CN115229765A - External power-free exoskeleton capable of assisting ankle joint movement - Google Patents

Abstract

The invention discloses an external power-free exoskeleton capable of assisting ankle joint movement, which comprises: a foot plate comprising a bottom plate and two connecting rods; one end of each of the two support rods is hinged with the connecting rod; the two ends of the first connecting rod frame are respectively and fixedly connected with the two connecting rods; the second connecting rod frame is arranged on the same side as the first connecting rod frame and is positioned above the first connecting rod frame; the second connecting frame is connected with the two supporting rods through the guide mechanism, and two ends of the second connecting frame respectively extend to the front sides of the two supporting rods; the thigh wearing bracket is rotatably connected to the other end of the supporting rod, arranged on the same side as the second connecting rod rack and positioned above the second connecting rack; the thigh binding belt of the thigh wearing bracket is fixed on the thigh of the user; one end of each knee joint connecting rod is hinged with the thigh wearing bracket, and the other end of each knee joint connecting rod is hinged with one end of the second connecting rod frame; a knee ankle link mechanism disposed at a rear side of the exoskeleton and connected between the first link frame and the second link frame.

Description

External power-free exoskeleton capable of assisting ankle joint movement

Technical Field

The invention belongs to the technical field of exoskeletons for assisting ankle joint movement, and particularly relates to an exoskeletal without external power, which can assist ankle joint movement.

Background

During normal walking, human gait can be divided into cyclic periods. In each gait, when the tiptoe is about to lift off the ground, the ankle joint of the human body has the function of stepping on the ground to promote the lower limb to step forwards; when the lower limbs step forward, the ankle joints of the human body have the active dorsiflexion function, so that the toes of the human body are raised, the cross-region obstacle capability of the human body can be improved, and the falling is avoided.

For a patient with ankle injury caused by accidents and diseases, a rehabilitation device for assisting ankle movement needs to be worn; for workers working with long-distance load, the exoskeleton with the auxiliary ankle joint movement can effectively reduce the fatigue degree of the workers and improve the working efficiency. Therefore, the exoskeleton assisting the movement of the ankle joint attracts the attention of many researchers, and most of the exoskeleton has good assistance effect by being worn with energy output capacity. However, the exoskeleton with energy output capability mostly needs energy storage devices (such as batteries and the like) and power output devices (such as motors and the like), so that the weight of the exoskeleton is increased, and the exoskeleton is expensive.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the external-power-free exoskeleton capable of assisting the movement of the ankle joint, which can fully utilize the walking gait rule of the human body through the knee ankle link mechanism under the condition of no external energy input, store the gravitational potential energy of the human body in the combined link and simultaneously realize the pedaling of the ankle joint during forward stepping and the active dorsiflexion of the ankle joint when the ankle joint is about to touch the ground.

The technical scheme provided by the invention is as follows:

an exokinetic exoskeleton capable of assisting movement of an ankle joint, comprising:

the foot plate comprises a bottom plate and two connecting rods; one ends of the two connecting rods are symmetrically and fixedly connected to the two sides of the bottom plate;

the two support rods are arranged in one-to-one correspondence with the two connecting rods; the supporting rod is arranged along the vertical direction, and one end of the supporting rod is hinged with the other end of the connecting rod;

the two ends of the first connecting rod frame are respectively and fixedly connected with the two connecting rods in a one-to-one correspondence manner, and the convex side of the first connecting rod frame is arranged towards the rear side of the foot plate;

the second connecting rod frame is an arc-shaped frame, and the second connecting rod frame is arranged on the same side as the first connecting rod frame and is positioned above the first connecting rod frame;

the two guide mechanisms are correspondingly arranged on the two support rods one by one, and the guide mechanisms are arranged along the vertical direction;

the second connecting frame is connected with the two supporting rods through a guide mechanism, and two ends of the second connecting frame respectively extend to the front sides of the two supporting rods;

the thigh wearing bracket is rotatably connected to the other end of the supporting rod, arranged on the same side as the second connecting rod rack and positioned above the second connecting rack; a thigh binding belt is arranged on the front side of the thigh wearing bracket and is fixed on the thigh of the user through the thigh binding belt;

the two knee joint connecting rods are arranged in one-to-one correspondence with the two supporting rods, one end of each knee joint connecting rod is hinged with the corresponding thigh wearing bracket, and the other end of each knee joint connecting rod is hinged with one end of the corresponding second connecting rod frame;

when the thigh wearing bracket rotates relative to the supporting rod, the thigh wearing bracket can drive the knee joint connecting rod to move up and down;

a knee ankle linkage, comprising: a first link, a second link, and a third link;

one end of the first connecting rod is hinged with the convex side of the second connecting rod frame, and the first connecting rod is provided with a first accommodating cavity along the axial direction;

one end of the second connecting rod is coaxially arranged in the first accommodating cavity and can selectively move along the axial direction of the first accommodating cavity or be jointed with the first connecting rod; a second accommodating cavity is coaxially formed in the other end of the second connecting rod;

one end of the third connecting rod is coaxially arranged in the second accommodating cavity and can selectively move along the axial direction of the second accommodating cavity or be jointed with the second connecting rod, and the other end of the third connecting rod extends out of the second accommodating cavity and is hinged with the convex side of the first connecting rod frame;

a knee ankle connecting rod spring is arranged in the second accommodating cavity and sleeved on the third connecting rod; one end of the knee ankle connecting rod spring is abutted against the end plate of the second accommodating cavity, and the other end of the knee ankle connecting rod spring is abutted against one end of the third connecting rod; the knee ankle link spring is in a maximum compressed state when the second link is engaged with the third link.

