A passive lower limb exoskeleton for enhancing human jumping ability

Abstract

The present invention relates to the technical field of human exoskeleton, specifically to a passive lower limb exoskeleton for enhancing human jumping ability, which can realize multiple storage of the work done by the reaction force of the foot when the lower limb touches the ground. The device of the present invention is composed of a waist component, a thigh component, a calf component, a foot component, a clutch component and an energy storage and release component. The wearing of the exoskeleton is completed by connecting the waist component, the thigh component, the calf component, the foot component and the human body segment. The push rod in the foot component realizes the response to the foot touching the ground, drives the clutch component and the energy storage and release component to complete the corresponding action, and realizes the multiple storage-single release of elastic energy and the conversion of the free-restricted state of the lower limb joints at the same time, thereby enhancing the jumping ability of the human body and reducing the discomfort of the human-machine confrontation after the human body wears the exoskeleton. The invention has a simple structure, low cost, stable operation, and is suitable for application in scenes with complex working environments and high reliability requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of human exoskeletons, and in particular to a passive lower limb exoskeleton for enhancing human jumping ability. Background Art

[0002] Exoskeleton technology is one of the main methods currently used to enhance human motor performance. Passive exoskeleton technology has the advantages of light weight, small size, and stable operation. It is very suitable for use in military reconnaissance, disaster relief and other scenarios with complex working environments and high reliability requirements.

[0003] At present, passive lower limb exoskeletons generally adjust the external work power of the joints through the storage and release of energy of elastic elements, thereby improving the final movement effect of human walking, running and other movements. When people encounter the need to climb over obstacles and cross gullies, they usually take the way of jumping to reach their goals. Existing products generally store and release energy by setting elastic units such as torsion springs or tension springs at the knee joints. For example, a wearable power-assisted flexible exoskeleton disclosed in patent CN111571572 is provided with a torsion spring on the back of the knee joint, which improves the jumping action by storing energy in the negative work link during the flexion and extension of the knee joint and releasing it in the positive work link. However, the torsion spring unit set will still affect the flexion and extension of the knee joint when the lower limbs of the human body are in the swing period, which will cause the wearer to have obvious discomfort in the human-machine confrontation and affect the effect of sports assistance. In addition, the negative work that can be stored in the knee joint during the flexion and extension process is limited, which is not enough to significantly improve the jumping ability of the human body. Summary of the invention

[0004] The object of the present invention is to provide a passive lower limb exoskeleton for enhancing human jumping ability, comprising a waist component, a thigh component, a calf component, a foot component, a clutch component and an energy storage and release component;

[0005] The waist component includes a waist support, which is a belt-shaped circular ring with a front portion disconnected, and a long straight groove is provided at the end surface of the circular ring, and the waist component is used to be fixedly connected at the waist position;

[0006] The thigh component is used to be fixedly connected to the thigh part, and the thigh component is connected to the waist component;

[0007] The calf component is used to be fixedly connected to the calf part, and the calf component is connected to the thigh component;

[0008] The foot component is used to be fixedly connected to the foot position, and the clutch component is used to connect the calf component and the foot component;

[0009] The energy storage and release assembly includes a spring bin rotating disk, a power gear ratchet component, an energy storage torsion spring, an energy storage power rope, an energy release power rope, a spring bin ratchet, a ratchet reset spring, an energy release power rope fixer, and an energy release trigger rope. The spring bin rotating disk is divided into an inner part and an outer part, and each part is a disc-shaped part with a circular hole in the middle. The outer edge of the disc is a gear structure, a groove structure, and a ratchet structure in sequence along the axial direction. The groove structure is provided with a square channel connected to the inner hole. The power gear ratchet component is divided into a left and right part, each part includes an outer tooth groove ring and a ratchet pawl mechanism, and a ratchet reset torsion spring. The outer edge of the energy storage and release assembly is an outer tooth-groove ring, which is a gear structure and a groove structure in sequence along the axial direction. The gear structure is meshed with the spring bin rotating disk gear structure, and the end of the energy storage power rope is fixed in the groove structure.

[0010] Among them, the inner side of the energy storage and release assembly is a ratchet pawl mechanism, which forms a one-way transmission relative to the outer ring. The ratchet ring is clearance-matched with the spring magazine connecting shaft of the waist assembly. One end of the ratchet reset torsion spring is fixed on the ratchet ring, and the other end is fixed on the rear side of the waist support. The other end of the energy storage power rope passes through the pulley of the vertical support rod on the outside of the foot fixer and is connected to the circular hole at the proximal end of the push rod. The energy release power rope is fixed on the groove structure of the spring magazine turntable, and passes through the energy release power rope fixer in the trigger assembly and is connected to the knee joint disc of the calf support. The spring magazine pawl includes left and right parts, which are respectively placed in the trigger pawl sliding groove of the waist assembly. A circular hole for connecting the energy release trigger rope is provided on the rear side of the pawl, and a pawl reset spring is installed between the rear end face and the bottom surface of the sliding groove.

