A synergistic assistive exoskeleton device
By designing an efficiency-enhancing exoskeleton device, the propeller is rotated using the movement of the human leg, solving the problem of energy waste in swimming and achieving a highly efficient swimming assistance effect.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HARBIN INSTITUTE OF TECHNOLOGY (SHENZHEN) (INSTITUTE OF SCIENCE AND TECHNOLOGY INNOVATION HARBIN INSTITUTE OF TECHNOLOGY SHENZHEN)
- Filing Date
- 2026-03-26
- Publication Date
- 2026-06-30
AI Technical Summary
Existing swimming equipment lacks assistive devices that coordinate with the swimmer's movements, making it impossible to efficiently recover and utilize the energy wasted during swimming strokes.
Design an efficiency-enhancing exoskeleton device that utilizes the movement of the human leg to drive the propeller to rotate, generating forward propulsion by setting a power drive transmission mechanism, tightening connecting rope, and tightening rotation mechanism on the back piece.
Without requiring external energy, swimming efficiency can be improved solely through the swimmer's leg movements, achieving efficient energy recovery and utilization, and enhancing propulsion.
Smart Images
Figure CN122297976A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of underwater assistive equipment technology, and in particular to an efficiency-enhancing assistive exoskeleton device. Background Technology
[0002] Swimming, as a common sport, primarily relies on the arm strokes and leg kicks for propulsion. The leg movement, involving a backward push against the water, utilizes the reaction force of the water to provide the main forward momentum. However, from a biomechanical and fluid dynamics perspective, the efficiency of the leg kick in traditional swimming has inherent limitations. During the kick, some muscle energy is consumed in overcoming the inertia of the limbs and the viscous resistance of the water, rather than being entirely converted into effective forward propulsion.
[0003] Regarding the aforementioned technologies, there is a lack of an assistive device that can coordinate with the swimmer's own movements, requires no external power source, and efficiently recover and utilize the energy that is usually wasted during swimming. Summary of the Invention
[0004] In view of the shortcomings of the prior art, the purpose of this invention is to provide an enhanced assistive exoskeleton device, which aims to solve the problem of the lack of an assistive device that can coordinate with the swimmer's own movements, requires no external power source, and can efficiently recover and utilize the energy that is usually wasted in swimming movements.
[0005] The enhanced assistive exoskeleton device provided in this application adopts the following technical solution: An enhanced assistive exoskeleton device, comprising: Backpack, used to be attached to the user's body; A power assist device is mounted on the carrying component; The assist device includes: A power drive transmission mechanism is designed to be mounted on the feet. Tighten the connecting rope, with one end mounted on the power drive transmission mechanism; A tightening and rotating mechanism is rotatably mounted on the carrying member. The other end of the tightening connecting rope is mounted on the tightening and rotating mechanism. The tightening and rotating mechanism has elastic potential energy to wind up the tightening connecting rope. The propeller is mounted on the tightening and rotating mechanism.
[0006] Optionally, at least two assistive devices may be provided.
[0007] Optionally, the tightening and rotating mechanism includes a tightening and rotating assembly and a one-way rotating assembly. The tightening and rotating assembly is rotatably mounted on the carrying member. One end of the tightening connecting rope is mounted on the tightening and rotating assembly. The tightening and rotating assembly has elastic potential energy to wind up the tightening connecting rope. The unidirectional rotation component is mounted on the tightening rotation component, and the propeller is mounted on the unidirectional rotation component. The unidirectional rotation component is used to transmit unidirectional rotation.
[0008] Optionally, the tightening rotation assembly includes a spool and an elastic element. The spool is rotatably mounted on the carrying member, the elastic element is mounted at the rotatable connection of the spool, one end of the tightening connecting rope is mounted on the spool, and the one-way rotation assembly is coaxially mounted on the spool.
[0009] Optionally, the unidirectional rotation assembly includes a turntable and a ratchet, the turntable being coaxially mounted on the spool and the ratchet being rotatably mounted on the carrying member; The ratchet includes a ratchet disc and ratchet teeth. The ratchet disc is rotatably mounted on the carrying member, and the ratchet disc is coaxially arranged with the turntable. The ratchet teeth are provided in multiple ways, and the multiple ratchet teeth are circumferentially arranged on the ratchet disk. A one-way blocking element is provided between the ratchet teeth and the turntable. The propeller is coaxially mounted on the ratchet disc.
