Reactionless ankle assist device

Abstract

The application relates to a reaction-free ankle joint assisting device, and relates to an ankle joint assisting device.The application is used for solving the problems of the existing wearable assisting device, such as the large self weight, the small output assisting force and the poor man-machine structure compatibility.The one end of a supporting fixed support is rigidly connected at the sole of a wearer, the other end of the supporting fixed support is upwardly inclined above the toes of the wearer, a No.1 flywheel module and a No.2 flywheel module are arranged and installed on the other end of the supporting fixed support in a 45-degree angle mode with the sagittal axis of the wearer, the No.1 flywheel module and the No.2 flywheel module are freely rotated along the vertical axis on the supporting fixed support, a flywheel frame driving module is installed on the supporting fixed support and is close to the No.1 flywheel module, the flywheel frame driving module provides the power for the No.1 flywheel module to freely rotate along the vertical axis, and the No.1 flywheel module transmits the freely rotating power to the No.2 flywheel module.The application is used for ankle joint assisting.

Description

TECHNICAL FIELD

[0001] The present application relates to an ankle joint power assisting device, in particular to a lightweight and non-reactive ankle joint power assisting device. BACKGROUND

[0002] Limb movement disability has become one of the important factors that seriously restrict the improvement of national health level. In recent years, the vigorous development of wearable power assisting device technology brings new ideas for the rehabilitation of patients with movement dysfunction, and is expected to help such groups to complete daily physiological activities, and even to restore motor function.

[0003] The existing wearable power assisting device generally has a large weight, such as: the patent with the patent name of a hydraulic drive ankle joint power assisting device with the announcement number CN109077897B, which uses hydraulic pressure to replace the human force to compress the spring energy storage, sets two two-way electromagnetic valves, and completes the energy storage and release of the energy storage structure through oil path switching, so as to realize the power assisting of the ankle joint, can reduce the energy consumption of the human body in walking, and reduce the fatigue feeling. The structure of the piston directly connected with the spring is ingenious, simple, reduces the use of materials, reduces the weight of the power assisting device, reduces the burden of the wearer, and reduces the production cost, at the same time, the hydraulic energy storage and release process is more stable, improves the stability and power assisting effect of the power assisting device. The steel wire rope is connected with the ankle support through the rotating shaft, and the included angle between the steel wire rope and the lower leg can be dynamically adjusted to the best angle with the pace of the person in the movement process, so that the force transmission can be carried out in the most economical way, the force transmission efficiency is greatly improved, the power assisting effect is better, and the energy utilization rate is improved.

[0004] The power assisting device uses more parts, so that it has the problem of large weight. Moreover, the output power is small, and the impact in the hydraulic starting and stopping process affects the compatibility of the man-machine structure, so that the equipment cannot work efficiently with the wearer to realize effective power assisting.

[0005] In summary, the existing wearable power assisting device has the problems of large weight, small output power, and poor compatibility of man-machine structure. SUMMARY

[0006] The purpose of the present application is to solve the problems of large weight, small output power, and poor compatibility of man-machine structure of the existing wearable power assisting device. And further provide an ankle joint power assisting device without reaction.

[0007] The technical scheme of the present application is: a reaction force-free ankle joint assisting device comprises a first flywheel module, a second flywheel module, a flywheel frame driving module and a support fixing support, one end of the support fixing support is rigidly connected at the sole of the wearer, the other end of the support fixing support is inclined upward above the toes of the wearer, the first flywheel module and the second flywheel module are arranged and installed on the other end of the support fixing support in a manner that the sagittal axis of the wearer is at a 45° angle, and the first flywheel module and the second flywheel module are both freely rotatable along the vertical axis on the support fixing support, the flywheel frame driving module is installed on the support fixing support and close to the first flywheel module, and the flywheel frame driving module provides power for the first flywheel module to freely rotate along the vertical axis, and the first flywheel module transmits the power of free rotation to the second flywheel module.