[0011] Optionally, one end of the energy release power rope fixer is a square column with a square through hole designed on the side, and the other end is a cylinder with a circular through hole designed on the side. One end of the energy release trigger rope is fixed to the circular through hole of the fixer, and then fixed to the circular hole at the rear end of the spring magazine pawl, the upper circular hole and the lower circular hole of the knee joint clutch control block in sequence. The energy release trigger rope then passes through the pulley of the vertical support rod on the outside of the foot fixer and is connected and fixed to the circular hole at the upper end of the push rod.

[0012] Optionally, the waist component also includes a strap, a hip joint ball socket, a spring magazine connecting shaft, a power gear ratchet component connecting shaft and a trigger pawl sliding groove, the strap is connected between the grooves of the long straight groove, the hip joint ball socket is fixed on both sides of the waist support, and the spring magazine connecting shaft, the power gear ratchet component connecting shaft and the trigger pawl sliding groove are all fixed on the back side of the waist support.

[0013] Optionally, the trigger pawl sliding groove is a stepped groove, and the size of the square hole near the inner end is larger than the size of the square hole near the outer end.

[0014] Optionally, the thigh component is divided into two parts, a left part and a right part, and both the left part and the right part include a thigh support, a hip joint ball head, a knee joint clutch control block bin and a strap. A circular hole is provided at the distal end of the thigh support, a protruding structure containing a circular hole is provided on the outer side surface close to the distal end, and a hip joint ball head is fixed on the inner side surface at the proximal end. The knee joint clutch control block bin is fixed at the distal end of the thigh support and is a hollow cylinder structure with a square cross-section, and the cross-section becomes smaller at the distal end. One ends of the two straps are fixed to the side of the middle position of the thigh support and are connected to each other by a magic buckle at the other end.

[0015] Optionally, the calf assembly is divided into two parts, a left part and a right part, and both the left part and the right part include a calf support, a knee disc, an ankle disc and a strap, the knee disc and the ankle disc are respectively fixed at the proximal end and the distal end of the calf support, the end faces are concave spoke-like structures, through holes are provided in the center of the knee disc and the ankle disc, one end of the two straps are fixed to the side of the middle position of the calf support, and are connected to each other by a magic buckle at the other end.

[0016] Optionally, the foot assembly is divided into two parts, a left side and a right side, and both the left side and the right side parts include a foot fixer, a plantar bending plate, a bending plate reset spring, a stiffness adjustment screw, a push rod, a guide plate, and a strap. A circular shaft is fixed to the front and rear ends of the left and right sides of the plantar bending plate, and a rotating wheel is installed at both ends of the circular shaft. A bending plate reset spring is connected between the front and rear shafts on each side. The rotating wheels and the bending plate reset spring on both sides of the plantar bending plate are located in grooves on both sides of the foot fixer, and the rotating wheels roll on the inner surface of the groove. The side surface of the groove wall An array of threaded holes is designed to cooperate with the stiffness adjustment screws. The push rod is fixed at the middle position of the outer side of the plantar bend plate at the bottom, and the upper end of the push rod is a variable cross-section structure. The guide plate is fixed at the middle position of the inner side of the plantar bend plate at the bottom, and the upper end of the guide plate is a right-angle elbow. Vertical support rods are designed at the middle positions of the inner and outer sides of the foot fixer, and a square sleeve is provided at the proximal end of the support rod. Two sets of pulleys are provided at the proximal end of the outer vertical support rod. The push rod and the guide plate respectively pass through the square sleeves at the support rods on the inner and outer sides of the foot fixer.

[0017] Optionally, two pulleys are provided at the proximal end of the outer vertical support rod of the foot fixator, and two rows of straight slot holes are provided on the side of the vertical support rod, which are respectively fixed to one end of the strap, and the other end of the strap is provided with a magic buckle.

[0018] Optionally, the clutch assembly is divided into two parts, a left side and a right side, and both the left side and the right side include an ankle clutch disc, a knee clutch disc, a knee clutch control block, a compression reset spring and a control block reset spring, one end of the ankle clutch disc is a round-headed cylinder, the middle is a disc with a spoke-shaped protrusion structure on the end face, and the other end is a round shaft, the two ends of the ankle clutch disc are respectively clearance-matched with the circular holes at the proximal end of the ankle disc of the calf assembly and the outer vertical support rod of the foot assembly, and the clutch disc and the ankle joint at the distal end of the calf are respectively clearance-matched with the circular holes at the proximal end of the ankle disc of the calf assembly and the proximal end of the vertical support rod of the foot assembly. A compression return spring is arranged between the discs, the round-headed cylinder contacts the side of the upper end of the push rod, one end of the knee joint clutch disc is a round-headed cylinder, the middle is a disc with a spoke-shaped protrusion structure on the end face, and the other end is a round shaft, the two ends of the knee joint clutch disc are respectively clearance-matched with the circular holes at the distal end of the thigh support and the proximal end of the calf assembly, a compression return spring is arranged between the clutch disc and the knee disc of the calf assembly, the round-headed cylinder contacts the side of the knee joint clutch control block, the knee joint clutch control block is a long plate-like structure with a variable cross-section, and circular holes are arranged at both ends.

