CN106420278B - One kind acting on kneed portable auxiliary propelling machine - Google Patents
One kind acting on kneed portable auxiliary propelling machine Download PDFInfo
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- CN106420278B CN106420278B CN201611095057.XA CN201611095057A CN106420278B CN 106420278 B CN106420278 B CN 106420278B CN 201611095057 A CN201611095057 A CN 201611095057A CN 106420278 B CN106420278 B CN 106420278B
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- power output
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
- A61H2201/1284—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient using own weight
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1436—Special crank assembly
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
Abstract
The invention discloses one kind to act on kneed portable auxiliary propelling machine, including power output device, assist torque executive device, drive transfer part.The assist torque executive device includes the assist torque execution unit for being respectively acting on left and right leg knee joint position, using body weight as driving force, does not need other external impetus and energy input.The present invention is based on lever principles and crank block slider structure mechanism, the working method inputted using left and right foot cross-drive, it is acted on using body weight, the medium transmitted using brake cable as driving force, the power output part of left foot provides driving force for right leg knee joint assist torque execution unit, the power output part of right crus of diaphragm provides driving force for left leg knee joint assist torque execution unit, to generate the torque for assisting left and right leg knee joint bending, stretching, extension in the process of walking, achievees the purpose that auxiliary walking.
Description
Technical field
The invention belongs to knee joint auxiliary instruments and walking auxiliary equipment field, in particular to one kind acts on kneed
Portable auxiliary propelling machine.
Background technique
With the rapid development of social economy, the aggravation of astogeny degree and apoplexy cerebral disease are held in global range
Continue high-incidence, the cerebral diseases patient such as apoplexy of more and more the elderlys and the disability of the exercise ability of lower limbs part needed a kind of independence
Autonomous life rather than looked after all day long by people in the limited space of hospital or home for destitute, thus they there is an urgent need to a kind of letters of structure
The practical assistant force mechanisms of single function or device help they are outer indoors freely walk, and improve their self-care energy
Power and health status.To improve the cerebral diseases patient such as the elderly of locomitivity decline and the apoplexy of lower extremities disability
Walking ability be target, it is desirable that walking auxiliary body is small in size, light-weight, simple and practical, and comfort level is high.
Mature walking power-assisted product mainly has at present: crutch, walker frame, unpowered wheelchair etc..Such walking power-assisted produces
The elderly or lower extremities disability patient is helped to keep action balance or mobile effect of riding instead of walk although product can play, by
There is no power in it, need the strength by upper limb, can make one to feel that walking is laborious.In addition, exoskeleton robot is also current
The hot spot of walking power-assisted research, but its volume and weight is larger, rigid mechanism inertia is big, and comfort is poor, not yet real at present
Border is applied in the daily walking of the elderly or lower extremities disability patient.
Summary of the invention
In view of the above-mentioned drawbacks of the prior art, It is an object of the present invention to provide one kind act on it is kneed portable auxiliary
Help walking mechanism.The execution unit of portable auxiliary propelling machine acts on lower limb knee joint position, is driving with body weight
Power does not need other external impetus and energy input.Mechanism is based on lever principle and crank block slider structure mechanism, using left and right foot
The working method of cross-drive input, is acted on using body weight, using the medium that brake cable is transmitted as driving force, the power of left foot
Output block provides driving force for right leg knee joint assist torque execution unit, and the power output part of right crus of diaphragm is left leg knee joint
Assist torque execution unit provides driving force, is allowed to generate turn of the left and right leg knee joint bending of auxiliary, stretching, extension in the process of walking
Square achievees the purpose that auxiliary walking.
To achieve the goals above the technical solution adopted by the present invention is that:
One kind acting on kneed portable auxiliary propelling machine, comprising:
Power output device is moved including the first power output part dressed for left foot, and for the second of right crus of diaphragm wearing
Power output block；First power output part and the second power output part respectively include one be used for and ground face contact
Active foot plate component and one is formed for the fixed substrate fixed with foot, the work by metal paddles, swing arm and transition piece
Dynamic pedal assembly is pivotably connected with described fixed substrate one end, and the other end can be moved mutually under human bady gravitational effect,
To generate power；
Assist torque executive device, the first assist torque enforcement division including being suitable for being fixed on left leg knee joint corresponding position
Part, and the second assist torque execution unit suitable for being fixed on right leg knee joint corresponding position；It distinguishes in the process of walking
Assist extension and curved torque are provided for left leg and right leg knee joint；
Drive transfer part, can be in first power output part and the second assist torque execution unit
Between and second power output part and the first assist torque execution unit between transmit driving force.
