CN110812132A - Ankle exoskeleton - Google Patents
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Animal Behavior & Ethology (AREA)
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及机器人外骨骼技术领域，尤其涉及一种踝关节外骨骼。The invention relates to the technical field of robot exoskeletons, in particular to an ankle joint exoskeleton.
背景技术Background technique
21世纪人口老龄化浪潮将席卷全球，给社会发展带来严峻挑战，截至2018年年我国60岁以上老年人口超2.5亿。老年人由于本身肌肉力量的衰退，行走能力出现不同程度的下降。而医用辅助设备有助于老年人在肌力衰退阶段不影响独立生活和完成日常生活基本任务的能力。The wave of population aging in the 21st century will sweep the world and bring severe challenges to social development. As of 2018, my country's population of people over 60 years old has exceeded 250 million. Due to the decline of their own muscle strength, the walking ability of the elderly declines to varying degrees. Medical assistive devices, on the other hand, help the elderly in the stage of muscle decline without affecting their ability to live independently and perform basic tasks of daily living.
无动力踝关节外骨骼作为一种轻便高效的医用辅助设备，不需要外部能量的输入，仅依靠人体本身重力和肢体运动做功就能实现对老年人的助力行走。相较于驱动型下肢外骨骼依靠复杂沉重的能源、驱动、传感与控制系统来实时适配人体变化步态，纯机械的自适应下肢外骨骼将会有更广阔的市场应用前景。As a lightweight and efficient medical auxiliary device, the unpowered ankle exoskeleton does not require external energy input, and can assist the elderly to walk only by relying on the human body's own gravity and limb movement to perform work. Compared with the driven lower extremity exoskeleton, which relies on complex and heavy energy, drive, sensing and control systems to adapt to the changing gait of the human body in real time, the purely mechanical adaptive lower extremity exoskeleton will have a broader market application prospect.
而目前对于处机械类的无动力踝关节外骨骼研究方面已有一些成果，例如；At present, there have been some achievements in the research of mechanical unpowered ankle exoskeletons, such as;
CN109940583A提出了一种能降低行走代谢的自适应踝足外骨骼，但其结构较为复杂，且适配性较低。CN109940583A proposes an adaptive ankle-foot exoskeleton that can reduce walking metabolism, but its structure is relatively complex and its adaptability is low.
CN109093596A发明了一种双模式被动踝助力外骨骼，其在一定程度上解决了穿戴者行走步态不自然的技术问题。但是由于本身的结构设计，对于踝关节的正常运动有很大影响。CN109093596A invented a dual-mode passive ankle-assisted exoskeleton, which solves the technical problem of the wearer's unnatural walking gait to a certain extent. However, due to its structural design, it has a great impact on the normal movement of the ankle joint.
CN207722054U提出一种新型的外骨骼踝关节装置，具有结构简单、可缓冲减震的效果，但由于本身考虑缓冲效果的设计和运用了过多的刚性结构会导致踝关节自由运动受限问题。CN207722054U proposes a new type of exoskeleton ankle joint device, which has the advantages of simple structure and buffering and shock absorption. However, due to the design considering the buffering effect and the use of excessive rigid structures, the free movement of the ankle joint will be limited.
可见，现有的无动力踝关节外骨骼尚存在结构相对较为复杂、设备相对较为笨重以及使用的舒适度还有待提高的问题。It can be seen that the existing unpowered ankle joint exoskeleton still has the problems that the structure is relatively complex, the equipment is relatively bulky, and the comfort of use needs to be improved.
发明内容SUMMARY OF THE INVENTION
有鉴于此，本发明实施例提供一种踝关节外骨骼，至少部分解决现有技术中存在的问题。In view of this, embodiments of the present invention provide an ankle joint exoskeleton, which at least partially solves the problems existing in the prior art.
