Stepless rigidity elastic energy storage element for exoskeleton

Abstract

The present invention discloses a stepless elastic energy storage element for an exoskeleton, comprising an internally hollow support shell, an internally hollow rotating shaft arranged in the support shell, a compression block arranged in the support shell, a Kevlar wire whose bottom end is connected to the compression block and whose upper end passes through the middle of the rotating shaft and extends upward from the support shell, a cylindrical helical compression spring whose bottom end is fixed to the compression block and whose upper end is sleeved on the rotating shaft, and an adjusting hand wheel arranged at the upper end of the rotating shaft for adjusting the compression amount of the cylindrical helical compression spring. By rationally arranging the stepless elastic energy storage element for an exoskeleton of the present invention in each joint motion part of the exoskeleton device, the energy storage element of the present invention cyclically stores and releases the energy of each joint of the exoskeleton device in a gait cycle, thereby helping patients to walk with assistance and complete specific active training movements.

Description

Technical Field

[0001] The invention relates to the field of medical rehabilitation equipment, and in particular to a stepless rigidity-changing elastic energy storage element for an exoskeleton. Background Art

[0002] Exoskeleton equipment can effectively assist in supporting part of the patient's weight, achieve active assisted walking, improve the coordination of lower limb muscles, increase the range of motion of lower limb joints, and thus improve the motor function of the patient's lower limbs; the energy storage element is the key technology to realize its function. The energy storage element stores and releases the energy of each joint of the exoskeleton equipment in a cycle, helping patients to walk with assistance and complete specific active training movements. Among the existing energy storage elements, electric energy storage generates large heat, the wiring is complex, and the external power supply increases the weight of the equipment and the power supply burden; the hydraulic energy storage system is complex and not suitable for combination with the existing system, and the hydraulic oil is prone to leakage and is not easy to apply to medical device products. Therefore, a new energy storage element is now needed to overcome the above defects. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a stepless variable rigidity elastic energy storage element for an exoskeleton in view of the deficiencies in the above-mentioned prior art.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a stepless variable rigidity elastic energy storage element for an exoskeleton, comprising an internally hollow supporting shell, an internally hollow rotating shaft arranged in the supporting shell, a compression stopper arranged in the supporting shell, a Kevlar wire whose bottom end is connected to the compression stopper and whose upper end passes through the middle of the rotating shaft and extends upward from the supporting shell, a cylindrical helical compression spring whose bottom end is fixed to the compression stopper and whose upper end is sleeved on the rotating shaft, and an adjusting handwheel arranged at the upper end of the rotating shaft for adjusting the compression amount of the cylindrical helical compression spring.

[0005] Preferably, a spiral groove having the same pitch as that of the cylindrical helical compression spring is formed on the outer wall of the upper portion of the rotating shaft, and the upper end of the cylindrical helical compression spring is clamped in the spiral groove.

[0006] Preferably, a vertical guide groove penetrating into the interior of the support shell is provided on the outer wall thereof, a plug hole is provided on the side of the compression stopper, and an adjustment column with an inner end extending deep into the plug hole is inserted into the vertical guide groove.

[0007] Preferably, the adjusting column can move up and down in the guiding groove.

[0008] Preferably, an adjustment block which can move up and down is also provided on the outer wall of the supporting shell.

[0009] Preferably, an arc-shaped groove for cooperating with the adjusting column is formed at the lower end of the adjusting stopper.

[0010] Preferably, a locking screw for connecting the adjusting block to the supporting shell is inserted into the adjusting block.

[0011] Preferably, a bearing is sleeved on the upper outer periphery of the rotating shaft, and a bearing end cover fixedly connected to the supporting shell is provided at the upper end of the bearing.

[0012] Preferably, the adjusting hand wheel is sleeved on the top end of the rotating shaft, a fixing hole is opened on the adjusting hand wheel, and a fixing screw for fixing and connecting the adjusting hand wheel and the rotating shaft is inserted into the fixing hole.

[0013] Preferably, the supporting shell is also provided with a connecting transition block for connecting with an exoskeleton device.

