CN114260881A - Ankle joint assistance exoskeleton for emergency rescue and assistance exoskeleton device - Google Patents
Ankle joint assistance exoskeleton for emergency rescue and assistance exoskeleton device Download PDFInfo
- Publication number
- CN114260881A CN114260881A CN202111620083.0A CN202111620083A CN114260881A CN 114260881 A CN114260881 A CN 114260881A CN 202111620083 A CN202111620083 A CN 202111620083A CN 114260881 A CN114260881 A CN 114260881A
- Authority
- CN
- China
- Prior art keywords
- foot
- elastic
- power
- sleeve
- plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 51
- 210000002683 foot Anatomy 0.000 claims abstract description 143
- 230000007246 mechanism Effects 0.000 claims abstract description 81
- 238000004146 energy storage Methods 0.000 claims abstract description 53
- 230000000712 assembly Effects 0.000 claims abstract description 15
- 238000000429 assembly Methods 0.000 claims abstract description 15
- 210000003423 ankle Anatomy 0.000 claims description 16
- 210000004744 fore-foot Anatomy 0.000 claims description 15
- 238000007789 sealing Methods 0.000 claims description 15
- 238000005452 bending Methods 0.000 claims description 14
- 210000000548 hind-foot Anatomy 0.000 claims description 9
- 230000007704 transition Effects 0.000 claims description 7
- 244000309466 calf Species 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 239000004575 stone Substances 0.000 abstract description 7
- 210000001699 lower leg Anatomy 0.000 description 44
- 230000033001 locomotion Effects 0.000 description 19
- 238000005381 potential energy Methods 0.000 description 10
- 230000005021 gait Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 230000006835 compression Effects 0.000 description 6
- 238000007906 compression Methods 0.000 description 6
- 210000003371 toe Anatomy 0.000 description 6
- 238000013461 design Methods 0.000 description 4
- 108010084652 homeobox protein PITX1 Proteins 0.000 description 4
- 206010024453 Ligament sprain Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 206010050031 Muscle strain Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000004060 metabolic process Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 208000016261 weight loss Diseases 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The invention provides an ankle joint power-assisted exoskeleton and power-assisted exoskeleton equipment for emergency rescue, wherein a foot supporting mechanism comprises a front foot support and a rear foot support which are both provided with elastic energy storage assemblies; the passive energy storage mechanism comprises an elastic power-assisted part, a sleeve connected to the rear side of the shank wearing mechanism and a pull rod extending into the sleeve and connected to the rear side of the rear foot support, the elastic power-assisted part is contained in the sleeve, two ends of the elastic power-assisted part are respectively abutted against the sleeve and the pull rod, and the pull rod can reciprocate in the sleeve to move axially and extrude or release the elastic power-assisted part. The elastic power-assisted part and the elastic energy storage assembly can provide power assistance for firemen together, the elastic power-assisted part is prevented from being externally arranged, the safety of the whole machine is improved, the elastic power-assisted part can adapt to rugged and uneven roads with stones and stones, and the situation that the applicable environment is limited is avoided.
Description
Technical Field
The invention belongs to the technical field of exoskeleton robots, and particularly relates to an ankle joint assistance exoskeleton for emergency rescue and assistance exoskeleton equipment.
Background
Disasters and accidents that frequently occur in recent years place higher demands on the rescue efficiency of firefighters. When a fire disaster occurs in an urban roadway and a high-rise building, a large rescue vehicle is difficult to reach for rescue in the face of natural meteorological disasters such as earthquake, forest fire and the like, and load transportation of individual soldiers becomes more important. And the heavy equipment carried by the firefighter and the complex conditions in the emergency rescue process can cause fatigue on the body of the firefighter, and the rescue efficiency is reduced. The power-assisted exoskeleton equipment is a very typical man-machine integrated system, aims to enhance the human motion capability and reduce the motion metabolism consumption, can exert great potential in the field of emergency rescue, and has urgent practical requirements.
The power-assisted exoskeleton devices can be divided into active and passive exoskeletons, classified according to the presence or absence of a power source. Although the active exoskeleton can provide larger assistance, the lithium battery and the like carried by the active exoskeleton become potential hazards threatening life safety for firefighters who frequently go in and out of high-temperature fire fields. The lower limb ankle joint of the passive exoskeleton is a far-end joint with the highest output power in the human motion process, muscle groups driving the ankle joint to move easily feel fatigue in long-time or high-strength motion, even muscle strain or foot sprain can occur, but most of the conventional passive ankle joint power-assisted exoskeletons are designed for old people or are designed for rehabilitation training, the structure of the conventional passive ankle joint power-assisted exoskeletons is difficult to adapt to the field of emergency rescue, and the exoskeleton cannot completely exert efficiency or even break down in the face of rugged roads with stones and stones or wet and slippery roads, so that firemen fall down, slip down or foot sprain can occur.
Disclosure of Invention
The invention mainly aims to provide an ankle joint power-assisted exoskeleton and power-assisted exoskeleton equipment for emergency rescue, and aims to solve the technical problems that an ankle joint power-assisted exoskeleton in the prior art is low in use safety and limited in applicable environment.
