CN112025762B - Energy storage joint structure and exoskeleton device - Google Patents
Energy storage joint structure and exoskeleton device Download PDFInfo
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- CN112025762B CN112025762B CN202010948574.7A CN202010948574A CN112025762B CN 112025762 B CN112025762 B CN 112025762B CN 202010948574 A CN202010948574 A CN 202010948574A CN 112025762 B CN112025762 B CN 112025762B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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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
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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Abstract
The embodiment of the invention provides an energy storage joint structure and an exoskeleton device, and relates to the technical field of exoskeleton. The energy storage joint structure provided by the embodiment of the invention comprises a first connecting piece, a second connecting piece, a transmission piece and an elastic piece. The first and second links are rotatably connected, thus forming a joint. The first connecting piece or the second connecting piece is internally provided with an accommodating cavity, and the elastic piece is arranged in the accommodating cavity so as to reduce the volume of the energy storage joint structure. The driving medium is connected with first connecting piece and second connecting piece simultaneously, and when first connecting piece second connecting piece forward rotated relatively, the driving medium made the elastic component take place deformation, so realize the energy storage, the elastic force of elastic component makes first connecting piece have relative second connecting piece antiport's trend to alleviate the burden of wearing person. The energy storage joint structure is simple in structure, small in size and convenient to use for a wearer.
Description
Technical Field
The invention relates to the technical field of exoskeletons, in particular to an energy storage joint structure and an exoskeletons device.
Background
The power-assisted exoskeleton is a device for enhancing the bearing and load capacity of a human body, for example, in a construction site and a workshop, a worker needs to frequently squat and sit and continuously squat for a long time, the knee joints of the workers are easily damaged, the body health and the operation efficiency of the workers are seriously affected, the burden of the knee joints of the wearers can be relieved through the lower limb exoskeleton, and therefore the working efficiency of the wearers is improved.
At present, the lower limb exoskeleton robot is divided into an active type and a passive type, a battery, a motor and a control module are actively needed, so that the lower limb exoskeleton robot is complex in structure, high in cost, heavy in weight and large in size, and cannot be used in a large number of construction sites and workshops due to the defects. The passive exoskeleton robot has no power source inside and provides assistance for a wearer at a certain position through energy storage. However, the existing passive exoskeleton is complex in overall structure, large in size and not beneficial to use of a wearer.
Disclosure of Invention
The present invention provides an energy storage joint structure, which can improve the technical problems of complicated structure, large volume and inconvenient use for a wearer of the prior passive exoskeleton.
The invention also aims to provide an exoskeleton device which can solve the technical problems that the existing passive exoskeleton is complex in structure, large in size and not beneficial to a wearer.
Embodiments of the invention may be implemented as follows:
the embodiment of the invention provides an energy storage joint structure, which comprises a first connecting piece, a second connecting piece, a transmission piece and an elastic piece, wherein the first connecting piece is connected with the second connecting piece through a first connecting piece; the first connecting piece and the second connecting piece are rotatably connected, an accommodating cavity is formed in the first connecting piece or the second connecting piece, and the elastic piece is arranged in the accommodating cavity; the transmission part is simultaneously connected with the first connecting part and the elastic part, when the first connecting part rotates forwards relative to the second connecting part, the transmission part enables the elastic part to deform, and the elastic force of the elastic part enables the first connecting part to have a tendency of rotating reversely relative to the second connecting part.
Optionally, the transmission part comprises a reel and a pull rope, and the reel is connected with the first connecting piece, so that the first connecting piece drives the reel to rotate when rotating relative to the second connecting piece; the stay cord winding the reel, just the one end of stay cord is fixed in the reel, the other end of stay cord is connected the elastic component.
Optionally, the driving medium still include with the clamp plate that the elastic component is connected, the clamp plate is located the elastic component is kept away from one side of reel, just the stay cord is kept away from the one end of reel with clamp plate fixed connection, with first connecting piece is relative when the second connecting piece forward rotates, through the clamp plate compression the elastic component.
Optionally, the energy storage joint structure further comprises an electromagnetic clutch, and the transmission member is connected with the first connecting member through the electromagnetic clutch.
