Energy storage and release mechanism

Abstract

The utility model provides an energy storage and release mechanism. The energy storage and release mechanism comprises a driving structure; the connecting rope is used for being connected with a skeleton driving pull rope, and the two ends of the connecting rope are connected with the energy storage part and the driving part correspondingly; wherein the connecting rope has a tightened state and a loosened state; when the connecting rope is in a tightened state, the driving part is located at an initial position, the energy storage part is located at an energy release position, and the energy storage part is limited by the limiting structure; when the energy storage part moves from the energy release position to the energy storage position, the driving part moves from the initial position to the driving position, the limiting structure avoids the energy storage part so as to pull the energy storage part to move to the energy storage position through the driving part, and when the energy storage part is located at the energy storage position, the driving part moves to the initial position, and the limiting structure limits the energy storage part. Therefore, the connecting rope is in a loose state. According to the technical scheme, the problem that in the prior art, a device for switching the state of the exoskeleton is poor in portability can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of exoskeleton devices, and more specifically, to an energy storage and release mechanism. Background Art

[0002] At present, when electric power maintenance workers perform maintenance on high-voltage electric towers, they need to climb for a long time. The long-term climbing will cause a significant reduction in the hand grip strength and endurance, which may lead to the natural loosening of the hand, and further cause casualties. Therefore, the research and development of hand exoskeletons to assist maintenance workers in climbing is of great significance. In the prior art, flexible actuators have been widely used in the field of exoskeletons.

[0003] However, flexible exoskeletons often have a limiting state that fixes the limb into a specific shape and a relaxed state that allows the limb to move freely. How to achieve the switching between these two states of the flexible exoskeleton has become an urgent technical problem to be solved.

[0004] For example, Patent Document CN114028154A proposes a hand rapid traction device assisted by a soft hand exoskeleton. It mainly inflates and exhausts the soft actuator, so that when inflated, it bends upward away from the back of the hand to drive the flexed fingers to extend, and when exhausted, it returns to its original state so that the fingers return to the flexed state. However, since the driving source of this exoskeleton system is gas, gas driving often requires external gas sources and gas valves and other devices, which will make the overall system relatively large and heavy, greatly reducing its portability and wearability. Summary of the Utility Model

[0005] The main purpose of the utility model is to provide an energy storage and release mechanism to solve the problem of poor portability of the device for switching the state of the exoskeleton in the prior art.

[0006] To achieve the above purpose, the utility model provides an energy storage and release mechanism, including:

[0007] A driving structure, the driving part of the driving structure is movably arranged to move to an initial position or a driving position;

[0008] An elastic energy storage structure, a limiting structure, and a connecting rope for connecting with a bone driving pull rope. The energy storage part of the elastic energy storage structure is movably arranged to move to an energy storage position or an energy release position. The two ends of the connecting rope are respectively connected to the energy storage part and the driving part; the limiting structure is movably arranged to limit or avoid the energy storage part;

[0009] Among them, the connecting rope has a taut state and a relaxed state; when the connecting rope is in the taut state, the driving part is in the initial position, the energy storage part is in the energy release position, and the limiting structure limits the energy storage part; when the energy storage part moves from the energy release position to the energy storage position, the driving part moves from the initial position to the driving position, and the limiting structure avoids the energy storage part, so as to pull the energy storage part to the energy storage position through the driving part, and when the energy storage part is in the energy storage position, the driving part moves to the initial position and the limiting structure limits the energy storage part, so that the connecting rope is in a relaxed state.

[0010] Further, the driving part is movably arranged along a preset direction; and / or,

[0011] The energy storage unit is movably arranged along a preset direction; and / or,

[0012] The driving structure and the elastic energy storage structure are arranged side by side.

[0013] Furthermore, the elastic energy storage structure includes an elastic member and an energy storage block that are interconnected, the energy storage block forms an energy storage part, and the limiting structure can be movably arranged on the side of the elastic member. The limiting structure has a first limiting end and a second limiting end that are spaced apart. The first limiting end and the second limiting end are both used for limiting abutment with the energy storage block to limit the energy storage block to an energy storage position or an energy release position.

[0014] Furthermore, a guide recess is provided on the limiting structure, and the guide recess is located between the first limiting end and the second limiting end. The guide recess has a first guide wall and a second guide wall, and the first guide wall is located on the side of the second guide wall close to the first limiting end; along the extension direction from the first limiting end to the second limiting end, the distance between the first guide wall and the opening of the guide recess gradually increases, and the distance between the second guide wall and the opening of the guide recess gradually decreases, so that the energy storage block moves to a position abutting the first limiting end or a position abutting the second limiting end under the guidance of the first guide wall or the second guide wall.