第一方面，本发明实施例提供了一种踝关节外骨骼，所述踝关节外骨骼包括：动力传输组件、第一传动组件、传动杆以及第二传动组件；In a first aspect, an embodiment of the present invention provides an ankle joint exoskeleton, the ankle joint exoskeleton comprising: a power transmission component, a first transmission component, a transmission rod, and a second transmission component;
所述动力传输组件的一端与所述第一传动组件连接，所述动力传输组件的另一端作用于使用者，所述第一传动组件与所述第二传动组件通过所述传动杆连接；One end of the power transmission assembly is connected with the first transmission assembly, the other end of the power transmission assembly acts on the user, and the first transmission assembly and the second transmission assembly are connected through the transmission rod;
所述第一传动组件包括第一传动部件，所述第一传动部件用于在所述传动杆朝第一方向转动下带动所述动力传输组件积蓄能量，以及在所述传动杆朝第二方向转动下触发所述动力传输组件释放能量；The first transmission assembly includes a first transmission part, and the first transmission part is used for driving the power transmission assembly to store energy when the transmission rod rotates in the first direction, and when the transmission rod rotates in the second direction Triggering the power transmission assembly to release energy under rotation;
所述第二传动组件包括用于承受使用者施加的力的受力部件和在所述受力部件的触动下带动所述传动杆转动的第二传动部件，以将承受的外力转化为传动力传至与所述第二传动组件连接的第一传动组件处；以及在外力撤销时产生相反的传动力至与所述第二传动组件连接的第一传动组件处；The second transmission assembly includes a force-receiving part for bearing the force applied by the user and a second transmission part which drives the transmission rod to rotate under the touch of the force-receiving part, so as to convert the received external force into a transmission force transmitting to the first transmission assembly connected with the second transmission assembly; and generating an opposite transmission force to the first transmission assembly connected with the second transmission assembly when the external force is removed;
所述动力传输组件包括动力部件，所述动力部件用于在接收所述第一传动组件传输的传动力后积蓄能量，并在撤销外力的触发下释放积蓄的能量给使用者；The power transmission assembly includes a power part, and the power part is used for accumulating energy after receiving the transmission force transmitted by the first transmission assembly, and releasing the accumulated energy to the user under the trigger of canceling the external force;
所述第一传动组件还包括与所述动力传输组件连接的复位组件，所述复位组件用于在释放积蓄能量后回归到动力传输组件初始的状态。The first transmission assembly further includes a reset assembly connected to the power transmission assembly, and the reset assembly is used to return to the original state of the power transmission assembly after releasing the accumulated energy.
根据本发明实施例的一种具体实现方式，所述动力传输组件还包括护套，所述护套与所述动力部件连接。According to a specific implementation of the embodiment of the present invention, the power transmission assembly further includes a sheath, and the sheath is connected with the power component.
根据本发明实施例的一种具体实现方式，所述动力部件包括弹力件、第一连接件和第二连接件，所述弹力件的一端通过第一连接件与所述护套连接，所述弹力件的另一端通过第二连接件与所述第一传动组件连接。According to a specific implementation of the embodiment of the present invention, the power component includes an elastic member, a first connecting member and a second connecting member, one end of the elastic member is connected to the sheath through the first connecting member, and the The other end of the elastic piece is connected with the first transmission assembly through a second connecting piece.
根据本发明实施例的一种具体实现方式，所述踝关节外骨骼还包括容纳盒，所述容纳盒用于容置所述传动杆和所述第二传动组件。According to a specific implementation of the embodiment of the present invention, the ankle joint exoskeleton further includes a accommodating box, and the accommodating box is used for accommodating the transmission rod and the second transmission assembly.
根据本发明实施例的一种具体实现方式，所述容置盒内安装有用于卡置所述传动杆的固定通孔，所述传动杆在所述容置盒内穿设所述固定通孔设置。According to a specific implementation of the embodiment of the present invention, a fixing through hole for clamping the transmission rod is installed in the accommodating box, and the transmission rod penetrates the fixing through hole in the accommodating box set up.
根据本发明实施例的一种具体实现方式，所述第一传动部件包括复位棘轮和联动棘爪，所述联动棘爪包括连接端和凸起端，所述联动棘爪的连接端与所述传动杆连接，用以接收所述传动杆的传动力，所述联动棘爪的凸起端与所述复位棘轮的齿部在所述传动杆的不同传动力下实现啮合和分离。According to a specific implementation of the embodiment of the present invention, the first transmission component includes a reset ratchet and a linkage pawl, the linkage pawl includes a connection end and a protruding end, and the connection end of the linkage pawl is connected to the The transmission rod is connected to receive the transmission force of the transmission rod, and the protruding end of the linkage pawl and the tooth portion of the reset ratchet realize engagement and separation under different transmission forces of the transmission rod.
根据本发明实施例的一种具体实现方式，所述复位棘轮包括棘轮主体，所述复位组件包括背向所述棘轮主体的齿部设置的卷簧、空心盖体和设置在所述空心盖体上的突触，所述棘轮主体与所述卷簧之间通过固定杆连接，所述卷簧的一侧与所述固定杆连接，所述卷簧的另一侧与所述空心盖体连接；所述突触与所述第二连接件连接。According to a specific implementation of the embodiment of the present invention, the reset ratchet includes a ratchet body, and the reset assembly includes a coil spring provided away from the tooth portion of the ratchet body, a hollow cover, and a hollow cover provided on the hollow cover. On the synapse, the ratchet body and the coil spring are connected by a fixing rod, one side of the coil spring is connected with the fixing rod, and the other side of the coil spring is connected with the hollow cover ; the synapse is connected with the second connector.
