CN112318487A - Passive lower limb assistance exoskeleton based on gravitational potential energy locking - Google Patents

Passive lower limb assistance exoskeleton based on gravitational potential energy locking Download PDF

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Publication number
CN112318487A
CN112318487A CN202011130913.7A CN202011130913A CN112318487A CN 112318487 A CN112318487 A CN 112318487A CN 202011130913 A CN202011130913 A CN 202011130913A CN 112318487 A CN112318487 A CN 112318487A
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CN
China
Prior art keywords
rod piece
spring
thigh
lower limb
fixed
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Granted
Application number
CN202011130913.7A
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Chinese (zh)
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CN112318487B (en
Inventor
曹恩国
高阳
陈璐
王刚
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Jiangnan University
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Jiangnan University
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Application filed by Jiangnan University filed Critical Jiangnan University
Priority to CN202011130913.7A priority Critical patent/CN112318487B/en
Priority to GB2300140.7A priority patent/GB2611670A/en
Priority to PCT/CN2020/126132 priority patent/WO2022082862A1/en
Publication of CN112318487A publication Critical patent/CN112318487A/en
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Publication of CN112318487B publication Critical patent/CN112318487B/en
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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024—Knee
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0244—Hip
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0266—Foot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • A61H2201/1284—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient using own weight
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1436—Special crank assembly
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • A61H2201/149—Special movement conversion means rotation-linear or vice versa
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628—Pelvis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces

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  • Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Epidemiology (AREA)
  • General Health & Medical Sciences (AREA)
  • Pain & Pain Management (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention relates to the technical field of power-assisted instruments, in particular to a passive lower limb power-assisted exoskeleton based on gravitational potential energy locking, wherein a waist rod piece is provided with a ratchet wheel, a pawl, a small chain wheel and a positioning plate, the positioning plate is provided with a through hole, and a swing type position-adjustable column body is arranged in the through hole in an inserting manner; the thigh member is provided with a rotating disc, a large chain wheel, a fixed pulley I and a spring I, the large chain wheel is connected with a small chain wheel through a chain, the rotating disc is provided with a cylinder I and a cylinder II, the lower end of the shank member is hinged with a foot member and a slide hole member, the lower end of the spring I is fixed on the thigh member, the upper end of the spring I is connected with one end of a steel wire rope, the other end of the steel wire rope is connected with one end of the slide hole member, the upper end of the spring I is connected with one end of a crank connecting rod, the other end of the crank connecting rod and the large chain wheel rotate synchronously, gravitational potential energy during walking can be effectively utilized to assist a user, and the coupling.

Description

Passive lower limb assistance exoskeleton based on gravitational potential energy locking
Technical Field
The invention relates to the technical field of power-assisted instruments, in particular to a passive lower limb power-assisted exoskeleton based on gravitational potential energy locking.
Background
The existing passive lower limb exoskeleton design mostly utilizes swing energy generated during walking to convert the swing energy into an energy source for assisting, and the energy source is low in energy utilization and difficult to play a good assisting role. In addition, most passive lower limb exoskeletons utilize springs for energy storage, but an instant release power assisting mode is adopted, walking gaits of people are divided into different periods, the instant feedback is difficult to generate a good power assisting effect on a swing phase, namely a walking and leg lifting phase, energy is released already at a later stage of a support phase usually, the energy use efficiency is low, and the coupling performance with the gaits of the people is poor.
Disclosure of Invention
The applicant aims at the defects in the prior art, and provides a passive lower limb assistance exoskeleton based on gravitational potential energy locking, which can effectively utilize gravitational potential energy during walking to assist a user, and the exoskeleton and human body movement are better in coupling.