In order to achieve the above object, the present invention provides an ankle joint assisting exoskeleton for emergency rescue, wherein the ankle joint assisting exoskeleton for emergency rescue comprises: a shank wearing mechanism; the lower leg wearing mechanism, the rear foot support and the front foot support are hinged to two ankle joint points which are symmetrically arranged along the central line of the foot supporting mechanism through two rotating shafts; the passive energy storage mechanism comprises an elastic boosting part, a sleeve connected to the rear side of the shank wearing mechanism and a pull rod extending into the sleeve and connected to the rear side of the rear foot support, the elastic boosting part is contained in the sleeve, two ends of the elastic boosting part are respectively abutted against the sleeve and the pull rod, and the pull rod can reciprocate in the sleeve to axially move and extrude or release the elastic boosting part.
In an embodiment of the present invention, the passive energy storage mechanism further includes: the first shaft sleeve is rotatably arranged on the shank wearing mechanism, and the upper end of the sleeve is detachably connected with the first shaft sleeve; the second shaft sleeve is rotatably arranged on the rear foot support, and the lower end of the pull rod is detachably connected with the second shaft sleeve.
In the embodiment of the invention, the first shaft sleeve is hung on the shank wearing mechanism, the rear foot support is provided with a mounting frame and a pin shaft which sequentially penetrates through the mounting frame and the second shaft sleeve, and the pin shaft is in clearance fit with the second shaft sleeve while being in interference fit with the mounting frame.
In an embodiment of the invention, the front foot support comprises a front foot plate and a front foot framework hinged to the ankle joint point with the lower leg wearing mechanism, the elastic energy storage assembly is sealed between the front foot framework and the front foot plate, the rear foot support comprises a rear foot plate and a rear foot framework hinged to the ankle joint point with the lower leg wearing mechanism, and the elastic energy storage assembly is sealed between the rear foot framework and the rear foot plate.
In an embodiment of the invention, the foot support mechanism further comprises two resilient seals, the forefoot plate and the forefoot armature being sealingly connected by one of the resilient seals; the rear foot plate and the rear foot framework are connected in a sealing mode through the other elastic sealing element.
In the embodiment of the invention, an adjusting gap is arranged between the front foot plate and the rear foot plate, two sides of the front foot framework are hinged with the rotating shaft through adjusting connecting rods, the two adjusting connecting rods are symmetrically arranged along the central line of the foot supporting mechanism, and the adjusting connecting rods are provided with a plurality of connecting holes for connecting with the front foot framework.
In an embodiment of the present invention, the elastic sealing member is a leaf spring, and the two elastic sealing members are respectively located at two sides of the adjusting gap.
In the embodiment of the invention, the front foot framework comprises a front foot main body plate hermetically connected with the front foot plate, triangular foot protection plates which are respectively arranged at two sides of the front foot main body plate and are provided with triangular lightening holes, and a front foot binding belt connected between the two triangular foot protection plates, wherein the top parts of the triangular foot protection plates are bent inwards and hinged with the rotating shaft through the adjusting connecting rod.
The invention further provides power-assisted exoskeleton equipment which comprises the ankle joint power-assisted exoskeleton for emergency rescue.
In the embodiment of the invention, tooth-shaped protrusions are arranged at the bottoms of the front foot plate and the rear foot plate.
In the embodiment of the invention, the rear foot framework comprises a rear foot main body plate and U-shaped surrounding plates arranged at the edges of the rear foot main body plate in a surrounding manner, connecting lugs hinged with the rotating shaft and symmetrically arranged along the central line of the foot supporting mechanism are arranged at two sides of each U-shaped surrounding plate, and rear lightening holes are formed in the connecting lugs and the U-shaped surrounding plates.
In an embodiment of the present invention, the lower leg wearing mechanism includes: the lower end of each connecting rod assembly is provided with the rotating shaft, and the two connecting rod assemblies are symmetrically arranged along the central line of the foot supporting mechanism; the calf bandage is arranged between the two connecting rod assemblies through an adjustable clamping ring, and at least two calf bandages are sequentially arranged on the connecting rod assemblies at intervals along the vertical direction.
In an embodiment of the present invention, the connecting rod assembly includes: the shank connecting rods are arranged in a hollow manner, and the shank binding bands are all arranged on the shank connecting rods; the upper end of the bending plate is inserted into the shank connecting rod and can stretch relative to the shank connecting rod.
In the embodiment of the invention, the bending plate comprises a straight part, a transition part and a protection part which are sequentially connected from top to bottom, and the transition part is inclined inwards from top to bottom.
In an embodiment of the invention, the elastic energy storage assembly comprises at least two disc spring sets, and the disc spring sets are symmetrically arranged along the central line of the foot support mechanism.
In the embodiment of the invention, the two passive energy storage mechanisms are symmetrically arranged along the central line of the foot supporting mechanism.