[0019] Optionally, the clutch assembly is placed in a knee joint clutch assembly bin, and the side surface of the lower end of the clutch assembly contacts the round head cylinder of the knee joint clutch disk, and the two sides of the upper end are connected to the control block reset spring.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The present invention improves the jumping ability of the human body by storing multiple works of the reaction force of the foot when the lower limbs touch the ground and releasing it in a single time, while meeting the demand for unrestricted joint freedom of the lower limbs during the swing period and reducing the restriction of the exoskeleton on human movements.

[0022] 2. The present invention responds to the foot contacting action through the push rod in the foot assembly, drives the clutch assembly and the energy storage and release assembly to complete the corresponding action, and simultaneously realizes the multiple storage-single release of elastic energy and the conversion of the free-restricted state of the lower limb joints, thereby enhancing the human jumping ability and reducing the discomfort of the human-machine confrontation after the human body wears the exoskeleton.

[0023] 3. The present invention has the advantages of simple structure, low cost, stable operation, etc., and is suitable for application in scenarios with complex working environments and high reliability requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the structure of the punching machine of the present invention;

[0025] Figure 2 is a schematic diagram of the structure of the waist component;

[0026] Figure 3 It is a schematic diagram of the structure of the thigh component;

[0027] Figure 4is a schematic diagram of the structure of the calf assembly;

[0028] Figure 5 is a schematic diagram of the structure of the foot component;

[0029] Figure 6 It is a schematic diagram of the structure of the clutch component, in which other components are shown as semi-transparent;

[0030] Figure 7 It is a schematic diagram of the structure of the energy storage and release assembly, in which the waist assembly is set to be translucent and the outer part of the spring chamber turntable is moved upward for display;

[0031] Figure 8 Schematic diagram of an embodiment of the present invention for assisting human body in jumping motion, wherein some parts are semi-transparent and the outer part of the spring magazine turntable is moved upward for display; Figure (a) is a partial schematic diagram of the exoskeleton near the foot, and Figure (b) is a partial schematic diagram of the exoskeleton near the knee joint.

[0032] Description of Figure Numbers:

[0033] 1. Waist assembly; 11. Waist support; 111. Long straight groove; 12. Strap; 13. Hip joint ball socket; 14. Spring magazine connecting shaft; 15. Power gear ratchet component connecting shaft; 16. Trigger pawl sliding groove; 161. Square hole; 162. Square hole; 2. Thigh assembly; 21. Thigh support; 212. Protruding structure; 22. Hip joint ball head; 23. Knee joint clutch control block; 231. Hollow cylinder structure; 24. Strap; 3. Calf assembly ; 31, calf support; 32, knee joint disc; 321, stepped through hole; 33, ankle joint disc; 331, round hole; 34, strap; 4, foot assembly; 41, foot fixator; 411, groove; 4112, threaded hole; 412, vertical support rod; 4121, square sleeve; 4122, pulley; 4123, through hole; 4124, straight slot hole; 42, plantar bending plate; 421, round shaft; 422, rotating wheel; 43, bending plate return spring; 44, Stiffness adjustment screw; 45, push rod; 451, variable cross-section structure; 46, guide plate; 461, right-angle elbow; 47, strap; 5, clutch assembly; 51, ankle clutch disc; 511, round head cylinder; 512, disc; 513, round shaft; 52, knee clutch disc; 523, round shaft; 53, knee clutch control block; 531, round hole; 54, compression return spring; 55, control block return spring; 6, energy storage and release assembly; 61, spring compartment Turntable; 611, gear structure; 612, groove structure; 613, ratchet structure; 614, square channel; 615, through hole; 62, energy storage torsion spring; 63, power gear ratchet component; 631, outer tooth groove ring; 632, ratchet pawl mechanism; 633, ratchet reset torsion spring; 64, spring chamber pawl; 65, pawl reset spring; 66, energy storage power rope; 67, energy release trigger rope; 68, energy release power rope; 69, energy release power rope fixer.

[0034] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] See also Figure 1 The present invention provides a passive lower limb exoskeleton for enhancing human jumping ability, which is composed of a waist component 1, a thigh component 2, a calf component 3, a foot component 4, a clutch component 5 and an energy storage and release component 6.

[0037] refer to Figure 2 The waist component 1 includes a waist support 11, a strap 12, a hip joint ball socket 13, a spring magazine connecting shaft 14, a power gear ratchet component connecting shaft 15 and a trigger pawl sliding groove 16. The waist support 11 is a strip-shaped ring that is disconnected at the front, and a long straight groove 111 is provided at the end surface of the ring, and the strap 12 is connected between the grooves. The hip joint ball socket 13 is fixed on both sides of the waist support 11, and the spring magazine connecting shaft 14, the power gear ratchet component connecting shaft 15 and the trigger pawl sliding groove 16 are all fixed on the rear side of the waist support 11. The trigger pawl sliding groove 16 is a stepped groove, and the square hole 161 at the inner end is large in size, and the square hole 162 at the outer end is small in size.