根据本发明实施例的一种具体实现方式，所述第一传动组件还包括支架，所述支架连接所述和所述容纳盒，用于将所述固定在所述容纳盒上，所述支架连接在所述复位棘轮的固定杆的两端。According to a specific implementation of the embodiment of the present invention, the first transmission assembly further includes a bracket, the bracket connects the accommodating box and the accommodating box, and is used to fix the accommodating box on the accommodating box, and the bracket Connected to both ends of the fixing rod of the reset ratchet.
根据本发明实施例的一种具体实现方式，所述包括套装在所述传动杆一端的齿轮，所述受力部件包括架设在所述传动杆上的连接杆和分别固定在所述连接杆两端的第一压力杆和第二压力杆，所述连接杆垂直于所述传动杆的长度延伸方向；所述第二压力杆面向所述齿轮的一面开设有与所述齿轮配合的齿轮条。According to a specific implementation of the embodiment of the present invention, the gear includes a gear sleeved on one end of the transmission rod, and the force-receiving member includes a connecting rod mounted on the transmission rod and two fixed on the connecting rod respectively. The connecting rod is perpendicular to the length extension direction of the transmission rod; the side of the second pressure rod facing the gear is provided with a gear rack matched with the gear.
根据本发明实施例的一种具体实现方式，所述连接杆上方还安装有弹簧，所述弹簧的数量为3个，3个所述弹簧并列且等间距的排列在所述连接杆上。According to a specific implementation manner of the embodiment of the present invention, a spring is further installed above the connecting rod, the number of the springs is three, and the three springs are arranged on the connecting rod side by side and at equal intervals.
本发明实施例中的踝关节外骨骼，其特征在于，所述踝关节外骨骼包括：动力传输组件、第一传动组件、传动杆以及第二传动组件；The ankle joint exoskeleton in the embodiment of the present invention is characterized in that, the ankle joint exoskeleton comprises: a power transmission component, a first transmission component, a transmission rod, and a second transmission component;
所述动力传输组件的一端与所述第一传动组件连接，所述动力传输组件的另一端作用于使用者，所述第一传动组件与所述第二传动组件通过所述传动杆连接；One end of the power transmission assembly is connected with the first transmission assembly, the other end of the power transmission assembly acts on the user, and the first transmission assembly and the second transmission assembly are connected through the transmission rod;
所述第一传动组件包括第一传动部件，所述第一传动部件用于在所述传动杆朝第一方向转动下带动所述动力传输组件积蓄能量，以及在所述传动杆朝第二方向转动下触发所述动力传输组件释放能量；The first transmission assembly includes a first transmission part, and the first transmission part is used for driving the power transmission assembly to store energy when the transmission rod rotates in the first direction, and when the transmission rod rotates in the second direction Triggering the power transmission assembly to release energy under rotation;
所述第二传动组件包括用于承受使用者施加的力的受力部件和在所述受力部件的触动下带动所述传动杆转动的第二传动部件，以将承受的外力转化为传动力传至与所述第二传动组件连接的第一传动组件处；以及在外力撤销时产生相反的传动力至与所述第二传动组件连接的第一传动组件处；The second transmission assembly includes a force-receiving part for bearing the force applied by the user and a second transmission part which drives the transmission rod to rotate under the touch of the force-receiving part, so as to convert the received external force into a transmission force transmitting to the first transmission assembly connected with the second transmission assembly; and generating an opposite transmission force to the first transmission assembly connected with the second transmission assembly when the external force is removed;
所述动力传输组件包括动力部件，所述动力部件用于在接收所述第一传动组件传输的传动力后积蓄能量，并在撤销外力的触发下释放积蓄的能量给使用者；The power transmission assembly includes a power part, and the power part is used for accumulating energy after receiving the transmission force transmitted by the first transmission assembly, and releasing the accumulated energy to the user under the trigger of canceling the external force;
所述第一传动组件还包括与所述动力传输组件连接的复位组件，所述复位组件用于在释放积蓄能量后回归到动力传输组件初始的状态。The first transmission assembly further includes a reset assembly connected to the power transmission assembly, and the reset assembly is used to return to the original state of the power transmission assembly after releasing the accumulated energy.
采用本发明实施例的踝关节外骨骼，其工作原理简单，设备结构简单，小巧且实用，方便年老者或者腿部不方便者长期使用，且方便穿戴，提高了使用者的便携性。The ankle joint exoskeleton of the embodiment of the present invention has a simple working principle, a simple device structure, is compact and practical, is convenient for the elderly or those with inconvenient legs to use for a long time, is convenient to wear, and improves the portability of the user.
附图说明Description of drawings
为了更清楚地说明本发明实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.
