Active energy storage type ankle joint walking aid

Abstract

The invention relates to an active energy storage type ankle joint walking assisting device which comprises a driving mechanism, a power transmission rope, a gait information detection unit and a foot executing mechanism. The driving mechanism comprises a driving module; the driving module comprises a driving motor, a connecting shaft, an electromagnetic clutch and an elastic element; an electromagnetic clutch base penetrates through the connecting shaft to be installed on the right supporting block, and an elastic element is connected with an end cover of the electromagnetic clutch; after the end cover and the base of the electromagnetic clutch are electrified and attracted, the torque output by the driving motor is transmitted to the connecting shaft, the elastic element is twisted, and active energy storage of the device is achieved; moreover, the rigidity of the elastic element is adjustable so as to change the energy storage capacity. According to the device, the rigidity is changed through the elastic element, so that different auxiliary forces are provided for a wearer in the later stage of a supporting phase under different load conditions, and the human body metabolism consumption of the wearer is reduced; wherein the work of the driving motor is converted into the elastic potential energy of the elastic rod to be stored, and the provided auxiliary force is far larger than the auxiliary force provided by passive energy storage.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an active energy storage type ankle joint walking aid. Background technique [0002] With the vigorous development of science and technology, robots are not only oriented to industry, but to more diverse directions such as military, industrial, agricultural, commercial, and medical. The power-assisted robots used to reduce human metabolic consumption are developing more rapidly. According to the different object-oriented types of power-assisted robots, they are generally divided into: human-enhanced power-assisted robots, which are mostly used in military affairs to enhance the soldiers’ load-bearing capacity; medical rehabilitation-type power-assisted robots, which are mainly used In medical rehabilitation training and treatment; sports-assisted power-assisted robots help the disabled and the elderly to perform limb movements. Power-assisted robots are divided into one-piece and...

AI Technical Summary

Problems solved by technology

[0004] At present, lower limb assisting robots generally adopt the integrated design of hip joints, knee joints, and ankle joints, which have disadvantages such as heavy weight and large volume, resulting in low efficiency, weak battery life, poor wearing comfort, and inability to provide customization for each lower limb assisting robot. Therefore, it is of great research significance to design and study a modular lightweight single-joint lower limb assisting robot that can provide assistance according to the physiological characteristics of each lower limb joint.

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