Through the technical scheme, the ankle joint assistance exoskeleton for emergency rescue provided by the embodiment of the invention has the following beneficial effects:
when the ankle joint assisting exoskeleton for emergency rescue is adopted to carry out emergency rescue, a fireman can wear the ankle joint assisting exoskeleton through the shank wearing mechanism and the foot supporting mechanism, and when the fireman walks, the shank wearing mechanism, the rear foot support and the front foot support can rotate around a rotating shaft at an ankle joint, so that the degree of freedom between a sole and toes in the movement process is met, and the wearing comfort is improved; and in the earlier stage of the support period of the gait cycle, when the front sole and the rear sole fall to the ground, the elastic energy storage assemblies in the rear foot support and the front foot support begin to be pressed to store elastic potential energy, at the moment, the pull rod moves downwards in the sleeve along the axial direction, the upper end of the elastic power-assisted part in the sleeve is extruded by the pull rod, and the lower end of the elastic power-assisted part in the sleeve is tightly propped against the sleeve and is in a compressed state; when the mid-support period of the gait cycle is entered, and the lower leg is vertical to the ground, the elastic energy storage assemblies in the rear foot support and the front foot support are in the maximum compression state, and the elastic power assisting element is still in the compression state; when the back sole is about to lift off at the later stage of the support period of the gait cycle, the dorsiflexion angle of the ankle joint is the largest, the elastic energy storage assemblies in the back foot support and the front foot support release elastic potential energy, and the elastic boosting piece is in the maximum compression state; when the rear sole is lifted off the ground, the pull rod moves upwards in the sleeve along the axial direction and releases the elastic power assisting element in the sleeve, so that the elastic potential energy of the elastic power assisting element provides power to help the ankle joint toe to bend, the power assisting element can provide power to the ankle joint of a fireman in emergency rescue, the impact of the ground on the ankle joint in violent movement is reduced, the movement consumption is reduced, and the movement endurance is improved; when the swing phase of the gait cycle is started, the elastic energy storage components in the hind foot support and the fore foot support are not stressed, and the elastic force-assisting piece is compressed again to store elastic potential energy along with the forward swing of the crus by means of inertia. The elastic power assisting element and the elastic energy storage assembly can provide power for firemen together, so that the movement consumption is reduced, the movement endurance is improved, meanwhile, the elastic power assisting element is always positioned in the sleeve in the processes of storing and releasing the elastic potential energy, the situation that sundries are not exposed outside the elastic power assisting element can be guaranteed, the sundries can be prevented from entering the passive energy storage mechanism, the elastic power assisting element is prevented from being clamped, the safety of the whole machine is improved, the ankle joint power assisting exoskeleton for emergency rescue in the embodiment can adapt to rugged and uneven roads with stones and stones, and the situation that the applicable environment is limited is avoided.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide an understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic structural diagram of an ankle joint assisting exoskeleton for emergency rescue according to an embodiment of the invention;
FIG. 2 is a schematic cross-sectional structural view of an ankle power assist exoskeleton in accordance with an embodiment of the invention;
FIG. 3 is an enlarged schematic view of area A of FIG. 2;
FIG. 4 is a cross-sectional view of a portion of a foot support mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic partial structural view of a foot support mechanism according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a bending plate according to an embodiment of the present invention.
Description of the reference numerals
Detailed Description
The following detailed description of specific embodiments of the invention refers to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative and explanatory of the invention and are not restrictive thereof.
The ankle joint assisting exoskeleton for emergency rescue according to the invention is described below with reference to the accompanying drawings.
As shown in fig. 1 to 3, in an embodiment of the present invention, an ankle joint assisting exoskeleton 100 for emergency rescue is provided, where the ankle joint assisting exoskeleton 100 for emergency rescue includes a lower leg wearing mechanism 1, a foot supporting mechanism 2 and a passive energy storage mechanism 3, the foot supporting mechanism 2 includes a front foot support 21 and a rear foot support 22 both provided with an elastic energy storage assembly 23, and the lower leg wearing mechanism 1, the rear foot support 22 and the front foot support 21 are hinged to two ankle joint points 28 symmetrically arranged along a central line of the foot supporting mechanism 2 through two rotating shafts 1121; the passive energy storage mechanism 3 includes an elastic assisting element 31, a sleeve 32 connected to the rear side of the lower leg wearing mechanism 1, and a pull rod 33 extending into the sleeve 32 and connected to the rear side of the rear foot support 22, the elastic assisting element 31 is accommodated in the sleeve 32, two ends of the elastic assisting element are respectively abutted against the sleeve 32 and the pull rod 33, and the pull rod 33 can reciprocate in the sleeve 32 to perform axial motion and extrude or release the elastic assisting element 31. It can be understood that the ankle joint assisting exoskeleton in this embodiment is mainly applied to emergency rescue, and the rotation shaft 1121 is disposed corresponding to the ankle joint points 28 on both sides of the center line of the foot supporting mechanism 2, so as to implement a bionic symmetric design.
