Exoskeleton passive joint magnetic locking device

Abstract

The utility model discloses an exoskeleton passive joint magnetic suction locking device, wherein the lower end of first outer connecting rod, the upper end of second outer connecting rod are connected through the locking shaft of through -and -through and form the rotary movement pair, and the locking piece, the unlocking piece are sequentially set on the locking shaft, the limiting protrusion is set on the locking piece, and the corresponding limiting recess is set on the first outer connecting rod, and the locking piece is engaged to form the joint locking limit through the limiting protrusion and the limiting recess of first outer connecting rod. The exoskeleton passive joint magnetic suction locking device can realize multi -gear self -off clutch knee joint locking, and the limiting protrusion on the outside of locking piece and the limiting recess of outer connecting rod are engaged to form joint locking limit, and the arbitrary locking of multi -gear is realized through the angle number of different protrusions and recesses, and the magnet polarity of locking piece and unlocking piece is different or same through the rotation switching in use, realizes unlocking and locking, avoids the structure connection of real object two, so that it can unlock and lock at any angle and will not produce mechanism interference.

Description

Technical Field

[0001] This utility model belongs to the field of exoskeletons, specifically relating to a passive joint magnetic locking device for exoskeletons. Background Technology

[0002] Existing exoskeleton joint locking devices mainly rely on mechanical structures or smart materials to achieve zero-power locking, and the technical approaches include the following types:

[0003] The combination of friction and elastic elements: energy is stored and passive assistance is provided through torsion springs, friction plates, etc., but the locking precision is insufficient. For example, the torsion spring design in patent CN110744526A is prone to loss of support control when the knee joint is not completely locked under load.

[0004] Ratchet and pawl mechanism: Locking is achieved by the one-way meshing of the ratchet and pawl. For example, the intermittent locking mechanism of patent CN202410218322A uses an incomplete gear to cooperate with the locking wheel. It has a strong load-bearing capacity but requires a specific angle to trigger and is prone to impact in a vibration environment.

[0005] Magnetorheological fluid damping control: such as the magnetorheological rotary brake in patent CN202110834335A, which achieves locking by adjusting the damping through current, but the passive design relies on mechanical triggering (such as the electric mechanism in patent CN202321472845A), and changes in ambient temperature will affect the damping characteristics.

[0006] However, existing technologies have significant drawbacks. Mechanical locking devices, particularly friction-elastic coupling structures, suffer from locking accuracy highly dependent on the material's friction coefficient, making them prone to locking failure under heavy loads or dynamic loads due to uneven pressure. While ratchet and pawl mechanisms offer strong load-bearing capacity, they require specific angle triggering and are susceptible to tooth wear in vibrating environments, leading to mis-locking or impact noise. Smart material-driven locking devices generally have slow response times, and materials are prone to fatigue after prolonged use, reducing reliability. In active locking technologies, motor-driven systems are heavy and energy-intensive, severely impacting endurance. Hydraulic / pneumatic locking systems are not only bulky and heavy, but also susceptible to impact damage when mounted on the side, and their response speed decreases significantly in low-temperature environments. These technological bottlenecks make it difficult for existing passive joint locking devices to achieve both high-precision locking and dynamic flexibility in medical rehabilitation, industrial heavy-duty applications, and other scenarios, requiring further breakthroughs through material innovation and structural optimization. Summary of the Invention

[0007] In order to overcome the above-mentioned technical defects in the prior art, this utility model proposes a passive joint magnetic locking device for exoskeleton.

[0008] The technical solution to achieve the purpose of this utility model is as follows:

[0009] A passive joint magnetic locking device for an exoskeleton includes a first outer connecting rod, a second outer connecting rod, a locking shaft, a locking plate, and an unlocking plate;

[0010] The lower end of the first outer connecting rod and the upper end of the second outer connecting rod are connected by a through locking shaft, forming a rotary kinematic pair;

[0011] Locking plates and unlocking plates are sequentially fitted onto the locking shaft.