[0008] Further, the first flywheel module comprises a flywheel brushless motor, a metal flywheel, a shell and a gear base, the output shaft of the flywheel brushless motor is connected with the metal flywheel, and the shell is installed on the gear base after covering the flywheel brushless motor and the metal flywheel.

[0009] Further, the upper part of the gear base is a seat body, the middle part is a straight tooth gear, and the gear base of the first flywheel module and the gear base of the second flywheel module are engaged.

[0010] Further, the lower part of the gear base is processed with a driven end face gear.

[0011] Preferably, the shell comprises a motor side protection shell and a bearing side protection shell, and the motor side protection shell and the bearing side protection shell are buckled left and right to form the shell.

[0012] Further, the first flywheel module further comprises a flywheel thin-wall deep groove ball bearing and a frame thin-wall deep groove ball bearing, the flywheel thin-wall deep groove ball bearing is sleeved on the rotating shaft of the metal flywheel, and the frame thin-wall deep groove ball bearing is sleeved on the gear shaft of the lower end face of the straight tooth gear of the gear base.

[0013] Further, the flywheel frame driving module comprises a driving end face gear and a frame brushless motor, the output shaft of the frame brushless motor is connected with the driving end face gear, and the driving end face gear is engaged with the driven end face gear on the gear base.

[0014] Further, the support fixing support 4 comprises a connecting support 401, a bearing motor support 402, a support column 404 and a base 405, the bearing motor support 402 is installed on the upper part of the connecting support 401, one end of the support column 404 is connected with the bearing motor support 402, and the other end of the support column 404 is connected with the base 405.

[0015] Preferably, the support column 404 and the base 405 are both made of aluminum.

[0016] Further, the support fixing support 4 further comprises a trigger switch 403, which is installed on a support column 404.

[0017] Compared with the prior art, the present application has the following effects:

[0018] 1. The present application provides a non-reaction force assist force to the ankle joint in the form of gyroscopic torque, solves the problem of low man-machine structural compatibility caused by wearing discomfort due to the pulling of the motor reaction force of the traditional exoskeleton type wearable assist device, and simultaneously utilizes the torque amplification effect of the gyro, so that the device realizes a large assist force output under a relatively low weight.

[0019] 2. The present application has a simple structure, wherein the two flywheel modules are integrally arranged, and the structure is small and compact. The support fixing support 4 optimizes the material under the condition of ensuring the support strength, is made of aluminum material with lighter quality, and further reduces the weight of the entire assist device.

[0020] 3. The present application realizes precise control of the working or not of the assist device through the trigger switch, selects a suitable assist torque according to the actual walking condition of the wearer, and has good man-machine structural compatibility. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is the overall structure front view schematic diagram of the lightweight non-reaction force ankle assist device provided by the present application;

[0022] Figure 2 is the structure explosion diagram of the No. 1 flywheel module of the present application;

[0023] Figure 3 is the structure explosion diagram of the flywheel frame driving module of the present application;

[0024] Figure 4 is the structure explosion diagram of the support fixing support of the present application;

[0025] Figure 5 is the front view schematic diagram of the lightweight non-reaction force ankle assist device provided by the present application;

[0026] Figure 6 is Figure 5 the top view schematic diagram of

[0027] Figure 7 is Figure 5 the right view schematic diagram of

[0028] Figure 8 is the overall structure schematic diagram of the present application.

[0029] In the figure: 1, the first flywheel module; 2, the second flywheel module; 3, the flywheel frame driving module; 4, the support fixed support; 101, the motor side protection shell; 102, the flywheel brushless motor; 103, the metal flywheel; 104, the flywheel thin-walled deep groove ball bearing; 105, the bearing side protection shell; 106, the gear base; 107, the frame thin-walled deep groove ball bearing; 301, the driving end face gear; 302, the frame brushless motor; 401, the metal connecting support; 402, the bearing motor base; 403, the trigger switch; 404, the support aluminum column; 405, the aluminum column base. DETAILED DESCRIPTION

