank rods through a plurality of shank connecting rods;
the driving device comprises three planet wheels arranged in the lower leg internal gear, the three planet wheels are meshed with the lower leg internal gear, the three planet wheels are tangent, the three planet wheels are connected to the lower leg internal gear through a movable shaft, a sun wheel is movably connected to the center in the lower leg internal gear, the sun wheels are all tangent to the three planet wheels, and the sun wheel is connected with a ratchet wheel rotating shaft;
the center of the ratchet wheel rotating shaft is provided with a flywheel, the flywheel is connected with a sun wheel, flywheel buckles are respectively arranged on two sides of the flywheel, the flywheel is embedded in the center of the ratchet wheel rotating shaft, a plurality of internal tooth structures are uniformly arranged at the center of the ratchet wheel rotating shaft around the outer side of the flywheel, and the flywheel buckles are matched with the internal tooth structures;
wherein the center of one side of the shank rod piece close to the thigh rod piece is also connected with a ratchet wheel, and the thigh rod piece is provided with a pawl matched with the ratchet wheel;
wherein, two sides of the piezoelectric film box are respectively connected with the thigh rod piece through a plurality of thigh connecting rods;
the number of the piezoelectric sheets is eight, the eight piezoelectric sheets are matched with the ratchet wheel rotating shaft and are circularly and uniformly distributed on the piezoelectric sheet box, the outer side of the piezoelectric sheet box is also provided with a wire storage box, a rectifier circuit board is arranged in the wire storage box, and the eight piezoelectric sheets are connected with the rectifier circuit board through wires;
the center of the piezoelectric sheet box is used as the circle center, and jacks matched with the piezoelectric sheet are uniformly arranged on the piezoelectric sheet box.
The invention has the beneficial effects that:
the invention relates to a knee joint power assisting and energy harvesting device, which achieves the purpose of assisting the movement of a knee joint of a human body by collecting part of positive work done during the movement of lower limbs of the human body and compensating the part of the positive work done during the movement of the lower limbs of the human body by utilizing a torsion spring; meanwhile, the shank swings in the knee joint swing period of the lower limb movement of the human body, the piezoelectric plate in the device deforms through mechanical transmission, and the electric energy generated by the deformation of the piezoelectric plate is collected through the rectifier circuit board and the rechargeable battery, so that the purpose of energy harvesting is achieved.
Drawings
FIG. 1 is an overall appearance diagram of a knee joint power assisting and energy harvesting device according to the present invention;
FIG. 2 is a rear view of an integrated knee joint power assisting and energy harvesting device according to the present invention;
FIG. 3 is a schematic diagram of a gait cycle of a right leg of a human body according to the invention;
FIG. 4 is a schematic diagram of the end of the swing of a lower limb of a wearable knee joint assisting and energy harvesting device of the present invention;
FIG. 5 is a schematic diagram of a lower limb support period (initial stage of the device) after the knee joint power assisting and energy harvesting device is worn according to the present invention;
FIG. 6 is an internal structure view of a shank rod of a knee joint power assisting and energy harvesting device according to the present invention;
FIG. 7 is a schematic view of a ratchet and pawl combination of a knee joint power assisting and energy harvesting device according to the present invention (when a calf is parallel to a thigh);
FIG. 8 is a schematic view of a ratchet and pawl combination of a knee joint power assisting and energy harvesting device according to the present invention (when a shank and a thigh are at 120 °;
FIG. 9 is a schematic view of an internal structure of a thigh rod of the knee joint power assisting and energy harvesting device (near the thigh end);
FIG. 10 is a schematic view of an internal structure of a thigh rod of the knee joint power assisting and energy harvesting device (torsion spring buckle assembly end);
FIG. 11 is an assembly view (inside the torsion spring buckle) of a torsion spring of a knee joint power assisting and energy harvesting device according to the present invention;
FIG. 12 is an assembly view of a torsion spring buckle and a thigh lever of the knee joint power assisting and energy harvesting device according to the present invention;
