CN217072362U - Wearable passive knee joint exoskeleton - Google Patents
Wearable passive knee joint exoskeleton Download PDFInfo
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- CN217072362U CN217072362U CN202220673225.3U CN202220673225U CN217072362U CN 217072362 U CN217072362 U CN 217072362U CN 202220673225 U CN202220673225 U CN 202220673225U CN 217072362 U CN217072362 U CN 217072362U
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Abstract
The utility model provides a wearable passive knee joint exoskeleton, which comprises a thigh, a shank, a joint shaft, a cam and a linear spring, wherein the thigh and the shank are rotationally connected together through the joint shaft; the cam is fixed on the shank; the upper end of the linear spring is fixed on the thigh, and the lower end of the linear spring is in matched transmission with the outer edge of the cam; the linear spring has an initial energy; when the shank drives the cam to bend relative to the thigh passively, the linear spring deforms to store energy; when the shank drives the cam to straighten relative to the thigh, the linear spring releases energy to assist the force; the outer edge of the cam comprises a first cam curved surface which enables the stored energy of the linear spring to increase in a nonlinear manner; the radius of the curved surface of the first cam is increased along with the increase of the bending angle, so that when the limbs are extended, the linear spring has enough energy to assist the human body, and the assistance effect is improved; meanwhile, the linear spring is adjusted in a nonlinear mode through the first cam curved surface, and the output boosting moment is ensured to have the characteristics of flexibility and rigidity change.
Description
Technical Field
The utility model belongs to the technical field of human motion auxiliary assembly, concretely relates to wearable passive knee joint ectoskeleton.
Background
The passive knee joint exoskeleton is a power-assisted product researched and developed by simulating knee joint movement on the basis of bionics and ergonomics, and is mainly used for customers aiming at rehabilitation, walking aid and gait correction or customers aiming at violent bouncing, running and heavy physical labor; the passive knee joint exoskeleton is of a pure mechanical structure, does not need an external energy supply device, can generate a power assisting effect on a human body by using the self energy of the human body, and has the working principle that: when the limb exercises do negative work, the energy is collected and stored, and when the limb exercises do positive work, the energy is released to assist the human body, so that the knee joint abrasion can be effectively reduced, the burden is relieved, the knee strength is increased, and the pain caused by strain and the like is relieved; however, the existing passive knee exoskeleton directly adopts an elastic element to assist (namely linear assistance), and the deformation of the elastic element is limited, so that the assistance effect is poor, and the assistance requirement cannot be met.
SUMMERY OF THE UTILITY MODEL
In view of the above disadvantages of the prior art, the present invention provides a wearable passive knee exoskeleton, which adjusts a linear spring in a nonlinear manner through a first cam curved surface, so as to ensure that sufficient energy is available for assisting a human body when a limb is extended, thereby improving an assisting effect; and the output assisting moment is ensured to have the characteristics of compliance and variable rigidity.
In order to achieve the above and other related objects, the present invention provides a wearable passive knee exoskeleton, comprising a thigh, a shank, a joint shaft, a cam and an energy storage mechanism, wherein the thigh and the shank are rotatably connected together by the joint shaft; the cam is fixedly connected to the shank and swings with the shank; the energy storage mechanism comprises a linear spring, the upper end of the linear spring is fixed on the thigh, and the lower end of the linear spring is in matched transmission with the outer edge of the cam; the linear spring has initial energy which can keep the limb upright and stable; when the lower leg drives the cam to bend relative to the upper leg, the linear spring deforms to store energy; when the lower leg drives the cam to be straightened relative to the upper leg, the linear spring releases energy to assist the force; the outer edge of the cam comprises a first cam curved surface which enables the stored energy of the linear spring to increase in a nonlinear mode; the first cam curved surface is a variable radius curved surface, and the radius of the first cam curved surface is increased along with the increase of the buckling angle, so that when the limbs are extended, the linear spring has enough energy to assist the human body, and the assistance effect is improved; meanwhile, the linear spring is adjusted in a nonlinear mode through the first cam curved surface, so that the output boosting torque has the characteristics of flexibility and rigidity change.
Preferably, the linear spring is a tension spring, and the bottom end of the tension spring is connected with the outer edge of the cam through a pull rope; when the shank drives the cam to bend passively relative to the thigh, the tension is wound on the cam to enable the linear spring to be tensioned and store energy.
