CN114310943B - Joint module, leg lifting state free bending's helping hand low limbs ectoskeleton and whole body ectoskeleton - Google Patents
Joint module, leg lifting state free bending's helping hand low limbs ectoskeleton and whole body ectoskeleton Download PDFInfo
- Publication number
- CN114310943B CN114310943B CN202111586573.3A CN202111586573A CN114310943B CN 114310943 B CN114310943 B CN 114310943B CN 202111586573 A CN202111586573 A CN 202111586573A CN 114310943 B CN114310943 B CN 114310943B
- Authority
- CN
- China
- Prior art keywords
- coil spring
- brake
- spring box
- exoskeleton
- guide
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a joint module, which is provided with at least one coil spring box and a brake matched with the coil spring box for locking and braking the coil spring box, wherein the coil spring box and the brake are relatively fixed in the direction of a joint rotation axis, so that the coil spring box is fixed and limited to rotate under the braking of the brake, and a coil spring in the coil spring box starts to store force, so that the power assisting mode of a joint can be switched; the power-assisted lower limb exoskeleton is characterized in that the joint modules are arranged on the hip joint and the knee joint, so that the whole lower limb exoskeleton can be switched in power-assisted mode, the exoskeleton can completely accord with the assistance of the human motion law, and the power-assisted lower limb exoskeleton is comfortable to wear, has extremely strong popularity and is popular in various operation fields; in addition, the whole-body exoskeleton is also disclosed by combining the assisting lower limb exoskeleton, and the exoskeleton not only has the assisting characteristics, but also has certain assisting effect on the upper limb, so that the exoskeleton has the assisting effect with stronger performance.
Description
Technical Field
The invention relates to the technical field of exoskeleton bound to human body assistance, in particular to a joint module, a leg lifting state freely-bent assistance lower limb exoskeleton and a whole body exoskeleton.
Background
With the development of logistics, military, medical treatment, fire protection and the like, in particular to special environments, related operators are required to be in a bending and semi-squatting state for a long time or bear materials to walk for a long distance, the conditions of tiredness, attention decline and the like are easy to occur when the workers maintain the same posture and walk with overload for a long time, the working efficiency is reduced, the danger is increased, and not only is the task not effectively completed for related units, but also a plurality of health and safety hazards are brought to the operators.
Currently, a large number of exoskeletons exist in the fields of auxiliary logistics transportation, army logistics, medical rehabilitation, fire rescue and the like, and because an active power auxiliary mode is limited by technical bottlenecks such as acting force identification, an output control system and the like, and the exoskeletons are large in size, large in gravity and unfavorable for wearing and are not selected, the exoskeletons with passive power assistance are favored in various fields.
The existing passive exoskeleton is mainly wearable waist power assisting, lower limbs cannot assist, such as patent number CN2017120225U, CN208147844U, CN107150335A, CN107150335A, has a power assisting function, is limited to the waist, has a working mode, cannot step in a large span mode when walking is needed, and increases walking burden. Patent numbers CN2021102202455, CN200910088396.9, CN201910223205.9 and CN201610300374.4 all realize the assistance of the whole lower limb, but only the working mode, the passive force storage device, can limit the complete state of leg lifting when the human body wears and walks, and the walking is abnormal and laborious. Therefore, the real-time assistance of the lower limbs of the passive exoskeleton accords with the normal walking movement of the human body and needs to be solved.
Disclosure of Invention
Therefore, the invention aims to provide the power-assisted exoskeleton which has the characteristics of energy storage, high pretightening force, automatic mode switching, convenience in wearing, high universality, conformity to the bending motion law of the legs of the walking motion of a human body and the like.
In order to solve the technical problems, the invention provides the joint module, which is provided with at least one coil spring box and a brake matched with the coil spring box for locking and braking the coil spring box, wherein the coil spring box and the brake are relatively fixed in the direction of a joint rotation axis, so that the coil spring box is fixedly limited to rotate under the braking of the brake, and a coil spring in the coil spring box starts to store force.
As a preferred technical scheme in some embodiments, the coil spring box is of a columnar structure, the brake is a brake hub which is wrapped and matched with the outer side wall, a friction layer is arranged on the side surface of the coil spring box, the friction layer is uniformly distributed protruding strips or protruding points or racks, and the brake hub is a circular ring or at least two arc ring sections hinged with each other.