[0012] Furthermore, the locking plate is provided with a limiting protrusion, and the first outer connecting rod is provided with a corresponding limiting groove;

[0013] The locking plate engages with the limiting protrusion and the limiting groove of the first outer connecting rod to form a joint locking limit.

[0014] Furthermore, there are multiple pairs of limiting protrusions and limiting grooves.

[0015] Furthermore, multiple magnets with alternating polarities are embedded in the locking plate;

[0016] The unlocking chip is embedded with multiple magnets of alternating polarities;

[0017] The number of magnets on the locking plate is equal to the number of magnets on the unlocking plate.

[0018] Furthermore, a lever is provided on the unlocking plate, and a rubber sleeve is fitted on the lever.

[0019] Furthermore, the device is provided with an outer casing.

[0020] Furthermore, the number of magnets is greater than or equal to 4, and the number of magnets is an even number.

[0021] Compared with the prior art, the advantages of this utility model are as follows:

[0022] This utility model of a passive joint magnetic locking device for exoskeleton can achieve multi-position self-disengaging knee joint locking. The joint locking limit is formed by the engagement of the outer limiting protrusion of the locking plate with the limiting groove of the outer connecting rod. By varying the angle and number of protrusions and grooves, for example, three protrusions result in a locking position every 120°, and six protrusions result in a locking position every 60°, thus achieving arbitrary locking at multiple positions.

[0023] When in use, the locking and unlocking plates are switched by rotating the magnetic plates, which have different or the same polarity. This avoids the physical structure connecting the two, allowing them to be locked and unlocked at any angle without causing mechanical interference.

[0024] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0025] Figure 1This is an exploded view of the passive joint magnetic locking device for the exoskeleton of this utility model.

[0026] Figure 2 This is a schematic diagram showing the connection of the first outer connecting rod, the second outer connecting rod, and the locking shaft of this utility model.

[0027] Figure 3 This is a schematic diagram of the engagement between the locking plate and the first outer connecting rod of this utility model.

[0028] Figure 4 This is a schematic diagram of the unlocking plate of this utility model.

[0029] Figure 5 This is a schematic diagram of the magnets installed on the locking and unlocking plates of this utility model.

[0030] Figure 6 This is a schematic diagram of the overall design of the passive joint magnetic locking device for the exoskeleton of this utility model.

[0031] Figure 7 This is a schematic diagram of the outer casing installation of this utility model.

[0032] Figure 8 This is a schematic diagram of the installation of the rubber sleeve of this utility model. Detailed Implementation

[0033] It is readily understood that, based on the technical solution of this utility model, various embodiments of this utility model can be conceived by those skilled in the art without altering its essential spirit. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of this utility model or as a limitation or restriction on its technical solution. Rather, these embodiments are provided to enable those skilled in the art to gain a more thorough understanding of this utility model. Preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings, which constitute a part of this application and, together with the embodiments of this utility model, serve to illustrate the innovative concept of this invention.

[0034] Example

[0035] Combination Figures 1 to 8 A passive joint magnetic locking device for an exoskeleton includes a first outer connecting rod 1, a second outer connecting rod 2, a locking shaft 3, a locking piece 4, and an unlocking piece 5.

[0036] The lower end of the first outer link 1 and the upper end of the second outer link 2 are connected by a through locking shaft 3, forming a rotary kinematic pair to realize the coordinated movement of the joint;

[0037] Locking piece 4 and unlocking piece 5 are sequentially sleeved on the locking shaft 3;

[0038] The locking plate 4 is provided with a limiting protrusion, and the first outer connecting rod 1 is provided with a corresponding limiting groove;

[0039] The locking plate 4 engages with the limiting protrusion and the limiting groove of the first outer connecting rod 1 to form a joint locking limit, allowing the locking plate 4 to perform a certain linear displacement on the locking shaft 3 but preventing rotational movement. Figure 3 As shown; in addition, there are multiple pairs of limiting protrusions and limiting grooves. Specifically, in this embodiment, different angles and numbers of protrusions and grooves can be designed according to the snowball. For example, if 3 limiting positions are set, there is a locking position every 120°, and if 6 limiting positions are set, there is a locking position every 60°.

