Limb segment component kinetic energy recovery assistive exoskeleton
By using a mechanical locking structure and spring adjustment components, the problem of exoskeleton loosening caused by wear of the Velcro straps is solved, achieving a stable fit and height adjustment of the exoskeleton during strenuous exercise, thus improving wearing comfort and stability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- 贵州装备制造职业学院
- Filing Date
- 2025-06-27
- Publication Date
- 2026-07-14
AI Technical Summary
In existing limb and trunk kinetic energy recovery assistive exoskeletons, the Velcro fasteners wear down and lose adhesion under long-term friction, resulting in loosening of the fasteners, affecting the assistive effect and wearing stability. They are also prone to coming undone during strenuous exercise, increasing the risk of restricted movement.
It adopts a mechanical locking structure, which uses a pull rod to drive the sliding block and clamping block, and uses a large spring to store energy and clamp, replacing the Velcro fastener. Combined with a limit rod and a small spring adjustment component, it can achieve a stable fit and height adjustment to adapt to different body shapes.
Ensures the exoskeleton stays firmly in place during strenuous exercise, prevents the Velcro from coming off, improves wearing comfort and stability, adapts to different user body types, and enhances the wearer's mobility.
Smart Images
Figure CN224489122U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of exoskeleton robot technology, and in particular to a kinetic energy recovery assistive exoskeleton for limb and trunk components. Background Technology
[0002] A kinetic energy recovery assistive exoskeleton for limbs and trunk is a wearable device that, through specific design, recovers the kinetic energy generated during human movement and converts it into assistive energy, reducing the burden on the wearer's limbs. Typically fitted to the limbs and trunk, it provides additional support and power to the wearer during walking, weight-bearing, and other scenarios, improving mobility. It is suitable for industrial operations, medical rehabilitation, and other fields, offering users a more relaxed experience in limb movement.
[0003] The kinetic energy recovery assistive exoskeleton for limbs collects excess kinetic energy generated during human movement through specific mechanical structures. For example, during actions such as knee extension or bending over, this kinetic energy is converted into other forms of energy and stored, such as electrical energy or elastic potential energy. When the human body performs actions that require assistance, such as knee bending or waist raising, the stored energy is released to provide additional power to the limbs, thereby reducing the burden on the limbs and enhancing human motor function.
[0004] In existing technologies, some exoskeletons are fixed to the human body using Velcro straps. Under long-term friction, the hooks of the Velcro will wear down and their adhesiveness will decrease, resulting in loosening of the fixation. This affects the assistive effect and wearing stability of the exoskeleton. If the Velcro accidentally comes off during exercise, the exoskeleton components will shift, increasing the risk of the wearer's movement being restricted or losing balance. Therefore, a kinetic energy recovery assistive exoskeleton for limb and trunk components is proposed to solve the above problems. Utility Model Content
[0005] To overcome the above shortcomings, this utility model provides a kinetic energy recovery assistive exoskeleton for limb and trunk components. It aims to improve the problem that in the existing technology, some exoskeletons are fixed to the human body using Velcro. Under long-term friction, the hook surface of the Velcro will wear down and the adhesion will decrease, resulting in loosening of the fixation. This affects the assistive effect and wearing stability of the exoskeleton. If the Velcro accidentally comes off during exercise, it will cause the exoskeleton components to shift, increasing the risk of the wearer's movement being restricted or losing balance.
[0006] To achieve the above objectives, the present invention adopts the following technical solution:
[0007] A kinetic energy recovery assistive exoskeleton for limbs and trunks includes a frame. Two rotating arms are rotatably connected to the outer side of the frame. Contact plates are fixedly connected to the adjacent sides of the two rotating arms. A mounting box is fixedly connected to the distant side of the contact plates. A pull rod is slidably connected inside the mounting box. A support plate is fixedly connected inside the mounting box. A rotating shaft is fixedly connected inside the support plate. A rotating block is rotatably connected to the outer side of the rotating shaft. Multiple L-shaped rods are rotatably connected to the front side of the rotating block. Sliding blocks are rotatably connected to the front side of the multiple L-shaped rods. A large spring is fixedly connected to the top of the upper sliding block. Clamping blocks are fixedly connected to the front side of the multiple sliding blocks. Mounting blocks are installed inside the clamping blocks. A fixing strap is fixedly connected to the front side of the mounting blocks. An adjustment component for adjusting the back support length is fixedly connected to the top of the frame.