As a preferred technical solution in some embodiments, the coil spring box is a circular disc-shaped structure, and the brake is a brake caliper adapted to the clamping of a circular end face of the brake.
As a preferred technical solution in some embodiments, the joint module further includes: the flange base is parallel to the flange shell and is connected with the flange base through bolts to form a cylindrical shell with hollowed side surfaces, and the cylindrical shell is used for internally mounting the coil spring box and the brake; the coil spring shaft is used for rotationally matching a cylindrical shell and a coil spring box which are formed after the flange base and the flange shell are connected through bolts and is rotationally connected with the flange base, the flange shell and the coil spring box respectively; the coil spring is positioned in the coil spring box and close to the flange base side and is used for connecting a coil spring shaft and the coil spring box; the first bearing is sleeved in the flange base; the unidirectional bearing is sleeved on the coil spring shaft; the unidirectional bearing seat is sleeved between the first bearing and the unidirectional bearing and is used for enabling the unidirectional bearing seat to rotate in a single direction relative to the coil spring box and the coil spring shaft which are limited to rotate after being braked by the brake; the second bearing is used for rotationally connecting the coil spring box and the coil spring shaft; the coil spring shaft cover is positioned at the center of the flange shell and is used for fixing the coil spring shaft in the axial direction; and the third bearing is used for rotationally connecting the coil spring shaft cover and the flange shell.
As a preferred technical solution in some embodiments, the single rotation direction of the unidirectional bearing housing is consistent with the rotation direction of the coil spring non-storage winding.
In order to solve the technical problems, the invention also provides a leg-lifting-state free-bending power-assisted lower limb exoskeleton, which comprises a hip swing base, a thigh rotating arm, a shank rotating arm and a foot plate, wherein joint modules are arranged between the hip swing base and the thigh rotating arm and between the thigh rotating arm and the shank rotating arm, at least one of the two joint modules is any one of the joint modules, the shank rotating arm is hinged with the foot plate, a pressing flashboard assembly is arranged on the foot plate, a connecting assembly is arranged between the pressing flashboard assembly and the joint modules, and the pressing flashboard assembly is in power connection with the joint modules through the connecting assembly;
the pressing flashboard assembly comprises two auxiliary foot plates with different horizontal plane heights and guide clamps for fixedly guiding the two auxiliary foot plates, the guide clamps transmit mechanical power to the brake coil spring box through the connecting assembly, and the connecting assembly is of a mechanical transmission structure.
As a preferred technical solution in some embodiments, the side surface of the flange base is fixedly connected with the upper part of the thigh rotating arm and/or the upper part of the shank rotating arm, and the side surface of the one-way bearing seat is fixedly connected with the lower part of the hip swing base and/or the thigh rotating arm.
As a preferred technical solution in some embodiments, the foot board includes a front sole, a rear sole and a connecting frame with a side surface for hinging the front sole and the rear sole.
As a preferred solution in some embodiments, both of the auxiliary foot boards are part of the forefoot.
As a preferred technical solution in some embodiments, the guide clip includes two guide posts, a guide block sleeved with the guide posts, and a return spring sleeved on the guide posts and located at the bottom of the guide block, where the guide block is a part of the auxiliary foot board with a higher horizontal plane, and the two guide posts are a part of the auxiliary foot board with a lower horizontal plane.
As a preferable technical scheme in some embodiments, the guide clip is arranged on the side surface of the front sole, and the connecting frame is hinged with the guide block.
As a preferred technical solution in some embodiments, the guide clip is disposed on the front side of the forefoot, and the connecting frame is hinged to the side of the auxiliary foot board with a lower level.
As a preferable technical scheme in some embodiments, the mechanical transmission structure is a brake spool, and two ends of the brake spool are directly connected with the guide clamp and the brake connecting end respectively, so that a rope in the guide clamp moves relative to the spool to drive the brake.
As a preferred technical scheme in some embodiments, the mechanical transmission structure is specifically a pneumatic pipe transmission mechanism, and specifically includes a compression air pump arranged on a guide clamp, a compression actuator arranged on a brake, and a compression air pipe with two ends respectively connected with an output end of the compression air pump and an input end of the compression actuator, and the compression actuator can be specifically an air cylinder.
As a preferred technical solution in some embodiments, the mechanical transmission structure is a hydraulic pipe transmission mechanism, and specifically includes an output oil cylinder disposed on the guide clip, an input oil cylinder disposed on the brake, and a hydraulic oil pipe connecting the input oil cylinder and the input oil cylinder.