Preferably, the linear spring is a compression spring, and a linear push rod in transmission fit with the outer edge of the cam is fixed at the lower end of the compression spring; when the shank drives the cam to bend passively relative to the thigh, the cam pushes the linear push rod to move upwards so that the linear spring is compressed to store energy.
Preferably, the linear push rod is in transmission fit with the outer edge of the cam through a roller so as to convert sliding friction into rolling friction.
Preferably, the first cam curved surface is a cam curved surface section corresponding to a bending angle range of 0-30 degrees, and the first cam curved surface is designed in a manner that the energy stored in the linear spring is increased in a cosine acceleration motion law; the outer edge of the cam also comprises a second cam curved surface corresponding to the range of the bending angle of 30-70 degrees, and the second cam curved surface is designed in a way that the energy stored in a linear spring is linearly increased, so that the output boosting torque is ensured to change along with the walking state of a human body, and the coordination of energy distribution and lower limb walking is improved.
Preferably, the outer edge of the cam further comprises a third cam curved surface corresponding to the buckling angle range of 70-120 degrees, the third cam curved surface is designed in a manner that the energy stored in the linear spring is increased in a nonlinear manner, and the increase value of the energy stored in the linear spring is continuously reduced along with the increase of the buckling angle.
Preferably, the outer edge of the cam comprises a fourth cam curved surface corresponding to the bending angle range of 0-50 degrees, and the radius of the cam corresponding to the fourth cam curved surface is kept unchanged; the first cam curved surface is a cam curved surface section corresponding to the bending angle range of 50-125 degrees, so that the assistance requirements of strenuous movements such as ascending, jumping, squatting and the like are met.
Preferably, the wearable passive knee exoskeleton further comprises an adjusting device for adjusting the initial energy of the linear spring so as to meet individual difference requirements of different wearers.
Preferably, the upper leg and the lower leg are provided with straps to wear the exoskeleton.
As above, the utility model discloses a wearable passive knee joint ectoskeleton has following beneficial effect:
(1) the linear spring is adjusted in a nonlinear mode through the first cam curved surface, so that not only is enough energy for assisting a human body when the limbs are stretched ensured, but also the assistance effect is improved; and the output assisting moment is ensured to have the characteristics of compliance and variable rigidity.
(2) Aiming at the assistance requirements of different motion states, the shape of the cam is set to adjust the assistance angle;
(3) the initial energy of the linear spring is adjusted through the adjusting device so as to adapt to individual difference requirements of different wearers, the applicability is improved, and the boosting effect is optimized;
(4) the utility model discloses a passive form energy storage structure carries out the helping hand, simple structure, and it is convenient to maintain.
Drawings
Fig. 1 is a front view of a wearable passive knee exoskeleton according to an embodiment of the present invention.
Fig. 2 is a side view of fig. 1.
Fig. 3 is a schematic view showing the shape of the cam in the normal walking state of fig. 2.
Fig. 4 is a side view of the wearable passive knee exoskeleton according to the second embodiment of the present invention.
Fig. 5 is a schematic view showing the shape of the cam in the normal walking state of fig. 3.
Fig. 6 is a schematic view showing the shape of the cam in the state of strong motion in fig. 3.
Description of the reference numerals
Detailed Description
The following description is provided for illustrative purposes, and other advantages and features of the present invention will become apparent to those skilled in the art from the following detailed description.
