Energy storage device for a powered exoskeleton

Abstract

The utility model discloses a kind of power-assisted exoskeleton energy storage devices, including leg bar, waist module, energy storage component and power-assisted opening and closing device, energy storage component includes the energy storage box of waist module clamping, spring and the connecting rope of being passed through spring are set in energy storage box, power-assisted opening and closing device includes the limit button that can reciprocate along the length direction of energy storage box and the first reset spring with one end and limit button abut, limit button below is equipped with to limit the limit block of spring rebound, can absorb gravity potential energy in the falling process of leg gravity center, into the elastic mechanical energy of spring, i.

Description

Technical Field

[0001] This utility model belongs to the field of robot design, and more specifically relates to an energy storage device for an assistive exoskeleton. Background Technology

[0002] An exoskeleton robot is a wearable intelligent robot system that assists in specific movements through reasonable structural design and passive energy storage. The assistance curve of the energy storage component in existing assistive exoskeletons decreases linearly as the leg lifting angle increases. This results in insignificant assistance and poor assistance effect when the user lifts their leg, and the lack of an assist-off function makes it unsuitable for users in complex road conditions or those with hemiplegia. Utility Model Content

[0003] The main purpose of this utility model is to provide an energy storage device for an assistive exoskeleton, which can not only effectively improve the assistive effect and achieve smooth assistance, but also has an assistive opening and closing function, further improving the flexibility of use.

[0004] To achieve the above objectives, the technical solution of this utility model is as follows:

[0005] An assistive exoskeleton energy storage device includes a leg bar, a waist module, an energy storage component, and an assistive opening and closing device. The energy storage component includes an energy storage box that snaps into the waist module, a spring disposed within the energy storage box, and a connecting rope that passes through the spring. One end of the connecting rope is fixedly connected to a corresponding cam, and the other end of the connecting rope is provided with a limiting member. The surface of the cam is provided with an envelope surface for the connecting rope to be wound around. The leg bar can drive the cam to rotate, so that the connecting rope pulls the limiting member to compress the spring for energy storage. The assistive opening and closing device includes a limiting button that can reciprocate along the length direction of the energy storage box and a first return spring with one end abutting against the limiting button. A limiting block is provided below the limiting button to limit the spring's rebound.

[0006] According to a first aspect of the present invention, the energy storage component further includes bearings respectively disposed on both sides of the cam and a sleeve for mounting the spring, one end of the spring abutting against the inner wall of the energy storage box, and the other end of the spring being connected to the limiting member under the action of the connecting rope.

[0007] According to a first aspect of the present invention, the energy storage box includes an outer cover and an inner cover, and an idler wheel that can rotate under the drive of the connecting rope is provided inside the energy storage box. The idler wheel is located between the cam and the spring.

[0008] According to a first aspect of the present invention, the outer circumference of the idler wheel is provided with a U-shaped groove into which the connecting rope can be inserted, so that the stretching direction of the connecting rope is always consistent with the compression direction of the spring.

[0009] According to a first aspect of the present invention, a sealing assembly is also included, the sealing assembly comprising two dustproof grooves spaced apart on the cam and an inner cover flange and an outer cover flange that can be respectively embedded into the corresponding dustproof grooves.

[0010] According to a first aspect of the present invention, the waist module includes a crossbeam and waist guard plates respectively disposed perpendicular to both ends of the crossbeam. A tray is hinged to the middle of the crossbeam, and the tray can be flipped to support heavy objects.

[0011] According to a first aspect of the present invention, each of the waist guards has a slot at its top for mounting a strap, and each slot has an opening at its top for the strap to pass through.

[0012] According to a first aspect of the present invention, at least two connectors are spaced apart on the outer side of the crossbeam, one end of each connector is fixedly connected to the crossbeam, and the other end of each connector is hinged to the tray.

[0013] According to a first aspect of the present invention, the thickness of the tray gradually decreases from one side near the crossbeam to the other side.