As a preferred technical solution in some embodiments, the thigh rotating arm comprises a thigh sleeve plate and a thigh plugboard, the thigh sleeve plate is provided with a binding member one, the shank rotating arm comprises a shank sleeve plate and a shank plugboard, and the shank sleeve plate is provided with a binding member two.
In a third aspect, the present invention further provides a whole body exoskeleton, including a lumbar support, a power-assisted lower limb exoskeleton symmetrically installed on two sides of the lumbar support, a shoulder backboard, an elastic backboard installed between the middle parts of the lumbar support and the shoulder backboard, and a pallet installed on the lumbar support and located at the bottom of the arm strength bar backboard, where the power-assisted lower limb exoskeleton is any one of the power-assisted lower limb exoskeleton above.
As a preferred technical solution in some embodiments, the elastic backboard is a connecting rod assembly formed by a plurality of arm force rods side by side or plastic plates or two ends of the connecting rod assembly are connected by springs and have a rotation center.
Compared with the prior art, the invention has the following advantages:
the wearable exoskeleton has the advantages that the knee joint and the hip joint are provided with the lower limb of the joint module with the dual mode and the upper limb with the elastic backboard, the energy storage and the pretightening force are high, whether the pretightening is needed or not can be automatically switched, the pressing flashboard assembly which can be controlled by the trampling of the foot of a wearer is arranged on the foot board of the lower limb, the power is transmitted to the joint module to brake the rolling spring box with the pretightening force, the exoskeleton can assist the knee joint and the hip joint of the wearer when bearing the reaction force of the ground, the legs are freely bent when the leg is lifted and walked, and therefore the wearable exoskeleton can completely conform to the motion law of a human body when walking, has extremely high practicability and strong universality, and can be switched among multiple modes. In addition, the exoskeleton can carry heavy loads on back, and the elastic backboard can assist when the back is bent, so that the whole body assistance is realized, the assistance effect is good, the pretightening force is high, and the exoskeleton is deeply favored by the related fields of military, logistics and operation.
Drawings
Fig. 1 is a schematic overall perspective view of a whole body exoskeleton of the present invention.
FIG. 2 is a schematic representation of one embodiment of the power-assisted lower extremity exoskeleton of the present invention.
Fig. 3 is a schematic view of another embodiment of the boosted lower extremity exoskeleton of the present invention.
Fig. 4 is a schematic perspective view of an embodiment of a joint module according to the present invention.
Fig. 5 is a schematic cross-sectional view of the joint module of the embodiment of fig. 4.
Fig. 6 is an exploded view of the joint module of the embodiment of fig. 4.
Fig. 7 is an exploded view of another view of the joint module of the embodiment of fig. 4.
Fig. 8 is an exploded view of another embodiment of the joint module of the present invention.
Fig. 9 is an exploded view of another embodiment of the joint module of the present invention.
Fig. 10 is an exploded view of another embodiment of the joint module of the present invention.
Fig. 11 is a schematic perspective view of an embodiment of a foot board according to the present invention.
Fig. 12 is a schematic perspective view of another embodiment of the foot board of the present invention.
Fig. 13 is a schematic perspective view of an upper limb exoskeleton according to an embodiment of the present invention.
Detailed Description
In order to facilitate understanding of the technical scheme of the present invention, the following detailed description is made with reference to the accompanying drawings and specific embodiments.
The present embodiment provides a whole body exoskeleton worn by a user such as a person to enhance the functions of the user such as enhancing the functions of the person.
Referring to fig. 1, the whole body exoskeleton of the present embodiment includes an upper limb exoskeleton 100 and a power-assisted lower limb exoskeleton 101, where the upper limb exoskeleton 100 is connected to the power-assisted exoskeleton 101, specifically, a multi-free hinge connection, so as to achieve mobility of the hip joint.
