A single power unit to implement bilateral control exoskeleton device

Abstract

This invention provides a single-power unit for bilateral control of an exoskeleton, comprising a power drive assembly, a flexible transmission component, a leg connection assembly, and a housing. The power drive assembly is disposed within the housing. One output end of the power drive assembly, one flexible transmission component, and one leg connection assembly are sequentially connected; the other output end of the power drive assembly, another flexible transmission component, and another leg connection assembly are sequentially connected, so as to transmit the driving force of the power drive assembly to the leg connection assembly through the flexible transmission component. The leg connection assembly contacts the human thigh, thereby providing driving force to the human thigh. This invention solves the problems of relative rotation of the left and right legs and angular coupling and force coupling between the left and right legs during use in traditional devices, improving stability while reducing manufacturing costs.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton technology, specifically to an exoskeleton device that achieves bilateral control with a single power unit. Background Technology

[0002] An exoskeleton is a mechanically assisted structure that provides force and support to the human body during movement. When worn, exoskeletons can enhance human function, and therefore are often used in military applications, mountaineering assistance, heavy lifting, and rehabilitation training.

[0003] Currently, common leg exoskeletons can be divided into dual-powered and single-powered types. Dual-powered exoskeletons, where two power units each assist one leg, are expensive, heavy, and structurally complex. Single-powered exoskeletons, where a single power unit assists both legs, currently suffer from the problem of force and angle coupling between the left and right legs, which can put strain on the user's knee joints. Additionally, the relative rotation of the left and right leg structures contributes to poor stability. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the present invention provides a single-power unit to achieve bilateral control of an exoskeleton device, the specific technical solution of which is as follows:

[0005] The present invention provides a single power unit to realize bilateral control exoskeleton device, including a power drive component, a flexible transmission component, a leg connection component and a shell;

[0006] The power drive assembly is disposed within the housing; one output end of the power drive assembly, one flexible transmission member, and one leg connection assembly are connected in sequence, and another output end of the power drive assembly, another flexible transmission member, and another leg connection assembly are connected in sequence, so as to transmit the driving force of the power drive assembly to the leg connection assembly through the flexible transmission member.

[0007] In one specific embodiment, the power drive assembly includes a motor; one output end of the power drive assembly includes the stator of the motor, and the other output end of the power drive assembly includes the rotor of the motor; the stator of the motor is rotatably connected to the housing.

[0008] In one specific embodiment, the power drive assembly further includes a drive plate and a battery; the motor, the drive plate, and the battery are electrically connected in sequence; the battery is a hollow cylindrical structure and is sleeved on a flexible transmission component.

[0009] In one specific embodiment, the housing includes a waist ring frame, to which a belt for connecting to the user's waist is connected; a bearing is provided inside the waist ring frame, and the power drive assembly is rotatably connected to the waist ring frame through the bearing.

[0010] In one specific embodiment, the flexible transmission component includes a torque adjustment assembly and a flexible universal joint;

[0011] The power drive assembly, the torque adjustment assembly, the flexible universal joint, and the leg connection assembly are connected in sequence.

[0012] In one specific embodiment, the torque adjustment component includes a single-stage or multi-stage planetary reduction mechanism.

[0013] In one specific embodiment, the torque adjustment assembly includes a sun gear, a plurality of first-stage planetary gears, a first-stage planetary carrier, a gear, a plurality of second-stage planetary gears, a second-stage planetary carrier, and an internal gear ring;

[0014] One end of the sun gear is coaxially rotatably connected to an output end of the power drive assembly, and the other end of the sun gear is meshed with a plurality of first-stage planetary gears; the sun gear and the plurality of first-stage planetary gears are all disposed on one side of the first-stage planetary carrier, and the gear is disposed on the other side of the first-stage planetary carrier, the gear meshing with a plurality of second-stage planetary gears, the plurality of second-stage planetary gears are all disposed on one side of the second-stage planetary carrier, and the flexible universal joint is coaxially rotatably connected to the other side of the second-stage planetary carrier;

[0015] All of the first-stage planetary gears, the first-stage planetary carrier, the gears, all of the second-stage planetary gears, and the second-stage planetary carrier are disposed in the internal gear ring, and all of the first-stage planetary gears and all of the second-stage planetary gears are meshed with the internal gear ring.

[0016] In one specific embodiment, both the end of the flexible universal joint away from the motor and the end of the leg connecting assembly near the flexible universal joint are provided with mutually cooperating bevel gears, and the flexible universal joint and the leg connecting assembly are rotatably connected through the bevel gears.