Optionally, the energy storage joint structure further comprises a joint shaft, and the first connecting piece and the second connecting piece are rotatably connected through the joint shaft; the transmission part is fixedly connected to the joint shaft, a movable armature of the electromagnetic clutch is fixedly connected to the joint shaft, and a static armature of the electromagnetic clutch is fixedly connected to the first connecting piece.
Optionally, the second connecting member includes a joint seat and a rod portion fixedly connected to the joint seat, the joint seat is rotatably connected to the first connecting member, and the transmission member is disposed in the joint seat.
Optionally, the energy storage joint structure further includes a locking block disposed on the first connecting member, a limiting step is disposed on the joint seat, and the locking block is used for abutting against the limiting step to limit a range of rotation of the first connecting member relative to the second connecting member.
Optionally, the number of the limiting steps is multiple, the limiting steps are arranged at intervals along the circumferential direction of the joint seat, and the distances from the limiting steps to the rotation axis of the first connecting piece are sequentially increased; the locking piece is movably connected with the first connecting piece, so that the locking piece is abutted against different limiting steps.
Optionally, the energy storage joint structure further includes a stop pin, the locking block is provided with a plurality of pin holes, and the stop pin is selectively inserted into the plurality of pin holes, so that the locking block is stopped at a position corresponding to the different limiting step.
Embodiments of the present invention also provide an exoskeleton device. The exoskeleton device includes an energy-storing joint structure. The energy storage joint structure comprises a first connecting piece, a second connecting piece, a transmission piece and an elastic piece; the first connecting piece and the second connecting piece are rotatably connected, an accommodating cavity is formed in the first connecting piece or the second connecting piece, and the elastic piece is arranged in the accommodating cavity; the transmission part is simultaneously connected with the first connecting part and the elastic part, when the first connecting part rotates forwards relative to the second connecting part, the transmission part enables the elastic part to deform, and the elastic force of the elastic part enables the first connecting part to have a tendency of rotating reversely relative to the second connecting part.
The energy storage joint structure and the exoskeleton device provided by the embodiment of the invention have the beneficial effects of, for example:
the energy storage joint structure provided by the embodiment of the invention comprises a first connecting piece, a second connecting piece, a transmission piece and an elastic piece. The first and second links are rotatably connected, thus forming a joint. The first connecting piece or the second connecting piece is internally provided with an accommodating cavity, and the elastic piece is arranged in the accommodating cavity so as to reduce the volume of the energy storage joint structure and make the appearance of the energy storage joint structure more concise. The driving medium is connected with first connecting piece and second connecting piece simultaneously, when first connecting piece second connecting piece forward rotates relatively, the driving medium makes the elastic component take place deformation, so realize the energy storage, the elastic force of elastic component makes first connecting piece have second connecting piece antiport's trend relatively, so when first connecting piece second connecting piece direction rotates relatively, can rotate the second connecting piece direction relatively through the elastic component and produce the helping hand, thereby alleviate the burden of wearer. The energy storage joint structure is simple in structure, small in size and convenient to use for a wearer.
Embodiments of the present invention also provide an exoskeleton device comprising the energy storage joint structure described above. Because the exoskeleton device comprises the energy storage joint structure, the exoskeleton device also has the full beneficial effects of the energy storage joint structure.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic view of an exoskeleton device provided in an embodiment of the invention from a first perspective;
fig. 2 is a schematic cross-sectional view of a portion of an exoskeleton device provided in an embodiment of the invention from a second perspective;
FIG. 3 is an enlarged view of FIG. 2 at III;
FIG. 4 is a schematic cross-sectional view taken along line IV-IV of FIG. 2;
fig. 5 is an enlarged view of a portion of the structure at v in fig. 2.
Icon: 10-an exoskeleton device; 100-energy storage joint structure; 110-a first connector; 111-a via; 120-a second connector; 121-joint seat; 122-a limit step; 123-a rod part; 124-a containing cavity; 130-a transmission; 131-a reel; 132-a pull cord; 133-a platen; 140-an electromagnetic clutch; 141-a static armature; 142-a moving armature; 151-locking block; 152-pin holes; 153-stop pin; 154-an operating part; 155-joint axis; 160-an elastic member; 211-foot plate; 212-shank adjustment rod; 213-ankle joint block.