Referring to fig. 2, the assistance lower limb exoskeleton of the present embodiment has a hip swing base, a thigh swing arm 1012, a shank swing arm 1013, and a foot plate 1014, wherein, for example, a joint module 1011 is provided between the hip swing base and the thigh swing arm 1012, and between the thigh swing arm 1012 and the shank swing arm 1013, that is, a joint module 1011 is provided at both the hip joint and the knee joint, and a assistance mode is switchable for both the waist and the knee joint, and, for example, referring to fig. 3, a joint module 1011 is provided only between the thigh swing arm 1012 and the shank swing arm 1013, and a joint module 1011b is provided between the hip swing base and the thigh swing arm 1012, that is, a joint module 1011 having a assistance mode switchable is provided only at the knee joint, and the hip joint is a purely assistance joint module 1011b; the bottom of the shank rotating arm 1013 is connected with the foot plate 1014, in particular, the articulated connection, so that the hip joint has more degrees of freedom, the constraint on the wearer is reduced, in order to be able to form a reaction force according to the motion law of the wearer when walking, namely, the foot is grounded, the exoskeleton will counteract the reaction force to form assistance force, the leg is lifted forward, the foot is not subject to the reaction force, but the leg needs to bend, the leg needs to bend freely at this moment, so that the assistance lower limb exoskeleton of the embodiment needs to bend freely without assistance force, the foot plate is provided with a pressing flashboard assembly, a connecting assembly 1017a is arranged between the pressing flashboard assembly and the joint module 1011, the joint module 1011 is arranged corresponding to the hip joint and the knee joint, namely, the pressing flashboard assembly can convert the gravity of the foot of the wearer into mechanical power, and then transmit the mechanical power through the connecting assembly, and of course, the connecting assembly can also be arranged as a connecting assembly 1011b when the joint module 1011 is arranged corresponding to the knee joint module 1011.
The research surface, the existing pre-tightening joint module with energy storage is a coil spring or torsion spring and other devices with energy storage, although some of the pre-tightening joint module can be provided with a structure with adjustable pre-tightening force, the pre-tightening joint module is not provided with a mode switch which can be required by the energy storage part, so that the problem is solved by providing the joint module 1011, for example, referring to fig. 4-7, the joint module 1011a of the embodiment is provided with at least one coil spring 101120a and a brake 10117a which is matched with the coil spring 101120a and locks the coil spring box 101120a, the coil spring box 101120a and the brake 10117a are relatively fixed in the direction of the joint rotation axis, namely, the coil spring box 101120a corresponds to the brake 10117a in one-to-one mode, when the coil spring box 101120a is required to be fixed to generate pre-tightening force, the joint of the outer skeleton of the lower limb can be in a power-assisted state, and when the user walks and lifts the leg to bend, the brake 10117a is far away from the coil spring box 101120a, so that the joint cannot resist bending of the coil spring box 101120a freely and the joint can not resist bending force of the user; when the coil spring box 101120a is in a columnar structure, the brake 10117a is a brake drum which is matched with the outer package of the coil spring box 101120a; 4-7, a joint module 1011a is provided, where the brake drum of the joint module 1011a of this embodiment is two mutually hinged arc ring segments, which are of course not limited to the two segments of this embodiment, may be multiple segments, the inner side is provided with teeth, the coil spring box 101120a is two cups that can be buckled with each other, and the outer surface of the coil spring box 101120a is provided with a friction layer, where the friction layer is a rack, and of course the friction layer may also be uniformly distributed protruding strips or protruding points, etc. not limited to this embodiment, that is, the brake 10117a has two mutually hinged arc ring segments with teeth on the inner side, and the two arc ring segments are mutually close to lock the brake by the two cup-shaped buckled coil spring boxes 101120a under the cooperation of rotation, so that the brake effect is good, the separation is thorough, the coil spring is convenient, and the switching mode is stable; referring to fig. 8, for example, a joint module 1011b is provided, and in the case that other parts are matched with the joint module 1011, the brake drum is a ring, the coil spring box 101120b is a single cup body, and a friction layer is arranged on the outer surface of the coil spring box 101120b, wherein the friction layer is a rack, and of course, the friction layer can also be uniformly distributed protruding strips or protruding points, etc. without being limited to the embodiment; referring to fig. 9, a joint module 1011c is provided, and in the case where the other parts are fitted in the same manner as the joint module 1011, the brake drum is a circular ring, the coil spring case 101120c is a single cup, and there is no friction layer on the outer surface of the coil spring case 101120 c. In the case of the same fitting of other parts as the joint module 1011, for example, referring to fig. 10, a joint module 1011d is provided, the coil spring case 101120d is a circular disc-like structure, and the brake 10117d is a brake caliper adapted to clamp a circular end face thereof.