[0017] In one specific embodiment, the leg connection assembly includes a contact plate and a connecting rod. The contact plate is used to contact the human thigh, and the two sides of the contact plate are provided with holes for the thigh strap to pass through. The contact plate is rotatably connected to one end of the connecting rod; the other end of the connecting rod is connected to the flexible transmission component.

[0018] In one specific embodiment, the connecting rod includes an upper rod body, a lower rod body, and a rotating member disposed between the upper rod body and the lower rod body, wherein the upper rod body and the lower rod body can rotate independently relative to the rotating member;

[0019] One end of the upper rod is connected to the flexible transmission component, and one end of the lower rod is rotatably connected to the contact plate.

[0020] The present invention has at least the following beneficial effects:

[0021] This invention discloses a dual-sided control exoskeleton device using a single power unit. This invention achieves dual-sided control with only a single motor, reducing manufacturing costs, as well as the weight and structural complexity of the device, resulting in a simpler structure.

[0022] Furthermore, by incorporating a flexible transmission component, this invention avoids relative rotation between the two leg connection components, thus resolving the issue of angular coupling between the left and right legs. Simultaneously, by setting up a waist ring frame and a waist belt to assist in force distribution, the coupling problem of forces between the left and right legs is resolved, improving the stability of the device. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a sectional view of the overall structure;

[0025] Figure 2 This is a sectional view of the shell;

[0026] Figure 3 An exploded view of the interior of the casing;

[0027] Figure 4 An exploded view of the first torque regulating component;

[0028] Figure 5 This is a schematic diagram showing the connection between the first flexible universal joint and the first leg connection assembly;

[0029] Figure 6 Rear view of the human body wearing the garment;

[0030] Figure 7 A side view of the human body wearing the garment.

[0031] Figure label:

[0032] 1-Motor; 11-Stator; 12-Rotor; 2-First torque adjustment assembly; 3-Second torque adjustment assembly; 4-First flexible universal joint; 5-Second flexible universal joint; 6-First leg connection assembly; 7-Second leg connection assembly; 8-House; 91-Sun gear; 92-First-stage planetary gear; 93-First-stage planetary carrier; 94-Gear; 95-Second-stage planetary gear; 96-Second-stage planetary carrier; 97-Internal gear ring; 13-Bevel gear; 14-Contact plate; 141-Contact 142 - Through hole; 15 - Connecting rod; 151 - Upper rod body; 1511 - Groove; 152 - Lower rod body; 1521 - Through hole for connecting rod; 153 - Rotating component; 16 - Waist ring frame; 17 - Bearing; 18 - Bolt; 19 - Waist belt; 20 - Through hole; 21 - Gear column; 22 - Drive plate; 23 - Battery; 24 - Power drive assembly; 25 - Flexible transmission component; 26 - Leg connecting assembly; 27 - First flexible transmission component; 28 - Second flexible transmission component. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0034] In the description of this invention, it should be noted that the terms "vertical," "upper," "lower," "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0035] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0036] This invention provides a single-power unit for achieving bilateral control of an exoskeleton device, such as... Figure 1As shown, the present invention includes a power drive assembly 24, a flexible transmission member 25, a leg connection assembly 26, and a housing 8. The drive assembly 24 is disposed within the housing 8, the flexible transmission member 25 includes a first flexible transmission member 27 and a second flexible transmission member 28, and the leg connection assembly 26 includes a first leg connection assembly 6 and a second leg connection assembly 7.

[0037] Specifically, one output end of the power drive assembly 24, the first flexible transmission member 27, and the first leg connection assembly 6 are connected in sequence, and the other output end of the power drive assembly 24, the second flexible transmission member 28, and the second leg connection assembly 7 are connected in sequence. The driving force output by the power drive assembly 24 is transmitted to the leg connection assembly 26 through the flexible transmission member 25. The leg connection assembly 26 is used to contact the human thigh, thereby providing driving force to the human thigh.

[0038] Furthermore, such as Figure 1 As shown, the power drive assembly 24 includes a motor 1, one output end of the power drive assembly 24 includes the stator 11 of the motor 1, and the other output end of the power drive assembly 24 includes the rotor 12 of the motor 1.

[0039] Specifically, the motor 1 is housed in the housing 8, and the stator 11 and the outer casing of the motor 1 are rotatably connected to the housing 8. The stator 11 can rotate relative to the housing 8 and the rotor 12, making the stator 11 also one output end of the motor 1. The output ends on both sides of the motor 1, namely the stator 11 and the rotor 12, independently output driving force, solving the defect of traditional devices that require multiple power units to achieve bilateral control, reducing costs and simplifying the structure.

