CN106491318B - A kind of unpowered wearable auxiliary walking servomechanism - Google Patents
A kind of unpowered wearable auxiliary walking servomechanism Download PDFInfo
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- CN106491318B CN106491318B CN201611092885.8A CN201611092885A CN106491318B CN 106491318 B CN106491318 B CN 106491318B CN 201611092885 A CN201611092885 A CN 201611092885A CN 106491318 B CN106491318 B CN 106491318B
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- 230000009184 walking Effects 0.000 title claims abstract description 41
- 210000000629 knee joint Anatomy 0.000 claims abstract description 67
- 210000001699 lower leg Anatomy 0.000 claims abstract description 48
- 210000002414 leg Anatomy 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims abstract description 9
- 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 14
- 239000000463 material Substances 0.000 claims description 11
- 239000000758 substrate Substances 0.000 claims description 11
- 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
- 230000015572 biosynthetic process Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 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
- 239000007787 solid Substances 0.000 claims description 4
- 229910000861 Mg alloy Inorganic materials 0.000 claims description 2
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 abstract description 14
- 230000037396 body weight Effects 0.000 abstract description 7
- 238000005452 bending Methods 0.000 abstract description 2
- 230000003447 ipsilateral effect Effects 0.000 abstract 1
- 210000003141 lower extremity Anatomy 0.000 description 18
- 230000000694 effects Effects 0.000 description 11
- 239000000203 mixture Substances 0.000 description 8
- 210000003127 knee Anatomy 0.000 description 5
- 230000007423 decrease Effects 0.000 description 4
- 230000003862 health status Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000008037 Arthrogryposis Diseases 0.000 description 1
- 208000018152 Cerebral 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
- 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
- 238000004146 energy storage Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
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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 servomechanisms, including driving force to form component, knee joint power-assisted executive module.Walking servomechanism of the invention is based on lever principle and crank block slider structure mechanism, using the working method of the ipsilateral driven in parallel input of left and right foot, it is acted on using body weight, the medium of pulling force transmitting between component and knee joint power-assisted executive module is formed using Bowden rope as driving force, the driving force of left foot forms component and provides driving force for left leg knee joint assist torque executive module, the driving force of right crus of diaphragm forms component and provides driving force for right leg knee joint assist torque executive module, it is left to generate auxiliary in the process of walking, right leg knee joint bending, the torque of stretching, extension, achieve the purpose that auxiliary walking.The disadvantages of mechanism inertia of the present invention is small, and it is big to overcome the rigid mechanisms inertia such as general leg servomechanism or exoskeleton robot, and human knee joint is be easy to cause to damage, and comfort is poor, significantly improves safety and the comfort of mechanism.
Description
Technical field
It is the invention belongs to knee joint auxiliary instrument and walking auxiliary equipment field, in particular to a kind of unpowered wearable
Auxiliary walking servomechanism.
Background technique
Walking is the basis of the elderly's daily life self-care ability, it can improve the general level of the health of the elderly.However, with
The walking ability of the growth at age, the elderly can be gradually reduced, the elderly of legs and feet inconvenience need people assist in or walk help dress
Setting 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 influenced
Power.Daily wearable walking auxiliary can help the elderly and lower extremities disability patient to improve motion function, improve them
Self-care ability and health status, and to preventing degenerative change have important medical science of recovery therapy meaning.To improve
The walking ability of the cerebral diseases patients such as the apoplexy that the elderly of locomitivity decline and lower extremities disable is target, it is desirable that walking
Servomechanism 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 a kind of unpowered wearable auxiliary walkings
Servomechanism.Unpowered wearable auxiliary walking servomechanism acts on lower limb knee joint position, is driving with body weight
Power does not need other external impetus and energy input.Unpowered wearable auxiliary walking servomechanism, is made using body weight
Driving force for being mounted on left and right foot forms component, provides driving force to act on kneed power-assisted executive module, knee closes
Crank block in section power-assisted executive module combines to form a pair of of active force and reaction with tension spring energy storage, walks in people
The torque of auxiliary knee joint bending and stretching, extension is alternately produced according to the rhythm of paces in the process, is reached under auxiliary the exercise ability of lower limbs
The purpose of drop crowd and lower extremities disability patient's walking, and the exercise ability of lower limbs decline crowd and lower extremities can be helped
The patient that disables improves muscle vitality, improves their self-care ability and health status.