Detailed Description
In order to make the objects, 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 with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
Fig. 1 is a schematic structural view of an exoskeleton device 10 provided in this embodiment from a first perspective, fig. 2 is a schematic partial sectional view of the exoskeleton device 10 provided in this embodiment from a second perspective, and fig. 3 is an enlarged schematic structural view at iii in fig. 2. Referring to fig. 1 and 2 in combination, the present embodiment provides an energy storage joint structure 100, and accordingly, an exoskeleton device 10.
The exoskeleton device 10 includes an energy-storing joint structure 100, and the exoskeleton device 10 further includes a fastener disposed on the energy-storing joint structure 100 to secure the energy-storing joint structure 100 to the wearer.
The energy storage joint structure 100 includes a first connecting member 110, a second connecting member 120, a transmission member 130, and an elastic member 160. The first link 110 and the second link 120 are rotatably connected, thus forming a joint. The first connecting member 110 or the second connecting member 120 has a receiving cavity 124 therein, and the elastic member 160 is disposed in the receiving cavity 124, so as to reduce the volume of the energy storage joint structure 100 and make the appearance of the energy storage joint structure 100 more concise. The transmission member 130 is connected with the first connecting member 110 and the second connecting member 120, when the first connecting member 110 rotates in the forward direction relative to the second connecting member 120, the transmission member 130 deforms the elastic member 160, so as to store energy, the elastic force of the elastic member 160 enables the first connecting member 110 to have a tendency of rotating in the reverse direction relative to the second connecting member 120, so that when the first connecting member 110 rotates in the direction relative to the second connecting member 120, the elastic member 160 can rotate in the direction relative to the second connecting member 120 to generate power assistance, and therefore the burden of a wearer is relieved. The energy storage joint structure 100 has a simple structure and a small volume, and is convenient for a wearer to use.
In the present embodiment, the energy storage joint structure 100 is taken as an example of a knee joint, and accordingly, the exoskeleton device 10 is a lower limb exoskeleton, but it should be understood that in other embodiments, the energy storage joint structure 100 may be used for joints of other parts, such as shoulder joints, elbow joints, etc., and accordingly, the exoskeleton device 10 may also be used as an upper limb exoskeleton.
The energy storage joint structure 100 provided in this embodiment is further described below:
in this embodiment, since energy-storing joint structure 100 is used as a knee joint, first link 110 can be regarded as a thigh link and second link 120 can be regarded as a shank link. When the knee is bent and the wearer has a tendency to squat, the first link 110 is rotated in a positive direction with respect to the rotation of the second link 120, that is, in a clockwise direction as viewed in fig. 2 and 3. When the knee is straight and the wearer has a tendency to stand up, the first link 110 rotates in the opposite direction with respect to the second link 120, i.e., in the counterclockwise direction as viewed in fig. 2 and 3.
Fig. 4 is a schematic cross-sectional view taken along line iv-iv in fig. 2, please refer to fig. 2, fig. 3 and fig. 4, in this embodiment, the energy storage joint structure 100 further includes a joint shaft 155, and the first connecting member 110 and the second connecting member 120 are rotatably connected by the joint shaft 155. Specifically, the first link 110 and the second link 120 are respectively connected with the joint shaft 155, thereby achieving rotatable connection of the first link 110 and the second link 120.
Optionally, the energy storage joint structure 100 further includes an electromagnetic clutch 140, and the transmission member 130 is connected to the first connecting member 110 through the electromagnetic clutch 140, so that in the use process, when the electromagnetic clutch 140 is in the engaged state, the transmission member 130 is in transmission connection with the first connecting member 110, so that the first connecting member 110 can drive the transmission member 130 to move; when the electromagnetic clutch 140 is in the separated state, the transmission between the transmission member 130 and the first connecting member 110 is eliminated, so that when the first connecting member 110 rotates, the transmission member 130 does not move along with the first connecting member 110, and further, in the normal walking process of the wearer, the elastic member 160 does not generate the assisting force by making the electromagnetic clutch 140 in the separated state.