[0014] According to a first aspect of the present invention, the leg rod is provided with a leg binding assembly at the end away from the energy storage component.

[0015] One of the above-described technical solutions of this utility model has at least one of the following advantages or beneficial effects:

[0016] This invention absorbs the gravitational potential energy of the leg's center of gravity during the fall from the highest point to the ground, and converts it into the elastic mechanical energy of the spring. That is, the leg rod drives the cam to rotate, so that the connecting rope pulls the limiting part to compress the spring for energy storage. Furthermore, an envelope surface is set on the surface of the cam, which can not only effectively improve the assist effect, but also achieve smooth assistance.

[0017] The assistive opening and closing device can be activated when climbing steep slopes, on complex terrains, or when lower limb flexibility is required. It can also be used by users with hemiplegia or other conditions where the assistive function can be turned off on the healthy leg, providing more flexible options. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0019] AppendixFigure 1 This is an overall structural diagram of one embodiment of the present utility model;

[0020] Appendix Figure 2 This is a structural diagram of the spring under compression according to an embodiment of the present invention;

[0021] Appendix Figure 3 This is an enlarged view of point A in one embodiment of the present invention;

[0022] Appendix Figure 4 This is a side view of a spring under compression according to an embodiment of the present invention;

[0023] Appendix Figure 5 This is a structural diagram of the power assist being turned off according to an embodiment of the present invention;

[0024] Appendix Figure 6 This is an enlarged view of section B in one embodiment of the present invention. Detailed Implementation

[0025] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0026] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0027] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" and "second" may explicitly or implicitly include one or more features.

[0029] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection or a movable connection, a detachable connection or a non-detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection or a connection that can communicate with each other; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two elements, an indirect connection, or an interaction between two elements.

[0030] The following disclosure provides many different implementation methods or examples for different solutions to implement this utility model.

[0031] See attached document Figure 1 To be continued Figure 6 As shown, an assistive exoskeleton energy storage device includes a leg bar 1, a waist module 2, an energy storage component 3, an assistive opening and closing device, and a sealing component. The end of the leg bar 1 away from the energy storage component 3 is provided with a leg binding component.

[0032] In one embodiment of the present invention, the energy storage component 3 includes an energy storage box 31 that snaps into the waist module 2, a spring 32 disposed inside the energy storage box 31, a connecting rope 33 that can pass through the spring 32, bearings 36 disposed on both sides of the cam 34, and a sleeve 37 for mounting the spring 32.

[0033] In one embodiment of this utility model, one end of the connecting rope 33 is fixedly connected to the corresponding end cam 34, and the other end of the connecting rope 33 is provided with a limiting member 35. One end of the spring 32 abuts against the inner wall of the energy storage box 31, and the other end of the spring 32 can be connected to the limiting member 35 under the action of the connecting rope 33.

[0034] In one embodiment of this utility model, the energy storage box 31 includes an outer cover and an inner cover. The energy storage box 31 is provided with an idler wheel 38 that can rotate under the drive of the connecting rope 32. The idler wheel 38 is located between the cam 34 and the spring 32. The cam 34 is connected to the energy storage box 31 by fixing two bearings 36 through the bosses on both sides. The sleeve 37 is provided in the energy storage box 31 to reduce the coefficient of friction. The spring 32 is provided in the sleeve 37. The bottom of the spring 32 is limited by the energy storage box 31, and the top is pressed down by the limiting member 35. One end of the high-strength, low-elongation connecting rope 33 is fixed on the limiting member 35, passes through the inner hole of the spring 32, goes around the idler wheel 38, and then covers the cam 34. The final end is fixed on the cam 34 by a fixing pin.

[0035] In one embodiment of this utility model, the outer circular surface of the idler wheel 38 is provided with a U-shaped groove into which the connecting rope 33 can be inserted. The connecting rope 33 is inserted into the U-shaped groove of the idler wheel 38 to ensure that during the rotation of the cam 34, the stretching direction of the connecting rope 33 in the spring 32 is always consistent with the compression direction of the spring 32.