To achieve the goals above the technical solution adopted by the present invention is that:
A kind of unpowered wearable auxiliary walking servomechanism, comprising:
Knee joint power-assisted executive module is fixed on left leg and right leg knee joint corresponding position by flexible fixing strap, is expert at
Assist extension and curved torque are provided during walking for left leg and right leg knee joint.
Driving force forms component, is to provide driving force for left leg and right leg knee joint power-assisted executive module.
And
Bowden rope is that driving force formation component is helped with knee joint using the 65Mn material with stronger elasticity and toughness
The medium that pulling force transmits between power executive module.
Bowden rope sleeve is displacement channel and the protection sleeve pipe of Bowden rope.
Knee joint power-assisted executive module is fixed in knee joint corresponding position, primarily serves position by flexible fixing strap
With elastic adjustable, flexible fixed function.
Preferably, the flexible fixing strap is preferably made from sticky cloth and elastic band using flexibility, is fixed by rivet
In the thigh fixed plate, shank fixed plate of knee joint power-assisted executive module.
Preferably, it includes fixed bracket, Bowden rope pressing plate, composite substrate, Bowden rope sleeve, Bowden that driving force, which forms component,
Rope, shaft, elastic reducing-fixing band and fastener etc..Wherein, fixed bracket is the higher duralumin, hard alumin ium alloy material of specific stiffness, mainly
Play the role of supporting and fixing.Fixed bracket is fixed on the top of composite substrate by screw fastener, and Bowden rope pressing plate is logical
It crosses shaft to be mounted on fixed bracket, can rotate within a certain angle around the shaft.Based on lever principle, the Bowden rope that acts 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, elastic
Fixing belt is made of the preferable nylon A material of flexibility, is fixed on the composite substrate 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 fixing sleeve
The composition such as pipe, Bowden rope, connecting rod, sliding block, guide rail, spring, spring fixed pedestal, Bowden rope fixing part and fastener.Wherein,
Shank fixed plate, connecting rod, guide rail and sliding block constitute crank block slider structure form, and shank fixed plate is connected with sliding block by connecting rod,
Two revolute pairs are formed, the pulling force and tension spring pulling force of Bowden rope, which are formed, drives a pair that sliding block does straight reciprocating motion in guide rail
Active force and reaction force, the straight reciprocating motion of sliding block are converted into shank fixed plate by connecting rod and exist relative to thigh fixed plate
The rotation of design angle range provides stretching, extension and curved assist torque in the process of walking for shank.
Preferably, shank fixed plate described in root is relative to thigh fixed plate in design angle range, shank fixed plate phase
Thigh fixed plate is rotated in 120 °~180 °.Wherein, 120 ° are that people is usual between shank and thigh during striding
Knee joint minimum angles when required minimum angles, i.e. lift leg；180 ° are normal person is upright or knee pass when small leg extended is had an effect
Save formed extreme angles.The angle range can do corresponding adjusting according to the practical walking step state parameter of user, and minimum can
Reach 30 °, maximum is up to 200 °.
Preferably, the unpowered wearable auxiliary walking servomechanism, the driving force of left foot wearing form component
Predominantly left leg knee joint power-assisted executive module provides the driving force for making knee extension, in left leg knee joint power-assisted executive module
Tension spring formed when component provides pulling force in left foot driving force and play the role of accumulation of energy, and form component in left foot driving force
The restoring force of tension spring provides when no pulling force effect for left leg knee joint power-assisted executive module makes knee-sprung driving force.
Equally, it is mainly that right leg knee joint power-assisted executive module offer makes knee extension that the driving force of right crus of diaphragm wearing, which forms component,
Driving force, the tension spring in right leg knee joint power-assisted executive module is formed when component provides pulling force in right crus of diaphragm driving force plays storage
The effect of energy, and the restoring force of tension spring is right left leg knee joint power-assisted when right crus of diaphragm driving force forms component without pulling force effect
Executive module offer makes knee-sprung driving force.
Preferably, the thigh fixed plate, shank fixed plate are made of high intensity carbon fiber material, can also be used than rigid
The materials such as higher magnesium alloy gold, duralumin, hard alumin ium alloy are spent, the conduction and support of power are played.
Preferably, the equipment is suitable for the exercise ability of lower limbs and declines crowd, in the brain to disable such as the elderly, slight lower limb
Wind Disease, is also applied for normal population.
The excellent effect of the present invention is:
1) compared with prior art, the unpowered wearable auxiliary walking servomechanism of the present invention, has and does not need extraneous move
The characteristics of power and energy input: driving force of the equipment using the self weight of people as mechanism does not need the outer of the forms such as electric current, air pump
The band energy breaches general walking servomechanism, the dependence such as exoskeleton robot to the tyre energy at present and directly reduces machine
The volume and quality of structure, keep mechanism more portable.
