WO2024050747A1 - Joint assistance and energy recovery apparatus - Google Patents
Joint assistance and energy recovery apparatus Download PDFInfo
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- WO2024050747A1 WO2024050747A1 PCT/CN2022/117735 CN2022117735W WO2024050747A1 WO 2024050747 A1 WO2024050747 A1 WO 2024050747A1 CN 2022117735 W CN2022117735 W CN 2022117735W WO 2024050747 A1 WO2024050747 A1 WO 2024050747A1
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- 238000011084 recovery Methods 0.000 title claims abstract description 48
- 230000005540 biological transmission Effects 0.000 claims abstract description 67
- 238000010248 power generation Methods 0.000 claims abstract description 66
- 230000033001 locomotion Effects 0.000 claims abstract description 40
- 210000000629 knee joint Anatomy 0.000 claims abstract description 35
- 230000008275 binding mechanism Effects 0.000 claims abstract description 18
- 238000004146 energy storage Methods 0.000 claims abstract description 18
- 238000000034 method Methods 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims abstract description 12
- 238000013016 damping Methods 0.000 claims description 10
- 230000000087 stabilizing effect Effects 0.000 claims description 7
- 230000009467 reduction Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 claims description 2
- 244000309466 calf Species 0.000 description 10
- 210000001503 joint Anatomy 0.000 description 7
- 210000000689 upper leg Anatomy 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 210000000544 articulatio talocruralis Anatomy 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 206010034701 Peroneal nerve palsy Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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Abstract
The present invention relates to a joint assistance and energy recovery apparatus, comprising a human-machine fixation device, a power generation unit, a control system, and an energy storage unit. The power generation unit comprises a power generator and a transmission apparatus; two binding mechanisms transmit a joint movement to the transmission apparatus; the transmission apparatus increases the speed of the joint movement and transmits the joint movement to the power generator; the power generation unit is configured to recover mechanical energy of a human joint during movement, and provide impedance resistance for the joint in a specific movement process, thereby reducing the walking burden of a human knee joint; and the energy storage unit is configured to store electric energy recovered by the power generator, and the control system is configured to control the power generation power and the power generation current of the power generation unit, or to adjust the impedance torque of the power generation unit. The present invention can be used for recovering the biological mechanical energy of human joints in the walking process, and can also be used for providing an impedance torque for a wearer in the process of going downhill or downstairs, thereby reducing the walking burden of the wearer.
Description
本发明涉及一种关节助力和能量回收装置。The invention relates to a joint power assist and energy recovery device.
近年来随着科技的快速进步，微电子产品得到了长足的发展，并广泛运用于各行各业，如人体无线蓝牙耳机，人体无线运动检测传感器，物联网等，其中人体无线穿戴设备引起了科学界和工业界的广泛关注。为解决人体无线穿戴设备在供电方面所面临的挑战，大量研究者和科技公司投入到人体能量捕捉领域，并提出了自功能传感器。In recent years, with the rapid progress of science and technology, microelectronic products have made great progress and are widely used in various industries, such as human body wireless Bluetooth headsets, human body wireless motion detection sensors, Internet of Things, etc. Among them, human body wireless wearable devices have caused scientific research wide attention from the world and industry. In order to solve the power supply challenges faced by wireless wearable devices on the human body, a large number of researchers and technology companies have invested in the field of human energy capture and proposed self-functioning sensors.
日常运动过程中，人体各个关节将有大量的机械能被耗散，如行走过程中人体膝关节在摆动过程中几何全部做负功，此外，在下坡和下楼过程中，人体膝关节需提供较大的阻抗力矩，用于支撑人体重量，同时降低人体重心。During daily exercise, a large amount of mechanical energy will be dissipated in various joints of the human body. For example, during walking, the human knee joints perform negative work during the swing process. In addition, during the process of going downhill and going down stairs, the human knee joints need to provide a relatively large amount of mechanical energy. The large resistance moment is used to support the weight of the human body and reduce the center of gravity of the human body.
发明内容Contents of the invention
为了克服上述现有技术中存在的问题，本发明提出一种关节助力和能量回收装置，该装置可用于回收人体关节在行走过程中的生物机械能，也可用于为穿戴者在下坡或者下楼过程中提供阻抗力矩，从而降低穿戴者的行走负担。In order to overcome the problems existing in the above-mentioned prior art, the present invention proposes a joint power assist and energy recovery device, which can be used to recover the biomechanical energy of human body joints during walking, and can also be used to provide support for the wearer when going downhill or downstairs. Provides resistance moment, thereby reducing the wearer's walking burden.
本发明解决上述问题的技术方案是：一种关节助力和能量回收装置，其特殊之处在于：The technical solution of the present invention to solve the above problems is: a joint power assist and energy recovery device, the special features of which are:
包括人机固定装置、发电单元、控制系统、储能单元；Including human-machine fixtures, power generation units, control systems, and energy storage units;
所述人机固定装置包括第一绑缚机构和第二绑缚机构；The human-machine fixation device includes a first binding mechanism and a second binding mechanism;
所述发电单元包括发电机、传动装置，两个绑缚机构将关节运动传递至传动装置，传动装置将关节运动速度放大传递到发电机，所述发电单元用于回收人体关节在运动过程中的机械能，以及用于为关节在特定的运动过程中提供阻抗阻力，从而降低人体膝关节行走负担；储能单元用于存储发电机回收的电能，控制系统用于控制所述发电单元的发电功率、发电电流，或用于调节发电单元 的阻抗力矩。The power generation unit includes a generator and a transmission device. Two binding mechanisms transmit joint motion to the transmission device. The transmission device amplifies the joint motion speed and transmits it to the generator. The power generation unit is used to recover the energy of the human joints during movement. Mechanical energy, and is used to provide resistance to joints during specific movements, thereby reducing the burden of walking on human knee joints; the energy storage unit is used to store the electrical energy recovered by the generator, and the control system is used to control the power generation of the power generation unit. Generating current, or used to adjust the impedance torque of the power generation unit.