图1为本发明实施例提供的一种踝关节外骨骼的结构示意图；1 is a schematic structural diagram of an ankle joint exoskeleton provided by an embodiment of the present invention;
图2为本发明实施例提供的一种踝关节外骨骼的侧面结构示意图；2 is a schematic side view of an ankle joint exoskeleton provided by an embodiment of the present invention;
图3为本发明实施例提供的踝关节外骨骼的去除鞋底的结构示意图；Fig. 3 is the structural schematic diagram of removing the sole of the ankle joint exoskeleton provided by the embodiment of the present invention;
图4为本发明实施例提供的踝关节外骨骼的去除容纳盒的结构示意图；FIG. 4 is a schematic structural diagram of a removal container of an ankle joint exoskeleton provided by an embodiment of the present invention;
图5为本发明实施例提供的踝关节外骨骼的第一传动组件和第二传动组件的结构示意图；5 is a schematic structural diagram of a first transmission assembly and a second transmission assembly of an ankle joint exoskeleton provided by an embodiment of the present invention;
图6为本发明实施例提供的踝关节外骨骼的细节结构示意图；6 is a schematic diagram of a detailed structure of an ankle joint exoskeleton provided by an embodiment of the present invention;
图7为本发明实施例提供的踝关节外骨骼的容纳盒的结构示意图。FIG. 7 is a schematic structural diagram of a accommodating box of an ankle joint exoskeleton provided by an embodiment of the present invention.
附图中：In the attached picture:
1-鞋底，2-护套，3-小腿后侧弹簧，4-复位棘轮，5-支架，6-联动棘爪，61-凸起端，62-连接端，7-容纳盒，8-传动杆，9-弹簧固定壳，10a-第一压力杆，10b-第二压力杆，11-不完全齿轮，12-弹簧，c-卷簧，e-固定通孔，d-突触，f-突触。1-sole, 2-sheath, 3-calf back spring, 4-reset ratchet, 5-bracket, 6-linkage pawl, 61-protruding end, 62-connecting end, 7-accommodating box, 8-transmission Rod, 9- Spring fixed shell, 10a- First pressure rod, 10b- Second pressure rod, 11- Incomplete gear, 12- Spring, c- Coil spring, e- Fixed through hole, d- Synapse, f- synapse.
具体实施方式Detailed ways
下面结合附图对本发明实施例进行详细描述。The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
以下通过特定的具体实例说明本发明的实施方式，本领域技术人员可由本说明书所揭露的内容轻易地了解本发明的其他优点与功效。显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。本发明还可以通过另外不同的具体实施方式加以实施或应用，本说明书中的各项细节也可以基于不同观点与应用，在没有背离本发明的精神下进行各种修饰或改变。需说明的是，在不冲突的情况下，以下实施例及实施例中的特征可以相互组合。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The embodiments of the present invention are described below through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are only some, but not all, embodiments of the present invention. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other under the condition of no conflict. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
需要说明的是，下文描述在所附权利要求书的范围内的实施例的各种方面。应显而易见，本文中所描述的方面可体现于广泛多种形式中，且本文中所描述的任何特定结构及/或功能仅为说明性的。基于本发明，所属领域的技术人员应了解，本文中所描述的一个方面可与任何其它方面独立地实施，且可以各种方式组合这些方面中的两者或两者以上。举例来说，可使用本文中所阐述的任何数目个方面来实施设备及/或实践方法。另外，可使用除了本文中所阐述的方面中的一或多者之外的其它结构及/或功能性实施此设备及/或实践此方法。It is noted that various aspects of embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is illustrative only. Based on this disclosure, those skilled in the art should appreciate that an aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method may be practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
还需要说明的是，以下实施例中所提供的图示仅以示意方式说明本发明的基本构想，图式中仅显示与本发明中有关的组件而非按照实际实施时的组件数目、形状及尺寸绘制，其实际实施时各组件的型态、数量及比例可为一种随意的改变，且其组件布局型态也可能更为复杂。It should also be noted that the drawings provided in the following embodiments are only used to illustrate the basic concept of the present invention in a schematic way, and the drawings only show the components related to the present invention rather than the number, shape and For dimension drawing, the type, quantity and proportion of each component can be changed at will in actual implementation, and the component layout may also be more complicated.
另外，在以下描述中，提供具体细节是为了便于透彻理解实例。然而，所属领域的技术人员将理解，可在没有这些特定细节的情况下实践所述方面。Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, one skilled in the art will understand that the described aspects may be practiced without these specific details.
本发明实施例提供一种踝关节外骨骼。Embodiments of the present invention provide an ankle joint exoskeleton.