When the ankle joint assisting exoskeleton 100 for emergency rescue is adopted to carry out emergency rescue, a fireman can wear a lower leg and front and rear soles of a foot respectively through the lower leg wearing mechanism 1 and the foot supporting mechanism 2. When a firefighter walks, the lower leg wearing mechanism 1, the rear foot support 22 and the front foot support 21 can rotate around the rotating shaft 1121 at the ankle joint point 28, so that the degree of freedom between the sole and the toes in the movement process is met, and the wearing comfort is improved. In the early stage of the support period of the gait cycle, when the front sole and the rear sole fall to the ground, the elastic energy storage assemblies 23 in the rear foot support 22 and the front foot support 21 begin to be pressed to store elastic potential energy, at the moment, the pull rod 33 moves downwards in the sleeve 32 along the axial direction, the upper end of the elastic boosting part 31 in the sleeve 32 is extruded by the pull rod 33, and the lower end of the elastic boosting part is tightly propped against the sleeve 32 and is in a compressed state; when the mid-support period of the gait cycle is entered and the lower leg is vertical to the ground, the elastic energy storage assembly 23 in the rear foot support 22 and the front foot support 21 is in the maximum compression state, and the elastic force-assisting element 31 is still in the compression state; when the back sole is about to lift off at the later stage of the support period of the gait cycle, the dorsiflexion angle of the ankle joint is the largest, the elastic energy storage assemblies 23 in the back foot support 22 and the front foot support 21 release elastic potential energy, and the elastic force-assisting piece 31 is in the maximum compression state; when the rear sole lifts off the ground, the pull rod 33 moves upwards in the sleeve 32 along the axial direction and releases the elastic power assisting piece 31 in the sleeve 32, so that the elastic potential energy of the elastic power assisting piece 31 provides power assistance to help the ankle joint toe bend, the power assisting piece can provide power assistance for the ankle joint of a fireman in emergency rescue, the impact of the ground on the ankle joint in violent movement is relieved, the movement consumption is reduced, and the movement endurance is improved; when the swing phase of the gait cycle is entered, the elastic energy storage component 23 in the rear foot support 22 and the front foot support 21 is not stressed, and the elastic force-assisting component 31 is compressed again to store elastic potential energy as the lower leg swings forwards by means of inertia. Elastic assisting element 31 and elastic energy storage component 23 in ankle joint helping hand ectoskeleton 100 for emergency rescue in this embodiment can provide the helping hand for the firefighter jointly, reduce the motion consumption, improve the motion endurance, elastic assisting element 31 is in sleeve 32 all the time at the in-process of storing and releasing elastic potential energy simultaneously, can guarantee that the built-in of elastic assisting element 31 is not exposed, can avoid debris to get into passive energy storage mechanism, prevent that elastic assisting element 31 from being blocked, the complete machine security has been improved, the ankle joint helping hand ectoskeleton 100 for emergency rescue in this embodiment can adapt to rugged and uneven, the road that has the stone, the condition that the applicable environment has the limitation has been avoided.
As shown in fig. 3, the elastic assisting element 31 in this embodiment is a cylindrical coil spring, and the upper end of the pull rod 33 is provided with a sheet-shaped limiting portion, so that the abutting area between the upper end of the pull rod 3 and the upper end of the elastic assisting element 31 can be ensured, the pull rod 33 can be prevented from being separated from the sleeve 32, and the use stability of the passive energy storage mechanism 3 can be improved.
As shown in fig. 1 and 2, the passive energy storage mechanism 3 further includes a first shaft sleeve 34 and a second shaft sleeve 36, the first shaft sleeve 34 is rotatably mounted on the lower leg wearing mechanism 1, and the upper end of the sleeve 32 is detachably connected with the first shaft sleeve 34; the second bushing 36 is rotatably mounted to the rear foot support 22, and the lower end of the tension rod 33 is detachably connected to the second bushing 36. In an embodiment, first axle sleeve 34 and second axle sleeve 36 all are provided with the internal thread, accessible threaded connection's mode, can dismantle sleeve 32 and first axle sleeve 34 and connect, second axle sleeve 36 and pull rod 33 can dismantle the connection, pull rod 33 and sleeve 32 among the passive energy storage mechanism 3 in this embodiment all adopt the detachable mounting means, can make things convenient for passive energy storage mechanism 3's change, and first axle sleeve 34 and second axle sleeve 36 respectively should be able to wear mechanism 1 and back foot support 22 rotation relatively the shank to corresponding, can further improve the ankle joint helping hand ectoskeleton 100 security that is used for emergency rescue, avoid passive energy storage mechanism 3 the dead condition of card in the motion process.
Specifically, in an embodiment, the first shaft sleeve 34 is hung on the lower leg wearing mechanism 1 through the hook 35, the rear leg support 22 is provided with a mounting frame 221 and a pin 222 sequentially penetrating through the mounting frame 221 and the second shaft sleeve 36, and the pin 222 is in clearance fit with the second shaft sleeve 36 while in interference fit with the mounting frame 221. In this embodiment, the upper end of the passive energy storage mechanism 3 is hung on the lower leg wearing mechanism 1 through the first shaft sleeve 34 and the hook 35, so that the passive energy storage mechanism 3 can be conveniently assembled; the lower end of the passive energy storage mechanism 3 is in clearance fit with the pin 222 through the second shaft sleeve 36, so that the rotational freedom of the passive energy storage mechanism 3 can be ensured, and the pin 222 and the mounting frame 221 are in interference fit, so that the mounting tightness of the pin 222 can be ensured.