Preferably, the external power-free exoskeleton capable of assisting ankle joint movement further comprises:

the shank wearing bracket is an arc-shaped frame, is arranged on the same side as the second connecting rod rack and is positioned between the shank wearing bracket and the second connecting rod rack;

wherein, two ends of the shank wearing bracket are respectively fixedly connected to the two support rods; the front side of the lower leg wearing bracket is provided with a lower leg binding belt, and the lower leg binding belt is fixed on the lower leg of a user.

Preferably, the thigh wearing bracket includes: a thigh wearing support and two thigh wearing support rods;

the thigh wearing support is an arc-shaped frame;

one ends of the two thigh wearing support rods are fixedly connected with the two ends of the arc-shaped frame in a one-to-one correspondence manner;

the other ends of the two thigh wearing support rods are hinged with one end of the knee joint connecting rod in a one-to-one correspondence manner; the two thigh wearing support rods are hinged with one ends of the two supporting rods respectively; the hinge point of the thigh wearing support rod and the support rod is positioned between the two ends of the thigh wearing support rod.

Preferably, the external power-free exoskeleton capable of assisting ankle joint movement further comprises: and the clutch device is arranged between the first connecting rod and the second connecting rod, and the first connecting rod and the second connecting rod are connected or separated through the clutch device.

Preferably, the external power-free exoskeleton capable of assisting ankle joint movement further comprises: a locking mechanism provided between the second link and the third link, the second link and the third link being engaged or disengaged by the locking mechanism.

Preferably, the guide mechanism includes:

the sliding rail is arranged along the vertical direction and is fixedly connected to the supporting rod;

and the sliding block is fixedly connected to the second connecting rod frame and is installed on the sliding rail in a matching mode.

Preferably, the slide rail is a cylindrical slide rail, and two ends of the slide rail are respectively fixedly connected to the support rod through a slide rail seat, so that a space is formed between the slide rail and the support rod;

the sliding block is a cylindrical sliding block and is sleeved on the sliding rail in a matching manner;

wherein one end of the second link frame passes through the gap and extends to the front side of the support rod.

Preferably, the clutch device includes:

the piston is movably arranged in the first accommodating cavity and divides the first accommodating cavity into a first chamber and a second chamber; one end of the piston is connected with a piston rod;

oil liquid is filled in the first accommodating cavity; one end of the second connecting rod is coaxially and fixedly connected with the piston rod; an oil way is connected between the first chamber and the second chamber;

and the electromagnetic valve is arranged on the oil path and used for connecting or disconnecting the oil path.

Preferably, the locking mechanism includes:

the locking sliding sleeve is sleeved on the second connecting rod in an empty mode; one end of the locking sliding sleeve is fixedly connected to the first connecting rod, and the other end of the locking sliding sleeve is a free end;

a plurality of locking buckles arranged at intervals along the circumferential direction of the second connecting rod; a plurality of rectangular through holes are formed in the second connecting rod, the through holes are communicated with the second accommodating cavity, and the through holes correspond to the locking buckles one by one;

one end of the locking buckle is arranged in the through hole, and the other end of the locking buckle is connected to the second connecting rod through a locking spring;

the locking buckle shaft is connected to the locking buckle and positioned between two ends of the locking buckle;

the locking buckle is hinged to the second connecting rod through the locking buckle shaft; when the locking sliding sleeve moves axially relative to the second connecting rod, one end of the locking buckle connected with the locking spring can be pressed or released, so that one end of the locking buckle arranged in the through hole rotates around a locking buckle shaft buckling pin to enter or exit the second accommodating cavity.

Preferably, the external power-free exoskeleton capable of assisting ankle joint movement further comprises: the unlocking pins are fixedly arranged on the locking slip sleeve and are in one-to-one correspondence with the locking buckles;

the unlocking pin protrudes out of the inner surface of the locking sliding sleeve, and when the unlocking pin is pressed to one end of the locking buckle, the other end of the locking buckle rotates around the locking buckle shaft.

The beneficial effects of the invention are:

1. the exoskeleton capable of assisting the movement of the ankle joint without external power is connected with the lower limbs of a user through the wearing part, utilizes the gait rule of a human body, does not need external energy input, effectively realizes light weight design, and can assist the ankle joint to realize the movement under natural gait.

2. The external-power-free exoskeleton capable of assisting the movement of the ankle joint, provided by the invention, combines the knee ankle link mechanism with the wearing part, can realize the active flexion of the knee joint in a standing phase, collects the energy of the knee joint and is used for pedaling the ground, so that a wearer can recover the natural gait.

