CN116117856A - Joint boosting and energy recovery device - Google Patents
Joint boosting and energy recovery device Download PDFInfo
- Publication number
- CN116117856A CN116117856A CN202211095911.8A CN202211095911A CN116117856A CN 116117856 A CN116117856 A CN 116117856A CN 202211095911 A CN202211095911 A CN 202211095911A CN 116117856 A CN116117856 A CN 116117856A
- Authority
- CN
- China
- Prior art keywords
- joint
- power generation
- generation unit
- energy recovery
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention relates to a joint boosting and energy recovering device which comprises a man-machine fixing device, a power generation unit, a control system and an energy storage unit, wherein the man-machine fixing device is connected with the power generation unit; the power generation unit comprises a generator and a transmission device, wherein the two binding mechanisms transmit joint movement to the transmission device, the transmission device amplifies and transmits the joint movement speed to the generator, and the power generation unit is used for recovering mechanical energy of a human joint in a movement process and providing impedance resistance for the joint in a specific movement process, so that walking burden of the human knee joint is reduced; the energy storage unit is used for storing the electric energy recovered by the generator, and the control system is used for controlling the generated power and the generated current of the generating unit or adjusting the impedance moment of the generating unit. The invention can be used for recovering the biomechanical energy of the human body joint in the walking process and can also be used for providing impedance moment for the wearer in the downhill or downstairs process, thereby reducing the walking burden of the wearer.
Description
Technical Field
The invention relates to a joint boosting and energy recovery device.
Background
Along with rapid progress of technology in recent years, microelectronic products have been developed in great extent and are widely applied to various industries, such as human body wireless Bluetooth headsets, human body wireless motion detection sensors, internet of things and the like, wherein human body wireless wearable devices have attracted extensive attention in scientific circles and industries. In order to solve the challenges of the human body wireless wearable device in the aspect of power supply, a large number of researchers and technological companies are put into the field of human body energy capture, and self-function sensors are provided.
In the daily exercise process, a great amount of mechanical energy is dissipated by each joint of the human body, for example, the knee joint of the human body does all negative work geometrically in the swinging process in the walking process, in addition, in the downhill and downstairs processes, the knee joint of the human body needs to provide larger impedance moment for supporting the weight of the human body and reducing the gravity center of the human body.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention provides a joint boosting and energy recovery device which can be used for recovering the biomechanical energy of human joints in the walking process and can also be used for providing impedance moment for a wearer in the downhill or downstairs process, thereby reducing the walking burden of the wearer.
The technical scheme for solving the problems is as follows: the utility model provides a joint helping hand and energy recuperation device which characterized in that:
comprises a man-machine fixing device, a power generation unit, a control system and an energy storage unit;
the man-machine fixing device comprises a first binding mechanism and a second binding mechanism;
the power generation unit comprises a generator and a transmission device, wherein the two binding mechanisms transmit joint movement to the transmission device, the transmission device amplifies and transmits the joint movement speed to the generator, and the power generation unit is used for recovering mechanical energy of a human joint in a movement process and providing impedance resistance for the joint in a specific movement process, so that walking burden of the human knee joint is reduced; the energy storage unit is used for storing the electric energy recovered by the generator, and the control system is used for controlling the generated power and the generated current of the generating unit or adjusting the impedance moment of the generating unit.
Further, the transmission device amplifies and transmits the articulation speed to the generator, meanwhile, the bidirectional movement of the articulation is converted into unidirectional movement of the generator, and speed fluctuation of the power generation unit in the movement direction changing process is reduced.
Further, the transmission device is formed by matching two parallel gear transmission chains with a unidirectional transmission bearing, and bidirectional motion is converted into unidirectional motion.
Further, the transmission device is characterized in that a reduction gearbox is combined with two bevel gears which are oppositely arranged to be matched with a unidirectional transmission bearing, so that bidirectional motion is converted into unidirectional motion.