[0038] refer to Figure 3 The thigh component 2 includes a thigh support 21, a hip joint ball head 22, a knee joint clutch control block bin 23, and a strap 24. A circular hole 211 is provided at the distal end of the thigh support 21, a protruding structure 212 containing a circular hole is provided on the outer side surface close to the distal end, and a hip joint ball head 22 is fixed to the inner side surface at the proximal end. The knee joint clutch control block bin 23 is fixed to the distal end of the thigh support and is a hollow cylinder structure 231 with a square cross-section, and its cross-section becomes smaller at the distal end. One end of the two straps 24 are fixed to the side of the middle position of the thigh support 21, and are connected to each other by the magic buckle at the other end.

[0039] refer to Figure 4 The calf assembly 3 includes a calf support 31, a knee joint disc 32, an ankle joint disc 33, and a strap 34. The knee joint disc 32 and the ankle joint disc 33 are respectively fixed to the proximal end and the distal end of the calf support 31, and the end faces are concave spoke-shaped structures, and stepped through holes 321 and 331 are provided in the center. One end of the two straps 34 are fixed to the side of the middle position of the calf support 31, and are connected to each other through the magic buckle at the other end.

[0040] refer to Figure 5The foot assembly 4 includes a foot fixer 41, a plantar bend plate 42, a bend plate return spring 43, a stiffness adjustment screw 44, a push rod 45, a guide plate 46, and a strap 47. A circular shaft 421 is fixed to the front and rear ends of the left and right sides of the plantar bend plate 42, and a rotating wheel 422 is provided at both ends of the shaft. The bend plate return spring 43 is connected between the front and rear shafts on each side. The rotating wheels 422 and the bend plate return spring 43 on both sides of the plantar bend plate 42 are located in the grooves 411 on both sides of the foot fixer 41, and the rotating wheels 422 roll on the inner surface of the groove 411. An array of threaded holes 4112 are designed on the side surface of the wall of the groove 411, which cooperate with the stiffness adjustment screw 44. The push rod 45 is fixed at the middle position of the outer side of the plantar bend plate 42 at the bottom, and the upper end of the push rod is a variable cross-section structure 451. The guide plate 46 is fixed at the middle position of the inner side of the plantar bend plate 42 at the bottom, and the upper end of the guide plate 46 is a right-angle elbow 461. A vertical support rod 412 is designed at the middle position of the inner and outer sides of the foot fixer 41. A square sleeve 4121 is provided at the proximal end of the support rod 412. Two sets of pulleys 4122 and a through hole 4123 are provided at the proximal end of the outer vertical support rod. The push rod 45 and the guide plate 46 pass through the square sleeves 4121 at the inner and outer side support rods of the foot fixer 41 respectively. Two rows of straight slot holes 4124 are provided on the side of the vertical support rod 412, which are respectively fixed to one end of the strap 47. The other end of the strap 47 is provided with a magic buckle to achieve mutual connection. The plantar bending plate 42 of the supporting side lower limb is compressed and deformed under the action of the foot touching the ground, driving the push rod 45 to move upward. The upward push rod 45 drives the ankle joint clutch disc 51 to move axially to achieve the combination with the ankle joint disc 33 of the calf assembly.

[0041] refer to Figure 6The clutch assembly 5 includes an ankle clutch disc 51, a knee clutch disc 52, a knee clutch control block 53, a compression reset spring 54 and a control block reset spring 55. One end of the ankle clutch disc 51 is a round head cylinder 511, the middle is a disc 512 with a spoke-shaped protrusion structure on the end surface, and the other end is a round shaft 513. The two ends of the ankle clutch disc 51 are respectively matched with the round hole 331 of the ankle disc 33 of the calf assembly and the through hole 4123 at the proximal end of the vertical support rod 412 of the outside of the foot fixer to achieve clearance. A compression reset spring 54 is provided between the ankle clutch disc 51 and the ankle disc 33 of the calf assembly. The round head cylinder 511 contacts the upper side of the push rod 45. One end of the knee clutch disc 52 is a round head cylinder 521, the middle is a disc 522 with a spoke-shaped protrusion structure on the end surface, and the other end is a round shaft 523. The two ends of the knee joint clutch disc 52 respectively realize clearance fit with the circular holes 211 and 321 at the distal end of the thigh support 21 and the proximal end of the calf support 31. A compression reset spring 54 is arranged between the clutch disc 52 and the knee joint disc 32 of the calf assembly, and the round head cylinder 521 contacts the side of the knee joint clutch control block 53. The knee joint clutch control block 53 is a long plate-shaped structure with a variable cross-section, and circular holes 531 are arranged at both ends. The control block is placed in the knee joint clutch assembly bin 23, and the side surface of the lower end contacts the round head cylinder 521 of the knee joint clutch disc 52, and the circular holes 531 on both sides of the upper end are connected to one end of the control block reset spring 55. The other end of the control block reset spring 55 is connected to the protruding structure 212 at the outer side surface of the distal end of the thigh support 21, and the knee joint clutch disc 52 and the knee joint disc 32 of the calf support 31 are in a separated state. When the supporting lower limb begins to lift upward, the plantar curved plate 42 returns to its original state under the action of the curved plate reset spring 43, the push rod 45 moves downward, and the connected energy storage power rope 66 relaxes. The ankle joint clutch disc 51 moves axially under the action of the compression reset spring 54, and the ankle joint clutch disc 51 is separated from the ankle joint disc 33 of the calf support 31. The ratchet ring of the power gear ratchet component 63 rotates in the opposite direction under the action of the ratchet reset torsion spring 633 and the spring chamber pawl 64, so that the energy storage power rope 66 is always in a tensioned state.