The technical scheme adopted by the invention is as follows: a passive lower limb assistance exoskeleton based on gravitational potential energy locking comprises two assistance link mechanisms, wherein each assistance link mechanism comprises a waist rod piece, a thigh rod piece and a shank rod piece, the upper end and the lower end of each thigh rod piece are respectively hinged with the lower end of the waist rod piece and the upper end of the shank rod piece, a small chain wheel, a rotatable pawl and a swingable positioning cylinder are mounted on each waist rod piece, a ratchet wheel and the small chain wheel are integrated to realize synchronous rotation, and one end of the positioning cylinder abuts against one end of the pawl; the small chain wheel is connected with the large chain wheel through a chain, a rotating disc is fixed on a thigh rod piece, a first cylinder and a second cylinder are fixed on one side face of the rotating disc, the lower end of the shank rod piece is hinged with a foot rod piece and a sliding hole rod piece, a bolt is installed at one end of the foot rod piece and can freely slide in a strip-shaped hole in one end of the sliding hole rod piece, the lower end of a first spring is fixed on the thigh rod piece, the upper end of the first spring is connected with one end of a steel wire rope, a first fixed pulley is installed on the thigh rod piece, the other end of the steel wire rope bypasses the first fixed pulley and then is connected with one end of the sliding hole rod piece, the upper end of the first spring is connected with one end of a crank connecting rod, the other end; when the rotating disc rotates along with the thigh rod piece in two directions, the first cylinder and the second cylinder respectively shift the positioning column body so as to control the pawl to be buckled or separated from the ratchet wheel.
As a further improvement of the above technical solution:
the outer side surface of the waist rod piece is provided with a positioning plate, a through hole is formed in the positioning plate, the positioning cylinder is inserted into the through hole, the diameter of the through hole is larger than that of the positioning cylinder, a shaft shoulder is arranged at the lower end of the positioning cylinder, a nut is arranged in the middle of the positioning cylinder, a second spring is sleeved on the positioning cylinder, the lower end of the second spring abuts against the positioning plate, and the upper end of the second spring abuts against the nut.
One end of the pawl is provided with an arc-shaped groove, the upper end of the positioning cylinder is inserted into the arc-shaped groove, the middle part of the pawl is rotatably sleeved on the mounting column, and the mounting column is vertically fixed on the outer side surface of the waist rod piece.
The crank connecting rod is formed by hinging two rod bodies.
The thigh rod piece is provided with a spring guide sleeve, a first spring is arranged in the spring guide sleeve, the spring guide sleeve is square and consistent with the thigh rod piece in the tube length direction, the outer side tube wall of the spring guide sleeve is provided with a strip-shaped opening in the tube length direction, two ends of the strip-shaped opening extend to two end portions of the spring guide sleeve, and one end of a crank connecting rod is lapped on the outer side tube wall of the spring guide sleeve.
And a second fixed pulley is arranged on a hinged shaft at the hinged position between the thigh rod piece and the shank rod piece, the second fixed pulley is positioned below the spring guide sleeve, the first fixed pulley is positioned above the spring guide sleeve, and a steel wire rope extending from the upper end of the first spring firstly upwards winds the first fixed pulley, then downwards extends to wind the second fixed pulley for a circle and then is fixed at one end of the slide hole rod piece.
The hinge point of the foot rod piece and the lower leg rod piece is positioned above the hinge point of the slide hole rod piece and the lower leg rod piece.
The passive lower limb assistance exoskeleton based on gravitational potential energy locking further comprises a waist fixing sleeve, two thigh fixing sleeves, two shank fixing sleeves and two foot fixing sleeves, the lower ends of the two shank fixing sleeves are connected with the two foot fixing sleeves respectively, one side of the waist fixing sleeve is fixed at the upper end of a waist rod piece, the outer side of one of the shank fixing sleeves is fixed at the middle of the shank rod piece, two assistance connecting rod mechanisms are distributed on two sides of the waist fixing sleeve, the shank fixing sleeve and the shank fixing sleeve are both sleeve-shaped and sleeve-shaped front sides, and the front sides are opened and closed through fastening.
