CN106491318A - A kind of unpowered wearable auxiliary walking servomechanism - Google Patents
A kind of unpowered wearable auxiliary walking servomechanism Download PDFInfo
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- CN106491318A CN106491318A CN201611092885.8A CN201611092885A CN106491318A CN 106491318 A CN106491318 A CN 106491318A CN 201611092885 A CN201611092885 A CN 201611092885A CN 106491318 A CN106491318 A CN 106491318A
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- knee joint
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- bowden rope
- driving force
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- 210000000629 knee joint Anatomy 0.000 claims abstract description 69
- 238000000034 method Methods 0.000 claims abstract description 9
- 238000005452 bending Methods 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 210000003141 lower extremity Anatomy 0.000 claims description 32
- 210000000689 upper leg Anatomy 0.000 claims description 25
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 16
- 230000033001 locomotion Effects 0.000 claims description 13
- 239000000463 material Substances 0.000 claims description 12
- 239000002131 composite material Substances 0.000 claims description 10
- 229910000838 Al alloy Inorganic materials 0.000 claims description 5
- 229910000737 Duralumin Inorganic materials 0.000 claims description 5
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 4
- 239000004677 Nylon Substances 0.000 claims description 4
- 239000000956 alloy Substances 0.000 claims description 4
- 239000004917 carbon fiber Substances 0.000 claims description 4
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 4
- 229920001778 nylon Polymers 0.000 claims description 4
- 229910001051 Magnalium Inorganic materials 0.000 claims description 2
- 238000006073 displacement reaction Methods 0.000 claims description 2
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 claims description 2
- 229910052737 gold Inorganic materials 0.000 claims description 2
- 239000010931 gold Substances 0.000 claims description 2
- 210000001699 lower leg Anatomy 0.000 abstract description 40
- 230000007246 mechanism Effects 0.000 abstract description 14
- 230000037396 body weight Effects 0.000 abstract description 7
- 210000002414 leg Anatomy 0.000 abstract description 7
- 230000000694 effects Effects 0.000 description 12
- 239000000203 mixture Substances 0.000 description 8
- 230000015572 biosynthetic process Effects 0.000 description 5
- 230000003862 health status Effects 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 208000008037 Arthrogryposis Diseases 0.000 description 1
- 208000014644 Brain disease Diseases 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 241001633942 Dais Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005786 degenerative changes Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000012010 growth Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006742 locomotor activity Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 238000007514 turning Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
Classifications
-
- 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
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of unpowered wearable auxiliary walking servomechanism, forms component, knee joint power-assisted executive module including driving force.The walking servomechanism of the present invention is based on lever principle and crank block slider structure mechanism, using the working method of left and right foot homonymy driven in parallel input, acted on using body weight, with the medium that Bowden rope forms pulling force transmission between component and knee joint power-assisted executive module as driving force, the driving force of left foot forms component and provides driving force for left lower limb knee joint assist torque executive module, the driving force of right crus of diaphragm forms component and provides driving force for right lower limb knee joint assist torque executive module, left so as to produce auxiliary in the process of walking, right lower limb knee joint bending, the torque of stretching, extension, reach the purpose of auxiliary walking.Mechanism's inertia of the present invention is little, and it is big to overcome the rigid mechanism inertia such as general leg servomechanism or exoskeleton robot, the shortcomings of easily cause human knee joint damage, comfortableness difference, significantly improves safety and the comfortableness of mechanism.
Description
Technical field
The invention belongs to knee joint assistive device and walking auxiliary equipment field, more particularly to a kind of unpowered wearable
Auxiliary walking servomechanism.
Background technology
Walking is the basis of old people's daily life self-care ability, and it can improve the health level of old people.However, with
The growth at age, the walking ability of old people can be gradually reduced, and the old people of legs and feet inconvenience needs assisting in or walk help dress for people
Put and could walk.In addition, minor stroke patient will also result in the part disability of the exercise ability of lower limbs, the action energy of patient is affected
Power.Daily wearable walking auxiliary can help old people and lower extremities disability patient to improve motion function, improve them
Self-care ability and health status, and to preventing degenerative change have important rehabilitation medicine meaning.To improve
The locomotor activity of the disease of brain patients such as the apoplexy that the old people and lower extremities that motor capacity declines disables is target, it is desirable to walk
Servomechanism small volume, lightweight, simple and practical, comfort level height.
