CN215021753U - Knee joint assistance exoskeleton - Google Patents
Knee joint assistance exoskeleton Download PDFInfo
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- CN215021753U CN215021753U CN202023288886.4U CN202023288886U CN215021753U CN 215021753 U CN215021753 U CN 215021753U CN 202023288886 U CN202023288886 U CN 202023288886U CN 215021753 U CN215021753 U CN 215021753U
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Abstract
The application provides a knee joint assistance exoskeleton which comprises a thigh structure, a shank structure, a connecting rod structure and a gear structure arranged on the connecting rod structure; the thigh structure is movably connected with the shank structure through a connecting rod structure; the thigh structure is provided with an energy storage assembly; the gear structure comprises a driving wheel set rotating along with the connecting rod structure, a middle wheel set driving the energy storage assembly to store energy, and a locking mechanism limiting the middle wheel set to rotate along a preset direction; the driving wheel set is in transmission connection with the middle wheel set; the locking mechanism comprises a locker component, a ratchet, a transmission wheel, a first ratchet mechanism and a locking wheel; the locker component rotates along with the driving wheel set; the ratchet is arranged at the movable end of the locker component and limits the locking wheel to rotate along a preset direction; the driving wheel is meshed with the middle wheel set and is in driving connection with the locking wheel through a first ratchet mechanism; the first ratchet mechanism is used for driving the locking wheel to reversely rotate along a preset direction. The device of this application can realize bending the knee back automatic locking, does not provide the helping hand.
Description
Technical Field
The application relates to the field of walking assistance devices, in particular to a knee joint assistance exoskeleton.
Background
By the end of 2019, the number of people suffering from knee arthritis in China is up to 1.2 hundred million people, the knee exoskeleton can help patients suffering from knee joint related diseases to provide certain assistance when walking, the durability and the bearing capacity of the knee joint during walking are improved, and therefore the life quality of the people is improved.
The prior unpowered knee joint exoskeleton adopts a double-pivot hinge type structure at the knee joint part, and is similar to the motion mode of the knee joint to a certain extent. Meanwhile, a manually operated posture adjusting structure is added, so that a user can manually adjust the knob when sitting or squatting, and the device does not provide auxiliary force.
However, the existing knee joint exoskeleton is insufficient in bionic degree, and a user may feel uncomfortable when using the exoskeleton for a long time; in addition, the existing passive knee exoskeleton cannot automatically determine whether to provide auxiliary force according to the posture of a user, and partial products can be manually adjusted by the user, but the manual adjustment mode is not convenient enough.
SUMMERY OF THE UTILITY MODEL
In view of the problems described, the present application has been developed to provide a knee-assisted exoskeleton comprising:
a knee-joint assisting exoskeleton comprising: when the pair of shoes is worn, a thigh structure fixed at the position of a thigh of a wearer close to a knee joint, a shank structure fixed at the position of a shank of the wearer, a connecting rod structure corresponding to the position of the knee joint of the wearer and a gear structure arranged on the connecting rod structure; the thigh structure is movably connected with the shank structure through the connecting rod structure; the thigh structure is provided with an energy storage component which stores energy when the knee joint of the wearer is bent and releases energy when the knee joint of the wearer is extended;
the gear structure comprises a driving wheel set rotating along with the connecting rod structure, an intermediate wheel set used for driving the energy storage assembly to store energy, and a locking mechanism used for limiting the steering of the intermediate wheel set; the driving wheel set is in transmission connection with the middle wheel set; the locking mechanism comprises a locker component, a ratchet, a transmission wheel, a first ratchet mechanism and a locking wheel; the locker component is arranged on the driving wheel set and rotates along with the driving wheel set; the ratchet is arranged at the movable end of the locker assembly and is used for limiting the locking wheel to rotate along the preset direction; the transmission wheel is meshed with the middle wheel set and is in transmission connection with the locking wheel through the first ratchet mechanism; the first ratchet mechanism is used for driving the locking wheel to reversely rotate along the preset direction;
when the driving wheel set drives the ratchet to be meshed and connected with the locking wheel through the locker assembly, the locking wheel is locked, and the rotating direction of the middle wheel set which is in transmission connection with the locking wheel through the first ratchet mechanism and the transmission wheel is locked as the preset direction.