Specifically, the joint module 1011 further has a flange base 10111, a flange housing 10116, and a cylindrical housing parallel to the flange base 10111 and hollow out in side surface is formed by bolting, for internally mounting a coil spring box 101120a and a brake 10117a; the coil spring shaft 10114 is used for rotationally matching a cylindrical shell and a coil spring box 101120a formed after the flange base 10111 and the flange shell 10116 are connected through bolts and is rotationally connected with the flange base 10111, the flange shell 10116 and the coil spring box 101120a respectively; a coil spring 101121 positioned within the coil spring box 101120a adjacent the flange base 10111 for coupling the coil spring shaft 10114 to the coil spring box 101120a; the first bearing 10115 is sleeved in the flange base 10111; a one-way bearing 10113 sleeved on the coil spring shaft 10114; the one-way bearing seat 10112 is sleeved between the first bearing 10115 and the one-way bearing 10113, and is used for enabling the one-way bearing seat 10112 to rotate in a single direction relative to the coil spring box 101120a and the coil spring shaft 10114 which are limited to rotate after being braked by the brake 10117a; a second bearing for rotational connection between the wrap spring box 101120a and the wrap spring shaft 10114; a wrap spring shaft cover 10118 located at the center of the flange housing 10116 for securing the wrap spring shaft 10114 in an axial direction; a third bearing 10119 for rotational connection between the wrap spring shaft cover 10118 and the flange housing 10116.
It should be noted that, the single rotation direction of the unidirectional bearing seat 10112 is consistent with the non-power-accumulating winding rotation direction of the coil spring 101121, that is, the unidirectional bearing 10113 can enable all parts of the power-assisted lower limb exoskeleton 101 connected with the unidirectional bearing seat 10112 to be braked and limited to rotate by the brake 10117a in the coil spring box 101120a, and the coil spring 101121 can enable all the parts of the power-assisted lower limb exoskeleton 101 which are in bending to be restored to be upright freely under the condition that the coil spring 101121 can store energy, that is, to be restored to the zero point under the condition that reverse power accumulation is not needed, wherein the zero point refers to the complete upright state of the power-assisted lower limb exoskeleton 101. Therefore, the upper lower limb which is positioned above the bending of the lifting leg can be free from resistance in the process of recovering to be upright when the wearer climbs the stairs.
It should be noted that, referring to fig. 11, the pressing ram assembly includes two auxiliary foot plates with different levels and a guide clamp 10145 for fixing and guiding the two auxiliary foot plates, the guide clamp 10145 transmits mechanical power to the brake 10117a to brake the coil spring box 101120a through the connection assembly, and the first auxiliary foot plate 10142 and the second auxiliary foot plate 10143 respectively correspond to each other, i.e. the wearer steps on the first auxiliary foot plate 10142 and the second auxiliary foot plate 10143 with the height difference to convert gravity into mechanical kinetic energy, and the guide clamp 10145 fixes the sliding stability of the two auxiliary foot plates, and the connection assembly stably transmits the mechanical kinetic energy to the brake 10117a of the joint module 1011 to brake the coil spring box 101120a.
Specifically, referring to fig. 11, the foot board 1014 includes a front sole, a rear sole 10141, and a connecting frame 10146 with a side surface for hinging the two, the first auxiliary foot board 10142 and the second auxiliary foot board 10143 are part of the front sole, the guide clip 10145 has two guide posts 101452, a guide block 101451 sleeved with the guide post 101452, and a return spring 101453 sleeved on the guide post 101452 and located at the bottom of the guide block 101451, the guide block 101451 is fixedly connected above the first auxiliary foot board 10142 with a higher level, the two guide posts 101452 are fixedly connected above the second auxiliary foot board 10143 with a lower level, the two guide posts 101452 are fixedly connected through a diaphragm, the connecting component is connected between the guide block 101451 and the diaphragm, that is, the first auxiliary foot board 10142 with a high level drives the guide block 101451 to descend under the action of gravity of the wearer to form mechanical kinetic energy, and is output through the connecting component, and the return spring 101453 pushes the guide block 101451 to move upward to the initial position under the action of lifting the leg of the wearer to release the gravity force, so as to contact the joint box 101 a, even if the coil spring 120 is free.
It should be noted that, referring to fig. 11, a foot plate 1014 is provided, a guide clip 10145 is integrally disposed on a side surface of the front sole, and a connecting frame 10146 is hinged on a side surface of the guide block 10145, that is, the front sole is kept horizontal in real time. With the other components and fittings unchanged, as an example, referring to fig. 12, a foot plate 1014a is provided, a guide clip 10145 is provided on the front side of the forefoot, and a connecting frame 10146 is hinged at the side of the second auxiliary foot plate 10143 with a lower horizontal plane.