[0015] Further, the limiting structure includes a first limiting protrusion and a second limiting protrusion arranged at intervals, the first limiting protrusion is provided with a first limiting end, the second limiting protrusion is provided with a second limiting end, the side of the first limiting protrusion is provided with a first guide wall surface, the side of the second limiting protrusion is provided with a second guide wall surface, the first guide wall surface and the second guide wall surface are both located between the first limiting end and the second limiting end, and the first guide wall surface and / or the second guide wall surface are inclined surfaces or curved surfaces;

[0016] Among them, the first limiting protrusion can be movably arranged to move to a first limiting position for limiting the energy storage block or a first avoidance position for avoiding the energy storage block, and the second limiting protrusion can be movably arranged to move to a second limiting position for limiting the energy storage block or a second avoidance position for avoiding the energy storage block.

[0017] Furthermore, the energy storage and release mechanism further includes a mounting seat, on which the first limiting protrusion and the second limiting protrusion are both rotatably arranged; the limiting structure further includes:

[0018] A first driving member and a first elastic reset member, wherein the first driving member is movably arranged to pull the first limiting protrusion to rotate, one end of the first elastic reset member is fixedly connected to the mounting seat, and the other end of the first elastic reset member is connected to or abuts against the first limiting protrusion to reset the first limiting protrusion;

[0019] The second driving member and the second elastic reset member, the second driving member can be movably arranged to pull the second limiting protrusion to rotate, one end of the second elastic reset member is fixedly connected to the mounting seat, and the other end of the second elastic reset member is connected or abutted with the second limiting protrusion to reset the second limiting protrusion.

[0020] Further, the first driving member is an artificial muscle; when the first driving member is powered on, the first driving member drives the first limiting protrusion to move to the first avoidance position; when the first driving member is powered off, the first elastic reset member drives the first limiting protrusion to move to the first limiting position; and / or,

[0021] The second driving member is an artificial muscle; when the second driving member is powered on, the second driving member drives the second limiting protrusion to move to the first avoidance position; when the second driving member is powered off, the second elastic reset member drives the second limiting protrusion to move to the second limiting position.

[0022] Furthermore, the energy storage and release mechanism also includes a mounting seat, on which the driving structure, the elastic energy storage structure and the limiting structure are all mounted; the mounting seat has a first mounting space and a second mounting space arranged side by side, the driving structure is arranged in the first mounting space, and the elastic energy storage structure is arranged in the second mounting space;

[0023] Among them, the end of the mounting seat is provided with a first through hole and a second through hole at intervals, the first through hole is connected to the first mounting space, the second through hole is connected to the second mounting space, and the connecting rope is passed through the first through hole and the second through hole.

[0024] Further, the mounting base comprises:

[0025] A first end plate and a second end plate are arranged at intervals;

[0026] A first mounting plate and a second mounting plate are arranged at intervals, both ends of the first mounting plate and both ends of the second mounting plate are connected to the first end plate and the second end plate respectively, the first mounting plate is located above the second mounting plate, the first mounting plate, the first end plate and the second end plate enclose a first mounting space, and the first mounting plate, the first end plate, the second mounting plate and the second end plate enclose a second mounting space;

[0027] The side plate assembly, the two ends of the side plate assembly are respectively connected to the side parts of the first mounting plate and the second mounting plate. The side plate assembly protrudes from the side parts of the first mounting plate and the second mounting plate and encloses a driving space, and the limiting structure is installed in the driving space.

[0028] Furthermore, the driving structure includes a third driving member and a driving block. The third driving member is telescopically arranged; the driving block is connected to the third driving member, and the driving block forms the driving part of the driving structure;

[0029] Wherein, the third driving member is an artificial muscle; when the third driving member is powered on, the driving part is in the driving position; when the third driving member is powered off, the driving part returns to the initial position; and / or,

[0030] The driving structure further includes a guiding member. The guiding member extends along a preset direction. A guiding part adapted to the guiding member is arranged on the driving block, so that the driving block is movably arranged on the guiding member along the preset direction.

[0031] Applying the technical solution of the present invention, the energy storage part and the driving part are connected by a connecting rope. When the driving part is in the initial position and the limiting structure limits the energy storage part in the energy storage position, the elastic energy storage structure stores energy. At this time, the connecting rope is in a relaxed state, and the exoskeleton connected to the connecting rope can move freely; when the limiting structure releases the limitation on the energy storage part, the elastic energy storage structure releases energy, the energy storage part moves to the energy release position, and the limiting structure re-limits the energy storage part. Since the length of the connecting rope is limited, the connecting rope is tightened at this time, and the exoskeleton connected to the connecting rope cannot move freely, thereby realizing the limitation of the exoskeleton; thereafter, the limitation of the energy storage part by the limiting structure is cancelled, the driving part moves from the initial position to the driving position, thereby driving the energy storage part to the energy storage position through the connecting rope, and the limiting structure re-limits the energy storage part to complete the recharging of the elastic energy storage structure. At this time, the driving part is returned to the initial position, and the connecting rope is in a relaxed state again, and the exoskeleton connected to the connecting rope can move freely. Thus, through the cooperation of the driving structure, the elastic energy storage structure, the limiting structure and the connecting rope, the energy storage and release mechanism realizes the switching between the relaxed state and the limited state of the exoskeleton. Its structure is simple, the whole is relatively light, and it can solve the problem of poor portability of the device for switching the state of the exoskeleton in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The specification drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0033] Figure 1 The structural schematic diagram of the energy storage and release mechanism provided by the embodiment of the present invention is shown;