3. According to the knee ankle connecting rod mechanism provided by the invention, the three connecting rods and the knee ankle connecting rod spring are combined into a whole by adopting the clutch device and the passive locking mechanism, the walking requirement of a human body can be met, the knee ankle connecting rod spring reaches the maximum compression limit after being locked and cannot be compressed continuously, the knee ankle connecting rod spring pulls a lower side rod upwards during unlocking, and the heel is lifted to realize ground treading; by controlling the clutch device, the wearer can actively dorsiflex and raise toes in the forward walking process, so that the ability of the wearer to cross obstacles is improved, the thigh raising angle is reduced, and the energy consumption is reduced; under the condition of no external energy input, the device can assist a wearer in pedaling the ground before the sole leaves the ground and in dorsiflexion before the sole contacts the ground, improves the performance of the exoskeleton, reduces the dependence on external energy (such as battery electric energy), and can be continuously used for a longer time and be suitable for more sports or working scenes.

4. The locking mechanism is provided with the locking spring, so that locking or pressing unlocking can be performed through relative movement between the two rod pieces, and additional energy input is not needed.

5. The exoskeleton without external power, which can assist the movement of the ankle joint, provided by the invention, only adopts the low-capacity battery and the micro control board to control the electromagnetic valve in the clutch device, the power battery is not needed, and the power consumption is extremely low.

Drawings

Fig. 1 is a schematic diagram of the general structure of the exoskeleton without external power capable of assisting ankle joint movement.

Fig. 2 is a schematic structural diagram of a second link frame according to the present invention.

Figure 3 is a schematic view of a knee ankle linkage according to the present invention.

Fig. 4 is an external structural view of the first connecting rod according to the present invention.

Fig. 5 isbase:Sub>A sectional view taken along linebase:Sub>A-base:Sub>A of fig. 4.

Fig. 6 is an external schematic view of a combined structure of a second connecting rod and a third connecting rod according to the present invention.

Fig. 7 is a sectional view taken along the direction B-B of fig. 6.

Figure 8 is a schematic diagram of the external configuration of a knee ankle linkage according to the present invention.

Fig. 9 isbase:Sub>A sectional view taken along the linebase:Sub>A-base:Sub>A of fig. 8.

Fig. 10 is a schematic structural view of the locking sliding sleeve of the present invention.

Fig. 11 is a schematic view of a first chamber and a second chamber according to the present invention.

Figure 12 is a schematic diagram illustrating the operation of the exokinetic exoskeleton capable of assisting ankle movement according to the present invention.

FIG. 13 is a schematic view showing the knee joint angle during walking on flat ground.

Detailed Description

The present invention is described in further detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.

As shown in fig. 1-3, the present invention provides an exokinetic exoskeleton capable of assisting movement of ankle joint, which mainly comprises: the thigh wearing support 1, the thigh wearing support rod 2, the thigh binding belt 3, the knee joint hinge pin 4, the connecting rod upper side hinge pin 5, the knee joint connecting rod 6, the sliding rail seat 7, the sliding rail 8, the connecting rod lower side hinge pin 9, the second connecting rod frame 10, the sliding rail fixing nut 11, the supporting rod 12, the ankle joint hinge pin 13, the foot plate 14, the first connecting rod frame 15, the connecting rod lower side hinge pin 16, the knee ankle connecting rod mechanism 17, the connecting rod upper side hinge pin 18, the crus wearing bracket 19 and the crus binding belt 20.

The foot plate 14 includes a bottom plate 14a and two connecting rods 14b; the bottom plate 14a is a flat plate structure and is used for supporting a foot plate of a user; the lower ends of the two connecting rods 14b are symmetrically and fixedly connected to the two sides of the bottom plate 14 a; the height of the upper end of the connecting rod 14b is similar to the height of the ankle. The two support rods 12 and the two connecting rods 14b are arranged in a one-to-one correspondence manner; the support rod 12 is arranged in the vertical direction, and the lower end of the support rod 12 is hinged with the upper end of the connecting rod 14b through an ankle joint hinge pin 13; allowing the foot plate 14 to rotate freely about the ankle hinge pin 13.

The first link frame 15 is an arc-shaped frame, two ends of the first link frame 15 are respectively and fixedly connected with the two connecting rods 14b in a one-to-one correspondence manner, and the convex side of the first link frame 15 is arranged towards the rear side of the foot plate 14.

The second connecting rod rest 10 is an arc-shaped frame, and the second connecting rod rest 10 and the first connecting rod rest 15 are arranged on the same side and are positioned above the first connecting rod rest 15.

And the two guide mechanisms are correspondingly arranged on the two support rods 12 one by one, and are arranged along the vertical direction. Wherein, the second connecting frame 10 is connected with the two support rods 12 through the guiding mechanism, and two ends of the second connecting frame 10 respectively extend to the front sides of the two support rods 12.

The thigh wearing bracket is rotatably connected to the upper end of the supporting rod 12, is arranged at the same side of the second connecting rod rack 10, and is positioned above the second connecting rack 10; the front side of the thigh wearing bracket is provided with a thigh binding belt 3 and is fixed on the thigh of the user through the thigh binding belt 3.

