An exoskeleton three-element phase-changing drive

Abstract

The present invention discloses an exoskeleton three-dimensional phase-changing driver, comprising a first connecting layer, a second connecting layer, an intermediate layer, and an energy storage component; the first connecting layer is detachably connected to the intermediate layer, and the connection relationship between the first connecting layer and the intermediate layer controls the first connecting layer to rotate unidirectionally or freely around the intermediate layer; the second connecting layer is detachably connected to the intermediate layer, and the connection relationship between the second connecting layer and the intermediate layer controls the second connecting layer to rotate unidirectionally or freely around the intermediate layer; the energy storage component is arranged in the intermediate layer, with one end of the energy storage component connected to the inner side of the intermediate layer and the other end connected to the second connecting layer. The present invention uses a mechanical mechanism to provide power, and does not require the motor to work for a long time, thereby reducing dependence on the power supply. In addition, the present invention also combines electronic control for dynamic assistance rather than directly using electric drive, which not only reduces dependence on the power supply, but also improves the power flexibility of the driver.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton drivers, and in particular to an exoskeleton ternary phase-changing driver. Background Art

[0002] In the exoskeleton industry, exoskeletons are primarily powered by actuators installed at the joints, which are primarily driven by motors or purely mechanically. The motor drive principle is to use circuits to control a reducer, which then generates torque, which then assists the body. The purely mechanical drive principle is to use elastic materials to create resistance to movement, which is then converted into elastic potential energy that reacts to the body's movement. However, current technology does not allow for the energy density to sustain long-term motor operation, while purely mechanical drive lacks dynamic flexibility. An exoskeleton actuator that reduces power dependence while increasing dynamic flexibility would be highly competitive in the market. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and provide an exoskeleton ternary phase-changing driver that can reduce dependence on power supply.

[0004] To achieve the above objectives, the technical solutions provided by the present invention are:

[0005] An exoskeleton three-dimensional phase-changing driver comprises a first connecting layer component, a second connecting layer component, an intermediate layer component, and an energy storage component;

[0006] in,

[0007] The first connecting layer is detachably connected to the intermediate layer, and the first connecting layer is controlled to rotate unidirectionally or freely around the intermediate layer through the detachable connection between the first connecting layer and the intermediate layer;

[0008] The second connecting layer is detachably connected to the intermediate layer, and the second connecting layer is controlled to rotate unidirectionally or freely around the intermediate layer through the detachable connection between the second connecting layer and the intermediate layer;

[0009] The energy storage component is arranged in the middle layer component, one end of the energy storage component is connected to the inner side of the middle layer component, and the other end is connected to the second connection layer component.

[0010] In this technical solution, when the exoskeleton ternary phase-changing drive is needed to provide power, the first connecting layer is connected to the middle layer, and the second connecting layer is disconnected from the middle layer, and the energy storage component (which has stored energy) interacts with the second connecting layer to provide power for the first connecting layer; when the exoskeleton ternary phase-changing drive is not needed to provide power, the first connecting layer is disconnected from the middle layer, and the second connecting layer is connected to the middle layer, and the first connecting layer can rotate freely around the middle layer without being affected by the energy storage component; when the energy storage component needs to store energy quickly, the first connecting layer and the second connecting layer are both connected to the middle layer, and both the first connecting layer and the second connecting layer can only rotate in one direction, and the elastic force of the energy storage component is continuously compressed through the unidirectional rotation (the process of continuous compression is the process of continuous energy storage); when the exoskeleton ternary phase-changing drive is not used for a long time, the first connecting layer and the second connecting layer are both disconnected from the middle layer, and the energy of the energy storage component is released, which is beneficial to improving the life of the energy storage component.

[0011] It can be seen that in this technical solution, the exoskeleton ternary phase-changing drive adopts a mechanical mechanism to provide power, which does not require the motor to work for a long time and can reduce dependence on power supply.

[0012] Furthermore, it also includes a first limiting component and a second limiting component;

[0013] The first connecting layer is connected or disconnected with the intermediate layer through the first limiting assembly; when the first connecting layer is connected with the intermediate layer through the first limiting assembly, the first connecting layer can only rotate in one direction around the intermediate layer; when the first connecting layer is disconnected from the intermediate layer through the first limiting assembly, the first connecting layer can rotate freely around the intermediate layer.

