CN217861244U - Lower limb knee joint movement energy recovery assistance exoskeleton - Google Patents

Abstract

The utility model discloses a lower limb knee joint movement energy recovery assisting exoskeleton, which comprises a thigh component, a shank component, a power generation component, a gear train component and a wire drawing wheel component; the wire pulling wheel assembly is connected with the thigh assembly in a rotating mode through the first axial rotating piece, the gear train assembly is connected to the thigh assembly in a rotating mode, the gear train assembly and the wire pulling wheel assembly are connected through connecting pull wires, the power generation assembly comprises a power generator and an output gear, the output gear is arranged on a rotating shaft of the power generator in a sleeved mode, and the output gear is meshed with the gear train assembly. The lower limb exoskeleton with the energy recovery device is designed to collect the kinetic energy of the lower limbs of the human body, the kinetic energy of the human body is recovered by redistributing the torque of the knee joint, the human body is assisted to walk, the converted electric energy can solve the power consumption problem of outdoor low-power consumption electronic equipment, and the exoskeleton can be applied to outdoor activities such as rescue and relief work, mountain climbing and exploration and the like.

Description

Lower limb knee joint movement energy recovery assistance exoskeleton

Technical Field

The utility model relates to a wearable equipment technical field, concretely relates to low limbs knee joint motion energy recuperation helping hand ectoskeleton.

Background

The exoskeleton is a structure capable of being worn on a human body, can closely link behaviors made by the human body with kinetic energy of a mechanical system, and meanwhile provides required additional power for the human body so as to enhance the movement function of the human body; the exoskeleton is divided into an upper limb exoskeleton and a lower limb exoskeleton according to different wearing parts, the upper limb exoskeleton is worn on the upper limb of a human body and mainly provides assistance for carrying the upper limb of the human body, and the lower limb exoskeleton is worn on the lower limb of the human body and mainly provides assistance for the movement of the lower limb of the human body.

The lower limb exoskeleton can be divided into a knee joint exoskeleton, an ankle joint exoskeleton and the like according to different wearing positions, the knee joint exoskeleton in the prior art is mainly used for providing assistance for movement of knee joints of human bodies, if in the military field, the knee joint exoskeleton can provide assistance for knee joints of soldiers in the movement process so as to increase the walking distance on foot and improve the load bearing capacity, and if in the medical field, the knee joint exoskeleton can be used for gait rehabilitation training of patients and improve the rehabilitation effect, and in the field of helping the old and the disabled, the knee joint exoskeleton can be used for assisting walking of the disabled and helping the old to recover the walking capacity.

The lower limb exoskeleton in the prior art mainly focuses on research on the aspect of providing motion assistance for knee joints, and researches on the motion process of the knee joints of a human body discover that in the walking process of the human body, the motion of the knee joints of the human body is divided into a knee stretching process and a knee bending process, a part of redundant energy is acted on the knee joints in an impact (or friction) mode in the knee stretching process of the knee joints of the human body, the energy is called as knee joint negative work (hereinafter referred to as negative work), the part of negative work is generally not recycled in the lower limb exoskeleton in the prior art, so that on one hand, the energy of the part of negative work is wasted, and on the other hand, the existence of the part of negative work can also impact the knee joints of the human body, and further the knee joints are damaged.

SUMMERY OF THE UTILITY MODEL

Not enough to the above-mentioned that prior art exists, the to-be-solved technical problem of the utility model is: how to provide a lower limb knee joint movement energy recovery assisting exoskeleton capable of recycling negative work generated in the knee stretching process of a human body and reducing impact on the knee joint of the human body.

In order to solve the technical problem, the utility model adopts the following technical scheme:

a lower limb knee joint movement energy recovery assisting exoskeleton comprises a thigh component, a shank component, a power generation component, a gear train component and a wire pulling wheel component;

the thigh component is used for being connected with a thigh of a human body, the shank component is used for being connected with a shank of the human body, the stay wire wheel component is connected with the shank component through a first axial rotation component, so that when the shank of the human body swings back and forth relative to the thigh, the shank component can drive the stay wire wheel component to rotate around the shank component, the gear train component is connected to the thigh component in a rotating mode, the gear train component is connected with the stay wire wheel component through a connection stay wire, so that when the stay wire wheel component rotates relative to the shank component, the stay wire wheel component drives the gear train component to rotate around the shank component through the connection stay wire, the power generation component comprises a power generator and an output gear, the output gear is sleeved on a rotating shaft of the power generator, and the output gear is meshed with the gear train component, so that when the gear train component rotates around the thigh component, the gear train component drives the output gear to rotate.

In this scheme, the direction of human body is taken as the reference direction, that is, the front, back, left, right, upper and lower in this scheme correspond respectively to the front, back, left, right, upper and lower of human body, and the axial in this scheme is the left-right direction simultaneously, and vertical is the upper-lower direction, and vertically is the fore-and-aft direction, and the forward direction of rotation of each part in this scheme is the direction of rotation that each part corresponds when stretching the knee motion, and the reverse direction of rotation is the direction of rotation when bending the knee motion.

The utility model discloses a theory of operation is: the utility model discloses a low limbs knee joint movement energy recuperation helping hand ectoskeleton is when using, at first dresses it at human low limbs through thigh subassembly and shank subassembly.