Ripe walking power-assisted product mainly has at present：Crutch, walker frame, unpowered wheelchair etc..Such walking power-assisted is produced
Although product can play help old people or lower extremities disability patient keeps action balance or mobile effect of riding instead of walk, by
There is no power in which, need the strength by upper limb, can make one to feel that walking is laborious.Additionally, exoskeleton robot is also current
The focus of walking power-assisted research, but its volume and weight is larger, and rigid mechanism inertia is big, and comfortableness is poor, not yet real at present
Border is applied in the daily walking of old people or lower extremities disability patient.
Content of the invention
The purpose of the present invention is the defect for above-mentioned prior art, there is provided a kind of unpowered wearable auxiliary walking
Servomechanism.Unpowered wearable auxiliary walking servomechanism acts on lower limb knee joint position, with body weight as driving
Power, it is not necessary to other external impetus and energy input.Unpowered wearable auxiliary walking servomechanism, is made using body weight
Component being formed for the driving force installed in left and right foot, driving force being provided for acting on kneed power-assisted executive module, knee joint is closed
Crank block in section power-assisted executive module combines to form a pair of active forces and retroaction with tension spring energy storage, walks in people
During according to paces rhythm be alternately produced auxiliary knee joint bending and stretch torque, reach auxiliary the exercise ability of lower limbs under
Drop crowd and the purpose of lower extremities disability patient's walking, and the exercise ability of lower limbs can be helped to decline crowd and lower extremities
Disability patient improves muscle vitality, improves their self-care ability and health status.
The present invention is adopted the technical scheme that to achieve these goals：
A kind of unpowered wearable auxiliary walking servomechanism, including：
Knee joint power-assisted executive module, is fixed on left lower limb and right lower limb knee joint correspondence position by flexible fixing strap, is expert at
It is the torque of left lower limb and the stretching, extension of right lower limb knee joint provided auxiliary and bending during walking.
Driving force forms component, and it is that left lower limb and right lower limb knee joint power-assisted executive module provide driving force to be.
And
Bowden rope, using the 65Mn materials with stronger elasticity and toughness, is that driving force formation component is helped with knee joint
The medium of pulling force transmission between power executive module.
Bowden rope sleeve, is the displacement passage and protection sleeve pipe of Bowden rope.
Flexible fixing strap, knee joint power-assisted executive module is fixed in knee joint relevant position, position is primarily served
With elastic scalable, flexible fixed function.
Preferably, the flexible fixing strap is preferably made from sticky cloth and elastic band using pliability, is fixed by rivet
In thigh fixed plate, shank fixed plate in knee joint power-assisted executive module.
Preferably, driving force forms component includes fixed support, Bowden rope pressing plate, composite base plate, Bowden rope sleeve, Bowden
Rope, rotating shaft, elastic reducing-fixing band and securing member etc..Wherein, fixed support is the higher duralumin, hard alumin ium alloy material of specific stiffness, mainly
Play and support and fixed effect.Fixed support is fixed on the top of composite base plate by screw fastener, and Bowden rope pressing plate leads to
Rotating shaft is crossed on fixed support, can be rotated in certain angle around the shaft.It is based on lever principle, the Bowden rope for acting on
The body weight of pressing plate is converted into the pulling force to Bowden rope, provides pulling force effect for knee joint power-assisted executive module.Wherein, elasticity
Fixing band, is made using the preferable nylon A materials of pliability, is fixed on the composite base plate that driving force forms component by rivet
On.Driving force formation component directly can be through underfooting by user, be fastened by elastic reducing-fixing band.
Preferably, the knee joint power-assisted executive module includes thigh fixed plate, shank fixed plate, Bowden rope fixed cover
The composition such as pipe, Bowden rope, connecting rod, slide block, guide rail, spring, spring fixed pedestal, Bowden rope fixing part and securing member.Wherein,
Shank fixed plate, connecting rod, guide rail and slide block constitute crank block slider structure form, and shank fixed plate and slide block are connected by connecting rod,
Two rotation pairs of formation, the pulling force of Bowden rope and tension spring pulling force form a pair that drive slide block does straight reciprocating motion in guide rail
Active force and counteracting force, the straight reciprocating motion of slide block are converted into shank fixed plate by connecting rod and exist relative to thigh fixed plate
The rotation of design angle scope, provides the assist torque for stretching and bending for shank in the process of walking.