Preferably, first power output part and the second power output part include fixed substrate, metal paddles, pendulum
Arm, transition piece, fixed pedestal, shaft, elastic reducing-fixing band, fixed bracket, brake cable, brake cable casing, rubber buffer friction pad, rubber
Non-slip mat, screw and fastener etc..Wherein, by metal paddles, swing arm and transition piece form Active foot plate component with it is described
Fixed substrate forms the lever construction form using shaft as fulcrum.
Preferably, the first assist torque execution unit and the second assist torque execution unit respectively include thigh and fix
Plate, shank fixed plate, protection cap, flexible fixing strap, shaft, guide rail, sliding block, compressed spring, brake cable sleeve fixing part, connecting rod,
Limiting bracket and fastener；Wherein, the thigh fixed plate, shank fixed plate, shaft, connecting rod, guide rail and sliding block constitute bent
Handle slide block structure；The shank fixed plate is connected with sliding block by connecting rod.
Preferably, the drive transfer part is included in first power output part and second assist torque
The first brake cable and the first brake cable casing between execution unit, and in second power output part and first auxiliary
The second brake cable and the second brake cable casing between torque execution unit；
One end of first brake cable is fixed on the bayonet of the tache motorice of the fixed substrate of first power output part,
The other end passes through the compressed spring on the second assist torque execution unit, is fixed on the second assist torque execution unit
Sliding block on；One end of the first brake cable casing is fixed on the metal paddles of the first power output part by fixed bracket
On, the other end is fixed by the thigh that the brake cable sleeve fixing part is fixed on the second knee joint assist torque execution unit
On plate；
One end of second brake cable is fixed on the bayonet of the tache motorice of the fixed substrate of second power output part,
The other end passes through the compressed spring on the first assist torque execution unit, is fixed on the first assist torque execution unit
Sliding block on；One end of the second brake cable casing is fixed on the metal paddles of the second power output part by fixed bracket
On, the other end is fixed by the thigh that the brake cable sleeve fixing part is fixed on the first knee joint assist torque execution unit
On plate.
Preferably, the compressed spring is installed between the sliding block and the brake cable sleeve fixing part, is deposited as energy
Storage unit；The shank fixed plate is connected with the sliding block by the connecting rod, and two revolute pairs are formed；The pulling force and pressure of brake cable
The elastic force driving sliding block of contracting spring does straight reciprocating motion in guide rail.
Preferably, the shank fixed plate is mounted in the shaft of thigh fixed plate, can be around the angle that the shaft rotates
Degree is 30 °~200 °.
Preferably, the angle of the rotation is 120 °~180 °.
Preferably, the flexible fixing strap is made of nylon material.
Preferably, the Active foot plate component is connect with the fixed substrate by fixed pedestal and shaft.
Preferably, the rubber buffer friction pad is fixed on fixed substrate bottom surface, plays the role of anti-skidding buffering.
Preferably, the rubber antiskid pad is bonded in metal paddles bottom surface, plays the work of anti-skidding buffering in the process of walking
With.
Preferably, the equipment is applicable not only to the exercise ability of lower limbs decline crowd, including the elderly, the disability of slight lower limb
Cerebral apoplexy patient etc., be also applied for normal population.
The excellent effect of the present invention is:
1) compared with prior art, one kind of the present invention acts on kneed portable auxiliary propelling machine, has not
The characteristics of needing exterior power and energy input: driving force of the equipment using the self weight of people as mechanism does not need electric current, air pump
Etc. forms the tyre energy, breach general walking auxiliary body at present, the dependence such as exoskeleton robot to the tyre energy, directly
The volume and quality for reducing mechanism are connect, keeps mechanism more portable.