进一步地，上述传动装置将关节运动速度放大传递到发电机，同时将关节的双向运动转化为所述发电机的单向运动，降低所述发电单元在运动变向过程的速度波动。Furthermore, the above-mentioned transmission device amplifies the joint movement speed and transmits it to the generator, and at the same time converts the bidirectional movement of the joint into the one-way movement of the generator, thereby reducing the speed fluctuation of the power generation unit during the movement change process.
进一步地，上述传动装置是两条并行的齿轮传动链配合单向传动轴承，将双向运动转化为单向运动。Further, the above-mentioned transmission device is two parallel gear transmission chains matched with one-way transmission bearings to convert two-way motion into one-way motion.
进一步地，上述传动装置是减速箱结合两个相对配置的锥齿轮传动配合单向传动轴承，将双向运动转化为单向运动。Furthermore, the above-mentioned transmission device is a reduction box combined with two oppositely arranged bevel gear transmissions and one-way transmission bearings to convert two-way motion into one-way motion.
进一步地，上述传动装置包括传动轴、锥齿轮一、锥齿轮三和增速器，锥齿轮一、锥齿轮三分别通过单向轴承对称安装在传动轴上，两个单向轴承允许转动方向相反，增速器的输入轴上安装锥齿轮二，锥齿轮一和锥齿轮三分别与锥齿轮二啮合，第二绑缚机构带动传动轴转动，增速器的输出轴与发电机的转轴连接。Further, the above-mentioned transmission device includes a transmission shaft, bevel gear one, bevel gear three and a speed increaser. Bevel gear one and bevel gear three are respectively symmetrically installed on the transmission shaft through one-way bearings. The two one-way bearings allow the rotation direction to be opposite. , bevel gear two is installed on the input shaft of the speed increaser, bevel gear one and bevel gear three mesh with bevel gear two respectively, the second binding mechanism drives the transmission shaft to rotate, and the output shaft of the speed increaser is connected to the rotating shaft of the generator.
进一步地，上述传动轴的端部设有拨动柄，拨动柄通过拨动柄锁紧螺钉与传动轴连接，第二绑缚机构通过拨动柄和拨动柄锁紧螺钉带动传动轴转动。Further, the end of the above-mentioned transmission shaft is provided with a toggle handle. The toggle handle is connected to the transmission shaft through the toggle handle locking screw. The second binding mechanism drives the transmission shaft to rotate through the toggle handle and the toggle handle locking screw. .
进一步地，上述关节助力和能量回收装置还包括惯性单元，惯性单元用于增加所述发电单元的惯性，从而降低所述发电单元在能量回收过程中的速度波动性，从而提高所述发电单元的发电效率。Further, the above-mentioned joint power assist and energy recovery device also includes an inertia unit, which is used to increase the inertia of the power generation unit, thereby reducing the speed fluctuation of the power generation unit during the energy recovery process, thereby improving the power of the power generation unit. Power generation efficiency.
进一步地，上述惯性单元为与发电机连接的减速齿轮配合飞轮，提高发电单元的转动惯性，从而降低所述发电单元中发电机的速度波动性，稳定发电机的输出电压。Furthermore, the above-mentioned inertia unit is a reduction gear coupled with a flywheel connected to the generator to increase the rotational inertia of the power generation unit, thereby reducing the speed fluctuation of the generator in the power generation unit and stabilizing the output voltage of the generator.
进一步地，上述惯性单元包括小圆柱齿轮、大圆柱齿轮、飞轮轴，小圆柱齿轮安装在发电机转轴的尾部轴上，小圆柱齿轮与大圆柱齿轮啮合，大圆柱齿轮固定在飞轮轴上，飞轮轴通过轴承与飞轮轴支撑座相连。Further, the above-mentioned inertial unit includes a small cylindrical gear, a large cylindrical gear, and a flywheel shaft. The small cylindrical gear is installed on the tail shaft of the generator shaft. The small cylindrical gear meshes with the large cylindrical gear. The large cylindrical gear is fixed on the flywheel shaft. The wheel shaft is connected to the flywheel shaft support seat through bearings.
进一步地，当所述的发电单元用于回收人体膝关节的运动过程中的机械能时，如平地行走过程中，所述控制系统将控制所述发电单元降低其对人体膝关 节的影响；当所述的发电单元用于为人体膝关节提供阻抗力矩时，如下楼或者下坡过程中，所述控制系统将控制所述发电单元在特定的状态提供所需部分或全部的阻抗力矩，从而降低人体膝关节负担。Further, when the power generation unit is used to recover mechanical energy during the movement of the human knee joint, such as during walking on flat ground, the control system will control the power generation unit to reduce its impact on the human knee joint; When the above-mentioned power generation unit is used to provide resistance torque for the human knee joint, such as when going downstairs or downhill, the control system will control the power generation unit to provide part or all of the required resistance torque in a specific state, thereby reducing the human body's Knee joint burden.
进一步地，上述所述发电单元还包括阻尼单元，阻尼单元用于提供阻抗力矩。Further, the above-mentioned power generation unit also includes a damping unit, and the damping unit is used to provide resistance torque.
进一步地，上述阻尼单元与发电单元并联，所述阻尼单元为阻尼器。Further, the above-mentioned damping unit is connected in parallel with the power generation unit, and the damping unit is a damper.
进一步地，上述阻尼单元为磁流变阻尼器(直线型)、磁流变制动器(旋转型)中的一种。Further, the above-mentioned damping unit is one of a magnetorheological damper (linear type) and a magnetorheological brake (rotary type).
进一步地，上述储能单元包括人体便携电子产品，人体便携电子产品包括无线IMU单元、人体运动检测设备等的一种或多种。Further, the above-mentioned energy storage unit includes a portable electronic product for the human body, and the portable electronic product for the human body includes one or more of a wireless IMU unit, a human movement detection device, and the like.
