CN105055121B - Power drive type pressure reliever for lower limb joint - Google Patents
Power drive type pressure reliever for lower limb joint Download PDFInfo
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- CN105055121B CN105055121B CN201510440751.XA CN201510440751A CN105055121B CN 105055121 B CN105055121 B CN 105055121B CN 201510440751 A CN201510440751 A CN 201510440751A CN 105055121 B CN105055121 B CN 105055121B
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Abstract
The invention provides a power drive type pressure reliever for the lower limb joint. The power drive type pressure reliever comprises a left telescopic support structure, a right telescopic support structure, a connecting rotation adjustment structure, a carrying structure and a power control device, wherein the left end of the connecting rotation adjustment structure is connected with the upper end of the left telescopic support structure, the right end of the connecting rotation adjustment structure is connected with the upper end of the right telescopic support structure, and the lower end of the carrying structure is connected with the middle of the connecting rotation adjustment structure; the left telescopic support structure and the right telescopic support structure are the same in construction, and are bilaterally symmetrical; and the power control device is arranged at the lower part of the rear side of the carrying structure. The power drive type pressure reliever is simple in structure, easy to manufacture, and high in degree of automation, can be taken as a self-care tool for the old, and also can be used for the physically handicapped to take recovering exercises, the pressure on the back of people by heavy objects is greatly alleviated, the weight of the heavy objects on the back is greatly improved, and the power drive type pressure reliever is also particularly suitable for being used for transporting goods on the rugged mountain road.
Description
Technical field
The present invention relates to a kind of device of auxiliary old age human action, more particularly to a kind of decompression of powder actuated joint of lower extremity
Device.
Background technology
With the society of the aging gradually stepped into, the heavy burden that young man supports middle old man is also increasing.Have and much see
Like usual housework, all it is difficult to complete for the elderly being short of physical strength；Will after only-child gets married
The problem that two people support four or more old men can be faced, personal muscle power also can be more and more run in life serious not
The problem of foot.Therefore, a kind of machine is needed on market badly to aid in weakling and the elderly's motion to help this groups of people to carry
Their self-care ability high and improve their quality of life.
The content of the invention
The present invention is in order to solve weak point of the prior art, there is provided a kind of simple structure, it is light, be easily manipulated, from
The high powder actuated joint of lower extremity decompressor of dynamicization degree.
To solve above-mentioned technical problem, the present invention is adopted the following technical scheme that：Powder actuated joint of lower extremity decompressor,
Rotate adjustment structure, bear structure, power control unit including left retractable support structure, right retractable support structure, connection, connect
Rotate adjustment structure or so two ends to be connected with the upper end of left retractable support structure and right retractable support structure respectively, under bearing structure
End rotates the connection of adjustment structure middle part with being connected；Left retractable support structure is identical with the construction of right retractable support structure and left and right is right
Claim；Power control unit is located at bears mechanism's back lower；
Connection rotates adjustment structure includes one piece of width adjustment plates and two pieces of connecting plates, bears structure lower end and is connected with two pieces
Connected by fixed seat between plate upper end, width adjustment plates two ends are connected respectively with two pieces of connecting plates middle part, every piece of connecting plate
Lower end is hinged with can be along the X of vertical plane rotation to hinge seat, and X is hinged with the Z that can be rotated along the horizontal plane to hinge seat outside
To first axle plate, Z-direction first axle plate outside is hinged with the Z-direction second hinge plate that can be rotated along the horizontal plane, Z-direction second hinge
Plate outside is hinged with the Y-direction hinge seat that can be rotated along the horizontal plane, Y-direction hinge seat outside and the left retractable support structure upper end in left side
It is hinged, the Y-direction hinge seat outside on right side is hinged with right retractable support structure upper end；Waistband is provided between two pieces of connecting plates；
Connecting plate is provided with the X for driving X to rotate to hinge seat to reducing motor, and the Y-direction hinge seat in left side is provided with
For driving the left Y-direction reducing motor of left retractable support structure swing, the Y-direction hinge seat on right side to be provided with for driving the right side
The right Y-direction reducing motor of retractable support structure swing；
The Z-direction drive mechanism for driving Y-direction hinge seat to rotate along Z-direction is provided with Y-direction hinge seat.