2) compared with prior art, the form that the crank block in knee joint power-assisted executive module and energy-stored spring combine, two
Person forms a pair of of active force and reaction force, and the two mutually compensates in people's course of a step, is formed and provides closing for knee joint torque
Circuit is closed, mechanism inertia is small, and it is big to overcome the rigid mechanisms inertia such as general leg servomechanism or exoskeleton robot, is easy
It causes 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, volume using the self weight of people as the driving force of mechanism
Small, light-weight, good portability.In addition, mechanism inertia of the present invention is small, comfort is good, not only can achieve auxiliary lower extremity movement energy
Power declines the purpose of crowd and lower extremities disability patient's walking, and the elderly and lower extremities disability patient can be helped to change
Kind 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 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 of the present invention mechanism.
Wherein each appended drawing reference meaning is as follows:
1. driving force forms component；2. knee joint power-assisted executive module；3. flexible fixing strap；4. Bowden rope and its casing.
101. fixed bracket；102. Bowden rope pressing plate；103. composite substrate；104. Bowden rope sleeve；105. Bowden rope；
106. shaft；107. elastic reducing-fixing band；108. fastener
201. thigh fixed plates；202. shank fixed plates；203. outer cover；204. shaft；205. guide rail；206. sliding block；
207. spring fixed pedestals；208. tension spring；209. Bowden rope fixing parts；210. connecting rod；211. Bowden rope sleeves fix base
Seat；212. fastener.
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, a kind of unpowered wearable auxiliary walking servomechanism is not required to using body weight as driving force
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 belt 3, Bowden rope and its casing 4.Driving force forms component 1 and is fastened on left and right underfooting respectively, and knee joint helps
Power executive module 2 is fixed by flexible fixing strap 3 in thigh, shank and knee joint corresponding position, the driving under left foot
Power forms between component 1 and the knee joint power-assisted executive module 2 of left leg and transmits pulling force by Bowden rope；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 leg and is transmitted by the Bowden rope in Bowden rope and its casing 4
Pulling force.In the process of walking, unpowered wearable auxiliary walking servomechanism utilizes body weight, and left and right foot alternately jams on
The driving force of underfooting forms component 1, provides driving force (pulling force) to act on knee joint power-assisted executive module 2, generates auxiliary knee
Arthrogryposis, stretching, extension torque, realize stride during walking power-assisted.
Fig. 2 and Fig. 3 is that driving force forms the composition figure of component 1 and two kinds of limiting conditions of driving force formation 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 that driving force is formed under 1 stress condition of component, i.e., when people's foot during striding steps on driving force formation component 1
State.Driving force forms component 1 mainly by fixed bracket 101, Bowden rope pressing plate 102, composite substrate 103, Bowden rope sleeve
104, the components such as Bowden rope 105, shaft 106, elastic reducing-fixing band 107, fastener 108 form.Wherein, composite substrate 103 by
High intensity carbon fiber material is made, and there is skid resistance strip in bottom surface, plays anti-skidding function.Fixed bracket 101 is that specific stiffness is higher
Duralumin, hard alumin ium alloy material primarily serves the effect supported and fixed.Fixed bracket 101 is fixed on compound by screw fastener 108
In 103 groove of substrate, Bowden rope pressing plate 102 is mounted on fixed bracket 101 by shaft 106, can designed with around the shaft 106
Rotation in angle.
104 one end of Bowden rope sleeve is fixed on driving force and is formed in the limit hole of the fixed bracket 101 of component 1, 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 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 sliding block 206 of component 2.In addition, elastic reducing-fixing band 107 is made of the preferable nylon A material of flexibility, it is fixed on by rivet
On composite substrate 103, for the unpowered wearable auxiliary walking servomechanism using when fixed shoes formed with driving force
Component 1.In people's walking process, when foot lands, driving force forms component 1 and contacts ground, the i.e. state of Fig. 2, Bowden rope pressure
Shaft 106 of 102 stress of plate on fixed bracket 101 rotates, and the torque of Bowden rope pressing plate 102 is converted into the drawing of Bowden rope 105
Power provides pulling force for knee joint power-assisted executive module 2.When foot lifts, driving force forms component 1 and leaves ground, Bowden rope pressure
Plate is not acted on by body weight, i.e. Fig. 3 state, by the pulling force effect Bowden of tension spring 208 in knee joint power-assisted executive module 2
Rope 105 is gradually withdrawn into Bowden rope sleeve 104, and shaft 106 of the Bowden rope pressing plate 102 on fixed bracket 101 reversely turns
It moves the limit dais in fixed bracket 101 to reach capacity position, Bowden rope pressing plate 102 reaches dynamic balance state again at this time.