[0014] The second connection layer is connected or disconnected with the middle layer through the second limiting assembly. When the second connection layer is connected with the middle layer through the second limiting assembly, the second connection layer can only rotate in one direction around the middle layer.

[0015] Furthermore, the first limiting assembly and the second limiting assembly each include a ratchet, a clamping block, and a driving assembly;

[0016] The ratchet is arranged on the periphery of the middle layer;

[0017] The clamping blocks are respectively connected to the corresponding first connection layer components and second connection layer components;

[0018] The first connecting layer and the second connecting layer are driven by corresponding drive assemblies to cooperate with corresponding clamping blocks and ratchets to achieve limited connection or disconnection with the intermediate layer.

[0019] The first connecting layer component and the second connecting layer component can only rotate in one direction through the cooperation of the corresponding ratchet and the clamping block.

[0020] Furthermore, the driving assembly includes a transmission shaft assembly and a motor;

[0021] The transmission shaft assembly is connected to the motor and the clamping block respectively, and the motor provides the force to drive the clamping block.

[0022] Furthermore, it also includes a controller, a ground stepping data collector, and an energy storage data collector;

[0023] The ground stepping data collector and the energy storage data collector are both electrically connected to the controller, and the controller is electrically connected to the motor.

[0024] This technical solution adopts mechanical drive and combines it with electronic control for dynamic assistance, rather than directly using electric drive. It not only reduces dependence on power supply, but also improves the dynamic flexibility of the drive.

[0025] Furthermore, the ground stepping data collector is a pressure sensor, which is installed at the contact point between the exoskeleton and the sole of the human foot.

[0026] Furthermore, the second connecting layer is provided with a connecting shaft, and the second connecting layer is connected to the energy storage member via the connecting shaft;

[0027] The energy storage data collector is a torque sensor, which is installed on the connecting shaft.

[0028] Furthermore, the energy storage data collector is a pressure patch, which is arranged at the contact point between the exoskeleton and the human thigh.

[0029] Furthermore, the energy storage member is a coil spring or a spring.

[0030] Compared with the existing technology, the principles and advantages of this technical solution are as follows:

[0031] In this technical solution, when the exoskeleton ternary phase-changing drive is needed to provide power, the first connecting layer is connected to the middle layer, and the second connecting layer is disconnected from the middle layer, and the energy storage component (which has stored energy) interacts with the second connecting layer to provide power for the first connecting layer; when the exoskeleton ternary phase-changing drive is not needed to provide power, the first connecting layer is disconnected from the middle layer, and the second connecting layer is connected to the middle layer, and the first connecting layer can rotate freely around the middle layer without being affected by the energy storage component; when the energy storage component needs to store energy quickly, the first connecting layer and the second connecting layer are both connected to the middle layer, and both the first connecting layer and the second connecting layer can only rotate in one direction, and the elastic force of the energy storage component is continuously compressed through the unidirectional rotation (the process of continuous compression is the process of continuous energy storage); when the exoskeleton ternary phase-changing drive is not used for a long time, the first connecting layer and the second connecting layer are both disconnected from the middle layer, and the energy of the energy storage component is completely released, which is beneficial to improving the life of the energy storage component.

[0032] The exoskeleton ternary phase-changing driver described in this technical solution uses a mechanical mechanism to provide power, which does not require the motor to work for a long time, thereby reducing dependence on power supply.

[0033] In addition, this technical solution combines mechanical drive with electronic control for dynamic assistance rather than directly using electric drive. This not only reduces dependence on power supply, but also improves the power flexibility of the drive. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the services required for use in the embodiments or the prior art descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 This is a perspective view of a three-dimensional exoskeleton phase-changing actuator according to Example 1 of the present invention (the controller, ground-stepping data collector, and energy storage data collector are omitted);

[0036] Figure 2 This is the second stereoscopic diagram of an exoskeleton three-dimensional phase-changing driver according to the first embodiment of the present invention (the controller, ground-stepping data collector, and energy storage data collector are omitted);

[0037] Figure 3 This is an exploded view of an exoskeleton three-dimensional phase-changing driver according to Example 1 of the present invention (the controller, ground-stepping data collector, and energy storage data collector are omitted);

[0038] Figure 4This is a schematic diagram of an exoskeleton three-dimensional phase-changing driver without the first connection layer (omitting the controller, ground-stepping data collector, and energy storage data collector);

[0039] Figure 5 This is a connection block diagram of a controller in an exoskeleton three-phase changing driver according to an embodiment of the present invention, which is electrically connected to a motor, a ground stepping data collector, and an energy storage data collector.