The Z-direction drive mechanism includes being located at sleeve pipe in Y-direction hinge seat, be provided with sleeve pipe servomotor, central gear,
Planet carrier, planetary gear, ring gear, output shaft, bearing, bearing block and shaft coupling, servomotor is coaxial to be fixed on Z-direction second
On flap, in planetary gear rotation connection planet carrier, planet is erected in ring gear, and central gear is located at servomotor
On power output shaft, central gear through planet carrier be located at planetary gear in the middle of, planetary gear respectively with central gear and internal tooth
Circle engagement, ring gear is coaxial with bearing block to be fixedly connected, and bearing is located in bearing block, and output shaft one end is same with planet carrier center
Axial restraint connects, and the output shaft other end is connected through bearing inner race with shaft coupling one end, the shaft coupling other end and Y-direction hinge seat
It is fixedly connected.
The left retractable support structure includes that pneumatic muscle, arc, thigh support pipe, leg support pipe, thigh stretch
Bar, shank expansion link and pedal, leg support pipe upper end is provided with mounting seat, and thigh support pipe lower end is cut with scissors by knee joint hinge
It is connected in mounting seat, thigh expansion link is plugged in from top to bottom in thigh support pipe, thigh support pipe top is provided with for positioning
The upper locking ring of thigh expansion link, shank expansion link is plugged in from bottom to top in leg support pipe, and leg support pipe bottom is provided with
For positioning the lower retaining ring of shank expansion link；Shank expansion link lower end is fixedly connected with pedal upper surface outside, thigh
Stay tube is connected with the arc location-plate that may be stuck on thigh, and arc location-plate is provided with thigh bandage, and pedal is provided with pin and stretches tight
Band；
Leg support pipe lower end is provided with undersetting, and thigh support pipe middle and lower part is provided with upper bracket, the lower end hinge of pneumatic muscle
It is connected on undersetting, arc upper end is hinged on upper bracket, arc lower end is hinged with pneumatic muscle upper end, arc rear side
Wear-resisting slideway is provided with along the vertical direction, and mounting seat front side is provided with and the roller being connected is rolled with wear-resisting slideway.
The pneumatic muscle includes air bag and is easy to level and vertical flexible diamond weave net, and diamond weave net is located at gas
On capsule inner wall, air bag is provided with valve, and gasbag outer surface is provided with the external protection of soft elastic.
Including vertically disposed framework, framework lower end is bolted to connection the structure of bearing with fixed seat, framework
Height Adjustable heavy burden link is provided with, framework is respectively arranged on the left side and the right side a shoulder belt.
The power control unit includes the casing being located on framework, and battery, servo controller, servo are provided with casing
Pneumatic proportional valve group, pressure-reducing valve, liquid nitrogen bottle, leg muscle group's electromyographic signal sensor and hip joint muscle group electromyographic signal sensing
Device, battery is logical to reducing motor, left Y-direction reducing motor, right Y-direction reducing motor and servomotor with servo controller, X respectively
Cable connection is crossed, servo controller is subtracted respectively with servo-pneumatic ratio valve group, X by data signal line to reducing motor, left Y-direction
Speed motor, right Y-direction reducing motor, servomotor, leg muscle group's electromyographic signal sensor and hip joint muscle group electromyographic signal
Sensor connects, and the outlet of liquid nitrogen bottle is connected by the import of pressure-reducing valve and servo-pneumatic ratio valve group, servo-pneumatic proportioning valve
The outlet of group is connected with the import of pneumatic muscle.
Using above-mentioned technical proposal, when in use, the both feet of user step on respectively on the footrests and taut with pin to the present invention
Band is fixed, and thigh position is entangled using arc location-plate and tightened using thigh bandage, and waist will connect to rotate using waistband to be adjusted
Section fastening structure, shoulder puts shoulder belt will bear fastening structure.Simultaneously by leg muscle group's electromyographic signal sensor and hip joint
Muscle group electromyographic signal sensor is pasted respectively at leg muscle group and hip joint muscle group.Weight is tied up in heavy burden link
On, the gravity of weight is rotated after adjustment structure by left retractable support structure and right retractable support knot by bearing structure, connection
Structure is supported, and thus significantly reduces the pressure of people's backbone and lower limb.