参见图1～图4，本发明实施例提供的一种踝关节外骨骼，所述踝关节外骨骼包括：动力传输组件(未标示)、第一传动组件(未标示)、传动杆8以及第二传动组件(未标示)；Referring to FIGS. 1 to 4, an embodiment of the present invention provides an ankle joint exoskeleton, the ankle joint exoskeleton includes: a power transmission component (not shown), a first transmission component (not shown), a
所述动力传输组件的一端与所述第一传动组件连接，所述动力传输组件的另一端作用于使用者，所述第一传动组件与所述第二传动组件通过所述传动杆8连接；One end of the power transmission assembly is connected with the first transmission assembly, the other end of the power transmission assembly acts on the user, and the first transmission assembly and the second transmission assembly are connected through the
所述第二传动组件包括用于承受使用者施加的力的受力部件(未标示)和在所述受力部件的触动下带动所述传动杆8转动的第二传动部件(未标示)，以将承受的外力转化为传动力传至与所述第二传动组件连接的第一传动组件处；以及在外力撤销时产生相反的传动力至与所述第二传动组件连接的第一传动组件处；The second transmission assembly includes a force-bearing part (not shown) for bearing the force exerted by the user and a second transmission part (not shown) that drives the
所述第一传动组件包括第一传动部件，所述第一传动部件用于在所述传动杆朝第一方向转动下带动所述动力传输组件积蓄能量，以及在所述传动杆朝第二方向转动下触发所述动力传输组件释放能量；The first transmission assembly includes a first transmission part, and the first transmission part is used for driving the power transmission assembly to store energy when the transmission rod rotates in the first direction, and when the transmission rod rotates in the second direction Triggering the power transmission assembly to release energy under rotation;
所述动力传输组件包括动力部件(未标示)，所述动力部件用于在接收所述第一传动组件传输的传动力后积蓄能量，并在撤销外力的触发下释放积蓄的能量给使用者的；The power transmission assembly includes a power part (not shown), the power part is used for accumulating energy after receiving the transmission force transmitted by the first transmission assembly, and releasing the accumulated energy to the user under the trigger of canceling the external force. ;
所述第一传动组件还包括与所述动力传输组件连接的复位组件，所述复位组件用于在释放积蓄能量后回归到动力传输组件初始的状态，具体为突触f与地面水平并与人体前进方向相反的位置。The first transmission assembly also includes a reset assembly connected to the power transmission assembly, the reset assembly is used to return to the initial state of the power transmission assembly after releasing the accumulated energy, specifically, the synapse f is at the ground level and is connected with the human body. position in the opposite direction.
采用本发明实施例的踝关节外骨骼，其工作原理简单，设备结构简单，小巧且实用，方便年老者或者腿部不方便者长期使用，且方便穿戴，提高了使用者的便携性。The ankle joint exoskeleton of the embodiment of the present invention has a simple working principle, a simple device structure, is compact and practical, is convenient for the elderly or those with inconvenient legs to use for a long time, is convenient to wear, and improves the portability of the user.
本发明实施例的踝关节外骨骼其工作原理为通过第一传动组件和第二传动组件的配合，在使用者对第二传动组件施加外力时，第二传动组件在这一条件的触发下产生传动力，并通过传动杆8将传动力传输至第一传动组件处，第一传动组件在传动杆8的带动下进行传动，并将其传动传递至与所述第一传动组件相连的动力传输组件，动力传输组件在该传动力的作用下积蓄能量，该积蓄的能量在另一条件的触发下释放给使用者，使使用者得到一助力，进而能够减少使用者走路消耗的能量。而上述的将动力传输组件积蓄的能量释放的另一条件为，当使用者释放对第二传动组件施加的外力时，此时第二传动组件将不再受力，不再受力的第二传动组件将产生相反的传动力，该传动力通过传动杆8传至第一传动组件，第二传动组件则将触发动力传输组件将积蓄的能量释放出去，动力传输组件将积蓄的能量释放至使用者，具体一般为释放至使用者的小腿上，使使用者在走路的过程得到助力，能够帮助使用者减少走路的时候消耗的能量。The working principle of the ankle joint exoskeleton of the embodiment of the present invention is through the cooperation of the first transmission component and the second transmission component. When the user applies an external force to the second transmission component, the second transmission component is triggered by this condition. The transmission force is transmitted to the first transmission assembly through the
而本发明实施例中还在第一传动组件处设置了复位组件，所述复位组件用于在释放积蓄能量后回归到动力传输组件初始的状态，具体为突触f与地面水平并与人体前进方向相反的位置。In the embodiment of the present invention, a reset component is also provided at the first transmission component, and the reset component is used to return to the initial state of the power transmission component after releasing the accumulated energy, specifically, the synapse f is level with the ground and moves forward with the human body the opposite direction.
