CN112792800B

CN112792800B - Rope transmission exoskeleton power device and exoskeleton robot

Info

Publication number: CN112792800B
Application number: CN202110083032.2A
Authority: CN
Inventors: 不公告发明人
Original assignee: Shenzhen Huaquejing Medical Technology Co ltd
Current assignee: Shenzhen Huaquejing Medical Technology Co ltd
Priority date: 2021-01-21
Filing date: 2021-01-21
Publication date: 2022-05-27
Anticipated expiration: 2041-01-21
Also published as: CN112792800A

Abstract

The invention provides a rope transmission exoskeleton power device and an exoskeleton robot, relates to the technical field of exoskeleton robots, and aims to solve the problem that the existing rope transmission exoskeleton is low in power utilization rate and short in endurance time. The rope transmission exoskeleton power device comprises a power assembly, wherein the power assembly comprises a rotary output shaft, a transmission rope, a ratchet mechanism and a limiting piece, and the ratchet mechanism is in transmission connection between the rotary output shaft and the transmission rope; the limiting piece is fixedly installed on a fixed part in the rope transmission exoskeleton power device and is configured to disconnect the power transmission of the rotary output shaft to the transmission rope in a set gait cycle. The exoskeleton robot comprises the rope transmission exoskeleton power device. The rope transmission exoskeleton power device and the exoskeleton robot have the advantages of high power utilization rate and long endurance time.

Description

Rope transmission exoskeleton power device and exoskeleton robot

Technical Field

The invention relates to the technical field of exoskeleton robots, in particular to a rope transmission exoskeleton power device and an exoskeleton robot.

Background

The problem that the old people are difficult in daily life is more and more prominent along with the continuous increase of the old people, and the wearable exoskeleton robot has a large development space in the aspects of assisting the old people to walk and the like. The rope transmission exoskeleton has the advantages of simple structure, light weight and the like, so the rope transmission exoskeleton is very suitable for assisting the old to walk. However, since the displacement of the transmission rope needs to be matched with the movement of the limb, the motor in the power device needs to frequently rotate forwards and backwards, which results in large consumption of electric energy, and thus, the utilization rate of the power supply is low, and the endurance time is short.

Disclosure of Invention

The invention aims to provide a rope transmission exoskeleton power device to solve the technical problem that the conventional rope transmission exoskeleton is low in power utilization rate, so that the endurance time is short.

The invention provides a rope transmission exoskeleton power device which comprises a power assembly, wherein the power assembly comprises a rotary output shaft, a transmission rope, a ratchet mechanism and a limiting piece, and the ratchet mechanism is connected between the rotary output shaft and the transmission rope in a transmission way; the limiting member is fixedly mounted to a fixed component of the cord driven exoskeleton power device and configured to disconnect power transmission from the rotary output shaft to the drive cord during a set gait cycle.

Further, the ratchet mechanism comprises a pawl, a capstan having a ratchet engageable with the pawl, wherein the pawl is drivingly connected to the rotary output shaft, and a resilient element, wherein the drive line is fixedly connected to the capstan, the resilient element being configured such that the pawl always has a tendency to engage with the ratchet.

The limiting member comprises an annular limiting plate, the annular limiting plate is arranged around the pawl and is arranged along the motion path of the pawl, and the annular limiting plate is provided with a transmission section for enabling the pawl to be meshed with the ratchet and a separation section for enabling the pawl to be separated from the ratchet.

Further, the ratchet is an internal ratchet, and the winch and the rotating output shaft are coaxial.

Furthermore, the ratchet mechanism also comprises a transmission shaft sleeve, and the transmission shaft sleeve is sleeved on the rotating output shaft and rotates synchronously with the rotating output shaft; the periphery of driving sleeve is formed with the flange, the flange is fixed and is provided with the pivot, the pawl install in the pivot.

Further, the elastic element comprises a torsion spring, the torsion spring is sleeved on the rotating shaft, one torsion arm of the torsion spring is abutted to the pawl, and the other torsion arm of the torsion spring is abutted to the transmission shaft sleeve.

Further, the power assembly further comprises an inner bearing seat and an outer bearing seat, wherein the inner bearing seat and the outer bearing seat are both fixedly mounted on the fixed part, the inner bearing seat and the outer bearing seat are respectively arranged on two sides of the winch, the inner bearing seat is provided with a first bearing, and the transmission shaft sleeve is supported on the inner bearing seat through the first bearing; the outer bearing seat is provided with a second bearing, and the winch is supported on the outer bearing seat through the second bearing.

Further, the end face of the inner bearing seat extends towards one side of the winch to form the annular limiting plate.

Further, the peripheral surface of the capstan is provided with an accommodation groove configured to accommodate the transmission rope after being wound.

Further, a fixed block is connected to an end of the transmission rope, a limiting groove is formed in an end face of the winch, a rope groove is formed between the limiting groove and the accommodating groove in a communicating mode, the limiting groove is configured to accommodate the fixed block, and the limiting groove can prevent the fixed block from being separated from the limiting groove in the radial direction of the winch; the cord groove is configured to receive a cord segment of the drive cord proximate the fixed block.