Preferably, the gear structure further comprises a second ratchet mechanism; the second ratchet mechanism is arranged on a transmission shaft of the driving wheel set and is used for driving the middle wheel set to rotate along the preset direction;
when the driving wheel set drives the ratchet to be separated from the locking wheel through the locker assembly, the locking wheel is unlocked, and the middle wheel set in transmission connection with the locking wheel through the first ratchet mechanism and the transmission wheel can reversely rotate along the preset direction.
Preferably, the locking device assembly comprises a clamp rotating with the driving wheel set, a locking device fixedly connected with the clamp, and a sliding part slidably connected with the locking device; the surface of the locker is provided with a sliding groove for the sliding of the sliding piece; the ratchet is rotatably connected with the sliding piece.
Preferably, the link structure comprises an assembly part arranged at the end part of the thigh structure, a driving plate rotationally connected with the assembly part, a gear bracket rotationally connected with the driving plate, and a connecting rod rotationally connected with the gear bracket and the assembly part respectively; the assembly part, the driving plate, the gear bracket and the connecting rod form a four-bar linkage structure;
the gear bracket is fixedly connected with the end part of the shank structure; the gear structure is rotationally arranged on the gear bracket; the end of the driving plate is connected with the driving wheel set.
Preferably, the length ratio of the assembly, the driving plate, the gear bracket and the connecting rod in the four-bar linkage is 59: 89: 70: 40.
preferably, the driving wheel set comprises a driving wheel connected with the connecting rod structure and a driven wheel meshed with the driving wheel; the lock assembly is arranged on a transmission shaft of the driven wheel;
the middle wheel set comprises a middle wheel in transmission connection with the driven wheel, a wire winding wheel meshed with the middle wheel, and a wire winding disc arranged on a transmission shaft of the wire winding wheel; and a rope for driving the energy storage assembly to store energy is arranged in the wire spool.
Preferably, the thigh structure comprises a thigh frame and the energy storage assembly arranged on the thigh frame;
the energy storage assembly comprises an elastic element, a fixing column arranged on the thigh frame, a fixing support used for fixing the elastic element on the thigh frame, and a pulley arranged at the end part of the elastic element; one end of the rope is connected with the fixing column, and the other end of the rope is connected with the reel through the pulley.
Preferably, the thigh frame is a symmetrical inverted Y-shaped structure, and the elastic element is arranged at the position of the symmetry axis of the thigh frame; a limiting wheel is further arranged on the energy storage assembly at a position opposite to the fixed column; one end of the rope is connected with the fixing column, and the other end of the rope is connected with the reel through the pulley and the limiting wheel in sequence.
Preferably, the lower leg structure comprises a first lower leg link and a second lower leg link which are oppositely arranged;
the first shank connecting rod and the second shank connecting rod are respectively movably connected with the end part of the thigh frame through the connecting rod structure.
Preferably, the end of the thigh frame is provided with a thigh strap; and the end parts of the first shank connecting rod and the second shank connecting rod are provided with shank binding bands.
The application has the following advantages:
in the embodiment of the application, when the shoe is worn, the thigh structure fixed on the thigh of a wearer close to the knee joint position, the shank structure fixed on the shank position of the wearer, the link structure corresponding to the knee joint position of the wearer and the gear structure arranged on the link structure are adopted; the thigh structure is movably connected with the shank structure through the connecting rod structure; the thigh structure is provided with an energy storage component which stores energy when the knee joint of the wearer is bent and releases energy when the knee joint of the wearer is extended; the gear structure comprises a driving wheel set rotating along with the connecting rod structure, an intermediate wheel set used for driving the energy storage assembly to store energy, and a locking mechanism used for limiting the steering of the intermediate wheel set; the driving wheel set is in transmission connection with the middle wheel set; the locking mechanism comprises a locker component, a ratchet, a transmission wheel, a first ratchet mechanism and a locking wheel; the locker component is arranged on the driving wheel set and rotates along with the driving wheel set; the ratchet is arranged at the movable end of the locker assembly and is used for limiting the locking wheel to rotate along the preset direction; the transmission wheel is meshed with the middle wheel set and is in transmission connection with the locking wheel through the first ratchet mechanism; the first ratchet mechanism is used for driving the locking wheel to reversely rotate along the preset direction; when the driving wheel set drives the ratchet to be meshed and connected with the locking wheel through the locker component, the locking wheel is locked, the rotating direction of the middle wheel set in transmission connection with the locking wheel through the first ratchet mechanism and the transmission wheel is locked as the preset direction, and the following effects can be realized: after the energy storage assembly finishes storing energy, if the knee joint of the wearer keeps static, the device is automatically locked without releasing the stored energy; by adopting the scheme, a wearer does not need to manually adjust the locking switch after bending knees, the use is more convenient, and the use requirements under different scenes can be met.