CPC A61H 1/0277 (2013.01) [F03G 5/06 (2013.01); H02J 15/007 (2020.01); A61H 2201/14 (2013.01); A61H 2201/1635 (2013.01); F16H 37/122 (2013.01)] | 10 Claims |
1. A passive energy-storage exoskeleton for assisting elbow joint, comprising an upper arm unit, a lower arm unit, and an elbow joint unit located therebetween, the upper arm unit being rotatably connected with the lower arm unit; wherein
the elbow joint unit comprises an anti-gravity mechanism, a coil spring mechanism, and a lower-arm-unit self-locking mechanism;
the anti-gravity mechanism comprises a cardan's gear mechanism and an elastic part, the cardan's gear mechanism comprises a big ring gear fixed to the lower arm unit and a pinion hinged to the upper arm unit, and the pinion is meshed with the big ring gear; a first end of the elastic part is hinged to a position deviated from a center of the pinion, and a second end of the elastic part is connected to a lower end of the lower arm unit;
the coil spring mechanism comprises an energy-storage ratchet wheel, a spindle, a coil spring, a pawl B, and a pawl C; the energy-storage ratchet wheel is fixed to the lower arm unit, and the spindle is fixed to the upper arm unit; the coil spring is fixed to the spindle at an inner end of the coil spring, and is fixed to the energy-storage ratchet wheel at an outer end thereof; the pawl B is hinged to the upper arm unit, the pawl C is hinged to the lower arm unit, and the pawl B and the pawl C are provided with a switch B and a switch C respectively for adjusting respective engagements of the pawl B and the pawl C with the energy-storage ratchet wheel; and
the lower-arm-unit self-locking mechanism comprises a self-locking ratchet wheel and a pawl A, the self-locking ratchet wheel is fixed to the lower arm unit, the pawl A is hinged to the upper arm unit, the self-locking ratchet wheel comprises a ratchet teeth portion and a protruding edge portion which are alternately arranged at an outer edge of the self-locking ratchet wheel, and the pawl A is provided with a switch A for adjusting engagement between the pawl A and the ratchet teeth portion.
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