进一步地，上述储能单元包括人体照明设备、无线通讯设备、GPS定位设备等的一种或多种。Further, the above-mentioned energy storage unit includes one or more of human body lighting equipment, wireless communication equipment, GPS positioning equipment, etc.
进一步地，上述储能单元为电池或者超级电容，用于存储发电单元回收的电能。Further, the above-mentioned energy storage unit is a battery or a supercapacitor, which is used to store the electrical energy recovered by the power generation unit.
进一步地，上述发电机为直流电机，所述直流电机为直流有刷电机或直流无刷电机。Further, the above-mentioned generator is a DC motor, and the DC motor is a DC brush motor or a DC brushless motor.
进一步地，上述传动轴通过轴承二与传动轴安装座相连，传动轴安装座固定在底板上，底板与第一绑缚机构固连。Further, the above-mentioned transmission shaft is connected to the transmission shaft mounting seat through the second bearing, the transmission shaft mounting seat is fixed on the bottom plate, and the bottom plate is fixedly connected to the first binding mechanism.
进一步地，上述增速器通过增速器安装座固定在底板上。Further, the above-mentioned speed increaser is fixed on the base plate through a speed increaser mounting base.
进一步地，上述发电机通过发电机稳定座固定与底板上。Further, the above-mentioned generator is fixed to the base plate through a generator stabilizing base.
本发明的优点：Advantages of the invention:
1、本发明公开了一款人体关节助力和能量回收装置，例如，该装置可用于回收人体膝关节在行走过程中的生物机械能，也可用于为穿戴者在下坡或者下楼过程中提供阻抗力矩，从而降低穿戴者的行走负担，发明提出的关节助力和能量回收装置也可用于人体踝关节或髋关节等回收机械能或提供阻抗力矩。1. The present invention discloses a human body joint power assist and energy recovery device. For example, the device can be used to recover the biomechanical energy of the human knee joint during walking, and can also be used to provide resistance torque for the wearer when going downhill or downstairs. , thereby reducing the walking burden of the wearer. The joint power assist and energy recovery device proposed by the invention can also be used in human ankle or hip joints to recover mechanical energy or provide resistance torque.
2、本发明采用两对相对布置的圆锥齿轮传动配合单向轴承将膝关节的双向 弯曲运动转化为单向运动，提高了该装置的能量回收效率，降低了人体膝关节在变向过程中，装置惯性力对装置能量回收效率的影响。2. The present invention uses two pairs of oppositely arranged bevel gear transmissions and one-way bearings to convert the two-way bending motion of the knee joint into one-way motion, which improves the energy recovery efficiency of the device and reduces the impact of the human knee joint during the direction change process. The influence of device inertia force on device energy recovery efficiency.
3、本发明在装置中加入了飞轮机构，用于增加传动链的转动惯量，从而降低速度波动性，使该能量回收装置保持在较高的输出速度，从而获得较高的输出电压。3. The present invention adds a flywheel mechanism to the device to increase the moment of inertia of the transmission chain, thereby reducing speed fluctuation and maintaining the energy recovery device at a higher output speed, thereby obtaining a higher output voltage.
4、本发明提出在发电单元并联一个阻尼器，提高了该膝关节助力和能量回收装置的阻抗力矩输出。4. The present invention proposes to connect a damper in parallel with the power generation unit to improve the resistance torque output of the knee joint assist and energy recovery device.
图1是本发明实施例的主视图；Figure 1 is a front view of the embodiment of the present invention;
图2是本发明实施例的去掉外壳的主视图；Figure 2 is a front view of the embodiment of the present invention with the outer shell removed;
图3是本发明实施例的主要机械结构布局图；Figure 3 is a main mechanical structure layout diagram of the embodiment of the present invention;
图4是本发明实施例的第一种原理图；Figure 4 is a first schematic diagram of an embodiment of the present invention;
图5是本发明实施例的第二种原理图；Figure 5 is a second schematic diagram of an embodiment of the present invention;
图6是本发明实施例的第三种原理图。Figure 6 is a third schematic diagram of an embodiment of the present invention.
图中所示：小腿绑带一1，小腿绑带二2，拨动柄3，拨动柄锁紧螺钉4，外壳5，大腿绑带一6，大腿绑带二7，传动轴8，轴用挡圈一9，单向轴承一10，锥齿轮一11，锥齿轮二12，锥齿轮二锁紧螺钉13，增速器安装座14，增速器15，发电机16，发电机稳定座17，小圆柱齿轮18，大圆柱齿轮19，飞轮轴20，飞轮轴连接螺钉21，飞轮轴支撑座22，轴承一23，轴用挡圈二24，底板25，小圆柱齿轮紧定螺钉26，锥齿轮三27，传动轴安装座28，轴用挡圈三29，单向轴承二30，轴承二31，轴用挡圈四32。Shown in the picture: calf strap one 1, calf strap two 2, toggle handle 3, toggle handle locking screw 4, shell 5, thigh strap one 6, thigh strap two 7, drive shaft 8, shaft Use retaining ring 19, one-way bearing 10, bevel gear 11, bevel gear 2 12, bevel gear 2 locking screw 13, speed increaser mounting base 14, speed increaser 15, generator 16, generator stabilizing seat 17. Small cylindrical gear 18, large cylindrical gear 19, flywheel shaft 20, flywheel shaft connecting screw 21, flywheel shaft support seat 22, bearing one 23, shaft retaining ring two 24, bottom plate 25, small cylindrical gear set screw 26, Bevel gear three 27, transmission shaft mounting seat 28, shaft retaining ring three 29, one-way bearing two 30, bearing two 31, shaft retaining ring four 32.