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings needed to be used in the description of the present application will be briefly introduced below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
Fig. 1 is a schematic structural view of a knee joint assisting exoskeleton provided in an embodiment of the present application;
fig. 2 is a schematic front view of a thigh structure in a knee joint assisting exoskeleton according to an embodiment of the present application;
fig. 3 is a schematic side view of a thigh structure in a knee joint assisting exoskeleton according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a gear structure in a knee joint assisting exoskeleton according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a gear structure in a knee joint assisting exoskeleton according to an embodiment of the present application;
FIG. 6 is a schematic structural view of a latch assembly in a knee assist exoskeleton provided in an embodiment of the present application;
FIG. 7 is a schematic view of a human knee joint according to an embodiment of the present application;
FIG. 8 is a schematic structural diagram of a four bar linkage according to an embodiment of the present application;
FIG. 9 is a schematic diagram illustrating the force applied to the elastic elements of the knee joint assisting exoskeleton according to an embodiment of the present application;
fig. 10 is a schematic cross-sectional structure view of a knee joint assisting exoskeleton according to an embodiment of the present application.
The reference numbers in the drawings of the specification are as follows:
10. a thigh structure; 11. a thigh frame; 121. an elastic element; 122. fixing a column; 123. fixing a bracket; 124. a pulley; 125. a limiting wheel; 20. a shank structure; 31. an assembly member; 32. a drive plate; 33. a gear bracket; 34. a connecting rod; 41. a driving wheel set; 411. a driving wheel; 412. a driven wheel; 42. a middle wheel set; 421. an intermediate wheel; 422. a reel; 423. a wire spool; 43. a locking mechanism; 431. a clamp; 432. a lock; 433. a slider; 434. a ratchet; 435. a driving wheel; 436. a locking wheel; 437. a first ratchet mechanism; 44. a second ratchet mechanism.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, the present application is described in further detail with reference to the accompanying drawings and the detailed description. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1-6, a knee joint assisting exoskeleton provided by an embodiment of the present application is shown, which may specifically include: when the pair of shoes is worn, the thigh structure 10 is fixed at the position of the thigh of a wearer close to the knee joint, the shank structure 20 is fixed at the position of the shank of the wearer, the connecting rod structure corresponds to the position of the knee joint of the wearer, and the gear structure is arranged on the connecting rod structure; the thigh structure 10 is movably connected with the shank structure 20 through the connecting rod structure; the thigh structure 10 is provided with an energy storage component which stores energy when the knee joint of the wearer is bent and releases energy when the knee joint of the wearer is extended;
the gear structure comprises a driving wheel set 41 rotating with the connecting rod structure, an intermediate wheel set 42 used for driving the energy storage component to store energy, and a locking mechanism 43 used for limiting the steering of the intermediate wheel set 42; the driving wheel set 41 is in transmission connection with the intermediate wheel set 42; the locking mechanism 43 includes a locker assembly, a ratchet 434, a drive wheel 435, a first ratchet mechanism 437 and a lock wheel 436; the locker assembly is disposed on the driving wheel set 41 and rotates with the driving wheel set 41; the ratchet 434 is disposed at the movable end of the locker assembly and is used for limiting the rotation of the locking wheel 436 in the preset direction; the drive wheel 435 is in meshing engagement with the intermediate wheel set 42 and is in driving engagement with the lock wheel 436 via the first ratchet mechanism 437; the first ratchet mechanism 437 is configured to drive the locking wheel 436 to reversely rotate along the preset direction;
after the driving wheel set 41 drives the ratchet teeth 434 to engage with the locking wheel 436 through the locker assembly, the locking wheel 436 is locked, and the rotation direction of the middle wheel set 42, which is in transmission connection with the locking wheel 436 through the first ratchet mechanism 437 and the transmission wheel 435, is locked to the predetermined direction.