It is assumed that thigh swing is around X-axis motion, it is the internal rotation of hip joint and outer around Y-axis motion that thigh swings
Rotation is around Z axis motion.Around X-axis and around Y-axis rotation pair can beyond human body, but move about the z axis rotation pair can only
In human body.When dynamic left leg or right leg is stepped forward, hip joint muscle and leg muscle can change, leg muscle group's myoelectricity
Variable signal is transferred to servo controller by signal transducer and hip joint muscle group electromyographic signal sensor, servo controller to
Left Y-direction reducing motor or right Y-direction reducing motor send command signal, and left Y-direction reducing motor and right Y-direction reducing motor drive respectively
Left retractable support structure and right retractable support structure.If thigh swings, servo controller to X sends order to reducing motor
Signal, to reducing motor, respectively drive connection rotation adjustment structure is rotated the X of left and right two, and connection rotates adjustment structure outer end
Left retractable support structure and right retractable support structure is driven to swing.When internal rotation of hip joint and outward turning, servo controller is to X to subtracting
Speed motor sends command signal, and servomotor is rotated, and drives planetary gear, planetary gear to drive by output shaft by central gear
Dynamic Y-direction hinge seat and relative to Z-direction second hinge plate rotate.
People from preparation of squatting down stand when, need bigger leg pulling force to realize standing, and only need the power of very little when standing
Gas is maintained.Pneumatic muscle drives arc, so can provide the different arm of forces and power by changing the position of the fulcrum of arc
Amount output.Roller is exactly the fulcrum of arc, and as stretching angle changes, the position that roller is contacted with arc is also in change.
When pneumatic muscle stroke it is longer, when the stretching angle between thigh support pipe and leg support pipe is bigger, the meeting of roller present position
The closer to wear-resisting slideway bottom；When stretching angle gets over hour between thigh support pipe and leg support pipe, that is, when going down on one's knees, roller institute
Place position can be the closer to wear-resisting slideway top, so as to when preparation of squatting down stands, pneumatic muscle provides bigger pulling force.
When the people of different heights uses, can be by adjusting thigh expansion link up and down in thigh support pipe, in shank
Adjust shank expansion link in stay tube up and down, and by upper locking ring and lower retaining ring by thigh expansion link and the flexible rod locking of shank
.Width adjustment plates can adjust connection and rotate length of the adjustment structure again in horizontal direction, be made with the people for being adapted to difference waistlines
With.
Pneumatic muscle air bag expansion, diamond weave net horizontal direction increase, vertical direction shorten, pneumatic muscle produce to
On pulling force balancing weight is pulled upwardly, the air bag of pneumatic muscle shrinks, and diamond weave net horizontal direction reduces, and vertical direction is stretched
Long, balancing weight falls.Pneumatic muscle only produces pulling force and does not produce thrust, the same with human muscle.
Present configuration is simple, it is easy to manufacture, high degree of automation, the instrument that can be taken care of oneself as the elderly, Er Qieke
Weight is born as the residual recovery exercise after being ill of body, fully to alleviate people and bear the pressure of weight, and substantially increase
Weight, is also especially suitable for rugged mountain path transport goods.
Description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the left view of Fig. 1（Under work use state）；
Fig. 3 is the structural representation of power control unit；
Fig. 4 is the overall assembling schematic diagram that the connection on right side rotates adjustment structure；
Fig. 5 is the explosive view that connection rotates adjustment structure in Fig. 4；
Fig. 6 is schematic diagram when pneumatic muscle is shunk and expanded in Fig. 1.
Specific embodiment
As shown in figs 1 to 6, powder actuated joint of lower extremity decompressor of the invention, including left retractable support structure,
Right retractable support structure, connection rotate adjustment structure, bear structure, power control unit, and connection rotates adjustment structure or so two
End is connected respectively with the upper end of left retractable support structure and right retractable support structure, bears structure lower end and adjusts knot with being connected to rotate
The connection of structure middle part；Left retractable support structure is identical and symmetrical with the construction of right retractable support structure；Power control unit sets
Bearing mechanism's back lower.