[0010] Optionally, the enhanced assistive exoskeleton device includes an angle control mechanism for adjusting the orientation angle of the propeller, the angle control mechanism being disposed on the back piece.
[0011] Optionally, the angle control mechanism includes a first universal joint, a second universal joint, a cross shaft, and an angle adjustment assembly; The first universal joint is mounted on the tightening and rotating mechanism, the propeller is mounted on the second universal joint, and the cross shaft is rotatably mounted on the first universal joint and the second universal joint respectively; The angle adjustment component is mounted on the second universal joint.
[0012] Optionally, the cross shaft includes a first shaft and a second shaft, wherein the first shaft and the second shaft are arranged perpendicularly; The first shaft is rotatably mounted on the first universal joint; The second shaft is rotatably mounted on the second universal joint; The angle adjustment component includes a handle; One end of the handle is connected to the second shaft.
[0013] Optionally, the angle adjustment component includes a fixing base, which is disposed on the carrying member, and a rotation channel is provided within the fixing base; The handle includes a gripping part, an elastic part, and a rotating part. The gripping part is rotatably and slidably disposed within the rotating channel. The rotating part is rotatably disposed within the rotating channel and is connected to a second shaft. The elastic part is disposed on the rotating part and is located between the gripping part and the rotating part. The gripping part is used to abut against the elastic part.
[0014] Optionally, the angle control mechanism includes a rotating plate and a rotating fixed plate, the rotating fixed plate is disposed on the carrying member, the rotating plate is rotatably disposed on the rotating fixed plate, and the tightening rotating mechanism is disposed on the rotating plate.
[0015] Compared with the prior art, the embodiments of the present invention have the following advantages: During swimming, the user's legs make regular reciprocating movements. When kicking, the tightening and rotating mechanism, under the action of its own elastic potential energy, can convert the linear motion of tightening the connecting rope into circular motion, which ultimately drives the propeller to rotate, thereby generating forward propulsion.
[0016] When the user performs leg-pulling movements, the propeller does not rotate in the opposite direction, thus enabling the propeller to assist the user in swimming.
[0017] This application requires no additional electric power system; it improves the energy efficiency of swimming simply by using the leg movements of the swimmer to drive the propeller. Attached Figure Description
[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0019] Figure 1 This is a schematic diagram of the overall structure of the enhanced assistive exoskeleton device in the embodiments of this application; Figure 2 This is a schematic diagram of the structure of the tightening rotating component and the tightening connecting rope in one implementation of the enhanced assistive exoskeleton device in this application embodiment; Figure 3 This is a schematic diagram of the tightening rotation component and tightening connecting rope in another implementation of the enhanced assistive exoskeleton device in this application embodiment; Figure 4 This is a schematic diagram of the unidirectional rotation component of the enhanced assistive exoskeleton device in the embodiments of this application; Figure 5 This is a schematic diagram of the angle control mechanism in one implementation of the enhanced assistive exoskeleton device in this application.
[0020] Figure 6 This is a schematic diagram of the overall structure of another implementation of the angle control mechanism of the enhanced assistive exoskeleton device in the embodiments of this application.
[0021] Explanation of reference numerals in the attached figures: 1. Carrying component; 11. Carrying strap; 12. Carrying body; 2. Power drive transmission mechanism; 3. Tightening connecting rope; 4. Tightening rotation mechanism; 41. Tightening rotation assembly; 411. First spool; 412. Second spool; 4121. Elastic winding component; 4122. Rope winding component; 413. Third spool; 414. Elastic component; 42. One-way rotation assembly; 421. Turntable; 4211. One-way receiving groove; 4212. One-way blocking groove; 422. Ratchet; 4221. Ratchet disc; 4222. Ratchet tooth; 423. One-way blocking component; 4231. Fixed part; 4232. One-way blocking part; 5. Propeller; 6. Angle control mechanism; 61. First universal joint; 62. Second universal joint; 63. Cross shaft; 631. First shaft; 632. Second shaft; 64. Handle; 641. Grip part; 642. Elastic part; 643. Rotating part; 6431. Receiving groove; 65. Rotating plate; 66. Rotating fixed plate. Detailed Implementation
[0022] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0023] The present application will be further described in detail below with reference to the accompanying drawings.