It should be noted that, the connection component 1017a is a mechanical transmission structure, for example, referring to fig. 1-3, the mechanical transmission structure is specifically a brake spool, and two ends of the brake spool are directly connected to the connection ends of the guide clamp 10145 and the brake 10117a respectively, so that a rope inside the guide clamp 10145 moves relative to the spool to drive the brake 10117a; the mechanical transmission structure can also be a pneumatic pipe transmission mechanism, and specifically comprises a compressed air pump arranged on the guide clamp 10145, a compressed air pipe arranged on the brake 10117a and two ends of the compressed air pipe respectively connected with the output end of the compressed air pump and the input end of the compressed air pipe, and the compressed air pipe can be a cylinder; the mechanical transmission structure can also be a hydraulic pipe transmission mechanism, and specifically comprises an output oil cylinder arranged on the guide clamp 10145, an input oil cylinder arranged on the brake 10117a and a hydraulic oil pipe connecting the input oil cylinder and the input oil cylinder.
In addition, the thigh rocking arm 1012 has a telescopic length formed by the thigh sheathing 10121 and the thigh insertion plate 10122, the thigh sheathing 10121 is provided with the first binding 1015, the shank rocking arm 1013 has a telescopic length formed by the shank sheathing 10131 and the shank insertion plate 10132, and the shank sheathing is provided with the second binding 1016.
Specifically, referring to fig. 13, the upper limb exoskeleton 100 has a lumbar support 1004, power-assisted lower limb ectoskeletons 101 symmetrically installed at both sides of the lumbar support 1004, a shoulder backboard 1001, an elastic backboard 1002 installed between the lumbar support 1004 and the middle of the shoulder backboard 1001, and a pallet 1003 installed on the lumbar support 1004 at the bottom of the elastic backboard 1002.
It should be noted that, for example, referring to fig. 13, the elastic backboard 1002 is a structure formed by a plurality of arm strength rods side by side, so as to achieve the remarked assistance, further increase the upper limb assistance effect, and of course, the elastic backboard may also be a plastic board or a link assembly with two ends connected by springs and having a rotation center, which is not limited to this embodiment.
The foregoing is merely a preferred embodiment of the present invention, and the scope of the invention is defined by the claims, and those skilled in the art should also consider the scope of the present invention without departing from the spirit and scope of the invention.
Claims (13)
1. The joint module is characterized in that the joint module is provided with at least one coil spring box and a brake which is matched with the coil spring box and is used for locking and braking the coil spring box, the coil spring box and the brake are relatively fixed in the direction of a joint rotation axis, so that the coil spring box is fixedly limited to rotate under the braking of the brake, and a coil spring in the coil spring box starts to store force;
the joint module further includes:
a flange base seat, a flange base seat and a flange base seat,
the flange shell is parallel to the flange base and connected with the flange base through bolts to form a cylindrical shell with hollowed side surfaces, and is used for internally mounting the coil spring box and the brake;
the coil spring shaft is used for rotationally matching a cylindrical shell and a coil spring box which are formed after the flange base and the flange shell are connected through bolts and is rotationally connected with the flange base, the flange shell and the coil spring box respectively;
the coil spring is positioned in the coil spring box and close to the flange base side and is used for connecting a coil spring shaft and the coil spring box;
a first bearing sleeved in the flange base
The unidirectional bearing is sleeved on the coil spring shaft;
the unidirectional bearing seat is sleeved between the first bearing and the unidirectional bearing and is used for enabling the unidirectional bearing seat to rotate in a single direction relative to the coil spring box and the coil spring shaft which are limited to rotate after being braked by the brake;
the second bearing is used for rotationally connecting the coil spring box and the coil spring shaft;
the coil spring shaft cover is positioned at the center of the flange shell and is used for fixing the coil spring shaft in the axial direction;
the third bearing is used for rotationally connecting the coil spring shaft cover and the flange shell;
the single rotation direction of the unidirectional bearing seat is consistent with the non-accumulation rolling rotation direction of the coil spring.