Further, the transmission device comprises a transmission shaft, a first bevel gear, a third bevel gear and a speed increaser, wherein the first bevel gear and the third bevel gear are symmetrically arranged on the transmission shaft through one-way bearings respectively, the two one-way bearings allow opposite rotation directions, the second bevel gear is arranged on an input shaft of the speed increaser, the first bevel gear and the third bevel gear are respectively meshed with the second bevel gear, the second binding mechanism drives the transmission shaft to rotate, and an output shaft of the speed increaser is connected with a rotating shaft of the generator.
Further, the end part of the transmission shaft is provided with a stirring handle, the stirring handle is connected with the transmission shaft through a stirring handle locking screw, and the second binding mechanism drives the transmission shaft to rotate through the stirring handle and the stirring handle locking screw.
Further, the joint assisting and energy recovering device further comprises an inertia unit, wherein the inertia unit is used for increasing the inertia of the power generating unit, so that the speed fluctuation of the power generating unit in the energy recovering process is reduced, and the power generating efficiency of the power generating unit is improved.
Further, the inertia unit is a reduction gear connected with the generator and matched with a flywheel, so that the rotation inertia of the generator unit is improved, the speed fluctuation of the generator in the generator unit is reduced, and the output voltage of the generator is stabilized.
Further, the inertia unit comprises a small cylindrical gear, a large cylindrical gear and a flywheel shaft, wherein the small cylindrical gear is arranged on the tail shaft of the rotating shaft of the generator, the small cylindrical gear is meshed with the large cylindrical gear, the large cylindrical gear is fixed on the flywheel shaft, and the flywheel shaft is connected with the flywheel shaft supporting seat through a bearing.
Further, when the power generation unit is used for recovering mechanical energy in the movement process of the knee joint of the human body, such as in the walking process on the level ground, the control system controls the power generation unit to reduce the influence of the power generation unit on the knee joint of the human body; when the power generation unit is used for providing impedance moment for the knee joint of the human body, the control system controls the power generation unit to provide the required partial or complete impedance moment in a specific state in the following building or downhill process, so that the burden of the knee joint of the human body is reduced.
Further, the power generation unit further comprises a damping unit, and the damping unit is used for providing impedance moment.
Further, the damping unit is connected with the power generation unit in parallel, and the damping unit is a damper.
Further, the damping unit is one of a magnetorheological damper (linear type) and a magnetorheological brake (rotary type).
Further, the energy storage unit comprises a human body portable electronic product, and the human body portable electronic product comprises one or more of a wireless IMU unit, human body motion detection equipment and the like.
Further, the energy storage unit comprises one or more of a human body lighting device, a wireless communication device, a GPS positioning device and the like.
Further, the energy storage unit is a battery or a super capacitor and is used for storing the electric energy recovered by the power generation unit.
Further, the generator is a direct current motor, and the direct current motor is a direct current brush motor or a direct current brushless motor.
Further, the transmission shaft is connected with a transmission shaft mounting seat through a second bearing, the transmission shaft mounting seat is fixed on a bottom plate, and the bottom plate is fixedly connected with the first binding mechanism.
Further, the speed increaser is fixed on the bottom plate through a speed increaser mounting seat.
Further, the generator is fixed on the bottom plate through the generator stabilizing seat.
The invention has the advantages that:
1. the invention discloses a human joint power and energy recovery device, which can be used for recovering biomechanical energy of a human knee joint in a walking process, can also be used for providing impedance moment for a wearer in a downslope or downslope process so as to reduce walking burden of the wearer.
2. According to the knee joint energy recovery device, two pairs of oppositely arranged conical gears are used for transmission and matched with the one-way bearing to convert the bidirectional bending motion of the knee joint into one-way motion, so that the energy recovery efficiency of the knee joint energy recovery device is improved, and the influence of the inertia force of the knee joint of a human body on the energy recovery efficiency of the knee joint energy recovery device in the direction-changing process is reduced.
3. The flywheel mechanism is added into the device and used for increasing the rotational inertia of the transmission chain, so that the speed fluctuation is reduced, and the energy recovery device is kept at a higher output speed, so that higher output voltage is obtained.