2) compared with prior art, left leg knee joint assist torque execution unit and right leg knee joint assist torque execution unit
It is middle to be combined using brake cable pulling force and compressed spring energy storage, the power of reciprocating motion is provided for the crank block slider structure in two components；
Brake cable pulling force and compressed spring elastic force mutually compensate in people's walking process, are formed and provide knee extension and bending assist torque
Closed circuit, mechanism inertia is small, overcomes the rigid mechanisms inertia such as general knee joint servomechanism or exoskeleton robot
Greatly, it be easy to cause human knee joint to damage, the disadvantages of comfort is poor, significantly improves safety and the comfort of equipment.
Therefore, the present invention does not need other external impetus and energy input, body using the self weight of people as the driving force of mechanism
Small, the light-weight, good portability of product.In addition, mechanism inertia of the present invention is small, comfort is good, not only can achieve auxiliary lower extremity movement
Ability declines the purpose of crowd and lower extremities disability patient's walking, and can help the elderly and lower extremities disability patient
Improve muscle vitality, improves their self-care ability and health status.
Detailed description of the invention
Fig. 1 is mechanism of the present invention mainly composition figure.
Fig. 2 is working condition chart when power output part of the present invention is formed and do not acted on by body weight.
Working condition chart when Fig. 3 is power output part composition of the present invention and is acted on by body weight.
Fig. 4 is left leg knee joint assist torque execution unit outline drawing of the present invention.
Fig. 5 is that left leg knee joint assist torque execution unit of the present invention mainly forms and mounted inside relational graph.
Fig. 6 is right leg knee joint assist torque execution unit outline drawing of the present invention.
Fig. 7 is that right leg knee joint assist torque execution unit of the present invention mainly forms and mounted inside relational graph.
Fig. 8 is the basic working modes figure of mechanism of the present invention.
Wherein each appended drawing reference meaning is as follows:
1. power output part；2. left leg knee joint assist torque execution unit；3. right leg knee joint assist torque executes
Component；4. drive transfer part.
101. fixed substrate；102. metal paddles；103. swing arm；104. transition piece；105. fixed pedestal；106. shaft；
107. elastic reducing-fixing band；108. fixed bracket；109. brake cable；110. brake cable casing；111. rubber buffer friction pad；112. rubber
Non-slip mat；113. screw；114. fastener.
201. left leg thigh fixed plates；202. left leg shank fixed plates；203. protection cap；204. flexible fixing strap； 205.
Shaft；206. guide rail；207. sliding block；208. compressed spring；209. brake cable sleeve fixing parts；210. connecting rod；211. limiting bracket；
212. fastener；213. rivet.
301. right leg thigh fixed plates；302. right leg shank fixed plates；303. protection cap；304. flexible fixing strap；305.
Shaft；306. guide rail；307. sliding block；308. compressed spring；309. brake cable sleeve fixing parts；310. connecting rod；311. limiting bracket；
312. fastener；313. rivet.
Specific embodiment
The invention will be further described with specific implementation case with reference to the accompanying drawing, but not as to limit of the invention
It is fixed.
As shown in Figure 1, one kind acts on kneed portable auxiliary propelling machine, using body weight as driving force, no
Need other external impetus and energy input.The mechanism is mainly executed by power output part 1, left leg knee joint assist torque
The components such as component 2, right leg knee joint assist torque execution unit 3, drive transfer part 4 composition.Power output part 1 divides
It is not fastened on left and right underfooting, is the power source of portable auxiliary propelling machine, is left leg knee joint assist torque execution unit 2
Power is provided with right leg knee joint assist torque execution unit 3.Left leg knee joint assist torque execution unit 2 and right leg knee joint
Assist torque execution group 3 is fixed on left leg and right leg knee joint corresponding position, they are the execution of portable auxiliary propelling machine
Component provides assist extension and curved torque in the process of walking for left leg and right leg knee joint.Drive transfer part 4 by
Brake cable and brake cable casing composition.Left foot power output part 1 and right crus of diaphragm leg knee joint assist torque execution unit 3 and right crus of diaphragm
It is transmitted by the brake cable of drive transfer part 4 between power output part 1 and left leg knee joint assist torque execution unit 2
Pulling force, in the process of walking, portable auxiliary propelling machine utilize body weight, and the power that left and right foot alternately jams on underfooting is defeated
Component 1 out, the power output part 1 of right crus of diaphragm wearing are to act on left leg knee joint assist torque execution unit 2 to provide driving force
(pulling force)；The power output part 1 of left foot wearing is that right leg knee joint assist torque execution unit 3 provides driving force (pulling force),
To generate the torque for assisting left and right leg knee joint bending, stretching, extension in the process of walking, realize that the walking during striding helps
Power.