Preferably, the shank fixed plate described in root relative to thigh fixed plate in design angle scope, shank fixed plate phase
For thigh fixed plate is rotated in 120 °～180 °.Wherein, 120 ° is that people is usual between shank and thigh during striding
Required minimum angles, that is, knee joint minimum angles when lifting lower limb；180 ° is that knee joint is closed when normal person is upright or little leg extended is had an effect
Extreme angles formed by section.The angle range can do corresponding regulation, most I according to the actual walking step state parameter of user
30 ° are reached, maximum up to 200 °.
Preferably, the unpowered wearable auxiliary walking servomechanism, the driving force of its left foot wearing form component
Predominantly left lower limb knee joint power-assisted executive module provides the driving force for making knee extension, in left lower limb knee joint power-assisted executive module
Tension spring formed when component provides pulling force in left foot driving force and play a part of accumulation of energy, and form component in left foot driving force
Restoring force without tension spring during pulling force effect is provided for left lower limb knee joint power-assisted executive module and makes knee-sprung driving force.
Equally, the driving force of right crus of diaphragm wearing forms the predominantly right lower limb knee joint power-assisted executive module offer of component and makes knee extension
Driving force, the tension spring in right lower limb knee joint power-assisted executive module are formed when component provides pulling force in right crus of diaphragm driving force and play storage
The effect of energy, and the restoring force of tension spring is right left lower limb knee joint power-assisted when right crus of diaphragm driving force forms component without pulling force effect
Executive module is provided and makes knee-sprung driving force.
Preferably, the thigh fixed plate, shank fixed plate are made using high intensity carbon fiber material, may also be employed than firm
The materials such as the higher magnalium gold of degree, duralumin, hard alumin ium alloy, play the conduction and support of power.
Preferably, the equipment is applied to the exercise ability of lower limbs and declines crowd, in the brain that such as old people, slight lower limb disable
Wind Disease, is also applied for normal population.
The excellent effect of the present invention is：
1) compared to existing technology, the unpowered wearable auxiliary walking servomechanism of the present invention, extraneous dynamic with not needing
The characteristics of power and energy input：Equipment adopts the deadweight of people as the driving force of mechanism, it is not necessary to outside the form such as electric current, air pump
The band energy, breaches general walking servomechanism at present, and such as dependence of the exoskeleton robot to the tyre energy directly reduces machine
The volume and quality of structure, makes mechanism more portable.
2) form that crank block and energy-stored spring compared to existing technology, in knee joint power-assisted executive module is combined, two
Person forms a pair of active forces and counteracting force, and the two is mutually compensated in people's course of a step, is formed and provides closing for knee joint torque
Loop is closed, mechanism's inertia is little, overcome the rigid mechanism inertia such as general leg servomechanism or exoskeleton robot greatly, easily
The shortcomings of causing human knee joint damage, comfortableness difference, significantly improves safety and the comfortableness of equipment.
Therefore, driving force of the present invention with the deadweight of people as mechanism, it is not necessary to other external impetus and energy input, volume
Little, lightweight, good portability.In addition, mechanism's inertia of the present invention is little, comfortableness is good, not only can reach auxiliary lower extremity movement energy
Power declines the purpose of crowd and lower extremities disability patient's walking, and old people and lower extremities disability patient can be helped to change
Kind muscle vitality, improves their self-care ability and health status.
Description of the drawings
Fig. 1 is mechanism of the present invention mainly composition figure.
Fig. 2 is that driving force of the present invention forms component composition figure.
Fig. 3 is that driving force of the present invention forms state diagram when component does not stress.
Fig. 4 is knee joint power-assisted executive module composition figure of the present invention.
Fig. 5 is the installation diagram of torque spring in knee joint flexibly direct writing mechanism of the present invention.