In the embodiment of the application, the upper leg structure 10 fixed on the position of the upper leg of the wearer close to the knee joint, the lower leg structure 20 fixed on the position of the lower leg of the wearer, the link structure corresponding to the position of the knee joint of the wearer and the gear structure arranged on the link structure are arranged; the thigh structure 10 is movably connected with the shank structure 20 through the connecting rod structure; the thigh structure 10 is provided with an energy storage component which stores energy when the knee joint of the wearer is bent and releases energy when the knee joint of the wearer is extended; the gear structure comprises a driving wheel set 41 rotating with the connecting rod structure, an intermediate wheel set 42 used for driving the energy storage component to store energy, and a locking mechanism 43 used for limiting the steering of the intermediate wheel set 42; the driving wheel set 41 is in transmission connection with the intermediate wheel set 42; the locking mechanism 43 includes a locker assembly, a ratchet 434, a drive wheel 435, a first ratchet mechanism 437 and a lock wheel 436; the locker assembly is disposed on the driving wheel set 41 and rotates with the driving wheel set 41; the ratchet 434 is disposed at the movable end of the locker assembly and is used for limiting the rotation of the locking wheel 436 in the preset direction; the drive wheel 435 is in meshing engagement with the intermediate wheel set 42 and is in driving engagement with the lock wheel 436 via the first ratchet mechanism 437; the first ratchet mechanism 437 is configured to drive the locking wheel 436 to reversely rotate along the preset direction; when the driving wheel set 41 drives the ratchet teeth 434 to engage with the locking wheel 436 through the locker assembly, the locking wheel 436 is locked, and the rotation direction of the middle wheel set 42 in transmission connection with the locking wheel 436 through the first ratchet mechanism 437 and the transmission wheel 435 is locked to the predetermined direction, the following effects can be achieved: after the energy storage assembly finishes storing energy, if the knee joint of the wearer keeps static, the device is automatically locked without releasing the stored energy; by adopting the scheme, a wearer does not need to manually adjust the locking switch after bending knees, the use is more convenient, and the use requirements under different scenes can be met.
A knee-joint assist exoskeleton of the exemplary embodiment will be further described below.
As an example, the first ratchet mechanism 437 is a ratchet locking mechanism, and specifically may include a first inner ratchet sleeved inside the driving wheel 435, a first bearing sleeved inside the first inner ratchet, and a first ratchet arranged outside the first bearing; the first inner ratchet wheel is fixedly connected with the driving wheel 435; the first bearing is disposed on the drive shaft of the lock wheel 436;
the transmission mechanism of the first ratchet mechanism 437 is: when the transmission wheel 435 rotates in the preset direction, the first ratchet mechanism 437 is in an unlocked state and cannot drive the locking wheel 436 to rotate; when the transmission wheel 435 rotates reversely in the preset direction, the first ratchet mechanism 437 is in a self-locking state, and can drive the locking wheel 436 to rotate reversely in the preset direction;
when the wearer bends the knee joint, the driving wheel set 41 rotates in the preset direction under the driving of the link structure, and the locking assembly drives the ratchet 434 to engage and lock the locking wheel 436, so that the locking wheel 436 cannot reversely rotate in the preset direction; meanwhile, the driving wheel set 41 drives the intermediate wheel set 42 and the driving wheel 435 to rotate in the preset direction, and the intermediate wheel set 42 drives the energy storage assembly to store energy (since the first ratchet mechanism 437 is in the unlocked state at this time, the driving wheel 435 cannot drive the locking wheel 436 to rotate in the preset direction, that is, the locked locking wheel 436 does not affect the rotation of the driving wheel set 41 in the preset direction);
when the energy storage assembly finishes storing energy, if the wearer's knee joint is kept still, the locking wheel 436 limits the middle wheel set 42 from reversely rotating in the preset direction through the first ratchet mechanism 437 and the transmission wheel 435, and the energy storage assembly does not release stored energy.