[0042] refer to Figure 7The energy storage and release assembly 6 includes a spring bin rotating disk 61, an energy storage torsion spring 62, a power gear ratchet component 63, a spring bin ratchet 64, a ratchet reset spring 65, an energy storage power rope 66, an energy release trigger rope 67, an energy release power rope 68, and an energy release power rope fixer 69. The spring bin rotating disk 61 includes an inner and outer part, both of which are disc-shaped parts with a circular hole in the middle. The outer edge of the rotating disk is axially provided with a gear structure 611, a groove structure 612 and a ratchet structure 613 in sequence, the groove structure 612 is provided with a square channel 614 connected to the central circular hole, and a through hole 615 is provided on the disk. The energy storage torsion spring 62 is sleeved on the spring bin connecting shaft 14, and the two ends are respectively fixed to the through holes 615 on the two spring bin rotating disks 61. The power gear ratchet component 63 is divided into left and right parts, each of which includes an outer tooth-groove ring 631, a ratchet pawl mechanism 632 and a ratchet reset torsion spring 633. The outer edge of the component is an outer tooth-groove ring 6311, and the gear structure and the groove structure are arranged in sequence along the axial direction. The gear structure meshes with the spring compartment turntable gear structure 611. The inner side of the component is a ratchet pawl mechanism 632, which forms a one-way transmission relative to the outer ring. The ratchet ring 632 is clearance-matched with the power gear ratchet component connecting shaft 15 of the waist component. One end of the ratchet reset torsion spring 633 is fixed on the ratchet ring 632, and the other end is fixed on the rear side of the waist support 11. The spring compartment pawl 64 includes left and right parts, which are respectively placed in the trigger pawl sliding groove 16 of the waist component. The rear side of the pawl 64 is connected to the energy release trigger rope 67, and a pawl reset spring 65 is installed between the rear end face and the bottom surface of the sliding groove. One end of the energy storage power rope 66 is fixed to the groove structure of the outer tooth-groove ring 631, and the other end passes through the pulley 4122 of the outer vertical support rod of the foot fixer and is fixedly connected to the proximal end of the push rod 45. The energy release power rope 68 is annularly sleeved on the groove structure of the spring bin rotating disk 61, and is connected to the knee joint disc 32 of the calf assembly after passing through the square hole of the energy release power rope fixer 69. One end of the energy release power rope fixer 69 is a square cross-section, which is gap-matched with the square hole 614 of the spring bin rotating disk, and the other end is also connected to the energy release trigger rope 67. One end of the energy release trigger rope 67 is connected to the rear end of the energy release power rope fixer 69 and the rear end of the spring bin ratchet 64, and then fixed to the upper and lower end circular holes 531 of the knee joint clutch control block 53 respectively, and finally passes through the pulley 4122 of the outer vertical support rod 412 of the foot fixer and is fixedly connected to the upper end of the push rod. The plantar bending plate 42 of the supporting side lower limb is compressed and deformed under the action of the foot touching the ground, driving the push rod 45 to move upward. The upward push rod 45 drives the ankle joint clutch disc 51 to move axially to achieve the combination with the ankle joint disc 33 of the calf assembly.