Wherein each reference implication is as follows：
1. driving force forms component；2. knee joint power-assisted executive module；3. flexible fixing strap；4. Bowden rope and its sleeve pipe.
101. fixed support；102. Bowden rope pressing plates；103. composite base plate；104. Bowden rope sleeves；105. Bowden ropes；
106. rotating shaft；107. elastic reducing-fixing band；108. securing member
201. thigh fixed plates；202. shank fixed plates；203. outer housing；204. rotating shaft；205. guide rail；206. slide block；
207. spring fixed pedestals；208. tension spring；209. Bowden rope fixing parts；210. connecting rod；211. Bowden rope sleeve fixed bases
Seat；212. securing member.
Specific embodiment
The invention will be further described with case is embodied as below in conjunction with the accompanying drawings, but not as the limit to the present invention
Fixed.
As shown in figure 1, a kind of unpowered wearable auxiliary walking servomechanism, with body weight as driving force, is not required to
Want other external impetus and energy input.The mechanism mainly forms component 1, knee joint power-assisted executive module 2, soft by driving force
Property the composition such as fixing band 3, Bowden rope and its sleeve pipe 4.Driving force forms component 1 and is fastened on left and right underfooting respectively, and knee joint is helped
Power executive module 2 is fixed in thigh, shank and knee joint relevant position by flexible fixing strap 3, the driving under left foot
Power to be formed and transmit pulling force by Bowden rope between component 1 and the knee joint power-assisted executive module 2 of left lower limb；Equally, the drive under right crus of diaphragm
Power is formed between component 1 and the knee joint power-assisted executive module 2 of right lower limb by the Bowden rope transmission in Bowden rope and its sleeve pipe 4
Pulling force.In the process of walking, unpowered wearable auxiliary walking servomechanism utilizes body weight, and left and right foot alternating is jammed on
The driving force of underfooting forms component 1, provides driving force (pulling force) for acting on knee joint power-assisted executive module 2, produces auxiliary knee joint
Arthrogryposises, the torque that stretches, the walking power-assisted during realizing striding.
Fig. 2 and Fig. 3 forms the composition figure of component 1 for driving force, and driving force forms two kinds of limit states of component 1,
Wherein Fig. 2 is that driving force forms state in the case of component 1 does not stress, i.e. state of people when foot-up is liftoff during striding；
And Fig. 3 is the state under driving force formation 1 stressing conditions of component, i.e., when people's foot during striding steps on driving force formation component 1
State.It is main by fixed support 101, Bowden rope pressing plate 102, composite base plate 103, Bowden rope sleeve that driving force forms component 1
104th, the parts such as Bowden rope 105, rotating shaft 106, elastic reducing-fixing band 107, securing member 108 composition.Wherein, composite base plate 103 by
High intensity carbon fiber material is made, and there is skid resistance strip bottom surface, plays anti-skidding function.Fixed support 101 is that specific stiffness is higher
Duralumin, hard alumin ium alloy material, primarily serves and supports and fixed effect.Fixed support 101 is fixed on compound by screw fastener 108
In 103 groove of substrate, Bowden rope pressing plate 102,106 can designed by rotating shaft 106 on fixed support 101 around the shaft
Rotate in angle.
104 one end of Bowden rope sleeve is fixed in the spacing hole that driving force forms 1 fixed support 101 of component, and the other end is solid
It is scheduled on the Bowden rope sleeve fixed pedestal 211 in knee joint power-assisted executive module 2.Bowden rope 105 passes through Bowden rope sleeve 104
One end is fixed on the bayonet socket of Bowden rope pressing plate 102, and the other end is fixed on the execution of knee joint power-assisted by Bowden rope fixing part 209
On the slide block 206 of component 2.Additionally, elastic reducing-fixing band 107 is made up of the preferable nylon A materials of pliability, it is fixed on by rivet
On composite base plate 103, for described unpowered wearable auxiliary walking servomechanism using when fix footwear formed with driving force
Component 1.In people's walking process, when foot lands, driving force forms the state that component 1 contacts ground, i.e. Fig. 2, Bowden rope pressure
102 stress of plate is rotated around the rotating shaft 106 on fixed support 101, and the torque of Bowden rope pressing plate 102 is converted into the drawing of Bowden rope 105
Power, is that knee joint power-assisted executive module 2 provides pulling force.When foot is lifted, driving force forms component 1 and leaves ground, Bowden rope pressure
Plate is not acted on by body weight, i.e. Fig. 3 states, by the pulling force effect Bowden of tension spring 208 in knee joint power-assisted executive module 2
Rope 105 is gradually withdrawn in Bowden rope sleeve 104, and rotating shaft 106 of the Bowden rope pressing plate 102 on fixed support 101 reversely turns
Move the limit dais in fixed support 101 to reach capacity position, now Bowden rope pressing plate 102 reaches dynamic balance state again.