As shown in fig. 2, 4 and 5, the forefoot support 21 includes a forefoot plate 211 and a forefoot frame 212 hinged to the ankle joint point 28 with the lower leg wearing mechanism 1, the elastic energy storage assembly 23 is sealed between the forefoot frame 212 and the forefoot plate 211, the rear foot support 22 includes a rear foot plate 223 and a rear foot frame 224 hinged to the ankle joint point 28 with the lower leg wearing mechanism 1, and the elastic energy storage assembly 23 is sealed between the rear foot frame 224 and the rear foot plate 223. The elastic energy storage assembly 23 supporting and assisting the front sole and the rear sole in the embodiment is used as a main energy storage element and is always in a sealing state, so that the elastic energy storage assembly 23 is ensured not to have foreign objects, and the energy storage and shock absorption effects of the elastic energy storage assembly 23 are improved.
As shown in FIGS. 4 and 5, the foot support mechanism 2 further includes two resilient seals 24, with the forefoot plate 211 and the forefoot armature 212 being sealingly connected by one of the resilient seals 24; the hindfoot plate 223 and the hindfoot frame 224 are sealingly connected by another resilient seal 24. In the embodiment, two elastic sealing elements 24 are added for sealing, and meanwhile, the elastic sealing elements 24 can be used as secondary energy storage elements, so that the power assisting performance of the ankle joint power assisting exoskeleton 100 for emergency rescue can be improved.
As shown in fig. 1 and 2, in the embodiment of the present invention, an adjusting gap 25 is provided between the front foot plate 211 and the rear foot plate 223, both sides of the front foot frame 212 are hinged by an adjusting link 26 and a rotating shaft 1121, the two adjusting links 26 are symmetrically arranged along the central line of the foot support mechanism 2, and the adjusting link 26 is provided with a plurality of connecting holes 27 for connecting with the front foot frame 212. In this embodiment, the size of the adjusting gap 25 can be changed by adjusting the connecting position of the front foot frame 212 and the adjusting link 26, so as to adapt to people with different sole sizes.
In one embodiment, the elastic sealing member 24 is a leaf spring, and two elastic sealing members 24 are respectively located at both sides of the adjusting gap 25. The elastic sealing member 24 in this embodiment is a long strip U-shaped leaf spring, and is located at the center of the foot, so that the assistance of the elastic sealing member 24 is more convenient.
As shown in fig. 1 and 2, the front foot frame 212 includes a front foot main body plate 2121 hermetically connected to the front foot plate 211, triangular foot guards 2122 provided on both sides of the front foot main body plate 2121 and having triangular weight-reduction holes 2123, and a front foot strap 213 connected between the two triangular foot guards 2122, wherein the top of the triangular foot guards 2122 is bent inward and hinged to the rotary shaft 1121 through an adjusting link 26. For convenient wearing, preceding foot bandage 213 in this embodiment passes through the rivet and rotationally installs in triangle toe guard 2122, and the triangle-shaped design can improve structural strength, and triangle toe guard 2122 top inwards bends, can further realize the protection to the foot, and the fretwork design can reduce foot supporting mechanism 2's weight simultaneously, makes the structure compacter succinct, and is convenient for wear to take off.
In the present embodiment, the bottom of the front and rear foot plates 211 and 223 are each provided with a toothed protrusion 29. In the embodiment, the tooth-shaped protrusions 29 can be better adapted to mountainous terrain and slippery terrain, so that application limitation is eliminated and use safety is improved.
In one embodiment, the hindfoot framework 224 includes a hindfoot body panel 2241 and a U-shaped surrounding panel 2242 surrounding the edge of the hindfoot body panel 2241, both sides of the U-shaped surrounding panel 2242 are provided with engaging lugs 2243 hinged to the rotation shaft 1121 and symmetrically arranged along the centerline of the foot support mechanism 2, and both the engaging lugs 2243 and the U-shaped surrounding panel 2242 are provided with rear lightening holes 2244. In the embodiment, the U-shaped enclosing plate 2242 and the connecting lug 2243 of the back foot framework 224 are both designed in a hollow manner, so that the weight of the product is further reduced, and the use convenience of the product is improved.
As shown in fig. 2, 3 and 6, in the embodiment of the present invention, the lower leg wearing mechanism 1 includes a connecting rod assembly 11 and a lower leg strap 12, a rotating shaft 1121 is provided at a lower end of the connecting rod assembly 11, and the two connecting rod assemblies 11 are symmetrically arranged along a central line of the foot supporting mechanism 2; the calf binding bands 12 are annularly arranged between the two connecting rod assemblies 11 through adjustable latches 13, and at least two calf binding bands 12 are sequentially arranged on the connecting rod assemblies 11 at intervals along the up-down direction. The length of shank bandage 12 is freely adjusted to adjustable kayser 13 of accessible, adapts to the crowd that different shank legs enclose, improves and dresses the comfort.