2. The joint module according to claim 1, wherein the coil spring box is of a columnar structure, the brake is a brake hub which is wrapped and matched with the outer side wall, a friction layer is arranged on the side surface of the coil spring box, the friction layer is uniformly distributed protruding strips or protruding points or racks, and the brake hub is a circular ring or at least two arc ring sections hinged with each other;
or the coil spring box is of a circular disc-shaped structure, and the brake is a brake caliper which is matched with the circular end face clamp of the brake.
3. The utility model provides a leg lifting state freely curved helping hand low limbs ectoskeleton, includes hip pendulum base, thigh rocking arm, shank rocking arm and sole, between hip pendulum base and the thigh rocking arm, between thigh rocking arm and the shank rocking arm all be provided with the joint module, its characterized in that, two at least one of the joint module is the joint module of any one of claims 1-2, the shank rocking arm with the sole articulates and is connected, be provided with on the sole and press the flashboard subassembly, press and be provided with coupling assembling between flashboard subassembly and the joint module, press the flashboard subassembly with the joint module carries out power connection through coupling assembling;
the pressing flashboard assembly comprises two auxiliary foot plates with different horizontal plane heights and guide clamps for fixedly guiding the two auxiliary foot plates, the guide clamps transmit mechanical power to the brake coil spring box through the connecting assembly, and the connecting assembly is of a mechanical transmission structure.
4. The leg lifting state freely-bent assisting lower limb exoskeleton of claim 3, wherein the side surface of the flange base is fixedly connected with the upper part of the thigh rotating arm and/or the upper part of the lower leg rotating arm, and the side surface of the one-way bearing seat is fixedly connected with the lower part of the hip swing base and/or the thigh rotating arm.
5. A leg-lifting free-bending assisted lower extremity exoskeleton of claim 3 wherein said footplate comprises a front sole, a rear sole and a connecting frame laterally for hingedly connecting the two;
the two auxiliary foot plates are part of the front sole;
the guide clamp comprises two guide posts, guide blocks sleeved with the guide posts and a reset spring sleeved on the guide posts and located at the bottom of the guide blocks, wherein the guide blocks are part of the auxiliary foot plate with higher horizontal plane, and the two guide posts are part of the auxiliary foot plate with lower horizontal plane.
6. The leg lifting free bending assisting lower limb exoskeleton of claim 5, wherein said guide clip is disposed on a side of the front sole, and said connecting frame is hinged to said guide block.
7. The leg-raising free-bending assisted lower extremity exoskeleton of claim 5 wherein said guide clip is disposed on the front side of said forefoot and said connecting frame is hingedly connected to said lower horizontal side of said auxiliary foot plate.
8. A leg lifting state freely bendable assisting lower limb exoskeleton according to claim 3, wherein the mechanical transmission structure is a brake spool, and two ends of the brake spool are directly connected with the guide clamp and the brake connecting end respectively, so that a rope in the guide clamp moves relative to the spool to drive the brake.
9. The leg lifting state freely-bendable assisting lower limb exoskeleton of claim 3, wherein the mechanical transmission structure is specifically a pneumatic tube transmission mechanism, and specifically comprises a compressed air pump arranged on a guide clamp, a compressed actuator arranged on a brake and compressed air tubes with two ends respectively connected with an output end of the compressed air pump and an input end of the compressed actuator, and the compressed actuator can be specifically an air cylinder.
10. The leg lifting state free bending assisting lower limb exoskeleton of claim 3, wherein the mechanical transmission structure is a hydraulic pipe transmission mechanism, and specifically comprises an output oil cylinder arranged on the guide clamp, an input oil cylinder arranged on the brake and a hydraulic oil pipe connecting the input oil cylinder and the input oil cylinder.
11. A leg-lifting free-bending assisted lower extremity exoskeleton according to claim 3 wherein said thigh boom comprises a telescopic length from a thigh socket and a thigh insert, said thigh socket is provided with a first binder, said shank boom comprises a telescopic length from a shank socket and a shank insert, and said shank socket is provided with a second binder.
12. A whole body exoskeleton, which is characterized by comprising a waist support, power-assisted lower limb ectoskeletons symmetrically arranged on two sides of the waist support, a shoulder backboard, an elastic backboard arranged between the waist support and the middle part of the shoulder backboard, and a pallet arranged on the waist support and positioned at the bottom of the elastic backboard, wherein the power-assisted lower limb ectoskeletons are the power-assisted lower limb ectoskeletons according to any one of claims 3 to 11.