The invention has the following beneficial effects: the invention provides a passive lower limb assistance exoskeleton based on gravitational potential energy locking, and solves the problems of low energy utilization and poor coupling with human gait in the technical background. The user wears the lower limb assistance exoskeleton through the waist fixing sleeve, the two thigh fixing sleeves, the two shank fixing sleeves and the two foot fixing sleeves, and normal gait walking can be performed after the exoskeleton is worn. When a walking gait is in the last phase of swing, feet fall to the ground, the left end of the slide hole rod piece is in contact with the ground, under the action of ground support reaction force, the slide hole rod piece rotates clockwise and pulls the traction steel wire rope, the first spring is gradually stretched along the spring guide sleeve under the action of the traction steel wire rope to store energy, at the moment, the angle between the thigh rod piece and the waist rod piece is gradually increased, the rotating disc rotates clockwise, the second cylinder on the rotating disc also rotates clockwise, the first cylinder on the rotating disc enables the positioning cylinder to rotate clockwise, therefore, the pawl rotates anticlockwise around a connection point, the ratchet wheel is buckled, the crank connecting rod is located at the uppermost limit position, and locking and energy storage are carried out. When the walking gait is from the final stage of the supporting phase to the initial stage of the swinging phase, the ratchet wheel and the pawl are in a buckling state, chain transmission does not influence buckling, and the lower end of the crank connecting rod starts to move linearly relative to the thigh rod piece under the action of the pulling force of the spring I. In the process, the crank connecting rod rotates anticlockwise around the upper end point of the crank connecting rod, and the crank connecting rod and the spring act together to apply force on the side face of the spring guide sleeve to assist the leg lifting process. When the energy releasing assisting process is finished, the movement angle of the hip joint reaches the maximum, the rotating disc which moves along with the thigh rod piece opens the pawl and the ratchet wheel through the positioning cylinder under the action of the driving force of the cylinder I on the rotating disc behind the rotating disc, and the spring I is at the original length.
During the walking process, during the supporting period, the exoskeleton stores energy and locks, and the spring keeps a stretching state. At the initial stage of the swing period, the user starts a leg lifting stage, energy is released, the exoskeleton is unlocked, and the spring restores to the original length to help the user continue leg swinging and assist. Entering the next period, the user falls to enter the support period, and carrying out periodic circulation.
The whole stage can effectively utilize the gravitational potential energy during walking to assist the user, and meanwhile, the locking mechanism is utilized to release the energy after the energy is stored in the walking support period and in the leg lifting period, namely the swinging period, so that the coupling of the exoskeleton and the human body movement is improved.
Drawings
FIG. 1 is a block diagram of the present invention.
Fig. 2 is a block diagram of another aspect of the present invention.
Fig. 3 is a partial structural view of fig. 1.
Fig. 4 is a partial structural view of fig. 3.
Fig. 5 is a view of the lumbar rod of fig. 4 with the lumbar rod removed.
Fig. 6 is a mounting structure view of the spring guide.
Wherein: 1. waist fixing sleeves; 2. thigh fixing sleeves; 3. a shank fixation sleeve; 4. a foot fixing sleeve; 5. a lumbar rod member; 6. a thigh bar; 7. a shank rod member; 8. a small sprocket; 9. a chain; 10. rotating the disc; 11. a first fixed pulley; 12. a second fixed pulley; 13. a pawl; 14. a crank connecting rod; 15. a wire rope; 16. a foot bar; 17. a slide hole rod member; 18. a ratchet wheel; 19. positioning a plate; 20. a positioning column; 21. a nut; 22. a second spring; 23. a large sprocket; 24. a first spring; 25. a spring guide sleeve; 26. a first cylinder; 27. a second cylinder; 28. and fastening the belt.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1-6, the passive lower limb assistance exoskeleton based on gravitational potential energy locking of the present embodiment includes two assistance link mechanisms, each assistance link mechanism includes a waist rod 5, a thigh rod 6 and a shank rod 7, the upper and lower ends of the shank rod 6 are respectively hinged to the lower end of the waist rod 5 and the upper end of the shank rod 7, a small sprocket 8, a rotatable pawl 13 and a swingable positioning cylinder 20 are mounted on the waist rod 5, a ratchet 18 and the small sprocket 8 are integrated to realize synchronous rotation, and one end of the positioning cylinder 20 abuts against one end of the pawl 13; the small chain wheel 8 is connected with the large chain wheel 23 through a chain 9, the thigh rod piece 6 is fixedly provided with the rotating disc 10, one side surface of the rotating disc 10 is fixedly provided with a first cylinder 26 and a second cylinder 27, the lower end of the shank rod piece 7 is hinged with a foot rod piece 16 and a sliding hole rod piece 17, one end of the foot rod piece 16 is provided with a bolt, the bolt can freely slide in a strip-shaped hole at one end of the sliding hole rod piece 17, the lower end of a first spring 24 is fixedly arranged on the thigh rod piece 6, the upper end of the first spring 24 is connected with one end of a steel wire rope 15, a first fixed pulley 11 is arranged on the thigh rod piece 6, the other end of the steel wire rope 15 is connected with one end of the sliding hole rod piece 17 after passing through the first fixed pulley 11, the upper end of the first spring 24 is connected with one end of a crank connecting rod 14, the other; when the rotary disk 10 rotates bidirectionally with the thigh lever 6, the first cylinder 26 and the second cylinder 27 respectively move the positioning column 20 to control the pawl 13 to be engaged with or disengaged from the ratchet 18.