In the embodiment of the present invention, the connecting rod assembly 11 includes a lower leg connecting rod 111 and a bending plate 112, the lower leg connecting rod 111 is arranged in a hollow manner, and the lower leg straps 12 are all arranged on the lower leg connecting rod 111; the upper end of the bending plate 112 is inserted into the lower leg link 111 and can extend and contract relative to the lower leg link 111. As shown in fig. 6, a plurality of groups of round holes capable of being connected with the lower leg connecting rod 111 are formed in the upper end of the bending plate 112, so that people who have lower legs with different lengths can use the bending plate 112 for stretching and retracting the lower leg connecting rod 111, and the baffle 7 capable of axially retaining the bending plate 112 is arranged on the outer side of the bending plate 112 in the embodiment, so that the bending plate 112 cannot axially separate in the motion process, and the use safety is further improved.
As shown in fig. 6, in the embodiment of the present invention, two bending plates 112 are symmetrically arranged on two sides of the lower leg, and each bending plate 112 includes a straight portion 1122, a transition portion 1123 and a protection portion 1124 connected in sequence from top to bottom, and the transition portion 1123 is inclined inward from top to bottom. The cooperation of straight portion 1122, transition portion 1123 and protection portion 1124 three specifically reduces the girth between two protection portions 1124 through straight portion 1122 in this embodiment, makes protection portion 1124 can effectively protect the ankle, avoids the condition of fire fighter spraining the foot.
In an embodiment of the present invention, the elastic energy storage assembly 23 comprises at least two disc spring sets 231, and the disc spring sets 231 are symmetrically arranged along the centerline of the foot support 2. The disc spring set 231 can be composed of at least two disc springs 2311, and the elastic energy storage assembly 23 in the embodiment adopts the energy storage form of the disc springs 2311, so that the installation is convenient and the structure is simple. As shown in FIG. 5, in one embodiment, the elastic energy storage assembly 23 includes four disc springs 2311. In the embodiment of the invention, the two passive energy storage mechanisms 3 are symmetrically arranged along the central line of the foot supporting mechanism 2, so that the bionic symmetrical design is realized, and corresponding parts are convenient to disassemble and replace.
The invention also provides a power-assisted exoskeleton device which comprises the ankle joint power-assisted exoskeleton 100 for emergency rescue, and the specific structure of the ankle joint power-assisted exoskeleton 100 for emergency rescue refers to the embodiment. Because the power-assisted exoskeleton device adopts all technical schemes of all the embodiments, at least all the beneficial effects brought by the technical schemes of the embodiments are achieved, and no detailed description is given here.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (16)
1. An ankle power-assisted exoskeleton (100) for emergency rescue comprising:
a lower leg wearing mechanism (1);
the foot supporting mechanism (2) comprises a front foot support (21) and a rear foot support (22) which are provided with elastic energy storage assemblies (23), and the lower leg wearing mechanism (1), the rear foot support (22) and the front foot support (21) are hinged to two ankle joint points (28) which are symmetrically arranged along the central line of the foot supporting mechanism (2) through two rotating shafts (1121);
the passive energy storage mechanism (3) comprises an elastic power assisting piece (31), a sleeve (32) connected to the rear side of the lower leg wearing mechanism (1) and a pull rod (33) extending into the sleeve (32) and connected to the rear side of the rear leg support (22), the elastic power assisting piece (31) is contained in the sleeve (32), two ends of the elastic power assisting piece are respectively abutted to the sleeve (32) and the pull rod (33), and the pull rod (33) can reciprocate in the sleeve (32) to axially move and extrude or release the elastic power assisting piece (31).
2. The ankle joint assistance exoskeleton of emergency rescue according to claim 1, wherein the passive energy storage mechanism (3) further comprises:
the first shaft sleeve (34) is rotatably arranged on the lower leg wearing mechanism (1), and the upper end of the sleeve (32) is detachably connected with the first shaft sleeve (34);
and the second shaft sleeve (36) is rotatably arranged on the rear foot support (22), and the lower end of the pull rod (33) is detachably connected with the second shaft sleeve (36).
3. The ankle joint assisting exoskeleton as claimed in claim 2, wherein the first shaft sleeve (34) is hung on the lower leg wearing mechanism (1) through a hook (35), the rear foot support (22) is provided with a mounting frame (221) and a pin shaft (222) sequentially penetrating through the mounting frame (221) and the second shaft sleeve (36), and the pin shaft (222) is in clearance fit with the second shaft sleeve (36) while being in interference fit with the mounting frame (221).
4. The ankle power-assisted exoskeleton of claim 1, wherein the forefoot support (21) comprises a front foot plate (211) and a forefoot skeleton (212) hinged to the ankle joint point (28) with the lower leg wearing mechanism (1), the elastic energy storage assembly (23) is sealed between the forefoot skeleton (212) and the front foot plate (211), the rear foot support (22) comprises a rear foot plate (223) and a rear foot skeleton (224) hinged to the ankle joint point (28) with the lower leg wearing mechanism (1), and the elastic energy storage assembly (23) is sealed between the rear foot skeleton (224) and the rear foot plate (223).
