Wearable pedal auxiliary mechanism based on potential energy recovery

Abstract

The invention relates to the technical field of power-assisted exoskeletons, and provides a wearable pedal auxiliary mechanism based on potential energy recovery. Comprising a pedal assembly, a leg mechanism, a power-assisted bias assembly and an energy storage assembly. Wherein the pedal assembly is connected with the leg mechanism through an ankle joint; thigh assemblies and shank assemblies of the leg mechanisms are connected through knee joints; the knee joint is connected with the power-assisted bias assembly, the power-assisted bias assembly is connected with one end of the energy storage assembly, and the other end of the energy storage assembly is connected with the pedal assembly. The auxiliary mechanism has the beneficial effects that firstly, the auxiliary mechanism meets the rapid energy storage and release functions of the pedal auxiliary unit and the energy storage assembly, secondly, the body structure is of a humanoid structure form, the humanoid knee joint is provided with the power assisting bias assembly with the adjustable bias position, and the joint power assisting function of different wearers can be met; and finally, gravitational potential energy is recycled and stored to assist joints while the wearable appearance walks in a load-bearing manner, so that passive assistance is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of power-assisted exoskeletons, and in particular to a wearable pedal assist mechanism based on potential energy recovery. Background Art

[0002] The lower limb exoskeleton robot is a wearable device for the human body. It is worn on the human limbs and can provide assistance or auxiliary support when the human body is stationary or moving. It is a robot system that enhances the human movement ability. It can use mechanical mechanisms and information collection systems such as sensors to provide assistance and real-time assistance to the human body, helping the wearer to complete actions and tasks under overload conditions. Exoskeleton applications are divided into two categories: military and civilian. The military is mainly used to improve the soldiers' load-carrying capacity, which is beneficial for soldiers to patrol the border or high-altitude cold and work in special environments; the civilian use is mainly used in firefighting, medical rehabilitation, and helping the elderly and the disabled, to assist walking or improve load-bearing capacity.

[0003] At present, the penetration rate in the field of exoskeleton robot technology is still low. Lower limb exoskeleton robots include active power-assisted and passive power-assisted types. Active power-assisted exoskeleton drive systems include hydraulic drive, motor drive, pneumatic drive, and flexible artificial muscle drive. Such exoskeleton mechanical bodies are generally heavy, poor in portability, have a large sense of load on the human body, poor human-machine coupling, deviation when worn, mismatched center of gravity, and cannot meet the accuracy and synchronization of human-machine interaction.

[0004] In the multiple patents and actual prototypes that have been published, the lower limb active exoskeleton robot consists of hip joint components, knee joint components, ankle joint components and connectors, and uses integrated designs such as servo motors, harmonic reducers and encoders at the joints. It provides assistance to the wearer through human-machine bindings, assists the wearer in walking, and supports the locking function when standing. Due to the complex structure of the entire exoskeleton system, the whole machine is heavy and the mechanism is inconvenient to wear.

[0005] Passive assisted exoskeletons are widely used in lower limb assisted rehabilitation. Due to its simple structure, it can meet the primary needs of lower limb rehabilitation patients and the elderly; but due to the lack of source power support, the application of passive exoskeletons for lower limbs is limited, and it cannot provide help to wearers with higher assistance needs. As the main component of lower limb exoskeleton robots, passive assisted exoskeletons generally include power-assisted joints, mechanical systems, human-computer interaction systems, etc. Among them, the construction of mechanical mechanisms and power-assisted joints is the core point and also the difficulty.

[0006] Traditional knee exoskeletons require an independent power source at the joint to provide power or store energy to assist the joint. Due to the complex arrangement of the power source and the joint, the overall structure is heavy and inconvenient to wear, or the passive assistance intervention effect is poor. In view of this, the present invention is proposed. Summary of the invention

[0007] The purpose of the present invention is to provide a wearable pedal assist mechanism based on potential energy recovery to solve the technical problems existing in the prior art.