[0024] This application discloses an enhanced assistive exoskeleton device.
[0025] like Figure 1As shown, an enhanced assistive exoskeleton device includes a back piece 1, a power drive transmission mechanism 2, a tightening connecting rope 3, a tightening rotation mechanism 4, and a propeller 5. The power drive transmission mechanism 2 is mounted on the feet; one end of the tightening connecting rope 3 is mounted on the power drive transmission mechanism; the back piece 1 is mounted on the user's body; the tightening rotation mechanism 4 is rotatably mounted on the back piece 1, and the other end of the tightening connecting rope 3 is mounted on the tightening rotation mechanism 4, which has elastic potential energy to wind and tighten the connecting rope 3; the propeller 5 is mounted on the tightening rotation mechanism 4.
[0026] When a user is swimming, the legs of the human body have regular reciprocating movements. Under the action of its own elastic potential energy, the tightening and rotating mechanism 4 can convert the linear motion of the tightening connecting rope 3 into circular motion, which ultimately drives the propeller 5 to rotate, thereby generating forward propulsion.
[0027] This application requires no additional electric power system; it can improve the energy efficiency of swimming simply by using the leg movements of the swimmer to drive the propeller 5 to rotate.
[0028] Specifically, the carrying device 1 includes a carrying strap 11 and a carrying body 12. There are two carrying straps 11, both of which are set on the carrying body 12. The user's two arms can pass through the two carrying straps 11 respectively, so that the carrying body 12 is worn in front of the chest. The tightening and rotating mechanism 4 is set on the carrying body 12.
[0029] Multiple propellers 5 can be provided, and the power drive transmission mechanism 2, the tightening connecting rope 3, and the tightening rotation mechanism 4 can be provided in multiple ways corresponding to the number of propellers 5.
[0030] In this embodiment, there are two propellers 5, and correspondingly two power drive transmission mechanisms 2, two tightening connecting ropes 3, and two tightening rotation mechanisms 4.
[0031] If the assistive device includes a power drive transmission mechanism 2, a tightening connecting rope 3, a tightening rotation mechanism 4, and a propeller 5, then two sets of assistive devices are installed on the carrying body 12.
[0032] The two sets of assistive devices are controlled by the user's left and right legs respectively. They are independently controlled by the corresponding leg movements and can change the swimming direction left and right according to the user's subjective will. The setting of multiple propellers 5 can effectively improve the balance of the enhanced assistive exoskeleton device during use and further improve swimming efficiency.
[0033] like Figure 1 As shown, the power drive transmission mechanism 2 is installed on both the user's left and right feet. The following explanation uses one of the power drive transmission mechanisms 2 as an example: The power drive transmission mechanism 2 is an elastic strap or Velcro. The power drive transmission mechanism 2 is detachably fixed to the ankle joint.
[0034] One end of the tightening connecting rope 3 is fixed or detachably fixed to the power drive transmission mechanism 2, and the other end is set on the tightening rotation mechanism 4.
[0035] When swimming, the user can repeatedly pull and tighten the connecting rope 3 by exerting force with their lower limbs. Through the transmission of force, the propeller 5 will eventually be driven to rotate.
[0036] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the tightening and rotating mechanism 4 includes a tightening and rotating assembly 41 and a one-way rotating assembly 42. The tightening and rotating assembly 41 is rotatably mounted on the carrying member 1. One end of the tightening connecting rope 3 is mounted on the tightening and rotating assembly 41. The tightening and rotating assembly 41 has elastic potential energy to wind up and tighten the connecting rope 3. The one-way rotating assembly 42 is mounted on the tightening and rotating assembly 41, and the propeller 5 is mounted on the one-way rotating assembly 42. The one-way rotating assembly 42 is used to transmit one-way rotation.