In this embodiment, the gear structure further includes a second ratchet mechanism 44; the second ratchet mechanism 44 is disposed on a transmission shaft of the driving wheel set 41 and is configured to drive the intermediate wheel set 42 to rotate along the preset direction;
when the driving wheel set 41 drives the ratchet 434 to separate from the locking wheel 436 through the locker assembly, the locking wheel 436 is unlocked, and the middle wheel set 42, which is in transmission connection with the locking wheel 436 through the first ratchet mechanism 437 and the transmission wheel 435, may reversely rotate in the predetermined direction.
Specifically, the second ratchet mechanism 44 is a ratchet locking mechanism, and specifically may include a second inner ratchet wheel sleeved inside the middle wheel set 42, a second bearing sleeved inside the second inner ratchet wheel, and a second ratchet arranged outside the second bearing; the second inner ratchet wheel is fixedly connected with the middle wheel group 42; the second bearing is arranged on a transmission shaft of the driving wheel set 41;
the transmission mechanism of the second ratchet mechanism 44 is: when the driving wheel set 41 rotates along the preset direction, the second ratchet mechanism 44 is in a self-locking state and can drive the intermediate wheel set 42 to rotate; when the driving wheel set 41 reversely rotates along the preset direction, the first ratchet mechanism 437 is in an unlocked state and cannot drive the middle wheel set 42 to rotate;
when the knee joint of the wearer bends, the driving wheel set 41 is driven by the link structure to rotate in the preset direction, and the intermediate wheel set 42 is driven by the second ratchet mechanism 44 to rotate in the preset direction;
after the energy storage assembly stores energy, if the knee joint of the wearer extends, the driving wheel set 41 is driven by the link structure to rotate in the reverse direction along the preset direction (since the second ratchet mechanism 44 is in the unlocked state at this time, the driving wheel set 41 cannot drive the intermediate wheel set 42 to rotate in the reverse direction along the preset direction, that is, the locked intermediate wheel set 42 does not affect the driving wheel 411 to rotate in the reverse direction along the preset direction); meanwhile, the driving wheel set 41 drives the ratchet 434 to separate and unlock the locking wheel 436 through the locker assembly, so that the locking wheel 436 can reversely rotate along the preset direction; the unlocked locking wheel 436 relieves the limitation on the steering of the middle wheel set 42, the middle wheel set 42 is driven by the energy storage assembly to reversely rotate along the preset direction, and the second ratchet mechanism 44 drives the driving wheel set 41 to reversely rotate along the preset direction, so that the extension of the knee joint of the wearer is assisted.
The knee joint unlocking device has the advantages that when the knee joint of a wearer stretches, the knee joint of the wearer can be automatically unlocked, and elastic potential energy is released to assist the wearer; by adopting the scheme, a wearer does not need to manually adjust the locking switch before the knee joint is stretched, the use is more convenient, and the use requirements under different scenes can be met.
In this embodiment, the locking assembly includes a clamp 431 rotating with the driving wheel set 41, a lock 432 fixedly connected to the clamp 431, and a slider 433 slidably connected to the lock 432; the surface of the locking device 432 is provided with a sliding groove for the sliding of the sliding piece 433; the ratchet 434 is rotatably connected to the slider 433.
Specifically, the clamp 431 is fixed on a transmission shaft of the driving wheel set 41; the clamp 431 may be two magnets oppositely disposed; the lock 432 is arranged between the two magnets, and the two magnets drive the lock 432 to rotate through friction force;
when the wearer bends the knee joint, the driving wheel set 41 drives the lock 432 to rotate along the preset direction through the clamp 431, so that the sliding piece 433 arranged inside the sliding groove slides along the preset direction, and the sliding piece 433 drives the ratchet 434 to be meshed with the lock wheel 436, thereby locking the lock wheel 436;
after the energy storage assembly finishes storing energy, if the knee joint of the wearer keeps still, the ratchet 434 is continuously meshed with the locking wheel 436, and the locking wheel 436 keeps a locked state; if the wearer's knee joint is extended, the driving wheel set 41 drives the locking device 432 to rotate reversely along the preset direction through the clamp 431, so that the sliding member 433 disposed inside the sliding groove slides reversely along the preset direction, and the sliding member 433 drives the ratchet 434 to separate from the locking wheel 436, thereby unlocking the locking wheel 436.