Preferably, the thigh wearing bracket includes: a thigh wearing support 1 and two thigh wearing support rods 2. The thigh wearing support 1 is an arc-shaped frame, and the thigh wearing support rod 2 is a bent rod; one ends of the two thigh wearing support rods 2 are fixedly connected with the two ends of the thigh wearing support 1 through rivets respectively. The bending part of the thigh wearing support rod 2 is rotatably connected with the upper end of the support rod 12 through a knee joint hinge pin 4. The other ends of the two thigh wearing support rods 2 extend towards the front side of the unpowered exoskeleton and are respectively hinged with the upper ends of the two knee joint connecting rods 6. The two knee joint connecting rods 6 are arranged corresponding to the two support rods 12 one by one, and the lower ends of the two knee joint connecting rods 6 are respectively hinged with the two ends of the second connecting rod frame 10.

Wherein, the thigh wearing bracket can drive the knee joint connecting rod 6 to move up and down when rotating relative to the supporting rod 12.

Preferably, the guide mechanism includes: a slide rail 8 and a slider 10a. The slide rail 8 is arranged along the vertical direction, and the slide rail 8 is fixedly connected on the support rod 12. The slide block 10a is fixedly connected to the second link frame 10 and is fittingly mounted on the slide rail 8.

Preferably, the slide rail 8 is a cylindrical slide rail, and both ends of the slide rail 8 are respectively fixedly connected to the support rods 12 through the slide rail seats 7, so that a gap is formed between the slide rail 8 and the support rods 12. Correspondingly, the sliding block 10a is a cylindrical sliding block and is sleeved on the sliding rail 8 in a matching manner; two ends of the second connecting rod frame 10 respectively penetrate through the space between the two slide rails 8 and the corresponding supporting rods 12, extend to the front sides of the supporting rods 12, and are hinged with the lower ends of the two knee joint connecting rods 6.

The lower leg wearing bracket 19 is an arc-shaped frame, is arranged at the same side of the second connecting rod rack 10 and is positioned between the upper leg wearing bracket and the second connecting rod rack 10. Wherein, two ends of the shank wearing bracket 19 are respectively fixed and connected on the two support rods 12 through rivets. A lower leg binding band 20 is provided on the front side of the lower leg wearing bracket 19, and is fixed to the lower leg portion of the user by the lower leg binding band 20. When the knee joint connecting rod 6 moves up and down, the second connecting rod frame 10 can be driven to move up and down.

Preferably, the thigh binding band 3 and the calf binding band 20 are made of a non-elastic fabric material.

The knee ankle link mechanism 17 includes: a first link 1701, a second link 1702, a locking mechanism 1703, a third link 1704, a knee ankle link spring 1705, and a clutch 1706.

The upper end of the first link 1701 is hinged to the convex side of the second link frame 10, and the first link 1701 has a first receiving cavity opened in the axial direction. The upper end of the second link 1702 is coaxially disposed within the first receiving cavity and is selectively movable axially of the first receiving cavity or into engagement with the first link 1701. A clutch device 1706 is installed between the first link 1701 and the second link 1702, and the first link 1701 and the second link 1702 are engaged or disengaged by the clutch device 1706. A second accommodating cavity is coaxially formed in the lower end of the second connecting rod 1702; the upper end of the third link 1703 is coaxially disposed within the second cavity and is selectively movable axially of the second cavity or engaged with the second link 1702. A locking mechanism 1703 is disposed between the second link 1702 and the third link 1704, and the second link 1702 and the third link 1704 are engaged or disengaged by the locking mechanism 1703. The lower end of the third link 1704 extends outside said second housing cavity and is hinged to the convex side of the first link frame 15. A knee ankle link spring 1705 is arranged in the second accommodating cavity, and the knee ankle link spring 1705 is sleeved on the third link 1704; one end of the knee ankle link spring 1705 abuts against the lower end plate of the second receiving chamber, and the other end abuts against the upper end of the third link 1704; when the second link 1702 is engaged with the third link 1704, the knee ankle link spring 1705 is in a state of maximum compression.

As shown in fig. 4 to 11, the first link 1701 preferably includes: a first link upper joint 17011, a first link connector 17012, a first link valve 17013, and a first link lower joint 17014. Wherein the first link upper joint 17011 is hinged with the convex side of the second link frame 10 by the link upper side hinge pin 18. The first link connector 17012 is cylindrical, and one end thereof is connected to the first link upper joint 17011 through a screw, and the other end thereof is fixedly connected to one end of the first link valve 17013 through a screw. The first link lower joint 17014 is screw-coupled to the other end of the first link valve body 17013. The first accommodating cavity is formed in one side of the first link valve 17013, and one end (open end) of the first accommodating cavity is closed by the first link lower joint 17014. An oil passage 17013a is formed at the other side in the first link valve 17013.