[0037] Specifically, when the user kicks their legs while swimming, the tightening connecting rope 3 will be stretched, and the tightening connecting rope 3 will pull the tightening rotating component 41 to rotate (assuming that the tightening rotating component 41 rotates clockwise at this time). Then the tightening rotating component 41 will transmit the rotation to the one-way rotating component 42, so that the propeller 5 set on the one-way rotating component 42 will rotate clockwise together with the one-way rotating component 42 (the propeller 5 rotates clockwise to help the user swim).
[0038] When the tightening connecting rope 3 becomes shorter (i.e., the user pulls in their legs, the tightening rotating component 41 rotates counterclockwise under the action of elastic potential energy, and the tightening connecting rope 3 is wound up), due to the unidirectional rotation characteristic of the one-way rotating component 42, the one-way rotating component 42 will not rotate counterclockwise with the tightening rotating component 41, thus ensuring that the propeller 5 always rotates clockwise, assisting the user in swimming.
[0039] like Figure 2 and Figure 3 As shown, the tightening and rotating assembly 41 includes a spool and an elastic element 414. The spool is rotatably mounted on the carrying member 1, and the elastic element 414 is mounted at the rotatable connection of the spool. One end of the tightening connecting rope 3 is mounted on the spool, and the one-way rotating assembly 42 is coaxially mounted on the spool.
[0040] Specifically, in one implementation of this application embodiment, the tightening rotation component 41 includes a first spool 411 and a second spool 412. The first spool 411 is rotatably mounted on the carrying member 1, and the second spool 412 is rotatably mounted on the carrying member 1. One end of the elastic member 414 is mounted on the first spool 411, and the other end is mounted on the second spool 412. One end of the tightening connecting rope 3 is mounted on the second spool 412, and the one-way rotation component 42 is coaxially mounted on the second spool 412.
[0041] Furthermore, a first protective shell is provided on the backpack body 12, and a first accommodating space is formed inside the first protective shell. The first spool 411, the second spool 412 and the elastic element 414 are all located inside the first protective shell. The first spool 411 and the second spool 412 are rotatably disposed on the inner wall of the first protective shell.
[0042] The second spool 412 includes an elastic winding member 4121 and a rope winding member 4122. The elastic winding member 4121 and the rope winding member 4122 are coaxially arranged, and the end of the elastic winding member 4121 away from the rope winding member 4122 is rotatably disposed in the first protective housing.
[0043] The elastic element 414 is a spring sheet. One end of the elastic element 414 is disposed on the side wall of the first spool 411, and the other end is disposed on the side wall of the elastic take-up member 4121.
[0044] One end of the tightening connecting rope 3 is set on the side wall of the rope winding component 4122.
[0045] When the user kicks their legs while swimming, the tightening connecting rope 3 is stretched, which in turn pulls the rope winding component 4122 to rotate. The one-way rotating component 42 and the elastic winding component 4121 rotate coaxially with the rope winding component 4122. While the propeller 5 rotates clockwise, it will wind up the elastic component 414 and store elastic potential energy.
[0046] When the user performs a swimming leg pull, the elastic element 414 releases elastic potential energy, and the elastic winding element 4121 rotates in the opposite direction to prepare for the user's next swimming leg kick. Due to the unidirectional rotation characteristic of the one-way rotation component 42, the one-way rotation component 42 will not rotate counterclockwise with the tightening rotation component 41, so that the propeller 5 always keeps rotating clockwise to help the user swim.
[0047] like Figure 3 As shown, in another implementation of this application embodiment, the spool includes a third spool 413, a one-way rotation component 42 is coaxially disposed on the third spool 413, and an elastic rotation hole is provided on the third spool 413, the elastic rotation hole being coaxially disposed with the third spool 413.
[0048] In this implementation, a first protective housing is also provided, the spool is disposed inside the first protective housing, and a rotating shaft is provided on the inner wall of the first protective housing. The rotating shaft is located inside the elastic rotating hole and is coaxially disposed with the elastic rotating hole.
[0049] The elastic element 414 is a coiled spring. The elastic element 414 is wound inside the elastic rotating hole. One end of the elastic element is connected to the inner wall of the elastic rotating hole, and the other end is connected to the rotating shaft.