FIG. 13 is a structural view of an assembly of a torsion spring buckle and a calf inner gear of the knee joint power assisting and energy capturing device according to the present invention;
FIG. 14 is an assembly view of a flywheel and an internal gear of a calf of a knee joint power assisting and energy harvesting device according to the present invention;
FIG. 15 is a schematic view of the assembly of a flywheel and a ratchet of a knee joint power assisting and energy harvesting device of the present invention (two flywheels are buckled and loosened with a ratchet);
FIG. 16 is a schematic view of the assembly of a flywheel and a ratchet of a knee joint power assisting and energy harvesting device of the present invention (two flywheel buckles are engaged with ratchets);
FIG. 17 is a structural view of the interior of a piezoelectric film box of a knee joint power assisting and energy harvesting device according to the present invention;
FIG. 18 is a schematic view of an electric energy storage device for a knee joint power assisting and energy harvesting device according to the present invention;
FIG. 19 is a schematic view of an electric energy storage device for assisting a knee joint and harvesting energy according to the present invention;
FIG. 20 is a side view of an assembly structure of a torsion spring buckle and a lower leg inner gear of a knee joint power assisting and energy harvesting device according to the present invention.
In the figure, 1, a thigh fixing piece, 2, an extension rod buckle, 3, a thigh extension rod, 4, a thigh rod piece, 5, a shank fixing piece, 6, a shank extension rod, 7, a shank rod piece, 8, a ratchet wheel, 9, a pawl, 10, a torsion spring base column, 11, a torsion spring, 12, a torsion spring buckle, 13, a shank internal gear, 14, a shank connecting rod, 15, a planet wheel, 16, a sun wheel, 17, a flywheel, 18, two flywheel buckles, 19, a ratchet wheel rotating shaft, 20, a piezoelectric film box, 21, a thigh connecting rod, 22, a piezoelectric film, 23, a wire storage box, 24, a rectifier circuit board and 25 are provided with a rechargeable battery.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention provides a knee joint assisting and energy harvesting device, which comprises a thigh fixing piece 1, a thigh fastening piece, a thigh energy harvesting piece and a knee joint energy harvesting piece, wherein the thigh fixing piece 1 is fixed in an extension rod buckle 2 through a screw and is tightly fastened with a thigh mass center through a binding band; an extension rod buckle 2 and a thigh extension rod 3 are fixed through screws; a thigh extension rod 3 is arranged in a slide rail of the thigh rod piece 4; a shank fixing piece 5 is fixed in the extension rod buckle 2 through a screw and tightly bound with the centre of mass of the shank through a binding band; an extension rod buckle 2 is fixed with the shank extension rod 6 through a screw; a shank extension rod 6 is arranged in the slide rail of the shank rod piece 7; as shown in fig. 6, a ratchet wheel 8 is matched with the center of a circle above the shank rod 7; as shown in fig. 9, a pawl 9 engages a circular hole in the upper side of the thigh lever 4; a torsion spring base column 10 is fixed with the center of the shank rod piece 7 through a screw; a 120-degree torsion spring 11 is sleeved on the torsion spring base column 10, and two ends of the torsion spring are respectively clamped between the shank rod member 7 and the two cylinders of the torsion spring buckle 12; one torsion spring buckle 12 is fixed with hole sites at two ends of the thigh rod piece 4 through screws; as shown in fig. 12 and 13, a lower leg inner gear 13, the center of which is fixed to the triangular end of the torsion spring base 10 by a screw; the four shank connecting rods 14 fix the shank internal gear 13 and the shank rod piece 7 through four notches below; as shown in fig. 20, three planet wheels 15 are internally provided with bearings and are matched with three cylinders on the torsion spring buckles 12; a sun gear 16 with built-in bearing and matching with the central cylinder on the lower leg inner gear 13; as shown in fig. 14, a flywheel 17 is fixed to the center of the sun gear 16; two flywheel buckles 18 matched with the hole sites on the two sides of the flywheel 17; a ratchet wheel rotating shaft 19, a bearing is arranged in the central cylinder and is matched with the central hole of the piezoelectric film box 20; a piezoelectric film box 20, which fixes the thigh rod piece 4 through four notches on the upper part through four thigh connecting rods 21; eight piezoelectric plates 22 inserted and fixed on the hole site of the central cylinder of the piezoelectric plate box 20; a wire storage box 23, the central hole site below which is fixed with the piezoelectric film box 20 through screws; a rectifier circuit board 24 and a rechargeable battery 25 placed in the notch above the piezoelectric film cartridge 20;