[0043] refer to Figure 8The implementation process of the present invention for assisting human body jumping movement is as follows: when the human body is running / walking, one lower limb touches the ground and enters the support period, and the plantar flexion plate 42 of the lower limb on this side is compressed and deformed, causing the connected push rod 45 to move upward. The energy storage power rope 66 and the energy release trigger rope 67 connected to the upper end of the push rod are pulled, and the ankle joint clutch disk 51 in contact with the side of the upper end of the push rod moves toward the ankle joint disk of the calf assembly to achieve the combination of the two. The energy storage power rope 66 is in a straightened state before being pulled, and after being pulled, it drives the power gear ratchet component 63 to rotate, and the corresponding spring chamber rotating disk 61 rotates through gear meshing, thereby causing the energy storage torsion spring 62 to store elastic strain energy. The energy release trigger rope 67 is in a relaxed state before being pulled, and turns to a straightened state after being pulled, and does not drive the spring chamber ratchet 64 and the knee joint clutch control block 53 to act. At this time, the knee joint connection between the thigh assembly and the calf assembly is in a free rotation state. When the lower limb on this side begins to leave the ground, the plantar curved plate 42 returns to the curved state under the action of the curved plate reset spring 43, causing the push rod 45 to move downward. The energy storage power rope 66 connected to the push rod is reduced in tension, and the connected power gear ratchet component 63 rotates in the opposite direction under the action of its ratchet pawl mechanism and ratchet reset torsion spring, the spring chamber turntable 61 does not rotate, and the elastic strain energy is stored in the energy storage torsion spring 62. When the lower limb on this side completely leaves the ground, the knee joint clutch control block 53 returns to its original position under the action of the control block reset spring 55, and the ankle joint clutch disk 51 returns to its original position under the action of its compression reset spring, and the foot fixer 41 where the push rod 45 is located and the calf support 31 become free to rotate. When the lower limb on the other side enters the process of starting to touch the ground-completely touching the ground-starting to leave the ground-completely leaving the ground, the relevant parts of the lower limb exoskeleton on this side operate in the above manner. According to this cycle, the work done by each contact reaction force during the running / walking process is stored in the energy storage torsion spring 62. When the human body is ready to jump, the ground reaction force when the lower limb touches the ground increases significantly, the compression deformation of the plantar bend plate 42 increases significantly, and the upward movement distance of the push rod 45 increases, so that the tension of the energy release trigger rope 67 increases. At this time, the downward movement distance of the knee joint clutch control block 53 increases, and the variable cross-section feature of the end drives the knee joint clutch disc 52 to move toward the knee joint disc 32 of the calf assembly 31 to achieve the combination of the two. The increase in the downward movement distance of the knee joint clutch control block 53 will also drive the energy release trigger rope 67 from the straightened state during the run-up / walking process to the pulling state, the spring chamber pawl 64 is separated from the ratchet structure of the spring chamber rotating disk 62, and the energy storage torsion spring 62 begins to recover. At the same time, the energy release power rope fixer 69 moves toward the center of the spring chamber rotating disk 61, thereby causing the energy release power rope 68 to be compressed and fixed with the groove structure 612 of the spring chamber rotating disk 61. The energy-releasing energy storage torsion spring 62 drives the knee joint clutch disc 52 through the energy-releasing power rope 68, so that the calf support 31 combined therewith accelerates the extension, thereby providing assistance for the jumping movement.After the take-off action is completed, the foot leaves the ground, the plantar bend plate 42 is restored, the push rod 45 moves down, and the related parts in the exoskeleton are restored to their original positions under the action of the bend plate reset spring 43, the control block reset spring 55, the pawl reset spring 65, the ratchet reset torsion spring 633, and the compression reset spring 54. The lower limb on this side enters the swing period, and the lower limb on the opposite side enters the support period. The plantar bend plate 42 is compressed and deformed, and the push rod moves upward, so that the ankle joint clutch disk 51 is combined with the calf support 31, and the energy storage power rope 66 pulls the connected power gear ratchet component 63 to rotate, so that the other side of the spring compartment rotates in the opposite direction, further twisting and deforming the connected energy storage torsion spring 62 to store energy. When entering the next gait cycle, the energy storage and release component 6 continues to store elastic strain energy in the above manner. When the human body starts to jump, the ground reaction force when the sole touches the ground increases significantly (from 2 to 3 times the body weight to 4 to 5 times the body weight), causing the deformation of the plantar bend plate 42 to increase, and the push rod moves upward. At this time, the ankle clutch disc 51 and the calf support 31 are still in a combined state, and the knee clutch disc 52 and the calf support 31 are changed from a separated state to a combined state. The energy release power rope fixer 69 moves toward the axis, fixes the energy release power rope on the spring bin turntable 61, and the spring bin ratchet 64 opens. Under the action of the energy storage torsion spring 62, the spring bin turntable 61 drives the calf support 31 to rotate by pulling the energy release power rope 68, so that the knee joint rotation angle increases rapidly. After the jump is completed, the energy release power rope fixer 69 and the spring bin ratchet 64 are restored to their original state under the action of the ratchet reset spring 65.

[0044] The process of adjusting the stiffness of the foot bending plate of the passive lower limb exoskeleton is: by adjusting the screwing position of the stiffness adjustment screw 44 on the array threaded hole 4112, the effective length of the bending plate reset spring 43 is changed, and then the stiffness of the spring is adjusted, so as to realize the ground contact energy storage action during the running process and the trigger energy release action before taking off under the action of different body weights.