The clutch device 1706 includes: the hydraulic oil circuit comprises a hydraulic oil circuit T-shaped plug 17061, a hydraulic oil circuit cylindrical plug 17062, an electromagnetic valve spool 17063, an electromagnetic valve coil 17064 and a piston 17065, wherein the hydraulic oil circuit T-shaped plug 17061 and the hydraulic oil circuit cylindrical plug 17062 are respectively installed on the first connecting rod valve body 17013 through threads and are used for plugging an oil filling port of an oil circuit 17013a. The solenoid valve core 17063 and the solenoid valve coil 17064 are mounted on the oil passage 17013a of the first link valve body 17013 by a press fitting process to form a solenoid valve. The piston 17065 is axially movably disposed in the first accommodating cavity, and is in close contact with the cavity wall of the first accommodating cavity to divide the first accommodating cavity into a first chamber (chamber a) and a second chamber (chamber B), and a piston rod is connected to one end of the piston 17065. One end of the second link 1702 is coaxially and fixedly connected with the piston rod to form a whole. The connection of the second link 1702 to the piston rod passes through the first link lower joint 17014 and is capable of moving relative to the first link lower joint 17014. With respect thereto, both ends of the oil passage 17013a communicate with the first chamber (chamber a) and the second chamber (chamber B), respectively; the solenoid valve formed by the solenoid valve spool 17063 and the solenoid valve coil 17064 is used for connecting or disconnecting the oil path. The clutch device 1706 engages and disengages the first link 1701 and the second link 1702 by controlling the solenoid valve. When the electromagnetic valve is not electrified, the electromagnetic valve core 17063 blocks an oil circuit between a first chamber (chamber A) and a second chamber (chamber B), and due to incompressibility (small deformation) of liquid, relative motion cannot occur between the first connecting rod 1701 and the second connecting rod 1702, so that the first connecting rod 1701 and the second connecting rod 1702 move together, and the purpose of jointing the first connecting rod 1701 and the second connecting rod 1702 is achieved; when the solenoid valve is energized, the solenoid valve spool 17063 is sucked back by the electromagnetic force of the solenoid valve coil 17064, opening the oil passage between the first chamber (chamber a) and the second chamber (chamber B), and when the first link 1701 and the second link 1702 receive opposite axial forces therebetween, the first link 1701 and the second link 1702 can move relative to each other, so that the first link 1701 and the second link 1702 are separated.

The electromagnetic valve is powered and controlled through a micro control board and a small-capacity battery; the micro-controller board and the small capacity battery are mounted on the support rod 12 (not shown in the drawings).

Preferably, the small-capacity battery is a 5V-100mAh lithium battery, and the miniature control board is an Arduino nano control board.

Preferably, the second link 1702 includes: a second link main body 17021 and a second link fixing disk 17022. One end of the second link body 17021 has a rod-shaped connector for connecting the piston rod, and the other end of the second link body 17021 is a cylindrical sleeve having an opening at one end. The second link fixing disc 17022 is a disc-shaped structure, and the second link fixing disc 17022 is fastened and connected with the open end of the cylindrical sleeve through threads. Wherein the cylindrical sleeve and the second link fixing disc 17022 enclose to form the second accommodating chamber.

The locking mechanism 1703 mainly includes: a locking slide 17031, a plurality of locking catches 17032, a locking spring 17033, and a locking catch shaft 17034.

The locking sliding sleeve 17031 is sleeved on the second connecting rod 1702 in an empty mode; one end of the locking sliding sleeve 17031 is fixedly connected to the first link lower joint 17014 through a screw thread, and the other end of the locking sliding sleeve 17031 is a free end.

A plurality of locking catches 17032 are arranged at intervals along the circumference of the second link body 17021; a plurality of rectangular through holes are formed in the sleeve wall of the second connecting rod main body 17021, and the rectangular through holes are communicated with the second accommodating cavity; and the rectangular through holes correspond to the locking snaps 17032 one to one. One end of the locking catch 17032 can pass through the rectangular through hole to enter the second accommodating cavity, and the other end is connected to the outer wall of the sleeve end cover of the second link body 17021 through the locking spring 17033.

A latch catch shaft 17034 is attached to the latch catch 17032 and is located between the two ends of the latch catch 17032. Wherein, the locking catch 17032 is hinged on the sleeve wall of the second link body 17021 by the locking catch shaft 17034; when the locking slide 17031 moves axially relative to the second link 1702, one end of the locking catch 17032 connected to the locking spring 17033 can be pressed or released, so that the end of the locking catch 17032 disposed in the through hole rotates around the locking catch shaft 17034 to enter or exit the second accommodating cavity. One end of the plurality of locking catches 17032 disposed in the rectangular through hole is opened outward (unlocking is achieved) or gathered inward (locking is achieved). The latch spring 17033 is a compression spring, and when the end of the latch release catch 17032 to which the latch spring 17033 is connected is released, the latch release catch 17032 returns to the latched position by the restoring force of the latch spring 17033.

As a further preference, the sleeve end cover of the second link body 17021 is provided with a plurality of spring mounting grooves, and the spring mounting grooves and the locking springs 17033 are arranged in a one-to-one correspondence manner; the spring mounting groove is a cylindrical groove, and is formed along the radial direction of the sleeve end cover of the second connecting rod main body 17021; wherein a locking spring 17033 is installed in the spring installation groove.