4. The invention provides a damper connected in parallel with the power generation unit, so that the resistance moment output of the knee joint power assisting and energy recovering device is improved.
Drawings
FIG. 1 is a front view of an embodiment of the present invention;
FIG. 2 is a front view of an embodiment of the invention with the housing removed;
FIG. 3 is a layout of the main mechanical structure of an embodiment of the present invention;
FIG. 4 is a first schematic diagram of an embodiment of the present invention;
FIG. 5 is a second schematic diagram of an embodiment of the present invention;
fig. 6 is a third schematic diagram of an embodiment of the present invention.
The figure shows: the shank strap 1, the shank strap 2, the toggle handle 3, the toggle handle locking screw 4, the shell 5, the thigh strap 6, the thigh strap 7, the transmission shaft 8, the shaft retainer 9, the one-way bearing 10, the bevel gear 11, the bevel gear 12, the bevel gear locking screw 13, the speed increaser mounting seat 14, the speed increaser 15, the generator 16, the generator stabilizing seat 17, the small cylindrical gear 18, the large cylindrical gear 19, the flywheel shaft 20, the flywheel shaft connecting screw 21, the flywheel shaft supporting seat 22, the bearing 23, the shaft retainer 24, the bottom plate 25, the small cylindrical gear locking screw 26, the bevel gear 27, the transmission shaft mounting seat 28, the shaft retainer 29, the one-way bearing 30, the bearing 31 and the shaft retainer 32.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.
Referring to fig. 1-6, the invention provides a joint boosting and energy recovering device, which comprises a man-machine fixing device, a power generation unit, a control system and an energy storage unit.
The man-machine fixing device comprises a first binding mechanism and a second binding mechanism, wherein the first binding mechanism and the second binding mechanism are respectively fixed on two parts of a human joint. The power generation unit comprises a power generator 16 and a transmission device, and is used for recovering mechanical energy of a human joint in a motion process and providing impedance resistance for the joint in a specific motion process (such as a lower building or a downhill process), so that walking burden of the human knee joint is reduced; the energy storage unit is used for storing the electric energy recovered by the generator 16, the control system is used for controlling the power generation power and the power generation current of the power generation unit, and meanwhile, when the power generation unit is used for recovering the mechanical energy in the movement process of the knee joint of the human body, such as in the walking process on the flat ground, the control system controls the power generation unit to reduce the influence of the power generation unit on the knee joint of the human body; when the power generation unit is used for providing impedance moment for the knee joint of the human body, the control system controls the power generation unit to provide the required partial or complete impedance moment in a specific state in the following building or downhill process, so that the burden of the knee joint of the human body is reduced.
In some embodiments of the present invention, referring to fig. 3, the joint assistance and energy recovery device further includes an inertial unit, where the inertial unit includes a small cylindrical gear 18, a large cylindrical gear 19, and a flywheel shaft 20, the small cylindrical gear 18 is mounted on a tail shaft of a rotating shaft of the generator 16, the small cylindrical gear 18 is meshed with the large cylindrical gear 19, the large cylindrical gear 19 is fixed on the flywheel shaft 20, and the flywheel shaft 20 is connected to the flywheel shaft support seat 22 through a bearing.
In some embodiments provided by the invention, referring to fig. 3, the transmission device comprises a transmission shaft 8, a first bevel gear 11, a third bevel gear 27 and a speed increaser 15, wherein the first bevel gear 11 and the third bevel gear 27 are symmetrically arranged on the transmission shaft 8 through one-way bearings respectively, the two one-way bearings allow opposite rotation directions, a second bevel gear 12 is arranged on an input shaft of the speed increaser 15, the first bevel gear 11 and the third bevel gear 27 are respectively meshed with the second bevel gear 12, the second binding mechanism drives the transmission shaft 8 to rotate, and an output shaft of the speed increaser 15 is connected with a rotating shaft of a generator 16.