[0050] The tightening connecting rope 3 is wound on the outer wall of the third spool 413. When the user kicks his legs while swimming, the tightening connecting rope 3 is stretched, thereby pulling the third spool 413 to rotate. While the propeller 5 rotates clockwise, it will wind up the elastic element 414 and store elastic potential energy.
[0051] When the user performs a swimming leg pull, the elastic element 414 releases elastic potential energy, and the third spindle 413 rotates in the opposite direction to prepare for the user's next swimming leg kick.
[0052] like Figure 1 and Figure 4 As shown, in one implementation of this application embodiment, the one-way rotation component 42 includes a turntable 421 and a ratchet 422. The turntable 421 is coaxially mounted on the spool, and the ratchet 422 is rotatably mounted on the carrying member 1. The ratchet 422 includes a ratchet disc 4221 and ratchet teeth 4222. The ratchet disc 4221 is rotatably mounted on the carrying member 1, and the ratchet disc 4221 is coaxially mounted with the turntable 421. Multiple ratchet teeth 4222 are provided, and the multiple ratchet teeth 4222 are circumferentially arranged on the ratchet disc 4221. A one-way blocking member 423 is provided between the ratchet teeth 4222 and the turntable 421. The propeller 5 is coaxially mounted on the ratchet disc 4221.
[0053] Specifically, a second protective shell is provided on the carrying body 12, and a second accommodating space is formed inside the second protective shell. The turntable 421 and the ratchet 422 are both located inside the second protective shell, and the turntable 421 and the ratchet 422 are rotatably arranged on the inner wall of the second protective shell.
[0054] Turntable 421 is coaxially mounted on the second spindle 412 or the third spindle 413. The following explanation will take the example of turntable 421 being mounted on the second spindle 412.
[0055] A one-way receiving groove 4211 is provided on the side of the turntable 421 away from the second spindle 412. The one-way receiving groove 4211 is circular in shape and is concentrically arranged with the turntable 421.
[0056] The ratchet 422 is coaxially arranged with the turntable 421 and is located in the one-way receiving groove 4211.
[0057] The unidirectional receiving groove 4211 has multiple unidirectional blocking grooves 4212 circumferentially distributed on its groove wall, and each unidirectional blocking groove 4212 is provided with a unidirectional blocking element 423.
[0058] Furthermore, the one-way blocking member 423 includes a fixing part 4231 and a one-way blocking part 4232, and one end of the fixing part 4231 and one end of the one-way blocking part 4232 are elastically rotatably connected.
[0059] The fixing part 4231 is located in the one-way blocking groove 4212. When the one-way blocking member 423 is not under force, the one-way blocking part 4232 extends out from the one-way blocking groove 4212 and extends into the concave side of the ratchet tooth 4222.
[0060] When the user kicks their legs while swimming, causing the turntable 421 to rotate (assuming the turntable 421 rotates clockwise), the one-way blocking part 4232 will press against the concave side of the ratchet tooth 4222, thereby enabling the turntable 421 to drive the ratchet 422 to rotate.
[0061] When the user performs a swimming leg pull, causing the turntable 421 to rotate in the opposite direction (i.e., the turntable 421 rotates counterclockwise), the one-way blocking part 4232 rotates towards the concave side away from the ratchet teeth 4222. The ratchet teeth 4222 are no longer under force, and the ratchet 422 no longer rotates with the turntable 421, achieving the effect that the turntable 421 rotates while the ratchet 422 does not rotate. This ensures that the propeller 5 always rotates clockwise, assisting the user in swimming.
[0062] In another implementation of this application, the one-way rotation structure of the turntable and ratchet can be replaced by a one-way bearing (such as a deep groove ball one-way CSK bearing). Since one-way bearings are existing technology, they will not be described in detail here.
[0063] like Figure 1 , Figure 5 and Figure 6 As shown, the enhanced assistive exoskeleton device includes an angle control mechanism 6 for adjusting the orientation angle of the propeller 5, and the angle control mechanism 6 is mounted on the back piece 1.
[0064] like Figure 1 and Figure 5 As shown, in one implementation of this application embodiment, the angle control mechanism 6 is disposed on the tightening and rotating mechanism 4, and the propeller 5 is disposed on the angle control mechanism 6.