A positioning plate 19 is installed on the outer side face of the waist rod piece 5, a through hole is formed in the positioning plate 19, a position adjusting column body 20 is inserted into the through hole, the diameter of the through hole is larger than that of the position adjusting column body 20, a shaft shoulder is arranged at the lower end of the position adjusting column body 20, a nut 21 is installed in the middle of the position adjusting column body 20, a second spring 22 is sleeved on the position adjusting column body 20, the lower end of the second spring 22 abuts against the positioning plate 19, and the upper end of the second spring 22 abuts against the nut 21.
One end of the pawl 13 is provided with an arc-shaped groove, the upper end of the positioning column body 20 is inserted into the arc-shaped groove, the middle part of the pawl 13 is rotatably sleeved on the mounting column, and the mounting column is vertically fixed on the outer side surface of the waist rod piece 5.
The crank connecting rod 14 is formed by hinging two rod bodies.
The spring guide sleeve 25 is arranged on the thigh rod piece 6, the first spring 24 is arranged in the spring guide sleeve 25, the spring guide sleeve 25 is in a square tube shape, the tube length direction of the spring guide sleeve 25 is consistent with that of the thigh rod piece 6, a strip-shaped opening is formed in the outer side tube wall of the spring guide sleeve 25 along the tube length direction, two ends of the strip-shaped opening extend to two end portions of the spring guide sleeve 25, and one end of the crank connecting rod 14 is lapped on the outer side tube wall of the spring guide sleeve 25.
A second fixed pulley 12 is mounted on a hinged shaft at the hinged position between the thigh rod piece 6 and the shank rod piece 7, the second fixed pulley 12 is located below the spring guide sleeve 25, the first fixed pulley 11 is located above the spring guide sleeve 25, and a steel wire rope 15 extending from the upper end of the first spring 24 firstly upwards winds the first fixed pulley 11, then downwards extends to wind a circle through the second fixed pulley 12 and then is fixed at one end of the slide hole rod piece 17.
The hinge point of the foot link 16 and the lower leg link 7 is located above the hinge point of the slide hole link 17 and the lower leg link 7.
The passive lower limb assistance exoskeleton based on gravitational potential energy locking further comprises a waist fixing sleeve 1, two thigh fixing sleeves 2, two shank fixing sleeves 3 and two foot fixing sleeves 4, the lower ends of the two shank fixing sleeves 3 are respectively connected with the two foot fixing sleeves 4, one side of the waist fixing sleeve 1 is fixed at the upper end of a waist rod piece 5, the outer side of one of the shank fixing sleeves 2 is fixed at the middle part of a shank rod piece 6, the outer side of one of the shank fixing sleeves 3 is fixed at the middle part of the shank rod piece 7, two assistance connecting rod mechanisms are distributed at the two sides of the waist fixing sleeve 1, the shank fixing sleeves 2 and the shank fixing sleeves 3 are sleeve-shaped, the sleeve-shaped front sides are respectively opened and closed through a fastening belt. The user can open the fastening belts at the front ends of the waist fixing and connecting device 1, the thigh fixing and connecting device 2 and the shank fixing and connecting device 3 for wearing, the fixing is good, and the fixing and connecting conditions are checked.