Please refer to fig. 1 to 6. It should be understood that the structure, ratio, size and the like shown in the drawings attached to the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by those skilled in the art, and are not used for limiting the limit conditions that the present invention can be implemented, so that the present invention has no technical essential meaning, and any structure modification, ratio relationship change or size adjustment should still fall within the scope that the technical content disclosed in the present invention can cover without affecting the function that the present invention can produce and the purpose that the present invention can achieve. Meanwhile, the terms such as "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for convenience of description, and are not intended to limit the scope of the present invention, and changes or adjustments of the relative relationship thereof may be made without substantial technical changes, and the present invention is also regarded as the scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1 to 3, the embodiment one provides a wearable passive knee exoskeleton, which comprises a thigh 1, a shank 2, a joint shaft, a cam 3 and an energy storage mechanism, wherein the thigh 1 and the shank 2 are rotatably connected together through the joint shaft; the cam 3 is fixedly connected to the shank 2 and swings around the axial center line of the joint shaft along with the shank 2; the energy storage mechanism comprises a linear spring 4, and the linear spring 4 is a tension spring; the upper end of the linear spring 4 is fixed on the thigh 1, the lower end of the linear spring 4 is fixed on the outer edge of the cam 3 through the pull rope 41, so that when the cam 3 rotates anticlockwise along with the shank 2, the pull rope 41 is wound on the outer edge of the cam to stretch and deform the linear spring 4; the linear spring 4 has initial energy which can keep the limb upright and stable; when the shank 2 drives the cam 3 to bend passively relative to the thigh 1 (namely anticlockwise rotation), the linear spring 4 is pulled to deform to store energy; when the lower leg 2 drives the cam 3 to be straightened relative to the upper leg 1 (namely clockwise rotation), the linear spring 4 releases energy to assist the force; the outer edge of the cam comprises a first cam curved surface 31 which enables the stored energy of the linear spring 4 to increase in a non-linear mode; the first cam curved surface 31 is a variable radius curved surface, and the radius of the first cam curved surface 31 is increased along with the increase of the buckling angle, so that the linear spring 4 is adjusted in a nonlinear manner, the output boosting moment is ensured to have the characteristics of flexibility and variable stiffness, and the boosting effect is improved.
It can be understood that the bending angle range corresponding to the first cam curved surface 31 is determined by the motion condition of the user, so as to better simulate the change of the moment of the knee joint of the user under the corresponding motion condition and improve the assistance effect.
It can be understood that when a user normally walks, the bending angle range corresponding to the main power-assisted stage of the knee joint is small and is about within the range of 10 degrees to 20 degrees, while the bending angle range corresponding to severe movements such as loading, running and jumping, squatting and the like is large and is about within the range of 70 degrees to 120 degrees, and because the deformation quantity of the linear spring in the cam stay wire structure is large and easily exceeds the deformation range of the spring, the cam stay wire structure is not suitable for severe movements such as loading, running and jumping, squatting and the like with large bending angles. Thus, for a normal walking user, the cam 3 shape is set as follows:
as shown in fig. 3, the first cam curved surface 31 is a cam curved surface section corresponding to a flexion angle range of 0 ° to 30 °, the outer edge of the cam further includes a second cam curved surface 32 corresponding to a flexion angle range of 30 ° to 70 °, and the second cam curved surface 32 is a fixed radius curved surface so that the stored energy of the linear spring 4 is linearly increased (i.e., the deformation amount of the linear spring 4 is linearly changed); in this embodiment, the first cam curved surface 31 is designed in a manner that the energy stored in the linear spring increases according to the cosine acceleration law of motion, so as to better simulate the moment variation of the knee joint and improve the assisting effect.
Further, as shown in fig. 3, the outer edge of the cam further includes a third cam curved surface 33 corresponding to the range of the buckling angle of 70 ° to 120 °, the third cam curved surface 33 is designed in such a way that the energy stored in the linear spring increases nonlinearly, and the increase value of the energy stored in the linear spring decreases with the increase of the buckling angle, so that the exoskeleton can be conveniently worn by a user, and meanwhile, the failure of the linear spring 4 due to the overlarge deformation amount in the later period can be avoided, and the service life of the linear spring 4 can be prolonged.
As shown in fig. 1 and 2, the wearable passive knee exoskeleton further comprises an adjusting device 5 for adjusting the initial energy of the linear spring 4, wherein the adjusting device 5 adjusts the initial energy of the linear spring 4 by adjusting the height position of the upper end of the linear spring 4.
As shown in fig. 2, the upper part of the thigh 1 and the lower part of the thigh 1 are both provided with a bandage 6 which can be bound on the thigh of the user, and the upper part of the shank 2 and the lower part of the shank 2 are both provided with a bandage 6 which can be bound on the shank of the user.
It will be appreciated that to improve the comfort of the user, the strap 6 is provided with a soft pack which contacts the user.