13. The whole body exoskeleton of claim 12 wherein the resilient back plate is a plurality of arm bars formed side by side or a plastic plate or a link assembly with spring connected ends and a center of rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111586573.3A CN114310943B (en) | 2021-12-23 | 2021-12-23 | Joint module, leg lifting state free bending's helping hand low limbs ectoskeleton and whole body ectoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111586573.3A CN114310943B (en) | 2021-12-23 | 2021-12-23 | Joint module, leg lifting state free bending's helping hand low limbs ectoskeleton and whole body ectoskeleton |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114310943A CN114310943A (en) | 2022-04-12 |
| CN114310943B true CN114310943B (en) | 2023-08-01 |
Family
ID=81055133
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111586573.3A Active CN114310943B (en) | 2021-12-23 | 2021-12-23 | Joint module, leg lifting state free bending's helping hand low limbs ectoskeleton and whole body ectoskeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114310943B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102191477B1 (en) * | 2012-09-07 | 2020-12-16 | 더 리전츠 오브 더 유니버시티 오브 캘리포니아 | Controllable Passive Artificial Knee |
| CN109093596B (en) * | 2018-07-27 | 2021-02-05 | 北京机械设备研究所 | Dual-mode passive ankle power assisting exoskeleton |
| CN109454632B (en) * | 2019-01-14 | 2020-07-21 | 东北大学 | Lower limb exoskeleton system with descending buffer function |
| CN112356013B (en) * | 2020-11-05 | 2021-09-07 | 安徽大学绿色产业创新研究院 | Passive and energy-storable elbow joint assistance exoskeleton |
| CN112975914A (en) * | 2021-03-16 | 2021-06-18 | 北京工业大学 | Sole control type lower limb energy storage boosting mechanism |
| CN214550688U (en) * | 2021-03-23 | 2021-11-02 | 福建禾广消防科技有限公司 | Self-rescue escape fire-fighting reel |
| 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 |
| CN113276159A (en) * | 2021-06-23 | 2021-08-20 | 杭州太希智能科技有限公司 | Passive exoskeleton lower limb joint structure capable of adjusting assistance force and robot |
-
2021
- 2021-12-23 CN CN202111586573.3A patent/CN114310943B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114310943A (en) | 2022-04-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110012663B (en) | Exoskeleton | |
| CN111773026B (en) | Multi-joint rigid-flexible combined power-assisted lower limb exoskeleton | |
| CN106109181B (en) | Reduction exoskeleton joint and exoskeleton power assisting device thereof | |
| US11071675B2 (en) | Lower limb exoskeleton system having jump-down cushioning function and method of using the same | |
| CN107242959B (en) | Unpowered walking booster | |
| CN212287630U (en) | Hip joint assistance exoskeleton system capable of assisting in supporting load | |
| CN211073587U (en) | Passive bionic spine exoskeleton device | |
| CN113352303B (en) | Wearable transport helping hand type ectoskeleton | |
| CN110125908B (en) | Labor-saving walking aid without external power input | |
| CN112008701A (en) | Hip joint assistance exoskeleton system capable of assisting in supporting load | |
| CN111096876A (en) | Lower limb load moving exoskeleton | |
| CN111329721B (en) | Lower limb assistance exoskeleton device with spring energy storage and rapid unloading | |
| CN112975914A (en) | Sole control type lower limb energy storage boosting mechanism | |
| CN114310943B (en) | Joint module, leg lifting state free bending's helping hand low limbs ectoskeleton and whole body ectoskeleton | |
| CN114347000A (en) | Passive flexible knee and ankle joint power-assisted exoskeleton robot | |
| CN211214231U (en) | Wearable walking aid | |
| CN216372179U (en) | Mechanical exoskeleton | |
| CN114260881B (en) | Ankle joint assisting exoskeleton and assisting exoskeleton equipment for emergency rescue | |
| CN214968610U (en) | Hip and knee hybrid drive walking aid with brake | |
| CN114654449B (en) | Active and passive combined wearable knee joint power assisting exoskeleton | |
| CN215689599U (en) | Lower limb exoskeleton device | |
| CN114571439A (en) | Compact type joint braking lower limb assistance exoskeleton device | |
| CN111805512B (en) | Knee joint exoskeleton | |
| CN212445219U (en) | Passive knee joint assistance exoskeleton device | |
| CN112704627A (en) | Hip and knee hybrid drive walking aid with brake |
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 |