[0045] The working process and principle of the present invention are as follows: First, the straps in the waist component 1, thigh component 2, calf component 3 and foot component 4 are used to fix the components of the exoskeleton on the waist, bilateral thighs, bilateral calves and bilateral foot segments of the human body. When the human body is running and walking before jumping, the lower limbs that touch the ground enter the support period, and the lower limbs that do not touch the ground enter the swing period. The plantar flexion plate 42 of the lower limb on the supporting side is compressed and deformed under the action of the foot touching the ground, driving the push rod 45 to move upward. The upward push rod 45 drives the ankle joint clutch disc 51 to move axially to achieve the combination with the ankle joint disc 33 of the calf component. At the same time, the upward push rod 45 pulls the power gear ratchet component 63 of the waist component 1 to rotate through the connected energy storage power rope 66, and the spring chamber rotating disc 61 is rotated through meshing, thereby causing the connected energy storage torsion spring 62 to twist and deform to store elastic energy. At this time, the knee joint clutch disc 52 and the knee joint disc 32 of the calf support 31 are in a separated state. When the supporting side lower limb begins to lift upward, the plantar flexion plate 42 returns to its original state under the action of the flexion plate reset spring 43, the push rod 45 moves downward, and the connected energy storage power rope 66 relaxes. The ankle joint clutch disc 51 moves axially under the action of the compression reset spring 54, and the ankle joint clutch disc 51 is separated from the ankle joint disc 33 of the calf support 31. The ratchet ring of the power gear ratchet component 63 rotates in the opposite direction under the action of the ratchet reset torsion spring 633 and the spring chamber ratchet 64, so that the energy storage power rope 66 is always in a tensioned state. Then, the lower limb on this side enters the swing phase, and the lower limb on the opposite side enters the supporting phase, the plantar flexion plate 42 is compressed and deformed, the push rod moves upward, the ankle joint clutch disc 51 is combined with the calf support 31, and the energy storage power rope 66 pulls the connected power gear ratchet component 63 to rotate, so that the other side of the spring chamber rotates in the opposite direction, and further causes the connected energy storage torsion spring 62 to twist and deform to store energy. When entering the next gait cycle, the energy storage and release assembly 6 continues to store elastic strain energy in the above manner. When the human body starts to jump, the ground reaction force when the sole touches the ground increases significantly (from 2 to 3 times the body weight to 4 to 5 times the body weight), causing the plantar bending plate 42 to deform and increase, and the push rod moves upward. At this time, the ankle clutch disc 51 and the calf support 31 are still in a combined state, and the knee clutch disc 52 and the calf support 31 are changed from a separated state to a combined state. The energy release power rope fixer 69 moves toward the axis, fixes the energy release power rope on the spring bin rotating disk 61, and the spring bin ratchet 64 opens. Under the action of the energy storage torsion spring 62, the spring bin rotating disk 61 drives the calf support 31 to rotate by pulling the energy release power rope 68, so that the knee joint rotation angle increases rapidly. After completing the jump, the energy release power rope fixer 69 and the spring bin ratchet 64 are restored to their original state under the action of the ratchet reset spring 65.

[0046] The above content is a further detailed description of the present invention in combination with specific implementation methods. It cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as belonging to the scope of protection determined by the claims submitted for the present invention.

Claims

1. A passive lower limb exoskeleton for enhancing human jumping ability, characterized in that: It includes waist component, thigh component, calf component, foot component, clutch component and energy storage and release component; The waist component includes a waist support, which is a belt-shaped circular ring with a front portion disconnected, and a long straight groove is provided at the end surface of the circular ring, and the waist component is used to be fixedly connected at the waist position; The thigh component is used to be fixedly connected to the thigh part, and the thigh component is connected to the waist component; The calf component is used to be fixedly connected to the calf part, and the calf component is connected to the thigh component; The foot component is used to be fixedly connected to the foot position, and the clutch component is used to connect the calf component and the foot component; The energy storage and release assembly includes a spring bin rotating disk, a power gear ratchet component, an energy storage torsion spring, an energy storage power rope, an energy release power rope, a spring bin ratchet, a ratchet reset spring, an energy release power rope fixer, and an energy release trigger rope. The spring bin rotating disk is divided into an inner part and an outer part, and each part is a disc-shaped part with a circular hole in the middle. The outer edge of the disc is a gear structure, a groove structure, and a ratchet structure in sequence along the axial direction. The groove structure is provided with a square channel connected to the inner hole. The power gear ratchet component is divided into a left and right part, each part includes an outer tooth groove ring and a ratchet pawl mechanism, and a ratchet reset torsion spring. The outer edge of the energy storage and release assembly is an outer tooth-groove ring, which is a gear structure and a groove structure in sequence along the axial direction. The gear structure is meshed with the spring bin rotating disk gear structure, and the end of the energy storage power rope is fixed in the groove structure. Among them, the inner side of the energy storage and release assembly is a ratchet pawl mechanism, which forms a one-way transmission relative to the outer ring. The ratchet ring is clearance-matched with the spring magazine connecting shaft of the waist assembly. One end of the ratchet reset torsion spring is fixed on the ratchet ring, and the other end is fixed on the rear side of the waist support. The other end of the energy storage power rope passes through the pulley of the vertical support rod on the outside of the foot fixer and is connected to the circular hole at the proximal end of the push rod. The energy release power rope is fixed on the groove structure of the spring magazine turntable, and passes through the energy release power rope fixer in the trigger assembly and is connected to the knee joint disc of the calf support. The spring magazine pawl includes left and right parts, which are respectively placed in the trigger pawl sliding groove of the waist assembly. A circular hole for connecting the energy release trigger rope is provided on the rear side of the pawl, and a pawl reset spring is installed between the rear end face and the bottom surface of the sliding groove.

2. A passive lower limb exoskeleton for enhancing human jumping ability according to claim 1, characterized in that: One end of the energy-release power rope fixer is a square column with a square through hole designed on the side, and the other end is a cylinder with a circular through hole designed on the side. One end of the energy-release trigger rope is fixed on the circular through hole of the fixer, and then fixed to the circular hole at the rear end of the spring magazine pawl, the upper circular hole and the lower circular hole of the knee joint clutch control block in sequence. The energy-release trigger rope then passes through the pulley of the vertical support rod on the outside of the foot fixer and is connected and fixed to the circular hole at the upper end of the push rod.