During knee stretching, a human shank swings forwards relative to a thigh, the human shank drives a shank component to swing forwards, the shank component drives a wire pulling wheel component to rotate around the thigh component through a first axial rotating part when swinging forwards, the wire pulling wheel component further drives a gear train component to rotate around the thigh component through connecting a pulling wire when rotating around the thigh component, the gear train component drives an output gear meshed with the gear train component to rotate when rotating, the output gear drives a rotating shaft of a generator to rotate when rotating, the rotating shaft of the generator rotates to enable the generator to work and output electric energy, and therefore the purpose of generating electricity by using negative work in the knee stretching process of a knee joint is achieved, and the generated electric energy can be used for external charging equipment and electric equipment; meanwhile, the scheme captures the negative work in the knee joint stretching process and generates electricity, so that the impact of the negative work generated in the knee stretching process on the knee joint of the human body is reduced, and the knee joint is protected. To sum up, this scheme can stretch the negative work of knee in-process to the human body and carry out recycle, can alleviate the impact to human knee joint simultaneously.

Preferably, the gear train subassembly includes drive gear, first wire drawing wheel and the gear shaft that sets up along the axial, the gear shaft with thigh subassembly rotates to be connected, drive gear with gear shaft fixed connection, first wire drawing wheel passes through one-way bearing and connects on the gear shaft, so that can pass through when first wire drawing wheel forward rotates one-way bearing drives the gear shaft rotates, can be relative when first wire drawing wheel antiport one-way bearing free rotation has been seted up on the first wire drawing wheel, connect the cover of acting as go-between to establish on the first recess.

Therefore, in the knee stretching process, the stay wire wheel assembly drives the first stay wire wheel to rotate in the forward direction through the stay wire, the first stay wire wheel and the one-way bearing are in a locked state, the first stay wire wheel drives the gear shaft to rotate through the one-way bearing, the gear shaft rotates and further drives the transmission gear to rotate, the transmission gear drives the output gear meshed with the transmission gear to rotate, the output gear drives the rotating shaft of the generator to rotate, and the generator rotates and generates electric energy; and in the knee bending process, the stay wire wheel component drives the first stay wire wheel to rotate reversely through connecting the stay wires, the first stay wire wheel and the one-way bearing are in a relatively separated state at the moment, the first stay wire wheel can rotate freely relative to the one-way bearing, so that the motion of the first stay wire wheel cannot be transmitted to the gear shaft through the one-way bearing, the gear shaft and the transmission gear are in a static state, and the generator does not output electric energy so as to reduce the resistance in the knee bending process. In conclusion, the scheme realizes the purpose of unidirectional transmission of the power of the stay wire wheel assembly, so that the generator outputs unidirectional electric energy.

Preferably, the wire pulling wheel assembly comprises a second wire pulling wheel, the second wire pulling wheel is fixedly connected with the first axial rotation piece, a second groove is formed in the second wire pulling wheel, and the connecting wire pulling sleeve is arranged on the second groove.

Therefore, when the knee is stretched, the shank component drives the second stay wire wheel and the first axial rotation component to rotate around the shank component, and the second stay wire wheel drives the first stay wire wheel to rotate positively through the connecting stay wire sleeved on the second groove.

Preferably, the diameter of the second wire drawing wheel is larger than that of the first wire drawing wheel, the diameter of the transmission gear is larger than that of the first wire drawing wheel, and the diameter of the transmission gear is larger than that of the output gear.

Therefore, the diameter of the second wire drawing wheel is larger than that of the first wire drawing wheel, so that the rotating speed of the first wire drawing wheel is larger than that of the second wire drawing wheel, the diameter of the transmission gear is larger than that of the first wire drawing wheel and that of the output gear, the rotating speed of the first wire drawing wheel can be further amplified and then transmitted to the output gear under the action of the transmission gear, the rotating speed of the output gear is far larger than that of the second wire drawing wheel, the rotating speed of the rotating shaft of the generator is far larger than that of the second wire drawing wheel, the purpose of converting low-frequency motion of a shank relative to a thigh into high-frequency rotation of the shaft of the generator is achieved, and the power generation efficiency of the generator is improved.

Preferably, a coil spring is further sleeved on the first axial rotation member, the inner end of the coil spring is fixedly connected with the second stay wire wheel, and the outer end of the coil spring is fixedly connected with the thigh assembly, so that the coil spring can be compressed during knee extension movement and reset during knee bending movement.

Like this, when stretching the knee in-process, human shank will swing forward relatively the thigh, the shank subassembly drives the second wire drawing wheel and rotates forward around the thigh subassembly, because the inner and the second wire drawing wheel fixed connection of coil spring, outer end and thigh subassembly fixed connection, the coil spring will be compressed and storage elasticity potential energy at this moment, consequently, stretching the knee in-process, because the coil spring is compressed, so the coil spring will provide the resistance to the whereabouts of shank, can be so that be used in the negative power reduction on the knee joint, and then the energy storage through the coil spring moves and has realized the effective absorption to knee joint negative power energy, thereby reach and alleviate the impact of negative power to the knee joint, play the mesh of protecting the knee joint. The rotation angle of the coil spring and the elastic potential energy are in a quadratic function relationship, and the larger the pre-tightening amount is, the larger the increment of the elastic potential energy rotating by the same angle is.