Fig. 4 be 2 outline drawing of knee joint power-assisted executive module, Fig. 5 knee joint power-assisted executive module 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 cover 203, shaft 204, guide rail 205, sliding block 206, spring fixed pedestal 207, tension spring 208, Bowden rope are fixed
The composition such as part 209, connecting rod 210, Bowden rope sleeve fixed pedestal 211 and fastener 212.Knee joint power-assisted executive module 2 is logical
Flexible fixing strap 3 is crossed to be fixed in thigh, shank and knee joint corresponding position.Wherein, thigh fixed plate 201, shank are solid
Fixed board 202 is made of high intensity carbon fiber material, plays the conduction and support of power.Flexible fixing strap 3 with flexibility compared with
Good nylon A material, thigh fixed plate 201, the shank fixed plate 202 of knee joint power-assisted executive module are fixed on by rivet
On.Shank fixed plate 202 is mounted in the shaft 204 of thigh fixed plate 201, can be with around the shaft 204 in 120 °~180 ° inward turnings
Turn.Wherein, 120 ° are people's minimum angles commonly required between shank and thigh during striding, i.e., lift leg when knee joint most
Low-angle；180 ° are normal person is upright or extreme angles formed by knee joint when small leg extended is had an effect.The knee joint power-assisted
The shank fixed plate 202 of executive module 2 and thigh fixed plate 201 attainable angle range can be according to the practical row of user
It walks gait parameter and does corresponding adjusting, minimum can reach 30 °, and maximum is up to 200 °.
As shown in figure 5, guide rail 205 and spring fixed pedestal 207 are fixed in thigh fixed plate 201 by fastener, it is sliding
Block 206 is mounted on guide rail 205, can be slided in guide rail rated travel.Bowden rope 105 is fixed by Bowden rope sleeve 104
On Bowden rope sleeve fixed pedestal 211, Bowden rope sleeve fixed pedestal 211 has the limit to shank fixed plate 202 simultaneously
Function.Bowden rope fixing part 209 is fixed on sliding block 206 by fastener 212, and it is solid that 105 one end of Bowden rope is fixed on Bowden rope
Determine on part 209, does the main pulling force source of linear reciprocating motion in guide rail 205 as sliding block 206.The installation of 208 one end of tension spring
In on sliding block 206, the other end is fixed on spring fixed pedestal 207, and shank fixed plate 202 and sliding block 206 are connected by connecting rod 210
It connects, forms two revolute pairs, the pulling force of such Bowden rope 105 and the pulling force of tension spring 208, which are formed, drives sliding block 206 in guide rail
205 do a pair of of the active force and reaction force of straight reciprocating motion, and the straight reciprocating motion of final sliding block 206 passes through connecting rod 210
It is converted into rotation of the shank fixed plate 202 relative to thigh fixed plate 201, provides stretching, extension and curved assist torque for shank.
Hereafter in people's walking process, right leg carries out equipment for striding first to do specific implementation introduction.People is by double
Foot standing state is taken a step, and when right leg starts to lift, the driving force of right crus of diaphragm wearing forms the Bowden rope pressing plate 102 of component 1 not by people
Gravitative Loads, since 105 one end active force of Bowden rope suddenly disappears, the tension spring on right leg knee joint power-assisted executive module 2
208, since equilibrant force disappears, start to shrink, and drive the sliding block 206 of knee joint power-assisted executive module 2 fixed to tension spring 208
207 direction of spring fixed pedestal at end moves in a straight line, and the linear motion of sliding block 206 is converted into knee joint by connecting rod 210 and helps
The clockwise rotation of 2 shank fixed plate of power executive module 202, as right leg shank provide curved torque, right leg are assisted to stride.
When right crus of diaphragm lands, the driving force for the underfooting that right crus of diaphragm jams on forms the Bowden rope pressing plate 102 of component 1, and Bowden rope 105 is by Bowden rope
102 active force of pressing plate, and then it is straight to drive the sliding block 206 of right leg knee joint power-assisted executive module 1 to make along guide rail to 204 direction of shaft
Line movement, it is small that the linear motion of sliding block 206, which is converted to the rotation counterclockwise around the shaft of shank fixed plate 202 by connecting rod 210,
Leg provides the torque of stretching, extension, until shank fixed plate reaches this limit of the Bowden rope sleeve fixed pedestal 211 of thigh fixed plate
Position, right leg extended.