3. The passive lower limb exoskeleton for enhancing human jumping ability according to claim 1, characterized in that: The waist component also includes a strap, a hip joint ball socket, a spring magazine connecting shaft, a power gear ratchet component connecting shaft and a trigger pawl sliding groove. The strap is connected between the grooves of the long straight groove, the hip joint ball socket is fixed on both sides of the waist support, and the spring magazine connecting shaft, the power gear ratchet component connecting shaft and the trigger pawl sliding groove are all fixed on the back side of the waist support.

4. The passive lower limb exoskeleton for enhancing human jumping ability according to claim 3, characterized in that: The trigger pawl sliding groove is a stepped groove, and the size of the square hole near the inner end is larger than the size of the square hole near the outer end.

5. The passive lower limb exoskeleton for enhancing human jumping ability according to claim 1, characterized in that: The thigh component is divided into two parts, a left side and a right side, and both the left side and the right side include a thigh support, a hip joint ball head, a knee joint clutch control block bin and a strap. A circular hole is provided at the distal end of the thigh support, a protruding structure containing a circular hole is provided on the outer side surface close to the distal end, and a hip joint ball head is fixed to the inner side surface of the proximal end. The knee joint clutch control block bin is fixed to the distal end of the thigh support and is a hollow cylinder structure with a square cross-section, and the cross-section becomes smaller at the distal end. One ends of the two straps are fixed to the side of the middle position of the thigh support and are connected to each other by a magic buckle at the other end.

6. The passive lower limb exoskeleton for enhancing human jumping ability according to claim 1, characterized in that: The foot assembly is divided into two parts, a left part and a right part, and both the left part and the right part include a foot fixer, a plantar bend plate, a bend plate reset spring, a stiffness adjustment screw, a push rod, a guide plate, and a strap. A circular shaft is fixed to the front and rear ends of the left and right sides of the plantar bend plate, and a rotating wheel is installed at both ends of the circular shaft. A bend plate reset spring is connected between the front and rear shafts on each side. The rotating wheels and the bend plate reset spring on both sides of the plantar bend plate are located in the grooves on both sides of the foot fixer, and the rotating wheels roll on the inner surface of the groove. An array of threaded holes is designed on the side surface of the groove wall and cooperates with the stiffness adjustment screw. The lower part of the push rod is fixed to the middle position of the outer side of the plantar bend plate, and the upper end of the push rod is a variable cross-section structure. The lower part of the guide plate is fixed to the middle position of the inner side of the plantar bend plate, and the upper end of the guide plate is a right-angle elbow. Vertical support rods are designed at the inner and outer middle positions of the foot fixer, and a square sleeve is arranged at the proximal end of the support rod. Two sets of pulleys are arranged at the proximal end of the outer vertical support rod. The push rod and the guide plate pass through the square sleeves at the support rods on the inner and outer sides of the foot fixer respectively.

7. The passive lower limb exoskeleton for enhancing human jumping ability according to claim 6, characterized in that: Two pulleys are arranged at the proximal end of the outer vertical support rod of the foot fixer, and two rows of straight slot holes are arranged on the side of the vertical support rod, which are respectively fixed to one end of the strap, and the other end of the strap is provided with a magic buckle.

8. The passive lower limb exoskeleton for enhancing human jumping ability according to claim 1, characterized in that: The clutch assembly is divided into two parts, the left side and the right side, and both the left side and the right side include an ankle clutch disc, a knee clutch disc, a knee clutch control block, a compression reset spring and a control block reset spring. One end of the ankle clutch disc is a round head cylinder, the middle is a disc with a spoke-shaped protrusion structure on the end surface, and the other end is a round shaft. The two ends of the ankle clutch disc are respectively matched with the circular holes at the proximal end of the ankle disc of the calf component and the outer vertical support rod of the foot component to achieve clearance. The clutch disc and the ankle disc at the distal end of the calf A compression return spring is arranged between the two ends of the knee joint clutch disc, the round-headed cylinder contacts the side of the upper end of the push rod, one end of the knee joint clutch disc is a round-headed cylinder, the middle is a disc with a spoke-shaped protrusion structure on the end face, and the other end is a round shaft, the two ends of the knee joint clutch disc are respectively clearance-matched with the circular holes at the distal end of the thigh support and the proximal end of the calf assembly, a compression return spring is arranged between the clutch disc and the knee joint disc of the calf assembly, the round-headed cylinder contacts the side of the knee joint clutch control block, the knee joint clutch control block is a long plate-like structure with a variable cross-section, and circular holes are arranged at both ends.

9. The passive lower limb exoskeleton for enhancing human jumping ability according to claim 8, characterized in that: The clutch assembly is placed in the knee joint clutch assembly bin, and the side surface of the lower end of the clutch assembly contacts the round head cylinder of the knee joint clutch disc, and the two sides of the upper end are connected to the control block reset spring.

Images