Connection rotates adjustment structure includes one piece of width adjustment plates 1 and two pieces of connecting plates 2, bears structure lower end and two pieces of companies
Connected by fixed seat 3 between the upper end of fishplate bar 2, the two ends of width adjustment plates 1 are connected respectively with two pieces of middle parts of connecting plate 2, connect per block
The lower end of fishplate bar 2 is hinged with can be along the X of vertical plane rotation to hinge seat 4, and X is hinged with to the outside of hinge seat 4 can be along level
The Z-direction first axle plate 5 that face rotates, the outside of Z-direction first axle plate 5 is hinged with the Z-direction second hinge plate that can be rotated along the horizontal plane
6, the outside of Z-direction second hinge plate 6 is hinged with the Y-direction hinge seat 7 that can be rotated along the horizontal plane, the outside of Y-direction hinge seat 7 and the left side in left side
Retractable support structure upper end is hinged, and the outside of Y-direction hinge seat 7 on right side is hinged with right retractable support structure upper end；Two pieces of connecting plates 2
Between be provided with waistband 8.
Connecting plate 2 is provided with the X for driving X to rotate to hinge seat 4 to reducing motor 9, on the Y-direction hinge seat 7 in left side
The left Y-direction reducing motor 10 for driving left retractable support structure swing is provided with, the Y-direction hinge seat 7 on right side is provided with use
In the right Y-direction reducing motor 11 for driving right retractable support structure swing.
The Z-direction drive mechanism for driving Y-direction hinge seat 7 to rotate along Z-direction is provided with Y-direction hinge seat 7.
Z-direction drive mechanism includes the sleeve pipe 12 being located in Y-direction hinge seat 7, and in sleeve pipe 12 servomotor 13, sun tooth are provided with
Wheel 14, planet carrier 15, planetary gear 16, ring gear 17, output shaft 18, bearing 19, bearing block 20 and shaft coupling 21, servomotor
13 it is coaxial be fixed on Z-direction second hinge plate 6, planetary gear 16 is rotatably connected on planet carrier 15, in planet carrier 15 is located at
In gear ring 17, central gear 14 is located on the power output shaft 18 of servomotor 13, and central gear 14 is located at through planet carrier 15
In the middle of planetary gear 16, planetary gear 16 is engaged respectively with central gear 14 and ring gear 17, and ring gear 17 is same with bearing block 20
Axial restraint connects, and bearing 19 is located in bearing block 20, the one end of output shaft 18 with the central coaxial of planet carrier 15 to being fixedly connected, it is defeated
The other end of shaft 18 is connected through the inner ring of bearing 19 with the one end of shaft coupling 21, and the other end of shaft coupling 21 is fixed with Y-direction hinge seat 7 and connected
Connect.
Left retractable support structure includes pneumatic muscle 22, arc 23, thigh support pipe 24, leg support pipe 25, thigh
Expansion link 26, shank expansion link 27 and pedal 28, the upper end of leg support pipe 25 is provided with mounting seat 29, the lower end of thigh support pipe 24
It is hinged in mounting seat 29 by knee joint hinge 30, thigh expansion link 26 is plugged in from top to bottom in thigh support pipe 24, greatly
The top of leg support tube 24 is provided with the upper locking ring 31 for positioning thigh expansion link 26, and shank expansion link 27 is plugged in from bottom to top
In leg support pipe 25, the bottom of leg support pipe 25 is provided with the lower retaining ring 32 for positioning shank expansion link 27；Shank stretches
The lower end of bar 27 is fixedly connected with the upper surface of pedal 28 outside, and thigh support pipe 24 is connected with the arc positioning that may be stuck on thigh
Plate 33, arc location-plate 33 is provided with thigh bandage 34, and pedal 28 is provided with pin bandage 35.
The lower end of leg support pipe 25 is provided with undersetting 36, and the middle and lower part of thigh support pipe 24 is provided with upper bracket 37, pneumatic muscle
22 lower end is hinged on undersetting 36, and the upper end of arc 23 is hinged on upper bracket 37, the lower end of arc 23 and pneumatic muscle
22 upper ends are hinged, and the rear side of arc 23 is provided with along the vertical direction wear-resisting slideway 38, and the front side of mounting seat 29 is provided with and wear-resisting slideway 38
Roll the roller 39 of connection.
Pneumatic muscle 22 includes air bag 40 and is easy to level and vertical flexible diamond weave net 41, and diamond weave net 41 sets
On the inwall of air bag 40, air bag 40 is provided with valve 42, and the outer surface of air bag 40 is provided with the external protection 43 of soft elastic.
Structure is born including vertically disposed framework 44, the lower end of framework 44 is bolted to connection with fixed seat 3, framework
44 are provided with Height Adjustable heavy burden link 45, and framework 44 is respectively arranged on the left side and the right side a shoulder belt 46.