[0034] Figure 2 shows a perspective view of an energy storage and release mechanism provided according to an embodiment of the present invention;

[0035] Figure 3 shows a schematic view of the energy storage and release mechanism provided according to an embodiment of the present invention from one perspective;

[0036] Figure 4 shows a schematic structural view of a first limiting projection of the energy storage and release mechanism provided according to an embodiment of the present invention.

[0037] Among them, the above-mentioned drawings include the following reference numerals:

[0038] 100, mounting base; 101, first installation space; 102, second installation space; 103, first through hole; 104, first end plate; 105, second end plate; 106, first mounting plate; 107, second mounting plate; 108, side plate assembly;

[0039] 10, driving structure; 11, third driving member; 12, driving block; 13, guiding member;

[0040] 20, elastic energy storage structure; 21, elastic member; 22, energy storage block;

[0041] 30, limiting structure; 31, first limiting projection; 311, first limiting end; 312, first guiding wall surface; 313, first limiting hole; 314, second limiting hole; 315, third limiting hole; 32, second limiting projection; 33, first driving member; 34, first elastic reset member; 35, second driving member; 36, second elastic reset member;

[0042] 40, connecting rope. Detailed implementation manners

[0043] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0044] Such as Figures 1 to 4As shown in the figure, an embodiment of the present utility model provides an energy storage and release mechanism, which includes a driving structure 10 and an elastic energy storage structure 20. The driving part of the driving structure 10 is movably arranged to move to an initial position or a driving position, the elastic energy storage structure 20, a limiting structure 30, and a connecting rope 40 for connecting with a bone driving pull rope. The energy storage part of the elastic energy storage structure 20 is movably arranged to move to an energy storage position or an energy release position. The two ends of the connecting rope 40 are respectively connected to the energy storage part and the driving part; the limiting structure 30 is movably arranged to limit or avoid the energy storage part. Among them, the connecting rope 40 has a taut state and a slack state; when the connecting rope 40 is in the taut state, the driving part is in the initial position, the energy storage part is in the energy release position, and the limiting structure 30 limits the energy storage part; when the energy storage part moves from the energy release position to the energy storage position, the driving part moves from the initial position to the driving position, and the limiting structure 30 avoids the energy storage part, so as to pull the energy storage part to move to the energy storage position through the driving part, and when the energy storage part is in the energy storage position, the driving part moves to the initial position, and the limiting structure 30 limits the energy storage part, so that the connecting rope 40 is in the slack state.

[0045] By using the energy storage and release mechanism provided in this embodiment, the energy storage part and the driving part are connected through the connecting rope 40. When the driving part is in the initial position and the limiting structure 30 limits the energy storage part in the energy storage position, the elastic energy storage structure 20 stores energy. At this time, the connecting rope 40 is in a relaxed state, and the driving pull rope connected to the connecting rope 40 has a certain movement space, so that the exoskeleton driven by the driving pull rope can move freely; when the limiting structure 30 cancels the limit on the energy storage part in the energy storage position, the elastic energy storage structure 20 releases energy, the energy storage part moves to the energy release position, and the limiting structure 30 re-limits the energy storage part. Since the length of the connecting rope 40 is limited, the connecting rope 40 is tightened at this time, and the driving pull rope connected to the connecting rope 40 is also tightened, so that the exoskeleton driven by the driving pull rope cannot move freely, thus realizing the restriction of the exoskeleton; thereafter, the limiting structure 30 cancels the limit on the energy storage part, and the driving part moves from the initial position to the driving position, so as to drive the energy storage part to the energy storage position through the connecting rope 40. The limiting structure 30 re-limits the energy storage part, completes the recharging of the elastic energy storage structure 20, and when the energy storage part is in the energy storage position, the driving part returns to the initial position, and the connecting rope 40 is in a relaxed state again, and the exoskeleton connected to the connecting rope 40 can move freely. Thus, through the cooperation of the driving structure 10, the elastic energy storage structure 20, the limiting structure 30 and the connecting rope 40, the energy storage and release mechanism realizes the switching between the relaxed state and the limited state of the exoskeleton. Its structure is simple, the whole is relatively light, and it can solve the problem of poor portability of the device for switching the state of the exoskeleton in the prior art.