As a further preference, a plurality of unlocking pins 17035 are further included, which are fixedly mounted on the locking slide 17031 and are disposed in one-to-one correspondence with the locking catches 17032. The unlocking pin 17035 protrudes from the inner surface of the locking sliding sleeve 17031, and when the unlocking pin 17035 is pressed to one end of the locking catch 17032, the other end of the locking catch 17032 rotates around the locking catch shaft 17034. The contact surface of the unlocking pin 17035 and the locking buckle 17032 is a smooth curved surface, the locking and unlocking processes can be smoother by arranging the unlocking pin 17035, and the occurrence of blocking is prevented.

The third link 1704 includes: a top plate, prosthetic foot plate link 17041 and connector 17042; wherein the top plate is located in the second receiving cavity, and the knee ankle link spring 1705 is located between the second link fixing plate 17022 and the top plate; one end of the artificial limb foot plate connecting rod 17041 is coaxially and fixedly connected with the top plate, the other end movably penetrates through the second connecting rod fixing disc 17022 and is fixedly connected with the connecting head 17042, and the connecting head 17042 is hinged with the convex side of the first connecting rod frame 15 through the connecting rod lower side hinge pin 16.

As shown in FIG. 3, the state of the locking mechanism 1703 depends on the positional relationship among the first link 1701, the second link 1702, and the third link 1704, when the knee ankle link spring 1705 has a length l ₀ At this time, the locking mechanism 1703 is not operated (in an unlocked state), and when the third link 1704 moves downward relative to the second link 1702, the knee ankle link spring 1705 is compressed, and when the knee ankle link spring 1705 is compressed, it has a length l _l Meanwhile, the locking mechanism 1703 is operated, and is in a locking state, the locking buckle 17032 abuts against the top plate of the third link 1704, so that the top plate of the third link 1704 and the second link fixing plate 17022 together compress the knee ankle link spring 1705, the knee ankle link spring 1705 is kept in a compressed state to store energy, and the knee ankle link spring 1705 is also in the length of the maximum compression amount at the moment and cannot be compressed continuously. When the first link 1701 moves relative to the second link 1702, the unlocking pin 17035 installed in the locking slide 17031 presses the locking catch 17032 which is always in contact with the unlocking pin, so that the first link 1701 movesThe latch catch 17032 is rotated about the latch catch shaft 17034 such that the other end of the latch catch 17032 is no longer in contact with the top plate of the third link 1704, unlocking is achieved, and the knee ankle link spring 1705 releases the elastic potential energy to move the third link 1704 upwards relative to the second link 1702.

As shown in fig. 12, the key 7 moments in the gait cycle are sequentially represented by a to G, wherein the moment a corresponds to heel-on and the moment D corresponds to toe-on, and the working states of the locking mechanism 1703 and the clutch 1706 at different moments are shown in table 1:

TABLE 1 Clutch and lockup mechanism working condition table

Time of state

A

B

C

D

E

F

G

Clutch device

Joining

Separation of

Separation of

Separation of

Joining

Separation of

Separation of

Locking mechanism

Is unlocked

Lock-up

Lock-up

Unlocking of

Is unlocked

Is unlocked

Is unlocked

At time a, the clutch state is changed from disengaged to engaged by active control, the locking mechanism 1703 is unlocked, and the knee ankle link spring 1705 is in the original length state; during the period from time a to time B, the length of the knee ankle link mechanism 17 gradually increases, and since the clutch device has joined the first link 1701 and the second link 1702 into a whole, the third link 1704 moves downward relative to the second link 1702 at this time to compress the knee ankle link spring 1705, and after the knee ankle link spring 1705 is compressed to the maximum deformation amount (when the spring is selected, the maximum deformation amount is slightly smaller than the extension stroke from time a to time B to ensure that the spring can be compressed to the limit position and cannot be compressed any more), the knee ankle link spring approaches time B; at the time B, the state of the clutch device 1706 is changed from engagement to disengagement by active control, the locking mechanism 1703 is locked, and the knee ankle link spring 1705 reaches the maximum compression amount; at the time C, the clutch is kept in a separated state, the locking mechanism 1703 is in a locked state, and the knee ankle link spring 1705 is kept in an energy storage state; at time D, the clutch 1706 remains disengaged, the latch 1703 is unlocked, and the knee ankle link spring 1705 releases energy to pull the convex side of the first link frame 15 (corresponding to the heel of the foot plate 14) upward via the third link 1704 to generate a pedaling force; at time E, the clutch 1706 is changed from disengaged to engaged by active control, and the locking mechanism 1703 is unlocked; at time F, the clutch device 1706 is changed from engagement to disengagement by active control, and the locking mechanism 1703 is unlocked; at time G, the clutch remains disengaged and the lock-up mechanism 1703 is unlocked. Subsequently, to and from time a, clutch 1706 is engaged via active control.

When walking on flat ground, the knee joint movement can be divided into a standing phase and a swinging phase, wherein the standing phase can be subdivided into a touchdown buckling period, a touchdown stretching period and a pre-swinging period according to touchdown events; the swing phase can be subdivided into a swing flexion phase and a swing extension phase.