In some embodiments provided by the invention, referring to fig. 3, a toggle handle 3 is arranged at the end of the transmission shaft 8, the toggle handle 3 is connected with the transmission shaft 8 through a toggle handle locking screw 4, and the second binding mechanism drives the transmission shaft 8 to rotate through the toggle handle 3 and the toggle handle locking screw 4.
In some embodiments of the present invention, referring to fig. 3, the transmission shaft 8 is connected to a transmission shaft mounting seat 28 through a second bearing, the transmission shaft mounting seat 28 is fixed on the bottom plate 25, and the bottom plate 25 is fixedly connected to the first binding mechanism.
In some embodiments of the present invention, referring to fig. 3, the speed increaser 15 is secured to the floor 25 by a speed increaser mount 14. The generator 16 is fixed to the base plate 25 by a generator stabilizing mount 17. The damping unit is one of a general damper, a magneto-rheological damper and a magneto-rheological brake. The energy storage unit comprises one or more of a portable electronic product of a human body, such as a wireless IMU unit, human body motion detection equipment and the like. The energy storage unit may also include one or more of a body lighting device, a wireless communication device, a GPS positioning device, and the like. The energy storage unit is a battery or a super capacitor and is used for storing the electric energy recovered by the power generation unit.
Examples
The joint boosting and energy recovering device comprises a man-machine fixing device, a power generation unit, a control system and an energy storage unit. The following will describe an example of the device applied to a knee joint of a human body.
Referring to fig. 1 to 4, the man-machine fixing device comprises a first calf strap 1, a second calf strap 2, a first thigh strap 6 and a second thigh strap 7. The thigh binding band I6 and the thigh binding band II 7 are tightly connected with the thigh of a human body, the calf binding band I1 and the calf binding band II 2 are tightly connected with the calf of the human body, and the calf binding band I1 and the calf binding band II 2 input rotation power to the axle center through the poking handle 3 and the poking handle locking screw 4. The power generation unit comprises a generator and a transmission device, and is arranged in the shell 5.
Referring to fig. 3, a toggle handle 3 of a transmission device is connected with a transmission shaft 8 through a toggle handle locking screw 4, when a human shank moves, the toggle handle 3 and the toggle handle locking screw 4 drive the transmission shaft 8 to rotate, a one-way bearing I10 is axially limited on the transmission shaft 8 through a shaft retainer ring I9, a bevel gear I11 is in interference fit with an outer ring of the one-way bearing I10, the bevel gear I11 can drive a speed increaser 15 to rotate through a bevel gear II 12 and a bevel gear II locking screw 13, the speed increaser 15 is fixed on a bottom plate 25 through a speed increaser mounting seat 14, the transmission shaft 8 is connected with a transmission shaft mounting seat 28 through a bearing II 31, the transmission shaft mounting seat 28 is fixed on the bottom plate 25, a bearing II 31 is axially limited on the transmission shaft 8 through a shaft retainer ring III 32, a one-way bearing II 30 is axially limited on the transmission shaft 8 through a shaft retainer ring III 29, the bevel gear III 27 is in interference fit with an outer ring of the one-way bearing II 30, the bevel gear III 27 can drive the speed increaser 15 through the bevel gear II 12 and the bevel gear II locking screw 13, wherein the one-way bearing I10 and the one-way bearing II 30 allow the rotation direction to be opposite, the transmission shaft 8 always drives only one-way bearing 15 to rotate through the speed increaser 15 in the rotation process, the speed increaser 15 is connected with a generator 16 through a generator 16, and a generator 16 is connected with a generator tail part 16 through a stable generator unit 16, and a generator tail part is connected with a generator unit 25. The tail shaft of the generator 16 is connected with a small cylindrical gear 18 of the inertia unit, the small cylindrical gear 18 is fixed on the tail shaft through a small cylindrical gear set screw 26, the small cylindrical gear 18 is meshed with a large cylindrical gear 19, the large cylindrical gear 19 is fixed on a flywheel shaft 20 through a flywheel shaft connecting screw 21, the flywheel shaft 20 is connected with a flywheel shaft supporting seat 22 through a first bearing 23 and a second shaft retaining ring 24, the flywheel shaft supporting seat 22 is fixed on a bottom plate 25, and when the motor speed increaser 15 drives the generator 16 to rotate, the small cylindrical gear 18 drives the large cylindrical gear 19 and the flywheel shaft 20 to rotate, so that the moment of inertia is stored in the flywheel unit consisting of the large cylindrical gear 19, the flywheel shaft 20 and the flywheel shaft connecting screw 21.