[0008] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a wearable pedal assist mechanism based on potential energy recovery, comprising: a pedal assembly, a leg mechanism, a power bias assembly and an energy storage assembly; wherein the pedal assembly is connected to the leg mechanism through an ankle joint; the thigh assembly and the calf assembly of the leg mechanism are connected through a knee joint;

[0009] The knee joint is connected to the power-assist biasing assembly, the power-assist biasing assembly is connected to one end of the energy storage assembly, and the other end of the energy storage assembly is connected to the pedal assembly.

[0010] In an optional embodiment, the first thigh link and the second thigh link in the thigh assembly are telescopically connected, and the first thigh link and the second thigh link are locked and fixed by a locking assembly.

[0011] In an optional embodiment, the first calf link and the second calf link in the calf assembly are telescopically connected, and the first calf link and the second calf link are locked and fixed by a second locking member.

[0012] In an optional embodiment, the knee joint includes a base member, an output flange member, and a first bearing, and the base member and the output flange member are rotatably connected via the first bearing;

[0013] The base member is connected to the second thigh connecting rod, and the output flange member is connected to the first shank connecting rod;

[0014] The base member is provided with a plurality of first mounting holes arranged in an arc shape.

[0015] In an optional embodiment, the power assist biasing assembly includes a bearing seat, a second bearing and an axle pin, wherein the second bearing is mounted on the bearing seat, and the axle pin is mounted in an inner ring of the second bearing.

[0016] In an optional embodiment, a plurality of arc-shaped second mounting holes are provided on the bearing seat, the number of the arc-shaped second mounting holes is less than the number of the first mounting holes, the distance between adjacent first mounting holes is equal to the distance between adjacent second mounting holes, and the radius of the arrangement arc of the plurality of first mounting holes is equal to the radius of the arrangement arc of the plurality of second mounting holes.

[0017] In an optional embodiment, the energy storage assembly includes an elastic member, an upper end fixing member, and a lower end fixing member, the upper end fixing member and the lower end fixing member are respectively connected to the two ends of the elastic member; the upper end fixing member is connected to the shaft pin.

[0018] In an optional embodiment, the elastic sole in the pedal assembly is a Y-shaped rear-opening type, the front end of the elastic sole is integrated, and the rear end of the elastic sole is divided into upper and lower layers. After the upper and lower layers of the rear end are opened, the elastic sole is Y-shaped as a whole.

[0019] In an optional embodiment, the rear end upper layer of the elastic sole is fixedly connected to the first bracket, the rear end lower layer of the elastic sole is fixedly connected to the second bracket, and the first bracket is hinged to the second bracket;

[0020] The first bracket is connected to a U-shaped fixing member in the hard structure component, and the U-shaped fixing member is connected to the ankle joint.

[0021] In an optional embodiment, the second bracket is fixedly connected to the fixing seat, the fixing seat is connected to the guide column in the potential energy collection assembly, the guide column is slidably connected in the through hole of the L-shaped part, the L-shaped part is rotatably connected to the U-shaped fixing part, the upper end of the guide column is fixedly connected to the Y-shaped fixing part, and the Y-shaped fixing part is connected to the lower end fixing part.

[0022] The beneficial effects of the present invention are: the auxiliary mechanism first meets the function of rapid energy storage and release of the pedal auxiliary unit and the energy storage component; secondly, the main body structure has an anthropomorphic structure, and the anthropomorphic knee joint is provided with an assist bias component with an adjustable bias position, which can meet the joint assist function of different wearers; finally, while the wearer is walking with weight, the gravitational potential energy is recovered and stored to assist the joints, while meeting the lightweight requirement and realizing passive assistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art 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 creative work.

[0024] Figure 1 It is a schematic structural diagram of a wearable pedal assist mechanism based on potential energy recovery provided in one embodiment of the present invention.

[0025] Figure 2 It is a schematic structural diagram of a pedal assembly in a wearable pedal assist mechanism based on potential energy recovery provided in one embodiment of the present invention.

[0026] Figure 3 This is a schematic structural diagram of a leg mechanism in a wearable pedal assist mechanism based on potential energy recovery provided in one embodiment of the present invention.