[0030] Specific implementation one: combination Figures 1 to 8 In this embodiment, the embodiment includes a first flywheel module 1, a second flywheel module 2, a flywheel frame driving module 3 and a support fixed support 4. One end of the support fixed support 4 is rigidly connected at the bottom of the wearer's shoe, and the other end of the support fixed support 4 is inclined upward above the wearer's toes. The first flywheel module 1 and the second flywheel module 2 are arranged and installed on the other end of the support fixed support 4 at an angle of 45° with the wearer's sagittal axis, and both the first flywheel module 1 and the second flywheel module 2 are freely rotatable along the vertical axis on the support fixed support 4. The flywheel frame driving module 3 is installed on the support fixed support 4 and close to the first flywheel module 1, and the flywheel frame driving module 3 provides power for the first flywheel module 1 to rotate freely along the vertical axis. The first flywheel module 1 transmits the power of free rotation to the second flywheel module 2.

[0031] In this embodiment, the first flywheel module 1 and the second flywheel module 2 are designed the same and arranged and installed on the support fixed support 4 at an angle of 45° with the wearer's sagittal axis, and are freely rotatable along the vertical axis on the support fixed support 4. The flywheel frame driving module 3 is installed on the support fixed support 4 close to the direction of the wearer of the first flywheel module 1. The support fixed support 4 is the base of the whole device, and is rigidly connected to the bottom of the wearer's shoe by rivets.

[0032] The first flywheel module and the second flywheel module adopt the same design, and the flywheel brushless motor, the metal flywheel and the gear base are arranged in the module. The first flywheel module and the second flywheel module are arranged on the support fixing frame at an angle of 45° with the sagittal axis of the wearer, and the straight gear on the gear base is meshed with each other to realize the free synchronous reverse rotation of the two flywheel modules along the vertical axis direction. The flywheel frame driving module is arranged on the support fixing frame in the direction close to the wearer of the first flywheel module, and the flywheel frame driving module is meshed with the gear base in the first flywheel module through the face gear to adjust the orientation of the two flywheel modules. The support fixing bracket is the base of the whole device, and is rigidly connected to the sole of the wearer through rivets to transmit the power assistance. The technical scheme utilizes the gyroscopic moment to realize the motion assistance of the ankle joint, has the advantages of light weight, large output and no reaction force, and solves the problems of large device weight, small output and reaction force of the existing wearable power assistance device.

[0033] Specific implementation method two: in combination Figure 2 In this embodiment, the first flywheel module 1 includes a flywheel brushless motor 102, a metal flywheel 103, a shell and a gear base 106. The output shaft of the flywheel brushless motor 102 is connected with the metal flywheel 103, and the shell is arranged on the gear base 106 after covering the flywheel brushless motor 102 and the metal flywheel 103. The other components and connection relationships are the same as those in the first specific implementation method.

[0034] Specific implementation method three: in combination Figure 2 In this embodiment, the upper part of the gear base 106 is a seat body, and the middle part is a straight gear. The gear base 106 of the first flywheel module 1 is meshed with the gear base 106 of the second flywheel module 2. In this way, the straight gear is used for the mutual meshing between the first flywheel module 1 and the second flywheel module 2, and the seat body is used for mounting the assembly after the combination of the flywheel brushless motor 102 and the metal flywheel 103. The other components and connection relationships are the same as those in the second specific implementation method.

[0035] Specific implementation method four: in combination Figure 1 、 Figures 2 to 5 In this embodiment, the lower part of the gear base 106 is provided with a driven face gear. In this way, the driven face gear is meshed with the flywheel frame driving module 3 at an angle of 90°, which is simple in structure, does not need to add other gear members to convert the meshing angle, further reduces the overall weight of the power assistance device, and is compact in structure and small in space occupation. The other components and connection relationships are the same as those in the third specific implementation method.

[0036] Specific implementation method five: in combination Figure 2The embodiment is described, the shell of the embodiment includes the motor side protection shell 101 and the bearing side protection shell 105, and the motor side protection shell 101 and the bearing side protection shell 105 are buckled left and right to form the shell. In this way, the disassembly and assembly are convenient, and the structure is simple. The other components and connection relationships are the same as any one of the first to fourth embodiments.