In this embodiment, the link structure includes an assembly member 31 disposed at an end of the thigh structure 10, a driving plate 32 rotatably connected to the assembly member 31, a gear bracket 33 rotatably connected to the driving plate 32, and a connecting rod 34 rotatably connected to the gear bracket 33 and the assembly member 31, respectively; the assembly member 31, the driving plate 32, the gear bracket 33 and the connecting rod 34 constitute a four-bar linkage;
the gear bracket 33 is fixedly connected with the end part of the lower leg structure 20; the gear structure is rotatably arranged on the gear bracket 33; the end of the drive plate 32 is connected to the drive wheel set 41.
Specifically, the lower leg structure 20 is fixed on the side of the gear bracket 33 through bolts; the end of the driving plate 32 is provided with a rack engaged with the shape of the driving wheel set 41, and the driving plate 32 is engaged with the driving wheel set 41.
In this embodiment, the length ratio of the assembly 31, the driving plate 32, the gear bracket 33 and the connecting rod 34 in the four-bar linkage is 59: 89: 70: 40.
specifically, the length of the assembly part 31 in the four-bar linkage is 29.50mm, the length of the driving plate 32 is 44.50mm, the length of the gear bracket 33 is 35.00mm, and the length of the connecting rod 34 is 20.00 mm;
it should be noted that, referring to fig. 7 to 8, under the condition that the thighs of the wearer are kept still, the motion trajectory of the instant center of the velocity of the lower leg of the wearer, which moves due to the flexion of the knee joint, is a "J" shaped curve, and if the instant center of the velocity curve of the knee joint power assisting device can be attached to the "J" shaped curve, the bionic performance is good;
through data analysis and test, under the condition that the length and the position relation of the four connecting rods in the four-connecting-rod structure are reasonably designed, the lengths of the four rod pieces (a, b, c and d) in the four-connecting-rod structure are respectively set to be 29.50mm for a, 44.50mm for b, 35.00mm for c and 20.00mm for d, and the bionic performance of the four-connecting-rod structure is optimal; the structure is used for replacing a hinge in a traditional knee joint power assisting device to obtain higher bionic performance.
In this embodiment, the driving wheel set 41 includes a driving wheel 411 connected to the link structure, and a driven wheel 412 engaged with the driving wheel 411; the lock assembly is disposed on the drive shaft of the driven wheel 412;
the intermediate wheel set 42 comprises an intermediate wheel 421 in transmission connection with the driven wheel 412, a reel 422 meshed with the intermediate wheel 421, and a wire spool 423 arranged on a transmission shaft of the reel 422; and a rope for driving the energy storage assembly to store energy is arranged in the wire spool 423.
Specifically, the driving plate 32 is in meshing connection with the driving wheel 411; the clamp 431 and the second bearing are both arranged on the transmission shaft of the driven wheel 412; the second inner ratchet wheel is sleeved inside the middle wheel 421; the transmission wheel 435 is engaged with the intermediate wheel 421.
In this embodiment, the thigh structure 10 includes a thigh frame 11 and the energy storage assembly disposed on the thigh frame 11;
the energy storage assembly comprises an elastic element 121, a fixing column 122 arranged on the thigh frame 11, a fixing bracket 123 used for fixing the elastic element 121 on the thigh frame 11, and a pulley 124 arranged at the end part of the elastic element 121; one end of the rope is connected with the fixing column 122, and the other end is connected with the reel 422 through the pulley 124.
Specifically, the elastic element 121 may be a tension spring or a gas spring, and is preferably a gas spring in this embodiment;
fig. 9 shows the stress condition of the elastic element 121, in the drawing, T1 and T2 are respectively the tension generated by the ropes on the left and right sides, and T1 is T2 because T1 and T2 are the force generated by the same rope; t3 is the thrust generated by the elastic element 121;
when the knee joint of the wearer bends, the reel 422 rotates along the preset direction, so that the rope is tensioned, the direction of the resultant force of the T1 and the T2 is opposite to the direction of T3, and the resultant force is larger than T3, so that the elastic element 121 is compressed, and the energy storage process is completed;
when the knee joint of the wearer stretches, the resultant force of the T1 and the T2 is smaller than the T3, the elastic element 121 stretches, and the rope drives the winding wheel 422 to reversely rotate along the preset direction, so that the knee joint of the wearer is straightened to complete the energy releasing process.