Specifically, the electromagnetic clutch 140 includes a stationary armature 141 and a moving armature 142. The transmission member 130 is fixedly connected to the joint shaft 155 such that when the joint shaft 155 rotates, the transmission member 130 rotates with the joint shaft 155. The movable armature 142 is fixedly connected to the joint shaft 155, the fixed armature 141 is fixedly connected to the first connecting member 110, when the electromagnetic clutch 140 is energized, the fixed armature 141 and the movable armature 142 are engaged, the electromagnetic clutch 140 is in an engaged state, when the electromagnetic clutch 140 is de-energized, the fixed armature 141 and the movable armature 142 are disengaged, and the electromagnetic clutch 140 is in a disengaged state. Alternatively, the stationary armature 141 is fixedly connected to the first connecting member 110 by a bolt.
In the present embodiment, the transmission member 130 includes a reel 131 and a pull rope 132, and the reel 131 is connected to the first link 110 such that the first link 110 rotates the reel 131 when rotating relative to the second link 120. The pull rope 132 is wound around the reel 131, one end of the pull rope 132 is fixed to the reel 131, and the other end of the pull rope 132 is connected to the elastic member 160, so that when the reel 131 rotates to increase the length of the pull rope 132 wound around the outer periphery of the reel 131, the other end of the pull rope 132 causes the elastic member 160 to move toward the reel 131, and the elastic member 160 is elastically deformed to store energy. Optionally, the pull cord 132 is a steel cord.
Specifically, the winding wheel 131 is fixedly connected to the joint shaft 155, and when the static armature 141 and the movable armature 142 are engaged, and the joint shaft 155 rotates in the forward direction relative to the second link 120 along with the first link 110, the winding wheel 131 and the joint shaft 155 rotate in the forward direction synchronously, so that the length of the pull rope 132 wound on the outer periphery of the winding wheel 131 is increased, and the elastic member 160 is elastically deformed. In the present embodiment, the accommodating cavity 124 is disposed in the second connecting member 120, that is, the elastic member 160 is disposed in the second connecting member 120, and it is understood that in other embodiments, the accommodating cavity 124 may be disposed in the first connecting member 110.
Fig. 5 is an enlarged view of a portion of the structure at v in fig. 2. Referring to fig. 2 and 5, further, the transmission member 130 further includes a pressing plate 133 connected to the elastic member 160, the pressing plate 133 is located on a side of the elastic member 160 away from the reel 131, and an end of the pulling rope 132 away from the reel 131 is fixedly connected to the pressing plate 133, so that when the first connecting member 110 rotates in the forward direction relative to the second connecting member 120, the pressing plate 133 compresses the elastic member 160, thereby deforming the elastic member 160. Specifically, the elastic member 160 is a spring, the pressing plate 133 is located below the spring, and the lower end of the spring abuts against the pressing plate 133. When the first link 110 rotates in the forward direction relative to the second link 120, the reel 131 rotates in the forward direction, the length of the pull rope 132 wound around the reel 131 increases, and accordingly, the height of the end of the pull rope that is far away from the reel 131 increases, so that the pressure plate 133 is pulled to rise, and the spring is compressed by the pressure plate 133 and is elastically deformed. The elastic force of the spring acts on the pressing plate 133 to give the pressing plate 133 a tendency to move downward, thereby giving the reel 131 a tendency to rotate in the opposite direction by the pulling rope 132, and further giving the first link 110 a tendency to rotate in the opposite direction with respect to the second link 120. It is understood that in other embodiments, the elastic member 160 may be specifically configured according to requirements, such as a disc spring, a gas spring, or even a compressed gas.
It should be noted that, in the present embodiment, the transmission member 130 is provided with a pressing plate 133, so that the pressing plate 133 is disposed at the lower side of the spring, so that when the first connecting member 110 rotates in the forward direction relative to the second connecting member 120, the pressing plate 133 compresses the spring to generate deformation, that is, the spring is a compression spring. It is understood that in other embodiments, the lower end of the spring may be fixedly connected to the second connecting member 120 and the upper end of the spring may be fixedly connected to the pulling rope 132, as required, so that when the first connecting member 110 rotates in the forward direction relative to the second connecting member 120, the pulling rope 132 pulls the spring to extend, i.e., the spring is a tension spring.