Meanwhile, when the knee is bent, the shank of the human body swings backwards relative to the thigh, the second stay wire wheel rotates backwards around the thigh component at the moment, and the coil spring is in a continuously compressed state in the knee extending process, so that the energy stored by the coil spring is released when the knee is bent, and then assistance is provided for the knee bending. Therefore, the energy storage of the coil spring reduces the negative work acting on the knee joint when the knee is stretched by the scheme, so that the impact of the negative work on the knee joint is reduced, the knee joint is protected, and meanwhile, the scheme can also provide assistance for the knee joint when the knee is bent.

Preferably, the shank component comprises a shank arm connecting buckle and a connecting and taking part, a first buckle hole is formed in the shank arm connecting buckle, the connecting and taking part comprises a buckle cover, a buckle base, a first rotating buckle and a first torsion spring, the buckle cover is fixedly connected with the buckle base, a first connecting shaft is arranged on the buckle base along the longitudinal direction, the first rotating buckle and the first torsion spring are coaxially sleeved on the first connecting shaft, the first rotating buckle is rotatably connected to the first connecting shaft, two ends of the first torsion spring are respectively connected to the first rotating buckle and the first connecting shaft, a second buckle hole is further formed in the buckle cover, one end of the first rotating buckle is clamped in the second buckle hole, and the other end of the first rotating buckle can extend into or withdraw from the first buckle hole.

Therefore, when the separation of the calf component and the thigh component is required to be realized, the first rotating buckle is pressed to rotate around the first connecting shaft to a position where the first rotating buckle exits the first buckle hole, the connection taking and placing part is separated from the calf arm connecting buckle, and the thigh component and the calf component are further separated; when the connection of thigh subassembly and shank subassembly is realized to needs, press first rotatory the knot in order to let out the position in first buckle hole, first torsion spring will be in compression state this moment, move first buckle hole to the position that corresponds with first rotatory knot, then loosen first rotatory knot, first torsion spring resets, first torsion spring drives first rotatory the knot and resets and stretch into first buckle downthehole, first torsion spring also can make first rotatory knot keep stretching into in first buckle hole simultaneously, realize the connection of thigh subassembly and shank subassembly from this. Therefore, the thigh component and the shank component can be conveniently connected and separated through the design of the connecting, taking and placing component, and the thigh component and the shank component are convenient to wear.

Preferably, the shank component further comprises a shank rotating block, the shank rotating block is rotatably connected with the second stay wire wheel through a first longitudinal rotating piece, and one end, far away from the shank rotating block, of the shank rotating block, connected with the second stay wire wheel is rotatably connected with the shank arm connecting buckle through a second longitudinal rotating piece.

Like this, rotatory piece of shank rotates through first vertical rotation piece with the second wire drawing wheel and is connected, and the rotatory piece of shank is kept away from its one end of connecting the second wire drawing wheel and is rotated through second vertical rotation piece and shank arm connector link and be connected, and the motion of laminating knee joint can be convenient for more like this improves the travelling comfort of dressing.

Preferably, the calf assembly further comprises a calf adjusting part, the calf adjusting part comprises a calf guard plate, a calf guard plate cover, a second rotary buckle and a second torsion spring, the calf guard plate is fixedly connected with the calf guard plate cover, a calf binding piece is arranged on the calf guard plate, a second connecting shaft is arranged on the calf guard plate along the longitudinal direction, the second rotary buckle and the second torsion spring are coaxially sleeved on the second connecting shaft, the second rotary buckle is rotatably connected onto the second connecting shaft, two ends of the second torsion spring are respectively connected onto the second rotary buckle and the second connecting shaft, a plurality of third buckle holes are formed in one end, close to the calf guard plate, of the buckle base along the vertical direction, a fourth buckle hole is formed in the calf guard plate cover, one end of the second rotary buckle is clamped in the fourth buckle hole, and the other end of the second rotary buckle can extend into or withdraw from the third buckle hole.

Like this, the nimble regulation of whole shank subassembly length can be realized to shank adjusting part, and then adapts to different risees and the people of size and dress. When the calf guard plate needs to be adjusted, the second rotary buckle is pressed to withdraw from the third buckle hole, then the calf guard plate is moved to the third buckle hole at different positions, after the calf guard plate moves to the third buckle hole at the corresponding position, the second rotary buckle is loosened, and under the action of the second torsion spring, the second rotary buckle is reset and extends into the third buckle hole at the corresponding position, so that the connection between the calf adjusting part and the buckle base is realized; during specific use, because a plurality of third buckle holes have been seted up along vertical direction on the buckle base, consequently when needs adjust the shank subassembly and make it have different length, with the shank protect harden move to the third buckle hole department that corresponds the position can, realize the nimble regulation of whole shank subassembly length through shank adjusting part from this, improve the travelling comfort that different crowds dressed.

Preferably, the thigh subassembly includes thigh backplate and thigh protecting cover, the thigh backplate with thigh protecting cover fixed connection, just the thigh backplate with form the accommodation space between the thigh protecting cover, the electricity generation subassembly the gear train subassembly with the stay wire wheel subassembly all is located the thigh backplate with the accommodation space that thigh protecting cover formed.

Like this, through setting up electricity generation subassembly, gear train subassembly and stay wire wheel subassembly in the accommodation space that thigh backplate and thigh protecting cover formed, can play the guard action to electricity generation subassembly, gear train subassembly and stay wire wheel subassembly.