[0008] As a further description of the above technical solution:
[0009] The adjustment assembly includes a support rod, the bottom end of which is fixedly connected to the top of the bracket. A sliding rod is slidably connected to the inner side of the support rod, and a rotating disk is rotatably connected to the inner side of the sliding rod. A belt is sleeved on the outer side of the rotating disk, and a driven disk is rotatably connected to the other end of the belt. A limit block is fixedly connected to the left side of the belt, and a fixing block is fixedly connected to the right side of the belt. A moving rod is fixedly connected to the right side of the fixing block, and a limit rod is rotatably connected to the rear side of the moving rod. A small spring is fixedly connected to the front side of the limit rod.
[0010] As a further description of the above technical solution:
[0011] The support plate has multiple grooves inside, and the outer side of the sliding block is slidably connected to the inside of the grooves;
[0012] As a further description of the above technical solution:
[0013] The other end of the large spring is fixedly connected to the inner wall of the mounting box, and the other end of the fixing strap is fixedly connected to the rear side of the contact plate.
[0014] As a further description of the above technical solution:
[0015] The mounting box has a sliding groove inside, and the outer side of the pull rod is slidably connected to the inside of the sliding groove;
[0016] As a further description of the above technical solution:
[0017] The front and rear sides of the driven disc are rotatably connected to the inside of the sliding rod, and the other end of the limiting block is fixedly connected to the inner wall of the support rod.
[0018] As a further description of the above technical solution:
[0019] The outer side of the movable rod is slidably connected to the inner side of the sliding rod, and the other end of the small spring is fixedly connected to the rear side of the movable rod.
[0020] As a further description of the above technical solution:
[0021] The movable rod has multiple square slots inside, and the top end of the limiting rod is slidably connected to the inside of the square slots.
[0022] This utility model has the following beneficial effects:
[0023] 1. In this utility model, when the pull rod is pulled, the external force drives the upper sliding block to move outward through the pull rod, compressing the large spring to store elastic potential energy. At the same time, the sliding block pushes the L-shaped rod to rotate, thereby driving the rotating block to link with other L-shaped rods, so that multiple clamping blocks extend outward synchronously. After the installation block is placed, the pull rod is released, and the spring rebounds to reset and clamp the clamping blocks. The mechanical locking replaces the Velcro, avoiding adhesive attenuation or falling off due to external force, ensuring that the exoskeleton fits stably during vigorous movement.
[0024] 2. In this utility model, pressing the limit rod compresses the small spring to store energy, pulls the moving rod to drive the belt drive, and causes the sliding rod to rise. After releasing the limit rod, the spring returns to its original position, causing the limit rod to lock into the square groove of the moving rod to lock the height. This adjustment mechanism can adapt to different user body shapes, ensure a precise fit on the back, and improve wearing comfort. Attached Figure Description
[0025] Figure 1 This is a three-dimensional schematic diagram of a limb and trunk component kinetic energy recovery assistive exoskeleton proposed in this utility model;
[0026] Figure 2 This is a schematic diagram of the installation box for a kinetic energy recovery assistive exoskeleton for limbs and trunk components proposed in this utility model;
[0027] Figure 3 This is a schematic diagram of the clamping block of a limb-shaft kinetic energy recovery assistive exoskeleton proposed in this utility model;
[0028] Figure 4 This is a schematic diagram of the sliding rod of a kinetic energy recovery assistive exoskeleton for limbs proposed in this utility model.
[0029] Legend:
[0030] 1. Bracket; 2. Rotating arm; 3. Contact plate; 4. Mounting box; 5. Pull rod; 6. Sliding block; 7. Support plate; 8. Rotating shaft; 9. Rotating block; 10. L-shaped rod; 11. Clamping block; 12. Mounting block; 13. Support rod; 14. Sliding rod; 15. Rotating disk; 16. Belt; 17. Driven disk; 18. Limiting block; 19. Fixing block; 20. Moving rod; 21. Limiting rod; 22. Small spring; 23. Large spring; 24. Fixing belt. Detailed Implementation
[0031] The technical solutions of the present utility model 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 utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0032] Reference Figures 1 to 3 This utility model provides one embodiment: a kinetic energy recovery assistive exoskeleton for limbs and trunk components, including a support frame 1, which serves as the supporting structure for the entire exoskeleton, ensuring the stability and integrity of the entire device. Two rotating arms 2 are rotatably connected to the outer side of the support frame 1. The connection between the rotating arms 2 and the support frame 1 can adapt to the movement of the human limbs, achieving a certain angle of rotation to better conform to the trajectory of human movement, allowing the exoskeleton to flexibly adjust its position and posture according to human activity. Contact plates 3 are fixedly connected to adjacent sides of the two rotating arms 2. The contact plates 3 directly contact the human limbs and simultaneously provide a platform for installing the fixing components.