[0014] The beneficial effects of the present invention are:

[0015] The amount of stored energy of the steplessly variable rigidity elastic energy storage element for the exoskeleton of the present invention can be adjusted according to different wearers to meet the individual adaptability and comfort requirements of the wearer;

[0016] The exoskeleton stepless variable rigidity elastic energy storage element of the present invention is suitable for patients with lower limb dysfunction or functional limitation caused by lower limb joint, muscle tissue damage or bone disease, and can assist patients to walk normally on flat ground and go up and down stairs, enable patients to take care of themselves, relieve patients' physiological pain, reduce the economic and energy burden of patients' families, and reduce lower limb labor injuries of workers who are engaged in repetitive movements, long working hours or forced postures;

[0017] By rationally arranging the stepless variable rigidity elastic energy storage elements of the exoskeleton of the present invention at the joint motion parts of the exoskeleton device, the energy storage elements of the present invention cyclically store and release the energy of the joints of the exoskeleton device in a gait cycle, thereby helping the patient to walk with assistance and complete specific active training movements. The present invention has a simple structure, good use effect, and good prospects for promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a cross-sectional view of the exoskeleton stepless rigidity elastic energy storage element of the present invention after the connecting transition block is removed;

[0019] Figure 2 It is a schematic diagram of the external structure of the stepless variable rigidity elastic energy storage element for the exoskeleton of the present invention;

[0020] Figure 3 It is a schematic diagram of the structure of the stepless variable rigidity elastic energy storage element for the exoskeleton of the present invention;

[0021] Figure 4 It is an exploded schematic diagram of the adjustment block of the stepless variable rigidity elastic energy storage element for the exoskeleton of the present invention and the supporting shell;

[0022] Figure 5 This is a schematic diagram of a specific embodiment of the exoskeleton stepless variable rigidity elastic energy storage element of the present invention being used in an exoskeleton device.

[0023] Description of reference numerals:

[0024] 1—support shell; 2—rotating axis; 3—compression stopper; 4—Kev line; 5—cylindrical helical compression spring; 6—adjusting hand wheel; 7—connecting transition block; 8—exoskeleton device; 9—stepless variable rigidity elastic energy storage element for exoskeleton; 10—vertical guide groove; 11—jack; 12—adjusting column; 13—adjusting stopper; 14—arc groove; 15—locking screw; 20—spiral groove; 21—bearing; 22—bearing end cover; 60—fixing hole. DETAILED DESCRIPTION

[0025] The present invention is further described in detail below in conjunction with embodiments so that those skilled in the art can implement the invention with reference to the description.

[0026] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[0027] like Figure 1-4 As shown, a stepless variable rigidity elastic energy storage element for an exoskeleton of the present embodiment includes an internally hollow supporting shell 1, an internally hollow rotating shaft 2 arranged in the supporting shell 1, a compression stopper 3 arranged in the supporting shell 1, a Kevlar wire 4 whose bottom end is connected to the compression stopper 3 and whose upper end passes through the middle of the rotating shaft 2 and extends upward from the supporting shell 1, a cylindrical helical compression spring 5 whose bottom end is fixed to the compression stopper 3 and whose upper end is sleeved on the rotating shaft 2, and an adjusting handwheel 6 arranged at the upper end of the rotating shaft 2 for adjusting the compression amount of the cylindrical helical compression spring 5.

[0028] A spiral groove 20 having the same pitch as the cylindrical helical compression spring 5 is provided on the outer wall of the upper part of the rotating shaft 2, and the upper end of the cylindrical helical compression spring 5 is clamped in the spiral groove 20. The compression end of the cylindrical helical compression spring 5 is fixedly connected to the compression block 3 below. The Kevlar wire 4 is connected to the compression block 3 fixed to the compression end of the cylindrical helical compression spring 5, and the pulling of the Kevlar wire 4 drives the compression block 3 to realize the energy storage of the cylindrical helical compression spring 5.

[0029] The adjusting hand wheel 6 is sleeved on the top of the rotating shaft 2 . A fixing hole 60 is formed on the adjusting hand wheel 6 . A fixing screw for fixing the adjusting hand wheel 6 and the rotating shaft 2 is inserted into the fixing hole 60 .

[0030] By turning the adjusting hand wheel 6, the rotating shaft 2 is driven to rotate, and the rotating shaft 2 and the cylindrical helical compression spring 5 are spirally rotated, thereby increasing or decreasing the effective working number of the cylindrical helical compression spring 5 between the rotating shaft 2 and the compression block 3, thereby controlling the compression amount of the spring, realizing the stepless change of the stiffness of the cylindrical helical compression spring 5, and realizing the control of the energy storage amount. For example, referring to Figure 1 , rotate the adjusting hand wheel 6 clockwise to drive the rotating shaft 2 to rotate clockwise, and the upper end of the cylindrical helical compression spring 5 rotates upward under the guidance of the spiral groove 20. The cylindrical helical compression spring 5 with more turns is screwed into the spiral groove 20, which is equivalent to the cylindrical helical compression spring 5 moving upward on the rotating shaft 2, so that the effective number of turns of the cylindrical helical compression spring 5 fixed between the rotating shaft 2 and the compression block 3 is reduced; conversely, when the adjusting hand wheel 6 is rotated counterclockwise, the effective number of turns of the cylindrical helical compression spring 5 fixed between the rotating shaft 2 and the compression block 3 is increased, thereby realizing the adjustment of the number of effective turns of the cylindrical helical compression spring 5 that can generate elastic force, thereby controlling the compression amount of the spring, and realizing the control and adjustment of the energy storage amount to adapt to different usage conditions.