Fig. 4 be 2 outline drawing of knee joint power-assisted executive module, Fig. 5 knee joint power-assisted executive modules main parts size composition and
Internal installation relation.As Figure 2-3, the knee joint power-assisted executive module 2 is mainly fixed by thigh fixed plate 201, shank
Plate 202, outer housing 203, rotating shaft 204, guide rail 205, slide block 206, spring fixed pedestal 207, tension spring 208, Bowden rope are fixed
Part 209, connecting rod 210, Bowden rope sleeve fixed pedestal 211 and securing member 212 etc. are constituted.Knee joint power-assisted executive module 2 leads to
Cross flexible fixing strap 3 to be fixed in thigh, shank and knee joint relevant position.Wherein, thigh fixed plate 201, shank is solid
Fixed board 202 is made using high intensity carbon fiber material, plays the conduction and support of power.Flexible fixing strap 3 with pliability compared with
Good nylon A materials, thigh fixed plate 201, the shank fixed plate 202 that knee joint power-assisted executive module is fixed on by rivet
On.Shank fixed plate 202, can around the shaft 204 in 120 °～180 ° inward turnings in the rotating shaft 204 of thigh fixed plate 201
Turn.Wherein, 120 ° are that knee joint is most during commonly required between the shank and thigh minimum angles during striding of people, i.e. lift lower limb
Low-angle；180 ° is extreme angles formed by knee joint when normal person is upright or little leg extended is had an effect.The knee joint power-assisted
The angle range that shank fixed plate 202 and the thigh fixed plate 201 of executive module 2 can reach can be according to the actual row of user
Walk gait parameter and do corresponding regulation, minimum can reach 30 °, maximum up to 200 °.
As shown in figure 5, guide rail 205 and spring fixed pedestal 207 are fixed in thigh fixed plate 201 by securing member, sliding
Block 206 can slide in guide rail rated travel on guide rail 205.Bowden rope 105 is fixed by Bowden rope sleeve 104
On Bowden rope sleeve fixed pedestal 211, Bowden rope sleeve fixed pedestal 211 has simultaneously to the spacing of shank fixed plate 202
Function.Bowden rope fixing part 209 is fixed on slide block 206 by securing member 212, and it is solid that 105 one end of Bowden rope is fixed on Bowden rope
Determine on part 209, as the main pulling force source that slide block 206 does linear reciprocating motion in guide rail 205.Install 208 one end of tension spring
On slide block 206, the other end is fixed on spring fixed pedestal 207, and shank fixed plate 202 and slide block 206 are connected by connecting rod 210
Connecing, forming two and rotate pair, the pulling force of the pulling force and tension spring 208 of such Bowden rope 105 is formed and slide block 206 driven in guide rail
205 a pair of the active forces and counteracting force for doing straight reciprocating motion, the straight reciprocating motion of final slide block 206 pass through connecting rod 210
Rotation of the shank fixed plate 202 relative to thigh fixed plate 201 is converted into, and the assist torque for stretching and bending is provided for shank.