[0040] Meanwhile, to achieve self-locking of the joint, multiple magnets with alternating polarities are embedded in the locking plate 4; correspondingly, multiple magnets with alternating polarities are also embedded in the unlocking plate 5; the number of magnets on the locking plate 4 and the number of magnets on the unlocking plate 5 are equal; for example... Figure 5 As shown, when the magnets on the locking plate 4 and the unlocking plate 5 have the same polarity, the locking plate 4 is pushed towards the first outer connecting rod 1, causing the outer limiting protrusion of the locking plate 4 to engage with the limiting groove of the outer connecting rod 1 to form a joint locking limit. When the magnets on the locking plate 4 and the unlocking plate 5 have different polarities, the locking plate 4 is attracted to the outer side, causing the outer limiting protrusion of the locking plate 4 to disengage from the limiting groove of the outer connecting rod 1 and unlock. Figure 6 As shown.

[0041] This solution achieves locking and unlocking by rotating and switching the magnets on the locking plate 4 and unlocking plate 5 to have different or the same polarity. This avoids the physical structure connecting the two, allowing them to be locked and unlocked at any angle without causing mechanical interference.

[0042] For ease of use, a lever is provided on the unlocking piece 5, and a rubber sleeve 6 is fitted onto the lever. An outer casing 7 is provided on the outside of the device, which can also fix and restrict the release and rotation angle of the unlocking piece 5.

[0043] In addition, in some embodiments, the number of magnets on the locking plate 4 and the unlocking plate 5 is greater than or equal to 4, and the number of magnets is even. The even number design can ensure that each pair of magnets simultaneously forms like-pair attraction or unlike-pair repulsion. Experiments show that when the number is greater than 4, it can improve the uniformity of the force between the locking plate 4 and the unlocking plate 5 when they repel or attract each other, and prevent uneven force from causing structural displacement and deformation.

[0044] The above embodiments illustrate and describe the basic principles and main features of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from the spirit and scope of the invention, and all such changes and modifications fall within the scope of the invention as claimed.

Claims

1. A passive joint magnetic locking device for an exoskeleton, characterized in that, It includes a first outer connecting rod (1), a second outer connecting rod (2), a locking shaft (3), a locking plate (4), and an unlocking plate (5); The lower end of the first outer connecting rod (1) and the upper end of the second outer connecting rod (2) are connected by a through locking shaft (3) to form a rotary kinematic pair; Locking plate (4) and unlocking plate (5) are sequentially sleeved on the locking shaft (3).

2. The passive joint magnetic locking device for exoskeleton according to claim 1, characterized in that, The locking plate (4) is provided with a limiting protrusion, and the first outer connecting rod (1) is provided with a corresponding limiting groove; The locking plate (4) engages with the limiting protrusion and the limiting groove of the first outer connecting rod (1) to form a joint locking limit.

3. The passive joint magnetic locking device for exoskeleton according to claim 2, characterized in that, There are multiple pairs of limiting protrusions and limiting grooves.

4. The passive joint magnetic locking device for exoskeleton according to claim 2, characterized in that, Multiple magnets with alternating polarities are embedded in the locking plate (4); Multiple magnets with alternating polarities are embedded in the unlocking piece (5); The number of magnets on the locking plate (4) is equal to the number of magnets on the unlocking plate (5).

5. The passive joint magnetic locking device for exoskeleton according to claim 4, characterized in that, The unlocking plate (5) is provided with a lever, and a rubber sleeve (6) is fitted on the lever.

6. The passive joint magnetic locking device for exoskeleton according to claim 1, characterized in that, The device is provided with an outer casing (7).

7. The passive joint magnetic locking device for exoskeleton according to claim 4, characterized in that, The number of magnets is greater than or equal to 4, and the number of magnets is an even number.

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