Further, the power assembly further comprises a blocking piece, the blocking piece is detachably mounted on the end face, provided with the limiting groove, of the winch, and the blocking piece is configured to prevent the fixing block from being separated from the limiting groove along the axial direction of the winch.

Further, the fixed part comprises an upper shell and a lower shell, the upper shell and the lower shell are connected to form an accommodating space, and the power assembly is arranged in the accommodating space; the lower shell is provided with a rope hole, and the rope hole is configured to enable the transmission rope to penetrate out.

Furthermore, the number of the power assemblies is two, and the two power assemblies are arranged in a central symmetry mode by taking the vertical axis as a symmetry axis.

The rope transmission exoskeleton power device has the advantages that:

the power assembly mainly composed of the rotary output shaft, the transmission rope, the ratchet mechanism and the limiting piece is arranged in the rope transmission exoskeleton power device, wherein the rotary output shaft is in transmission connection with the transmission rope through the ratchet mechanism, the limiting piece is fixedly connected with a fixed part in the rope transmission exoskeleton power device, and the limiting piece is used for disconnecting power transmission of the rotary output shaft to the transmission rope in a set gait cycle.

When the exoskeleton robot uses the rope to drive the exoskeleton power device, the exoskeleton robot is used for assisting the ankle joint of a human body. In the acting stage, the ratchet mechanism plays a role, and the power of the rotating output shaft is output to the transmission rope, so that the transmission rope can move according to the set displacement under the action of the power of the rotating output shaft; in the resetting stage, the limiting part plays a role in transmitting power of the rotary output shaft to the transmission rope, at the moment, the rotary output shaft is free of load and idles, and the transmission rope completes resetting under the inertia effect of movement of the ankle joint; in the holding stage, the limiting piece still plays a role, the power transmission of the rotary output shaft to the transmission rope is still in a disconnected state, at the moment, the rotary output shaft continues to idle in a no-load mode, and the displacement of the transmission rope is zero. With the continuation of the walking action of the human body, the process of the rope transmission exoskeleton power device is repeated continuously, and the walking assistance of the human body is realized.

The analysis shows that the rope transmission exoskeleton power device can achieve the aim of seamless connection of the ankle joint in the acting stage, the resetting stage and the keeping stage under the unidirectional rotation of the rotating output shaft, realizes time-sharing traction load of the rotating output shaft by utilizing the ratchet mechanism, does not need to enable the rotating output shaft to frequently rotate forwards and backwards, reduces the energy consumption of the rope transmission exoskeleton in the working process, and effectively solves the problem of short endurance time caused by low power utilization rate of the rope transmission exoskeleton in the prior art.

In addition, the rope transmission exoskeleton power device adopts the arrangement form that the rotating output shaft rotates in a single direction, so that the abrasion of parts provided with the rotating output shaft is reduced, the service lives of the parts are obviously prolonged, and the noise generated by the rotating output shaft in the working process can be obviously reduced, namely: the noise generated in the working process of the rope transmission exoskeleton power device is reduced.

The second purpose of the present invention is to provide an exoskeleton robot, so as to solve the technical problem that the power utilization rate of the existing rope transmission exoskeleton is low, which results in short endurance time.

The exoskeleton robot provided by the invention comprises the rope transmission exoskeleton power device.

Further, the exoskeleton robot further comprises a waist belt, a power supply and a wearing mechanism, wherein the power supply and the rope transmission exoskeleton power device are both arranged on the waist belt, and the wearing mechanism is configured to be connected with the exoskeleton of the human body.

Further, the power source and the rope transmission exoskeleton power device are axially symmetrically distributed along the midline of the human body.

The exoskeleton robot has the advantages that:

by arranging the rope transmission exoskeleton power device in the exoskeleton robot, the exoskeleton robot has all the advantages of the rope transmission exoskeleton power device, and the description is omitted.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a graph of the displacement of the motor and drive cords of a prior art cord driven exoskeleton power device;

FIG. 2 is a graph of the speed of the motors of a prior art rope drive exoskeleton power device;

FIG. 3 is a graph of power consumption of a prior art rope-driven exoskeleton power device;

FIG. 4 is a schematic structural diagram of a rope driven exoskeleton power device provided in an embodiment of the present invention;

FIG. 5 is a schematic partial structural view of a rope driven exoskeleton power device provided in an embodiment of the present invention, wherein the upper housing is not shown;

FIG. 6 is a partial exploded view of the first power assembly of the rope drive exoskeleton power device according to the embodiment of the present invention;

FIG. 7 is a second partially exploded schematic view of the power assembly of the rope driven exoskeleton power device according to the embodiment of the present invention;

FIG. 8 is a schematic illustration of a process for assisting an ankle joint using the rope driven exoskeleton power device provided in an embodiment of the present invention;

FIG. 9 is a graph of the displacement of the motor and drive cords of the cord driven exoskeleton power device provided in an embodiment of the present invention;

FIG. 10 is a graph of the speed of the motors of the rope driven exoskeleton power device provided in accordance with an embodiment of the present invention;

FIG. 11 is a graph of the power consumption of the rope driven exoskeleton power apparatus provided in accordance with an embodiment of the present invention;

fig. 12 is a schematic view of the exoskeleton robot provided in the embodiment of the present invention in a use state.