[0046] In this embodiment, the driving part is movably arranged along a preset direction, and the energy storage part is movably arranged along the preset direction. In this way, when the energy storage part moves from the energy release position to the energy storage position, the driving part moves from the initial position to the driving position. The driving part drives the energy storage part to move through the connecting rope 40. During this process, the moving direction of the energy storage part is opposite to that of the driving part.

[0047] Specifically, the driving structure 10 and the elastic energy storage structure 20 are arranged side by side. In this way, the space utilization rate of the energy storage and release mechanism can be improved, so that the length dimension of the energy storage and release mechanism can be reduced, the structural layout compactness of the energy storage and release mechanism can be improved, and the energy storage and release mechanism is more convenient to carry.

[0048] In this embodiment, the elastic energy storage structure 20 includes an elastic member 21 and an energy storage block 22 connected to each other. The energy storage block 22 forms the energy storage part. The limiting structure 30 is movably arranged on the side of the elastic member 21. The limiting structure 30 has a first limiting end 311 and a second limiting end arranged at intervals. Both the first limiting end 311 and the second limiting end are used for limiting and abutting against the energy storage block 22 to limit the energy storage block 22 to the energy storage position or the energy release position. Through the cooperation of the elastic member 21 and the energy storage block 22, the storage and release of the energy of the elastic energy storage structure 20 can be conveniently realized through a simple structure. The limiting structure 30 has a first limiting end 311 and a second limiting end. The first limiting end 311 and the second limiting end respectively limit the energy storage block 22 at the energy storage position or the energy release position, so as to improve the convenience of switching the position of the driving part.

[0049] Specifically, the elastic member 21 can be a spring.

[0050] In one embodiment, the limiting structure 30 is provided with a guiding recess, the guiding recess is located between the first limiting end 311 and the second limiting end, the guiding recess has a first guiding wall surface 312 and a second guiding wall surface, and the first guiding wall surface 312 is located on the side of the second guiding wall surface close to the first limiting end 311. Along the extending direction from the first limiting end 311 to the second limiting end, the distance between the first guiding wall surface 312 and the opening of the guiding recess gradually increases, and the distance between the second guiding wall surface and the opening of the guiding recess gradually decreases, so that the energy storage block 22 moves to a position abutting against the first limiting end 311 or a position abutting against the second limiting end under the guiding action of the first guiding wall surface 312 or the second guiding wall surface. With such a setting, when the second limiting end or the first limiting end 311 releases the limit on the energy storage block 22, the energy storage block 22 moves under the drive of the elastic member 21 or the driving part. When the energy storage block 22 moves between the first guiding wall surface 312 and the second guiding wall surface, even if the limiting structure 30 is restored to the position for limiting the energy storage part, under the action of the elastic force or the connecting rope 40, the energy storage block 22 can continue to move along the first guiding wall surface 312 or the second guiding wall surface to a position abutting against the first limiting end 311 or the second limiting end, so as to re-implement the limit on the energy storage block 22. Moreover, through such a setting, since the limiting structure 30 has been pre-restored to the position for limiting the energy storage part, when the energy storage block 22 reaches the energy release position or the energy storage position, the limit on the energy storage block 22 is completed, which can effectively prevent the energy storage block 22 from rebounding. Thus, the convenience and stability of switching the position of the energy storage block 22 are improved.

[0051] In another embodiment, the limiting structure 30 includes a first limiting bump 31 and a second limiting bump 32 arranged at intervals. A first limiting end 311 is provided on the first limiting bump 31, and a second limiting end is provided on the second limiting bump 32. A first guiding wall surface 312 is provided on the side of the first limiting bump 31, and a second guiding wall surface is provided on the side of the second limiting bump 32. Both the first guiding wall surface 312 and the second guiding wall surface are located between the first limiting end 311 and the second limiting end, and the first guiding wall surface 312 and / or the second guiding wall surface is an inclined surface or an arc surface. Among them, the first limiting bump 31 is movably arranged to move to a first limiting position for limiting the energy storage block 22 or a first avoidance position for avoiding the energy storage block 22, and the second limiting bump 32 is movably arranged to move to a second limiting position for limiting the energy storage block 22 or a second avoidance position for avoiding the energy storage block 22. With such an arrangement, when switching the position of the energy storage block 22, only by moving the first limiting bump 31 from the first limiting position to the first avoidance position or moving the second limiting bump 32 from the second limiting position to the second avoidance position, the energy storage block 22 can continue to move along the second guiding wall surface or the first guiding wall surface 312 to a position where it abuts against the second limiting end or the first limiting end 311, thereby completing the switching and limiting of the position of the energy storage block 22 and effectively preventing the energy storage block 22 from rebounding. Thus, the convenience and stability of switching the position of the energy storage block 22 are improved.