the initial placing included angle between the thigh rod piece 4 and the shank rod piece 7 is 120 degrees, so that two ends of a 120-degree torsion spring 11 are respectively clamped between the shank rod piece 7 and two cylinders of the torsion spring buckle 12;
the eight piezoelectric plates 22 are inserted through the small holes on the outer side of the piezoelectric box, and finally inserted into the central cylinder of the piezoelectric box 20, and the leads of the eight piezoelectric plates enter the wire storage box 23 through the holes on the outer side of the piezoelectric box and are finally connected to the rectifier circuit board 24.
The present invention is also characterized in that,
as shown in fig. 10, the initial position of the device is at the moment when the shank rod 7 and the thigh rod 4 form an angle of 120 °, the torsion spring 11 extends along the shank swinging direction during the swinging period of the knee joint movement and stores energy, and the torsion spring 11 contracts along the shank swinging direction during the supporting period of the knee joint movement and releases energy, so as to collect part of positive work done during the lower limb movement of the human body to compensate the part doing negative work, thereby achieving the purpose of assisting the human body knee joint movement;
the thigh extension rod 3 and the shank extension rod 6 can slide in a notch between the thigh rod piece 4 and the shank rod piece 7, the foremost end of the extension rod is stretched to the position of the mass center of the large and the shank according to the length of the lower limb of the tested person, and the thigh rod piece 4 and the shank rod piece 7 are fixed with the large and the shank by a binding belt penetrating through the large and the shank fixing pieces 5;
the torsion springs 11 in the device can be changed into torsion springs 11 with different specifications and fixed included angles of 120 degrees according to the most suitable assistance size of lower limbs of different crowds;
as shown in fig. 7 and 8, the ratchet 8 is fixed and in interference fit with the center of a circle above the rod, the front end of the ratchet 8 is connected with a bearing and in interference fit with a hole site on the thigh rod 4, and the ratchet 8 is also provided with two stop pins which are disengaged from the ratchet teeth on the ratchet 8 when the pawl 9 moves clockwise and engaged with the ratchet teeth when the pawl moves counterclockwise;
the shank internal gear 13 is parallel to the shank, and is connected with the central sun gear 16 after being connected with the three planet gears 15, the rotation angle of the shank internal gear 13 is consistent with the shank swing angle, and the central sun gear 16 achieves the effect of frequency increase through the transmission of the three planet gears 15;
one end of the sun wheel 16 is fixed with the center of the flywheel 17, so that the flywheel 17 and the sun wheel 16 keep the same rotating speed; the cylinders of the two flywheel buckles 18 are respectively matched with the two hole sites on the flywheel 17, the flywheel 17 rotates and drives the two flywheel buckles 18 in the swing period of the knee joint, and the two flywheel buckles 18 extend outwards under the action of centrifugal force and collide with the notch in the middle of the ratchet rotating shaft 19 through the top head at the front end, so that the ratchet rotating shaft 19 is driven to rotate together; in the knee joint supporting period, the flywheel 17 rotates and drives the two flywheel buckles 18, and the two flywheel buckles 18 extend outwards under the action of centrifugal force and are shifted along the sliding groove of the ratchet rotating shaft 19, so that the ratchet rotating shaft 19 is not driven to rotate;
the inner side of the ratchet wheel rotating shaft 19 is provided with a convex side wall, and the convex side wall collides with one end of the piezoelectric sheet 22 in the rotating process of the ratchet wheel rotating shaft, so that the piezoelectric sheet 22 is deformed to generate electric energy;
the piezoelectric plate 22 is fixed through a hole on the central cylinder of the piezoelectric plate box 20, and the lead of the piezoelectric plate is connected to the rectifier circuit board 24 along the lead box for rectification and voltage stabilization treatment, and is finally connected to the rechargeable battery 25, so that the current generated after the piezoelectric plate 22 deforms can be rapidly stored in the rechargeable battery.