Preferably, both longitudinal sides of the thigh guard are rotatably connected with thigh bindings through first vertical rotating members, so that the thigh bindings can rotate around the thigh guard, and the two thigh bindings can be connected together and form a space for accommodating human thighs together with the thigh guard;

the longitudinal two sides of the shank guard plate are rotatably connected with shank binding pieces through second vertical rotating pieces, so that the shank binding pieces can rotate around the shank guard plate, and the shank binding pieces can be connected together and form a space for accommodating human shanks together with the buckle base.

Like this, when this ectoskeleton was dressed to the people of different heights and size, through thigh tie-up piece around the rotation of thigh backplate, shank tie-up piece around the rotation that the shank protected the board, can adjust the size that is used for holding human thigh and shank space in a flexible way to the different human wearing demands of better adaptation improve and dress the travelling comfort.

Preferably, the both ends of gear shaft are connected through first bearing and second bearing rotation respectively the thigh backplate with on the thigh protects the lid, first axial rotates the piece both ends and is connected through third bearing and fourth bearing rotation respectively the thigh backplate with on the thigh protects the lid.

Compared with the prior art, the utility model has the advantages of it is following:

1. in the knee extension process, namely the negative work stage of the knee joint, the negative work is collected and converted into the elastic potential energy of the coil spring, the electric energy of the generator and the loss in the energy transmission process, so that the purposes of recycling the negative work and reducing the impact on the knee joint of a human body are achieved; in the process of knee bending, the elastic potential energy of the coil spring assists the knee bending movement of the knee joint, and therefore the exoskeleton of the scheme continuously repeats the process in the walking process to achieve the effects of energy recovery and assistance.

2. The scheme reduces energy consumption in the walking process, collects negative work in the walking process, converts the negative work into electric energy which can be used by electronic equipment through a specific mechanical structure, designs the lower limb exoskeleton with the energy recovery device, collects kinetic energy of the lower limbs of a human body, recovers the kinetic energy of the human body through redistributing the torque of the knee joint, and assists the walking of the human body. The converted electric energy can solve the power consumption problem of outdoor low-power consumption electronic equipment, and can be applied to outdoor activities such as rescue and relief work, mountain climbing exploration and the like.

3. This scheme is dressed conveniently and comfortably, is fit for hand-carrying in outdoor activities.

4. The scheme can realize the supplement of the electric energy without deliberately spending manpower and time.

5. This scheme can turn into the reciprocating motion of knee joint into the one-way motion that is fit for the electricity generation through the effect of one-way bearing etc..

Drawings

Fig. 1 is a schematic structural view of the lower limb knee joint movement energy recovery assisting exoskeleton of the present invention;

fig. 2 is a schematic structural view of the lower limb knee joint movement energy recovery assisting exoskeleton of the present invention after removing the thigh protecting cover;

fig. 3 is an exploded schematic view of a thigh assembly, a power generation assembly, a gear train assembly and a stay wire wheel assembly in the lower limb knee joint movement energy recovery assisting exoskeleton of the present invention;

fig. 4 is an exploded schematic view of the lower leg assembly in the lower limb knee joint movement energy recovery assisting exoskeleton of the present invention.

Description of reference numerals: thigh backplate 1, thigh protecting cover 2, thigh tie-up piece 3, shank rotation piece 4, shank arm connector link 5, buckle base 6, third buckle hole 601, buckle lid 7, second buckle hole 701, first rotatory knot 8, shank fender 9, shank fender lid 10, second is rotatory to be detained 11, shank tie-up piece 12, generator 13, output gear 14, drive gear 15, first wire drawing wheel 16, connect wire drawing 17, second wire drawing wheel 18, gear shaft 19, one-way bearing 20, first axial rotation piece 21, wind spring 22, first torsional spring 23, second torsional spring 24.

Detailed Description

In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined below to clearly and completely describe the technical solution of the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be obtained by a person skilled in the art without any inventive work based on the described embodiments of the present invention, belong to the protection scope of the present invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.

The use of "first," "second," and similar terms in the description and in the claims is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. Similarly, the singular forms "a," "an," or "the" do not denote a limitation of quantity, but rather denote the presence of at least one, unless the context clearly dictates otherwise. The terms "comprises," "comprising," or the like, mean that the elements or items listed before "comprises" or "comprising" encompass the features, integers, steps, operations, elements, and/or components listed after "comprising" or "comprising," and do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. "upper", "lower", "left", "right", and the like are used only to indicate relative positional relationships, and when the absolute position of the object to be described is changed, the relative positional relationships may also be changed accordingly.

As shown in fig. 1 to 4, the lower limb knee joint movement energy recovery assisting exoskeleton comprises a thigh component, a shank component, a power generation component, a gear train component and a wire pulling wheel component;

the thigh component is used for being connected with a human thigh, the shank component is used for being connected with a human shank, the stay wire wheel component is connected with the shank component, the stay wire wheel component is connected with the thigh component in a rotating mode through the first axial rotating component 21, so that when a human shank swings back and forth relative to a thigh, the shank component can drive the stay wire wheel component to rotate around the thigh component, the gear train component rotates to be connected to the thigh component, the gear train component is connected with the stay wire wheel component through the connecting stay wire 17, when the stay wire wheel component rotates relative to the thigh component, the stay wire wheel component drives the gear train component to rotate around the thigh component through the connecting stay wire 17, the power generation component comprises a power generator 13 and an output gear 14 which is arranged on a rotating shaft of the power generator 13 in a sleeved mode, the output gear 14 is meshed with the gear train component, and when the gear train component rotates around the thigh component, the gear train component drives the output gear 14 to rotate.