[0052] In this embodiment, the energy storage and release mechanism includes a mounting base 100. The first limiting bump 31 and the second limiting bump 32 are both rotatably arranged on the mounting base 100. The limiting structure 30 further includes a first driving member 33 and a first elastic reset member 34. The first driving member 33 is movably arranged to pull the first limiting bump 31 to rotate. One end of the first elastic reset member 34 is fixedly connected to the mounting base 100, and the other end of the first elastic reset member 34 is connected to or abuts against the first limiting bump 31 to reset the first limiting bump 31. With such an arrangement, by pulling the first limiting bump 31 to rotate through the first driving member 33, the first limiting end 311 moves from the first limiting position to the first avoidance position, and the first elastic reset member 34 is compressed. After removing the driving force on the first driving member 33, the first elastic reset member 34 returns to its original state. Under the action of the first elastic reset member 34, the first limiting end 311 moves from the first avoidance position to the first limiting position. In this way, the position of the first limiting bump 31 can be conveniently and quickly switched, so as to facilitate the quick switching of the position of the energy storage block 22.

[0053] Specifically, the limiting structure 30 further includes a second driving member 35 and a second elastic reset member 36. The second driving member 35 is movably arranged to pull the second limiting protrusion 32 to rotate. One end of the second elastic reset member 36 is fixedly connected to the mounting base 100, and the other end of the second elastic reset member 36 is connected to or abuts against the second limiting protrusion 32 to reset the second limiting protrusion 32. Similarly, by pulling the second limiting protrusion 32 to rotate with the second driving member 35, the second limiting end moves from the second limiting position to the second avoiding position, and the second elastic reset member 36 is compressed. After the driving force on the second driving member 35 is released, the second elastic reset member 36 returns to its original state. Under the action of the second elastic reset member 36, the second limiting end moves from the second avoiding position to the second limiting position. In this way, the position of the second limiting protrusion 32 can be switched conveniently and quickly, so as to facilitate the rapid switching of the position of the energy storage block 22.

[0054] Specifically, the first limiting protrusion 31 is provided with a first limiting hole 313, a second limiting hole 314 and a third limiting hole 315 which are arranged at intervals in sequence. The first driving member 33 is connected to the first limiting hole 313, the first elastic reset member 34 is connected to the third limiting hole 315, and the second limiting hole 314 is hinged to the mounting base 100. Specifically, when the first driving member 33 pulls the first limiting protrusion 31 or the first elastic reset member 34 rebounds, the first limiting protrusion 31 rotates around the second limiting hole 314. Similarly, the second limiting protrusion 32 is also arranged in a similar way and will not be elaborated here.

[0055] In this embodiment, the first driving member 33 is an artificial muscle. When the first driving member 33 is powered on, the first driving member 33 drives the first limiting protrusion 31 to move to the first avoiding position; when the first driving member 33 is powered off, the first elastic reset member 34 drives the first limiting protrusion 31 to move to the first limiting position. In this way, when the first driving member 33 is powered on, the first limiting protrusion 31 compresses the first elastic reset member 34; when the first driving member 33 is powered off, the compressed first elastic reset member 34 returns to its original state, thus realizing the switching of the position of the first limiting protrusion 31.

[0056] In this embodiment, the second driving member 35 is an artificial muscle; when the second driving member 35 is powered on, the second driving member 35 drives the second limiting protrusion 32 to move to the first avoiding position; when the second driving member 35 is powered off, the second elastic reset member 36 drives the second limiting protrusion 32 to move to the second limiting position. In this way, when the second driving member 35 is powered on, the second limiting protrusion 32 compresses the second elastic reset member 36; when the second driving member 35 is powered off, the compressed second elastic reset member 36 returns to its original state, thus realizing the switching of the position of the second limiting protrusion 32.

[0057] Specifically, an artificial muscle is a flexible actuator with high energy density, small mass, low cost, low noise, long lifespan, and small hysteresis. By setting the first driving member 33 and the second driving member 35 as artificial muscles, the structural design of the energy storage and release mechanism can be further simplified, the weight of the energy storage and release mechanism can be reduced, and the portability of the energy storage and release mechanism can be greatly improved. Moreover, by the cooperation of the first driving member 33 and the second driving member 35 with the first elastic reset member 34 and the second elastic reset member 36 respectively, the switching of the positions of the first limiting protrusion 31 and the second limiting protrusion 32 can be achieved quickly.

