CN114406987A

CN114406987A - Passive exoskeleton device based on energy trans-joint transfer

Info

Publication number: CN114406987A
Application number: CN202210048397.6A
Authority: CN
Inventors: 熊蔡华; 陈文斌; 周志洁; 周天成
Original assignee: Huazhong University of Science and Technology
Current assignee: Huazhong University of Science and Technology
Priority date: 2022-01-17
Filing date: 2022-01-17
Publication date: 2022-04-29
Anticipated expiration: 2042-01-17
Also published as: CN114406987B

Abstract

The invention belongs to the technical field of exoskeletons, and discloses a passive exoskeleton device based on energy transfer across joints. The exoskeleton device includes a waist wearing component, a hip joint energy storage component, an ankle joint power assist component and a clutch component, wherein the waist wearing component is worn on the waist, the hip joint energy storage component is worn on the thigh, and the ankle joint power assist component is worn on the ankle joint At the position, the clutch assembly is used to switch the exoskeleton device between the energy storage mode and the assist mode; when the exoskeleton is in the energy storage mode, the tension spring is stretched, and the elastic potential energy of the tension spring is stored; when the exoskeleton is in the assist mode In the mode, the foot of the assisted object swings back and the thigh swings backward, the trigger rope straightens and drives the trigger block to move upward, the retraction of the tension spring drives the slider to move upward, and the pulling force of the upward movement of the slider is transmitted to the ankle joint assist component. And then realize the assistance to the assisted object. Through the present invention, the problem of requiring electronic components and circuit control in the exoskeleton is solved.

Description

Passive exoskeleton device based on energy trans-joint transfer

Technical Field

The invention belongs to the technical field of exoskeleton correlation, and particularly relates to a passive exoskeleton device based on energy trans-joint transfer.

Background

In the process of military training, field search and rescue and the like, people often need to walk for a long distance. However, walking exercises consume a lot of physical power, and the field activity range of people is limited, and the performance of tasks is even affected. To improve walking efficiency, a variety of exoskeleton designs have been proposed. The active exoskeleton is heavy and severely limited to a human body, so that the aim of reducing the consumption of walking metabolic energy is difficult to realize. The passive exoskeleton can be effectively embedded into an energy transfer loop of a human lower limb musculoskeletal system, and the consumption of lower limb walking metabolic energy is reduced by means of the efficient energy conversion characteristic of the elastic element.

At present, a plurality of exoskeleton devices can effectively reduce the energy consumption of metabolism during walking, but most exoskeleton devices need to adopt electric elements such as motors and sensors, so that the weight of an exoskeleton is increased, the wearing is complex, and the exoskeleton device needs a complex circuit to control.

Disclosure of Invention

In view of the above-identified deficiencies in the art or needs for improvements, the present invention provides a passive exoskeleton device based on trans-articular transfer of energy that addresses the need for electronic components and circuit control in the exoskeleton.

To achieve the above objects, according to the present invention, there is provided a passive exoskeleton device based on energy trans-articular transfer, the exoskeleton device comprising a waist wearing assembly, a hip joint energy storage assembly, an ankle joint power assisting assembly, and a clutch assembly, wherein,

the waist wearing assembly is worn on the waist of the assisted subject, the hip joint energy storage assembly is worn on the thigh of the assisted subject, the ankle joint assisting assembly is worn on the ankle joint of the assisted subject, and the clutch assembly is arranged on the hip joint energy storage assembly and used for enabling the exoskeleton device to be switched between the energy storage mode and the assisting mode;

the hip joint energy storage assembly comprises a trigger rope, a tension spring, a thigh pull rope and a thigh wearing piece, one end of the tension spring is connected with the waist wearing assembly, the other end of the tension spring is connected with the thigh pull rope, one end of the sliding block is connected with the thigh pull rope, the other end of the sliding block is connected with the ankle joint power-assisting assembly, one end of the trigger rope is connected with the waist wearing assembly, the other end of the trigger rope is connected with the trigger block, a wedge-shaped notch is formed in the upper end of the trigger block, and the wedge-shaped notch is matched with a stop block arranged on the side face of the base;

when the exoskeleton is in an energy storage mode, the trigger rope is in a loose state, the tension spring is stretched, the slide block is blocked by the stop block and cannot move upwards, and the stretching potential energy of the tension spring is stored; when the exoskeleton is in a power-assisted mode, the foot of a power-assisted object pedals the ground and the thigh swings backwards, the trigger rope is stretched straight and drives the trigger block to move upwards, the trigger block drives the stop block to move upwards, the tension spring retracts to drive the slide block to move upwards, the pulling force of the upward movement of the slide block is transmitted to the ankle joint power-assisted assembly, and then the power assistance on the power-assisted object is realized.

Further preferably, a return spring is provided between the stopper and the side of the base, the return spring being compressed when the stopper moves upward and being returned after the stopper moves downward.

Further preferably, the ankle power assisting assembly comprises a bowden cable for connecting the clutch assembly and the ankle power assisting assembly, a lower leg wearing piece worn at a lower leg of the power-assisted subject, and a foot wearing piece worn at a foot of the power-assisted subject.

Further preferably, the bowden cable comprises an inner core and an outer shell, the inner core can be pulled relative to the outer shell, one end of the inner core is connected with the sliding block, the other end of the inner core is connected with the foot wearing piece, one end of the outer shell is connected with the thigh wearing piece, and the other end of the outer shell is connected with the shank wearing piece.

Further preferably, the lower leg wearing part and the foot wearing part are hinged to each other, and the rotation axis thereof is collinear with the ankle joint of the subject to be assisted.

Further preferably, the subassembly is worn to waist includes waist board, waistband, outstanding roof beam and hanging oneself from a beam support, the waist board sets up in the back waist department by the helping hand object, as supporting, the waistband with the waist board is connected, encircles on by the helping hand object truck, the hanging oneself from a beam support sets up in the both sides by the helping hand object waist, its with the waist board is connected, and the hanging oneself from a beam support of both sides passes through the hanging oneself from a beam connection, the hanging oneself from a beam simultaneously with trigger rope and extension spring are connected.

Further preferably, a plurality of mounting holes are formed in the suspension beam for adjusting the distance between suspension beam brackets connected with the suspension beam.

Further preferably, the suspension beam and the suspension beam bracket are made of carbon fiber plates.

Further preferably, the waist plate is provided with reinforcing ribs and lightening holes, and the waist plate is formed by 3D printing.

Further preferably, the clutch assembly further comprises a clutch cover plate, and the clutch cover plate is used for being matched with the base to achieve packaging of the clutch assembly.

Generally, compared with the prior art, the technical scheme of the invention has the following beneficial effects:

1. according to the invention, through the design and mutual cooperation of key components such as a waist wearing component, a thigh energy storage component, an ankle joint power assisting component and a clutch component, the hip and ankle joint passive exoskeleton power assisting device based on energy trans-joint transfer is obtained, the negative work done by the hip joint when the support phases are opposite can be converted into the ankle joint plantar flexion assisting moment, and the load and metabolic energy consumption of the hip and ankle joints of a human body during walking can be effectively reduced;

2. the hip-ankle joint passive exoskeleton power assisting device based on energy trans-joint transfer can automatically provide timely power assistance according to walking phases through the clutch triggered along with the movement angle of the hip joint, and does not need complex circuit control;

3. the hip-knee joint passive exoskeleton power assisting device based on energy storage is purely passive, does not use electronic elements such as a motor and a sensor, and has the advantages of light weight, high reliability, convenience in wearing and the like;

4. the hip-knee joint passive exoskeleton power assisting device based on energy storage provided by the invention utilizes the self hip joint negative power to assist the power of a power assisting object when the power assisting object walks, does not need external energy supply devices such as batteries and the like, and can be continuously used for a long time.

Drawings

FIG. 1 is a schematic front view of a passive exoskeleton device based on trans-articular transfer of energy constructed in accordance with a preferred embodiment of the present invention;

FIG. 2 is a schematic diagram of the reverse side of a passive exoskeleton device based on trans-articular transfer of energy constructed in accordance with a preferred embodiment of the present invention;

FIG. 3 is an exploded view of a clutch assembly constructed in accordance with a preferred embodiment of the present invention;

FIG. 4 is a schematic illustration of a clutch assembly on a hip joint energy storage assembly constructed in accordance with a preferred embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a clutch assembly constructed in accordance with a preferred embodiment of the present invention;

FIG. 6 is a schematic illustration of a passive exoskeleton device based on trans-articular transfer of energy worn on a subject being assisted, constructed in accordance with a preferred embodiment of the present invention;

figure 7 is a schematic diagram of an ankle assist assembly constructed in accordance with a preferred embodiment of the present invention.

The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:

1-waist plate, 2-waist belt, 3-suspension beam, 4-suspension beam bracket, 5-tension spring, 6-trigger rope, 7-thigh pull rope, 8-thigh wearing piece, 9-Bowden wire, 10-shank wearing piece, 11-foot wearing piece, 12-base, 13-stop block, 14-reset spring, 15-reset tension spring, 16-trigger block, 17-slide block, 18-clutch cover plate, 19-inner core and 20-clutch component.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

A passive exoskeleton device based on energy trans-articular transfer comprises a waist wearing assembly, a hip joint energy storage assembly, an ankle joint power assisting assembly and a clutch assembly, wherein the waist wearing assembly is fixed on the waist of a user and used for coupling an exoskeleton and a human body, the thigh energy storage assembly is used for storing and supporting hip joint extension negative work at the end of a relative period, two groups of the energy storage assembly are arranged and are arranged in bilateral symmetry at thighs of the user and connected with the waist wearing assembly, the ankle joint power assisting assembly is used for providing ankle joint plantar flexion power assisting moment in a tiptoe pedaling period, two groups of the energy storage assembly are arranged and are arranged in bilateral symmetry at the foot of the user, the clutch assembly is used for switching an exoskeleton working mode according to gait phases, and two groups of the energy storage assembly are arranged and are arranged on the thigh wearing assembly in bilateral symmetry. The exoskeleton provided by the invention can be divided into an energy storage mode and a power assisting mode according to the state of the clutch. The exoskeleton is in an energy storage mode at the later stage of the supporting phase, the hip joint does negative work and extends at the moment, the clutch sliding block is blocked by the clutch block and cannot move upwards, and the tension spring 5 is stretched; when the foot tips step on the ground, the exoskeleton is in a power-assisted mode, at the moment, the hip joints continue to extend, the trigger ropes are driven to pull the trigger blocks to push the clutch stop blocks, the clutch slide blocks can be pulled up by the thigh pull ropes, and the shank power-assisted assembly is driven to provide plantar flexion power-assisted torque.

As shown in fig. 1 and 2, the waist wearing assembly includes a waist panel 1, a waist belt 2, a suspension bracket 4, and a suspension 3. The waist plate 1 is divided into a left waist plate and a right waist plate which are symmetrical left and right, is provided with reinforcing ribs and lightening holes and is connected through a waist plate connecting piece. Preferably, for reduce weight, waist board 1 prints through 3D and makes, and the waist board connecting piece is equipped with three groups, has the multiunit mounting hole on it, and is fixed with the waist board through the screw, can change the interval between the waist board according to the user size, in order to avoid taking place to twist reverse between waist board and the waist board connecting piece, middle waist board connecting piece is connected between through two screws and left waist board and the right waist board respectively. The waistband 2 is divided into an upper waistband and a lower waistband, the two ends of the upper waistband and the lower waistband are respectively fixed on the left waist board and the right waist board, the tightness of the upper waistband and the lower waistband can be adjusted according to the body type of a user, and the waist wearing assembly is fixed on the waist of the user. The suspension beam supports 4 are divided into two groups, are symmetrically arranged on two sides of the waist plate left and right through screws, are provided with a plurality of groups of suspension beam connecting piece mounting holes with adjustable distances, and are fixed with the two groups of suspension beam supports 4 through connection, and are provided with a plurality of groups of mounting holes for adjusting the distance. Preferably, in order to reduce weight, carbon fiber plates are used as the materials of the suspension beams 3 and the suspension beam brackets 4.

Each group of hip joint energy storage assemblies comprise tension springs 5, trigger ropes 6, thigh pull ropes 7 and thigh wearing pieces 8. The upper end of the tension spring 5 is hung on the mounting hole of the suspension beam 3, the lower end of the tension spring is connected with a thigh pull rope 7, and the lower end of the thigh pull rope 7 is connected with a clutch sliding block 17. The upper end of the trigger rope 6 is connected with the suspension beam 3, and the lower end is connected with the trigger block 16. The power-assisted section of the exoskeleton can be controlled by adjusting the length of the thigh pull rope 7 and the trigger rope 6. The thigh wearing part 8 consists of two articulated arc-shaped parts, the included angle of which can be adjusted according to the body shape of a user, and a lightening hole is arranged on the thigh wearing part. Preferably, the thigh wearing part 8 is made by 3D printing in order to reduce weight.

As shown in fig. 7, each set of ankle power assist assemblies includes a bowden cable 9, a lower leg wear 10 and a foot wear 11. The Bowden cable 9 is divided into an inner core 19 and an outer shell, the inner core 19 can freely move relative to the outer shell, the inner core 19 passes through the lower leg wearing part 10, is connected with the clutch slider 17 and the foot wearing part 11 and is used for providing the ankle joint plantar flexion assisting moment, and the outer shell is connected with the thigh wearing part 8 and the lower leg wearing part 10 and is used for avoiding friction between the inner core 19 and the human body. The lower leg wearing piece 10 is provided with a bandage which can be fixed with the lower leg of the user. The foot wearing member 11 is fixed to the sole of the user's foot by screws. The lower leg wearing member 10 and the foot wearing member 11 are hinged to each other with their rotation axes collinear with the ankle joint of the user.

As shown in fig. 3, 4 and 5, each set of clutch assembly includes a clutch base 12, a stopper 13, a return spring 14, a return tension spring 15, a trigger block 16, a slider 17 and a clutch cover 18. The back is equipped with the mounting hole on the clutch base 12, and is fixed mutually with thigh wearing part 8 through the screw, and its lateral wall is provided with recess and fretwork, is used for installing dog 13 and trigger block 16 respectively. The stop 13 and the return spring 14 are arranged in a groove on the side of the clutch base 12, and when the trigger block 16 is not pulled, the stop 13 is tilted under the support of the return spring 14 to limit the upward movement of the sliding block 17. The trigger block 16 is connected with the clutch base 12 through a reset tension spring 15, and is located at the position shown in fig. 4 when not pulled by the trigger rope 6, the protrusion on the side edge of the trigger block 16 penetrates through the hollow of the clutch base 12 and is connected with the lower end of the trigger rope 6, and when the trigger rope 6 is pulled upwards, the wedge-shaped notch of the trigger block 16 can push the stop block 13 back to the groove, so that the stop block does not block the upward movement of the sliding block 17. The upper end and the lower end of the sliding block 17 are provided with connecting holes which are respectively connected with the thigh pull rope 7 and the inner core of the Bowden cable 9 and can slide up and down in the clutch component. The clutch cover 18 is secured to the clutch base 12 by screws to enclose the clutch assembly.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A passive exoskeleton device based on energy cross-joint transfer, characterized in that, the exoskeleton device comprises a waist wear component, a hip joint energy storage component, an ankle joint power assist component and a clutch component, wherein,

The waist wearing component is worn on the waist of the assisted object, the hip joint energy storage component is worn on the thigh of the assisted object, the ankle joint assist component is worn on the ankle joint of the assisted object, and the clutch component is provided on the hip joint energy storage assembly, for switching the exoskeleton device between an energy storage mode and a power assist mode;

The clutch assembly (20) includes a base (12), a trigger block (16) and a slider (17), and the hip joint energy storage assembly includes a trigger cord (6), a tension spring (5), and a thigh pull cord (7). ) and a thigh wearing member (8), one end of the tension spring (5) is connected with the waist wearing component, the other end is connected with the thigh pulling rope (7), and one end of the slider (17) is connected with the thigh The pull rope (7) is connected, the other end is connected with the ankle joint power assist assembly, one end of the trigger rope (6) is connected with the waist wearing assembly, and the other end is connected with the trigger block (16), the trigger block ( 16) The upper end is provided with a wedge-shaped incision, and the wedge-shaped incision cooperates with a stopper (13) arranged on the side of the base;

When the exoskeleton is in the energy storage mode, the trigger rope (6) is in a relaxed state, the tension spring (5) is stretched, and the slider (17) is blocked by the block (13) and cannot be When the exoskeleton moves upward, the stretching potential energy of the tension spring (5) is stored; when the exoskeleton is in the boost mode, the feet of the assisted object push the ground and the thigh swings backward, and the trigger rope (6) is stretched and driven The trigger block (16) moves upward, the trigger block (16) drives the block (13) to move upward, and the retraction of the tension spring (5) drives the slider (17) to move upward, and the slider (17) moves upward. The pulling force of the upward movement is transmitted to the ankle joint assist component, thereby realizing assisting the assisted object.

2. A passive exoskeleton device based on energy cross-joint transfer according to claim 1, wherein a return spring (15) is provided between the block (13) and the side surface of the base (12), The return spring is compressed when the stopper moves upward, and the stopper moves downward and then returns.

3. A passive exoskeleton device based on energy cross-joint transfer according to claim 1 or 2, wherein the ankle joint power assist component comprises a Bowden wire (9), a calf wear piece (10) and a foot A part wearing member (11), the Bowden cable (9) is used to connect the clutch assembly and the ankle joint power assist assembly, the calf wearing member (10) is worn at the lower leg of the assisted object, and the foot is worn The piece (11) is worn on the feet of the assisted object.

4. A passive exoskeleton device based on energy transfer across joints according to claim 3, wherein the Bowden wire (9) comprises an inner core (19) and an outer shell, the inner core (19) can Twitching relative to the outer shell, one end of the inner core (19) is connected with the slider (17), the other end is connected with the foot wearing piece (11), and one end of the outer shell is connected with the thigh wearing piece (8). ) is connected, and the other end is connected with the calf wearing part (10).

5. A passive exoskeleton device based on energy cross-joint transfer according to claim 3, characterized in that, the calf wearing part (10) and the foot wearing part (11) are hinged to each other, and the rotation axis and the The ankle joint of the assist object is collinear.

6. A passive exoskeleton device based on energy cross-joint transfer according to claim 1 or 2, wherein the waist wearing component comprises a waist plate (1), a waist belt (2), a cantilever beam (3) and a cantilever beam A bracket (4), the waist board (1) is arranged at the back waist of the assisted object, and as a support, the waist belt (2) is connected with the waist board (1), and surrounds the torso of the assisted object, and the cantilever beam The brackets (4) are arranged on both sides of the waist of the assisted object, which are connected with the waist plate (1), the cantilever beam brackets on both sides are connected by the cantilever beam (3), and the cantilever beam is connected with the trigger rope and the tension spring at the same time. connect.

7. A passive exoskeleton device based on energy cross-joint transfer according to claim 6, wherein the cantilever beam (3) is provided with a plurality of mounting holes for adjusting the cantilever beam bracket connected to the cantilever beam spacing between.

8 . The passive exoskeleton device based on energy transfer across joints according to claim 6 , wherein the cantilever beam ( 3 ) and the cantilever beam bracket ( 4 ) are made of carbon fiber plates. 9 .

9 . The passive exoskeleton device based on energy transfer across joints according to claim 6 , wherein the waist plate ( 1 ) is provided with reinforcing ribs and weight-reducing holes, and the waist plate is formed by 3D printing. 10 .

10. A passive exoskeleton device based on energy transfer across joints according to claim 1 or 2, wherein the clutch assembly (20) further comprises a clutch cover plate (18) for matching with the base Encapsulates the clutch assembly.