为使本发明实施方式的目的、技术方案和优点更加清楚，下面将结合本发明实施方式中的附图，对本发明实施方式中的技术方案进行清楚、完整地描述，显然，所描述的实施方式是本发明一部分实施方式，而不是全部的实施方式。基于本发明中的实施方式，本领域普通技术人员在没有做出创造性劳动前提下 所获得的所有其他实施方式，都属于本发明保护的范围。因此，以下对在附图中提供的本发明的实施方式的详细描述并非旨在限制要求保护的本发明的范围，而是仅仅表示本发明的选定实施方式。In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention. Accordingly, the following detailed description of embodiments of the invention provided in the appended drawings is not intended to limit the scope of the claimed invention, but rather to represent selected embodiments of the invention.
参见图1-图6，本发明提供了一种关节助力和能量回收装置，包括人机固定装置、发电单元、控制系统、储能单元。Referring to Figures 1-6, the present invention provides a joint power assist and energy recovery device, which includes a human-machine fixation device, a power generation unit, a control system, and an energy storage unit.
所述人机固定装置包括第一绑缚机构和第二绑缚机构，第一绑缚机构和第二绑缚机构分别固定在人体关节的两个部位上。所述发电单元包括发电机16、传动装置，所述发电单元用于回收人体关节在运动过程中的机械能，以及用于为关节在特定的运动过程(如下楼或者下坡过程)中提供阻抗阻力，从而降低人体膝关节行走负担；储能单元用于存储发电机16回收的电能，控制系统用于控制所述发电单元的发电功率、发电电流，同时，当所述的发电单元用于回收人体膝关节的运动过程中的机械能时，如平地行走过程中，所述控制系统将控制所述发电单元降低其对人体膝关节的影响；当所述的发电单元用于为人体膝关节提供阻抗力矩时，如下楼或者下坡过程中，所述控制系统将控制所述发电单元在特定的状态提供所需部分或全部的阻抗力矩，从而降低人体膝关节负担。The human-machine fixation device includes a first binding mechanism and a second binding mechanism. The first binding mechanism and the second binding mechanism are respectively fixed on two parts of the human body joint. The power generation unit includes a generator 16 and a transmission device. The power generation unit is used to recover the mechanical energy of human body joints during movement, and to provide impedance resistance for the joints during specific movement processes (such as downstairs or downhill processes). , thereby reducing the burden of walking on the human knee joint; the energy storage unit is used to store the electrical energy recovered by the generator 16, and the control system is used to control the power generation and current of the power generation unit. At the same time, when the power generation unit is used to recover the human body When the mechanical energy is used during the movement of the knee joint, such as during walking on flat ground, the control system will control the power generation unit to reduce its impact on the human knee joint; when the power generation unit is used to provide resistance torque for the human knee joint For example, when going downstairs or going downhill, the control system will control the power generation unit to provide part or all of the required resistance moment in a specific state, thereby reducing the burden on the human knee joint.
在本发明提供的一些实施例中，参见图3，所述关节助力和能量回收装置还包括惯性单元，惯性单元包括小圆柱齿轮18、大圆柱齿轮19、飞轮轴20，小圆柱齿轮18安装在发电机16转轴的尾部轴上，小圆柱齿轮18与大圆柱齿轮19啮合，大圆柱齿轮19固定在飞轮轴20上，飞轮轴20通过轴承与飞轮轴支撑座22相连。In some embodiments provided by the present invention, see Figure 3, the joint power assist and energy recovery device also includes an inertial unit. The inertial unit includes a small cylindrical gear 18, a large cylindrical gear 19, and a flywheel shaft 20. The small cylindrical gear 18 is installed on On the tail shaft of the rotating shaft of the generator 16, the small cylindrical gear 18 meshes with the large cylindrical gear 19. The large cylindrical gear 19 is fixed on the flywheel shaft 20, and the flywheel shaft 20 is connected to the flywheel shaft support seat 22 through bearings.
在本发明提供的一些实施例中，参见图3，所述传动装置包括传动轴8、锥齿轮一11、锥齿轮三27和增速器15，锥齿轮一11、锥齿轮三27分别通过单向轴承对称安装在传动轴8上，两个单向轴承允许转动方向相反，增速器15的输入轴上安装锥齿轮二12，锥齿轮一11和锥齿轮三27分别与锥齿轮二12啮合，第二绑缚机构带动传动轴8转动，增速器15的输出轴与发电机16的转轴连接。In some embodiments provided by the present invention, referring to Figure 3, the transmission device includes a transmission shaft 8, a bevel gear 11, a bevel gear 3 27 and a speed increaser 15. The bevel gear 11 and the bevel gear 3 27 pass through a single unit respectively. The two one-way bearings are symmetrically installed on the transmission shaft 8. The two one-way bearings allow the rotation direction to be opposite. The bevel gear two 12 is installed on the input shaft of the speed increaser 15. The bevel gear one 11 and the bevel gear three 27 mesh with the bevel gear two 12 respectively. , the second binding mechanism drives the transmission shaft 8 to rotate, and the output shaft of the speed increaser 15 is connected to the rotating shaft of the generator 16.
在本发明提供的一些实施例中，参见图3，所述传动轴8的端部设有拨动柄 3，拨动柄3通过拨动柄锁紧螺钉4与传动轴8连接，第二绑缚机构通过拨动柄3和拨动柄锁紧螺钉4带动传动轴8转动。In some embodiments provided by the present invention, see Figure 3, the end of the transmission shaft 8 is provided with a toggle handle 3, and the toggle handle 3 is connected to the transmission shaft 8 through a toggle handle locking screw 4. The binding mechanism drives the transmission shaft 8 to rotate through the toggle handle 3 and the toggle handle locking screw 4.
在本发明提供的一些实施例中，参见图3，所述传动轴8通过轴承二与传动轴安装座28相连，传动轴安装座28固定在底板25上，底板25与第一绑缚机构固连。In some embodiments provided by the present invention, see Figure 3, the transmission shaft 8 is connected to the transmission shaft mounting seat 28 through the second bearing. The transmission shaft mounting seat 28 is fixed on the bottom plate 25, and the bottom plate 25 is fixed to the first binding mechanism. even.