In this embodiment, the thigh frame 11 is a symmetrical inverted Y-shaped structure, and the elastic element 121 is disposed at the position of the symmetry axis of the thigh frame 11; a limiting wheel 125 is further arranged on the energy storage assembly at a position opposite to the fixed column 122; one end of the rope is connected with the fixing column 122, and the other end of the rope is connected with the reel 422 sequentially through the pulley 124 and the limiting wheel 125.
Specifically, the outer shape of the thigh frame 11 is matched with the outer shape of the knee joint of the human body; by arranging the elastic element 121 at the position of the symmetry axis of the thigh frame 11, the direction of T3 can be ensured to be vertically upward, and by arranging the limiting wheel 125 at the position opposite to the fixing column 122, the resultant force direction of T1 and T2 can be ensured to be vertically downward, so that better energy storage and release effects can be obtained.
In this embodiment, the lower leg structure 20 includes a first lower leg link and a second lower leg link that are oppositely disposed;
the first shank connecting rod and the second shank connecting rod are respectively movably connected with the end part of the thigh frame 11 through the connecting rod structure.
Specifically, the link structure includes two four-bar link structures disposed oppositely, and connected to both ends of the thigh frame 11, respectively.
In this embodiment, the end of the thigh frame 11 is provided with a thigh strap; and the end parts of the first shank connecting rod and the second shank connecting rod are provided with shank binding bands. Specifically, the ends of the thigh straps are connected by means of a snap or adhesive, so that the thigh frame 11 is fixed at a position on the wearer's thigh near the knee joint; the ends of the shank straps are connected in a buckle or adhesion manner, so that the first shank connecting rod and the second shank connecting rod are fixed at the position of the shank of the wearer.
In one specific implementation, referring to fig. 10, when the wearer's knee joint is flexed, the driving wheel set 41 rotates in the predetermined direction to drive the locking mechanism 43 into a locked state, and since the locking wheel 436 and the driving wheel 435 are driven by the first ratchet mechanism 437, the intermediate wheel set 42 can still rotate in the predetermined direction and drive the energy storage assembly to store energy;
when the knee joint of the wearer stops acting, the energy storage component is in a tight state, but because the locking mechanism 43 is in a locking state, the locking mechanism 43 does not allow the middle wheel group 42 to reversely rotate along the preset direction to release energy;
when the knee joint of the wearer is stretched, the driving wheel set 41 firstly drives the locking mechanism 43 to enter an unlocking state, and after the locking mechanism 43 is unlocked, the tightened energy storage assembly drives the driving wheel set 41 to reversely rotate along the preset direction through the middle wheel set 42, so that the purpose of assisting power is achieved.
While preferred embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the true scope of the embodiments of the application.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The knee joint assistance exoskeleton provided by the application is introduced in detail, specific examples are applied in the description to explain the principle and the implementation of the application, and the description of the examples is only used for helping to understand the method and the core idea of the application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. A knee-assisted exoskeleton comprising: when the pair of shoes is worn, a thigh structure fixed at the position of a thigh of a wearer close to a knee joint, a shank structure fixed at the position of a shank of the wearer, a connecting rod structure corresponding to the position of the knee joint of the wearer and a gear structure arranged on the connecting rod structure; the thigh structure is movably connected with the shank structure through the connecting rod structure; the thigh structure is provided with an energy storage component which stores energy when the knee joint of the wearer is bent and releases energy when the knee joint of the wearer is extended;
the gear structure comprises a driving wheel set rotating along with the connecting rod structure, an intermediate wheel set used for driving the energy storage assembly to store energy, and a locking mechanism used for limiting the steering of the intermediate wheel set; the driving wheel set is in transmission connection with the middle wheel set; the locking mechanism comprises a locker component, a ratchet, a transmission wheel, a first ratchet mechanism and a locking wheel; the locker component is arranged on the driving wheel set and rotates along with the driving wheel set; the ratchet is arranged at the movable end of the locker assembly and is used for limiting the locking wheel to rotate along the preset direction; the transmission wheel is meshed with the middle wheel set and is in transmission connection with the locking wheel through the first ratchet mechanism; the first ratchet mechanism is used for driving the locking wheel to reversely rotate along the preset direction;
when the driving wheel set drives the ratchet to be meshed and connected with the locking wheel through the locker assembly, the locking wheel is locked, and the rotating direction of the middle wheel set which is in transmission connection with the locking wheel through the first ratchet mechanism and the transmission wheel is locked as the preset direction.