Then, left foot is taken a step, and same left foot driving force forms the Bowden rope pressing plate 102 of component 1 not by people's Gravitative Loads, by
It suddenly disappears in 105 one end active force of Bowden rope, the tension spring 208 on left leg knee joint power-assisted executive module 2 is due to balance
Power disappears, and starts to shrink, and drives the sliding block 206 of knee joint power-assisted executive module 2 to 207 direction of spring fixed pedestal of fixing end
It moves in a straight line, the linear motion of sliding 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 leg shank provide curved torque, left leg are assisted to stride.Subsequent 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 Bowden rope 105 is by 102 active force of Bowden rope pressing plate, in turn
Drive the sliding block 206 of left leg knee joint power-assisted executive module 2 for linear motion to shaft 204 along guide rail, the straight line fortune of sliding block 206
It is dynamic that 204 rotation counterclockwise around the shaft of shank fixed plate 202 is converted to by connecting rod 210, the torque of stretching, extension is provided for shank, directly
Reach 211 this restraining position of Bowden rope sleeve fixed pedestal of thigh fixed plate 201 to shank fixed plate 202, left leg extended,
Start to stride with rear right-leg, starts next stride the period.
Above is people in the periodic process that strides, the effect machine of unpowered wearable auxiliary walking servomechanism
Reason.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, 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, 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 (10)
- The servomechanism 1. a kind of unpowered wearable auxiliary is walked, including driving force forms component (1), knee joint power-assisted executes Component (2) and flexible fixing strap (3)；It is characterized in that,The driving force forms component (1), including fixed bracket (101), Bowden rope pressing plate (102), composite substrate (103), Bao Step on rope sleeve (104), Bowden rope (105), first rotating shaft (106), elastic reducing-fixing band (107) and fastener (108)；It is described solid Fixed rack (101) is fixed in the composite substrate (103) groove by the fastener (108), the Bowden rope pressing plate (102) it is mounted on the fixed bracket (101), can be existed around the first rotating shaft (106) by the first rotating shaft (106) Rotation in design angle；The knee joint power-assisted executive module (2) is fixed on left leg by the flexible fixing strap (3) and right leg knee joint is corresponding Position provides assist extension and curved torque in the process of walking using the driving force for left leg and right leg knee joint.
- The servomechanism 2. wearable auxiliary according to claim 1 is walked, which is characterized in that the knee joint power-assisted is held Row component (2) includes thigh fixed plate (201), shank fixed plate (202), outer cover (203), the second shaft (204), guide rail (205), sliding block (206), spring fixed pedestal (207), tension spring (208), Bowden rope fixing part (209), connecting rod (210), Bowden rope sleeve fixed pedestal (211) and fastener (212)；The shank fixed plate (202), connecting rod (210), guide rail (205) and sliding block (206) constitutes crank block slider structure form, and the shank fixed plate (202) and sliding block (206) pass through connecting rod (210) it connects, forms two revolute pairs, the pulling force and the tension spring (208) pulling force of the Bowden rope (105) form driving Sliding block (206) does a pair of of the active force and reaction force of straight reciprocating motion, the linear reciprocation of sliding block (206) in guide rail (205) Movement is converted into shank fixed plate (202) by connecting rod (210) and turns relative to thigh fixed plate (201) in design angle range It is dynamic, stretching, extension and curved assist torque are provided in the process of walking for shank.
- The servomechanism 3. wearable auxiliary according to claim 2 is walked, which is characterized in that the shank fixed plate (202) it is mounted on the thigh fixed plate (201) by second shaft (204), it can be around second shaft (204) It is rotated in 120 °~180 °.
- The servomechanism 4. wearable auxiliary according to claim 2 is walked, which is characterized in that the flexible fixing strap (3) it is fixed in the thigh fixed plate (201) and shank fixed plate (202).
- The servomechanism 5. wearable auxiliary according to claim 2 is walked, which is characterized in that the Bowden rope sleeve (104) one end is fixed in driving force formation component (1) and fixes in the limit hole of bracket (101), and the other end is fixed on institute It states on the Bowden rope sleeve fixed pedestal (211) in knee joint power-assisted executive module (2)；The Bowden rope (105) passes through Bowden Rope sleeve (104) one end is fixed on the bayonet of Bowden rope pressing plate (102), and the other end is fixed by Bowden rope fixing part (209) On the sliding block (206) of knee joint power-assisted executive module (2).