Power control unit includes the casing 47 being located on framework 44, and in casing 47 battery 48, servo controller is provided with
49th, servo-pneumatic ratio valve group 50, pressure-reducing valve 51, liquid nitrogen bottle 52, leg muscle group's electromyographic signal sensor 53 and hip joint flesh
Meat group's electromyographic signal sensor 54, battery 48 respectively with servo controller 49, X to reducing motor 9, left Y-direction reducing motor 10,
Right Y-direction reducing motor 11 and servomotor 13 by cable connection, servo controller 49 by data signal line respectively with servo
Pneumatic proportional valve group 50, X is to reducing motor 9, left Y-direction reducing motor 10, right Y-direction reducing motor 11, servomotor 13, thigh flesh
Meat group's electromyographic signal sensor 53 and hip joint muscle group electromyographic signal sensor 54 connect, and the outlet of liquid nitrogen bottle 52 is by decompression
Valve 51 is connected with the import of servo-pneumatic ratio valve group 50, the outlet of servo-pneumatic ratio valve group 50 and the import of pneumatic muscle 22
Connected by high-pressure air pipe 56.
The present invention when in use, step on respectively on pedal 28 and fixed with pin bandage 35, huckle by the both feet of user
Position is entangled using arc location-plate 33 and is tightened using thigh bandage 34, and it is tight that waist will connect rotation adjustment structure using waistband 8
Gu, shoulder puts shoulder belt 46 will bear fastening structure.Simultaneously by leg muscle group's electromyographic signal sensor 53 and hip joint muscle
Group's electromyographic signal sensor 54 is pasted respectively at leg muscle group and hip joint muscle group.Weight is tied up in heavy burden link 45
On, the gravity of weight is rotated after adjustment structure by left retractable support structure and right retractable support knot by bearing structure, connection
Structure is supported, and thus significantly reduces the pressure of people's backbone and lower limb.
It is assumed that thigh swing is around X-axis motion, it is the internal rotation of hip joint and outer around Y-axis motion that thigh swings
Rotation is around Z axis motion.Around X-axis and around Y-axis rotation pair can beyond human body, but move about the z axis rotation pair can only
In human body.When dynamic left leg or right leg is stepped forward, hip joint muscle and leg muscle can change, leg muscle group's myoelectricity
Variable signal is transferred to servo controller 49, servo control by signal transducer 53 and hip joint muscle group electromyographic signal sensor 54
To the left Y-direction reducing motor 10 or right Y-direction reducing motor 11 send command signal to device processed 49, and left Y-direction reducing motor 10 and right Y-direction subtract
Speed motor 11 drives respectively left retractable support structure and right retractable support structure.If thigh swings, servo controller 49 is to X
Command signal is sent to reducing motor 9, respectively drive connection rotation adjustment structure is rotated the X of left and right two to reducing motor 9,
Connection rotates adjustment structure outer end and drives left retractable support structure and right retractable support structure to swing.Internal rotation of hip joint and outward turning
When, servo controller 49 to X sends command signal to reducing motor 9, and servomotor 13 is rotated, and is driven by central gear 14 and is gone
Star gear 16, planetary gear 16 drives Y-direction hinge seat 7 and rotates relative to Z-direction second hinge plate 6 by output shaft 18.
People from preparation of squatting down stand when, need bigger leg pulling force to realize standing, and only need the power of very little when standing
Gas is maintained.Pneumatic muscle 22 drives arc 23, so can provide different power by changing the position of the fulcrum of arc 23
Arm and force production.Roller 39 is exactly the fulcrum of arc 23, and as stretching angle changes, roller 39 is contacted with arc 23
Position is also in change.When the stroke of pneumatic muscle 22 is longer, the stretching angle between thigh support pipe 24 and leg support pipe 25 is got over
When big, the present position of roller 39 can be the closer to the bottom of wear-resisting slideway 38；When stretching between thigh support pipe 24 and leg support pipe 25
Exhibition angle gets over hour, that is, when going down on one's knees, the present position of roller 39 can be the closer to the top of wear-resisting slideway 38, so as to stand in preparation of squatting down
When pneumatic muscle 22 bigger pulling force is provided.