According to the knee joint power assisting and energy harvesting device, the lengths of the large and small leg extension rods 6 are adjusted according to the mass center positions of thighs and small legs of lower limbs of a tested person so that the device can be fixed at the mass center positions of the large and small legs respectively through the large and small leg fixing pieces 5; the ratchet wheel 8 is arranged at the center position of the shank rod piece 7, and the ratchet wheel 8 is arranged at the circular notch of the thigh rod piece 4; the rectangular end of the torsion spring base column 10 is fixed at the central position of the shank rod piece 7, a 120-degree torsion spring is sleeved on the torsion spring base column 10, one end of the torsion spring is clamped between two cylinders on the shank rod piece 7, and the other end of the torsion spring is clamped between two cylinders of the torsion spring buckle 12; the torsional spring button 12 is concentric with and fixed to the hole sites on both sides of the thigh rod piece 4 along the hole sites on both ends; the center of the shank internal gear 13 is fixed with the triangular end of the torsion spring base column 10, and the outer side of the shank internal gear is fixed with the shank rod piece 7 through four shank connecting rods 14; three planet wheels 15 are internally provided with bearings and are arranged on three base columns of the torsion spring sleeve, and a sun wheel 16 is internally provided with a bearing and is arranged on the base column at the center of the lower leg internal gear 13; the center of the flywheel 17 is fixed with the center of one side of the sun wheel 16, and two flywheel buckle 18 base columns are matched with notches at two sides of the flywheel 17; the center of the ratchet wheel rotating shaft 19 is sleeved with a bearing and is arranged in a central circular hole of the piezoelectric sheet box 20, so that the two flywheel buckles 18 can work in ratchet wheel notches; as shown in fig. 18 and 19, the outer side of the piezoelectric sheet cartridge 20 is fixed to the thigh link 4 by four shank link rods 14; the rectifier circuit board 24 and the rechargeable battery 25 are placed in a notch on the outer side of the piezoelectric film box 20, the eight piezoelectric films 22 are installed at a hole site of a central cylinder of the piezoelectric film box 20, and leads of the eight piezoelectric films are pulled out along the hole site on the outer side of the piezoelectric film box 20 and are connected with the rectifier circuit board 24 and the rechargeable battery 25; the central circular hole of the lead box is fixed with the central circular hole of the piezoelectric film box 20.
Specifically, as shown in fig. 3, it is defined that the shank of the human body in the first half of the gait cycle is extended until the bending stage is the support stage, and the shank in the second half of the gait cycle is bent until the extension stage is the swing stage.