In this scheme, the direction of human body is taken as the reference direction, that is, the front, back, left, right, upper and lower in this scheme correspond respectively to the front, back, left, right, upper and lower of human body, and the axial in this scheme is the left-right direction simultaneously, and vertical is the upper-lower direction, and vertically is the fore-and-aft direction, and the forward direction of rotation of each part in this scheme is the direction of rotation that each part corresponds when stretching the knee motion, and the reverse direction of rotation is the direction of rotation when bending the knee motion.

The utility model discloses a theory of operation is: the utility model discloses a low limbs knee joint movement energy recuperation helping hand ectoskeleton is when using, at first dresses it at human low limbs through thigh subassembly and shank subassembly.

In the knee stretching process, the human shank swings forwards relative to the thigh, the human shank drives the shank component to swing forwards, the shank component drives the wire pulling wheel component to rotate around the thigh component through the first axial rotating piece 21 when swinging forwards, the wire pulling wheel component further drives the gear train component to rotate around the thigh component through the connecting pull wire 17 when rotating around the thigh component, the gear train component drives the output gear 14 meshed with the gear train component to rotate when rotating, the output gear 14 drives the rotating shaft of the generator 13 to rotate when rotating, the rotating shaft of the generator 13 rotates to enable the generator 13 to work and output electric energy, and therefore the purpose of generating electricity by using negative work in the knee stretching process of the knee joint is achieved, and the generated electric energy can be used for external charging equipment and electric equipment; meanwhile, the scheme captures the negative work in the knee joint stretching process and generates electricity, so that the impact of the negative work generated in the knee stretching process on the knee joint of the human body is reduced, and the knee joint is protected. To sum up, this scheme can stretch the negative work of knee in-process to the human body and carry out recycle, can alleviate the impact to human knee joint simultaneously.

In this embodiment, the gear train assembly includes drive gear 15, first wire drawing wheel 16, and gear shaft 19 along the axial setting, gear shaft 19 rotates with thigh subassembly and is connected, drive gear 15 and gear shaft 19 fixed connection, first wire drawing wheel 16 passes through one-way bearing 20 and connects on gear shaft 19, so that can drive gear shaft 19 through one-way bearing 20 and rotate when making first wire drawing wheel 16 forward rotation, can rotate freely relative to one-way bearing 20 when first wire drawing wheel 16 counter rotation, seted up first recess on first wire drawing wheel 16, connect wire drawing 17 cover and establish on first recess.

Therefore, in the knee stretching process, the stay wire wheel assembly drives the first stay wire wheel 16 to rotate in the positive direction through a stay wire, at the moment, the first stay wire wheel 16 and the one-way bearing 20 are in a locking state, the first stay wire wheel 16 drives the gear shaft 19 to rotate through the one-way bearing 20, the gear shaft 19 further drives the transmission gear 15 to rotate after rotating, the transmission gear 15 further drives the output gear 14 meshed with the transmission gear to rotate, the output gear 14 drives the rotating shaft of the generator 13 to rotate, and at the moment, the generator 13 rotates and generates electric energy; in the knee bending process, the stay wire wheel assembly drives the first stay wire wheel 16 to rotate reversely through the connecting stay wire 17, at the moment, the first stay wire wheel 16 and the one-way bearing 20 are in a relatively separated state, the first stay wire wheel 16 can freely rotate relative to the one-way bearing 20, therefore, the motion of the first stay wire wheel 16 cannot be transmitted to the gear shaft 19 through the one-way bearing 20, the gear shaft 19 and the transmission gear 15 are in a static state, and the generator 13 does not output electric energy so as to reduce the resistance in the knee bending process. In conclusion, the scheme realizes the purpose of unidirectional transmission of the power of the stay wire wheel assembly, so that the generator 13 outputs unidirectional electric energy.

In this embodiment, the wire drawing wheel assembly includes a second wire drawing wheel 18, the second wire drawing wheel 18 is fixedly connected with the first axial rotation member 21, a second groove is formed on the second wire drawing wheel 18, and the connection wire 17 is sleeved on the second groove.

Therefore, when the knee is stretched, the lower leg component drives the second stay wire wheel 18 and the first axial rotation component 21 to rotate around the upper leg component, and the second stay wire wheel 18 drives the first stay wire wheel 16 to rotate positively through the connecting stay wire 17 sleeved on the second groove.

In this embodiment, the diameter of the second wire drawing wheel 18 is larger than the diameter of the first wire drawing wheel 16, the diameter of the transmission gear 15 is larger than the diameter of the first wire drawing wheel 16, and the diameter of the transmission gear 15 is larger than the diameter of the output gear 14.

Therefore, the diameter of the second stay wire wheel 18 is larger than that of the first stay wire wheel 16, so that the rotating speed of the first stay wire wheel 16 is larger than that of the second stay wire wheel 18, the diameter of the transmission gear 15 is larger than that of the first stay wire wheel 16 and that of the output gear 14, the rotating speed of the first stay wire wheel 16 can be further amplified and then transmitted to the output gear 14 under the action of the transmission gear 15, and thus, the rotating speed of the output gear 14 is far larger than that of the second stay wire wheel 18, so that the rotating speed of the rotating shaft of the generator 13 is far larger than that of the second stay wire wheel 18, the purpose of converting low-frequency motion of legs relative to thighs into high-frequency rotation of the shaft of the generator 13 is achieved, and the generating efficiency of the generator 13 is improved.