Description of reference numerals:

010-rope transmission exoskeleton power devices; 020-waistband; 030-a power supply; 040-a wearing mechanism;

100-a power assembly; 200-a stationary part;

110 — a rotating output shaft; 120-a drive line; 130-a ratchet mechanism; 140-a stop; 150-an inner bearing seat; 160-outer bearing seats; 170-baffle plate; 180-attachment screws; 111-a reducer; 112-a motor; 113-a main control board; 114-an outer encoder; 115-a motor drive; 116-an inner encoder;

131-a pawl; 132-a winch; 133-a resilient element; 134-driving shaft sleeve; 135-a rotating shaft; 136-receiving grooves; 137-a limit groove; 138-rope grooves; 139-mounting hole;

121-fixing blocks;

151-first bearing; 152-inner bearing bore;

161-a second bearing; 162-outer bearing bore;

210-an upper housing; 220-a lower housing; 230-a support; 240-mounting the housing;

221-rope hole.

Detailed Description

In recent years, with the development of mechatronics technology, robotics and motion intention sensing technology, the wearable exoskeleton robotics has made great progress. In the fields of industrial production, outdoor sports and the like, great demands are made on the enhancement of human motion functions based on the wearable exoskeleton robot technology. Meanwhile, the daily life and the trip of more and more old people are influenced by the nerve and limb movement dysfunction caused by the natural aging and diseases of the human body, so that the wearable exoskeleton robot has a great development space in the aspects of walking assistance, auxiliary rehabilitation and the like.

The exoskeleton robot is a wearable intelligent robot connected with a human body in parallel, a wearer and the exoskeleton robot need to be integrated to perform auxiliary work, and in an ideal state, the exoskeleton robot is just like a skeleton in the human body and provides support and strength for the human body. By wearing the exoskeleton robot which is suitable for the wearer, the wearer can be helped to normally stand and walk, or the upper limb movement performance is improved, so that the limb function power of the wearer is greatly improved.

The traditional exoskeleton (such as BLEEX and HAL) generates limb driving force by connecting motors, connecting rods and hinge joints on limbs of a human in parallel, and although the mechanical structure can generate large limb driving force, the mechanical structure also has obvious defects: first, the normal motion characteristics of the human body change significantly due to the additional mass and inertia added to the limb, and the wearer's motion tends to become mechanically stiff; secondly, the joint rotation center of the human body is usually not fixed and cannot be matched by using simple hinge joints, so that the exoskeleton generally has the problem that the exoskeleton joints are difficult to align with the human body joints.

Rope-driven exoskeletons have been widely studied and used because they avoid the above-mentioned problems. The rope transmission exoskeleton can greatly reduce the complexity of an exoskeleton robot mechanism, and can realize more flexible arrangement of a plurality of movable joints, thereby more realizing long-distance torque transmission in a small space. The rope-driven exoskeleton can reduce the mass and inertia of limbs and solve the problem that the exoskeleton joints are difficult to align with human body joints, but has the defect of low energy (usually electric energy) utilization rate.

The problem of power supply endurance is always a major bottleneck problem in the field of robots, particularly for wearable exoskeleton robots. At present, the endurance time of most exoskeleton robots capable of being used outdoors does not exceed 3 hours, and daily use requirements are difficult to meet. Increasing the endurance time can be both improved in terms of power capacity and power utilization, but increasing the power capacity also means increasing the size and weight of the exoskeleton, and most exoskeleton robots have limitations on the size and weight, so that trying to improve the power utilization of the exoskeleton robots is a major breakthrough. Because the motor of the exoskeleton driven by the rope needs frequent forward and reverse rotation, about 30% of electric energy is consumed in acceleration and deceleration of the motor, and the utilization rate of a power supply is low.

Fig. 1 is a graph of the displacement of the motor and drive cords 120 of a prior art cord driven exoskeleton power device. As shown in FIG. 1, the drive cord 120 is pulled entirely by the motor, and thus, the motor displacement is the same as the drive cord 120 displacement, and it can be seen that the motor displacement curve coincides with the drive cord 120 displacement curve. According to the displacement of the motor, the working process of the rope transmission exoskeleton can be divided into three stages: 1. the working phase (gait cycle 40-69%), 2. the reset phase (gait cycle 69-84%) and 3. the maintenance phase (gait cycle 0-40% and 84-100%). During the working stage, the motor rotates forwards, the driving rope 120 is stretched through the winch 132, at the moment, the rope displacement is increased, the rope is in a tensioning state, and the exoskeleton applies positive work to the joints of the human body; during the resetting stage, the motor rotates reversely to release the transmission rope 120, at the moment, the rope displacement is reduced, the rope is in a loose state, and the exoskeleton does not work on the joints of the human body; during the holding phase, the motor stops rotating and the drive cord 120 remains in the original position, at which time the exoskeleton applies negative work (a small and negligible amount) to the joints of the person.

Figure 2 is a graph of the speed of the motor of a prior art rope driven exoskeleton power device. As can be seen from fig. 2, in order to realize the forward and reverse rotation of the motor, the motor has to be accelerated and decelerated frequently.