[0040] Reference numerals:

[0041] 1-first connecting layer; 2-second connecting layer; 3-middle layer; 4-coil spring; 5-ratchet; 6-block; 7-drive shaft; 8-motor; 9-controller; 10-ground data collector; 11-energy storage data collector; 12-connecting shaft. DETAILED DESCRIPTION

[0042] The present invention will be further described below in conjunction with specific embodiments:

[0043] Example 1

[0044] like Figures 1 to 5 As shown, the exoskeleton three-dimensional phase-changing driver described in this embodiment includes a first connecting layer 1, a second connecting layer 2, an intermediate layer 3, a coil spring 4, a first limit assembly, a second limit assembly, a controller 9, a ground stepping data collector 10, and an energy storage data collector 11;

[0045] Both the first connecting layer 1 and the second connecting layer 2 are provided with openings, and a connecting shaft 12 is provided in the middle of the second connecting layer 2 .

[0046] Specifically, in this embodiment, the first limiting assembly and the second limiting assembly both include a ratchet 5, a clamping block 6, and a driving assembly.

[0047] Among them, the ratchet 5 is arranged on the periphery of the middle layer 3; the block 6 of the first limiting component and the block 6 of the second limiting component are respectively placed in the opening of the first connecting layer 1 and the opening of the second connecting layer 2, and are respectively rotatably connected to the first connecting layer 1 and the second connecting layer 2.

[0048] The drive assembly of the first limit assembly and the drive assembly of the second limit assembly each include a motor 8, a mounting base, and a transmission shaft 7. The transmission shaft 7 is respectively mounted on the first connecting layer 1 and the second connecting layer 2 through the corresponding mounting base, is rotationally connected to one end of the corresponding clamping block 6, and meshes with the gear at the output end of the corresponding motor 8. Driven by the corresponding motor 8, the transmission shaft 7 performs back-and-forth linear motion.

[0049] Specifically, in this embodiment, the first connecting layer 1 and the second connecting layer 2 are respectively connected or disconnected with the intermediate layer through corresponding clamping blocks 6; when limitedly connected, the end of the clamping block 6 away from the transmission shaft 7 is inserted into the ratchet teeth of the ratchet 5; when disconnected, the end of the clamping block 6 away from the transmission shaft 7 is rotated out from the ratchet teeth of the ratchet 5.

[0050] The coil spring 4 is disposed in the middle layer 3 , with one end of the coil spring 4 connected to the inner side of the middle layer 3 and the other end connected to the connecting shaft 12 in the middle of the second connecting layer 2 .

[0051] Specifically, in this embodiment, the ground stepping data collector 10 is a pressure sensor, which is installed at the contact point between the exoskeleton and the sole of the human foot.

[0052] The energy storage data collector 11 is a torque sensor, which is installed on the connecting shaft 12 .

[0053] The pressure sensor and the torque sensor are both electrically connected to the controller 9 , and the controller 9 is electrically connected to the motor 8 .

[0054] The working principle of this embodiment is as follows:

[0055] The exoskeleton ternary phase-changing actuator described in this embodiment can be switched into four different states, as follows:

[0056] Status 1:

[0057] The block 6 corresponding to the first connecting layer 1 rotates and disengages from the teeth of the ratchet wheel 5, disconnecting the first connecting layer 1 from the intermediate layer 3. Meanwhile, the block 6 corresponding to the second connecting layer 2 rotates and engages the teeth of the ratchet wheel 5. At this point, the first connecting layer 1 can freely rotate around the intermediate layer 3 without being affected by the coil spring 4, while the rotation of the second connecting layer 2 is restricted by the ratchet wheel 5 and the corresponding block 6. This state corresponds to a state where the exoskeleton's ternary phase-changing actuator is not required to provide power.