[0033] A mounting box 4 is fixedly connected to the opposite side of the contact plate 3. The mounting box 4 is used to house and protect internal components such as the tie rod 5 and the support plate 7, providing a stable working environment for these components and serving as a spatial carrier for the installation and connection of each component. The tie rod 5 is slidably connected inside the mounting box 4. The tie rod 5 is the component of the entire fixed assembly that comes into contact with external forces. The support plate 7 is fixedly connected inside the mounting box 4. The support plate 7 provides a mounting base for components such as the rotating shaft 8, playing a role in supporting and stabilizing the internal structure and ensuring the stability of components such as the rotating shaft 8 during operation.
[0034] A rotating shaft 8 is fixedly connected inside the support plate 7. The rotating shaft 8 provides a fulcrum for the rotating block 9, allowing the rotating block 9 to rotate around it. It is a crucial pivot component for realizing motion conversion between parts. The rotating block 9 is rotatably connected to the outside of the rotating shaft 8. The rotating block 9 rotates around the rotating shaft 8 and, through its connection with multiple L-shaped rods 10, converts its rotational motion into the movement of the L-shaped rods 10, thereby driving the sliding block 6 and the clamping block 11 to move. Multiple L-shaped rods 10 are rotatably connected to the front of the rotating block 9. The L-shaped rods 10 connect the rotating block 9 and the sliding block 6, converting the rotational motion of the rotating block 9 into the linear sliding motion of the sliding block 6, thus realizing the transmission of force and the change of motion direction.
[0035] Multiple L-shaped rods 10 are rotatably connected to a sliding block 6 on their front side. The sliding block 6 is connected to the multiple L-shaped rods 10 and the clamping block 11. It slides in the groove inside the mounting box 4 and plays the role of transmitting and distributing force, transferring the force from the L-shaped rods 10 to the clamping block 11. A large spring 23 is fixedly connected to the top of the upper sliding block 6. The large spring 23 plays the role of energy storage and buffering. It can release the elastic potential energy stored by compression, so that the clamping block 11 can clamp the mounting block 12.
[0036] Multiple sliding blocks 6 are fixedly connected to the front of clamping blocks 11, which are used to clamp the mounting blocks 12. By clamping or loosening the mounting blocks 12, the tension of the fixing strap 24 is controlled, thereby achieving a tight connection and adjustment between the exoskeleton and the wearer's limbs. Mounting blocks 12 are installed on the inner side of the clamping blocks 11, providing connection points for the fixing strap 24, allowing the fixing strap 24 to be stably fixed to the clamping blocks 11, ensuring the reliability of the connection between the exoskeleton and the wearer's limbs. The front of the mounting blocks 12 is fixedly connected to the fixing strap 24, which is used to fix the exoskeleton to the wearer's limbs, ensuring that the exoskeleton will not fall off during limb movement. The fixing strap 24 has multiple mounting blocks 12, allowing it to adapt to the wearer's body shape. An adjustment component for adjusting the back support length is fixedly connected to the top of the support 1.
[0037] Reference Figure 1 , Figure 3 , Figure 4 The adjustment assembly includes a support rod 13, the bottom end of which is fixedly connected to the top of the bracket 1. The support rod 13 provides a track for the installation and sliding of other components such as the sliding rod 14, ensuring the stability of the overall structure of the adjustment assembly. The sliding rod 14 is slidably connected to the inner side of the support rod 13. The sliding rod 14 is a key moving component for adjusting the length of the back support. It not only provides installation space for components such as the rotating disk 15 and the driven disk 17, but also drives the entire adjustment assembly to adjust its length through its own sliding motion, thereby changing the length of the exoskeleton's back support.