Referring to fig. 3 and 4, in the present embodiment, the second connecting element 120 includes a joint seat 121 and a rod 123 fixedly connected to the joint seat 121, the joint seat 121 is rotatably connected to the first connecting element 110, and the transmission element 130 is disposed in the joint seat 121. Specifically, the joint base 121 is rotatably connected to the joint shaft 155, and the rod part 123 is detachably connected to the joint base 121. The stem 123 is a tubular structure having an inner cavity for forming the receiving cavity 124.
The energy storage joint structure 100 further includes a locking block 151 disposed on the first connecting member 110, a limiting step 122 is disposed on the joint seat 121, and the locking block 151 is used for abutting against the limiting step 122 to limit a rotation range of the first connecting member 110 relative to the second connecting member 120. Specifically, the limiting step 122 is formed by radially outwardly protruding the outer peripheral surface of the joint seat 121, the locking block 151 is located on one side of the limiting step 122 in the counterclockwise direction, when the first connecting member 110 rotates in the forward direction relative to the second connecting member 120, that is, in the process of squatting of the wearer, when the locking block 151 abuts against the limiting step 122, the first connecting member 110 rotates in the forward direction relative to the second connecting member 120 and is locked, the first connecting member 110 cannot further rotate in the forward direction relative to the second connecting member 120, and at this time, the energy storage joint structure 100 can provide an upward supporting force for the wearer, that is, the energy storage joint structure is equivalent to a seat for the wearer, so as to exert a seat supporting function (as shown in fig. 3, the structure is obtained when the locking block 151 abuts against the limiting step 122).
Further, the number of the limiting steps 122 is plural, the limiting steps 122 are arranged along the circumferential direction of the joint seat 121 at intervals, the distance from the limiting steps 122 to the rotation axis of the first connecting member 110 increases in sequence, and the rotation axis of the first connecting member 110 is the axis of the joint shaft 155. Specifically, the number of the limit steps 122 is four, the four limit steps 122 along the forward direction are respectively a first limit step, a second limit step, a third limit step and a fourth limit step, the distance from the first limit step to the rotation axis is a first distance, the distance from the second limit step to the rotation axis is a second distance, the distance from the third limit step to the rotation axis is a third distance, the distance from the fourth limit step to the rotation axis is a fourth distance, and the first distance, the second distance, the third distance and the fourth distance are sequentially increased.
Locking piece 151 and first connecting piece 110 swing joint, through the position of adjusting the axis of rotation of locking piece 151 and first connecting piece 110, make the spacing step 122 of locking piece 151 relevant position contradict, locking piece 151 can contradict with the spacing step 122 of difference promptly, because a plurality of spacing steps 122 set up along the circumference interval of articulated seat 121, consequently can change the relative second connecting piece 120 of first connecting piece 110 along forward pivoted angle when locking piece 151 contradicts with spacing step 122, the seat that so realized not co-altitude supports. In the present embodiment, the number of the limiting steps 122 is four, so the energy storage joint structure 100 can provide four-height seat supports.
Further, the energy storage joint structure 100 further includes a stop pin 153, the locking block 151 is provided with a plurality of pin holes 152, and the stop pin 153 is inserted into different pin holes 152, so that the stop pin 153 is stopped at a position corresponding to different limit steps 122, thereby adjusting the supporting height of the seat, or adjusting the range of the first connecting member 110 rotating in the forward direction relative to the second connecting member 120.
Specifically, the first connecting member 110 is provided with a through hole 111, and a stop pin 153 penetrates through the through hole 111 and is inserted into the pin hole 152, so as to stop the lock block 151. The number of the pin holes 152 and the number of the limit steps 122 are arranged in a one-to-one correspondence, that is, in the present embodiment, the number of the pin holes 152 is plural. It can be understood that, in other embodiments, the number of the through holes 111 on the first connecting element 110 may also be set to be plural according to requirements, and the stop pin 153 is inserted into the through holes 111 at different positions, so that the stop pin 153 is stopped at the position corresponding to different stop steps 122.