Hereafter so that, in people's walking process, right lower limb is carried out being embodied as introducing to equipment as a example by striding first.People is by double
Foot standing state is taken a step, and when right lower limb starts to lift, the driving force of right crus of diaphragm wearing forms the Bowden rope pressing plate 102 of component 1 by people
Gravitative Loads, as 105 one end active force of Bowden rope suddenly disappears, the tension spring on right lower limb knee joint power-assisted executive module 2
208 are disappeared due to equilibrant, are started to shrink at, and drive the slide block 206 of knee joint power-assisted executive module 2 to fix to tension spring 208
207 direction of spring fixed pedestal at end moves along a straight line, and the linear motion of slide block 206 is converted into knee joint by connecting rod 210 and helps
2 shank fixed plate of power executive module, 202 clockwise rotation, as right lower limb shank provide the torque of bending, aid in right lower limb to stride.
When right crus of diaphragm lands, the driving force of the underfooting that right crus of diaphragm is jammed on forms the Bowden rope pressing plate 102 of component 1, and Bowden rope received by Bowden rope 105
102 active force of pressing plate, and then drive the slide block 206 of right lower limb knee joint power-assisted executive module 1 to make directly to 204 direction of rotating shaft along guide rail
Line is moved, and it is little that the linear motion of slide block 206 changes into the rotation counterclockwise around the shaft of shank fixed plate 202 by connecting rod 210
Lower limb provides the torque that stretches, and until shank fixed plate reaches the Bowden rope sleeve fixed pedestal 211 of thigh fixed plate, this is spacing
Position, right leg extended.
Subsequently, left foot is taken a step, and same left foot driving force forms the Bowden rope pressing plate 102 of component 1 and do not receive people's Gravitative Loads, by
Suddenly disappear in 105 one end active force of Bowden rope, the tension spring 208 on left lower limb knee joint power-assisted executive module 2 is due to balance
Power disappears, and starts to shrink at, and drives 207 direction of spring fixed pedestal of the slide block 206 of knee joint power-assisted executive module 2 to fixing end
Move along a straight line, the linear motion of slide block 206 is fixed by the shank that connecting rod 210 is converted on knee joint power-assisted executive module 2
The rotation that plate 202 is counterclockwise, as left lower limb shank provide the torque of bending, aid in left lower limb to stride.Subsequently left foot lands, and left foot is stepped on
The driving force of the underfooting of pressure forms the Bowden rope pressing plate 102 of component 1, and 102 active force of Bowden rope pressing plate received by Bowden rope 105, and then
Drive the slide block 206 of left lower limb knee joint power-assisted executive module 2 for linear motion to rotating shaft 204 along guide rail, the straight line fortune of slide block 206
Move and 204 rotation counterclockwise around the shaft of shank fixed plate 202 is changed into by connecting rod 210, the torque that stretches is provided for shank, directly
To 211 this restraining position of Bowden rope sleeve fixed pedestal that shank fixed plate 202 reaches thigh fixed plate 201, left leg extended,
Start to stride with rear right-leg, start the next one and stride the cycle.
Below stride in periodic process at one for people, the effect machine of unpowered wearable auxiliary walking servomechanism
Reason.The present invention not only can have auxiliary the exercise ability of lower limbs to decline the function of crowd and lower extremities disability patient's walking, and
And the exercise ability of lower limbs decline crowd and lower extremities disability patient can be helped to improve muscle vitality, improve their self-care energy
Power and health status.
Embodiment described above, simply one kind of the present invention more preferably specific embodiment, those skilled in the art
The usual variations and alternatives that member is carried out in the range of technical solution of the present invention should all include within the scope of the present invention.
Claims (10)
1. a kind of unpowered wearable auxiliary walking servomechanism, including：
Driving force forms component (1), including fixed support (101), Bowden rope pressing plate (102), composite base plate (103), Bowden rope
Sleeve pipe (104), Bowden rope (105), first rotating shaft (106), elastic reducing-fixing band (107) and securing member (108)；The fixation
Frame (101) is fixed in the composite base plate (103) groove by the securing member (108), and described Bowden rope pressing plate (102) lead to
The first rotating shaft (106) is crossed on the fixed support (101), angle can designed around the first rotating shaft (106)
Rotate in degree；
Knee joint power-assisted executive module (2), is fixed on left lower limb and right lower limb knee joint correspondence position by flexible fixing strap (3), profit
The torque that is stretched and bent for left lower limb and right lower limb knee joint provided auxiliary with the driving force in the process of walking.