[0027] Figure 4It is a schematic structural diagram of a knee joint in a leg mechanism provided in one embodiment of the present invention.

[0028] Figure 5 It is a schematic diagram of the structure of the hip joint in a wearable pedal assist mechanism based on potential energy recovery provided in one embodiment of the present invention.

[0029] Figure 6 It is a schematic structural diagram of a power assist biasing component in a wearable pedal assist mechanism based on potential energy recovery provided in one embodiment of the present invention.

[0030] Figure 7 It is a schematic structural diagram of an energy storage component in a wearable pedal assist mechanism based on potential energy recovery provided in one embodiment of the present invention.

[0031] Wherein, the accompanying drawings are marked as follows:

[0032] 1-pedal assembly, 11-ankle joint, 12-elastic sole, 13-hard structure assembly, 131-U-shaped fixing piece, 132-first bracket, 133-second bracket; 14-potential energy collection assembly; 134-fixing seat, 141-L-shaped piece, 142-guide column, 143-Y-shaped fixing piece;

[0033] 2-leg mechanism, 21-thigh assembly, 211-first thigh connecting rod, 212-first locking member, 213-second thigh connecting rod; 22-calf assembly, 221-first calf connecting rod, 222-second locking member, 223-second calf connecting rod; 23-knee joint, 231-base member, 232-output flange member, 233-first bearing, 234-retaining ring; 24-hip joint, 241-fixed seat, 242-flexion and extension member, 243-rotation member, 244-transition connecting member;

[0034] 3-boost biasing assembly, 31-bearing seat, 32-second bearing, 33-axle pin, 34-circlip;

[0035] 4-energy storage component, 41-elastic member, 42-upper end fixing member, 43-lower end fixing member;

[0036] 5-Human-machine binding interface assembly. DETAILED DESCRIPTION

[0037] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0038] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be directly or indirectly located on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are only for the convenience of description and cannot be understood as limitations on the present technical solution. The terms "first" and "second" are only used for the convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0039] Please refer to the attached Figure 1-7 The purpose of this embodiment is to provide a wearable pedal assist mechanism based on potential energy recovery, including: a pedal assembly 1, a leg mechanism 2, a power-assist biasing assembly 3 and an energy storage assembly 4; wherein, the pedal assembly 1 is connected to the leg mechanism 2 through an ankle joint 11; the thigh assembly 21 and the calf assembly 22 of the leg mechanism 2 are connected through a knee joint 23; the knee joint 23 is connected to the power-assist biasing assembly 3, the power-assist biasing assembly 3 is connected to one end of the energy storage assembly 4, and the other end of the energy storage assembly 4 is connected to the pedal assembly 1.

[0040] See attached Figure 3 The first thigh connecting rod 211 and the second thigh connecting rod 213 in the thigh assembly 21 are telescopically connected, and the first thigh connecting rod 211 and the second thigh connecting rod 213 are locked and fixed by the locking assembly 212. The first calf connecting rod 221 and the second calf connecting rod 223 in the calf assembly 22 are telescopically connected, and the first calf connecting rod 221 and the second calf connecting rod 223 are locked and fixed by the second locking member 222. Both the thigh assembly 21 and the calf assembly 22 are telescopic and adaptable to users of different heights and leg lengths. The structural form of the calf assembly 22 is the same as that of the thigh assembly 22, and the sizes are proportional, which will not be repeated here.

[0041] Please refer to the attached Figure 4 The knee joint 23 includes a base member 231, an output flange member 232, and a first bearing 233. The base member 231 and the output flange member 232 are rotatably connected through the first bearing 233. The base member 231 is connected to the second thigh connecting rod 213, and the output flange member 232 is connected to the first calf connecting rod 221. The base member 231 is provided with a plurality of first mounting holes arranged in an arc shape. Auxiliary mounting members such as a retaining ring 234 belong to the prior art and will not be described in detail.