[0058] State 2:

[0059] The corresponding block 6 of the first connecting layer 1 rotates and inserts into the teeth of the ratchet wheel 5, forming a position-limited connection with the middle layer 3. The corresponding block 6 of the second connecting layer 2 rotates and removes from the teeth of the ratchet wheel 5. At this time, the coil spring 4 (which has stored energy) interacts with the second connecting layer 2 to provide power to the first connecting layer 1. This state corresponds to the situation where the exoskeleton's three-dimensional phase-changing drive is required to provide power.

[0060] State three:

[0061] The first connecting layer 1 and the second connecting layer 2 are both connected to the intermediate layer 3 (limited connection) through corresponding ratchets 5 and blocks 6. Both the first connecting layer 1 and the second connecting layer 2 can only rotate in one direction. This unidirectional rotation continuously compresses the elastic force of the coil spring 4 (the continuous compression process is the process of continuous energy storage). This state corresponds to the situation where the coil spring 4 needs to quickly store energy.

[0062] State 4:

[0063] The blocks 6 corresponding to the first connecting layer 1 and the second connecting layer 2 rotate and disengage from the teeth of the corresponding ratchet wheels 5, thereby disconnecting from the middle layer and completely releasing the energy of the coil spring 4. This state corresponds to when the exoskeleton ternary phase-changing actuator is not used for an extended period of time, which helps to extend the life of the coil spring 4.

[0064] Among the four states mentioned above, states one, two, and three correspond to the process of a person walking, and are described as follows:

[0065] When people walk, it is divided into two kinds of situations that foot leaves the ground (lift foot, put down foot) and foot steps on the ground.Wherein, when foot leaves the ground, people's knee cap does not need to exert force, therefore, the exoskeleton ternary phase-changing driver for assisting knee cap does not need to provide power, at this moment, the exoskeleton ternary phase-changing driver switches to state one. When foot steps on the ground, people's knee cap needs to exert force, therefore, need the exoskeleton ternary phase-changing driver to provide power, at this moment, the exoskeleton ternary phase-changing driver switches to state two.In addition, because the energy of coil spring 4 needs to be constantly consumed in the process of people walking (although coil spring 4 also has energy storage in the process of walking, for example, foot can bend when contacting the ground to leaving the ground, but the energy consumed by coil spring 4 as a whole is greater than the energy stored), therefore, coil spring 4 needs energy storage rapidly, at this moment, the exoskeleton ternary phase-changing driver switches to state three.

[0066] In the above, the state switching is achieved through the cooperation of the controller 9, the pressure sensor, and the torque sensor, as described below:

[0067] When a person walks, when the pressure sensor detects that the foot is on the ground (the pressure detected when the foot is on the ground is different from the pressure detected when the foot is off the ground), the controller 9 controls the motor 8 on the first connecting layer 1, which drives the corresponding block 6 to rotate through the corresponding transmission shaft 7 and insert it into the ratchet teeth of the corresponding ratchet 5; at the same time, the controller 9 also controls the motor 8 on the second connecting layer 2, which drives the corresponding block 6 to rotate through the corresponding transmission shaft 7 and remove it from the ratchet teeth of the corresponding ratchet 5, thereby switching the exoskeleton's three-dimensional phase-changing actuator to state 2. When the pressure sensor detects that the foot is off the ground, the controller 9 controls the motor 8 on the first connecting layer 1, which drives the corresponding block 6 to rotate through the corresponding transmission shaft 7 and remove it from the ratchet teeth of the corresponding ratchet 5; at the same time, the controller 9 also controls the motor 8 on the second connecting layer 2, which drives the corresponding block 6 to rotate through the corresponding transmission shaft 7 and insert it into the ratchet teeth of the corresponding ratchet 5, thereby switching the exoskeleton's three-dimensional phase-changing actuator to state 1. When the torque sensor detects the torque of the connecting shaft 12 of the second connecting layer 2, the state is switched to state three according to the torque value. Since the torque is proportional to the energy stored in the coil spring 4, when the torque value is less than the set low threshold, the exoskeleton three-dimensional phase-changing drive switches to state three, and when the torque value is greater than the set high threshold, the exoskeleton three-dimensional phase-changing drive leaves state three. When the pressure value detected by the pressure sensor is 0 for a long time, the controller 9 controls the motor 8 on the first connecting layer 1 and the motor 8 on the second connecting layer 2 to drive the corresponding transmission shaft 7, so that the corresponding block 6 of the first connecting layer 1 and the corresponding block 6 of the second connecting layer 2 rotate and leave the ratchet teeth of the corresponding ratchet 5, thereby switching the exoskeleton three-dimensional phase-changing drive to state four.