Fig. 2 is working condition chart when power output part 1 of the present invention is formed and do not acted on by body weight, and Fig. 3 is this
Working condition chart when inventing the composition of power output part 1 and being acted on by body weight.As shown in Figures 2 and 3, power output part
1 includes fixed substrate 101, metal paddles 102, swing arm 103, transition piece 104, fixed pedestal 105, shaft 106, elastic reducing-fixing band
107, fixed bracket 108, brake cable 109, brake cable casing 110, rubber buffer friction pad 111, rubber antiskid pad 112, screw 113 with
And fastener 114 etc..Wherein, fixed substrate 101 is made of high intensity carbon fiber material, primarily serves whole fix and support
Effect.Swing arm 103 is fixed on transition piece 104 by screw 113, is then fixed by screws on metal paddles 102 again,
Form Active foot plate component.Fixed pedestal 105 is fixed by screws in fixed substrate 101, and Active foot plate component passes through shaft
106 are mounted on fixed pedestal 105, and Active foot plate component can be formed with fixed substrate 101 with around the shaft 106 in certain angle side
Rotation in position.Fixed bracket 108 uses the higher duralumin, hard alumin ium alloy material of specific stiffness, is fixed on metal by fastener 114 and steps on
On plate 102, mainly the brake cable 109 of drive transfer part 4 and brake cable casing 110 are served it is fixed, and be fixed substrate
101 and brake cable 109 displacement space that pumps is provided.The brake cable 109 of drive transfer part 4 passes through brake cable casing
110 are fixed in the limit hole of fixed bracket 108, and 109 one end of brake cable is fixed on the bayonet of fixed substrate 101, and the other end is logical
Cross the sliding block 207 of left leg knee joint assist torque execution unit 2 or the sliding block of right leg knee joint assist torque execution unit 3
On 307, power is provided for the two.Brake cable 109 is power output part using the 65Mn material with stronger elasticity and toughness
The medium that pulling force transmits between 1 and knee joint assist torque execution unit 2 and 3；Brake cable casing 110 is that the displacement of brake cable 109 is logical
Road and protection sleeve pipe.Elastic reducing-fixing band 107 is made of the preferable nylon material of flexibility, by tightening of rivet in fixed substrate
On 101, fixed shoes and power output part 1 when being used for the portable auxiliary propelling machine.Rubber buffer friction pad 111
It is fixed on 101 bottom surface of fixed substrate, plays with the rubber antiskid pad 112 for being bonded in 102 bottom surface of metal paddles in walking process
In anti-skidding buffering effect.
Active foot plate component and 101 shape of fixed substrate are formed by metal paddles 102, swing arm 103 and transition piece 104
In the form of the lever construction by shaft 106 for fulcrum.Wherein, body weight is in 101 center of gravity position of fixed substrate to fulcrum
The distance of shaft 106 is the power arm of lever, and the self weight of people is power；109 position of brake cable arrives on the bayonet of fixed substrate 101
The distance of fulcrum is the resistance arm of lever, and the pulling force on brake cable 108 is resistance.Based on above-mentioned lever construction, the power output
Component utilizes left 2 He of leg knee joint assist torque execution unit that the self weight of people is respectively that the wearable knee joint walk help is equipped
Right leg knee joint assist torque execution unit 3 provides power.
Fig. 2 and Fig. 3 is also two kinds of limiting conditions of power output part 1, and wherein Fig. 2 is power output part 1 not by people
It is minimum to export pulling force at this time for the state of state under weight power stress condition, i.e. people when foot-up is liftoff during striding；And scheme
3 be state of the power output part 1 under by human bady gravitational operative condition, i.e. people's foot during striding steps on power output part 1
When state, whole weight of user itself act in fixed substrate 101, based on Active foot plate component and the fixed substrate
In the form of 101 lever constructions by shaft 106 for fulcrum formed, the self weight using people is that power pulls out brake cable 109, brake cable
109 other end connects left leg knee joint assist torque executive module 2 or right leg knee joint assist torque executive module 3, is
The two provides power, i.e. pulling force effect, final fixed substrate 101 reaches the restraining position parallel with metal paddles 102, move at this time
The pulling force that power output block 1 exports is maximum.