[0065] The angle control mechanism 6 can change the pitch angle of the propeller 5.
[0066] For example, the angle control mechanism 6 causes the propeller 5 to generate an upward force, making it easier to float to the surface.
[0067] Furthermore, the angle control mechanism 6 includes a first universal joint 61, a second universal joint 62, a cross shaft 63, and an angle adjustment assembly; the first universal joint 61 is mounted on the ratchet disc 4221, the propeller 5 is mounted on the second universal joint 62, and the cross shaft 63 is rotatably mounted on the first universal joint 61 and the second universal joint 62 respectively; the angle adjustment assembly is mounted on the second universal joint 62.
[0068] The cross shaft 63 includes a first shaft 631 and a second shaft 632, with the center positions of the first shaft 631 and the second shaft 632 being perpendicularly positioned.
[0069] The two ends of the first shaft 631 are rotatably disposed at one end of the first universal joint 61, and the other end of the first universal joint 61 is coaxially disposed with the ratchet disk 4221.
[0070] The two ends of the second shaft 632 are rotatably mounted at one end of the second universal joint 62, and the propeller 5 is coaxially mounted at the other end of the second universal joint 62.
[0071] There is damping between the first shaft 631 and the first universal joint 61, and between the second shaft 632 and the second universal joint 62. That is, after the angle between the first universal joint 61 and the second universal joint 62 is adjusted by the cross shaft 63, the first universal joint 61 and the second universal joint 62 can maintain the current angle state by relying on the damping between the first universal joint 61 and the second universal joint 62 and the cross shaft 63.
[0072] The angle adjustment component is rotatably mounted on the back piece 1, and the angle adjustment component abuts against the second universal joint 62.
[0073] By rotating the angle adjustment component, torque can be transmitted through friction between the angle adjustment component and the second universal joint 62 after they are pressed together, thus adjusting the angle between the first universal joint 61 and the second universal joint 62.
[0074] Furthermore, the angle adjustment assembly includes a handle 64; one end of the handle 64 is connected to the second shaft 632.
[0075] The handle 64 is coaxially set with the second shaft 632. When the angle of the propeller 5 needs to be adjusted, the user can drive the second shaft 632 to rotate by turning the handle 64, thereby changing the included angle between the first universal joint 61 and the second universal joint 62. Since the propeller 5 is set on the second universal joint 62, the angle of the propeller 5 can be adjusted.
[0076] The handle 64 is designed to protrude, and the cross-sectional radius of the end of the handle 64 that is away from the second shaft 632 is larger than the cross-sectional radius of the second shaft 632, so that the user can easily grab and rotate it during swimming. When multiple assistive devices are set, multiple second shafts 632 are coaxially connected. When the handle 64 is rotated, the propellers 5 on all the second handles 64 can be adjusted synchronously, ensuring the consistency of the angle adjustment of all propellers 5.
[0077] Furthermore, the angle adjustment component also includes a fixed base, which is mounted on the back piece 1 and has a rotation channel inside. The handle 64 includes a grip portion 641, an elastic portion 642, and a rotating portion 643. The grip portion 641 is rotatably and slidably disposed in the rotating channel. The rotating portion 643 is rotatably disposed in the rotating channel and is connected to the second shaft 632. The elastic portion 642 is disposed on the rotating portion 643 and is located between the grip portion 641 and the rotating portion 643. The grip portion 641 is used to abut against the elastic portion 642.
[0078] Specifically, a portion of the grip 641 can slide into the rotation channel, and the user can rotate it by the grip 641 that extends outward. The rotation part 643 can be rotatably mounted on the fixed base by bearings or other components. One end of the rotation part 643 is located in the rotation channel, and the other end extends out of the rotation channel and is connected to the second shaft 632.
[0079] The rotating part 643 has a receiving groove 6431 at one end near the gripping part 641 (i.e., the end located in the rotating channel), and the elastic part 642 is a spring, with one end of the elastic part 642 located at the bottom of the receiving groove 6431.
[0080] The shape of the receiving groove 6431 is a regular polygon, and the shape of the end of the gripping part 641 near the rotating part 643 (i.e. the end located in the rotating channel) is the same as the shape of the receiving groove 6431.