In this embodiment, a coil spring 22 is further sleeved on the first axial rotation member 21, an inner end of the coil spring 22 is fixedly connected with the second wire pulling wheel 18, and an outer end of the coil spring 22 is fixedly connected with the thigh component, so that the coil spring 22 can be compressed during a knee extending movement and reset during a knee bending movement.

Like this, when stretching the knee in-process, human shank will swing forward relative thigh, the shank subassembly drives second wire wheel 18 and rotates forward around the thigh subassembly, because the inner and the second wire wheel 18 fixed connection of coil spring 22, outer end and thigh subassembly fixed connection, coil spring 22 will be compressed and store elastic potential energy at this moment, consequently, in-process stretching the knee, because coil spring 22 is compressed, event coil spring 22 will provide the resistance to the whereabouts of shank, can make the negative power that is used in on the knee joint reduce, and then realized effectively absorbing knee joint negative power energy through the energy storage motion of coil spring 22, thereby reach and alleviate the impact of negative power to the knee joint, play the mesh of protecting the knee joint. The rotation angle of the coil spring 22 and the elastic potential energy are in a quadratic function relationship, and the larger the pre-tightening amount is, the larger the increment of the elastic potential energy rotating by the same angle is.

Meanwhile, when the knee is bent, the lower leg of the human body swings backwards relative to the thigh, at the moment, the second stay wire wheel 18 rotates backwards around the thigh component, and because the coil spring 22 is in a continuously compressed state in the knee extending process, the energy stored in the coil spring 22 is released when the knee is bent, and then assistance is provided for the knee bending. Therefore, the energy storage of the coil spring 22 is used for reducing the negative work acting on the knee joint when the knee is stretched, so that the impact of the negative work on the knee joint is reduced, the knee joint is protected, and meanwhile, the assisting force can be provided for the knee joint when the knee is bent.

In this embodiment, the calf assembly includes calf arm connector link 5 and connects and gets the part of putting, first buckle hole has been seted up on the calf arm connector link 5, it includes buckle lid 7 to connect to get the part of putting, buckle base 6, first rotatory 8 and the first torsion spring 23 of detaining, buckle lid 7 and buckle base 6 fixed connection, be equipped with first connecting axle along longitudinal direction on buckle base 6, first rotatory 8 and the coaxial cover of detaining of first torsion spring 23 are established on first connecting axle, and first rotatory knot rotates and connects on first connecting axle, the both ends of first torsion spring 23 are connected respectively on first rotatory 8 and the first connecting axle of detaining, second buckle hole 701 has still been seted up on buckle lid 7, the one end joint of first rotatory 8 is in second buckle hole 701, and the other end of first rotatory 8 of detaining can stretch into or withdraw from first buckle hole.

Therefore, when the separation of the shank component and the thigh component is required to be realized, the first rotating buckle 8 is pressed, so that the first rotating buckle 8 rotates around the first connecting shaft to a position where the first rotating buckle exits from the first buckle hole, the connection taking and placing part is separated from the shank arm connecting buckle 5, and the separation of the thigh component and the shank component is further realized; when needs realize the connection of thigh subassembly and shank subassembly, press first rotatory 8 of detaining in order to give way out the position in first buckle hole, first torsional spring 23 will be in compression state this moment, move first buckle hole to the position that corresponds with first rotatory 8 of detaining, then loosen first rotatory 8 of detaining, first torsional spring 23 resets, first torsional spring 23 drives first rotatory 8 of detaining and resets and stretch into first buckle downtheholely, first torsional spring 23 also can make first rotatory 8 of detaining keep stretching into first buckle downthehole simultaneously, realize the connection of thigh subassembly and shank subassembly from this. Therefore, the thigh component and the shank component can be conveniently connected and separated through the design of the connecting, taking and placing component, and the thigh component and the shank component are convenient to wear.

In this embodiment, the lower leg assembly further includes a lower leg rotation block 4, the lower leg rotation block 4 is rotatably connected to the second stay wheel 18 through a first longitudinal rotation member, and one end of the lower leg rotation block 4 away from the end connected to the second stay wheel 18 is rotatably connected to the lower leg arm connection link 5 through a second longitudinal rotation member.

Like this, rotatory piece 4 of shank rotates through first longitudinal rotation piece with second wire drawing wheel 18 to be connected, and the rotatory piece 4 of shank is kept away from its one end of connecting second wire drawing wheel 18 and is passed through second longitudinal rotation piece and shank arm connector link 5 and rotate to be connected, and the motion of the knee joint of can being convenient for more like this laminates improves the travelling comfort of dressing.

In this embodiment, the calf assembly further comprises a calf adjusting part, the calf adjusting part comprises a calf guard plate 9, a calf guard plate cover 10, a second rotary buckle 11 and a second torsion spring 24, the calf guard plate 9 and the calf guard plate cover 10 are fixedly connected, a calf binding piece 12 is arranged on the calf guard plate 9, a second connecting shaft is arranged on the calf guard plate 9 along the longitudinal direction, the second rotary buckle 11 and the second torsion spring 24 are coaxially sleeved on the second connecting shaft, the second rotary buckle 11 is rotatably connected on the second connecting shaft, two ends of the second torsion spring 24 are respectively connected on the second rotary buckle 11 and the second connecting shaft, a plurality of third buckle holes 601 are formed in one end, close to the calf guard plate 9, of the buckle base 6 along the vertical direction, a fourth buckle hole is formed in the calf guard plate cover 10, one end of the second rotary buckle 11 is clamped in the fourth buckle hole, and the other end of the second rotary buckle 11 can stretch into or exit from the third buckle hole 601.