2. The exoskeleton of claim 1 wherein said gear structure further comprises a second ratchet mechanism; the second ratchet mechanism is arranged on a transmission shaft of the driving wheel set and is used for driving the middle wheel set to rotate along the preset direction;
when the driving wheel set drives the ratchet to be separated from the locking wheel through the locker assembly, the locking wheel is unlocked, and the middle wheel set in transmission connection with the locking wheel through the first ratchet mechanism and the transmission wheel can reversely rotate along the preset direction.
3. An exoskeleton as claimed in claim 2 wherein said lock assembly includes a clamp rotatable with said drive wheel set, a lock fixedly connected to said clamp, and a slide slidably connected to said lock; the surface of the locker is provided with a sliding groove for the sliding of the sliding piece; the ratchet is rotatably connected with the sliding piece.
4. An exoskeleton as claimed in claim 1 wherein said linkage structure includes a fitting disposed at an end of said thigh structure, a drive plate rotatably connected to said fitting, a gear bracket rotatably connected to said drive plate, and a connecting rod rotatably connected to said gear bracket and said fitting, respectively; the assembly part, the driving plate, the gear bracket and the connecting rod form a four-bar linkage structure;
the gear bracket is fixedly connected with the end part of the shank structure; the gear structure is rotationally arranged on the gear bracket; the end of the driving plate is connected with the driving wheel set.
5. An exoskeleton as claimed in claim 4 wherein the ratio of the lengths of the fitting, drive plate, gear bracket and link bar in the four-bar linkage is 59: 89: 70: 40.
6. an exoskeleton as claimed in claim 1 wherein the set of drive wheels includes a drive wheel connected to the link structure and a driven wheel engaged with the drive wheel; the lock assembly is arranged on a transmission shaft of the driven wheel;
the middle wheel set comprises a middle wheel in transmission connection with the driven wheel, a wire winding wheel meshed with the middle wheel, and a wire winding disc arranged on a transmission shaft of the wire winding wheel; and a rope for driving the energy storage assembly to store energy is arranged in the wire spool.
7. An exoskeleton as claimed in claim 6 wherein said thigh structure comprises a thigh frame and said energy storage assembly disposed on said thigh frame;
the energy storage assembly comprises an elastic element, a fixing column arranged on the thigh frame, a fixing support used for fixing the elastic element on the thigh frame, and a pulley arranged at the end part of the elastic element; one end of the rope is connected with the fixing column, and the other end of the rope is connected with the reel through the pulley.
8. An exoskeleton as claimed in claim 7 wherein said thigh frame is a symmetrical inverted Y-shaped structure, said elastic elements being disposed at the positions of the symmetry axes of said thigh frame; a limiting wheel is further arranged on the energy storage assembly at a position opposite to the fixed column; one end of the rope is connected with the fixing column, and the other end of the rope is connected with the reel through the pulley and the limiting wheel in sequence.
9. An exoskeleton as claimed in claim 8 wherein the lower leg structure comprises first and second oppositely disposed lower leg links;
the first shank connecting rod and the second shank connecting rod are respectively movably connected with the end part of the thigh frame through the connecting rod structure.
10. An exoskeleton as claimed in claim 9 wherein the ends of the thigh frame are provided with thigh straps; and the end parts of the first shank connecting rod and the second shank connecting rod are provided with shank binding bands.
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| CN202023288886.4U CN215021753U (en) | 2020-12-29 | 2020-12-29 | Knee joint assistance exoskeleton |
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| CN202023288886.4U CN215021753U (en) | 2020-12-29 | 2020-12-29 | Knee joint assistance exoskeleton |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116690647A (en) * | 2023-06-06 | 2023-09-05 | 上海傲鲨智能科技有限公司 | Integrated power system based on toothed belt structure and exoskeleton robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116690647A (en) * | 2023-06-06 | 2023-09-05 | 上海傲鲨智能科技有限公司 | Integrated power system based on toothed belt structure and exoskeleton robot |
| CN116690647B (en) * | 2023-06-06 | 2023-12-12 | 上海傲鲨智能科技有限公司 | Integrated power system based on toothed belt structure and exoskeleton robot |
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