When the people of different heights uses, can be by adjusting thigh expansion link 26 up and down in thigh support pipe 24, little
Adjust shank expansion link 27 in leg support tube 25 up and down, and by upper locking ring 31 and lower retaining ring 32 by the He of thigh expansion link 26
Shank expansion link 27 is locked.The adjustable connection of width adjustment plates 1 rotates length of the adjustment structure again in horizontal direction, with suitable
The people for closing different waistlines uses.
The air bag 40 of pneumatic muscle 22 expands, and the horizontal direction of diamond weave net 41 increase, vertical direction shortens, pneumatic muscle
22 produce pulling force upwards is pulled upwardly balancing weight 55, and the air bag 40 of pneumatic muscle 22 shrinks, the level side of diamond weave net 41
To reduction, vertical direction elongation, balancing weight 55 falls.Pneumatic muscle 22 produces pulling force and does not produce thrust, with human muscle one
Sample.
Claims (6)
1. powder actuated joint of lower extremity decompressor, it is characterised in that：Including left retractable support structure, right retractable support knot
Structure, connection rotate adjustment structure, bear structure, power control unit, and connection rotates adjustment structure or so two ends and stretches with a left side respectively
The upper end connection of contracting supporting construction and right retractable support structure, bears structure lower end and rotates the connection of adjustment structure middle part with being connected；
Left retractable support structure is identical and symmetrical with the construction of right retractable support structure；Power control unit is located to be born after mechanism
Side lower part；
Connection rotates adjustment structure includes one piece of width adjustment plates and two pieces of connecting plates, bears on structure lower end and two pieces of connecting plates
Connected by fixed seat between end, width adjustment plates two ends are connected respectively with two pieces of connecting plate middle parts, the lower end of every piece of connecting plate
The X that can be rotated along vertical plane is hinged with to hinge seat, X is hinged with the Z-direction that can be rotated along the horizontal plane to hinge seat outside
One flap, Z-direction first axle plate outside is hinged with the Z-direction second hinge plate that can be rotated along the horizontal plane, outside Z-direction second hinge plate
Side is hinged with the Y-direction hinge seat that can be rotated along the horizontal plane, Y-direction hinge seat outside and the left retractable support structure upper end hinge in left side
Connect, the Y-direction hinge seat outside on right side is hinged with right retractable support structure upper end；Waistband is provided between two pieces of connecting plates；Connecting plate
The X for driving X to rotate to hinge seat is provided with to reducing motor, the Y-direction hinge seat in left side is provided with left flexible for driving
The left Y-direction reducing motor of supporting construction swing, before the Y-direction hinge seat on right side is provided with for driving right retractable support structure
The right Y-direction reducing motor for swinging afterwards；The Z-direction drive mechanism for driving Y-direction hinge seat to rotate along Z-direction is provided with Y-direction hinge seat.
2. powder actuated joint of lower extremity decompressor according to claim 1, it is characterised in that：The Z-direction driving machine
Structure includes the sleeve pipe being located in Y-direction hinge seat, and servomotor, central gear, planet carrier, planetary gear, internal tooth are provided with sleeve pipe
Circle, output shaft, bearing, bearing block and shaft coupling, servomotor is coaxial to be fixed on Z-direction second hinge plate, and planetary gear turns
In dynamic connection planet carrier, planet is erected in ring gear, and central gear is located on the power output shaft of servomotor, sun tooth
Wheel is located in the middle of planetary gear through planet carrier, and planetary gear is engaged respectively with central gear and ring gear, ring gear and bearing
Seat is coaxial to be fixedly connected, and bearing is located in bearing block, output shaft one end and planet carrier central coaxial to being fixedly connected, output shaft
The other end is connected through bearing inner race with shaft coupling one end, and the shaft coupling other end is fixedly connected with Y-direction hinge seat.