Example two:
as shown in fig. 4 and 5, the second embodiment provides a wearable passive knee exoskeleton, which comprises a thigh 1, a shank 2, a joint shaft, a cam 3 and an energy storage mechanism, wherein the thigh 1 and the shank 2 are rotatably connected together through the joint shaft; the cam 3 is fixedly connected to the shank 2 and swings around the axial center line of the joint shaft along with the shank 2; the energy storage mechanism comprises a linear spring 4, and the linear spring 4 is a compression spring; the upper end of the linear spring 4 is fixed on the thigh 1, and the lower end of the linear spring 4 is in matched transmission with the outer edge of the cam 3 through a linear push rod 41; the linear spring 4 has initial energy which can keep the limb upright and stable; when the shank 2 drives the cam 3 to bend passively relative to the thigh 1, the cam 3 pushes the linear push rod 41 to move upwards, so that the linear spring 4 is compressed and deformed to store energy; when the lower leg 2 drives the cam 3 to be straightened relative to the upper leg 1, the linear spring 4 releases energy to assist the force; the outer edge of the cam comprises a first cam curved surface 31 which enables the stored energy of the linear spring 4 to increase in a non-linear mode; the first cam curved surface 31 is a variable radius curved surface, and the radius of the first cam curved surface 31 is increased along with the increase of the buckling angle, so that the linear spring 4 is adjusted in a nonlinear manner, the output boosting moment is ensured to have the characteristics of flexibility and variable stiffness, and the boosting effect is improved.
It can be understood that the bending angle range corresponding to the first cam curved surface 31 is determined by the motion condition of the user, so as to better simulate the change of the moment of the knee joint of the user under the corresponding motion condition and improve the assistance effect.
It can be understood that the flexion angle range corresponding to the knee joint assistance phase of normal walking is small and is about within the range of 10 degrees to 20 degrees, while the flexion angle range corresponding to the severe movements of loading, running and jumping, squatting and the like is large and is about within the range of 70 degrees to 120 degrees, so different cam shapes are arranged for different assistance flexion angle ranges.
For a normal walking user, the cam 3 shape is set as follows:
as shown in fig. 5, the first cam curved surface 31 is a cam curved surface section corresponding to a flexion angle range of 0 ° to 30 °, the outer edge of the cam further includes a second cam curved surface 32 corresponding to a flexion angle range of 30 ° to 70 °, and the radius of the second cam curved surface 32 increases linearly with the increase of the flexion angle so that the energy storage amount of the linear spring 4 increases linearly (i.e., the deformation amount of the linear spring 4 changes linearly); in this embodiment, the first cam curved surface 31 is designed in a manner that the energy stored in the linear spring increases according to the cosine acceleration law of motion, so as to better simulate the moment variation of the knee joint and improve the assisting effect.
Further, as shown in fig. 5, the outer edge of the cam further includes a third cam curved surface 33 corresponding to the range of the buckling angle of 70 ° to 120 °, the third cam curved surface 33 is designed in such a manner that the energy stored in the linear spring increases nonlinearly, and the increase of the energy stored in the linear spring decreases with the increase of the buckling angle.
For a user who exercises violently, such as loading, jumping, squatting, etc., the shape of the cam 3 is set as follows:
as shown in fig. 6, the outer edge of the cam includes a fourth cam curved surface 34 corresponding to a range of a flexion angle of 0 ° to 50 °, and a radius of the cam corresponding to the fourth cam curved surface 34 is maintained unchanged; in the range of the bending angle, the linear spring 4 does not deform and only plays a supporting role; the first cam curved surface 31 is a cam curved surface section corresponding to the bending angle range of 50-125 degrees; in this embodiment, the first cam curved surface 31 is designed in such a way that the energy stored in the linear spring increases according to the cosine acceleration law of motion, so as to better simulate the moment variation of the knee joint.
As shown in fig. 2, the wearable passive knee exoskeleton further comprises an adjusting device 5 for adjusting the initial energy of the linear spring 4, wherein the adjusting device 5 adjusts the initial energy of the linear spring 4 by adjusting the height position of the upper end of the linear spring 4.
As shown in fig. 2, the upper part of the thigh 1 and the lower part of the thigh 1 are both provided with a bandage 6 which can be bound on the thigh of the user, and the upper part of the shank 2 and the lower part of the shank 2 are both provided with a bandage 6 which can be bound on the shank of the user.