Referring to fig. 3, the first unidirectional bearing 10 and the second unidirectional bearing 30 allow opposite rotation directions, when the toggle handle 3 toggles the transmission shaft 8 to rotate through the toggle handle locking screw 4, if the first unidirectional bearing 10 drives the first bevel gear 11 to rotate, the second unidirectional bearing 30 is suspended and cannot drive the third bevel gear 27 to rotate, and similarly, if the second unidirectional bearing 30 drives the third bevel gear 27 to rotate, the first unidirectional bearing 10 is suspended and cannot drive the first bevel gear 11 to rotate, and no matter in which direction the transmission shaft 8 rotates, the speed increaser 15 always rotates to one direction through the second bevel gear 12.
In the walking process, the knee joint of the human body completes bidirectional movement in the stretching and bending processes, and in order to reduce the influence of inertia force generated by the knee joint in the direction changing process on the energy recovery efficiency, the invention adopts two pairs of oppositely arranged bevel gears to drive and match with two unidirectional bearings to convert the bidirectional movement of the knee joint into unidirectional rotation of the motor. In addition, in order to keep the induced voltage of the motor at a higher output all the time and obtain higher energy recovery efficiency, the invention proposes to combine a reducer with a flywheel to be connected with the output shaft at the other end of the motor, thereby improving the rotation inertia of the whole motor transmission chain and reducing the speed fluctuation of the motor in the energy recovery process, as shown in fig. 4.
The knee joint power and capacity recovery device, in addition to the aforementioned biomechanical energy used to recover the knee joint, may also be used to provide resistance torque to the knee joint. For example, in downhill or downstairs, the knee joint power assisting and ability recovering device can provide resistance moment in proper state for supporting the weight of the human body and lowering the center of gravity of the human body in order to reduce the walking burden of the knee joint of the human body.
When the knee joint boosting and capacity recovery device is used for providing impedance moment for the knee joint, in order to improve the output impedance moment, a damper is connected in parallel to the motor energy recovery unit, and the damper can be a common damper, a magnetorheological damper or a magnetorheological brake, as shown in fig. 5 and 6. The control system controls the generated power, the generated current of the generating unit, or the impedance moment for adjusting the damper.
Fig. 6 shows a basic joint assist and energy recovery device according to the present invention without an inertial unit. Fig. 5 shows a configuration of a joint assist and capacity recovery device in an inertial unit, wherein after the inertial unit is added, the inertial unit is used for increasing the inertia of the power generation unit, so as to reduce the speed fluctuation of the power generation unit in the energy recovery process, and further improve the power generation efficiency of the power generation unit. The inertia unit is a reduction gear connected with the motor and matched with a flywheel, so that the rotation inertia of the power generation unit is improved, the speed fluctuation of the motor in the power generation unit is reduced, and the output voltage of the motor is stabilized.
In addition, it should be noted that the human knee joint power and energy recovery device designed in the present invention can be used for human ankle joints and knee joints for recovering human biomechanical energy, thereby generating electricity or for providing resistance moment to reduce walking burden of the corresponding joints. The power and energy recovery device, when used to provide resistance torque to the ankle of a person, can be used to prevent drop foot in stroke patients.
The foregoing description is only exemplary embodiments of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present invention, or direct or indirect application in other related system fields are included in the scope of the present invention.