5. The ankle assisted exoskeleton of claim 4, wherein the foot support mechanism (2) further comprises two resilient seals (24), the forefoot plate (211) and the forefoot skeleton (212) being sealingly connected by one of the resilient seals (24); the rear foot plate (223) and the rear foot framework (224) are connected in a sealing mode through the other elastic sealing piece (24).
6. The ankle power-assisted exoskeleton as claimed in claim 5, wherein an adjusting gap (25) is provided between the front foot plate (211) and the rear foot plate (223), both sides of the front foot frame (212) are hinged to the rotating shaft (1121) through adjusting links (26), the two adjusting links (26) are symmetrically arranged along the central line of the foot supporting mechanism (2), and the adjusting links (26) are provided with a plurality of connecting holes (27) for connecting with the front foot frame (212).
7. The ankle power-assisted exoskeleton of claim 6, wherein the elastic seal (24) is a leaf spring and the two elastic seals (24) are located on either side of the adjustment gap (25).
8. The ankle power-assisted exoskeleton as claimed in claim 6, wherein the front foot framework (212) comprises a front foot main body plate (2121) connected with the front foot plate (211) in a sealing manner, triangular foot protection plates (2122) respectively arranged at two sides of the front foot main body plate (2121) and provided with triangular lightening holes (2123), and a front foot strap (213) connected between the two triangular foot protection plates (2122), wherein the tops of the triangular foot protection plates (2122) are bent inwards and hinged to the rotating shaft (1121) through the adjusting link (26).
9. The ankle power-assisted exoskeleton as claimed in any one of claims 4 to 8, wherein the front foot plate (211) and the rear foot plate (223) are provided with toothed protrusions (29) at their bottom.
10. The ankle power-assisted exoskeleton as claimed in any one of claims 4 to 8, wherein the hindfoot skeleton (224) comprises a hindfoot body plate (2241) and a U-shaped surrounding plate (2242) arranged around the edge of the hindfoot body plate (2241), two sides of the U-shaped surrounding plate (2242) are provided with connecting lugs (2243) hinged to the rotation shaft (1121) and symmetrically arranged along the centerline of the foot supporting mechanism (2), and the connecting lugs (2243) and the U-shaped surrounding plate (2242) are provided with rear lightening holes (2244).
11. The ankle power-assisted exoskeleton of any one of claims 1 to 8, wherein the lower leg wearing mechanism (1) comprises:
the lower end of each connecting rod component (11) is provided with the rotating shaft (1121), and the two connecting rod components (11) are symmetrically arranged along the central line of the foot supporting mechanism (2);
the calf bandage (12) is annularly arranged between the two connecting rod assemblies (11) through an adjustable clamping lock (13), and at least two calf bandages (12) are sequentially arranged on the connecting rod assemblies (11) at intervals in the vertical direction.
12. The ankle power-assisted exoskeleton of claim 11, wherein the linkage assembly (11) comprises:
the lower leg connecting rods (111) are arranged in a hollow mode, and the lower leg binding bands (12) are all arranged on the lower leg connecting rods (111);
and the upper end of the bending plate (112) is inserted into the lower leg connecting rod (111) and can extend and retract relative to the lower leg connecting rod (111).
13. The ankle power-assisted exoskeleton as claimed in claim 12, wherein the bending plate (112) comprises a straight portion (1122), a transition portion (1123) and a protection portion (1124) which are connected in sequence from top to bottom, and the transition portion (1123) is inclined inwards from top to bottom.
14. The ankle power-assisted exoskeleton of any one of claims 1 to 8 wherein the elastic energy storage assembly (23) comprises at least two belleville spring packs (231), the belleville spring packs (231) being arranged symmetrically along the centre line of the foot support (2).
15. The ankle power-assisted exoskeleton of any one of claims 1 to 8, wherein the two passive energy storage mechanisms (3) are arranged symmetrically along the centre line of the foot support mechanism (2).