在本发明提供的一些实施例中，参见图3，所述增速器15通过增速器安装座14固定在底板25上。所述发电机16通过发电机稳定座17固定与底板25上。阻尼单元为一般的阻尼器、磁流变阻尼器、磁流变制动器中的一种。储能单元包括人体便携电子产品，如无线IMU单元、人体运动检测设备等的一种或多种。储能单元还可以包括人体照明设备、无线通讯设备、GPS定位设备等的一种或多种。储能单元为电池或者超级电容，用于存储发电单元回收的电能。In some embodiments provided by the present invention, see FIG. 3 , the speed increaser 15 is fixed on the base plate 25 through the speed increaser mounting base 14 . The generator 16 is fixed on the base plate 25 through a generator stabilizing base 17 . The damping unit is one of a general damper, a magnetorheological damper, and a magnetorheological brake. The energy storage unit includes one or more types of portable electronic products for the human body, such as wireless IMU units, human movement detection equipment, etc. The energy storage unit may also include one or more of human body lighting equipment, wireless communication equipment, GPS positioning equipment, etc. The energy storage unit is a battery or supercapacitor, which is used to store the electrical energy recovered by the power generation unit.
实施例Example
一种关节助力和能量回收装置，包括人机固定装置、发电单元、控制系统、储能单元。下面以该装置应用于人体膝关节时为例进行说明。A joint power assist and energy recovery device includes a human-machine fixation device, a power generation unit, a control system, and an energy storage unit. The following is an example when the device is applied to the human knee joint.
参见图1-图4，人机固定装置包括小腿绑带一1、小腿绑带二2、大腿绑带一6、大腿绑带二7。通过大腿绑带一6和大腿绑带二7与人体大腿紧密相连，通过小腿绑带一1和小腿绑带二2与人体小腿紧密相连，小腿绑带一1和小腿绑带二2通过拨动柄3和拨动柄锁紧螺钉4向轴心处输入旋转动力。发电单元包括发电机、传动装置，发电单元设置在外壳5内。Referring to Figures 1 to 4, the human-machine fixation device includes calf strap 1, calf strap 2 2, thigh strap 6, and thigh strap 2 7. The thigh strap one 6 and the thigh strap two 7 are closely connected to the human thigh, and the calf strap one 1 and the calf strap two 2 are closely connected to the human calf. The calf strap one 1 and the calf strap two 2 are turned on. The handle 3 and the toggle handle locking screw 4 input rotational power to the axis. The power generation unit includes a generator and a transmission device, and is arranged in the housing 5 .
参见图3，传动装置的拨动柄3通过拨动柄锁紧螺钉4与传动轴8连接，人体小腿运动时通过拨动柄3和拨动柄锁紧螺钉4带动传动轴8转动，单向轴承一10通过轴用挡圈一9在轴向限位于传动轴8上，锥齿轮一11与单向轴承一10外圈过盈配合，锥齿轮一11可以通过锥齿轮二12和锥齿轮二锁紧螺钉13带动增速器15转动，增速器15通过增速器安装座14固定在底板25上，传动轴8通过轴承二31与传动轴安装座28相连，传动轴安装座28固定在底板25上，轴承二31通过轴用挡圈四32在轴向限位于传动轴8上，单向轴承二30通过轴 用挡圈三29在轴向限位于传动轴8上，锥齿轮三27与单向轴承二30外圈过盈配合，锥齿轮三27可以通过锥齿轮二12和锥齿轮二锁紧螺钉13带动增速器15转动，其中单向轴承一10和单向轴承二30允许转动方向相反，传动轴8在转动过程中始终只有一个单向轴承通过锥齿轮带动增速器15转动，增速器15与发电机16相连，发电机16尾部通过发电机稳定座17固定与底板25上，发电机16尾部轴连接惯性单元。发电机16尾部轴与惯性单元的小圆柱齿轮18相连，小圆柱齿轮18通过小圆柱齿轮紧定螺钉26固定在尾部轴上，小圆柱齿轮18与大圆柱齿轮19啮合，大圆柱齿轮19通过飞轮轴连接螺钉21固定在飞轮轴20上，飞轮轴20通过轴承一23和轴用挡圈二24与飞轮轴支撑座22相连，飞轮轴支撑座22固定在底板25上，电机增速器15带动发电机16转动时，小圆柱齿轮18会带动大圆柱齿轮19和飞轮轴20转动，从而将转动惯量储存在由大圆柱齿轮19、飞轮轴20和飞轮轴连接螺钉21组成的飞轮单元。Referring to Figure 3, the toggle handle 3 of the transmission device is connected to the transmission shaft 8 through the toggle handle locking screw 4. When the human calf moves, the toggle handle 3 and the toggle handle locking screw 4 drive the transmission shaft 8 to rotate in one direction. Bearing one 10 is axially limited on the transmission shaft 8 through the shaft retaining ring one 9. The bevel gear one 11 has an interference fit with the outer ring of the one-way bearing one 10. The bevel gear one 11 can pass through the bevel gear two 12 and the bevel gear two The locking screw 13 drives the speed increaser 15 to rotate. The speed increaser 15 is fixed on the base plate 25 through the speed increaser mounting seat 14. The transmission shaft 8 is connected to the transmission shaft mounting seat 28 through the bearing 2 31. The transmission shaft mounting seat 28 is fixed on On the base plate 25, the second bearing 31 is axially limited to the transmission shaft 8 through the shaft retaining ring 4 32, the one-way bearing 30 is axially limited to the transmission shaft 8 through the shaft retaining ring 3 29, and the bevel gear 3 27 With an interference fit on the outer ring of the one-way bearing two 30, the bevel gear three 27 can drive the speed increaser 15 to rotate through the bevel gear two 12 and the bevel gear two locking screw 13. The one-way bearing one 10 and the one-way bearing two 30 allow The direction of rotation is opposite. During the rotation process, the transmission shaft 8 always has only one one-way bearing to drive the speed increaser 15 to rotate through the bevel gear. The speed increaser 15 is connected to the generator 16. The tail of the generator 16 is fixed to the base plate through the generator stabilizing seat 17. 25, the tail shaft of the generator 16 is connected to the inertial unit. The tail shaft of the generator 16 is connected to the small cylindrical gear 18 of the inertia unit. The small cylindrical gear 18 is fixed on the tail shaft through the small cylindrical gear set screw 26. The small cylindrical gear 18 meshes with the large cylindrical gear 19, and the large cylindrical gear 19 passes through the flywheel. The wheel shaft connection screw 21 is fixed on the flywheel shaft 20. The flywheel shaft 20 is connected to the flywheel shaft support seat 22 through the bearing one 23 and the shaft retaining ring two 24. The flywheel shaft support seat 22 is fixed on the base plate 25, and the motor speed increaser 15 drives When the generator 16 rotates, the small cylindrical gear 18 will drive the large cylindrical gear 19 and the flywheel shaft 20 to rotate, thereby storing the rotational inertia in the flywheel unit composed of the large cylindrical gear 19, the flywheel shaft 20 and the flywheel shaft connecting screw 21.