The invention provides a passive lower limb assistance exoskeleton based on gravitational potential energy locking, and solves the problems of low energy utilization and poor coupling with human gait in the technical background. The user wears the lower limb assistance exoskeleton through the waist fixing sleeve 1, the two thigh fixing sleeves 2, the two shank fixing sleeves 3 and the two foot fixing sleeves 4, and normal gait walking can be performed after the lower limb assistance exoskeleton is worn. When the walking gait is at the last stage of the swing phase, the foot begins to fall to the ground, the left end of the slide hole rod piece 17 begins to contact with the ground, under the action of the ground support reaction force, the slide hole rod piece 17 rotates clockwise and pulls the traction steel wire rope 15, the first spring 24 is gradually lengthened along the spring guide sleeve 25 under the action of the traction steel wire rope 15 to store energy, at the moment, the angle between the thigh rod piece 6 and the waist rod piece 5 is gradually increased, the rotating disc 10 rotates clockwise, the second cylinder 27 on the rotating disc 10 also rotates clockwise, so that the pawl 13 rotates anticlockwise around a connection point, the ratchet wheel 18 is buckled, and the crank connecting rod 14 is at the uppermost limit position to perform locking and energy storage. When the walking gait is from the end of the supporting phase to the initial period of the swinging phase, the ratchet wheel 18 and the pawl 13 are in a buckling state, the chain transmission does not influence the buckling, and the lower end of the crank connecting rod 14 starts to move linearly relative to the thigh rod piece 6 under the pulling force of the spring I24. In the process, the crank connecting rod 14 rotates anticlockwise around the upper end point of the crank connecting rod, and the crank connecting rod 14 and the first spring 24 act on the side surface of the spring guide sleeve 25 together to apply force to assist the leg lifting process. When the energy releasing assisting process is finished, the movement angle of the hip joint reaches the maximum, the rotating disc 10 moving along with the thigh rod piece 6 opens the pawl 13 and the ratchet wheel 18 through the positioning column 20 under the pushing force of the column I26 on the rear rotating disc 10, and the spring I24 is at the original length.
During walking, during the support period, the exoskeleton stores energy and locks, and the first spring 24 keeps a stretching state. At the initial stage of the swing period, the user starts a leg lifting stage, energy is released, the exoskeleton is unlocked, and the first spring 24 recovers the original length to help the user continue leg swinging and assist. Entering the next period, the user falls to enter the support period, and carrying out periodic circulation.
One end of a traction steel wire rope 15 in the exoskeleton bypasses the second fixed pulley 12 and the first fixed pulley 11 to be connected with the upper end of the first spring 24, so that the first spring 24 is stretched under the action of external force during walking, and gravitational potential energy is stored.
In the process that the feet of the human body are gradually contacted with the ground, the slide hole rod piece 17 is contacted with the ground, the left end of the slide hole rod piece 17 rotates around the rotating pair to move clockwise upwards, and conversely, the right end of the slide hole rod piece moves clockwise downwards to drive the traction steel wire rope 15 to pull the first spring 24 and play a role in enlarging the stroke, so that the stretching length of the first spring 24 is increased, the spring coefficient is reduced, and the weight and the movement burden of the first spring 24 are reduced.
When a human body wears the exoskeleton to walk, the working process of the exoskeleton can be divided into three stages, namely an energy storage stage, an energy release stage and a transition stage.
In the energy storage stage, the walking gait is in the final stage of the swing phase, the ratchet wheel 18 and the pawl 13 are in the state of being not buckled, the left end of the foot rod piece 17 is in contact with the ground, under the action of ground support reaction force, the foot rod 17 rotates clockwise and pulls the traction steel wire 15, the spring 24 is gradually stretched along the spring guide sleeve 25 under the action of the traction steel wire 15, from the final stage of the swing phase to the middle stage of the support phase, when the exoskeleton energy storage stage is finished, the second raised cylinder 27 on the rotating disc 10 moving along with the thigh rod piece 6 enables the positioning column body 20 to rotate clockwise, the pawl 13 is driven to rotate anticlockwise around the axis, the pawl 13 is clamped in the ratchet wheel 8, gravitational potential energy locking is carried out, the foot surface is completely contacted with the ground, the first spring 24 is in the longest stretched state, because the ratchet wheel 13 and the pawl 18 are in a buckled state, the chain transmission is disabled, and the crank connecting rod 14 connected with the large chain wheel 23 is at the uppermost limit position.