Fig. 4 is left 2 outline drawing of leg knee joint assist torque execution unit, and Fig. 5 is left leg knee joint assist torque enforcement division
Part 2 mainly forms and mounted inside relational graph.As shown in Figures 4 and 5, the left leg knee joint assist torque execution unit 2 is main
By left leg thigh fixed plate 201, left leg shank fixed plate 202, protection cap 203, flexible fixing strap 204, shaft 205, guide rail
206, sliding block 207, compressed spring 208, brake cable sleeve fixing part 209, connecting rod 210, limiting bracket 211, fastener 212 and riveting
The compositions such as nail 213.Left leg knee joint assist torque execution unit 2 by flexible fixing strap 204 the thigh of left leg, shank and
Knee joint corresponding position is fixed.Wherein, left leg thigh fixed plate 201, left leg shank fixed plate 202 use high strength carbon
Fibrous material is made, and plays the conduction and support of power.Protection cap 203 is the left leg knee joint assist torque execution unit
2 internal component seal protection shells, avoid in use internal components failure is damaged by external force.Flexibility is fixed
Band 204 is preferably made from sticky cloth and elastic band using flexibility, is fixed on left 201 He of leg thigh fixed plate by rivet 213
Left leg shank fixed plate 202.Left leg shank fixed plate 202 is mounted in the shaft 205 of left leg thigh fixed plate 201, can be around
Shaft 205 rotates in 120 °~180 °.Wherein, 120 ° for people during striding between shank and thigh it is commonly required most
Knee joint minimum angles when low-angle, i.e. lift leg；180 ° upright or when small leg extended is had an effect formed by knee joint for normal person
Extreme angles.The shank fixed plate 202 of the left leg knee joint assist torque execution unit 2 can be reached with thigh fixed plate 201
To angle range the installation site and tune of limiting bracket 211 can be accordingly adjusted according to the practical walking step state parameter of user
The stroke of sliding block 207 is saved to realize, minimum can reach 30 °, and maximum is up to 200 °.
As shown in figure 5, guide rail 206 and brake cable sleeve fixing part 209 are fixed on left leg thigh fixed plate by fastener 212
On 201, sliding block 207 is mounted on guide rail 206, straight reciprocating motion can be done in rated travel on guide rail.Brake cable casing
110 are fixed on as the displacement channel of brake cable 109 and protection sleeve pipe on brake cable casing fixed pedestal 211, and one end of brake cable 109 is worn
Overcompression spring 208 is fixed in the bayonet of sliding block 207, does the main dynamic of linear reciprocating motion in guide rail 206 as sliding block 207
Power source.Compressed spring 208 is installed between sliding block 206 and brake cable sleeve fixing part 209, as energy storage units.Left leg is small
Leg fixed plate 202 and sliding block 207 are connected by connecting rod 210, form two revolute pairs, the pulling force and compressed spring 208 of brake cable 109
Elastic force formed and drive sliding block 207 and do a pair of of the active force and reaction force of straight reciprocating motion, final sliding block 207 in guide rail 206
Straight reciprocating motion by connecting rod 210 be converted into left leg shank fixed plate 202 relative to left leg thigh fixed plate 201 turn
It is dynamic, stretching, extension and curved assist torque are provided for left leg shank.Wherein the pulling force of brake cable 109 is that the left leg knee joint auxiliary turns
Square execution unit 2 provides curved assist torque；The reaction force of compressed spring 208 is the left leg knee joint assist torque
Execution unit 2 provides the assist torque of stretching, extension.