16. A powered exoskeleton device comprising an ankle powered exoskeleton (100) as claimed in any one of claims 1 to 15 for use in emergency rescue.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111620083.0A CN114260881B (en) | 2021-12-23 | 2021-12-23 | Ankle joint assisting exoskeleton and assisting exoskeleton equipment for emergency rescue |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111620083.0A CN114260881B (en) | 2021-12-23 | 2021-12-23 | Ankle joint assisting exoskeleton and assisting exoskeleton equipment for emergency rescue |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114260881A true CN114260881A (en) | 2022-04-01 |
| CN114260881B CN114260881B (en) | 2024-04-19 |
Family
ID=80831002
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111620083.0A Active CN114260881B (en) | 2021-12-23 | 2021-12-23 | Ankle joint assisting exoskeleton and assisting exoskeleton equipment for emergency rescue |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114260881B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024097376A1 (en) * | 2022-11-02 | 2024-05-10 | Sarcos Corp. | Adjustable exoskeleton foot-supporting appendage for variable human kinematic compatibility |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104644381A (en) * | 2015-02-15 | 2015-05-27 | 安徽理工大学 | Three-DOF (Degree Of Freedom) flexible ankle joint device for exoskeletons |
| CN108186287A (en) * | 2018-02-01 | 2018-06-22 | 东南大学 | Multiple degrees of freedom energy storage foot mechanism |
| CN208259892U (en) * | 2017-09-06 | 2018-12-21 | 江苏恒毅运控智能设备科技有限公司 | Ankle-joint boosting mechanism and lower limb exoskeleton |
| KR101981631B1 (en) * | 2018-01-23 | 2019-05-24 | 연세대학교 산학협력단 | An Exoskeleton robot with Talocrural Joint and Subtalar Joint as rotation axes |
| RU2018144667A (en) * | 2018-12-17 | 2020-06-17 | Общество С Ограниченной Ответственностью "Экзоатлет" | Ankle orthosis or exoskeleton |
| CN111956458A (en) * | 2020-09-25 | 2020-11-20 | 焦彪彪 | Ankle joint power-assisted passive exoskeleton |
| CN112168442A (en) * | 2020-09-27 | 2021-01-05 | 焦彪彪 | Variable-rigidity ankle joint |
| CN113306647A (en) * | 2021-06-11 | 2021-08-27 | 杭州太希智能科技有限公司 | Exoskeleton bendable foot structure simulating human body walking posture and exoskeleton robot |
-
2021
- 2021-12-23 CN CN202111620083.0A patent/CN114260881B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104644381A (en) * | 2015-02-15 | 2015-05-27 | 安徽理工大学 | Three-DOF (Degree Of Freedom) flexible ankle joint device for exoskeletons |
| CN208259892U (en) * | 2017-09-06 | 2018-12-21 | 江苏恒毅运控智能设备科技有限公司 | Ankle-joint boosting mechanism and lower limb exoskeleton |
| KR101981631B1 (en) * | 2018-01-23 | 2019-05-24 | 연세대학교 산학협력단 | An Exoskeleton robot with Talocrural Joint and Subtalar Joint as rotation axes |
| CN108186287A (en) * | 2018-02-01 | 2018-06-22 | 东南大学 | Multiple degrees of freedom energy storage foot mechanism |
| RU2018144667A (en) * | 2018-12-17 | 2020-06-17 | Общество С Ограниченной Ответственностью "Экзоатлет" | Ankle orthosis or exoskeleton |
| CN111956458A (en) * | 2020-09-25 | 2020-11-20 | 焦彪彪 | Ankle joint power-assisted passive exoskeleton |
| CN112168442A (en) * | 2020-09-27 | 2021-01-05 | 焦彪彪 | Variable-rigidity ankle joint |
| CN113306647A (en) * | 2021-06-11 | 2021-08-27 | 杭州太希智能科技有限公司 | Exoskeleton bendable foot structure simulating human body walking posture and exoskeleton robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024097376A1 (en) * | 2022-11-02 | 2024-05-10 | Sarcos Corp. | Adjustable exoskeleton foot-supporting appendage for variable human kinematic compatibility |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114260881B (en) | 2024-04-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106109181B (en) | Reduction exoskeleton joint and exoskeleton power assisting device thereof | |
| CN105643598B (en) | The semi-passive lower limb exoskeleton of energy-conservation driven based on lasso trick | |
| CN107242959B (en) | Unpowered walking booster | |
| US20200281745A1 (en) | Lower limb exoskeleton system having jump-down cushioning function and use method thereof | |
| CN106420277B (en) | A kind of Portable flexible walking auxiliary equipment | |
| CN104758099B (en) | Lower limb assistance exoskeleton based on gravitational equilibrium | |
| CN104644381A (en) | Three-DOF (Degree Of Freedom) flexible ankle joint device for exoskeletons | |
| CN103315834A (en) | Wearable lower-limb assistance exoskeleton | |
| CN114260881A (en) | Ankle joint assistance exoskeleton for emergency rescue and assistance exoskeleton device | |
| CN110125908B (en) | Labor-saving walking aid without external power input | |
| CN113352303B (en) | Wearable transport helping hand type ectoskeleton | |
| CN111823217A (en) | Variable-rigidity lower limb exoskeleton robot based on shape memory alloy | |
| CN110861074B (en) | Rope-driven flexible exoskeleton power-assisted robot | |
| CN110339547B (en) | Foot assistance exoskeleton device | |
| CN110742779A (en) | Spring type elastic force adjustable rehabilitation power assisting device | |
| CN113146579B (en) | Trans-joint load supporting device based on passive variable-stiffness damper | |
| CN113069327B (en) | Wearable walking aid for old people | |
| CN217168501U (en) | Exoskeleton device | |
| CN216940671U (en) | Passive lower limb exoskeleton | |
| WO2022262302A1 (en) | Passive lower-limb exoskeleton | |
| CN115488859A (en) | Active lower limb exoskeleton | |
| CN211658678U (en) | Exoskeleton device for rehabilitation | |
| CN110103233B (en) | Power type bendable waist booster | |
| CN114714326A (en) | Waist assisting mechanism and waist exoskeleton | |
| CN113618714B (en) | Lower limb passive exoskeleton device assisting walking and running |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |