CN109590988B - But knee joint of intelligent energy storage wears booster - Google Patents
But knee joint of intelligent energy storage wears booster Download PDFInfo
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- CN109590988B CN109590988B CN201811497300.XA CN201811497300A CN109590988B CN 109590988 B CN109590988 B CN 109590988B CN 201811497300 A CN201811497300 A CN 201811497300A CN 109590988 B CN109590988 B CN 109590988B
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- 238000004146 energy storage Methods 0.000 title claims abstract description 56
- 210000000629 knee joint Anatomy 0.000 title claims abstract description 51
- 210000000689 upper leg Anatomy 0.000 claims abstract description 108
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 244000309466 calf Species 0.000 claims abstract description 30
- 238000005381 potential energy Methods 0.000 claims abstract description 13
- 230000008859 change Effects 0.000 claims abstract description 5
- 210000002414 leg Anatomy 0.000 claims description 42
- 238000005452 bending Methods 0.000 claims description 25
- 230000000149 penetrating effect Effects 0.000 claims description 10
- 230000009471 action Effects 0.000 abstract description 9
- 230000008901 benefit Effects 0.000 description 10
- 230000001276 controlling effect Effects 0.000 description 3
- UQMRAFJOBWOFNS-UHFFFAOYSA-N butyl 2-(2,4-dichlorophenoxy)acetate Chemical compound CCCCOC(=O)COC1=CC=C(Cl)C=C1Cl UQMRAFJOBWOFNS-UHFFFAOYSA-N 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
Abstract
The application discloses an intelligent energy-storage knee joint wearing booster which comprises a thigh wearing group, a lower leg wearing group arranged on the lower side of the thigh wearing group, a right connecting joint connected between the right lower side of the thigh wearing group and the right upper side of the lower leg wearing group, and an intelligent energy storage device connected to the left sides of the thigh wearing group and the lower leg wearing group, wherein the intelligent energy storage device comprises a driving group, a left lower connecting piece, a left upper connecting piece, a deformation energy storage mechanism and a position sensor. According to the application, the position sensor is used for detecting the internal position change of the deformation energy storage mechanism, converting the detected position information into a position signal, and sending the position signal to the driving group to feedback and control the output torque of the driving group, so that the internal deformation of the deformation energy storage mechanism is intelligently controlled, the intelligent regulation and control of the deformation energy storage mechanism is realized, the purpose of intelligent energy storage is achieved, and when the thigh wearing group or the calf wearing group needs to be reset after relative rotation, the elastic potential energy stored by the deformation energy storage mechanism is converted into kinetic energy for assisting the human knee joint straightening action.
Description
[ field of technology ]
The application relates to the technical field of medical instruments, in particular to a knee joint wearing booster capable of intelligently storing energy.
[ background Art ]
Thanks to the accumulation of exoskeleton technology and the breakthrough of related technical fields, the wearable booster has wide application prospects in various aspects. At present, the China such as Japan, france, israel, the United states and the like sequentially push out self exoskeleton boosting products, and the strong reaction is caused in the market, so that huge economic and social values are created.
In daily life, the vast majority of knee joint power assisting equipment serving as one of the wearable power boosters is applied to a human body with injury of the knee joint, but most of the existing wearable knee joint power assisting equipment assists walking or movement of the human body by inputting a control program in advance and planning gait, and then when the human body bends the knee joint, the energy cannot be stored synchronously and intelligently, so that when the human knee joint is straightened, the stored energy is converted into kinetic energy for assisting the human body to straighten the knee joint.
[ application ]
Aiming at the technical problems, the application provides the knee joint wearing booster capable of intelligently accumulating energy.
In order to solve the technical problems, the application is realized by the following technical scheme:
but knee joint of intelligent energy storage wears booster, wear the group including the thigh, locate the thigh is worn the group downside the shank is worn the group, connect in the thigh is worn the right side downside and the shank is worn right side connection joint between the group upper right side, and connect in the thigh is worn the group left side with the shank is worn the left intelligent energy memory of group, intelligent energy memory includes:
a drive group located to the left of the thigh wearing group and the shank wearing group;
the left lower connecting piece is sleeved on the driving group, and the lower end of the left lower connecting piece is connected with the left side of the calf wearing group;
the left upper connecting piece is arranged between the left lower connecting piece and the thigh wearing group, and the upper end of the left upper connecting piece is connected with the left side of the thigh wearing group;
the deformation energy storage mechanism is sleeved in the upper left connecting piece, the left side of the deformation energy storage mechanism is connected with the right side of the driving group, and then the deformation energy storage mechanism can rotate from the driving group, so that when the deformation energy storage mechanism is driven by the driving group, the deformation energy storage mechanism can elastically deform along the driving direction of the driving group to generate elastic potential energy, and meanwhile the generated elastic potential energy is stored;
the position sensor is arranged between the deformation energy storage mechanism and the upper left connecting piece and is used for detecting the change of the internal position of the deformation energy storage mechanism and converting the detected position information into a position signal, and then the position signal is sent to the driving group to control the driving group.
The knee joint wearing booster capable of intelligently accumulating energy comprises:
the connecting clamping wheel is provided with a transverse through hole arranged along the transverse direction of the connecting clamping wheel, and a plurality of connecting clamping grooves which are all arranged on the periphery of the transverse through hole and communicated with the transverse through hole;
the driven driving gear is arranged in the transverse through hole, and the left side of the driven driving gear is connected with the right side of the driving group;
the upper end of the elastic spring piece is clamped in the connecting clamping groove, and the lower end of the elastic spring piece is clamped between adjacent teeth on the driven driving gear.
The knee joint wearing booster capable of intelligently accumulating energy is characterized in that the connecting clamping groove penetrates through the connecting clamping wheel along the transverse direction of the connecting clamping wheel.
The knee joint wearing booster capable of intelligently accumulating energy is characterized in that the connecting clamping wheels are also provided with a plurality of convex clamping parts which are arranged on the outer peripheral sides of the connecting clamping wheels and protrude outwards, and the left side of the left upper connecting piece is provided with a right concave clamping groove which is recessed to the right to allow the connecting clamping wheels to be accommodated and can be matched with the convex clamping parts.
The intelligent energy-storage knee joint wearing booster comprises the driving group, wherein the driving group comprises:
a driving motor located in the thigh wearing group 1 and the shank wearing group 2
Left side of (2);
the first connecting flange is connected to the right side of the driving motor;
a second connection flange connected to the right side of the first connection flange;
the connecting shaft sleeve is sleeved in the second connecting flange, and the left side of the connecting shaft sleeve is connected with the right power output end of the driving motor;
the small left connecting bearing is sleeved on the left side of the connecting shaft sleeve and is limited in the second connecting flange by the first connecting flange;
the small right connecting bearing is sleeved on the right side of the connecting shaft sleeve;
the connecting sleeve is sleeved on the right side of the connecting shaft sleeve, the small right connecting bearing is sleeved on the connecting sleeve in a coating mode, and the right side of the connecting sleeve is connected with the left side of the driven driving gear.
The knee joint wearing booster capable of intelligently accumulating energy as described above, the right connecting joint comprises:
the rear upper teeth are arranged at the rear side of the right upper end of the lower leg wearing group;
a front upper through hole which is opened at the front side of the right upper end of the calf wearing group along the transverse direction of the calf wearing group;
the lower rear teeth are arranged at the rear side of the right lower end of the thigh wearing group and can be engaged with the rear upper teeth;
a lower front through hole which is opened at the front side of the right lower end of the thigh wearing group along the transverse direction of the thigh wearing group;
the lower end of the right inner hinged connecting piece is hinged to the inner side of the right upper end of the lower leg wearing group, and the upper end of the right inner hinged connecting piece is hinged to the inner side of the right lower end of the thigh wearing group;
the lower end of the right outer hinge connection piece is hinged to the outer side of the right upper end of the lower leg wearing group, and the upper end of the right outer hinge connection piece is hinged to the outer side of the right lower end of the thigh wearing group;
the right lower limiting bolt is arranged at the lower side between the right inner hinged connecting piece and the right outer hinged connecting piece, and is transversely sleeved in the front upper through hole and used for being matched with the front upper through hole to limit the rotation amplitude of the calf wearing group;
the right upper limiting bolt is arranged on the upper side between the right inner hinged connecting piece and the right outer hinged connecting piece, and is transversely sleeved in the lower front through hole and used for being matched with the lower front through hole to limit the rotation amplitude of the thigh wearing group.
The knee joint wearing booster capable of intelligently accumulating energy is characterized in that the front upper through hole and the lower front through hole are arc long holes.
The knee joint wearing booster capable of intelligently accumulating energy is characterized in that the front lower side of the right inner hinged connecting piece is provided with a first front lower locating hole, the front upper side of the right inner hinged connecting piece is provided with a first front upper locating hole, the front lower side of the right outer hinged connecting piece is provided with a second front lower locating hole matched with the first front lower locating hole to be in locating connection with the right lower limit bolt, and the front upper side of the right outer hinged connecting piece is provided with a second front upper locating hole matched with the first front upper locating hole to be in locating connection with the right upper limit bolt.
The knee joint wearing booster capable of intelligently accumulating energy as described above, wherein the thigh wearing group comprises:
the thigh wearing bracket is provided with a backward bending part which is formed by backward bending, the left side and the right side of the thigh wearing bracket are respectively provided with a first left side supporting leg and a first right side supporting leg which are integrally formed with the backward bending part, the first left side supporting leg is connected with the left upper connecting piece, and the lower end of the first right side supporting leg is provided with the lower rear tooth and the lower front through hole;
the thigh wearing protection pad is arranged on the inner side of the thigh wearing bracket and is matched with the thigh wearing bracket in shape;
a thigh rear upper connecting buckle which is connected to the left and right sides of the backward bending part in a backward direction;
the thigh front lower connecting buckle is connected to the first left side supporting leg and the first right side supporting leg forwards and is positioned at the lower side of the thigh rear upper connecting buckle;
the thigh first connecting strap is arranged between the two thigh rear upper connecting buckles in a penetrating way;
the thigh second connecting bandage is arranged between the two thigh front lower connecting buckles in a penetrating way.
The knee joint wearing booster capable of intelligently accumulating energy as described above, wherein the lower leg wearing group comprises:
the lower side of the lower leg wearing bracket is provided with a forward bending part which is formed by forward bending, the left side and the right side of the lower leg wearing bracket are respectively provided with a second left side supporting leg and a second right side supporting leg which are integrally formed with the forward bending part, the second left side supporting leg is connected with the left lower connecting piece, and the second right side supporting leg is provided with the rear upper teeth and the front upper through holes;
the lower leg wearing protection pad is arranged on the inner side of the lower leg wearing bracket and is matched with the lower leg wearing bracket in shape;
the shank front upper connecting buckle is connected with the left side and the right side of the forward bending part forward;
the lower front shank connecting buckle is connected to the second left side supporting leg and the second right side supporting leg forwards and is positioned at the lower side of the upper front shank connecting buckle;
the first shank connecting strap is arranged between the two shank front upper connecting buckles in a penetrating way;
the shank second connecting bandage is arranged between the two shank front lower connecting buckles in a penetrating mode.
Compared with the prior art, the application has the following advantages:
1. according to the intelligent energy-storage knee joint wearing booster, the position sensor detects the change of the internal position of the deformation energy storage mechanism, the detected position information is converted into a position signal, the position signal is sent to the driving group to feedback-control the output torque of the driving group, and then the deformation of elastic deformation in the deformation energy storage mechanism is intelligently controlled, so that the intelligent energy storage mechanism is intelligently regulated and controlled to achieve the purpose of intelligent energy storage, and when the thigh wearing group or the calf wearing group needs to be reset after relative rotation, the elastic potential energy stored by the deformation energy storage mechanism is converted into kinetic energy to assist the thigh wearing group or the calf wearing group to perform reset action, and further assist the human knee joint straightening action to assist the human body to walk or move.
2. When the intelligent energy-storage knee joint wearing booster drives the driven driving gear to rotate through the driving group, the elastic sheets uniformly arranged along the circumferential direction of the transverse through hole are driven by the driven driving gear to elastically deform, so that each elastic sheet is uniformly stressed to form uniformly distributed elastic potential energy, the thigh wearing group or the calf wearing group is facilitated to reset, and the auxiliary human knee joint straightening action is realized to assist human walking or movement.
3. The intelligent energy-storage knee joint wearing booster is matched with the intelligent energy storage device through the right connecting joint, so that the rigidity of the connecting joint can be reduced, the flexibility of the intelligent energy-storage knee joint wearing booster can be increased, and the comfort of wearing the intelligent energy-storage knee joint wearing booster can be greatly improved.
[ description of the drawings ]
Fig. 1 is a perspective view of the intelligently-storable knee joint wearable booster of the present application.
Fig. 2 is a perspective view of the intelligent energy storage device hidden by the intelligent energy storage knee joint wearable booster.
Fig. 3 is an exploded perspective view of the intelligently-storable knee joint wearable booster of the present application partially disassembled in a bent state.
Fig. 4 is an enlarged partial view i of fig. 3.
Fig. 5 is an exploded perspective view of the intelligent energy storage device of the intelligently-storable knee joint wearable booster of the present application.
Fig. 6 is a partially exploded view of the deformation energy storage mechanism of the intelligently-storable knee joint wearable booster of the present application.
Fig. 7 is an enlarged partial view ii of fig. 6.
Fig. 8 is a perspective view of the upper left connector in the intelligently-storable knee joint wearable booster of the present application.
Fig. 9 is an exploded view of the drive-group in the intelligently-storable knee joint wearable booster of the present application.
Fig. 10 is an exploded view of the intelligently-storable knee joint wearable booster of the present application with the drive motor hidden from the drive group.
Fig. 11 is a perspective view of the right inner hinge joint connector of the intelligently-storable knee joint wearable booster of the present application.
Fig. 12 is a perspective view of the right outer articulation joint in the intelligently-storable knee joint wearable booster of the present application.
[ detailed description ] of the application
The application will be described in further detail below with reference to the drawings by means of specific embodiments.
As shown in fig. 1 to 12, the knee joint wearing booster capable of intelligently accumulating energy comprises a thigh wearing group 1, a lower leg wearing group 2 arranged on the lower side of the thigh wearing group 1, a right connecting joint 3 connected between the right lower side of the thigh wearing group 1 and the right upper side of the lower leg wearing group 2, and an intelligent energy accumulating device 4 connected on the left side of the thigh wearing group 1 and the left side of the lower leg wearing group 2, wherein the intelligent energy accumulating device 4 comprises a driving group 41, a left lower connecting piece 42, a left upper connecting piece 43, a deformation energy accumulating mechanism 44 and a position sensor 45. The drive group 41 is located on the left side of the thigh wearing group 1 and the shank wearing group 2. The left lower connecting piece 42 is sleeved on the driving group 41, and the lower end of the left lower connecting piece is connected with the left side of the calf wearing group 2. The upper left connecting piece 43 is disposed between the lower left connecting piece 42 and the thigh wearing group 1, and the upper end thereof is connected with the left side of the thigh wearing group 1. The deformation energy storage mechanism 44 is sleeved in the upper left connecting piece 43, and the left side of the deformation energy storage mechanism is connected with the right side of the driving set 41, so that the driving set 41 can be driven to rotate, and when the deformation energy storage mechanism is driven by the driving set 41, the deformation energy storage mechanism 44 can be elastically deformed along the driving direction of the driving set 41 to generate elastic potential energy, and meanwhile the generated elastic potential energy is stored. The position sensor 45 is disposed between the deformation energy storage mechanism 44 and the upper left connecting piece 43, and is configured to detect a change in an internal position of the deformation energy storage mechanism 44 and convert the detected position information into a position signal, and send the position signal to the driving group 41 to feedback control an output torque of the driving group 41, so as to intelligently control a deformation amount of elastic deformation in the deformation energy storage mechanism 44, thereby intelligently controlling the deformation energy storage mechanism 44 to achieve an intelligent energy storage purpose, and when the thigh wearing group 1 or the calf wearing group 2 resets after rotating, the elastic potential energy stored by the deformation energy storage mechanism 44 can be converted into kinetic energy to assist the thigh wearing group 1 or the calf wearing group 2 to perform a resetting action, and further assist a human knee joint straightening action to assist a human body to walk or move.
The deformation energy storage mechanism 44 includes a connection clamping wheel 441, a driven driving gear 443, and an elastic spring 442. The connecting clamping wheel 441 is provided with a transverse through hole 4411 arranged along the transverse direction thereof, and a plurality of connecting clamping grooves 4412 which are all arranged on the periphery side of the transverse through hole 4411 and are communicated with the transverse through hole 4411. The driven driving gear 443 is disposed in the transverse through hole 4411, and has a left side connected to the right side of the driving unit 41, and then rotates with the driving unit 41. The elastic spring plate 442 has an upper end engaged in the connecting slot 4412 and a lower end engaged between adjacent teeth on the driven driving gear 443. The advantage of this is that when the driven driving gear 443 rotates from the driving set 41, the elastic pieces 442 uniformly disposed along the circumferential direction of the transverse through hole 4411 are all driven by the driven driving gear 443 to elastically deform, so that not only can each elastic piece 442 be uniformly stressed to generate equal elastic potential energy, but also the generated elastic potential energy can be stored in the elastically deformed elastic pieces 442, so that when the thigh wearing set 1 or the calf wearing set 2 resets, the elastic potential energy is converted into kinetic energy to assist the thigh wearing set 1 or the calf wearing set 2 to perform a resetting action, thereby assisting the human knee joint straightening action. Of course, in this process, the position sensor 45 detects that the position inside the deformation storing mechanism 44 is changed to: when the driven driving gear 443 is driven to rotate by the driving set 41, the driven driving gear 443 is displaced relative to the connecting clip wheel 441, so as to feedback control the output torque of the driving set 41 through the position sensor 45, thereby controlling the rotation amplitude of the driven driving gear 443, and further controlling the deformation of each elastic piece 442 to achieve the purpose of intelligently storing energy to assist the thigh wearing set 1 or the calf wearing set 2 in the resetting action.
The connection card slot 4412 penetrates the connection card wheel 441 in the lateral direction of the connection card wheel 441. The advantage is that the elastic spring plate 442 can be inserted from any side of the connecting clamping wheel 441, thereby facilitating the assembly work.
The connecting clamping wheel 441 is further provided with a plurality of outward protruding clamping portions 4413 protruding outwards from the outer periphery thereof, and the left side of the upper left connecting member 43 is provided with a right concave clamping groove 431 which is recessed rightward to allow the connecting clamping wheel 441 to be accommodated therein and can be matched with the outward protruding clamping portions 4413. The advantage is not only that the connecting clamping wheel 441 is convenient to disassemble and assemble, but also the connecting clamping wheel 441 can be limited by the outer convex clamping part 4413 and the right concave clamping groove 431.
The driving set 41 includes a driving motor 411, a first connection flange 412, a second connection flange 413, a connection sleeve 414, a left small connection bearing 415, a right small connection bearing 416, and a connection sleeve 417. The driving motor 411 is located on the left side of the thigh wearing group 1 and the shank wearing group 2. The first connection flange 412 is connected to the right side of the driving motor 411. The second connection flange 413 is connected to the right side of the first connection flange 412. The connecting shaft sleeve 414 is sleeved in the second connecting flange 413, and the left side of the connecting shaft sleeve is connected with the right power output end of the driving motor 411. The small left connecting bearing 415 is sleeved on the left side of the connecting shaft sleeve 414, and is limited in the second connecting flange 413 by the first connecting flange 412. The small right connecting bearing 416 is sleeved on the right side of the connecting shaft sleeve 414 and can be matched with the small left connecting bearing 415 to improve the stability of the driving motor 411 driving the connecting shaft sleeve 414. The connecting sleeve 417 is sleeved on the right side of the connecting sleeve 414, and is sleeved on the small right connecting bearing 416 in a coating manner, and the right side of the connecting sleeve is connected with the left side of the driven driving gear 443. The lower left connecting piece 42 is sleeved on the outer side of the connecting sleeve 417 and limited by the second connecting flange 413, which has the advantage of convenient disassembly and assembly of the lower left connecting piece 42.
The position sensor 45 is preferably an angular displacement sensor, which has the advantage of a high detection accuracy and also a high reliability.
The intelligent energy storage device 4 further comprises a housing shell 40 covering the outer side of the driving set 41 and used for housing the driving set 41, and the purpose of the housing shell 40 is to protect the driving set 41 and prevent external dust and water drops from entering to affect the normal operation of the driving set 41.
The right connecting joint 3 comprises a rear upper tooth 31, a front upper through hole 32, a lower rear tooth 33, a lower front through hole 34, a right inner hinged connector 35, a right outer hinged connector 36, a right lower limit bolt 37 and a right upper limit bolt 38. The rear upper teeth 31 are provided on the rear side of the right upper end of the calf wearing group 2. The front upper through hole 32 is provided on the front side of the right upper end of the calf wearing group 2 in the lateral direction of the calf wearing group 2. The lower rear teeth 33 are provided at the rear side of the right lower end of the thigh wearing group 1, and are engaged with the rear upper teeth 31. The lower front through hole 34 is opened in the lateral direction of the thigh wearing group 1 at the front side of the right lower end of the thigh wearing group 1. The lower end of the right inner hinge connection member 35 is hinged to the inner side of the right upper end of the lower leg wearing group 2, and the upper end thereof is hinged to the inner side of the right lower end of the thigh wearing group 1. The lower end of the right outer hinge connection 36 is hinged to the outer side of the right upper end of the lower leg wearing group 2, and the upper end thereof is hinged to the outer side of the right lower end of the thigh wearing group 1. The lower right limiting bolt 37 is arranged at the lower side between the right inner hinge connection piece 35 and the right outer hinge connection piece 36, and is transversely sleeved in the front upper through hole 32, so as to cooperate with the front upper through hole 32 to limit the rotation amplitude of the calf wearing group 2. The upper right limit pin 38 is disposed on the upper side between the right inner hinge connection 35 and the right outer hinge connection 36, and is laterally sleeved in the lower front through hole 34, so as to cooperate with the lower front through hole 34 to limit the rotation range of the thigh wearing group 1. Its advantage not only can interlock the thigh is dressed group 1 with group 2 is dressed to the shank, but also can spacing the thigh is dressed group 1 with the relative rotation range that group 2 was dressed to the shank.
The front upper through hole 32 and the lower front through hole 34 are arc-shaped long holes. The purpose is to meet the actual working requirements, and to facilitate the smooth movement of the lower right limit plug 37 and the upper right limit plug 38 in the upper front through hole 32 and the lower front through hole 34, respectively.
The front lower side of the right inner hinge connector 35 is provided with a first front lower positioning hole 351, the front upper side of the right inner hinge connector 35 is provided with a first front upper positioning hole 352, the front lower side of the right outer hinge connector 36 is provided with a second front lower positioning hole 361 matched with the first front lower positioning hole 351 to be in positioning connection with the right lower limit plug 37, and the front upper side of the right inner hinge connector is provided with a second front upper positioning hole 362 matched with the first front upper positioning hole 352 to be in positioning connection with the right upper limit plug 38. The advantage is that the lower right limit bolt 37 and the upper right limit bolt 38 are convenient to position and install.
The thigh wearing group 1 comprises a thigh wearing bracket 11, a thigh wearing protection pad 12, a thigh rear upper connecting buckle 13, a thigh front lower connecting buckle 14, a thigh first connecting strap 15 and a thigh second connecting strap 16. The thigh wearing support 11 is provided with a backward bending portion 111 formed by bending backward, and is provided with a first left leg 112 and a first right leg 113 formed integrally with the backward bending portion 111 on the left and right sides thereof, the first left leg 112 is connected with the left upper connector 43, and the lower end of the first right leg 113 is provided with the lower rear teeth 33 and the lower front through hole 34. The thigh wearing pad 12 is disposed inside the thigh wearing bracket 11, and has a shape matching with the thigh wearing bracket 11. The thigh rear upper connecting buckles 13 are connected rearward on both left and right sides of the rearward curved portion 111. The thigh front lower connecting buckle 14 is connected with the first left side support leg 112 and the first right side support leg 113 frontward, and is positioned below the thigh rear upper connecting buckle 13. The thigh first connecting straps 15 are arranged between the two thigh rear upper connecting buckles 13 in a penetrating way. The thigh second connecting straps 16 are arranged between the two thigh front lower connecting buckles 14. The thigh wearing group 1 is convenient to wear on the human thigh, and is matched with the thigh first connecting binding band 15 and the thigh second connecting binding band 16 through the backward bending part 111 so as to be tightly attached to the human thigh, thereby being beneficial to improving the boosting effect.
The calf wearing group 2 comprises a calf wearing bracket 21, a calf wearing pad 22, a calf front upper connecting buckle 23, a calf front lower connecting buckle 24, a calf first connecting strap 25 and a calf second connecting strap 26. The lower side of the leg wearing bracket 21 is provided with a forward bending portion 211 formed by bending forward, the left side and the right side of the forward bending portion 211 are respectively provided with a second left side leg 212 and a second right side leg 213 which are integrally formed with the forward bending portion 211, the second left side leg 212 is connected with the left lower connecting piece 42, and the second right side leg 213 is provided with the rear upper teeth 31 and the front upper through holes 32. The lower leg wearing pad 22 is disposed inside the lower leg wearing bracket 21, and has a shape matching with the lower leg wearing bracket 21. The upper shank forward link button 23 is connected forward to both left and right sides of the forward curved portion 211. The lower front calf connector 24 is connected to the second left leg 212 and the second right leg 213 forward and below the upper front calf connector 23. The first shank connecting band 25 is arranged between the two shank front upper connecting buckles 23 in a penetrating way. The second shank strap 26 is disposed between the two shank front lower buckles 24. The advantage is that the leg wearing set 2 is convenient to be worn on the leg of the human body, and the leg first connecting strap 25 and the leg second connecting strap 26 are matched through the forward bending portion 211 to be attached to the leg of the human body, so that the assistance effect is improved.
The thigh wearing pad 12 and the shank wearing pad 22 are made of plastic, which has the advantages of light weight, easy molding, high toughness and good strength, and can avoid cutting or crushing the skin of the human body.
The knee joint wearing booster capable of intelligently accumulating energy further comprises a power module which is arranged on one side of the intelligent energy accumulating device 4 and is electrically connected with the intelligent energy accumulating device 4, and the purpose of the knee joint wearing booster is to provide power for the intelligent energy accumulating device 4 through the power module.
The embodiments of the present application have been described in detail above, but the present application is not limited to the above embodiments. Even if it makes various changes to the present application, it still falls within the scope of the present application.
Claims (7)
1. But knee joint of intelligent energy storage wears booster, its characterized in that: including thigh dress group (1), locate thigh dress group (2) of group (1) downside is dressed to thigh, connect in right joint (3) between group (1) right downside is dressed to thigh and group (2) upper right side is dressed to the shank, and connect in group (1) left side is dressed to the thigh with intelligent energy memory (4) of group (2) left side are dressed to the shank, intelligent energy memory (4) include:
a drive group (41) located on the left side of the thigh wearing group (1) and the shank wearing group (2);
the left lower connecting piece (42) is sleeved on the driving group (41), and the lower end of the left lower connecting piece is connected with the left side of the lower leg wearing group (2);
the left upper connecting piece (43) is arranged between the left lower connecting piece (42) and the thigh wearing group (1), and the upper end of the left upper connecting piece is connected with the left side of the thigh wearing group (1);
the deformation energy storage mechanism (44) is sleeved in the upper left connecting piece (43), the left side of the deformation energy storage mechanism is connected with the right side of the driving group (41), and then the deformation energy storage mechanism can rotate from the driving group (41), and when the deformation energy storage mechanism is driven by the driving group (41), the deformation energy storage mechanism (44) can elastically deform along the driving direction of the driving group (41) to generate elastic potential energy, and meanwhile the generated elastic potential energy is stored;
a position sensor (45) provided between the deformation energy storage mechanism (44) and the upper left connecting member (43) for detecting a change in the internal position of the deformation energy storage mechanism (44) and converting the detected position information into a position signal, and then transmitting the position signal to the driving group (41) to control the driving group (41);
the deformation energy storage mechanism (44) includes:
a connecting clamping wheel (441) provided with a transverse through hole (4411) arranged along the transverse direction thereof and a plurality of connecting clamping grooves (4412) which are all arranged on the periphery of the transverse through hole (4411) and are communicated with the transverse through hole (4411);
a driven drive gear (443) provided in the lateral through hole (4411) and having a left side connected to the right side of the drive group (41);
an elastic spring piece (442), the upper end of which is clamped in the connecting clamping groove (4412), and the lower end of which is clamped between adjacent teeth on the driven driving gear (443);
the connecting clamping groove (4412) penetrates through the connecting clamping wheel (441) along the transverse direction of the connecting clamping wheel (441);
the connecting clamping wheel (441) is also provided with a plurality of outward convex clamping parts (4413) which are arranged on the outer periphery side of the connecting clamping wheel and protrude outwards, and the left side of the left upper connecting piece (43) is provided with a right concave clamping groove (431) which is recessed rightwards to allow the connecting clamping wheel (441) to be accommodated and can be matched with the outward convex clamping parts (4413).
2. The intelligently-storable knee joint wearing booster of claim 1, wherein: the drive group (41) includes:
a drive motor (411) located on the left side of the thigh wearing group (1) and the shank wearing group (2);
a first connection flange (412) connected to the right side of the driving motor (411);
a second connection flange (413) connected to the right side of the first connection flange (412); a connecting shaft sleeve (414) sleeved in the second connecting flange (413) and provided with
The left side is connected with the power output end of the right side of the driving motor (411);
a small left connecting bearing (415) sleeved on the left side of the connecting shaft sleeve (414) and limited in the second connecting flange (413) by the first connecting flange (412);
the small right connecting bearing (416) is sleeved on the right side of the connecting shaft sleeve (414); a connecting sleeve (417) sleeved on the right side of the connecting shaft sleeve (414) and coated with
And the right small connecting bearing (416) is sleeved and connected with the left side of the driven driving gear (443) on the right side.
3. The intelligently-storable knee joint wearing booster of claim 1, wherein: the right connection joint (3) includes:
a rear upper tooth (31) which is arranged at the rear side of the right upper end of the lower leg wearing group (2);
a front upper through hole (32) which is opened at the front side of the right upper end of the calf wearing group (2) along the transverse direction of the calf wearing group (2);
a lower rear tooth (33) which is provided at the rear side of the right lower end of the thigh wearing group (1) and is engaged with the rear upper tooth (31);
a lower front through hole (34) which is opened on the front side of the right lower end of the thigh wearing group (1) along the transverse direction of the thigh wearing group (1);
the right inner hinge connection piece (35) is hinged to the inner side of the right upper end of the lower leg wearing group (2) at the lower end, and is hinged to the inner side of the right lower end of the thigh wearing group (1) at the upper end;
the lower end of the right outer hinge connection piece (36) is hinged to the outer side of the right upper end of the lower leg wearing group (2), and the upper end of the right outer hinge connection piece is hinged to the outer side of the right lower end of the thigh wearing group (1);
the right lower limiting bolt (37) is arranged at the lower side between the right inner hinging connecting piece (35) and the right outer hinging connecting piece (36), and is transversely sleeved in the front upper through hole (32) to be matched with the front upper through hole (32) so as to limit the rotation amplitude of the lower leg wearing group (2);
the right upper limiting bolt (38) is arranged on the upper side between the right inner hinging connecting piece (35) and the right outer hinging connecting piece (36), and is transversely sleeved in the lower front through hole (34) to be matched with the lower front through hole (34) so as to limit the rotation amplitude of the thigh wearing group (1).
4. The intelligently-storable knee joint wearing booster of claim 3, wherein: the front upper through hole (32) and the lower front through hole (34) are arc long holes.
5. The intelligently-storable knee joint wearing booster of claim 3, wherein: the lower side is equipped with lower locating hole (351) before the right side in articulated connection spare (35), and its preceding upside is equipped with upper locating hole (352) before first, lower side before the outer articulated connection spare of right side (36) be equipped with lower locating hole (351) cooperate in order to fix a position and connect lower locating hole (361) before the second of lower limit bolt (37), and its preceding upside be equipped with upper locating hole (352) cooperate in order to fix a position and connect upper locating hole (362) before the second of upper limit bolt (38).
6. The intelligently-storable knee joint wearing booster of claim 3, wherein: the thigh wearing group (1) includes:
a thigh wearing bracket (11) with a backward bending part formed by backward bending, a first left side support leg (112) and a first right side support leg (113) which are integrally formed with the backward bending part (111) are respectively arranged on the left side and the right side of the thigh wearing bracket, the first left side support leg is connected with the left upper connecting piece (43), and the lower end of the first right side support leg (113) is provided with the lower rear teeth (33) and the lower front through hole (34);
the thigh wearing protection pad (12) is arranged on the inner side of the thigh wearing bracket (11) and is matched with the thigh wearing bracket (11) in shape;
thigh rear upper connecting buckles (13) which are connected to the left and right sides of the backward bending part (111) backward;
a thigh front lower connecting buckle (14) which is connected with the first left side supporting leg (112) and the first right side supporting leg (113) forwards and is positioned at the lower side of the thigh rear upper connecting buckle (13);
a thigh first connecting strap (15) which is arranged between the two thigh rear upper connecting buckles (13) in a penetrating way;
and the thigh second connecting binding band (16) is arranged between the two thigh front lower connecting buckles (14) in a penetrating way.
7. The intelligently-storable knee joint wearing booster of claim 3, wherein: the calf wearing group (2) includes:
the lower leg wearing bracket (21) is provided with a forward bending part which is formed by forward bending, the left side and the right side of the lower leg wearing bracket are respectively provided with a second left side support leg (212) and a second right side support leg (213) which are integrally formed with the forward bending part (211), the second left side support leg is connected with the left lower connecting piece (42), and the second right side support leg (213) is provided with the rear upper teeth (31) and the front upper through holes (32);
a lower leg wearing pad (22) which is arranged at the inner side of the lower leg wearing bracket (21) and the shape of which is matched with the lower leg wearing bracket (21);
a shank front upper connecting buckle (23) which is connected to the left and right sides of the forward bending part (211) forward;
a lower-front shank link (24) which is connected to the second left leg (212) and the second right leg (213) forward and is located below the upper-front shank link (23); a first shank connecting strap (25) which is arranged between the two shank front upper connecting buckles (23) in a penetrating way;
and the second shank connecting bandage (26) is arranged between the two shank front lower connecting buckles (24) in a penetrating way.
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| CN201811497300.XA CN109590988B (en) | 2018-12-07 | 2018-12-07 | But knee joint of intelligent energy storage wears booster |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811497300.XA CN109590988B (en) | 2018-12-07 | 2018-12-07 | But knee joint of intelligent energy storage wears booster |
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| CN109590988B true CN109590988B (en) | 2023-11-24 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112318490B (en) * | 2020-11-30 | 2022-01-04 | 北京精密机电控制设备研究所 | Light and flexible knee joint power assisting exoskeleton robot |
| CN112605976B (en) * | 2020-12-10 | 2022-07-22 | 吉林大学 | A lower extremity exoskeleton booster |
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Address after: 528400 Zhongshan, Guangdong Torch Development Zone Central Town, Xiang Hing Road 6, number of trade tower 6 meters south 642 card. Applicant after: Zhongshan Wabet Intelligent Medical Devices Co.,Ltd. Address before: 528400 Zhongshan, Guangdong Torch Development Zone Central Town, Xiang Hing Road 6, number of trade tower 6 meters south 642 card. Applicant before: ZHONGSHAN WOBEITE INTELLIGENT MEDICAL ROBOT CO.,LTD. |
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