Like this, the nimble regulation of whole shank subassembly length can be realized to shank adjusting part, and then adapts to different risees and the people of size and dress. When adjustment is needed, the second rotary buckle 11 is pressed to enable the second rotary buckle 11 to withdraw from the third buckle hole 601, then the lower leg protection plate 9 is moved to enable the lower leg protection plate 9 to move to the third buckle hole 601 at different positions, after the lower leg protection plate 9 moves to the third buckle hole 601 at the corresponding position, the second rotary buckle 11 is loosened, and under the action of the second torsion spring 24, the second rotary buckle 11 is reset and extends into the third buckle hole 601 at the corresponding position, so that connection between the lower leg adjusting component and the buckle base 6 is realized; during specific use, because a plurality of third buckle holes 601 have been seted up along vertical direction on buckle base 6, consequently when needs adjust the shank subassembly and make it have different length, with shank fender 9 remove to the third buckle hole 601 department that corresponds the position can, realize the nimble regulation of whole shank subassembly length through shank adjusting part from this, improve the travelling comfort that different crowds dressed.

In this embodiment, the thigh subassembly includes thigh backplate 1 and thigh protecting cover 2, thigh backplate 1 and 2 fixed connection of thigh protecting cover, and forms the accommodation space between thigh backplate 1 and the thigh protecting cover 2, and electricity generation subassembly, gear train subassembly and stay wire wheel subassembly all are located the accommodation space that thigh backplate 1 and thigh protecting cover 2 formed.

Therefore, the power generation assembly, the gear train assembly and the wire pulling wheel assembly are arranged in the accommodating space formed by the thigh protective plate 1 and the thigh protective cover 2, and the power generation assembly, the gear train assembly and the wire pulling wheel assembly can be protected.

In the present embodiment, both longitudinal sides of the thigh guard plate 1 are rotatably connected with thigh bindings 3 through first vertical rotating members, so that the thigh bindings 3 can rotate around the thigh guard plate 1, and the two thigh bindings 3 can be connected together and form a space for accommodating human thighs together with the thigh guard plate 1;

protect the vertical both sides that harden 9 at the shank and all be connected with shank tie-up 12 through the rotation of the vertical rotation piece of second to make shank tie-up 12 can protect hardening 9 around the shank and rotate, and two shank tie-up 12 can link together and form the space that is used for holding human shank with buckle base 6 jointly.

Like this, when this ectoskeleton is dressed to the people of different heights and size, through thigh tie-up 3 around the rotation of thigh backplate 1, shank tie-up 12 around the rotation that shank backplate 9, can adjust the size that is used for holding human thigh and shank space in a flexible way to the different human wearing demands of better adaptation improve and dress the travelling comfort.

In this embodiment, the two ends of the gear shaft 19 are respectively rotatably connected to the thigh guard 1 and the thigh cover 2 through the first bearing and the second bearing, and the two ends of the first axial rotation member 21 are respectively rotatably connected to the thigh guard 1 and the thigh cover 2 through the third bearing and the fourth bearing.

Compared with the prior art, the scheme collects the negative work and converts the negative work into the elastic potential energy of the coil spring 22 and the electric energy of the generator 13 and the loss in the energy transmission process in the knee extension process, namely the negative work doing stage of the knee joint, thereby realizing the purposes of recycling the negative work and reducing the impact on the knee joint of the human body; in the process of knee bending, the elastic potential energy of the coil spring 22 assists the knee bending movement of the knee joint, so that the exoskeleton of the scheme continuously repeats the process in the walking process to achieve the effects of energy recovery and assistance. The scheme reduces energy consumption in the walking process, collects negative work in the walking process, converts the negative work into electric energy which can be used by electronic equipment through a specific mechanical structure, designs the lower limb exoskeleton with the energy recovery device, collects kinetic energy of the lower limbs of a human body, recovers the kinetic energy of the human body through redistributing torque of the knee joint, and assists the walking of the human body. The converted electric energy can solve the power utilization problem of outdoor low-power consumption electronic equipment, and can be applied to outdoor activities such as rescue and relief work, mountain climbing and exploration and the like. This scheme is dressed conveniently comfortablely, is fit for hand-carrying in outdoor activities. This scheme need not spend manpower and time in order to realize the replenishment of electric energy deliberately. This scheme can turn into the reciprocating motion of knee joint into the one-way motion that is fit for the electricity generation through the effect of one-way bearing etc..

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that those modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all should be covered in the scope of the claims of the present invention.

Claims (10)

1. A lower limb knee joint movement energy recovery assisting exoskeleton is characterized by comprising a thigh component, a shank component, a power generation component, a gear train component and a wire pulling wheel component;

the thigh component is used for being connected with a thigh of a human body, the shank component is used for being connected with a shank of the human body, the stay wire wheel component is connected with the shank component through a first axial rotation component, so that when the shank of the human body swings back and forth relative to the thigh, the shank component can drive the stay wire wheel component to rotate around the shank component, the gear train component is connected to the thigh component in a rotating mode, the gear train component is connected with the stay wire wheel component through a connection stay wire, so that when the stay wire wheel component rotates relative to the shank component, the stay wire wheel component drives the gear train component to rotate around the shank component through the connection stay wire, the power generation component comprises a power generator and an output gear, the output gear is sleeved on a rotating shaft of the power generator, and the output gear is meshed with the gear train component, so that when the gear train component rotates around the thigh component, the gear train component drives the output gear to rotate.