As shown in fig. 13, in a level ground walking stance phase with 2101 heel strike as the starting point, immediately before heel strike, the exoskeleton wearer will bend the knee slightly to effectively reduce impact during heel strike, after heel strike, the clutch 1706 will engage the first link 1701 and the second link 1702 via active control, as the knee is bent during this process, the second link 10 approaches the knee along the slide 8, and the foot 14 is in contact with the ground and is not free to rotate, at which time the second link 10 will pull the knee ankle link mechanism to increase its length, which causes the third link 1704 to move downward relative to the second link 1702, compressing the knee ankle link spring 1705, also storing a portion of the gravitational potential energy in the knee ankle link spring 1705. According to normal walking gait, when the knee joint angle reaches about 20 degrees, the knee joint completes the ground-contacting flexion period, at this time, corresponding to time B, the knee ankle link spring 1705 also reaches the maximum compression amount, the locking mechanism 1703 is locked, the knee joint angular velocity changes from positive to negative, namely 2102, the knee joint angular velocity is less than 0 degree/second, and the clutch device 1706 is separated through active control, namely, the first link 1701 and the second link 1702 can freely slide. In the touchdown extension period, the knee joint of the wearer gradually extends along with the forward movement of the gravity center of the human body until the angle of the knee joint approaches 0 degree; when the knee joint bends and bends, the knee joint angular velocity changes from negative to positive, namely 2103 knee joint angular velocity is larger than 0 degree/second, the knee joint enters a pre-swing period, the knee joint continues to bend, when the bending angle reaches about 20 degrees, the wearer bends the knee joint autonomously so as to step forward, the second link frame 10 pulls the knee-ankle link mechanism 17 to increase the length thereof, as the locking mechanism 1703 locks the second link 1702 and the third link 1704, the first link 1701 moves upwards relative to the second link 1702 in order to meet the length increase requirement of the knee-ankle link mechanism 17, at the moment, the locking mechanism button is triggered to be unlocked, the knee-ankle link spring 1705 releases the elastic potential energy, and the third link 1704 is pushed to move upwards under the elastic force of the knee-ankle link spring 1705, so that the convex side (corresponding to the heel of the foot plate 14) of the first link frame 15 is pulled to provide a ground-climbing force for the wearer to assist the ankle joint movement, and when the toe is completely off the ground, the standing phase is completed.

When the toe is fully off the ground, event 2105 is complete, the swing phase is entered, in order to improve the obstacle crossing ability, the wearer bends the knee joint autonomously, when the knee joint angle reaches around 60 degrees, event 2106 occurs, the swing extension phase is entered, the second link 10 moves downwards, when the coupling means 1706 is coupled by active control, the first link 1701 engages with the second link 1702, and since the third link 1704 has come to rest against the limit of the second link 1702, the knee ankle link 17 cannot be compressed, and as the second link 10 moves downwards, the foot plate 14 will be pushed to the limit position of dorsiflexion, assisting the ankle dorsiflexion, improving the ability to cross the obstacle, when the foot plate 14 moves to the limit position of dorsiflexion, the coupling means 1706 separates the first link 1701 and the second link 1702 by active control, since the knee ankle link 17 is compressed, at this time the first link 1701 moves downwards relative to the second link 1702 until time G, when the final flexion angle approaches 0 degrees, the entire cycle is completed and the next gait is ready to enter.

While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.

Claims (10)

1. An exokinetic exoskeleton capable of assisting movement of an ankle joint, comprising:

the foot plate comprises a bottom plate and two connecting rods; one ends of the two connecting rods are symmetrically and fixedly connected to the two sides of the bottom plate;

the two support rods are arranged in one-to-one correspondence with the two connecting rods; the supporting rod is arranged along the vertical direction, and one end of the supporting rod is hinged with the other end of the connecting rod;

the two ends of the first connecting rod frame are fixedly connected with the two connecting rods in a one-to-one correspondence manner, and the convex side of the first connecting rod frame is arranged towards the rear side of the foot plate;

the second connecting rod frame is an arc-shaped frame, and the second connecting rod frame is arranged on the same side as the first connecting rod frame and is positioned above the first connecting rod frame;

the two guide mechanisms are correspondingly arranged on the two support rods one by one, and the guide mechanisms are arranged along the vertical direction;

the second connecting frame is connected with the two supporting rods through a guide mechanism, and two ends of the second connecting frame respectively extend to the front sides of the two supporting rods;

the thigh wearing bracket is rotatably connected to the other end of the supporting rod, arranged on the same side as the second connecting rod rack and positioned above the second connecting rack; a thigh binding belt is arranged on the front side of the thigh wearing bracket and is fixed on the thigh of the user through the thigh binding belt;

the two knee joint connecting rods are arranged in one-to-one correspondence with the two supporting rods, one end of each knee joint connecting rod is hinged with the corresponding thigh wearing bracket, and the other end of each knee joint connecting rod is hinged with one end of the corresponding second connecting rod frame;

when the thigh wearing bracket rotates relative to the supporting rod, the thigh wearing bracket can drive the knee joint connecting rod to move up and down;

a knee ankle linkage, comprising: a first link, a second link, and a third link;