[0058] In this embodiment, the energy storage and release mechanism further includes a mounting base 100, and the driving structure 10, the elastic energy storage structure 20, and the limiting structure 30 are all mounted on the mounting base 100; the mounting base 100 has a first mounting space 101 and a second mounting space 102 arranged side by side, the driving structure 10 is arranged in the first mounting space 101, and the elastic energy storage structure 20 is arranged in the second mounting space 102. Among them, a first through hole 103 and a second through hole are spaced apart at the end of the mounting base 100, the first through hole 103 communicates with the first mounting space 101, the second through hole communicates with the second mounting space 102, and the connecting rope 40 is threaded through the first through hole 103 and the second through hole. With such a structural arrangement, it is possible to facilitate the optimization of the structural layout of the energy storage and release mechanism and improve the compactness of the structural layout of the energy storage and release mechanism. In addition, it is also possible to facilitate the optimization of the layout of the connecting rope 40 so that the connecting rope 40 can be smoothly switched to the tightened state or the relaxed state.

[0059] Specifically, the mounting base 100 includes a side plate assembly 108, a first end plate 104 and a second end plate 105 arranged at intervals, a first mounting plate 106 and a second mounting plate 107 arranged at intervals. Both ends of the first mounting plate 106 and the second mounting plate 107 are respectively connected to the first end plate 104 and the second end plate 105. The first mounting plate 106 is located above the second mounting plate 107. The first mounting plate 106, the first end plate 104, and the second end plate 105 enclose the first mounting space 101, and the first mounting plate 106, the first end plate 104, the second mounting plate 107, and the second end plate 105 enclose the second mounting space 102. Both ends of the side plate assembly 108 are respectively connected to the side parts of the first mounting plate 106 and the second mounting plate 107. The side plate assembly 108 protrudes from the side parts of the first mounting plate 106 and the second mounting plate 107 and encloses a driving space, and the limiting structure 30 is mounted in the driving space. With such a structural arrangement, it is possible to further optimize the structural layout of the mounting base 100, improve the compactness of the structural layout of the energy storage and release mechanism, and also facilitate the protection of the limiting structure 30 and the elastic energy storage structure 20 to ensure the smooth operation of the limiting structure 30 and the elastic energy storage structure 20.

[0060] Specifically, the first penetration hole 103 and the second penetration hole may be provided on the first end plate 104 .

[0061] In one embodiment, the side panel assembly 108 includes two spaced-apart side panels, the two ends of which are respectively connected to the side of the first mounting plate 106 and the side of the second mounting plate 107, the first limiting protrusion 31 is movably mounted on one side panel, and the second limiting protrusion 32 is movably mounted on the other side panel. With such a configuration, it is convenient to install and remove the first limiting protrusion 31 and the second limiting protrusion 32 separately. Specifically, the two spaced-apart side panels extend along the length direction of the first mounting plate 106, and the side panels are bent plate structures or arc-shaped plate structures.

[0062] In another embodiment, the side panel assembly 108 includes three spaced side panels, the two ends of the side panels are respectively connected to the side of the first mounting plate 106 and the side of the second mounting plate 107, the first limiting protrusion 31 is movably arranged on a side panel at one end and the middle side panel, and the second limiting protrusion 32 is movably arranged on a side panel at another end and the middle side panel. In this way, it is convenient to install and remove the first limiting protrusion 31 and the second limiting protrusion 32 separately, which is convenient for operation. Specifically, the three spaced side panels extend along the length direction of the first mounting plate 106, and the side panels are bent plates or arc-shaped plate structures.

[0063] In this embodiment, the driving structure 10 includes a third driving member 11 and a driving block 12. The third driving member 11 is telescopically arranged; the driving block 12 is connected to the third driving member 11, and the driving block 12 forms a driving portion of the driving structure 10. In this way, by connecting the driving block 12 with the connecting rope 40, the connection convenience and stability between the driving structure 10 and the connecting rope 40 can be improved, thereby improving the stability of the energy storage and release mechanism transmission.

[0064] Specifically, the third driving member 11 is an artificial muscle. When the third driving member 11 is powered on, the driving part is in the driving position; when the third driving member 11 is powered off, the driving part returns to the initial position. Due to the characteristics of artificial muscles, when the third driving member 11 is powered on, the third driving member 11 drives the driving block 12 to the driving position, and when the third driving member 11 is powered off, it will return to the initial position, so that the position of the driving part can be easily adjusted. In addition, since artificial muscles have high energy density, small mass, low price, low noise, long life, and small hysteresis, by setting the third driving member 11 as an artificial muscle, the structural design of the energy storage and release mechanism can be further simplified, the weight of the energy storage and release mechanism can be reduced, and the portability of the energy storage and release mechanism can be greatly improved.