Claims (19)
1. The utility model provides a joint helping hand and energy recuperation device which characterized in that:
comprises a man-machine fixing device, a power generation unit, a control system and an energy storage unit;
the man-machine fixing device comprises a first binding mechanism and a second binding mechanism;
the power generation unit comprises a generator and a transmission device; the power generation unit is used for recovering mechanical energy of the human body joint in the motion process and providing impedance resistance for the joint in the specific motion process, so that walking burden of the human knee joint is reduced; the energy storage unit is used for storing the electric energy recovered by the generator, and the control system is used for controlling the generated power and the generated current of the generating unit or adjusting the impedance moment of the generating unit.
2. The joint assist and energy recovery device of claim 1, wherein:
the transmission device amplifies and transmits the movement speed of the joint to the generator, and meanwhile, the bidirectional movement of the joint is converted into unidirectional movement of the generator, so that the speed fluctuation of the power generation unit in the movement direction-changing process is reduced.
3. A joint assist and energy recovery device according to claim 2, characterized in that:
the transmission device is formed by matching two parallel gear transmission chains with a unidirectional transmission bearing, and converts bidirectional motion into unidirectional motion.
4. A joint assist and energy recovery device according to claim 2, characterized in that:
the transmission device is characterized in that a reduction gearbox is combined with two bevel gears which are oppositely arranged to be in transmission fit with a unidirectional transmission bearing, so that bidirectional motion is converted into unidirectional motion.
5. A joint assist and energy recovery device according to claim 2, characterized in that:
the transmission device comprises a transmission shaft, a first bevel gear, a third bevel gear and a speed increaser, wherein the first bevel gear and the third bevel gear are symmetrically arranged on the transmission shaft through one-way bearings respectively, the two one-way bearings allow opposite rotation directions, the second bevel gear is arranged on an input shaft of the speed increaser, the first bevel gear and the third bevel gear are respectively meshed with the second bevel gear, the second binding mechanism drives the transmission shaft to rotate, and an output shaft of the speed increaser is connected with a rotating shaft of the generator.
6. The joint assist and energy recovery device of claim 5, wherein:
the end part of the transmission shaft is provided with a stirring handle, the stirring handle is connected with the transmission shaft through a stirring handle locking screw, and the second binding mechanism drives the transmission shaft to rotate through the stirring handle and the stirring handle locking screw.
7. A joint assist and energy recovery device according to any one of claims 1-6, characterized in that:
the device also comprises an inertia unit for increasing the inertia of the power generation unit so as to reduce the speed fluctuation of the power generation unit in the energy recovery process and improve the power generation efficiency of the power generation unit.
8. The joint assist and energy recovery device of claim 7, wherein:
the inertia unit is a reduction gear connected with the generator and matched with a flywheel, so that the rotation inertia of the generator unit is improved, the speed fluctuation of the generator in the generator unit is reduced, and the output voltage of the generator is stabilized.
9. The joint assist and energy recovery device of claim 8, wherein:
the inertia unit comprises a small cylindrical gear, a large cylindrical gear and a flywheel shaft, wherein the small cylindrical gear is arranged on the tail shaft of the rotating shaft of the generator, the small cylindrical gear is meshed with the large cylindrical gear, the large cylindrical gear is fixed on the flywheel shaft, and the flywheel shaft is connected with the flywheel shaft supporting seat through a bearing.
10. The joint assist and energy recovery device of claim 1, wherein:
when the power generation unit is used for recovering mechanical energy in the movement process of the knee joint of the human body, such as in the walking process of the flat ground, the control system controls the power generation unit to reduce the influence of the power generation unit on the knee joint of the human body.
11. The joint assist and energy recovery device of claim 1, wherein:
when the power generation unit is used for providing impedance moment for the knee joint of the human body, the control system controls the power generation unit to provide the required partial or complete impedance moment in a specific state in the following building or downhill process, so that the burden of the knee joint of the human body is reduced.
12. A joint assist and energy recovery device according to any one of claims 1-6, characterized in that:
the power generation unit further comprises a damping unit, wherein the damping unit is used for providing impedance moment.