[0042] Please refer to the attached Figure 5The hip joint 24 comprises a fixed seat 241, a flexion and extension member 242, a rotating member 243 and a transitional connecting member 244. The fixed seat 241 is connected to the flexion and extension member 242 by an axis, the lower end of the flexion and extension member 242 is connected to the upper end of the rotating member 243 by an axis pin, the lower end of the rotating member 243 is rotatably connected to the transitional connecting member 244, and the transitional connecting member 244 is fixedly connected to the first thigh connecting rod 211. The bionic human hip is free to move, with flexion and extension, internal and external abduction and internal and external rotation degrees of freedom.

[0043] Please refer to the attached Figure 6 The power assist biasing assembly 3 includes a bearing seat 31, a second bearing 32 and an axle pin 33. The second bearing 32 is mounted on the bearing seat 31, and the axle pin 33 is mounted in the inner ring of the second bearing 32. The bearing seat 31 is provided with a plurality of arc-shaped second mounting holes, the number of the arc-shaped second mounting holes is less than the number of the first mounting holes, and the distance between adjacent first mounting holes is equal to the distance between adjacent second mounting holes, and the radius of the arrangement arc of the plurality of first mounting holes is equal to the radius of the arrangement arc of the plurality of second mounting holes. Through the above structure, the bearing seat 31 can adjust the installation position, change the offset angle between the biasing assembly and the central vertical axis of the knee joint, and improve the size of the variable force arm.

[0044] Clearance Month Figure 7 The energy storage component 4 includes an elastic member 41, an upper fixing member 42, and a lower fixing member 43. The upper fixing member 42 and the lower fixing member 43 are respectively connected to the two ends of the elastic member 41; the upper fixing member 42 is connected to the shaft pin 33. After the pedaling potential energy collection component 14 is activated, the energy storage component 4 is compressed or released by using the travel space of the elastic sole 12, so that the energy storage component 4 can store or release energy.

[0045] Please refer to the attached Figure 2 The elastic sole 12 in the pedal assembly 1 is a Y-shaped rear open type, the front end of the elastic sole 12 is integrated, and the rear end of the elastic sole 12 is divided into upper and lower layers. After the upper and lower layers of the rear end are opened, the elastic sole 12 is Y-shaped as a whole. The upper layer of the rear end of the elastic sole 12 is fixedly connected to the first bracket 132, and the lower layer of the rear end of the elastic sole 12 is fixedly connected to the second bracket 133. The first bracket 132 is hinged to the second bracket 133; the first bracket 132 is connected to the U-shaped fixing member 131 in the hard structure assembly 13, and the U-shaped fixing member 131 is connected to the ankle joint 11. The second bracket 133 is fixedly connected to the fixing seat 134, the fixing seat 134 is connected to the guide column 142 in the potential energy collection assembly 14, the guide column 142 is slidably connected in the through hole of the L-shaped part 141, the L-shaped part 141 is rotatably connected to the U-shaped fixing part 131, the upper end of the guide column 142 is fixedly connected to the Y-shaped fixing part 143, and the Y-shaped fixing part 143 is connected to the lower end fixing part 43.

[0046] The human-machine binding interface assembly 5 includes a thigh binding rear side plate, a calf binding rear side plate, a foot strap, and calf and calf straps, which are not shown in the drawings.

[0047] When in use, the power-assisting mechanism is bound to the calves, thighs and feet. When the leg is lifted, the rear end of the elastic sole 12 is divided into upper and lower layers and opens into a Y shape. When the elastic sole 12 touches the ground and gradually moves to a closed state, the energy storage component 4 stores energy, and the elastic sole 12 can also play a buffering role in the closed state; when the leg is lifted again, the energy storage component 4 releases energy, and the upper and lower layers of the rear end of the elastic sole 12 are closed, with the knee joint 23 as the center point, thereby achieving passive power assistance for the calf.

[0048] Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A wearable pedal assist mechanism based on potential energy recovery, characterized in that: include: A pedal assembly (1), a leg mechanism (2), a power-assistance biasing assembly (3) and an energy storage assembly (4); wherein the pedal assembly (1) and the leg mechanism (2) are connected via an ankle joint (11); and the thigh assembly (21) and the calf assembly (22) of the leg mechanism (2) are connected via a knee joint (23); The knee joint (23) is connected to the power-assist biasing assembly (3), the power-assist biasing assembly (3) is connected to one end of the energy storage assembly (4), and the other end of the energy storage assembly (4) is connected to the pedal assembly (1).