[0040] Furthermore, such as Figure 1 As shown, the power drive assembly 24 also includes a drive plate 22 and a battery 23. The motor 1, drive plate 22, and battery 23 are electrically connected in sequence. The battery 23 powers the motor 1, and the drive plate 22 controls the motor 1 and the battery 23. Furthermore, the battery 23 has a hollow cylindrical structure, which improves space utilization. Specifically, the battery 23 is mounted on the second flexible transmission member 28, or it can be mounted on the first flexible transmission member 27.

[0041] Furthermore, such as Figures 1 to 3 As shown, the housing of motor 1 is connected to a bearing 17, which is fixed within the housing 8. Both the housing of motor 1 and the stator 11 are rotatably connected to the housing 8 via the bearing 17. The stator 11 can rotate relative to the rotor 12 and the housing 8, following the bearing 17. Optionally, the number of bearings 17 is at least one; preferably, the number of bearings 17 is two, with the two bearings 17 positioned on opposite sides of the housing of motor 1. The double bearings make the rotation of the stator 11 more stable. Optionally, the bearing 17 can also be any other structure that enables the stator 11 to rotate.

[0042] like Figure 6 , 7 As shown, optionally, the housing 8 can be located at a certain position on the human torso, such as the waist or chest. Preferably, the housing 8 is a waist ring 16, which wraps around the waist of the human body and is connected to a waist belt 19. The waist belt 19 is fastened to the waist, allowing the waist to bear force and solving the problem of force coupling on both sides of the left and right legs. Optionally, the waist ring 16 can accommodate the motor 1 and the bearing 17, while also accommodating the flexible transmission component 25, thereby preventing the flexible transmission component 25 from being damaged by external impact and providing a protective effect.

[0043] Furthermore, such as Figure 1 As shown, the first flexible transmission component 27 includes a first torque adjustment component 2 and a first flexible universal joint 4. The torque adjustment component is used to increase the output torque, and the flexible universal joint can prevent the first leg connection component 6 and the second leg connection component 7 from rotating relative to each other, thus solving the problem of angular coupling between the left and right legs.

[0044] Specifically, the stator 11 is coaxially rotatably connected to one end of the first torque adjustment component 2, the other end of the first torque adjustment component 2 is coaxially rotatably connected to one end of the first flexible universal shaft 4, and the other end of the first flexible universal shaft 4 is rotatably connected to the first leg connection component 6.

[0045] Specifically, the driving force output by the stator 11 is amplified by the first torque adjustment component 2 and then transmitted to the first flexible universal joint 4. The first flexible universal joint 4 further transmits the power to the first leg connection component 6. The first leg connection component 6 contacts one of the human thighs. When the output power direction is the same as the movement direction of the human thigh, it provides power to the thigh; otherwise, it provides resistance.

[0046] The rotor 12, the second torque adjustment component 3, the second flexible universal joint 5, and the second leg connection component 7 are also connected in sequence in the manner described above, and will not be repeated here.

[0047] In one embodiment, the first torque adjustment component 2 includes one or more planetary reduction mechanisms. Optionally, the number of stages in the multi-stage planetary reduction mechanism is determined according to the torque requirement, and it is generally a two-stage planetary reduction mechanism. The planetary reduction mechanism is not shown in the figure. The structure of the second torque adjustment component 3 is the same as that of the first torque adjustment component 2, and will not be described again here.

[0048] In one embodiment, such as Figure 2 , 3 As shown in Figures 4 and 4, the first torque adjustment component 2 includes a sun gear 91, multiple first-stage planetary gears 92, a first-stage planetary carrier 93, a gear 94, multiple second-stage planetary gears 95, a second-stage planetary carrier 96, and an internal gear ring 97.

[0049] Specifically, such as Figure 2 , 3 As shown in Figure 4, taking the stator 11 side as an example, one end of the sun gear 91 is coaxially rotatably connected to the stator 11, and the other end of the sun gear 91, that is, the side of the sun gear 91, is meshed with multiple first-stage planetary gears 92. The sun gear 91 and multiple first-stage planetary gears 92 are all located on one side of the first-stage planetary carrier 93. A gear 94 is located on the other side of the first-stage planetary carrier 93. The gear 94 is meshed with multiple second-stage planetary gears 95. Multiple second-stage planetary gears 95 are all located on one side of the second-stage planetary carrier 96. The other side of the second-stage planetary carrier 96 is coaxially rotatably connected to the first flexible universal joint 4.

[0050] All first-stage planetary gears 92, first-stage planetary carriers 93, gears 94, all second-stage planetary gears 95 and second-stage planetary carriers 96 are housed in the internal gear ring 97, and all first-stage planetary gears 92 and all second-stage planetary gears 95 are meshed with the internal gear ring 97.