Further, an operating portion 154 is disposed at an end of the locking block 151 away from the limiting step 122, and the operating portion 154 extends out of the first connecting member 110, so that the wearer can pull the locking block 151 to move relative to the first connecting member 110 through the operating portion 154, and further adjust the position of the locking block 151.
According to the energy storage joint structure 100 provided by the embodiment, the working principle of the energy storage joint structure 100 is as follows:
when the wearer squats, the first link 110 rotates in a forward direction relative to the second link 120, and simultaneously drives the joint shaft 155 and the reel 131 to rotate in a forward direction, and the pull rope 132 pulls the pressing plate 133 to rise, so that the spring is compressed by the pressing plate 133 to store energy. This allows the first link 110 to have a restoring torque under the spring force, i.e. the first link 110 has a tendency to rotate in the opposite direction to the second link 120, thus providing a certain assistance to the wearer in standing up.
When the wearer normally walks, the assisting force is not needed to be generated at this time, so that the electromagnetic clutch 140 is in the separated state by powering off the electromagnetic clutch 140, and thus when the first connecting member 110 rotates forward relative to the second connecting member 120, the rotation of the first connecting member 110 is not transmitted to the reel 131, i.e., the reel 131 does not rotate, and the elastic member 160 cannot be deformed.
The energy storage joint structure 100 provided by the embodiment has at least the following advantages:
the energy storage joint structure 100 provided by this embodiment is provided with the transmission member 130 and the elastic member 160, so that the structure of the energy storage joint structure 100 is simple, and further, the weight and the volume of the energy storage joint structure 100 are reduced. Meanwhile, the elastic member 160 is disposed in the first connecting member 110 or the second connecting member 120, so as to further reduce the volume of the energy storage joint structure 100, and facilitate the use of the wearer. Through setting up electromagnetic clutch 140 for the switching of helping hand function can be realized at the structure to the energy storage joint, with the use of adaptation wearing person under different motion state, it is more convenient reasonable to use.
Referring to fig. 1 and 2 in combination, the present embodiment also provides an exoskeleton device 10, wherein the exoskeleton device 10 includes the energy storage joint structure 100 and further includes a fixing member. In this embodiment, the exoskeleton device 10 is a lower extremity exoskeleton, the fixing member is a foot plate 211, and the foot plate 211 is fixed at the sole of a human foot. Further, the exoskeleton device 10 further comprises a shank adjustment rod 212 and an ankle joint block 213. The shank adjusting rod 212 is threadedly engaged with the rod portion 123 of the second link 120 so that the shank length can be adjusted. An ankle joint block 213 is attached to an end of shank adjustment rod 212 distal from second link 120, and foot plate 211 is attached to ankle joint block 213.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (8)
1. An energy storage joint structure is characterized by comprising a first connecting piece (110), a second connecting piece (120), a transmission piece (130) and an elastic piece (160); the first connecting piece (110) is rotatably connected with the second connecting piece (120), an accommodating cavity (124) is formed in the first connecting piece (110) or the second connecting piece (120), and the elastic piece (160) is arranged in the accommodating cavity (124); the transmission piece (130) is connected with the first connecting piece (110) and the elastic piece (160) at the same time, when the first connecting piece (110) rotates in the forward direction relative to the second connecting piece (120), the transmission piece (130) enables the elastic piece (160) to deform, and the elastic force of the elastic piece (160) enables the first connecting piece (110) to have the tendency of rotating in the reverse direction relative to the second connecting piece (120);
the second connecting piece (120) comprises a joint seat (121) and a rod part (123) fixedly connected to the joint seat (121), the joint seat (121) is rotatably connected with the first connecting piece (110), and the transmission piece (130) is arranged in the joint seat (121);
the energy storage joint structure (100) further comprises a locking block (151) arranged on the first connecting piece (110), a limiting step (122) is arranged on the joint seat (121), and the locking block (151) is used for abutting against the limiting step (122) so as to limit the range of the first connecting piece (110) relative to the second connecting piece (120).