2. The wearable pedal assist mechanism based on potential energy recovery as claimed in claim 2, characterized in that: The first thigh connecting rod (211) and the second thigh connecting rod (213) in the thigh assembly (21) are telescopically connected, and the first thigh connecting rod (211) and the second thigh connecting rod (213) are locked and fixed by a locking assembly (212).

3. The wearable pedal assist mechanism based on potential energy recovery as claimed in claim 2, characterized in that: The first calf connecting rod (221) and the second calf connecting rod (223) in the calf assembly (22) are telescopically connected, and the first calf connecting rod (221) and the second calf connecting rod (223) are locked and fixed by a second locking member (222).

4. The wearable pedal assist mechanism based on potential energy recovery as claimed in claim 3, characterized in that: The knee joint (23) comprises a base member (231), an output flange member (232), and a first bearing (233); the base member (231) and the output flange member (232) are rotatably connected via the first bearing (233); The base member (231) is connected to the second thigh connecting rod (213), and the output flange member (232) is connected to the first shank connecting rod (221); The base member (231) is provided with a plurality of first mounting holes arranged in an arc shape.

5. The wearable pedal assist mechanism based on potential energy recovery as claimed in claim 4, characterized in that: The power assist biasing assembly (3) comprises a bearing seat (31), a second bearing (32) and an axle pin (33), wherein the second bearing (32) is mounted on the bearing seat (31), and the axle pin (33) is mounted in the inner ring of the second bearing (32).

6. The wearable pedal assist mechanism based on potential energy recovery as claimed in claim 5, characterized in that: The bearing seat (31) is provided with a plurality of arc-shaped second mounting holes, the number of the arc-shaped second mounting holes is less than the number of the first mounting holes, the distance between adjacent first mounting holes is equal to the distance between adjacent second mounting holes, and the radius of the arrangement arc of the plurality of first mounting holes is equal to the radius of the arrangement arc of the plurality of second mounting holes.

7. The wearable pedal assist mechanism based on potential energy recovery as claimed in claim 5, characterized in that: The energy storage assembly (4) comprises an elastic member (41), an upper end fixing member (42), and a lower end fixing member (43); the upper end fixing member (42) and the lower end fixing member (43) are respectively connected to two ends of the elastic member (41); and the upper end fixing member (42) is connected to the shaft pin (33).

8. The wearable pedal assist mechanism based on potential energy recovery as claimed in claim 7, characterized in that: The elastic sole (12) in the pedal assembly (1) is a Y-shaped rear open type, the front end of the elastic sole (12) is integral, and the rear end of the elastic sole (12) is divided into an upper layer and a lower layer. When the upper layer and the lower layer of the rear end are opened, the elastic sole (12) is Y-shaped as a whole.

9. The wearable pedal assist mechanism based on potential energy recovery as claimed in claim 8, characterized in that: The rear end upper layer of the elastic sole (12) is fixedly connected to the first bracket (132), the rear end lower layer of the elastic sole (12) is fixedly connected to the second bracket (133), and the first bracket (132) and the second bracket (133) are hinged; The first bracket (132) is connected to a U-shaped fixing member (131) in the hard structure component (13), and the U-shaped fixing member (131) is connected to the ankle joint (11).

10. The wearable pedal assist mechanism based on potential energy recovery as claimed in claim 9, characterized in that: The second bracket (133) is fixedly connected to the fixing seat (134), the fixing seat (134) is connected to the guide column (142) in the potential energy collection component (14), the guide column (142) is slidably connected in the through hole of the L-shaped member (141), the L-shaped member (141) is rotatably connected to the U-shaped fixing member (131), the upper end of the guide column (142) is fixedly connected to the Y-shaped fixing member (143), and the Y-shaped fixing member (143) is connected to the lower end fixing member (43).

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