Fig. 6 is right 3 outline drawing of leg knee joint assist torque execution unit, and Fig. 7 is right leg knee joint assist torque enforcement division
Part 3 mainly forms and mounted inside relational graph.As shown in Figures 6 and 7, the right leg knee joint assist torque execution unit 3 is main
By right leg thigh fixed plate 301, right leg shank fixed plate 302, protection cap 303, elastic reducing-fixing band 304, shaft 305, guide rail
306, sliding block 307, compressed spring 308, brake cable sleeve fixing part 309, connecting rod 310, limiting bracket 311, fastener 312 and riveting
The compositions such as nail 313.Wherein, in right leg knee joint assist torque execution unit 3 in addition to right leg thigh fixed plate 301, right leg it is small
Left leg thigh fixed plate 201, left leg in leg fixed plate 302, protection cap 303 and left leg knee joint assist torque execution unit 2
Shank fixed plate 202 and 203 form of protection cap are variant outer, and right leg knee joint assist torque execution unit 3 is closed with left leg knee
The components of corresponding position are general in section assist torque execution unit 2, have interchangeability.In addition, such as the institute of Fig. 4,5,6 and 7
Show, right leg knee joint assist torque execution unit 3 is compared with left leg knee joint assist torque execution unit 2, in addition to right leg is small
For 302 swaying direction of leg fixed plate on the contrary, 311 installation site of limiting bracket is variant, other components installation relations of the two are identical.
So no longer repeating herein right 3 components installation relation of leg knee joint assist torque execution unit and Structure Mechanism.
Fig. 8 is the basic working modes figure of mechanism of the present invention, acts on kneed portable auxiliary propelling machine
Using left and right foot cross-drive input pattern, i.e. the power output part 1 of left foot wearing is right leg by drive transfer part 4
Knee joint assist torque execution unit 3 provides power；And the power output part 1 of right crus of diaphragm wearing passes through drive transfer part 4
Power is provided for left leg knee joint assist torque execution unit 2.
Specifically, as Fig. 1 strides state, left foot lands at this time, and user's own body weight acts on the dynamic of left foot wearing completely
In the fixed substrate 101 of power output block 1, Active foot plate component and 101 shape of fixed substrate based on power output part 1
At the lever construction by shaft 106 for fulcrum in the form of, the self weight using people is that power will be by the lock of drive transfer part 4
Line 109 is pulled out from brake cable casing 110, and the other end of 1 brake cable 109 of power output part of left foot wearing connects right leg knee joint
On the sliding block 307 of assist torque execution unit 3, sliding block 307 is under the action of 109 pulling force of brake cable along guide rail 306 to brake cable casing
Fixing end is for linear motion, and sliding block 307 drives connecting rod 310, and it is small that the linear motion of sliding block 307 by connecting rod 310 is converted into right leg
Leg fixed plate 302 is provided relative to the clockwise rotation (Fig. 6 and Fig. 7) of right leg thigh fixed plate 301, as right leg shank
Curved torque assists right leg to stride, and 308 compression power effect lasts of compressed spring compress in the process, and moving sliding block
It can be stored as the elastic potential energy of itself.
Then, left foot starts to lift, and leaves ground.At this point, the fixed substrate 101 of the power output part 1 of left foot wearing
Upper body weight fades away, and ground disappears in face of the upward reaction force of Active foot plate component, and brake cable 109 is no longer by fixed substrate
101 active force is pressed at this time since the sliding block 307 of right leg knee joint assist torque execution unit 3 is not by the pulling force of brake cable 109
The elastic potential energy of contracting spring 308 starts to discharge and act on sliding block 307, and sliding block 307 is under the effect of elasticity along guide rail 306 to shaft end
305 directions end move in a straight line, and it is relatively right that the linear motion of sliding block 307 by connecting rod 310 is converted into right leg shank fixed plate 302
The anticlockwise rotation of leg thigh fixed plate 301, as right leg shank provide the torque of stretching, extension, assist right leg to tighten and have an effect.