In the energy release stage, the first spring 24 is gradually shortened, and the released energy is the assistance of the hip joint. The ratchet 18 and the pawl 13 are in a buckled state, the failure of the chain drive causes the crank connecting rod 14 to be in a relative static state in the process, and the lower end of the crank connecting rod 14 moves linearly relative to the thigh rod 6 under the pulling force of the first spring 24. In the process, the crank connecting rod 14 rotates anticlockwise around the upper end point of the crank connecting rod, and the force applied by the combined action of the crank connecting rod 14 and the first spring 24 on the side surface of the spring guide sleeve 25 is used for assisting the leg lifting process. When the energy releasing assisting process is finished, the movement angle of the hip joint reaches the maximum, the first raised cylinder 26 on the rotating disc 10 moving along with the thigh rod piece 6 enables the positioning column 20 to rotate anticlockwise, so that the pawl 13 rotates clockwise around the axis to leave the ratchet wheel 8, the energy is released, and the first spring 24 is at the original length.
In the transition stage, after the energy releasing process is finished, the walking gait is in the early middle phase of swing, the pawl 13 and the ratchet wheel 18 are in the opening state, the chain transmission is recovered to work, and the crank connecting rod 14 rotates clockwise along with the large chain wheel 23 before the foot surface touches the ground. After the sole of the foot touches the ground, the energy storage stage is started again, the first spring 24 is stretched, the crank connecting rod 14 moves anticlockwise, at the end of the energy storage stage, the crank connecting rod 14 returns to the uppermost limit position again, the angle of the thigh rod piece 6 and the waist rod piece 5 is gradually increased until the ratchet wheel 18 and the pawl 13 are buckled, and the next cycle is started.
The whole stage can effectively utilize the gravitational potential energy during walking to assist the user, and meanwhile, the locking mechanism is utilized to release the energy after the energy is stored in the walking support period and in the leg lifting period, namely the swinging period, so that the coupling of the exoskeleton and the human body movement is improved.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.

Claims (8)

1. The utility model provides a passive form low limbs helping hand ectoskeleton based on gravitational potential energy locking which characterized in that: the waist and thigh combined type robot comprises two power-assisted connecting rod mechanisms, wherein each power-assisted connecting rod mechanism comprises a waist rod piece (5), a thigh rod piece (6) and a shank rod piece (7), the upper end and the lower end of each thigh rod piece (6) are respectively hinged with the lower end of the waist rod piece (5) and the upper end of the shank rod piece (7), a small chain wheel (8), a rotatable pawl (13) and a swingable positioning cylinder (20) are mounted on the waist rod piece (5), a ratchet wheel (18) and the small chain wheel (8) are integrated to realize synchronous rotation, and one end of the positioning cylinder (20) abuts against one end of the pawl (13); the small chain wheel (8) is connected with the large chain wheel (23) through a chain (9), a rotary disc (10) is fixed on a thigh rod piece (6), a first cylinder (26) and a second cylinder (27) are fixed on one side surface of the rotary disc (10), the lower end of the shank rod piece (7) is hinged with a foot rod piece (16) and a sliding hole rod piece (17), a bolt is installed at one end of the foot rod piece (16) and can freely slide in a strip-shaped hole in one end of the sliding hole rod piece (17), the lower end of a first spring (24) is fixed on the thigh rod piece (6), the upper end of the first spring (24) is connected with one end of a steel wire rope (15), a first fixed pulley (11) is installed on the thigh rod piece (6), the other end of the steel wire rope (15) bypasses the first fixed pulley (11) and then is connected with one end of the sliding hole rod piece (17), the upper end of the first spring (24) is connected with one end of a crank connecting rod (14), when the foot lands, the slide hole rod (17) can rotate along with the foot to be contacted with the ground; when the rotating disc (10) rotates along with the thigh rod piece (6) in two directions, the first cylinder (26) and the second cylinder (27) respectively stir the positioning column body (20) to further control the pawl (13) to be buckled or separated from the ratchet wheel (18).