参见图3，单向轴承一10和单向轴承二30允许转动方向相反，当拨动柄3通过拨动柄锁紧螺钉4拨动传动轴8转动时，如果单向轴承一10带动锥齿轮一11转动，则单向轴承二30悬空，不会带动锥齿轮三27转动，同理，如果单向轴承二30带动锥齿轮三27转动，则单向轴承一10悬空，不会带动锥齿轮一11转动，无论传动轴8朝哪个方向转动，增速器15始终通过锥齿轮二12向一个方向转动动。Referring to Figure 3, the one-way bearing 10 and the one-way bearing 2 30 allow the rotation direction to be opposite. When the toggle handle 3 moves the transmission shaft 8 to rotate through the toggle handle locking screw 4, if the one-way bearing 10 drives the bevel gear One 11 rotates, then one-way bearing two 30 is suspended in the air and will not drive bevel gear three 27. Similarly, if one-way bearing two 30 drives bevel gear three 27 to rotate, one-way bearing one 10 will be suspended in the air and will not drive bevel gear When one 11 rotates, no matter which direction the transmission shaft 8 rotates, the speed increaser 15 always rotates in one direction through the bevel gear 212.
人行走过程中，人体膝关节在伸展和弯曲过程中完成双向运动，为降低膝关节在变向过程中产生的惯性力对能量回收效率的影响，本发明采用两对相对布置的圆锥齿轮传动配合两个单向轴承将膝关节的双向运动转化为电机的单向转动。此外为使电机的感应电压一直保持在较高输出，获得较高的能量回收效率，本发明提出将一减速器结合飞轮与电机另一端输出轴连接，从而提高整个电机传动链的转动惯性，降低电机在能量回收过程中的速度波动性，如图4所示。During walking, the human knee joint completes two-way motion during extension and bending. In order to reduce the impact of the inertia force generated by the knee joint during the direction change on the energy recovery efficiency, the present invention uses two pairs of oppositely arranged bevel gear transmission coordination. Two one-way bearings convert the two-way motion of the knee joint into one-way rotation of the motor. In addition, in order to keep the induced voltage of the motor at a high output and obtain a high energy recovery efficiency, the present invention proposes to connect a reducer combined with a flywheel to the output shaft at the other end of the motor, thereby increasing the rotational inertia of the entire motor transmission chain and reducing the The speed fluctuation of the motor during the energy recovery process is shown in Figure 4.
该膝关节助力和能力回收装置，除了前面所述的用于回收膝关节的生物机 械能外，还可以用于为膝关节提供阻抗力矩。例如，在下坡或者下楼过程中，为降低人体膝关节行走负担，该膝关节助力和能力回收装置可在适当的状态下提供阻抗力矩，用于支撑人体重量，降低人体重心。This knee joint assist and capacity recovery device, in addition to recovering the biomechanical energy of the knee joint as mentioned above, can also be used to provide resistance torque to the knee joint. For example, in order to reduce the burden of walking on the human knee joint when going downhill or downstairs, the knee joint assist and capacity recovery device can provide resistance torque in an appropriate state to support the human body weight and reduce the human body's center of gravity.
当该膝关节助力和能力回收装置用于为膝关节提供阻抗力矩时，为提高输出的阻抗力矩，在电机能量回收单元并联一个阻尼器，该阻尼器可为一般的阻尼器，也可为磁流变阻尼器或者磁流变制动器，如图5和图6所示。控制系统控制所述发电单元的发电功率、发电电流，或用于调节阻尼器的阻抗力矩。When the knee joint assist and capacity recovery device is used to provide resistance torque to the knee joint, in order to increase the output resistance torque, a damper is connected in parallel to the motor energy recovery unit. The damper can be a general damper or a magnetic damper. Rheological damper or magnetorheological brake, as shown in Figure 5 and Figure 6. The control system controls the generated power and current of the power generation unit, or is used to adjust the resistance torque of the damper.
图6为本发明提供的一种基本的关节助力和能力回收装置，其没有配置惯性单元。图5为配置惯性单元中的关节助力和能力回收装置，增加惯性单元后，惯性单元用于增加所述发电单元的惯性，从而降低所述发电单元在能量回收过程中的速度波动性，从而提高所述发电单元的发电效率。所述的惯性单元为与电机连接的减速齿轮配合飞轮，提高发电单元的转动惯性，从而降低所述发电单元中所述电机的速度波动性，稳定电机的输出电压。Figure 6 is a basic joint power assist and capacity recovery device provided by the present invention, which is not equipped with an inertial unit. Figure 5 shows the joint power assist and capacity recovery device in the inertia unit. After adding the inertia unit, the inertia unit is used to increase the inertia of the power generation unit, thereby reducing the speed fluctuation of the power generation unit during the energy recovery process, thereby improving The power generation efficiency of the power generation unit. The inertia unit is a reduction gear connected to the motor and cooperates with the flywheel to increase the rotational inertia of the power generation unit, thereby reducing the speed fluctuation of the motor in the power generation unit and stabilizing the output voltage of the motor.