本发明实施例的踝关节外骨骼的主要结构集中在足部，没有外突的踝关节和小腿支撑架的外骨骼设计，除可以大大减轻装置的重量外，其低姿态的装置设计又可以轻易的穿戴在日常服装中，避免了用户在公共场合使用类似装置时的尴尬；此设计符合人体步态规律，可以最大限度减轻人体能耗；此设计有很强的适配性，主要结构可以手动调节来改变结构的受力点，可以适配多种脚长的用户。避免了类似装置只能“私人定制”的缺点；此设计结构简单稳定，避免了类似装置维护、维修复杂等缺点；此设计成本低廉，有广泛的应用前景。The main structure of the ankle joint exoskeleton of the embodiment of the present invention is concentrated on the foot, and the exoskeleton design of the ankle joint and calf support frame without protruding ankle joint can greatly reduce the weight of the device, and its low-profile device design can easily It can be worn in daily clothes, avoiding the embarrassment of users when using similar devices in public; this design conforms to the law of human gait and can minimize human energy consumption; this design has strong adaptability, and the main structure can be manually Adjust to change the force point of the structure, which can adapt to users with various foot lengths. The disadvantage that similar devices can only be "customized" is avoided; the design structure is simple and stable, and the maintenance and repair of similar devices are avoided; the design is low in cost and has broad application prospects.
参见图1～图4，本发明另一实施例提供的一种踝关节外骨骼，所述动力传输组件还包括护套2，所述护套2与所述动力部件连接。所述护套2为圆环状，用于在使用者使用时，将护套2戴在小腿上。并且护套2的材质可以选择较为舒适的软体材料，例如橡胶、皮质材料、布料等，当然也可以选择金属材料，例如铝合金材料等。当然，在其他实施例中，所述护套还可以为其他形状设计。Referring to FIGS. 1 to 4 , another embodiment of the present invention provides an ankle joint exoskeleton, the power transmission assembly further includes a
此外，所述护套还可以设计为可收缩大小的结构，例如当护套采用皮质材料制成时，护套上可以设计多个固定孔以及与固定孔配合的多个固定件，每一个固定件对应护套的不同直径，如此设计可以适应小腿腿围大小不同的用户。In addition, the sheath can also be designed to have a retractable size. For example, when the sheath is made of cortical material, a plurality of fixing holes and a plurality of fixing pieces matched with the fixing holes can be designed on the sheath. The pieces correspond to the different diameters of the sheath, so the design can adapt to users with different calf circumferences.
其中，所述动力部件包括弹力件、第一连接件和第二连接件，所述弹力件的一端通过第一连接件与所述护套连接，所述弹力件的另一端通过第二连接件与所述第一传动组件连接。所述弹力件在本发明实施例中为弹簧，弹簧的两端分别连第一连接件和第二连接件，远离弹簧的一端则连接在护套2上，远离弹簧的一端与第一传动组件连接。其中第一连接件和第二连接件均为细软的细线，当然在其他实施例中也可以选择其他材质。并且弹簧与第一传动组件连接的部位具体为第一传动组件的复位棘轮。本发明实施例的动力部件的弹力件之所以选择弹簧是利用弹簧可以被拉伸且具有自身恢复原状的性能，如此可以在积蓄能量之后积蓄将能量释放，且结构简单容易实现。在附图中，动力部件的弹簧的标示为小腿后侧弹簧3。Wherein, the power component includes an elastic piece, a first connecting piece and a second connecting piece, one end of the elastic piece is connected with the sheath through the first connecting piece, and the other end of the elastic piece is connected with the second connecting piece connected with the first transmission assembly. The elastic member is a spring in the embodiment of the present invention. The two ends of the spring are respectively connected to the first connecting member and the second connecting member, the end away from the spring is connected to the
参见图7，本发明另一实施例提供的一种踝关节外骨骼，所述踝关节外骨骼还包括容纳盒7，所述容纳盒7用于容置所述传动杆8和所述第二传动组件。具体地，所述容纳盒7为一壳体，传动杆8安装在该容纳盒7内，所述容纳盒7包括盖体，所述盖体内侧顶部设置有固定通孔e，所述固定通孔e用于固定所述传动杆8，所述传动杆8在所述容纳盒7内穿设所述固定通孔e设置。需要说明的是，所述固定通孔e的孔径大小大于所述传动杆8，使所述传动杆8能在所述固定通孔e内自由转动。Referring to FIG. 7 , another embodiment of the present invention provides an ankle joint exoskeleton, the ankle joint exoskeleton further includes a
进一步地，参照图6，在另一实施例中，所述第一传动部件包括复位棘轮4和联动棘爪6，所述联动棘爪6包括连接端62和凸起端61，所述联动棘爪6的连接端62与所述传动杆8连接，用以接收所述传动杆8的传动力，所述联动棘爪6的凸起端61与所述复位棘轮4的齿部在所述传动杆8的不同传动力下实现啮合和分离。Further, referring to FIG. 6 , in another embodiment, the first transmission component includes a
联动棘爪6是固定衔接在传动杆8的尾部，根据传动杆8的旋转而与复位棘轮4啮合分离。The
所述复位棘轮包括棘轮主体，所述复位组件包括背向所述棘轮主体的齿部设置的卷簧、空心盖体和设置在所述空心盖体上的突触f，所述棘轮主体与所述卷簧之间通过固定杆连接，所述卷簧的一侧与所述固定杆连接，所述卷簧的另一侧与所述空心盖体连接；所述突触f与所述第二连接件连接。需要说明的是，该空心盖体和棘轮主体是固定连接的。The reset ratchet includes a ratchet main body, the reset assembly includes a coil spring disposed away from the tooth portion of the ratchet main body, a hollow cover and a synapse f disposed on the hollow cover, and the ratchet main body is connected to the ratchet main body. The coil springs are connected by a fixing rod, one side of the coil spring is connected with the fixing rod, and the other side of the coil spring is connected with the hollow cover; the synapse f is connected with the second Connector connection. It should be noted that the hollow cover body and the ratchet body are fixedly connected.