2. The energy-storing joint structure according to claim 1, wherein the transmission member (130) includes a reel (131) and a pull cord (132), the reel (131) being connected to the first link (110) such that the first link (110) rotates the reel (131) when rotating relative to the second link (120); the pull rope (132) is wound around the reel (131), one end of the pull rope (132) is fixed to the reel (131), and the other end of the pull rope (132) is connected to the elastic member (160).
3. The energy-storing joint structure according to claim 2, wherein the transmission member (130) further comprises a pressing plate (133) connected to the elastic member (160), the pressing plate (133) is located on a side of the elastic member (160) away from the reel (131), and an end of the pulling rope (132) away from the reel (131) is fixedly connected to the pressing plate (133) so as to compress the elastic member (160) by the pressing plate (133) when the first connecting member (110) rotates in the forward direction relative to the second connecting member (120).
4. The energy storage joint structure according to claim 1, wherein the energy storage joint structure (100) further comprises an electromagnetic clutch (140), and the transmission member (130) is connected to the first connecting member (110) through the electromagnetic clutch (140).
5. The energy storing joint structure according to claim 4, wherein the energy storing joint structure (100) further comprises a joint shaft (155), the first connector (110) and the second connector (120) being rotatably connected by the joint shaft (155); the transmission piece (130) is fixedly connected to the joint shaft (155), the movable armature (142) of the electromagnetic clutch (140) is fixedly connected to the joint shaft (155), and the static armature (141) of the electromagnetic clutch (140) is fixedly connected to the first connecting piece (110).
6. The energy storage joint structure according to any one of claims 1 to 5, wherein the number of the limiting steps (122) is plural, the plural limiting steps (122) are arranged at intervals along the circumferential direction of the joint seat (121), and the distances from the plural limiting steps (122) to the rotation axis of the first connecting member (110) are sequentially increased along the forward direction; the locking block (151) is movably connected with the first connecting piece (110), so that the locking block (151) is abutted against different limiting steps (122).
7. The energy storage joint structure of claim 6, wherein the energy storage joint structure (100) further comprises a stop pin (153), the locking block (151) is provided with a plurality of pin holes (152), and the stop pin (153) is selectively inserted into the plurality of pin holes (152) so as to stop the locking block (151) at a position corresponding to different limiting steps (122).
8. An exoskeleton device, characterised in that the exoskeleton device (10) comprises an energy storing joint structure (100) as claimed in any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010948574.7A CN112025762B (en) | 2020-09-10 | 2020-09-10 | Energy storage joint structure and exoskeleton device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010948574.7A CN112025762B (en) | 2020-09-10 | 2020-09-10 | Energy storage joint structure and exoskeleton device |
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| Publication Number | Publication Date |
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| CN112025762A CN112025762A (en) | 2020-12-04 |
| CN112025762B true CN112025762B (en) | 2022-03-29 |
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| CN113021405B (en) * | 2021-03-22 | 2022-03-29 | 吉林大学 | Energy-saving bionic tension-compression body patellofemoral joint for biped walking robot |
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| JP2016059763A (en) * | 2014-09-22 | 2016-04-25 | 国立大学法人山梨大学 | Lower limb motion support apparatus |
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| CN109773755A (en) * | 2018-12-27 | 2019-05-21 | 南京航空航天大学 | A kind of wearable knee joint assistance exoskeleton robot of no driving |
| CN110328654A (en) * | 2019-07-17 | 2019-10-15 | 军事科学院***工程研究院军需工程技术研究所 | Passive type knee joint force aid system and method |
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| JP2016059763A (en) * | 2014-09-22 | 2016-04-25 | 国立大学法人山梨大学 | Lower limb motion support apparatus |
| CN108381528A (en) * | 2018-05-21 | 2018-08-10 | 深圳市丞辉威世智能科技有限公司 | Energy storage type ectoskeleton and robot |
| CN109431135A (en) * | 2018-11-12 | 2019-03-08 | 浙江森影休闲用品有限公司 | A kind of chaise longue |
| CN109773755A (en) * | 2018-12-27 | 2019-05-21 | 南京航空航天大学 | A kind of wearable knee joint assistance exoskeleton robot of no driving |
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