[0065] Specifically, the driving structure 10 further includes a guiding member 13 which extends along a preset direction. A guiding portion adapted to the guiding member 13 is provided on the driving block 12, so that the driving block 12 is movably disposed on the guiding member 13 along the preset direction. In this way, the operation of the driving structure 10 can be guided by the guiding member 13 to prevent the driving block 12 from shifting during movement, thereby improving the movement stability of the driving block 12.

[0066] Specifically, the guiding member 13 is a guide rail, and the driving block 12 is inserted through the guide rail.

[0067] From the above description, it can be seen that the above embodiments of the present utility model achieve the following technical effects: By providing the artificial muscle as the driving member, the energy storage and release mechanism of the exoskeleton can be quickly driven, and the number of external components can be significantly reduced, greatly reducing the complexity of the exoskeleton system and improving the switching speed and wearability of the exoskeleton.

[0068] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they specify the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0069] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationship. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and devices should be regarded as part of the specification. In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that: Similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0070] In the description of the present application, it should be understood that the orientation or positional relationship indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom", etc. is usually based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description. Without contrary explanation, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the protection scope of the present application; the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0071] For the sake of convenience in description, spatial relative terms such as "above...", "over...", "on the upper surface of...", "upper" etc. can be used here to describe the spatial positional relationship between a device or feature shown in the drawings and other devices or features. It should be understood that the spatial relative terms are intended to cover different orientations in use or operation in addition to the orientation described in the drawings for the device. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned as "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above..." can include both orientations of "above..." and "below...". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations should be made for the spatial relative descriptions used here.

[0072] In addition, it should be noted that the use of words such as "first", "second", etc. to limit components is only for the convenience of distinguishing the corresponding components. Without additional statement, the above words have no special meaning. Therefore, it should not be construed as a limitation on the protection scope of the present application.

[0073] The above are only the preferred embodiments of the present utility model and are not used to limit the present utility model. For those skilled in the art, various modifications and variations can be made to the present utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. An energy storage and release mechanism, characterized in that: include: A driving structure (10), wherein a driving portion of the driving structure (10) is movably arranged to move to an initial position or a driving position; An elastic energy storage structure (20), a limiting structure (30) and a connecting rope (40) for connecting to a skeletal drive pull rope, wherein the energy storage part of the elastic energy storage structure (20) is movably arranged to move to an energy storage position or an energy release position, and the two ends of the connecting rope (40) are respectively connected to the energy storage part and the drive part; the limiting structure (30) is movably arranged to limit or avoid the energy storage part; The connecting rope (40) has a tightened state and a relaxed state; when the connecting rope (40) is in the tightened state, the driving part is in the initial position, the energy storage part is in the energy release position, and the limiting structure (30) limits the energy storage part; when the energy storage part moves from the energy release position to the energy storage position, the driving part moves from the initial position to the driving position, and the limiting structure (30) avoids the energy storage part, so as to pull the energy storage part to the energy storage position through the driving part; and when the energy storage part is in the energy storage position, the driving part moves to the initial position, and the limiting structure (30) limits the energy storage part, so that the connecting rope (40) is in the relaxed state.

2. The energy storage and release mechanism according to claim 1, characterized in that: The driving part is movably arranged along a preset direction; and / or, The energy storage unit is movably arranged along a preset direction; and / or, The driving structure (10) and the elastic energy storage structure (20) are arranged side by side.

3. The energy storage and release mechanism according to claim 1, characterized in that: The elastic energy storage structure (20) comprises an elastic member (21) and an energy storage block (22) which are connected to each other, the energy storage block (22) forming the energy storage part, the limiting structure (30) being movably arranged on the side of the elastic member (21), the limiting structure (30) having a first limiting end (311) and a second limiting end which are arranged at intervals, the first limiting end (311) and the second limiting end being used for limiting abutment with the energy storage block (22) so as to limit the energy storage block (22) to the energy storage position or the energy release position.

4. The energy storage and release mechanism according to claim 3, characterized in that: The limiting structure (30) is provided with a guide recess, the guide recess is located between the first limiting end (311) and the second limiting end, the guide recess has a first guide wall (312) and a second guide wall, the first guide wall (312) is located on a side of the second guide wall close to the first limiting end (311); along the extension direction from the first limiting end (311) to the second limiting end, the distance between the first guide wall (312) and the opening of the guide recess gradually increases, and the distance between the second guide wall and the opening of the guide recess gradually decreases, so that the energy storage block (22) moves to a position abutting against the first limiting end (311) or a position abutting against the second limiting end under the guiding action of the first guide wall (312) or the second guide wall.