复位棘轮4由一个棘轮主体串联一个内置卷簧c的空心圆柱体组成而穿过这两者的固定杆则是固定不动的，内置卷簧c一侧与空心盖体相连，另一侧与固定杆杆相连，复位棘轮4由棘轮支架5支撑。The
复位棘轮4的独特之处在于它是一个棘轮主体和内置卷簧c的结合体，使得复位棘轮4能够在作用后返回到正确的起始位置，等待下一次的激活。放置内置卷簧c的是空心盖体，该空心盖体为一个空心的圆柱体，其外侧有一个突触，作用是连接小腿后侧的动力部件，具体为连接动力部件的。内置卷簧c的作用是在下肢在摆动阶段时，紧绷连线但又不拉伸小腿后侧弹簧3的作用，若没有内置卷簧c则小腿后侧弹簧3会随着人体摆动而拉伸，这样就失去了复位棘轮和联动棘爪啮合分离的意义。The unique feature of the
具体地，单侧脚行走过程中的触地阶段(脚放平、站立、推出)复位棘轮和联动棘爪啮合，此时内置卷簧c不产生作用。在单侧腿摆动(未触地)阶段(脚趾离地、摆动、脚根着地)此时小腿后侧弹簧3也会因为腿的摆动而拉伸，内置卷簧c的作用就是预留出一部分距离来保证护套到棘轮的距离足够长而减少小腿后侧弹簧3不必要的拉长，在这个阶段小腿后侧弹簧3不需要拉伸储能的，因为会影响代谢能耗。连接棘轮的空心盖体有个突触f，突触f的初始位置是与鞋底反方向且水平的，突触f的最大位置就是在空心圆柱体的顶端，也就是在下肢腿的摆动阶段，护套到棘轮的最大距离。Specifically, the reset ratchet and the linkage pawl are engaged in the ground contact stage (foot flattening, standing, and pushing out) during unilateral foot walking, and the built-in coil spring c has no effect at this time. In the stage of unilateral leg swinging (not touching the ground) (toes off the ground, swinging, foot root landing) at this time, the
进一步地，参照图3和图4，在另一实施例中，所述第一传动组件还包括支架5，所述支架5连接所述第一传动部件和所述容纳盒7，用于将所述第一传动组件固定在所述容纳盒7上，所述支架5连接在所述复位棘轮4的固定杆的两端。所述支架5为倒“L”型结构，该倒“L”型结构的一端连接在所述复位棘轮4的固定杆的两端，该“L”型结构的另一端连接在容纳盒7的盖体上。Further, referring to FIG. 3 and FIG. 4 , in another embodiment, the first transmission assembly further includes a
此外，参照图5，所述第二传动部件包括套装在所述传动杆8一端的齿轮，所述受力部件包括架设在所述传动杆8上的连接杆和分别固定在所述连接杆两端的第一压力杆10a和第二压力杆10b，所述连接杆垂直于所述传动杆8的长度延伸方向；所述第二压力杆面向所述齿轮的一面开设有与所述齿轮配合的齿轮条。所述连接杆上方还安装有弹簧12，所述弹簧12的数量为3个，3个所述弹簧12并列且等间距的排列在所述连接杆上。此外，需要说明的是，3个弹簧的上端固定在鞋底1中，三个弹簧的下部固定在所述连接杆上。就是在第一压力杆和第二压力杆受地面力时，能够有一定缓冲进入容纳盒，在不受地面力的情况下，反推第一压力杆和第二压力杆，带动传动杆使复位棘轮4和联动棘爪6从啮合状态到分离。In addition, referring to FIG. 5 , the second transmission component includes a gear sleeved on one end of the
其中，所述第二传动部件的齿轮为不完全齿轮11。所述容纳盒7的盖体内侧还开设有用于容置连接杆上的3个弹簧12的弹簧12固定壳9。Wherein, the gear of the second transmission component is the
3个弹簧12是分别连接在与第一压力杆10a与第二压力杆10b相连的连接杆和固定在装置容纳盒7中，其作用除了在第一压力杆10a与第二压力杆10b作用下使传动杆8分离啮合联动棘爪6和复位棘轮4外，还具有在踝关节外骨骼悬空阶段防止联动棘爪6和复位棘轮4重新啮合的作用，保证装置能高效稳定的运行。The three springs 12 are respectively connected to the connecting rods connected with the first pressure rod 10a and the second pressure rod 10b and fixed in the
本发明提出的一种踝关节外骨骼，它由护套2、小腿后侧弹簧3、复位棘轮4、棘轮支架5、联动棘爪6、容纳盒7、传动杆8、3个相同的弹簧固定壳9、压力杆、不完全齿轮11、3个相同的弹簧12等组成。其中第一压力杆10a和第二压力杆10b的区别是第二压力杆10b、复位棘轮4有内置卷簧c、容纳盒7内侧前部有一个突触d；容纳盒7内侧顶部有一个固定通孔e。另因本装置内嵌在鞋底1，为示意需要添加了鞋底1。An ankle joint exoskeleton proposed by the present invention is fixed by a