As shown in fig. 5, when the human body is in the supporting period and the included angle between the shank and the thigh is 120 degrees, the torsion spring 11 is in the initial unstressed state, and the pawl 9 is pushed back by the cylinder at one end of the ratchet 8 and is meshed with the ratchet on the ratchet 8; in the process that the shank swings forwards from the support period to the swing period, the pawl 9 and the ratchet are in a meshed state, so that the device is prevented from rotating; in the process, the torsion spring 11 is stressed to deform and collects positive work generated by the swinging of the knee joint; the swing angles of the shank internal gear 13 and the shank are consistent, and simultaneously, the three planet gears 15 are driven to rotate, and then the central sun gear 16 is driven to rotate;
at this time, as shown in fig. 16 and 17, the two flywheel buckles 18 are engaged with the ratchets on the ratchet wheel rotating shaft 19 to drive the rotating shaft of the flywheel 17 to rotate, the top head at the inner side of the ratchet wheel rotating shaft 19 continuously impacts one end of the piezoelectric plate 22 in the rotating process to enable the piezoelectric plate 22 to generate deformation, and the electric energy generated by the deformation of the piezoelectric plate 22 enters the rectifier circuit board 24 through a lead wire to be rectified and stabilized and then is stored in the rechargeable battery 25;
when the human body is at the end of the swinging period and the shank is parallel to the thigh as shown in fig. 4, the torsion spring 11 deforms to the maximum angle, and the pawl 9 is ejected by the other side column on the ratchet wheel 8 and is separated from the ratchet on the ratchet wheel 8; in the process that the shank is contracted backwards from the swing period to the support period, the pawl 9 and the ratchet are in a disengaged state; the torsion spring 11 releases the energy of positive work collected in the swinging period, and recovers the deformation and compensates the energy in the stage of negative work of the knee joint along with the recovery of the lower leg during the conversion from the end of the swinging period to the supporting period; the swing angles of the shank internal gear 13 and the shank are consistent, and simultaneously, the three planet gears are driven to rotate, and then the central sun gear 16 is driven to rotate;
at this time, as shown in fig. 15, the two flywheel buckles 18 are in a disengaged state with the ratchet on the ratchet wheel rotating shaft 19, and the rotating shaft of the flywheel 17 is not driven to rotate, so that the power assisting effect is prevented from being influenced by the generation of more resistance, and electric energy is not collected at this stage.
Claims (10)
1. A knee joint power assisting and energy harvesting device is characterized by comprising a thigh fixing piece (1), a telescopic thigh rod piece (4) and a shank fixing piece (5), wherein the thigh fixing piece (1) is connected with the telescopic shank rod piece (7);
one end of the shank rod piece (7) far away from the shank fixing piece (5) is provided with a torsion spring base column (10), one end of the torsion spring base column (10) far away from the shank rod piece (7) is connected with a shank internal gear (13) parallel to the shank rod piece (7), and a driving device is arranged in the shank internal gear (13);
one end, far away from the thigh fixing piece (1), of the thigh rod piece (4) and close to one side of the shank internal gear (13) is connected with a torsion spring buckle (12), the torsion spring buckle (12) is opposite to and parallel to the shank internal gear (13), a torsion spring (11) is sleeved on a torsion spring base column (10), and two ends of the torsion spring (11) are respectively connected with the shank rod piece (7) and the torsion spring buckle (12);
still include piezoelectric plate box (20), piezoelectric plate box (20) erect on thigh member (4), piezoelectric plate box (20) are located shank internal gear (13) and keep away from the one side of torsional spring knot (12) and are parallel with shank internal gear (13), piezoelectric plate box (20) are embedded through built-in bearing and have ratchet pivot (19), ratchet pivot (19) are through the drive arrangement drive, piezoelectric plate box (20) are close to ratchet pivot (19) and install a plurality of piezoelectric plate (22), ratchet pivot (19) inboard is equipped with bellied lateral wall, be used for with piezoelectric plate (22) cooperation, rechargeable battery (25) are connected in piezoelectric plate (22).
2. The knee joint assisting and energy harvesting device is characterized in that two sides of the thigh fixing piece (1) and the shank fixing piece (5) are respectively provided with a binding band.