5. The energy storage and release mechanism according to claim 3, characterized in that: The limiting structure (30) comprises a first limiting protrusion (31) and a second limiting protrusion (32) which are arranged at intervals, the first limiting protrusion (31) is provided with the first limiting end (311), the second limiting protrusion (32) is provided with the second limiting end, the side of the first limiting protrusion (31) is provided with a first guide wall surface (312), the side of the second limiting protrusion (32) is provided with a second guide wall surface, the first guide wall surface (312) and the second guide wall surface are both located between the first limiting end (311) and the second limiting end, and the first guide wall surface (312) and / or the second guide wall surface are inclined surfaces or curved surfaces; The first limiting protrusion (31) is movably arranged to move to a first limiting position for limiting the energy storage block (22) or a first avoiding position for avoiding the energy storage block (22), and the second limiting protrusion (32) is movably arranged to move to a second limiting position for limiting the energy storage block (22) or a second avoiding position for avoiding the energy storage block (22).

6. The energy storage and release mechanism according to claim 5, characterized in that: The energy storage and release mechanism further comprises a mounting seat (100), the first limiting protrusion (31) and the second limiting protrusion (32) both being rotatably arranged on the mounting seat (100); the limiting structure (30) further comprises: a first driving member (33) and a first elastic reset member (34), wherein the first driving member (33) is movably arranged to pull the first limiting protrusion (31) to rotate, one end of the first elastic reset member (34) is fixedly connected to the mounting seat (100), and the other end of the first elastic reset member (34) is connected to or abuts against the first limiting protrusion (31) to reset the first limiting protrusion (31); A second driving member (35) and a second elastic reset member (36), wherein the second driving member (35) is movably arranged to pull the second limiting protrusion (32) to rotate, one end of the second elastic reset member (36) is fixedly connected to the mounting seat (100), and the other end of the second elastic reset member (36) is connected to or abuts against the second limiting protrusion (32) to reset the second limiting protrusion (32).

7. The energy storage and release mechanism according to claim 6, characterized in that: The first driving member (33) is an artificial muscle; when the first driving member (33) is powered on, the first driving member (33) drives the first limiting protrusion (31) to move to the first avoidance position; when the first driving member (33) is powered off, the first elastic reset member (34) drives the first limiting protrusion (31) to move to the first limiting position; and / or, The second driving member (35) is an artificial muscle; when the second driving member (35) is powered on, the second driving member (35) drives the second limiting protrusion (32) to move to the first avoidance position; when the second driving member (35) is powered off, the second elastic reset member (36) drives the second limiting protrusion (32) to move to the second limiting position.

8. The energy storage and release mechanism according to claim 1, characterized in that: The energy storage and release mechanism further comprises a mounting seat (100), the driving structure (10), the elastic energy storage structure (20) and the limiting structure (30) are all mounted on the mounting seat (100); the mounting seat (100) has a first mounting space (101) and a second mounting space (102) arranged side by side, the driving structure (10) is arranged in the first mounting space (101), and the elastic energy storage structure (20) is arranged in the second mounting space (102); The end of the mounting seat (100) is provided with a first through hole (103) and a second through hole at intervals, the first through hole (103) is connected to the first mounting space (101), the second through hole is connected to the second mounting space (102), and the connecting rope (40) is passed through the first through hole (103) and the second through hole.

9. The energy storage and release mechanism according to claim 8, characterized in that: The mounting seat (100) comprises: A first end plate (104) and a second end plate (105) arranged at an interval; a first mounting plate (106) and a second mounting plate (107) arranged at intervals, both ends of the first mounting plate (106) and both ends of the second mounting plate (107) being connected to the first end plate (104) and the second end plate (105) respectively, the first mounting plate (106) being located above the second mounting plate (107), the first mounting plate (106), the first end plate (104) and the second end plate (105) enclosing the first mounting space (101), and the first mounting plate (106), the first end plate (104), the second mounting plate (107) and the second end plate (105) enclosing the second mounting space (102); A side panel assembly (108), wherein two ends of the side panel assembly (108) are respectively connected to the side of the first mounting plate (106) and the side of the second mounting plate (107); the side panel assembly (108) protrudes from the side of the first mounting plate (106) and is connected to the side of the second mounting plate (107); the side panel assembly (108) encloses a driving space, and the limiting structure (30) is installed in the driving space.

10. The energy storage and release mechanism according to any one of claims 1 to 9, characterized in that: The driving structure (10) comprises a third driving member (11) and a driving block (12); the third driving member (11) is telescopically arranged; the driving block (12) is connected to the third driving member (11), and the driving block (12) forms a driving portion of the driving structure (10); Wherein, the third driving member (11) is an artificial muscle; when the third driving member (11) is powered on, the driving part is in the driving position; when the third driving member (11) is powered off, the driving part returns to the initial position; and / or, The driving structure (10) further comprises a guide member (13), wherein the guide member (13) extends along a preset direction, and the driving block (12) is provided with a guide portion adapted to the guide member (13), so that the driving block (12) can be movably arranged on the guide member (13) along the preset direction.

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