3. powder actuated joint of lower extremity decompressor according to claim 2, it is characterised in that：The left retractable support
Structure includes pneumatic muscle, arc, thigh support pipe, leg support pipe, thigh expansion link, shank expansion link and pedal,
Leg support pipe upper end is provided with mounting seat, and thigh support pipe lower end is hinged in mounting seat by knee joint hinge, and thigh stretches
Bar is plugged in from top to bottom in thigh support pipe, and thigh support pipe top is provided with the upper locking ring for positioning thigh expansion link,
Shank expansion link is plugged in from bottom to top in leg support pipe, under leg support pipe bottom is provided with for positioning shank expansion link
Retaining ring；Shank expansion link lower end is fixedly connected with pedal upper surface outside, and thigh support pipe is connected with and may be stuck on thigh
Arc location-plate, arc location-plate is provided with thigh bandage, and pedal is provided with pin bandage；Leg support pipe lower end is provided with down
Bearing, thigh support pipe middle and lower part is provided with upper bracket, and the lower end of pneumatic muscle is hinged on undersetting, and arc upper end is hinged on
On upper bracket, arc lower end is hinged with pneumatic muscle upper end, and arc rear side is provided with along the vertical direction wear-resisting slideway, mounting seat
Front side is provided with and the roller being connected is rolled with wear-resisting slideway.
4. powder actuated joint of lower extremity decompressor according to claim 3, it is characterised in that：The pneumatic muscle bag
Include air bag and be easy to level and vertical flexible diamond weave net, diamond weave net is located on air bag inwall, and air bag is provided with gas
Mouth, gasbag outer surface is provided with the external protection of soft elastic.
5. the powder actuated joint of lower extremity decompressor according to claim 3 or 4, it is characterised in that：It is described to bear knot
Structure includes vertically disposed framework, and framework lower end is bolted to connection with fixed seat, and framework is provided with Height Adjustable
Heavy burden link, framework is respectively arranged on the left side and the right side a shoulder belt.
6. powder actuated joint of lower extremity decompressor according to claim 5, it is characterised in that：The dynamic Control dress
Put including the casing being located on framework, battery, servo controller, servo-pneumatic ratio valve group, pressure-reducing valve, liquid are provided with casing
Nitrogen bottle, leg muscle group's electromyographic signal sensor and hip joint muscle group electromyographic signal sensor, battery respectively with servo control
Device processed, X are to reducing motor, left Y-direction reducing motor, right Y-direction reducing motor and servomotor by cable connection, servo controller
By data signal line respectively with servo-pneumatic ratio valve group, X to reducing motor, left Y-direction reducing motor, right Y-direction reducing motor,
Servomotor, leg muscle group's electromyographic signal sensor and hip joint muscle group electromyographic signal sensor connection, liquid nitrogen bottle goes out
The import connection that mouth passes through pressure-reducing valve and servo-pneumatic ratio valve group, the outlet of servo-pneumatic ratio valve group and entering for pneumatic muscle
Mouth connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510440751.XA CN105055121B (en) | 2015-07-24 | 2015-07-24 | Power drive type pressure reliever for lower limb joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510440751.XA CN105055121B (en) | 2015-07-24 | 2015-07-24 | Power drive type pressure reliever for lower limb joint |
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| Publication Number | Publication Date |
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| CN105055121A CN105055121A (en) | 2015-11-18 |
| CN105055121B true CN105055121B (en) | 2017-05-17 |
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| CN201510440751.XA Expired - Fee Related CN105055121B (en) | 2015-07-24 | 2015-07-24 | Power drive type pressure reliever for lower limb joint |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110652427A (en) * | 2019-10-21 | 2020-01-07 | 漫步者（天津）康复设备有限公司 | Follow-up lower limb gait training rehabilitation robot |
| CN113509303B (en) * | 2021-05-28 | 2022-11-29 | 上海理工大学 | Walking aid lower limb power orthosis supported by trunk |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101518472B (en) * | 2009-03-24 | 2011-02-02 | 中国人民解放军海军航空工程学院 | Intelligent exoskeleton carrying system for lower limb and control method thereof |
| US9504623B2 (en) * | 2010-04-09 | 2016-11-29 | Ekso Bionics, Inc. | Exoskeleton load handling system and method of use |
| CN201870775U (en) * | 2010-11-12 | 2011-06-22 | 河南科技大学 | Pneumatic driving type exoskeleton mechanical structure of lower limb walking rehabilitation training robot |
| US9662261B2 (en) * | 2013-01-16 | 2017-05-30 | Ekso Bionics, Inc. | Fail-safe system for exoskeleton joints |
| CN104013514B (en) * | 2014-06-19 | 2017-02-15 | 中国北方车辆研究所 | Hydraulically-driven wearable human body assisting walking robot |
| CN204744850U (en) * | 2015-07-24 | 2015-11-11 | 黄河科技学院 | Power driven type low limbs joint pressure relief device |
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