[0038] A rotating disk 15 is rotatably connected inside the sliding rod 14, working in conjunction with the driven disk 17 to support the belt 16, enabling the belt 16 to rotate stably. The belt 16 is fitted onto the outer side of the rotating disk 15; the belt 16 is a crucial rotating component in the entire adjusting assembly. The other end of the belt 16 is rotatably connected to the driven disk 17, which cooperates with the rotating disk 15 to support the belt 16 and ensure the stability of its transmission, allowing the belt 16 to smoothly transmit power and motion, thus ensuring the reliability of the adjusting assembly. A limit block 18 is fixedly connected to the left side of the belt 16, providing a stable support point for its movement, allowing the belt 16 to move with the fixed block 19. A fixed block 19 is fixedly connected to the right side of the belt 16, transmitting the movement of the moving rod 20 to the belt 16; it is a key connecting component for force and motion transmission between the belt 16 and the moving rod 20.
[0039] A movable rod 20 is fixedly connected to the right side of the fixed block 19. The movable rod 20, through its connection to the fixed block 19, receives the motion transmitted by the belt 16 and converts the motion into its own linear sliding. Simultaneously, its internal square groove cooperates with the limiting rod 21 to lock and adjust the position of the movable rod 20. The limiting rod 21 is rotatably connected to the rear side of the movable rod 20. The limiting rod 21 restricts the sliding position of the movable rod 20. When the top of the limiting rod 21 engages with the square groove, the position of the movable rod 20 is fixed, thereby fixing the length of the exoskeleton back support. When adjustment is needed, the limiting rod 21 can be disengaged from the square groove, allowing the movable rod 20 to slide. A small spring 22 is fixedly connected to the front side of the limiting rod 21. When the limiting rod 21 disengages from the square groove, the small spring 22 pushes the limiting rod 21 back to its original position, allowing it to engage with the square groove again, ensuring that the adjustment assembly can be stably locked in different adjustment positions.
[0040] Reference Figures 2 to 4 The support plate 7 has multiple grooves inside, and the outer side of the sliding block 6 is slidably connected to the inside of the grooves. The grooves provide a track and guide for the movement of the sliding block 6, allowing it to slide in a specified direction. The other end of the large spring 23 is fixedly connected to the inner wall of the mounting box 4, and the other end of the large spring 23 is fixed above the sliding block 6. Through the connection between the two, compression and extension of the large spring 23 can be achieved. The other end of the fixing strap 24 is fixedly connected to the rear side of the contact plate 3. The mounting box 4 has a sliding groove inside, and the outer side of the pull rod 5 is slidably connected to the inside of the sliding groove. The sliding groove allows the mounting box 4 to slide in a predetermined direction, preventing the pull rod 5 from deviating during sliding. The front and rear sides of the driven plate 17 are rotatably connected to the inside of the sliding rod 14, providing stable support for the rotation of the belt 16.
[0041] The other end of the limiting block 18 is fixedly connected to the inner wall of the support rod 13 to ensure stable force transmission of the belt 16 during movement. The outer side of the moving rod 20 is slidably connected to the inner side of the sliding rod 14, which provides a stable sliding space for the moving rod 20. The other end of the small spring 22 is fixedly connected to the rear side of the moving rod 20. The moving rod 20 has multiple square slots inside. The top end of the limiting rod 21 is slidably connected to the inside of the square slots. When an external force is applied, the limiting rod 21 overcomes the elastic force of the small spring 22, disengages from the currently engaged square slot, and releases the restriction on the moving rod 20. After adjusting to a suitable back support length, the limiting rod 21 is once again engaged in a new square slot under the action of the small spring 22 to complete the locking.
[0042] Working principle: Pulling the lever 5 causes it to move under external force. This movement drives the upper sliding block 6 to move outward. The movement of the upper sliding block 6 compresses the large spring 23, causing it to undergo elastic deformation and store elastic potential energy. Simultaneously, the movement of the upper sliding block 6 causes the L-shaped rod 10 to rotate. The rotation of the L-shaped rod 10 causes the rotating block 9 to move. The movement of the rotating block 9 causes the other L-shaped rods 10 to slide the remaining sliding blocks 6 inside the support plate 7, opening multiple clamping blocks 11 outward. At this point, the mounting block 12 is placed between the clamping blocks 11. Then, the lever 5 is released. The force applied to the large spring 23 disappears, and the large spring 23 drives a series of components back to their original positions, thus clamping the mounting block 12, improving the stability and reliability of the fixation, and preventing accidental loosening due to weakened adhesiveness from repeated use of Velcro or being pulled by external forces. This ensures a stable fit of the exoskeleton during strenuous exercise or prolonged use.