[0031] A vertical guide groove 10 penetrating into the interior is provided on the outer wall of the support shell 1, a plug hole 11 is provided on the side of the compression block 3, and an adjustment column 12 with the inner end extending into the plug hole 11 is inserted into the vertical guide groove 10. The adjustment column 12 can move up and down in the guide groove. The compression block 3 can move up and down within a certain range. An adjustment block 13 that can move up and down is also provided on the outer wall of the support shell 1. The adjustment block 13 is used to limit the upward movement range of the adjustment column 12. An arc groove 14 for cooperating with the adjustment column 12 is provided at the lower end of the adjustment block 13, so that the adjustment block 13 can block the adjustment column 12. A locking screw 15 for connecting the adjustment block 13 to the support shell 1 is inserted into the adjustment block 13.

[0032] The adjustment block 13 is used to control the adjustable range of the cylindrical helical compression spring 5 and is fixed to the housing with a locking screw 15. Under the action of the Kev line 4, the compression block 3 drives the spring to deform, and the adjustment column 12 on the compression block 3 moves along the vertical guide groove 10, so that the compression block 3 can slide up and down. For example, after the adjustment block 13 is moved upward and then passed through the locking screw 15, the distance that the compression block 3 can move upward is increased. Under the action of the Kev line 4, the compression block 3 can move upward more, so that the cylindrical helical compression spring 5 is compressed more.

[0033] The upper outer periphery of the rotating shaft 2 is provided with a bearing 21, and the upper end of the bearing 21 is provided with a bearing end cover 22 fixedly connected to the supporting housing 1. The bearing 21 is used to fix the rotating shaft 2 to ensure that the rotating shaft 2 can drive the cylindrical spring to store energy. The bearing end cover 22 provides fixation for the bearing 21.

[0034] The supporting shell 1 is also provided with a connecting transition block 7 for connecting with the exoskeleton device 8. The connecting transition block 7 is used to connect the energy storage element with the exoskeleton device 8. A total of 4 holes are opened on the supporting shell 1 to fix the transition block on the energy storage component.

[0035] Reference Figure 5 In one embodiment, the exoskeleton stepless variable rigidity elastic energy storage element 9 of the present invention is applied to an exoskeleton device 8, and each joint motion part is installed with the energy storage element of the present invention, which can cyclically store and release the energy of each joint of the lower limbs within a gait cycle, helping the patient to assist in walking and complete specific active training movements.

[0036] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to specific details.

Claims

1. A stepless elastic energy storage element for exoskeleton, It is characterized in that It comprises a support shell with a hollow interior, a rotating shaft with a hollow interior arranged in the support shell, a compression block arranged in the support shell, a Kevlar wire whose bottom end is connected to the compression block and whose upper end passes through the middle of the rotating shaft and extends upward from the support shell, a cylindrical helical compression spring whose bottom end is fixedly connected to the compression block and whose upper end is sleeved on the rotating shaft, and an adjusting hand wheel arranged at the upper end of the rotating shaft for adjusting the compression amount of the cylindrical helical compression spring; A spiral groove having the same pitch as that of the cylindrical helical compression spring is provided on the outer wall of the upper portion of the rotating shaft, and the upper end of the cylindrical helical compression spring is clamped in the spiral groove; A vertical guide groove penetrating into the interior of the support shell is provided on the outer wall of the support shell, a plug hole is provided on the side of the compression stopper, and an adjustment column with an inner end extending deep into the plug hole is inserted into the vertical guide groove; The adjusting column can move up and down in the guide groove; An adjusting stopper which can move up and down is also arranged on the outer wall of the supporting shell; The lower end of the adjusting stopper is provided with an arc-shaped groove for cooperating with the adjusting column; The adjusting block is provided with a locking screw for connecting the adjusting block to the supporting shell; A bearing is sleeved on the upper outer periphery of the rotating shaft, and a bearing end cover fixedly connected to the supporting shell is provided at the upper end of the bearing; The adjusting hand wheel is sleeved on the top of the rotating shaft, a fixing hole is opened on the adjusting hand wheel, and a fixing screw for fixing and connecting the adjusting hand wheel and the rotating shaft is inserted into the fixing hole; The supporting shell is also provided with a connecting transition block for connecting with the exoskeleton device.

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