one end of the first connecting rod is hinged with the convex side of the second connecting rod frame, and the first connecting rod is provided with a first accommodating cavity along the axial direction;

one end of the second connecting rod is coaxially arranged in the first accommodating cavity and can selectively move along the axial direction of the first accommodating cavity or be jointed with the first connecting rod; a second accommodating cavity is coaxially formed in the other end of the second connecting rod;

one end of the third connecting rod is coaxially arranged in the second accommodating cavity and can selectively move along the axial direction of the second accommodating cavity or be jointed with the second connecting rod, and the other end of the third connecting rod extends out of the second accommodating cavity and is hinged with the convex side of the first connecting rod frame;

a knee ankle connecting rod spring is arranged in the second accommodating cavity and sleeved on the third connecting rod; one end of the knee ankle connecting rod spring is abutted against the end plate of the second accommodating cavity, and the other end of the knee ankle connecting rod spring is abutted against one end of the third connecting rod; the knee ankle link spring is in a maximum compressed state when the second link is engaged with the third link.

2. The exokinetic exoskeleton of claim 1 further comprising:

the shank wearing bracket is an arc-shaped frame, is arranged on the same side as the second connecting rod rack and is positioned between the shank wearing bracket and the second connecting rod rack;

wherein, two ends of the shank wearing bracket are respectively and fixedly connected to the two support rods; the front side of the lower leg wearing bracket is provided with a lower leg binding belt, and the lower leg binding belt is fixed on the lower leg of a user.

3. The exokinetic exoskeleton of claim 2 wherein said thigh-worn support comprises: a thigh wearing support and two thigh wearing support rods;

the thigh wearing support is an arc-shaped frame;

one ends of the two thigh wearing support rods are fixedly connected with the two ends of the arc-shaped frame in a one-to-one correspondence manner;

the other ends of the two thigh wearing support rods are hinged with one end of the knee joint connecting rod in a one-to-one correspondence manner; the two thigh wearing support rods are hinged with one ends of the two supporting rods respectively; the hinge point of the thigh wearing support rod and the support rod is positioned between the two ends of the thigh wearing support rod.

4. The exokinetic exoskeleton of claim 2 or 3 further comprising: and the clutch device is arranged between the first connecting rod and the second connecting rod, and the first connecting rod and the second connecting rod are connected or separated through the clutch device.

5. The exokinetic exoskeleton of claim 4 further comprising: a locking mechanism provided between the second link and the third link, the second link and the third link being engaged or disengaged by the locking mechanism.

6. The exokinetic exoskeleton of claim 5 wherein said guide mechanism comprises:

the sliding rail is arranged along the vertical direction and is fixedly connected to the supporting rod;

and the sliding block is fixedly connected to the second connecting rod frame and is installed on the sliding rail in a matching manner.

7. The exokinetic exoskeleton of claim 6 wherein said slide rail is a cylindrical slide rail, and both ends of said slide rail are fixedly connected to said support bar by a slide rail seat, respectively, so that there is a space between said slide rail and said support bar;

the sliding block is a cylindrical sliding block and is sleeved on the sliding rail in a matching manner;

wherein one end of the second link frame passes through the gap and extends to the front side of the support rod.

8. The exokinetic exoskeleton of claim 7 wherein said clutch means comprises:

the piston is movably arranged in the first accommodating cavity and divides the first accommodating cavity into a first chamber and a second chamber; one end of the piston is connected with a piston rod;

oil liquid is filled in the first accommodating cavity; one end of the second connecting rod is coaxially and fixedly connected with the piston rod; an oil way is connected between the first chamber and the second chamber;

and the electromagnetic valve is arranged on the oil way and is used for connecting or disconnecting the oil way.

9. The exokinetic exoskeleton of claim 8 wherein said locking mechanism comprises:

the locking sliding sleeve is sleeved on the second connecting rod in an empty mode; one end of the locking sliding sleeve is fixedly connected to the first connecting rod, and the other end of the locking sliding sleeve is a free end;

a plurality of locking buckles arranged at intervals along the circumferential direction of the second connecting rod; a plurality of rectangular through holes are formed in the second connecting rod, the through holes are communicated with the second accommodating cavity, and the through holes correspond to the locking buckles one by one;

one end of the locking buckle is arranged in the through hole, and the other end of the locking buckle is connected to the second connecting rod through a locking spring;

the locking buckle shaft is connected to the locking buckle and positioned between two ends of the locking buckle;

the locking buckle is hinged to the second connecting rod through the locking buckle shaft; when the locking sliding sleeve moves axially relative to the second connecting rod, one end of the locking buckle connected with the locking spring can be pressed or released, so that one end of the locking buckle arranged in the through hole rotates around the locking buckle shaft buckling pin to enter or exit the second accommodating cavity.

10. The exokinetic exoskeleton of claim 9 further comprising: the unlocking pins are fixedly arranged on the locking sliding sleeves and are in one-to-one correspondence with the locking buckles;

the unlocking pin protrudes out of the inner surface of the locking sliding sleeve, and when the unlocking pin is pressed to one end of the locking buckle, the other end of the locking buckle rotates around the locking buckle shaft.

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