[0051] Specifically, each of the multiple first-stage planetary gears 92 and multiple second-stage planetary gears 95 has a through hole 20 in its center. Each of the first-stage planetary carrier 93 and the second-stage planetary carrier 96 has multiple gear posts 21 on one side. The multiple first-stage planetary gears 92 are mounted on the first-stage planetary carrier 93 via gear posts 21, and the multiple second-stage planetary gears 95 are also mounted on the second-stage planetary carrier 96 via gear posts 21. Specifically, the number of gear posts 21 for the first-stage planetary gears 92, second-stage planetary gears 95, the first-stage planetary carrier 93, and the second-stage planetary carrier 96 is three.

[0052] Optionally, the transmission ratio of the first torque adjustment component 2 is determined according to the torque requirement. Preferably, the transmission ratio of the first torque adjustment component 2 is 36:1.

[0053] The second torque adjustment component 3 has the same structure as the first torque adjustment component 2, and will not be described in detail here.

[0054] Furthermore, such as Figure 5 As shown, both the end of the first flexible universal joint 4 furthest from the motor 1 and the end of the first leg connecting assembly 6 near the first flexible universal joint 4 are provided with bevel gears 13 that mesh with each other. The first flexible universal joint 4 and the first leg connecting assembly 6 are rotatably connected through the bevel gears 13. The bevel gears 13 mesh with each other, transmitting power while also realizing the conversion of the direction of force.

[0055] The structure of the second flexible universal joint 5 is the same as that of the first flexible universal joint 4, and the structure of the second leg connecting assembly 7 is the same as that of the first leg connecting assembly 6, which will not be described again here.

[0056] Furthermore, such as Figure 5As shown, both the first leg connecting assembly 6 and the second leg connecting assembly 7 include a contact plate 14 and a connecting rod 15. The second leg connecting assembly 7 is mirror-symmetrical to the first leg connecting assembly 6, therefore it is not shown in the figure. Specifically, the contact plate 14 is used to contact the human thigh. Holes 142 for thigh straps to pass through are provided on both sides of the contact plate 14. The thigh straps are used to bind and fix the first leg connecting assembly 6 to the thigh; the thigh straps are not shown in the figure. Furthermore, the contact plate 14 and the connecting rod 15 are rotatably connected, allowing users of different body types to adjust the contact plate 14 or the connecting rod 15 by rotation to achieve a more suitable usage state. A bevel gear 13 is located at the end of the connecting rod 15 away from the contact plate 14.

[0057] Furthermore, such as Figure 5 As shown, the connecting rod 15 includes an upper rod body 151, a lower rod body 152, and a rotating member 153 disposed between the upper rod body 151 and the lower rod body 152. The upper rod body 151 and the lower rod body 152 can rotate independently relative to the rotating member 153, so that users of different body types can adjust the upper rod body 151 or the lower rod body 152 by rotating it. At the same time, it adapts to the slight changes in leg length when the human body makes different movements, solves the problem of degree of freedom conflict, and achieves a more suitable usage state.

[0058] Specifically, such as Figure 5 As shown, one end of the upper rod 151 is provided with a groove 1511, and the bevel gear 13 is embedded in the groove 1511, thus being disposed at one end of the upper rod 151. One end of the lower rod 152 is provided with a connecting rod through hole 1521, and the contact plate 14 is provided with a contact plate through hole 141. The bolt 18 passes through the connecting rod through hole 1521 and the contact plate through hole 141, thereby rotatably connecting the lower rod 152 and the contact plate 14.

[0059] The beneficial effects and working principle of this invention:

[0060] This invention provides a single-power-unit exoskeleton device with dual-sided control. By incorporating bearing 17, the stator 11 of the motor 1 becomes an independent output terminal separate from the rotor 12, achieving dual-sided control of the single-power-unit, reducing manufacturing costs, device weight, and structural complexity. Furthermore, by incorporating the first flexible transmission component 27 and the second flexible transmission component 28, relative rotation between the first leg connection assembly 6 and the second leg connection assembly 7 is achieved, resolving the issue of angular coupling between the left and right legs. Simultaneously, by incorporating the waist ring 16 and waist belt 19, the waist can also receive auxiliary force, resolving the issue of force coupling between the left and right legs and improving the device's stability.