- The servomechanism 6. wearable auxiliary according to claim 1 or 2 is walked, which is characterized in that the fixed bracket It (101) is duralumin, hard alumin ium alloy material.
- The servomechanism 7. wearable auxiliary according to claim 1 or 2 is walked, which is characterized in that the Bowden rope (105) 65Mn material is used, is that the driving force forms pulling force between component (1) and the knee joint power-assisted executive module (2) The medium of transmitting.
- The servomechanism 8. wearable auxiliary according to claim 2 is walked, which is characterized in that the thigh fixed plate (201) it is made with shank fixed plate (202) of high intensity carbon fiber material, or uses magnesium alloy, duralumin, hard alumin ium alloy material It is made.
- The servomechanism 9. wearable auxiliary according to claim 1 or 2 is walked, which is characterized in that the flexible fastening Band (107) is made of nylon material, is fixed on the composite substrate (103) by rivet.
- The servomechanism 10. wearable auxiliary according to claim 1 or 2 is walked, which is characterized in that the Bowden rope sling Pipe is displacement channel and the protection sleeve pipe of Bowden rope.
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| Application Number | Priority Date | Filing Date | Title |
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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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| Application Number | Priority Date | Filing Date | Title |
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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 CN106491318A (en) | 2017-03-15 |
| CN106491318B true CN106491318B (en) | 2018-12-25 |
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| WO2018191777A1 (en) * | 2017-04-18 | 2018-10-25 | The Commonwealth Of Australia | Improved exoskeleton system for load carrying |
| CN107242959B (en) * | 2017-06-26 | 2023-11-17 | 上海理工大学 | Unpowered walking booster |
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| CN108748099B (en) * | 2018-06-15 | 2019-05-03 | 西北工业大学 | A kind of passive lower limb exoskeleton device for realizing body energy migration |
| CN108714890B (en) * | 2018-06-28 | 2023-08-15 | 吉林大学 | Rigid-flexible coupling bionic exoskeleton knee joint power assisting device |
| CN108555890B (en) * | 2018-07-06 | 2023-07-14 | 中国科学技术大学 | Wearable body weight supporting type walking assisting device |
| CN109224368A (en) * | 2018-08-28 | 2019-01-18 | 江明思 | A kind of unpowered single leg knee and shank nerve necrosis patient's auxiliary building climbing device |
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| CN109176478B (en) * | 2018-10-31 | 2020-07-17 | 北京机械设备研究所 | Knee joint passive power assisting device |
| CN109718066A (en) * | 2018-12-14 | 2019-05-07 | 王东伟 | A kind of Chinese medicine othopedics fracture of lower limb walking aid |
| CN110141464B (en) * | 2019-05-22 | 2020-04-14 | 电子科技大学 | High-energy efficiency controllable foot mechanism |
| CN110666783B (en) * | 2019-11-20 | 2021-03-16 | 北京工业大学 | Hip joint exoskeleton assistance mechanism |
| CN111743736B (en) * | 2020-06-28 | 2024-06-11 | 吉首大学 | Carbon-free walking aid for old people |
| CN111993393B (en) * | 2020-09-02 | 2022-02-11 | 三一建筑机器人(西安)研究院有限公司 | Limb driver and power assisting device |
| CN112660264B (en) * | 2020-12-30 | 2023-06-20 | 厦门大学 | U-shaped foot end sensing robot leg structure and output torque detection control method |
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| CN113786313A (en) * | 2021-09-17 | 2021-12-14 | 安徽工程大学 | Wearable lower limb rehabilitation device |
| WO2023065267A1 (en) * | 2021-10-22 | 2023-04-27 | 北京航空航天大学杭州创新研究院 | Wearable walking assistance device based on flexible cable driving and control method therefor |
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| CN115091441B (en) * | 2022-08-09 | 2024-05-10 | 朱岩 | Lower limb exoskeleton assisting walking support |
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| JP2012100983A (en) * | 2010-11-12 | 2012-05-31 | Toyota Motor Corp | Walking support device |
| JP2015198736A (en) * | 2014-04-07 | 2015-11-12 | 株式会社長崎かなえ | Single upright knee ankle foot orthosis |
| KR102125078B1 (en) * | 2014-08-07 | 2020-06-19 | 삼성전자주식회사 | A driving module, a motion assist apparatus comprising the driving module and a control method of the motion assist apparatus |
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