It will be appreciated that to improve the comfort of the user, the strap 6 is provided with a soft pack which contacts the user.
The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (9)
1. A wearable passive knee exoskeleton is characterized by comprising a thigh (1), a shank (2), a joint shaft, a cam (3) and an energy storage mechanism, wherein the thigh (1) and the shank (2) are rotatably connected together through the joint shaft; the cam (3) is fixedly connected to the lower leg (2) and swings together with the lower leg (2); the energy storage mechanism comprises a linear spring (4), the upper end of the linear spring (4) is fixed on the thigh (1), and the lower end of the linear spring (4) is in matched transmission with the outer edge of the cam (3); the linear spring (4) has initial energy which can keep the limb upright and stable; when the lower leg (2) drives the cam (3) to bend passively relative to the thigh (1), the linear spring (4) deforms to store energy; when the lower leg (2) drives the cam (3) to be straightened relative to the thigh (1), the linear spring (4) releases energy to assist the force; the outer edge of the cam comprises a first cam curved surface (31) which enables the stored energy deformation of the linear spring (4) to increase in a nonlinear manner; the first cam curved surface (31) is a variable radius curved surface, and the radius of the first cam curved surface (31) is increased along with the increase of the buckling angle.
2. The wearable passive knee exoskeleton of claim 1, wherein the linear spring (4) is a tension spring, and the bottom end of the linear spring (4) is connected with the outer edge of the cam through a pull rope (41); when the lower leg (2) drives the cam (3) to bend passively relative to the upper leg (1), the linear spring (4) is pulled to store energy.
3. The wearable passive knee exoskeleton of claim 1, wherein the linear spring (4) is a compression spring, and a linear push rod (42) in transmission fit with the outer edge of the cam is fixed at the lower end of the linear spring (4); when the lower leg (2) drives the cam (3) to bend passively relative to the upper leg (1), the linear spring (4) is pressed to store energy.
4. A wearable passive knee exoskeleton according to claim 3 where the linear push rod (42) is in driving engagement with the cam rim via a roller.
5. The wearable passive knee exoskeleton as claimed in claim 2, 3 or 4, wherein the first cam surface (31) is a cam surface section corresponding to a flexion angle range of 0-30 degrees, and the first cam surface (31) is designed in such a way that the energy stored in the linear spring increases in a cosine acceleration law; the outer edge of the cam further comprises a second cam curved surface (32) corresponding to the range of the bending angle of 30-70 degrees, and the second cam curved surface (32) is designed in a way that the energy stored in a linear spring is linearly increased.
6. The wearable passive knee exoskeleton of claim 5, wherein the cam outer edge further comprises a third cam surface (33) corresponding to a range of 70-120 degrees of flexion, the third cam surface (33) is designed in such a way that the energy stored in the linear spring increases nonlinearly, and the increase of the energy stored in the linear spring decreases as the flexion angle increases.
7. The wearable passive knee exoskeleton of claim 3 or 4, wherein the cam outer edge comprises a fourth cam surface (34) corresponding to a range of flexion angles from 0 ° to 50 ° and a cam radius corresponding to the fourth cam surface (34) is kept constant; the first cam curved surface (31) is a cam curved surface section corresponding to the bending angle range of 50-125 degrees.
8. A wearable passive knee exoskeleton according to claim 1 further comprising adjustment means (5) for adjusting the initial energy of the linear spring (4).
9. A wearable passive knee exoskeleton according to claim 1 where straps (6) are provided on both the thigh (1) and the calf (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220673225.3U CN217072362U (en) | 2022-03-25 | 2022-03-25 | Wearable passive knee joint exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220673225.3U CN217072362U (en) | 2022-03-25 | 2022-03-25 | Wearable passive knee joint exoskeleton |
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| Publication Number | Publication Date |
|---|---|
| CN217072362U true CN217072362U (en) | 2022-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220673225.3U Active CN217072362U (en) | 2022-03-25 | 2022-03-25 | Wearable passive knee joint exoskeleton |
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| Country | Link |
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| CN (1) | CN217072362U (en) |
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- 2022-03-25 CN CN202220673225.3U patent/CN217072362U/en active Active
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