WO2024050747A1 - Appareil d'assistance d'articulation et de récupération d'énergie - Google Patents

Appareil d'assistance d'articulation et de récupération d'énergie Download PDF

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Publication number
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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WO
WIPO (PCT)
Prior art keywords
power generation
joint
generation unit
energy recovery
recovery device
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Application number
PCT/CN2022/117735
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English (en)
Chinese (zh)
Inventor
高飞
王一迪
史秋雨
廖海粟
吴新宇
Original Assignee
中国科学院深圳先进技术研究院
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Application filed by 中国科学院深圳先进技术研究院 filed Critical 中国科学院深圳先进技术研究院
Priority to PCT/CN2022/117735 priority Critical patent/WO2024050747A1/fr
Publication of WO2024050747A1 publication Critical patent/WO2024050747A1/fr

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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

Definitions

  • the invention relates to a joint power assist and energy recovery device.
  • a large amount of mechanical energy will be dissipated in various joints of the human body.
  • the human knee joints perform negative work during the swing process.
  • 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.
  • 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.
  • the human-machine fixation device includes a first binding mechanism and a second binding mechanism
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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. .
  • 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.
  • 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.
  • 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.
  • the control system will control the power generation unit to reduce its impact on the human knee joint;
  • 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.
  • the above-mentioned power generation unit also includes a damping unit, and the damping unit is used to provide resistance torque.
  • damping unit is connected in parallel with the power generation unit, and the damping unit is a damper.
  • the above-mentioned damping unit is one of a magnetorheological damper (linear type) and a magnetorheological brake (rotary type).
  • 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.
  • the above-mentioned energy storage unit includes one or more of human body lighting equipment, wireless communication equipment, GPS positioning equipment, etc.
  • 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.
  • the above-mentioned generator is a DC motor
  • the DC motor is a DC brush motor or a DC brushless motor.
  • 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.
  • the above-mentioned speed increaser is fixed on the base plate through a speed increaser mounting base.
  • the above-mentioned generator is fixed to the base plate through a generator stabilizing base.
  • the present invention discloses a human body joint power assist and energy recovery device.
  • 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.
  • 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.
  • 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.
  • 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.
  • Figure 1 is a front view of the embodiment of the present invention.
  • Figure 2 is a front view of the embodiment of the present invention with the outer shell removed;
  • Figure 3 is a main mechanical structure layout diagram of the embodiment of the present invention.
  • Figure 4 is a first schematic diagram of an embodiment of the present invention.
  • Figure 5 is a second schematic diagram of an embodiment of the present invention.
  • Figure 6 is a third schematic diagram of an embodiment of the present invention.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • the toggle handle 3 of the transmission device is connected to the transmission shaft 8 through the toggle handle locking screw 4.
  • 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.
  • the one-way bearing 10 and the one-way bearing 2 30 allow the rotation direction to be opposite.
  • the toggle handle 3 moves the transmission shaft 8 to rotate through the toggle handle locking screw 4
  • one-way bearing 10 drives the bevel gear One 11 rotates
  • one-way bearing two 30 is suspended in the air and will not drive bevel gear three 27.
  • 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
  • the speed increaser 15 always rotates in one direction through the bevel gear 212.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

Abstract

La présente invention concerne un appareil d'assistance d'articulation et de récupération d'énergie, comprenant un dispositif de fixation homme-machine, une unité de production d'énergie, un système de commande et une unité de stockage d'énergie. L'unité de production d'énergie comprend un générateur d'énergie et un appareil de transmission ; deux mécanismes de liaison transmettent un mouvement d'articulation à l'appareil de transmission ; l'appareil de transmission augmente la vitesse du mouvement d'articulation et transmet le mouvement d'articulation au générateur d'énergie ; l'unité de production d'énergie est configurée pour récupérer l'énergie mécanique d'une articulation humaine pendant le mouvement, et fournir une résistance d'impédance pour l'articulation dans un processus de mouvement spécifique, permettant ainsi de réduire le poids de la marche d'une articulation de genou humaine ; et l'unité de stockage d'énergie est configurée pour stocker l'énergie électrique récupérée par le générateur d'énergie, et le système de commande est configuré pour commander la puissance de production d'énergie et le courant de production d'énergie de l'unité de production d'énergie, ou pour ajuster le couple d'impédance de l'unité de production d'énergie. La présente invention peut être utilisée pour récupérer l'énergie mécanique biologique des articulations humaines dans le processus de marche, et peut également être utilisée pour fournir un couple d'impédance pour un porteur dans le processus de descente, permettant ainsi de réduire le poids de la marche du porteur.
PCT/CN2022/117735 2022-09-08 2022-09-08 Appareil d'assistance d'articulation et de récupération d'énergie WO2024050747A1 (fr)

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Application Number Priority Date Filing Date Title
PCT/CN2022/117735 WO2024050747A1 (fr) 2022-09-08 2022-09-08 Appareil d'assistance d'articulation et de récupération d'énergie

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Application Number Priority Date Filing Date Title
PCT/CN2022/117735 WO2024050747A1 (fr) 2022-09-08 2022-09-08 Appareil d'assistance d'articulation et de récupération d'énergie

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2835642Y (zh) * 2005-07-26 2006-11-08 戴人豪 手摇式发电装置
CN106137686A (zh) * 2016-08-02 2016-11-23 鹰普（中国）有限公司 一种膝关节助力装置
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
CN113374660A (zh) * 2021-07-14 2021-09-10 中北大学 一种关节发电装置
CN113681545A (zh) * 2021-09-16 2021-11-23 重庆理工大学 膝关节负功捕捉外骨骼装置
CN113915084A (zh) * 2021-08-27 2022-01-11 中国科学院深圳先进技术研究院 一种发电装置及其能量回收装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2835642Y (zh) * 2005-07-26 2006-11-08 戴人豪 手摇式发电装置
CN106137686A (zh) * 2016-08-02 2016-11-23 鹰普（中国）有限公司 一种膝关节助力装置
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
CN113374660A (zh) * 2021-07-14 2021-09-10 中北大学 一种关节发电装置
CN113915084A (zh) * 2021-08-27 2022-01-11 中国科学院深圳先进技术研究院 一种发电装置及其能量回收装置
CN113681545A (zh) * 2021-09-16 2021-11-23 重庆理工大学 膝关节负功捕捉外骨骼装置

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