此外，应注意到本发明设计的人体膝关节助力和能量回收装置可用于人体踝关节和膝关节用于回收人体生物机械能，从而发电，或者用于提供阻抗力矩降低对应关节的行走负担。当该助力和能量回收装置用于为人体踝关节提供阻抗力矩时，可用于防止中风病人的足下垂。In addition, it should be noted that the human knee joint assist and energy recovery device designed in the present invention can be used in human ankle joints and knee joints to recover human biomechanical energy to generate electricity, or to provide resistance torque to reduce the walking burden of the corresponding joints. When the power assist and energy recovery device is used to provide resistance torque to the human ankle joint, it can be used to prevent foot drop in stroke patients.
以上所述仅为本发明的实施例，并非以此限制本发明的保护范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的系统领域，均同理包括在本发明的保护范围内。The above descriptions are only embodiments of the present invention, and are not intended to limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the description and drawings of the present invention, or directly or indirectly applied to other related The system field is likewise included in the protection scope of the present invention.
Claims (19)
- 一种关节助力和能量回收装置，其特征在于：A joint power assist and energy recovery device, characterized by:包括人机固定装置、发电单元、控制系统、储能单元；Including human-machine fixtures, power generation units, control systems, and energy storage units;所述人机固定装置包括第一绑缚机构和第二绑缚机构；The human-machine fixation device includes a first binding mechanism and a second binding mechanism;所述发电单元包括发电机、传动装置；所述发电单元用于回收人体关节在运动过程中的机械能，以及用于为关节在特定的运动过程中提供阻抗阻力，从而降低人体膝关节行走负担；储能单元用于存储发电机回收的电能，控制系统用于控制所述发电单元的发电功率、发电电流，或用于调节发电单元的阻抗力矩。The power generation unit includes a generator and a transmission device; the power generation unit is used to recover the mechanical energy of the human body's joints during movement and to provide resistance to the joints during specific movements, thereby reducing the walking burden on the human knee joint; The energy storage unit is used to store the electrical energy recovered by the generator, and the control system is used to control the generated power and current of the power generation unit, or to adjust the impedance torque of the power generation unit.
- 根据权利要求1所述的一种关节助力和能量回收装置，其特征在于：A joint power assist and energy recovery device according to claim 1, characterized in that:所述传动装置将关节运动速度放大传递到发电机，同时将关节的双向运动转化为所述发电机的单向运动，降低所述发电单元在运动变向过程的速度波动。The transmission device amplifies the joint movement speed and transmits it to the generator, and at the same time converts the two-way movement of the joint into the one-way movement of the generator, thereby reducing the speed fluctuation of the power generation unit during the movement change process.
- 根据权利要求2所述的一种关节助力和能量回收装置，其特征在于：A joint power assist and energy recovery device according to claim 2, characterized in that:所述传动装置是两条并行的齿轮传动链配合单向传动轴承，将双向运动转化为单向运动。The transmission device is two parallel gear transmission chains matched with one-way transmission bearings to convert two-way motion into one-way motion.
- 根据权利要求2所述的一种关节助力和能量回收装置，其特征在于：A joint power assist and energy recovery device according to claim 2, characterized in that:所述的传动装置是减速箱结合两个相对配置的锥齿轮传动配合单向传动轴承，将双向运动转化为单向运动。The transmission device is a reduction box combined with two oppositely arranged bevel gear transmissions and a one-way transmission bearing to convert two-way motion into one-way motion.
- 根据权利要求2所述的一种关节助力和能量回收装置，其特征在于：A joint power assist and energy recovery device according to claim 2, characterized in that:所述传动装置包括传动轴、锥齿轮一、锥齿轮三和增速器，锥齿轮一、锥齿轮三分别通过单向轴承对称安装在传动轴上，两个单向轴承允许转动方向相反，增速器的输入轴上安装锥齿轮二，锥齿轮一和锥齿轮三分别与锥齿轮二啮合，第二绑缚机构带动传动轴转动，增速器的输出轴与发电机的转轴连接。The transmission device includes a transmission shaft, bevel gear one, bevel gear three and a speed increaser. Bevel gear one and bevel gear three are respectively symmetrically installed on the transmission shaft through one-way bearings. The two one-way bearings allow the rotation direction to be opposite, increasing the speed. Bevel gear two is installed on the input shaft of the speed reducer. Bevel gear one and bevel gear three mesh with bevel gear two respectively. The second binding mechanism drives the transmission shaft to rotate. The output shaft of the speed increaser is connected to the rotating shaft of the generator.
- 根据权利要求5所述的一种关节助力和能量回收装置，其特征在于：A joint power assist and energy recovery device according to claim 5, characterized in that:所述传动轴的端部设有拨动柄，拨动柄通过拨动柄锁紧螺钉与传动轴连接，第二绑缚机构通过拨动柄和拨动柄锁紧螺钉带动传动轴转动。The end of the transmission shaft is provided with a toggle handle. The toggle handle is connected to the transmission shaft through a toggle handle locking screw. The second binding mechanism drives the transmission shaft to rotate through the toggle handle and the toggle handle locking screw.
- 根据权利要求1-6任一所述的一种关节助力和能量回收装置，其特征在于：A joint power assist and energy recovery device according to any one of claims 1 to 6, characterized in that:还包括惯性单元，用于增加所述发电单元的惯性，从而降低所述发电单元在能量回收过程中的速度波动性，从而提高所述发电单元的发电效率。It also includes an inertia unit for increasing the inertia of the power generation unit, thereby reducing the speed fluctuation of the power generation unit during the energy recovery process, thereby improving the power generation efficiency of the power generation unit.