[0043] Pressing the limiting rod 21 compresses the small spring 22, causing it to elastically deform and store elastic potential energy. Then, pulling the moving rod 20 causes the moving rod 20 to pull the belt 16 through the fixing block 19, rotating it on the outside of the rotating disk 15 and the driven disk 17. This causes the sliding rod 14 to slide upward. When pulled to the appropriate position, the limiting rod 21 is released, the force applied to the small spring 22 disappears, and the small spring 22 releases its elastic potential energy, causing the limiting rod 21 to return to its original position. The limiting rod 21 then engages in the square groove inside the moving rod 20, fixing the movement of each component and allowing for adjustment of the height of the back support. This improves the adaptability of the exoskeleton, allowing for flexible adjustment of the back support height according to the height and body shape of different users, ensuring a precise fit for each part of the back and enhancing wearing comfort.
[0044] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. A kinetic energy recovery assistive exoskeleton for limbs and trunk components, comprising a support frame (1), characterized in that: The bracket (1) has two rotating arms (2) rotatably connected to its outer side. A contact plate (3) is fixedly connected to the adjacent side of each of the two rotating arms (2). A mounting box (4) is fixedly connected to the distant side of each contact plate (3). A pull rod (5) is slidably connected inside the mounting box (4). A support plate (7) is fixedly connected inside the mounting box (4). A rotating shaft (8) is fixedly connected inside the support plate (7). A rotating block (9) is rotatably connected to the outer side of the rotating shaft (8). The front side of the bracket (1) is rotatably connected to multiple L-shaped rods (10), and the front side of the multiple L-shaped rods (10) is rotatably connected to sliding blocks (6). The top of the upper sliding block (6) is fixedly connected to a large spring (23). The front side of the multiple sliding blocks (6) is fixedly connected to clamping blocks (11). The inner side of the clamping blocks (11) is equipped with an installation block (12). The front side of the installation block (12) is fixedly connected to a fixing strap (24). The top of the bracket (1) is fixedly connected to an adjustment component for adjusting the back support length.
2. The kinetic energy recovery assistive exoskeleton for limbs and trunk components according to claim 1, characterized in that: The adjustment assembly includes a support rod (13), the bottom end of which is fixedly connected to the top of the bracket (1). A sliding rod (14) is slidably connected to the inner side of the support rod (13). A rotating disk (15) is rotatably connected inside the sliding rod (14). A belt (16) is sleeved on the outer side of the rotating disk (15). A driven disk (17) is rotatably connected to the other end of the belt (16). A limit block (18) is fixedly connected to the left side of the belt (16). A fixing block (19) is fixedly connected to the right side of the belt (16). A moving rod (20) is fixedly connected to the right side of the fixing block (19). A limit rod (21) is rotatably connected to the rear side of the moving rod (20). A small spring (22) is fixedly connected to the front side of the limit rod (21).
3. The kinetic energy recovery assistive exoskeleton for limbs and trunk components according to claim 1, characterized in that: The support plate (7) has multiple grooves inside, and the outer side of the sliding block (6) is slidably connected to the inside of the grooves.
4. The kinetic energy recovery assistive exoskeleton for limbs and trunk components according to claim 1, characterized in that: The other end of the large spring (23) is fixedly connected to the inner wall of the mounting box (4), and the other end of the fixing strap (24) is fixedly connected to the rear side of the contact plate (3).
5. The kinetic energy recovery assistive exoskeleton for limbs and trunk components according to claim 1, characterized in that: The mounting box (4) has a sliding groove inside, and the outside of the pull rod (5) is slidably connected to the inside of the sliding groove.
6. The kinetic energy recovery assistive exoskeleton for limbs and trunk components according to claim 2, characterized in that: The front and rear sides of the driven disc (17) are rotatably connected inside the sliding rod (14), and the other end of the limiting block (18) is fixedly connected to the inner wall of the support rod (13).
7. The kinetic energy recovery assistive exoskeleton for limbs and trunk components according to claim 2, characterized in that: The outer side of the moving rod (20) is slidably connected to the inner side of the sliding rod (14), and the other end of the small spring (22) is fixedly connected to the rear side of the moving rod (20).
8. The kinetic energy recovery assistive exoskeleton for limbs and trunk components according to claim 2, characterized in that: The movable rod (20) has multiple square slots inside, and the top end of the limiting rod (21) is slidably connected to the inside of the square slots.