[0037] The sixth embodiment is described. Figure 2 The embodiment is described, the flywheel module 1 of the embodiment further includes a flywheel thin-wall deep groove ball bearing 104 and a frame thin-wall deep groove ball bearing 107, the flywheel thin-wall deep groove ball bearing 104 is sleeved on the rotating shaft of the metal flywheel 103, and the frame thin-wall deep groove ball bearing 107 is sleeved on the gear shaft on the lower end surface of the straight gear on the gear base 106. In this way, flexible rotation between the components is facilitated, and the assistance effect is ensured. The other components and connection relationships are the same as any one of the first to fifth embodiments.

[0038] The seventh embodiment is described. Figure 3 The flywheel frame driving module 3 of the embodiment includes a driving end face gear 301 and a frame brushless motor 302, the output shaft of the frame brushless motor 302 is connected with the driving end face gear 301, and the driving end face gear 301 is engaged with the driven end face gear on the gear base 106. In this way, the driving end face gear 301 is engaged with the driven end face gear, thereby driving the straight gear on the gear base 106 to rotate, and the straight gear is engaged with the straight gear of the second flywheel module 2, so that the flywheel frame driving module 3 drives the first flywheel module 1 and the second flywheel module 2 to act simultaneously. The other components and connection relationships are the same as any one of the first to sixth embodiments.

[0039] The eighth embodiment is described. Figure 4 The support fixing support 4 of the embodiment includes a connecting support 401, a bearing motor support 402, a support column 404, and a base 405, the bearing motor support 402 is installed on the upper part of the connecting support 401, one end of the support column 404 is connected with the bearing motor support 402, and the other end of the support column 404 is connected with the base 405. In this way, the first flywheel module 1 and the second flywheel module 2 and the flywheel frame driving module 3 are supported and can be connected with the wearer. The whole frame structure is simple, wherein the connecting support 401 is provided with a plurality of lightening holes, further reducing the weight of the whole assistance device. The other components and connection relationships are the same as any one of the first to seventh embodiments.

[0040] The ninth embodiment is described. Figure 4In this embodiment, the support column 404 and the base 405 are both made of aluminum. In this way, the weight is lighter while ensuring the support strength. The other components and connection relationships are the same as any one of embodiments 1-8.

[0041] Embodiment 10 Figure 4 In this embodiment, the support fixing support 4 further includes a trigger switch 403, which is installed on the support column 404.

[0042] The support fixing support 4 is composed of a metal connecting support 401 in a semi-enclosed frame structure, with a support aluminum column 404 inside to enhance its lateral stiffness. The bottom outside of the metal connecting support 401 is provided with a trigger switch 403 to detect the wearer's gait. The first flywheel module 1 and the second flywheel module 2 are installed between the metal connecting support 401 and the bearing motor base 402. The other components and connection relationships are the same as any one of embodiments 1-8.

[0043] Embodiment 10 Figures 1 to 8 The working principle of the present application is as follows:

[0044] In use, first assemble the components according to the connection relationships described in embodiments 1-10, and then install the metal connecting support 401 with a pin to the wearer's shoe sole.

[0045] The first flywheel module 1 and the second flywheel module 2 are designed the same way. Taking the first flywheel module as an example, the flywheel brushless motor 102, the metal flywheel 103, and the flywheel thin-wall deep groove ball bearing 104 together constitute the flywheel part of the first flywheel module 1. In use, the flywheel parts of the first flywheel module 1 and the second flywheel module 2 rotate at high speed, together providing the required basic angular momentum for the invention, a lightweight and non-reactive ankle joint assist device.