[0061] When using this invention, the waist ring 16 is wrapped around the waist, the waist belt 19 is fastened around the waist, and the two contact plates 14 contact the legs and are secured by thigh straps. The stator 11 and rotor 12 of the motor 1 independently output power to both sides. After being adjusted by the first torque adjustment component 2 and the second torque adjustment component 3, the power is transmitted to the flexible universal joint. The flexible universal joint is rotatably connected to the leg connection component 26 through the bevel gear 13, transmitting the power to the leg connection component 26, and finally transmitting the power to the human thigh, providing power or resistance for human movement.

[0062] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing the present invention.

[0063] Those skilled in the art will understand that the modules in the apparatus of the implementation scenario can be distributed within the apparatus of the implementation scenario as described, or they can be located in one or more apparatuses different from this implementation scenario with corresponding changes. The modules of the above-described implementation scenario can be combined into one module, or they can be further divided into multiple sub-modules.

[0064] The serial numbers of the invention mentioned above are for descriptive purposes only and do not represent the superiority or inferiority of the implementation scenarios.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A single-power unit for bilateral control exoskeleton device, characterized in that, include: Power drive components, flexible transmission components, leg connection components, and housing; The power drive assembly is disposed within the housing; one output end of the power drive assembly, one flexible transmission member, and one leg connection assembly are connected in sequence, and another output end of the power drive assembly, another flexible transmission member, and another leg connection assembly are connected in sequence, so as to transmit the driving force of the power drive assembly to the leg connection assembly through the flexible transmission member; The power drive assembly includes a motor; one output end of the power drive assembly includes the stator of the motor, and the other output end of the power drive assembly includes the rotor of the motor; the stator of the motor is rotatably connected to the housing. The leg connection assembly includes a contact plate and a connecting rod. The contact plate is used to contact the human thigh. The two sides of the contact plate are provided with holes for the thigh strap to pass through. The contact plate is rotatably connected to one end of the connecting rod. The other end of the connecting rod is connected to the flexible transmission component.

2. The exoskeleton device with bilateral control achieved by a single power unit according to claim 1, characterized in that, The power drive assembly also includes a drive plate and a battery; the motor, the drive plate and the battery are electrically connected in sequence; the battery is a hollow cylindrical structure and is sleeved on a flexible transmission component.

3. The exoskeleton device with bilateral control achieved by a single power unit according to claim 1, characterized in that, The housing includes a waist ring frame, to which a belt for connecting to the user's waist is connected; a bearing is provided inside the waist ring frame, and the power drive assembly is rotatably connected to the waist ring frame through the bearing.

4. The exoskeleton device with bilateral control achieved by a single power unit according to claim 1, characterized in that, The flexible transmission component includes a torque adjustment assembly and a flexible universal joint. The power drive assembly, the torque adjustment assembly, the flexible universal joint, and the leg connection assembly are connected in sequence.

5. The exoskeleton device with bilateral control achieved by a single power unit according to claim 4, characterized in that, The torque adjustment component includes a single-stage or multi-stage planetary reduction mechanism.

6. The exoskeleton device with bilateral control achieved by a single power unit according to claim 4, characterized in that, The torque adjustment assembly includes a sun gear, multiple first-stage planetary gears, a first-stage planetary carrier, a gear, multiple second-stage planetary gears, a second-stage planetary carrier, and an internal gear ring. One end of the sun gear is coaxially rotatably connected to an output end of the power drive assembly, and the other end of the sun gear is meshed with a plurality of first-stage planetary gears; the sun gear and the plurality of first-stage planetary gears are all disposed on one side of the first-stage planetary carrier, and the gear is disposed on the other side of the first-stage planetary carrier, the gear meshing with a plurality of second-stage planetary gears, the plurality of second-stage planetary gears are all disposed on one side of the second-stage planetary carrier, and the flexible universal joint is coaxially rotatably connected to the other side of the second-stage planetary carrier; All of the first-stage planetary gears, the first-stage planetary carrier, the gears, all of the second-stage planetary gears, and the second-stage planetary carrier are disposed in the internal gear ring, and all of the first-stage planetary gears and all of the second-stage planetary gears are meshed with the internal gear ring.

7. The exoskeleton device with bilateral control achieved by a single power unit according to claim 4, characterized in that, Both the end of the flexible universal joint away from the motor and the end of the leg connecting assembly near the flexible universal joint are provided with mutually cooperating bevel gears, and the flexible universal joint and the leg connecting assembly are rotatably connected through the bevel gears.

8. The exoskeleton device with bilateral control achieved by a single power unit according to claim 1, characterized in that, The connecting rod includes an upper rod body, a lower rod body, and a rotating member disposed between the upper rod body and the lower rod body. The upper rod body and the lower rod body can rotate independently relative to the rotating member. One end of the upper rod is connected to the flexible transmission component, and one end of the lower rod is rotatably connected to the contact plate.

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