[0081] When the angle of the propeller 5 does not need to be adjusted, the end of the grip 641 will not be inserted into the receiving groove 6431 due to the presence of the elastic member 414. At this time, even if the user accidentally touches the grip 641 during swimming, the orientation of the propeller 5 will not change, thus avoiding accidental contact.
[0082] When the propeller 5 needs to be adjusted, the user only needs to insert the grip 641 into the receiving groove 6431 to achieve the engagement of the grip 641 and the rotating part 643. Then, the user can rotate the grip 641 to simultaneously rotate the rotating part 643. Since the rotating part 643 is connected to the second shaft 632, the angle of the propeller 5 can be adjusted.
[0083] Once the propeller 5 is adjusted, the user no longer applies force to the grip 641 in the direction of the rotating part 643. Under the action of the elastic potential energy of the elastic part 642, the elastic part 642 will push the grip 641 out of the receiving groove 6431 again. After that, even if the grip 641 rotates, it will not cause the propeller 5 to rotate.
[0084] In this embodiment, the shape of the receiving groove 6431 can be square, pentagon or hexagon, etc. When the propeller 5 needs to be adjusted, the user only needs to rotate the grip part 641 a few times to insert the end of the grip part 641 into the receiving groove 6431, so that the user will not encounter a situation where the grip part 641 cannot be inserted during swimming.
[0085] To make it easier for the grip 641 to be inserted into the receiving groove 6431, the end of the grip 641 may also be rounded.
[0086] It should be noted that the gripping part 641 will not be pulled out from the fixed base. If a connecting hole is provided on the fixed base, the connecting hole is connected to the rotating channel, but the diameter of the connecting hole is smaller than the channel diameter of the rotating channel.
[0087] The gripping part 641 only needs to be set to a cross-sectional size that matches the diameter of the connecting hole, without affecting the ability of the gripping part 641 to be inserted into the receiving groove 6431.
[0088] like Figure 6 As shown, in another implementation of this application embodiment, the angle control mechanism 6 includes a rotating plate 65 and a rotating fixed plate 66. The rotating fixed plate 66 is disposed on the back member 1, the rotating plate 65 is rotatably disposed on the rotating fixed plate 66, and the tightening rotating mechanism 4 is disposed on the rotating plate 65.
[0089] Specifically, the rotating fixing plate 66 is mounted on the back body 12. To provide a wider range of rotation angles, both the side of the rotating fixing plate 66 facing the rotating plate 65 and the side of the rotating plate 65 facing the rotating fixing plate 66 are inclined surfaces.
[0090] The tightening and rotating mechanism 4 is located on the side of the rotating plate 65 away from the rotating fixed plate 66.
[0091] By rotating the rotating plate 65, the overall angle of the structure set on the entire backpack body 12 can be changed, thereby allowing for uniform angle adjustment of all propellers 5.
[0092] Furthermore, a handle 64 and a fixed base structure are also provided at the rotation connection between the rotating plate 66 and the rotating fixed plate 65. The specific structure of the handle 64 and the fixed base is as described above. The handle 64 structure can prevent accidental contact during swimming, which would cause the angle between the rotating plate 66 and the rotating fixed plate 65 to be adjusted.
[0093] In summary, the enhanced assistive exoskeleton device of this application can perfectly coordinate with the swimmer's own movements, requires no external power source, and can efficiently recover and utilize the energy that is usually wasted in swimming movements.
[0094] Not only does it eliminate the need for an additional electric power system, but it also improves the energy efficiency of swimming by simply using the leg movements of the swimmer to rotate the propeller 5.
[0095] At the same time, compared to existing traditional fins, propulsion efficiency is improved by increasing the contact area between the feet and the water. It does not rely entirely on the user's own muscle strength.
[0096] The working principle of this application is essentially to optimize rather than amplify the human body's output power, and can recover and utilize the energy wasted during the action cycle.
[0097] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.
[0098] It should be noted that this invention uses an efficiency-enhancing exoskeleton device as an example to introduce the specific structure and working principle of the invention, but the application of this invention is not limited to an efficiency-enhancing exoskeleton device, and can also be applied to the production and use of other similar workpieces.