Then, right crus of diaphragm lands, and user's own body weight is acted on completely in the fixed substrate 101 of the power output part 1 of right crus of diaphragm wearing, base
In power output part 1 Active foot plate component and the fixed substrate 101 formed be the lever construction of fulcrum with shaft 106
Form, the self weight using people are that power will pull out the brake cable 109 of drive transfer part 4 from brake cable casing 110, and right crus of diaphragm is worn
The other end of the brake cable 109 for the power output part 1 worn connects the sliding block 207 of left leg knee joint assist torque execution unit 2, sliding
Block 207 is for linear motion to brake cable casing fixing end direction along guide rail 206 under 109 pulling force effect of brake cable, sliding block 207 it is straight
Line movement is converted into the rotation counterclockwise relative to left leg thigh fixed plate 201 of left leg shank fixed plate 202 by connecting rod 210
(Fig. 4 and Fig. 5), as left leg shank provide curved torque, left leg are assisted to stride.Compressed spring 208 is slided in the process
207 pressure effect lasts of block compress, and the kinetic energy of sliding block 207 are stored as to the elastic potential energy of itself, and will be in next gait
Sliding block 207 is converted in left leg knee joint assist torque execution unit 2 along guide rail 206 to turning by the elastic potential energy of itself in period
205 direction end of axis kinetic energy for linear motion finally will provide the torque of stretching, extension for left leg shank, assist left leg to tighten and have an effect,
Then begin to next stride the period.
Above be people in the periodic process that strides, a kind of to act on kneed portable auxiliary propelling machine
The mechanism of action.The present invention not only can have the function of auxiliary the exercise ability of lower limbs decline crowd and lower extremities disability patient's walking
Can, and the exercise ability of lower limbs decline crowd and lower extremities disability patient can be helped to improve muscle vitality, improve theirs
Self-care ability and health status.
Embodiment described above, only one kind of the present invention more preferably specific embodiment, those skilled in the art
The usual variations and alternatives that member carries out within the scope of technical solution of the present invention should be all included within the scope of the present invention.
Claims (11)
1. one kind acts on kneed portable auxiliary propelling machine, comprising:
Power output device, it is defeated including the first power output part dressed for left foot, and for the second power of right crus of diaphragm wearing
Component out；First power output part and the second power output part respectively include one and are used for ground face contact by metal
Pedal, swing arm and transition piece composition Active foot plate component and one are for the fixed substrate fixed with foot, the Active foot plate
Component is pivotably connected with described fixed substrate one end, and the other end can be moved mutually under human bady gravitational effect, to produce
Lively power；
Assist torque executive device, the first assist torque execution unit including being suitable for being fixed on left leg knee joint corresponding position,
And the second assist torque execution unit suitable for being fixed on right leg knee joint corresponding position；It is respectively a left side in the process of walking
Leg knee joint and right leg knee joint provide assist extension and curved torque；
Drive transfer part, can first power output part and the second assist torque execution unit it
Between and second power output part and the first assist torque execution unit between transmit driving force；
First power output part provides power for the second assist torque execution unit, and second power output part is
First assist torque execution unit provides power；
The drive transfer part be included in first power output part and the second assist torque execution unit it
Between the first brake cable and the first brake cable casing, and in second power output part and the first assist torque enforcement division
The second brake cable and the second brake cable casing between part.
2. auxiliary propelling machine according to claim 1, which is characterized in that first power output part and second moves
Power output block includes fixed substrate, metal paddles, swing arm, transition piece, fixed pedestal, first rotating shaft, elastic reducing-fixing band, fixation
Bracket, brake cable, brake cable casing, rubber buffer friction pad, rubber antiskid pad, screw and fastener；Wherein, by metal paddles,
Swing arm and transition piece composition Active foot plate component and the fixed substrate form the lever construction using first rotating shaft as fulcrum
Form.
3. auxiliary propelling machine according to claim 1, which is characterized in that the first assist torque execution unit and
Two assist torque execution units respectively include thigh fixed plate, shank fixed plate, protection cap, flexible fixing strap, the second shaft, lead
Rail, sliding block, compressed spring, brake cable sleeve fixing part, connecting rod, limiting bracket and fastener；Wherein, the thigh fixed plate,
Shank fixed plate, the second shaft, connecting rod, guide rail and sliding block constitute crank block slider structure；The shank fixed plate and sliding block pass through
Connecting rod connection.