2. The passive lower limb assistance exoskeleton of claim 1 wherein the passive lower limb assistance exoskeleton is based on gravitational potential energy locking, and wherein: install locating plate (19) on the lateral surface of waist member (5), set up the through-hole on locating plate (19), positioning cylinder (20) are inserted in the through-hole, the diameter of through-hole is greater than the diameter of positioning cylinder (20), the lower extreme of positioning cylinder (20) is equipped with the shaft shoulder, middle part installation nut (21) of positioning cylinder (20), second spring (22) are established to the cover on positioning cylinder (20), the lower extreme of second spring (22) supports and leans on locating plate (19), the upper end of second spring (22) supports and leans on nut (21).
3. The passive lower limb assistance exoskeleton of claim 1 wherein the passive lower limb assistance exoskeleton is based on gravitational potential energy locking, and wherein: one end of the pawl (13) is provided with an arc-shaped groove, the upper end of the positioning column body (20) is inserted into the arc-shaped groove, the middle part of the pawl (13) is rotatably sleeved on the mounting column, and the mounting column is vertically fixed on the outer side surface of the waist rod piece (5).
4. The passive lower limb assistance exoskeleton of claim 1 wherein the passive lower limb assistance exoskeleton is based on gravitational potential energy locking, and wherein: the crank connecting rod (14) is formed by hinging two rod bodies.
5. The passive lower limb assistance exoskeleton of claim 1 wherein the passive lower limb assistance exoskeleton is based on gravitational potential energy locking, and wherein: the thigh rod piece (6) is provided with a spring guide sleeve (25), a first spring (24) is arranged in the spring guide sleeve (25), the spring guide sleeve (25) is square-tube-shaped and is consistent with the thigh rod piece (6) in the tube length direction, the two ends of a strip-shaped opening and the two ends of the strip-shaped opening extend to the two ends of the spring guide sleeve (25) are arranged on the outer side tube wall of the spring guide sleeve (25) along the tube length direction, and one end of a crank connecting rod (14) is lapped on the outer side tube wall of the spring guide sleeve (25).
6. The passive lower limb assistance exoskeleton of claim 5 based on gravitational potential energy locking, wherein: a second fixed pulley (12) is mounted on a hinged shaft at the hinged position between the thigh rod piece (6) and the shank rod piece (7), the second fixed pulley (12) is located below the spring guide sleeve (25), the first fixed pulley (11) is located above the spring guide sleeve (25), and a steel wire rope (15) extending out of the upper end of the first spring (24) firstly upwards bypasses the first fixed pulley (11), then downwards extends to be wound for a circle through the second fixed pulley (12) and then is fixed at one end of the slide hole rod piece (17).
7. The passive lower limb assistance exoskeleton of claim 1 wherein the passive lower limb assistance exoskeleton is based on gravitational potential energy locking, and wherein: the hinge point of the foot rod piece (16) and the lower leg rod piece (7) is positioned above the hinge point of the slide hole rod piece (17) and the lower leg rod piece (7).
8. The passive lower limb assistance exoskeleton of claim 1 wherein the passive lower limb assistance exoskeleton is based on gravitational potential energy locking, and wherein: the passive lower limb assistance exoskeleton based on gravitational potential energy locking further comprises a waist fixing sleeve (1), two thigh fixing sleeves (2), two shank fixing sleeves (3) and two foot fixing sleeves (4), the lower extreme at the fixed cover of two shanks (3) is connected respectively in two foot fixed covers (4), one side at the fixed cover of waist (1) is fixed to the upper end of waist member (5), the outside at the fixed cover of one of them thigh (2) is fixed at the middle part of thigh member (6), the outside at the fixed cover of one of them shank (3) is fixed at the middle part of shank member (7), two helping hand link mechanism distribute in the both sides of the fixed cover of waist (1), the fixed cover of thigh (2) and the fixed cover of shank (3) are telescopic front side and realize opening and shutting through fastening belt (28), the fixed cover of foot (4) is the shoes form of supporting the foot.
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GB2300140.7A GB2611670A (en) 2020-10-21 2020-11-03 Passive lower limb power-assisted exoskeleton based on gravitational potential energy locking
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