3. The knee joint assisting and energy harvesting device is characterized in that a thigh extension rod (3) is connected to the outer side of the thigh fixing piece (1) through an extension buckle (2), the thigh extension rod (3) extends into the thigh rod piece (4) to be embedded with the thigh rod piece (4), and a sliding rail matched with the thigh extension rod (3) is arranged in the thigh rod piece (4);
shank extension rod (6) is also connected through extending buckle (2) in the shank stationary blade (5) outside, and shank extension rod (6) are embedded in shank member (7), are equipped with in shank member (7) with shank extension rod (6) complex slide rail.
4. The knee joint power assisting and energy harvesting device is characterized in that a connecting plate extends from one end of the shank inner gear (13), and two sides of the connecting plate are connected with shank rods (7) through a plurality of shank connecting rods (14) respectively.
5. The knee joint power assisting and energy harvesting device is characterized in that the driving device comprises three planet wheels (15) arranged in a lower leg inner gear (3), the three planet wheels (15) are meshed with the lower leg inner gear (3), the three planet wheels (15) are tangent, the three planet wheels (15) are connected to the lower leg inner gear (13) through movable shafts, a sun wheel (16) is movably connected to the inner center of the lower leg inner gear (3), the sun wheel (16) is tangent to the three planet wheels (15), and the sun wheel (16) is connected with a ratchet rotating shaft (19).
6. The knee joint power assisting and energy harvesting device according to claim 5, wherein a flywheel (17) is arranged at the center of the ratchet rotating shaft (19), the flywheel (17) is connected with a sun gear (16), flywheel buckles (18) are respectively arranged on two sides of the flywheel (17), the flywheel (17) is embedded in the center of the ratchet rotating shaft (19), a plurality of internal tooth structures are uniformly arranged at the center of the ratchet rotating shaft (19) around the outer side of the flywheel (17), and the flywheel buckles (18) are matched with the internal tooth structures.
7. The knee joint power assisting and energy harvesting device is characterized in that a ratchet wheel (8) is further connected to the position, close to the center of one side of the thigh rod piece (4), of the shank rod piece (7), and a pawl (9) matched with the ratchet wheel (8) is arranged on the thigh rod piece (4).
8. The knee joint power assisting and energy harvesting device according to claim 1, wherein two sides of the piezoelectric box (20) are respectively connected with the thigh rod piece (4) through a plurality of thigh connecting rods (21).
9. The knee joint power assisting and energy harvesting device according to claim 1, wherein the number of the piezoelectric patches (22) is eight, the eight piezoelectric patches (22) are matched with the ratchet rotating shaft (19) to be circularly and uniformly distributed on the piezoelectric patch box (20), a wire storage box (23) is further arranged on the outer side of the piezoelectric patch box (20), a rectifier circuit board (24) is arranged in the wire storage box (23), and the eight piezoelectric patches (22) are connected with the rectifier circuit board (24) through wires.
10. The knee joint assisting and energy harvesting device of claim 9, wherein the piezoelectric film box (20) is further uniformly provided with insertion holes matched with the piezoelectric film by taking the center as a circle center.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210761920.XA CN114932539B (en) | 2022-06-30 | 2022-06-30 | Knee joint boosting and energy harvesting device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210761920.XA CN114932539B (en) | 2022-06-30 | 2022-06-30 | Knee joint boosting and energy harvesting device |
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| CN114932539A true CN114932539A (en) | 2022-08-23 |
| CN114932539B CN114932539B (en) | 2023-06-30 |
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| CN106863273A (en) * | 2017-03-13 | 2017-06-20 | 杭州国辰机器人科技有限公司 | A kind of wearable knee joint booster of intelligence |
| CN107378915A (en) * | 2017-08-14 | 2017-11-24 | 华南理工大学 | A kind of lower limb power assisting device based on energy feedback |
| US20200085667A1 (en) * | 2018-09-14 | 2020-03-19 | Huazhong University Of Science And Technology | Hip-knee passive exoskeleton device based on clutch time-sharing control |
| CN113414757A (en) * | 2021-06-11 | 2021-09-21 | 西安理工大学 | Knee joint movement energy collecting and utilizing device |
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