[0036] The specific energy storage principle is as follows: the leg bar 1 drives the cam 34 to rotate, which in turn connects the rope 33 to compress the spring 32 to store energy. When the stepping leg goes from the highest point to the ground, it absorbs the gravitational potential energy of the leg's center of gravity during the fall and converts it into the elastic mechanical energy of the spring 32, which is released during the leg lifting and stepping process to assist in lifting the leg and realize the passive assistance function of leg pressing energy storage and leg lifting assistance.

[0037] In one embodiment of this utility model, the surface of the cam 34 is provided with an envelope surface for the connecting rope 33 to be wound, which can ensure that the amount of assistance changes smoothly during the forward and backward swing of the thigh from +40° to -20° during walking, and further improve the user experience.

[0038] In one embodiment of the present invention, the assisted opening and closing device includes a limit button 41 that can reciprocate along the length of the energy storage box 31 and a first reset spring 42 with one end abutting against the limit button 41. A limit block 43 is provided below the limit button 41 to limit the rebound of the spring 32.

[0039] The specific operating principle is as follows: when the leg bar 1 is rotated counterclockwise or the leg is swung backward to its maximum angle of 30 degrees, the spring 32 is compressed until the top surface of the limiting member 35 is lower than the limiting block 43. At this time, pushing the limiting button 41 to the right will cause the limiting block 43 to be inserted into the sleeve 37 and block the limiting member 35. When the leg bar 1 is released, the limiting member 35 is blocked by the limiting block 43 and cannot be reset, thus achieving the limiting of the spring 32.

[0040] At this point, connecting rope 33 is in a slack state, and leg bar 1 swings without force. This function can be activated when climbing steep slopes, on complex terrain, or when high lower limb flexibility is required. Alternatively, users with hemiplegia or similar conditions can choose to disable the assist on the healthy leg and provide assistance only to the affected leg.

[0041] In one embodiment of this utility model, the sealing assembly includes two dustproof grooves 51 spaced apart on the cam 34, and an inner cover flange and an outer cover flange that can be respectively embedded in the corresponding dustproof grooves 51, thereby achieving a seal on the front side of the energy storage box 31 output port, preventing the energy storage part from being directly exposed, and playing a certain role in dust and water protection.

[0042] In one embodiment of the present invention, the waist module 2 includes a crossbeam 21 and waist guard plates 22 respectively arranged perpendicular to both ends of the crossbeam 21. A tray 23 is hinged to the middle of the crossbeam 21, and heavy objects can be supported by flipping the tray 23.

[0043] In one embodiment of this utility model, two connectors 24 are spaced apart on the outer side of the crossbeam 21. One end of each connector 24 is fixedly connected to the crossbeam 21, and the other end of each connector 24 is hinged to the tray 23. Thus, by flipping the tray 23 to support heavy objects, a clockwise torque is generated on the energy storage module, which can cancel out the torque in the opposite direction generated by the weight of the backpack, thereby improving the comfort of wearing the exoskeleton.

[0044] In one embodiment of this utility model, the top of each waist guard plate 22 is provided with a slot 221 for strap installation, and the top of each slot 221 is provided with an opening for strap to pass through, which can realize a soft connection structure with the backpack.

[0045] In one embodiment of this utility model, the thickness of the tray 23 gradually decreases from one side near the crossbeam 21 to the other side. This not only effectively ensures the safety of supporting heavy objects after the tray 23 is flipped, but also enhances the aesthetics after the tray 23 is folded. Furthermore, the tray 23 can be flipped to support heavy objects and is easy to store when folded. Thus, when combined with a backpack, all structural components of the exoskeleton are located at the bottom of the backpack and outside the waist belt, without contacting the human body, and do not affect the wearing and use of the backpack.