4. auxiliary propelling machine according to claim 3, which is characterized in that one end of first brake cable is fixed on described
The bayonet of the tache motorice of the fixed substrate of first power output part, the other end pass through on the second assist torque execution unit
Compressed spring, be fixed on the sliding block of the second assist torque execution unit；One end of the first brake cable casing passes through
Fixed bracket is fixed on the metal paddles of the first power output part, and the other end is fixed on by the brake cable sleeve fixing part
In the thigh fixed plate of the second assist torque execution unit；
One end of second brake cable is fixed on the bayonet of the tache motorice of the fixed substrate of second power output part, another
The compressed spring on the first assist torque execution unit is held, the cunning of the first assist torque execution unit is fixed on
On block；One end of the second brake cable casing is fixed on the metal paddles of the second power output part by fixed bracket, separately
One end is fixed in the thigh fixed plate of the first assist torque execution unit by the brake cable sleeve fixing part.
5. auxiliary propelling machine according to claim 3, which is characterized in that the compressed spring be installed on the sliding block and
Between the brake cable sleeve fixing part, as energy storage units；The shank fixed plate and the sliding block pass through the connecting rod
Connection, forms two revolute pairs；The pulling force of brake cable and the elastic force driving sliding block of compressed spring do straight reciprocating motion in guide rail.
6. auxiliary propelling machine according to claim 3, which is characterized in that the shank fixed plate is mounted on thigh and fixes
In second shaft of plate, the angle that can be rotated around second shaft is 30 °~200 °.
7. auxiliary propelling machine according to claim 6, which is characterized in that the angle of the rotation is 120 °~180 °.
8. auxiliary propelling machine according to claim 3, which is characterized in that the flexible fixing strap is by nylon material system
At.
9. auxiliary propelling machine according to claim 2, which is characterized in that the Active foot plate component and the fixed base
Plate is connected by fixed pedestal with first rotating shaft.
10. auxiliary propelling machine according to claim 9, which is characterized in that the rubber buffer friction pad is fixed on
Determine in substrate bottom surface, the rubber antiskid pad is bonded in metal paddles bottom surface, plays the role of anti-skidding buffering in the process of walking.
11. auxiliary propelling machine according to claim 1, which is characterized in that the Active foot plate component and the fixation
Substrate is connected by fixed pedestal with first rotating shaft.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611095057.XA CN106420278B (en) | 2016-12-01 | 2016-12-01 | One kind acting on kneed portable auxiliary propelling machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611095057.XA CN106420278B (en) | 2016-12-01 | 2016-12-01 | One kind acting on kneed portable auxiliary propelling machine |
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| CN106420278A CN106420278A (en) | 2017-02-22 |
| CN106420278B true CN106420278B (en) | 2019-04-09 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107854279B (en) * | 2017-11-24 | 2019-10-15 | 西安交通大学 | A kind of knee joint exoskeleton mechanism in parallel of rehabilitation |
| CN108014001B (en) * | 2018-01-02 | 2020-03-17 | 北京理工大学 | Flexible walking aid exoskeleton |
| TWI702039B (en) * | 2018-10-05 | 2020-08-21 | 楊進松 | Assistant device for degenerative joint |
| US11141344B2 (en) | 2018-12-27 | 2021-10-12 | Chin-Sung Yang | Assistant apparatus for degenerative joint |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2332508A1 (en) * | 2009-10-05 | 2011-06-15 | Keijirou Yamamoto | Joint movement supporting device |
| CN105193594A (en) * | 2015-05-18 | 2015-12-30 | 重庆倍精科技研发有限公司 | Weight-bearing walking speed-up boosting device |
| CN205145037U (en) * | 2015-08-16 | 2016-04-13 | 重庆市喜植机械设备有限公司 | Walking nursing safety ware |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101713901B1 (en) * | 2015-06-11 | 2017-03-09 | 한국기계연구원 | Wearable ankle exoskeleton using the ratchet clutch mechanism for supporting ankle joint stiffness |
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2016
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2332508A1 (en) * | 2009-10-05 | 2011-06-15 | Keijirou Yamamoto | Joint movement supporting device |
| CN105193594A (en) * | 2015-05-18 | 2015-12-30 | 重庆倍精科技研发有限公司 | Weight-bearing walking speed-up boosting device |
| CN205145037U (en) * | 2015-08-16 | 2016-04-13 | 重庆市喜植机械设备有限公司 | Walking nursing safety ware |
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