[0046] When the trigger switch 403 detects the wearer's heel-off gait during walking, it is determined that the assist trigger opportunity has arrived. At this time, the frame brushless motor 302 drives the first flywheel module 1 and the second flywheel module 2 to rotate a certain angle on the support fixing support 4 through the transmission chain composed of the drive end face gear 301, the gear base 106, and the second flywheel module 2, thereby changing the angular momentum vector direction of the flywheels in the two flywheel modules. An impulse-type assist torque is generated by the principle of gyroscopic moment, which is transmitted to the human ankle through the metal connecting support 401, thereby realizing non-reactive assist during human walking.

[0047] The foregoing detailed description of the application has been presented for purposes of illustration and description. Various modifications and changes can be made to these embodiments without departing from the spirit and scope of the application. It is intended that the scope of the application should not be limited by the particular representative embodiments described above.

Claims

1. A passive ankle assist device, characterized by: It includes a flywheel module (1), a second flywheel module (2), a flywheel frame drive module (3) and a support fixed support (4), One end of the support fixed support (4) is rigidly connected to the bottom of the wearer, the other end of the support fixed support (4) is inclined upward above the wearer's toes, the first flywheel module (1) and the second flywheel module (2) are arranged and installed on the other end of the support fixed support (4) in a 45° angle with the sagittal axis of the wearer, the first flywheel module (1) and the second flywheel module (2) are in meshing, and the first flywheel module (1) and the second flywheel module (2) are both freely rotating along the vertical axis on the support fixed support (4), the flywheel frame drive module (3) is installed on the support fixed support (4) and close to the first flywheel module (1), and the flywheel frame drive module (3) provides power for the first flywheel module (1) to rotate freely along the vertical axis, and the first flywheel module (1) transmits the power of free rotation to the second flywheel module (2).

2. A passive ankle assist device according to claim 1, characterized in that: The first flywheel module (1) includes a flywheel brushless motor (102), a metal flywheel (103), a shell and a gear base (106), The output shaft of the flywheel brushless motor (102) is connected with the metal flywheel (103), and the shell is installed on the gear base (106) after covering the flywheel brushless motor (102) and the metal flywheel (103).

3. A passive ankle assist device according to claim 2, characterized in that: The upper part of the gear base (106) is a seat body, the middle part is a straight tooth gear, the gear base (106) of the first flywheel module (1) and the gear base (106) of the second flywheel module (2) are in meshing.

4. A passive ankle assist device according to claim 3, characterized in that: The lower part of the gear base (106) is processed with a driven end face gear.

5. A passive ankle assist device according to claim 4, characterized in that: The shell includes a motor side protection shell (101) and a bearing side protection shell (105), and the motor side protection shell (101) and the bearing side protection shell (105) are buckled left and right to form the shell.

6. A passive ankle assist device according to claim 5, characterized in that: The first flywheel module (1) further includes a flywheel thin-wall deep groove ball bearing (104) and a frame thin-wall deep groove ball bearing (107), the flywheel thin-wall deep groove ball bearing (104) is sleeved on the rotating shaft of the metal flywheel (103), and the frame thin-wall deep groove ball bearing (107) is sleeved on the gear shaft at the lower end face of the straight tooth gear of the gear base (106).

7. A passive ankle assist device according to claim 1 or 6, characterized in that: The flywheel frame drive module (3) includes a drive end face gear (301) and a frame brushless motor (302), the output shaft of the frame brushless motor (302) is connected with the drive end face gear (301), and the drive end face gear (301) is in meshing with the driven end face gear on the gear base (106).

8. A passive ankle assist device according to claim 7, characterized in that: The support fixed support (4) includes a connecting support (401), a bearing motor support (402), a support column (404) and a base (405), the bearing motor support (402) is installed on the upper part of the connecting support (401), one end of the support column (404) is connected with the bearing motor support (402), and the other end of the support column (404) is connected with the base (405).

9. A passive ankle assist device according to claim 8, characterized in that: The support column (404) and the base (405) are both made of aluminum.

10. A passive ankle assist device according to claim 9, characterized in that: The support fixed support (4) further includes a trigger switch (403), and the trigger switch (403) is installed on the support column (404).

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