2. according to claim 1 wearable auxiliary walking servomechanism, it is characterised in that the knee joint power-assisted is held
Row component (2) includes thigh fixed plate (201), shank fixed plate (202), outer housing (203), the second rotating shaft (204), guide rail
(205), slide block (206), spring fixed pedestal (207), tension spring (208), Bowden rope fixing part (209), connecting rod (210),
Bowden rope sleeve fixed pedestal (211) and securing member (212)；Shank fixed plate (202), connecting rod (210), guide rail
(205) and slide block (206) constitutes crank block slider structure form, shank fixed plate (202) and slide block (206) are by connecting rod
(210) connect, form two and rotate pair, the pulling force of Bowden rope (105) and the tension spring (208) pulling force are formed and driven
Slide block (206) does a pair of active forces and counteracting force of straight reciprocating motion, the linear reciprocation of slide block (206) in guide rail (205)
Motion by connecting rod (210) be converted into shank fixed plate (202) relative to thigh fixed plate (201) design angle scope turn
Dynamic, the assist torque for stretching and bending is provided for shank in the process of walking.
3. according to claim 2 wearable auxiliary walking servomechanism, it is characterised in that the shank fixed plate
(202) by described second rotating shaft (204) on thigh fixed plate (201), can be around second rotating shaft
(204) rotate in 120 °～180 °.
4. according to claim 2 wearable auxiliary walking servomechanism, it is characterised in that the flexible fixing strap
(3) it is fixed on thigh fixed plate (201) and shank fixed plate (202).
5. according to claim 2 wearable auxiliary walking servomechanism, it is characterised in that the Bowden rope sleeve
(104) one end is fixed on the driving force and is formed in component (1) in the spacing hole of fixed support (101), and the other end is fixed on institute
State on the Bowden rope sleeve fixed pedestal 211 in knee joint power-assisted executive module (2).The Bowden rope 105 passes through Bowden rope sling
104 one end of pipe is fixed on the bayonet socket of Bowden rope pressing plate 102, and the other end is fixed on knee joint by Bowden rope fixing part 209 and helps
On the slide block 206 of power executive module 2.
6. according to claim 1 and 2 wearable auxiliary walking servomechanism, it is characterised in that the fixed support
(101) it is duralumin, hard alumin ium alloy material.
7. according to claim 1 and 2 wearable auxiliary walking servomechanism, it is characterised in that the Bowden rope
(105) using 65Mn materials, it is that the driving force forms pulling force between component (1) and knee joint power-assisted executive module (2)
The medium of transmission.
8. according to claim 2 wearable auxiliary walking servomechanism, it is characterised in that described thigh fixed plate
(201) made using high intensity carbon fiber material with shank fixed plate (202), or using magnalium gold, duralumin, hard alumin ium alloy material
Material is made.
9. according to claim 1 and 2 wearable auxiliary walking servomechanism, it is characterised in that the flexible fastening
Band (107) is made using nylon material, is fixed on the composite base plate (103) by rivet.
10. according to claim 1 and 2 wearable auxiliary walking servomechanism, it is characterised in that the Bowden rope sling
Pipe is the displacement passage of Bowden rope and protection sleeve pipe.
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| CN201611092885.8A CN106491318B (en) | 2016-12-01 | 2016-12-01 | A kind of unpowered wearable auxiliary walking servomechanism |
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| CN201611092885.8A CN106491318B (en) | 2016-12-01 | 2016-12-01 | A kind of unpowered wearable auxiliary walking servomechanism |
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| CN106491318A true CN106491318A (en) | 2017-03-15 |
| CN106491318B CN106491318B (en) | 2018-12-25 |
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| CN107242959A (en) * | 2017-06-26 | 2017-10-13 | 上海理工大学 | Unpowered walking booster |
| CN108555890A (en) * | 2018-07-06 | 2018-09-21 | 中国科学技术大学 | A kind of wearable weight support type device of walking aid |
| CN108638027A (en) * | 2018-04-19 | 2018-10-12 | 江南大学 | A kind of booster type pedipulator with multilevel energy latch mechanism |
| WO2018191777A1 (en) * | 2017-04-18 | 2018-10-25 | The Commonwealth Of Australia | Improved exoskeleton system for load carrying |
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