[0099] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.
[0100] 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. An enhanced assistive exoskeleton device, characterized in that, include: Backpacks are designed to be worn on the user's body; The assist device is mounted on the carrying component; The assist device includes: A power drive transmission mechanism is designed to be mounted on the feet. Tighten the connecting rope, with one end mounted on the power drive transmission mechanism; A tightening and rotating mechanism is rotatably mounted on the carrying member. The other end of the tightening connecting rope is mounted on the tightening and rotating mechanism. The tightening and rotating mechanism has elastic potential energy to wind up the tightening connecting rope. The propeller is mounted on the tightening and rotating mechanism.
2. The enhanced assistive exoskeleton device according to claim 1, characterized in that, The assist device is provided in at least two parts.
3. The enhanced assistive exoskeleton device according to claim 1, characterized in that, The tightening and rotating mechanism includes a tightening and rotating assembly and a one-way rotating assembly. The tightening and rotating assembly is rotatably mounted on the carrying member. One end of the tightening connecting rope is mounted on the tightening and rotating assembly. The tightening and rotating assembly has elastic potential energy to wind up the tightening connecting rope. The unidirectional rotation component is mounted on the tightening rotation component, and the propeller is mounted on the unidirectional rotation component. The unidirectional rotation component is used to transmit unidirectional rotation.
4. The enhanced assistive exoskeleton device according to claim 3, characterized in that, The tightening and rotating assembly includes a spool and an elastic element. The spool is rotatably mounted on the carrying member. The elastic element is located at the rotatable connection of the spool. One end of the tightening connecting rope is mounted on the spool. The one-way rotating assembly is coaxially mounted on the spool.
5. The enhanced assistive exoskeleton device according to claim 4, characterized in that, The unidirectional rotation assembly includes a turntable and a ratchet. The turntable is coaxially mounted on the spool, and the ratchet is rotatably mounted on the carrying member. The ratchet includes a ratchet disc and ratchet teeth. The ratchet disc is rotatably mounted on the carrying member, and the ratchet disc is coaxially arranged with the turntable. The ratchet teeth are provided in multiple ways, and the multiple ratchet teeth are circumferentially arranged on the ratchet disk. A one-way blocking element is provided between the ratchet teeth and the turntable. The propeller is coaxially mounted on the ratchet disc.
6. The enhanced assistive exoskeleton device according to claim 1, characterized in that, The enhanced assistive exoskeleton device includes an angle control mechanism for adjusting the orientation angle of the propeller, the angle control mechanism being disposed on the back piece.
7. The enhanced assistive exoskeleton device according to claim 6, characterized in that, The angle control mechanism includes a first universal joint, a second universal joint, a cross shaft, and an angle adjustment assembly; The first universal joint is mounted on the tightening and rotating mechanism, the propeller is mounted on the second universal joint, and the cross shaft is rotatably mounted on the first universal joint and the second universal joint respectively; The angle adjustment component is mounted on the second universal joint.
8. The enhanced assistive exoskeleton device according to claim 7, characterized in that, The cross shaft includes a first shaft and a second shaft, which are arranged perpendicularly to each other. The first shaft is rotatably mounted on the first universal joint; The second shaft is rotatably mounted on the second universal joint; The angle adjustment component includes a handle; One end of the handle is connected to the second shaft.
9. The enhanced assistive exoskeleton device according to claim 8, characterized in that, The angle adjustment component includes a fixed base, which is disposed on the carrying member, and a rotation channel is provided within the fixed base; The handle includes a gripping part, an elastic part, and a rotating part. The gripping part is rotatably and slidably disposed within the rotating channel. The rotating part is rotatably disposed within the rotating channel and is connected to a second shaft. The elastic part is disposed on the rotating part and is located between the gripping part and the rotating part. The gripping part is used to abut against the elastic part.
10. The enhanced assistive exoskeleton device according to claim 6, characterized in that, The angle control mechanism includes a rotating plate and a rotating fixed plate. The rotating fixed plate is disposed on the carrying member. The rotating plate is rotatably disposed on the rotating fixed plate. The tightening rotating mechanism is disposed on the rotating plate.