2. The lower limb knee joint movement energy recovery assisting exoskeleton of claim 1, wherein the gear train assembly comprises a transmission gear, a first stay wire wheel and a gear shaft arranged along the axial direction, the gear shaft is rotatably connected with the thigh assembly, the transmission gear is fixedly connected with the gear shaft, the first stay wire wheel is connected to the gear shaft through a one-way bearing, so that the gear shaft can be driven to rotate through the one-way bearing when the first stay wire wheel rotates in the forward direction, the first stay wire wheel can rotate freely relative to the one-way bearing when the first stay wire wheel rotates in the reverse direction, a first groove is formed in the first stay wire wheel, and the connection stay wire is sleeved on the first groove.

3. The lower limb knee joint movement energy recovery assisting exoskeleton of claim 2, wherein the stay wire wheel assembly comprises a second stay wire wheel, the second stay wire wheel is fixedly connected with the first axial rotation piece, a second groove is formed in the second stay wire wheel, and the connecting stay wire is sleeved on the second groove.

4. The lower limb knee joint movement energy recovery and assistance exoskeleton of claim 3, wherein the diameter of the second stay wheel is larger than that of the first stay wheel, the diameter of the transmission gear is larger than that of the first stay wheel, and the diameter of the transmission gear is larger than that of the output gear.

5. The lower limb knee joint movement energy recovery assisting exoskeleton of claim 3, wherein a coil spring is further sleeved on the first axial rotation member, the inner end of the coil spring is fixedly connected with the second stay wire wheel, and the outer end of the coil spring is fixedly connected with the thigh component, so that the coil spring can be compressed during knee extension movement and reset during knee flexion movement.

6. The lower limb knee joint movement energy recovery assisting exoskeleton of claim 5, wherein the lower leg assembly comprises a lower leg arm connecting buckle and a connection taking and placing component, the lower leg arm connecting buckle is provided with a first buckle hole, the connection taking and placing component comprises a buckle cover, a buckle base, a first rotating buckle and a first torsion spring, the buckle cover is fixedly connected with the buckle base, the buckle base is provided with a first connecting shaft along a longitudinal direction, the first rotating buckle and the first torsion spring are coaxially sleeved on the first connecting shaft, the first rotating buckle is rotatably connected to the first connecting shaft, two ends of the first torsion spring are respectively connected to the first rotating buckle and the first connecting shaft, the buckle cover is further provided with a second buckle hole, one end of the first rotating buckle is clamped in the second buckle hole, and the other end of the first rotating buckle can extend into or withdraw from the first buckle hole.

7. The lower limb knee joint movement energy recovery assisting exoskeleton of claim 6, wherein the lower leg assembly further comprises a lower leg rotating block, the lower leg rotating block is rotatably connected with the second stay wire wheel through a first longitudinal rotating member, and one end, far away from the end, connected with the second stay wire wheel, of the lower leg rotating block is rotatably connected with the lower leg arm connecting buckle through a second longitudinal rotating member.

8. The lower limb knee joint movement energy recovery assistance exoskeleton of claim 6, wherein the lower leg assembly further comprises a lower leg adjusting part, the lower leg adjusting part comprises a lower leg guard plate, a lower leg guard plate cover, a second rotating buckle and a second torsion spring, the lower leg guard plate and the lower leg guard plate cover are fixedly connected, a lower leg binding piece is arranged on the lower leg guard plate, a second connecting shaft is arranged on the lower leg guard plate along the longitudinal direction, the second rotating buckle and the second torsion spring are coaxially sleeved on the second connecting shaft, the second rotating buckle is rotatably connected onto the second connecting shaft, two ends of the second torsion spring are respectively connected onto the second rotating buckle and the second connecting shaft, a plurality of third buckle holes are formed in one end, close to the lower leg guard plate, of the buckle base along the vertical direction, a fourth buckle hole is formed in the lower leg guard plate cover, one end of the second rotating buckle is clamped into the fourth buckle hole, and the other end of the second rotating buckle can extend into or withdraw from the third buckle hole.

9. The lower limb knee joint movement energy recovery assisting exoskeleton of claim 8, wherein the thigh assembly comprises a thigh guard plate and a thigh protecting cover, the thigh guard plate and the thigh protecting cover are fixedly connected, an accommodating space is formed between the thigh guard plate and the thigh protecting cover, and the power generation assembly, the gear train assembly and the wire pulling wheel assembly are all located in the accommodating space formed by the thigh guard plate and the thigh protecting cover.

10. The lower extremity knee movement energy recovery assisting exoskeleton of claim 9 wherein thigh bindings are rotatably connected to both longitudinal sides of said thigh guard by first vertical rotating members so that said thigh bindings can rotate around said thigh guard, and both of said thigh bindings can be connected together and form a space with said thigh guard for receiving a thigh of a human body;

the longitudinal two sides of the shank guard plate are rotatably connected with shank binding pieces through second vertical rotating pieces, so that the shank binding pieces can rotate around the shank guard plate, and the two shank binding pieces can be connected together and form a space for accommodating human shanks together with the buckle base.

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