[0046] This power-assisted exoskeleton energy storage device absorbs the gravitational potential energy of the leg's center of gravity during the fall from the highest point to the ground, converting it into the elastic mechanical energy of the spring 42. This energy is then stored by the leg bar 1 driving the cam 34 to rotate, causing the connecting rope 33 to pull the limiting member 35 to compress the spring 42. Furthermore, the cam 34 has an envelope surface, which not only effectively improves the assist effect but also enables smooth assistance.

[0047] The assistive opening and closing device can be activated when climbing steep slopes, on complex terrains, or when lower limb flexibility is required. It can also be used by users with hemiplegia or other conditions where the assistive function can be turned off on the healthy leg, providing more flexible options.

[0048] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An energy storage device for an assistive exoskeleton, characterized in that, include: Leg bar (1); Waist module (2); Energy storage component (3), the energy storage component (3) includes an energy storage box (31) that is snapped into the waist module (2), a spring (32) provided in the energy storage box (31) and a connecting rope (33) that can pass through the spring (32), one end of the connecting rope (33) is fixedly connected to the corresponding end cam (34), and the other end of the connecting rope (33) is provided with a limiting member (35); The cam (34) has an envelope surface that allows the connecting rope (33) to be wound around. The leg (1) can drive the cam (34) to rotate so that the connecting rope (33) pulls the limiting member (35) to compress the spring (32) for energy storage. The assisted opening and closing device includes a limit button (41) that can reciprocate along the length of the energy storage box (31) and a first reset spring (42) with one end abutting against the limit button (41). A limit block (43) is provided below the limit button (41) to limit the spring (32) from rebounding.

2. The energy storage device for the assistive exoskeleton according to claim 1, characterized in that, The energy storage component (3) also includes bearings (36) respectively provided on both sides of the cam (34) and sleeves (37) for mounting the spring (32). One end of the spring (32) abuts against the inner wall of the energy storage box (31), and the other end of the spring (32) can be connected to the limiting member (35) under the action of the connecting rope (33).

3. The energy storage device for the assistive exoskeleton according to claim 2, characterized in that, The energy storage box (31) includes an outer cover and an inner cover. The energy storage box (31) is provided with an idler wheel (38) that can rotate under the drive of the connecting rope (33). The idler wheel (38) is located between the cam (34) and the spring (32).

4. The energy storage device for the assistive exoskeleton according to claim 3, characterized in that, The outer surface of the idler wheel (38) is provided with a U-shaped groove into which the connecting rope (33) can be inserted, so that the stretching direction of the connecting rope (33) is always consistent with the compression direction of the spring (32).

5. The energy storage device for the assistive exoskeleton according to claim 1, characterized in that, It also includes a sealing assembly, which includes two dustproof grooves (51) spaced apart on the cam (34) and an inner cover flange and an outer cover flange that can be respectively embedded in the corresponding dustproof grooves (51).

6. The energy storage device for the assistive exoskeleton according to claim 1, characterized in that, The waist module (2) includes a crossbeam (21) and waist guards (22) respectively provided perpendicular to both ends of the crossbeam (21). A tray (23) is hinged in the middle of the crossbeam (21), and heavy objects can be supported by flipping the tray (23).

7. The energy storage device for the assistive exoskeleton according to claim 6, characterized in that, Each of the waist guards (22) has a slot (221) at the top for attaching a strap, and each slot (221) has an opening at the top for the strap to pass through.

8. The energy storage device for the assistive exoskeleton according to claim 6, characterized in that, At least two connectors (24) are spaced apart on the outer side of the crossbeam (21). One end of each connector (24) is fixedly connected to the crossbeam (21), and the other end of each connector (24) is hinged to the tray (23).

9. The energy storage device for the assistive exoskeleton according to claim 8, characterized in that, The thickness of the tray (23) gradually decreases from one side near the crossbeam (21) to the other side.

10. The energy storage device for the assistive exoskeleton according to claim 1, characterized in that, The leg bar (1) is provided with a leg binding assembly at the end away from the energy storage component (3).

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