[0068] This embodiment combines mechanical drive with electronic control for dynamic assistance rather than directly adopting electric drive. This not only reduces dependence on power supply but also improves the dynamic flexibility of the drive.

[0069] Example 2

[0070] Compared with the first embodiment, the energy storage data collector 11 in this embodiment is a pressure patch, which is arranged at the contact point between the exoskeleton and the human thigh. After the pressure patch detects the contact pressure between the exoskeleton and the body, the controller 9 will control the state of the exoskeleton ternary phase-changing drive according to the detection result (to see whether it is necessary to switch to state three).

[0071] Finally, the ternary phase change is explained. Ternary means that the core has three changing elements, namely two connecting layer components (the first connecting layer component 1 and the second connecting layer component 2) and an intermediate layer component 3.

[0072] The embodiments described above are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. Therefore, any changes made based on the shape and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. An exoskeleton three-element phase-changing actuator, characterized in that: It includes a first connecting layer component, a second connecting layer component, an intermediate layer component, and an energy storage component; in, The first connecting layer is detachably connected to the intermediate layer, and the first connecting layer is controlled to rotate unidirectionally or freely around the intermediate layer through the detachable connection between the first connecting layer and the intermediate layer; The second connecting layer is detachably connected to the intermediate layer, and the second connecting layer is controlled to rotate unidirectionally or freely around the intermediate layer through the detachable connection between the second connecting layer and the intermediate layer; The energy storage component is arranged in the middle layer component, one end of the energy storage component is connected to the inner side of the middle layer component, and the other end is connected to the second connection layer component; It also includes a first limiting component and a second limiting component; The first connecting layer is connected or disconnected with the middle layer by a first limiting assembly; The second connecting layer is connected or disconnected with the middle layer by a second limiting assembly; The first limiting assembly and the second limiting assembly both include a ratchet, a clamping block, and a driving assembly; The ratchet is arranged on the periphery of the middle layer; The clamping blocks are respectively connected to the corresponding first connection layer components and second connection layer components; The first connecting layer and the second connecting layer are both driven by corresponding drive assemblies to cooperate with corresponding clamps and ratchets to achieve limited connection or disconnection with the intermediate layer; The driving assembly includes a transmission shaft assembly and a motor; The transmission shaft assembly is connected to the motor and the clamping block respectively, and the motor provides the force to drive the clamping block; It also includes a controller, a ground-stepping data collector, and an energy storage data collector; The ground stepping data collector and the energy storage data collector are both electrically connected to the controller, and the controller is electrically connected to the motor; The second connecting layer is provided with a connecting shaft, and the second connecting layer is connected to the energy storage member via the connecting shaft; The energy storage data collector is a torque sensor, which is installed on the connecting shaft.

2. The exoskeleton ternary phase-changing actuator according to claim 1, characterized in that: The ground stepping data collector is a pressure sensor, which is installed at the contact point between the exoskeleton and the sole of the human foot.

3. The exoskeleton ternary phase-changing actuator according to claim 1, characterized in that: The energy storage data collector is a pressure patch, which is arranged at the contact point between the exoskeleton and the human thigh.

4. An exoskeleton ternary phase-changing actuator according to any one of claims 1 to 3, characterized in that: The energy storage member is a coil spring or a spring.

5. Application of an exoskeleton ternary phase-changing actuator according to any one of claims 1 to 3 on an exoskeleton, characterized in that: The driver is installed at the joints of the exoskeleton and is used to drive the exoskeleton to move.

Images