Fig. 3 is a graph of the power consumption of a prior art rope driven exoskeleton power device. As can be seen from figure 3, the power consumption of the exoskeleton power device serves two main functions, namely, to drive the load (the region filled by the 45 ° cross-section line in the figure) and to accelerate and decelerate the motor (the region filled by the-45 ° cross-section line in the figure). Through calculation, the electric energy consumed by acceleration and deceleration of the motor accounts for about 30% of the total electric energy consumed by one gait cycle, namely about 30% of the electric energy is consumed by the forward and reverse rotation of the motor, the effect is only to accelerate and decelerate the motor, no help is provided for driving a load, and the problem of low utilization rate of the exoskeleton power supply is caused.

The invention aims to provide a rope transmission power device and an exoskeleton robot, aiming at solving the problems of low power utilization rate and short endurance time of a rope transmission exoskeleton due to the fact that a motor frequently rotates forwards and backwards to consume a large amount of electric energy, and aiming at improving the power utilization rate of the rope transmission exoskeleton and prolonging the endurance time of the exoskeleton.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Fig. 4 is a schematic structural diagram of the rope transmission exoskeleton power device 010 provided in this embodiment, and fig. 5 is a schematic partial structural diagram of the rope transmission exoskeleton power device 010 provided in this embodiment (the upper housing 210 is not shown). As shown in fig. 4 and 5, the present embodiment provides a rope-driven exoskeleton power device 010, which includes a power assembly 100, specifically, the power assembly 100 includes a rotary output shaft 110, a driving rope 120, a ratchet mechanism 130 and a limiting member 140, wherein the ratchet mechanism 130 is drivingly connected between the rotary output shaft 110 and the driving rope 120; the limiting member 140 is fixedly mounted to the stationary member 200 in the rope drive exoskeleton power device 010, and the limiting member 140 is configured to interrupt the power transmission from the rotary output shaft 110 to the drive rope 120 during a set gait cycle.

When the exoskeleton robot uses the rope-driven exoskeleton power device 010, the exoskeleton robot assists the ankle joint of the human body by taking the example as an example. In the working stage, the ratchet mechanism 130 acts to output the power of the rotating output shaft 110 to the transmission rope 120, so that the transmission rope 120 can move according to the set displacement under the action of the power of the rotating output shaft 110; in the resetting stage, the limiting member 140 acts to disconnect the power transmission from the rotary output shaft 110 to the transmission rope 120, at this time, the rotary output shaft 110 is unloaded and idles, and the transmission rope 120 completes the resetting under the inertia effect of the movement of the ankle joint; in the holding stage, the stopper 140 still functions, and the power transmission from the rotary output shaft 110 to the drive rope 120 is still in the off state, at this time, the rotary output shaft 110 continues to idle without load, and the displacement of the drive rope 120 is zero. With the continuation of the walking action of the human body, the rope transmission exoskeleton power device 010 can continue to repeat the process, so that the walking assistance of the human body is realized.

The above analysis shows that the rope-driven exoskeleton power device 010 can achieve the purpose of seamless connection of the ankle joint in the working stage, the resetting stage and the keeping stage under the unidirectional rotation of the rotating output shaft 110, realizes the time-sharing traction load of the rotating output shaft 110 by using the ratchet mechanism 130, does not need to make the rotating output shaft 110 frequently rotate forward and backward, reduces the energy consumption of the rope-driven exoskeleton in the working process, and thus effectively solves the problem of short endurance time caused by low power utilization rate of the rope-driven exoskeleton in the prior art.

In addition, the rope transmission exoskeleton power device 010 adopts the arrangement mode that the rotating output shaft 110 rotates in a single direction, so that the abrasion of the parts provided with the rotating output shaft 110 is reduced, the service lives of the parts are obviously prolonged, and the noise generated by the rotating output shaft 110 in the working process is also obviously reduced, namely: the noise generated in the working process of the rope transmission exoskeleton power device 010 is reduced.

It should be noted that, in the present embodiment, the rope-driven exoskeleton power device 010 is only used for illustrating the assistance to the ankle joint of the human body, and it can be understood that the rope-driven exoskeleton power device 010 can also be applied to the assistance to other joints, and the present embodiment is only for illustration and should not be construed as a limitation to the present invention.

With continued reference to fig. 4 and 5, in the present embodiment, the fixing member 200 includes an upper housing 210 and a lower housing 220, specifically, the upper housing 210 and the lower housing 220 are connected to form a receiving space, and the power assembly 100 is disposed in the receiving space; the lower case 220 is opened with a string hole 221, and the string hole 221 is configured to pass the driving string 120 therethrough.

By arranging the fixing part 200 of the rope transmission exoskeleton power device 010 in a structural form mainly composed of the upper shell 210 and the lower shell 220, the power assembly 100 is installed in the accommodating space formed by the upper shell 210 and the lower shell 220, on one hand, the main structure of the power assembly 100 is prevented from being exposed, the power assembly 100 is protected, and on the other hand, the structural integrity of the rope transmission exoskeleton power device 010 is ensured.

Fig. 6 is a partially exploded view of the power assembly 100 of the rope-driven exoskeleton power device 010 of this embodiment, and fig. 7 is a partially exploded view of the power assembly 100 of the rope-driven exoskeleton power device 010 of this embodiment. With continued reference to fig. 4 and 5 in conjunction with fig. 6 and 7, in the present embodiment, the ratchet mechanism 130 includes a pawl 131, a capstan 132, and an elastic element 133, the capstan 132 has a ratchet capable of engaging with the pawl 131, specifically, the pawl 131 is in driving connection with the rotary output shaft 110, the driving rope 120 is fixedly connected to the capstan 132, and the elastic element 133 is configured to make the pawl 131 always have a tendency to engage with the ratchet.

With continued reference to fig. 5 to 7, the position limiting member 140 includes a ring-shaped position limiting plate disposed around the pawl 131 and along the moving path of the pawl 131, the ring-shaped position limiting plate has a transmission section for engaging the pawl 131 with the ratchet teeth and a separation section for separating the pawl 131 from the ratchet teeth.

Fig. 8 is a schematic diagram of the procedure for assisting the ankle joint using the rope-driven exoskeleton power device 010 provided in this embodiment. As shown in fig. 8, when the exoskeleton power device 010 is used for assisting the ankle joint by using the rope transmission exoskeleton power device 010, the rotating output shaft 110 rotates anticlockwise, and in the working stage (gait cycle 40-69%), the pawl 131 keeps contact with the ratchet under the action of the elastic element 133, so as to drive the winch 132 to rotate anticlockwise, and at the moment, the transmission rope 120 moves according to the set displacement; in the resetting stage (gait cycle 69-84%), as the rotating output shaft 110 continues to rotate, the pawl 131 moves from the transmission section of the limiting member 140 to the separation section thereof, that is, the limiting member 140 separates the pawl 131 from the ratchet, the engagement between the pawl 131 and the ratchet is disconnected, so that the power transmission from the rotating output shaft 110 to the winch 132 is disconnected, at this time, the pawl 131 slides on the limiting member 140, the rotating output shaft 110 is unloaded and idles anticlockwise, and the transmission rope 120 completes the resetting due to the inertia of the motion of the ankle joint of the human body; during the holding phase (0-40% and 84-100% of the gait cycle), the pawl 131 and ratchet tooth are still in the state of being separated by the limiting member 140, and at this time, the rotary output shaft 110 is still in the state of no load and counterclockwise idle rotation, and the transmission rope 120 is displaced to zero.

Referring to fig. 5 to 7, in the present embodiment, the power assembly 100 further includes a motor 112 and a reducer 111, specifically, the lower housing 220 is fixedly mounted with a support 230, the reducer 111 is mounted on the support 230, an output shaft of the reducer 111 forms a rotating output shaft 110, and an output shaft of the motor 112 is in transmission connection with the reducer 111 to output a rotational driving force to the rotating output shaft 110. By providing the speed reducer 111, amplification of the output torque of the output shaft of the motor 112 is achieved.

When only the motor 112 is provided in the power module 100 and the speed reducer 111 is not provided, the output shaft of the motor 112 forms the rotation output shaft 110.

Fig. 9 is a graph of the displacement of the motor 112 and drive cable 120 of the cable driven exoskeleton power device 010 provided in this embodiment. With reference to fig. 8 and with reference to fig. 9, during the operation of the rope-driven exoskeleton power device 010 of this embodiment, the rotating output shaft 110 always rotates counterclockwise. In the working stage, the rotation direction of the winch 132 is the same as the rotation direction of the rotating output shaft 110, the ankle joint is bent (clockwise rotation), the transmission rope 120 actively inputs an ankle joint toe bending assisting force F1 under the traction of the rotating output shaft 110 to assist the ankle joint toe in bending and pedaling the ground, so that the energy consumption and the ankle joint moment when the human body walks are reduced; in the resetting stage, the rotation direction of the winch 132 is opposite to the rotation direction of the rotating output shaft 110, the ankle joint dorsiflexes (rotates anticlockwise), the power between the rotating output shaft 110 and the transmission rope 120 is separated, the transmission rope 120 passively bears the ankle joint dorsiflexion force F2, and the resetting is completed under the inertia effect of the human ankle joint dorsiflexion motion; during the hold phase, the winch 132 is stationary.

Wherein, the transmission rope 120 is drawn by the rotating output shaft 110 only when the pawl 131 is engaged with the ratchet in the working stage, and after the pawl 131 is separated from the ratchet, the transmission rope 120 is drawn by the motion of the ankle joint of the human body, therefore, the displacement of the rotating output shaft 110 is the same as that of the transmission rope 120 only in the working stage, namely: the displacement of the output shaft of motor 112 is the same as the displacement of drive cord 120 only during the work phase.

Fig. 10 is a graph of the speed of the motor 112 of the rope drive exoskeleton power device 010 provided in this embodiment. As can be seen from fig. 10, in the present embodiment, the motor 112 rotates at a constant speed.

Fig. 11 is a graph of the power consumption of the rope-driven exoskeleton power device 010 provided in this embodiment. As can be seen from fig. 11, in the present embodiment, since the motor 112 rotates at a constant speed, the power consumption for accelerating and decelerating the motor 112 is zero, and the power is entirely used for driving the load (the region filled by the hatching in the figure), so that the power utilization rate is improved.

With continued reference to fig. 5 and 6, in the present embodiment, the ratchet teeth are internal ratchet teeth, and the capstan 132 is coaxial with the rotary output shaft 110. So arranged, the rotary output shaft 110 and the winch 132 are arranged in a straight line, thereby saving the lateral space of the winch 132.

In other embodiments, the rotary output shaft 110 and the winch 132 may be arranged side by side.

Referring to fig. 6 and fig. 7, in the present embodiment, the ratchet mechanism 130 may further include a driving sleeve 134, specifically, the driving sleeve 134 is sleeved on the rotating output shaft 110 and rotates synchronously with the rotating output shaft 110; a flange is formed on the outer periphery of the driving sleeve 134, a rotating shaft 135 is fixedly arranged on the flange, and the pawl 131 is mounted on the rotating shaft 135.

During operation of the rope-driven exoskeleton power device 010, the driving shaft sleeve 134 serves as a driving element of the ratchet mechanism 130 to drive the pawl 131. So set up, realized the transmission connection between pawl 131 and rotation output shaft 110 to the reliable transmission of rotatory effort to pawl 131 has been guaranteed.

Specifically, in the present embodiment, the rotary output shaft 110 is keyed to the outdrive 134.

Referring to fig. 6 and fig. 7, in this embodiment, the elastic element 133 may include a torsion spring, specifically, the torsion spring is sleeved on the rotating shaft 135, and one torsion arm of the torsion spring abuts against the pawl 131, and the other torsion arm of the torsion spring abuts against the driving sleeve 134.

This arrangement for returning the pawl 131 by the torsion spring is not only simple in structure but also facilitates the arrangement of the elastic member 133 in the ratchet mechanism 130.

Referring to fig. 6 and 7, in the present embodiment, the power assembly 100 may further include an inner bearing seat 150 and an outer bearing seat 160, specifically, the inner bearing seat 150 and the outer bearing seat 160 are both fixedly mounted on the fixing component 200, the inner bearing seat 150 and the outer bearing seat 160 are respectively disposed on two sides of the winch 132, wherein the inner bearing seat 150 is mounted with a first bearing 151, and the driving shaft sleeve 134 is supported on the inner bearing seat 150 through the first bearing 151; the outer bearing housing 160 is fitted with a second bearing 161, and the winch 132 is supported by the outer bearing housing 160 via the second bearing 161.

In this embodiment, the inner bearing seat 150 is provided with an inner bearing hole 152, an outer ring of the first bearing 151 is fixedly sleeved with the inner bearing hole 152, and the driving shaft sleeve 134 is fixedly sleeved with an inner ring of the first bearing 151; the outer bearing seat 160 is provided with an outer bearing hole 162, an outer ring of the second bearing 161 is fixedly sleeved with the outer bearing hole 162, and a central shaft of the winch 132 is fixedly sleeved with an inner ring of the second bearing 161. So set up, realized supporting the rotation of capstan winch 132, guaranteed capstan winch 132 pivoted smoothness nature.

Referring to fig. 6 and 7, in the present embodiment, the end surface of the inner bearing seat 150 extends toward one side of the winch 132 to form an annular limiting plate.

So set up, not only realized reliably stopping pawl 131 to guarantee the smooth separation of pawl 131 and ratchet, moreover, still improved inner bearing seat 150's structural strength, thereby prolonged inner bearing seat 150's life.

Referring to fig. 6 and 7, in the present embodiment, the outer circumferential surface of the winch 132 is provided with a receiving groove 136, wherein the receiving groove 136 is configured to receive the wound driving rope 120.

Through setting up holding tank 136 at the outer peripheral face of capstan winch 132, realized holding of the drive rope 120 after the rolling for the corresponding part of rolling in capstan winch 132 can be concentrated to drive rope 120, has avoided the motion of drive rope 120 with other parts to interfere, and in addition, the setting of holding tank 136 has still played the effect spacing to drive rope 120, and the axial emergence of the drive rope 120 after the avoiding rolling is slided along capstan winch 132.

Referring to fig. 7, in the present embodiment, the end of the driving rope 120 is connected to the fixing block 121, the end surface of the winch 132 is provided with a limiting groove 137, and a rope groove 138 is disposed between the limiting groove 137 and the accommodating groove 136 in a communicating manner, specifically, the limiting groove 137 is configured to accommodate the fixing block 121, and the limiting groove 137 can prevent the fixing block 121 from being separated from the limiting groove 137 along the radial direction of the winch 132; the cord groove 138 is configured to receive a cord segment of the drive cord 120 proximate the retention block 121.

When the driving rope 120 is connected to the winch 132, the fixing block 121 disposed at the end of the driving rope 120 may be placed in the stopper groove 137, and a rope portion of the driving rope 120 adjacent to the fixing block 121 may be received in the rope groove 138.

So set up, not only realized being connected of driving rope 120 and capstan winch 132, moreover, when driving rope 120 received the pulling force effect, can also utilize spacing groove 137 to provide certain reaction force for driving rope 120, reduced the risk that driving rope 120 and capstan winch 132 separated. In addition, the arrangement mode can also replace the transmission rope 120 in time when the transmission rope 120 is worn after being used for a period of time, so as to ensure the normal use of the rope transmission exoskeleton power device 010.

In addition, the rope groove 138 and the arrangement form that the accommodation groove 136 communicates can also guide the driving rope 120 to be wound into the accommodation groove 136, and plays a certain guiding role for the driving rope 120.

Referring to fig. 7, in the present embodiment, the power assembly 100 may further include a blocking piece 170, specifically, the blocking piece 170 is detachably mounted on an end surface of the winch 132, where the limiting groove 137 is disposed on the end surface, and the blocking piece 170 is configured to prevent the fixing block 121 from being separated from the limiting groove 137 along an axial direction of the winch 132.

So set up, realized spacing to fixed block 121, guaranteed that fixed block 121 sets up in spacing groove 137's reliability, reduced the risk of driving rope 120 and capstan 132 separation. When the driving rope 120 needs to be taken down from the winch 132, the blocking piece 170 is only needed to be detached, so that the operation is convenient.

Specifically, the end surface of the winch 132 provided with the limiting groove 137 is provided with a mounting hole 139, the mounting hole 139 is a threaded hole, and the baffle is mounted in the mounting hole 139 through a connecting screw 180.

Referring to fig. 5, in the present embodiment, the number of the power assemblies 100 is two, and the two power assemblies 100 are arranged in a central symmetry manner with the vertical axis as the symmetry axis.

By arranging the two groups of power assemblies 100, each group of power assemblies 100 can respectively assist one ankle joint of the human body, namely, when the rope transmission exoskeleton power device 010 provided with the two power assemblies 100 is used, two ankle joints of the human body can be assisted simultaneously.

Due to the arrangement mode, when assistance is needed to be carried out on two ankle joints of a human body, two ropes are not needed to be arranged to drive the exoskeleton power device 010, and great convenience is provided for a user.

Referring to fig. 4 and 5, in the present embodiment, the rope-driven exoskeleton power device 010 further includes a main control board 113, and both sets of power assemblies 100 are electrically connected to the main control board 113, and the main control board 113 controls both sets of power assemblies 100.

It should be noted that how to control the two sets of power assemblies 100 by using the main control board 113 is available for those skilled in the art according to the prior art, which is not a point of improvement of the present invention and therefore will not be described in detail.

Referring to fig. 4 and 5, in the present embodiment, the lower housing 220 is fixedly connected to the mounting housing 240 in a lateral direction thereof, and the main control board 113 is disposed in the mounting housing 240. So set up, can provide certain guard action for main control board 113 to guarantee this embodiment rope transmission ectoskeleton power device 010's operational reliability.

Referring to fig. 5, in the present embodiment, a motor driver 115 is further disposed in the accommodating space formed by the upper housing 210 and the lower housing 220, and the motor driver 115 is used for bottom-layer control of the motor 112.

With continued reference to fig. 5, an inner encoder 116 and an outer encoder 114 are further disposed in the accommodating space, wherein the inner encoder 116 is used for measuring the rotation angle of the motor 112, and the outer encoder 114 is used for measuring the rotation angle of the winch 132. So set up, can realize the accurate measurement to drive rope 120 displacement to carry out reliable helping hand to the ankle joint.

The embodiment also provides an exoskeleton robot, which comprises the rope transmission exoskeleton power device 010.

By providing the rope-driven exoskeleton power device 010 in the exoskeleton robot, the exoskeleton robot has all the advantages of the rope-driven exoskeleton power device 010, and therefore, the description thereof is omitted.

Fig. 12 is a schematic view of the exoskeleton robot provided in this embodiment in a use state. As shown in fig. 12, the exoskeleton robot can further comprise a belt 020, a power supply 030, and a wearing mechanism 040, specifically, the power supply 030 and the rope-driven exoskeleton power device 010 are both mounted on the belt 020, and the wearing mechanism 040 is configured to be connected with the exoskeleton of the human body. Wherein the power source 030 is connected to the main control panel 113 of the rope drive exoskeleton power device 010.

When it is necessary to assist the ankle of the human body with the exoskeleton robot, the waist belt 020 can be attached to the trunk of the user and the wearing mechanism 040 can be attached to the ankle of the human body. After the power source 030 is turned on, power can be supplied to power utilization parts in the rope transmission exoskeleton power device 010, so that the power assistance to the ankle joints of the human body is realized.

Preferably, in this embodiment, the power source 030 and the rope-driven exoskeleton power device 010 are axially symmetrically distributed along the centerline of the human body. Wherein the power source 030 is arranged close to the abdomen of the human body and the rope transmission exoskeleton power device 010 is arranged close to the back of the human body.

The form that the power source 030 and the rope transmission exoskeleton power device 010 are symmetrically arranged can facilitate the wearing and the dismounting of a user, and is beneficial to the uniform distribution of human body loads, so that the influence and the discomfort caused by the normal motion of the human body by the exoskeleton robot in the embodiment are effectively reduced.

The exoskeleton robot is simple in structure, small in size and light in weight, and is suitable for light-weight portable wearable exoskeleton.

Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

In the above embodiments, the descriptions of the orientations such as "upper", "lower", "side", and the like are based on the drawings.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rope-driven exoskeleton power device, comprising a power assembly (100), wherein the power assembly (100) comprises a rotary output shaft (110), a transmission rope (120), a ratchet mechanism (130) and a limiting member (140), and the ratchet mechanism (130) is in transmission connection between the rotary output shaft (110) and the transmission rope (120); the limiting member (140) is fixedly installed on a fixed component (200) in the rope transmission exoskeleton power device, and the limiting member (140) is configured to disconnect the power transmission of the rotating output shaft (110) to the transmission rope (120) in a set gait cycle; the ratchet mechanism (130) comprises a pawl (131), a winch (132) and an elastic element (133), wherein the winch (132) is provided with a ratchet capable of being meshed with the pawl (131), the pawl (131) is in transmission connection with the rotary output shaft (110), the transmission rope (120) is fixedly connected with the winch (132), and the elastic element (133) is configured to enable the pawl (131) to always have a tendency to be meshed with the ratchet; the limiting member (140) comprises a ring-shaped limiting plate which is arranged around the pawl (131) and along the motion path of the pawl (131), and the ring-shaped limiting plate is provided with a transmission section for enabling the pawl (131) to be engaged with the ratchet and a separation section for enabling the pawl (131) to be separated from the ratchet;

the fixing part (200) comprises an upper shell (210) and a lower shell (220), the upper shell (210) and the lower shell (220) are connected to form an accommodating space, and the power assembly (100) is arranged in the accommodating space; the lower shell (220) is provided with a rope hole (221), and the rope hole (221) is configured to enable the transmission rope (120) to penetrate out;

the number of the power assemblies (100) is two, and the power assemblies (100) are arranged in a central symmetry mode by taking a vertical axis as a symmetry axis.

2. The rope driven exoskeleton power device of claim 1, wherein the ratchet is an internal ratchet and the winch (132) is coaxial with the rotary output shaft (110).

3. The rope driven exoskeleton power device as claimed in claim 2, wherein the ratchet mechanism (130) further comprises a driving sleeve (134), the driving sleeve (134) is sleeved on the rotating output shaft (110) and rotates synchronously with the rotating output shaft (110); the periphery of driving shaft sleeve (134) is formed with the flange, the flange is fixed and is provided with pivot (135), pawl (131) are installed in pivot (135).

4. The rope transmission exoskeleton power device as claimed in claim 3, wherein the elastic element (133) comprises a torsion spring, the torsion spring is sleeved on the rotating shaft (135), one torsion arm of the torsion spring abuts against the pawl (131), and the other torsion arm of the torsion spring abuts against the transmission shaft sleeve (134).

5. The rope-driven exoskeleton power device as claimed in claim 3, wherein the power assembly (100) further comprises an inner bearing housing (150) and an outer bearing housing (160), the inner bearing housing (150) and the outer bearing housing (160) are both fixedly mounted to the fixed member (200), the inner bearing housing (150) and the outer bearing housing (160) are respectively disposed at two sides of the winch (132), wherein the inner bearing housing (150) is mounted with a first bearing (151), and the driving shaft sleeve (134) is supported on the inner bearing housing (150) through the first bearing (151); the outer bearing seat (160) is provided with a second bearing (161), and the winch (132) is supported on the outer bearing seat (160) through the second bearing (161).

6. The rope drive exoskeleton power device of claim 5, wherein the end face of the inner bearing housing (150) extends towards one side of the capstan (132) forming the ring-shaped limit plate.

7. The rope drive exoskeleton power device as claimed in claim 1, wherein the capstan (132) is provided with a receiving groove (136) on its outer circumference, the receiving groove (136) being configured to receive the wound drive rope (120).

8. The rope transmission exoskeleton power device as claimed in claim 7, wherein a fixing block (121) is connected to an end of the transmission rope (120), a limiting groove (137) is formed in an end face of the winch (132), and a rope groove (138) is formed between the limiting groove (137) and the accommodating groove (136), wherein the limiting groove (137) is configured to accommodate the fixing block (121), and the limiting groove (137) can prevent the fixing block (121) from being separated from the limiting groove (137) along a radial direction of the winch (132); the cord groove (138) is configured to receive a cord section of the drive cord (120) proximate the fixed block (121).

9. The rope transmission exoskeleton power device as claimed in claim 8, wherein the power assembly (100) further comprises a blocking piece (170), the blocking piece (170) is detachably mounted on an end face of the winch (132) where the limiting groove (137) is arranged, and the blocking piece (170) is configured to prevent the fixing block (121) from being separated from the limiting groove (137) along the axial direction of the winch (132).

10. An exoskeleton robot comprising the rope driven exoskeleton power device of any one of claims 1 to 9.

11. The exoskeletal robot of claim 10, further comprising a belt (020), a power source (030), and a wear mechanism (040), the power source (030) and the cord driven exoskeletal power device each being mounted to the belt (020), the wear mechanism (040) being configured to couple with an exoskeleton of a person.

12. The exoskeletal robot of claim 11, characterized in that the power source (030) and the rope-driven exoskeletal power means are distributed axisymmetrically along the midline of the human body.