- 根据权利要求7所述的一种关节助力和能量回收装置，其特征在于：A joint power assist and energy recovery device according to claim 7, characterized in that:所述的惯性单元为与发电机连接的减速齿轮配合飞轮，提高发电单元的转动惯性，从而降低所述发电单元中发电机的速度波动性，稳定发电机的输出电压。The inertia unit is a reduction gear connected to the generator and cooperates with the flywheel to increase the rotational inertia of the power generation unit, thereby reducing the speed fluctuation of the generator in the power generation unit and stabilizing the output voltage of the generator.
- 根据权利要求8所述的一种关节助力和能量回收装置，其特征在于：A joint power assist and energy recovery device according to claim 8, characterized in that:所述惯性单元包括小圆柱齿轮、大圆柱齿轮、飞轮轴，小圆柱齿轮安装在发电机转轴的尾部轴上，小圆柱齿轮与大圆柱齿轮啮合，大圆柱齿轮固定在飞轮轴上，飞轮轴通过轴承与飞轮轴支撑座相连。The inertia unit includes a small cylindrical gear, a large cylindrical gear, and a flywheel shaft. The small cylindrical gear is installed on the tail shaft of the generator shaft. The small cylindrical gear meshes with the large cylindrical gear. The large cylindrical gear is fixed on the flywheel shaft, and the flywheel shaft passes through The bearing is connected to the flywheel shaft support seat.
- 根据权利要求1所述的一种关节助力和能量回收装置，其特征在于：A joint power assist and energy recovery device according to claim 1, characterized in that:当所述的发电单元用于回收人体膝关节的运动过程中的机械能时，如平地行走过程中，所述控制系统将控制所述发电单元降低其对人体膝关节的影响。When the power generation unit is used to recover mechanical energy during movement of the human knee joint, such as during walking on flat ground, the control system will control the power generation unit to reduce its impact on the human knee joint.
- 根据权利要求1所述的一种关节助力和能量回收装置，其特征在于：A joint power assist and energy recovery device according to claim 1, characterized in that:当所述的发电单元用于为人体膝关节提供阻抗力矩时，如下楼或者下坡过程中，所述控制系统将控制所述发电单元在特定的状态提供所需部分或全部的阻抗力矩，从而降低人体膝关节负担。When the power generation unit is used to provide resistance torque for the human knee joint, such as when going downstairs or downhill, the control system will control the power generation unit to provide part or all of the required resistance torque in a specific state, thereby Reduce the burden on human knee joints.
- 根据权利要求1-6任一所述的一种关节助力和能量回收装置，其特征在于：A joint power assist and energy recovery device according to any one of claims 1 to 6, characterized in that:所述发电单元还包括阻尼单元，阻尼单元用于提供阻抗力矩。The power generation unit also includes a damping unit, which is used to provide resistance torque.
- 根据权利要求11所述的一种关节助力和能量回收装置，其特征在于：A joint power assist and energy recovery device according to claim 11, characterized in that:所述阻尼单元与发电单元并联，所述阻尼单元为阻尼器。The damping unit is connected in parallel with the power generation unit, and is a damper.
- 根据权利要求11所述的一种关节助力和能量回收装置，其特征在于：A joint power assist and energy recovery device according to claim 11, characterized in that:所述阻尼单元为磁流变阻尼器。The damping unit is a magnetorheological damper.
- 根据权利要求11所述的一种关节助力和能量回收装置，其特征在于：A joint power assist and energy recovery device according to claim 11, characterized in that:所述阻尼单元为磁流变制动器。The damping unit is a magnetorheological brake.
- 根据权利要求1-6任一所述的一种关节助力和能量回收装置，其特征在于：A joint power assist and energy recovery device according to any one of claims 1 to 6, characterized in that:所述储能单元包括人体便携电子产品，人体便携电子产品包括无线IMU单元和/或人体运动检测设备。The energy storage unit includes a portable electronic product for the human body, and the portable electronic product for the human body includes a wireless IMU unit and/or a human movement detection device.
- 根据权利要求1-6任一所述的一种关节助力和能量回收装置，其特征在于：A joint power assist and energy recovery device according to any one of claims 1 to 6, characterized in that:所述储能单元包括人体照明设备、无线通讯设备、GPS定位设备中的一种或多种。The energy storage unit includes one or more of human body lighting equipment, wireless communication equipment, and GPS positioning equipment.
- 根据权利要求1-6任一所述的一种关节助力和能量回收装置，其特征在于：A joint power assist and energy recovery device according to any one of claims 1 to 6, characterized in that:所述储能单元为电池或者超级电容，用于存储发电单元回收的电能。The energy storage unit is a battery or a supercapacitor, which is used to store the electrical energy recovered by the power generation unit.
- 根据权利要求1-6任一所述的一种关节助力和能量回收装置，其特征在于：A joint power assist and energy recovery device according to any one of claims 1 to 6, characterized in that:所述发电机为直流电机，所述直流电机为直流有刷电机或直流无刷电机。The generator is a DC motor, and the DC motor is a DC brush motor or a DC brushless motor.
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| PCT/CN2022/117735 WO2024050747A1 (en) | 2022-09-08 | 2022-09-08 | Joint assistance and energy recovery apparatus |
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| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2022/117735 WO2024050747A1 (en) | 2022-09-08 | 2022-09-08 | Joint assistance and energy recovery apparatus |
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| CN2835642Y (en) * | 2005-07-26 | 2006-11-08 | 戴人豪 | Hand-operated power generator |
| CN106137686A (en) * | 2016-08-02 | 2016-11-23 | 鹰普（中国）有限公司 | A kind of knee joint power assisting device |
| US20180194000A1 (en) * | 2016-11-11 | 2018-07-12 | Sarcos Corp. | Tunable Actuator Joint Modules Having Energy Recovering Quasi-Passive Elastic Actuators with Internal Valve Arrangements |
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