整个装置除部分联动棘爪6、复位棘轮4、小腿后侧弹簧3以及护套2之外，剩余装置都收纳在容纳盒7当中。第一压力杆10a和第二压力杆10b放置的位置是在前脚掌的位置，并通过两者之间的连接杆与固定在容纳盒7的弹簧12相连。传动杆8根据压力杆受力和弹簧12的作用而上下移动，使得联动棘爪6有规律呈一定角度旋转而啮合或者分离复位棘轮4。Except for the
以下分析若无特别说明均为同侧脚，具体工作模式：The following analysis is all on the same side of the foot unless otherwise specified, and the specific working mode:
当外骨骼穿戴者脚落地时，第一压力杆10a和第二压力杆10b同时受力，被压入容纳盒7，第二压力杆10b的齿轮条带动不完全齿轮11，使得传动杆8呈一定角度旋转带动联动棘爪6与复位棘轮4相啮合，在脚趾离地之前拉伸小腿后侧弹簧3，从而储蓄能量。When the foot of the exoskeleton wearer lands, the first pressure rod 10a and the second pressure rod 10b are stressed at the same time and are pressed into the
当外骨骼穿戴者脚趾离地时，装置处于悬空状态。此时，由于第一压力杆10a和第二压力杆10b处于悬空状态不再受力，因此弹簧12会因为之前的受力压缩而反弹使得第一压力杆10a和第二压力杆10b向下运动，在第一压力杆10a和第二压力杆10b的齿轮条带动下，不完全齿轮11发生旋转，使得联动棘爪6与复位棘轮4分离，此刻储存在小腿后侧弹簧3的能量会释放，辅助外骨骼穿戴者的行走。When the exoskeleton wearer's toes are off the ground, the device is suspended. At this time, since the first pressure rod 10a and the second pressure rod 10b are in a suspended state and no longer receive force, the spring 12 will rebound due to the previous force and compression, causing the first pressure rod 10a and the second pressure rod 10b to move downward. , Driven by the gear racks of the first pressure rod 10a and the second pressure rod 10b, the
当外骨骼穿戴者脚趾离地之后，脚跟落地之前，装置处于悬空状态。这段时间复位棘轮4将发挥作用，由于本阶段初始能量的释放和后续下肢的摆动会导致装置在外力情况下任意摆动和在不必要的阶段存储能量，若没有复位棘轮4内置的卷簧在上述两种状况下的复位缓冲则会造成更多的能量损失，降低本发明的有效性。另外弹簧12在此阶段负责控制不完全齿轮11，间接悬空控制第一压力杆10a和第二压力杆10b，使传动杆8能不发生旋转而导致联动棘爪6和复位棘轮4的啮合分离。When the exoskeleton wearer's toes are off the ground, but before the heels hit the ground, the device is suspended. During this time, the reset ratchet 4 will play a role, because the release of the initial energy at this stage and the subsequent swing of the lower limb will cause the device to swing arbitrarily under external force and store energy in an unnecessary stage. The reset buffering in the above two situations will cause more energy loss and reduce the effectiveness of the present invention. In addition, the spring 12 is responsible for controlling the
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以权利要求的保护范围为准。The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical scope disclosed by the present invention can easily think of changes or substitutions. All should be included within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
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