13. The joint assist and energy recovery device of claim 11, wherein:
the damping unit is connected with the power generation unit in parallel, and the damping unit is a damper.
14. The joint assist and energy recovery device of claim 11, wherein:
the damping unit is a magneto-rheological damper.
15. The joint assist and energy recovery device of claim 11, wherein:
the damping unit is a magneto-rheological brake.
16. A joint assist and energy recovery device according to any one of claims 1-6, characterized in that:
the energy storage unit comprises a human body portable electronic product, and the human body portable electronic product comprises a wireless IMU unit and/or human body motion detection equipment.
17. A joint assist and energy recovery device according to any one of claims 1-6, characterized in that:
the energy storage unit comprises one or more of human body lighting equipment, wireless communication equipment and GPS positioning equipment.
18. A joint assist and energy recovery device according to any one of claims 1-6, characterized in that:
the energy storage unit is a battery or a super capacitor and is used for storing the electric energy recovered by the power generation unit.
19. A joint assist and energy recovery device according to any one of claims 1-6, characterized in that:
the generator is a direct current motor, and the direct current motor is a direct current brush motor or a direct current brushless motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211095911.8A CN116117856A (en) | 2022-09-08 | 2022-09-08 | Joint boosting and energy recovery device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211095911.8A CN116117856A (en) | 2022-09-08 | 2022-09-08 | Joint boosting and energy recovery device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116117856A true CN116117856A (en) | 2023-05-16 |
Family
ID=86296101
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211095911.8A Pending CN116117856A (en) | 2022-09-08 | 2022-09-08 | Joint boosting and energy recovery device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116117856A (en) |
-
2022
- 2022-09-08 CN CN202211095911.8A patent/CN116117856A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108972534B (en) | Clutch type flexible driver with variable stiffness coil spring and motor connected in parallel | |
| US10919161B2 (en) | Clutched joint modules for a robotic system | |
| CN103892943B (en) | Active/passive is in conjunction with the flexible lower limb exoskeleton of force booster type | |
| Zhu et al. | Design and validation of a torque dense, highly backdrivable powered knee-ankle orthosis | |
| CN104842345B (en) | Human-simulated mechanical arm based on hybrid driving of various artificial muscles | |
| CN107811805A (en) | Wearable lower limb exoskeleton rehabilitation robot | |
| CN110787027B (en) | Exoskeleton robot for upper limb rehabilitation training | |
| CN106826761B (en) | A kind of lower limb assistance exoskeleton robot based on steel wire drive gear ratio joint | |
| CN110559162B (en) | Lower limb exoskeleton driver | |
| CN105434145A (en) | Portable modularized walking aid exoskeleton | |
| Wu et al. | Generating electricity during locomotion modes dominated by negative work via a knee energy-harvesting exoskeleton | |
| Chan et al. | Knee energy harvester with variable transmission to reduce the effect on the walking gait | |
| Dhand et al. | A brief review on human-powered lower-limb exoskeletons | |
| CN113374660A (en) | Joint power generation device | |
| CN207139796U (en) | Hip joint servomechanism and lower limb exoskeleton | |
| CN116117856A (en) | Joint boosting and energy recovery device | |
| Purwadi et al. | Development of biomechanical energy harvesting device using heel strike | |
| CN101254147B (en) | Dermaskeleton with two freedom degree hip-joint accessory movement | |
| WO2024050747A1 (en) | Joint assistance and energy recovery apparatus | |
| Donelan et al. | Biomechanical energy harvesting | |
| CN109875843A (en) | The drive method of lower limb auxiliary exoskeleton robot | |
| Chen et al. | Design and implementation of knee-ankle exoskeleton for energy harvesting and walking assistance | |
| CN205964397U (en) | Can set for and adaptive sky rail promotion machine of shifting | |
| Yoon et al. | Biomechanical Regenerative Braking Energy Harvester: A Systematic Analysis | |
| CN218151274U (en) | Knee joint driven efficient bidirectional transmission power generation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |