CN106625596A - Knee joint assisting mechanism having automatic switchover function - Google Patents
Knee joint assisting mechanism having automatic switchover function Download PDFInfo
- Publication number
- CN106625596A CN106625596A CN201611189116.XA CN201611189116A CN106625596A CN 106625596 A CN106625596 A CN 106625596A CN 201611189116 A CN201611189116 A CN 201611189116A CN 106625596 A CN106625596 A CN 106625596A
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- China
- Prior art keywords
- sliding
- bearing
- bar
- knee joint
- automatic switchover
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a knee joint assisting mechanism having an automatic switchover function. The knee joint assisting mechanism mainly consists of a thigh supporting rod, a shank supporting rod, a joint bearing, bearing supporting seat, a spring compressed rod, a sliding part, a fixing part, hinge parts, a sliding and supporting rod and a thenar supporting part, wherein the thigh supporting rod is connected with the shank supporting rod by the joint bearing and the bearing supporting seat; the upper end of the spring compressed rod is fixed to the lower end of the thigh supporting rod by one of the hinge parts and the fixing part; the lower end of the compressed rod is fixed to the sliding part on the shank supporting rod by another hinge part; the sliding part and the sliding and supporting rod in the shank supporting rod are in interference fixation by a pin shaft; and the thenar supporting part is closely fixed to the bottom of the shank supporting rod by a screw, and is used for bearing the gravity from a knee joint. When a thenar touches the ground, the knee joint bends, the spring rod works to generate assisting effects; and when a human body walks, a thenar part is away from the ground, the sliding and supporting rod is free, and the spring rod cannot be compressed for working, so that walking interference cannot be generated to the human body.
Description
Technical field
The present invention relates to a kind of new mechanical exoskeleton mechanism, is a kind of knee joint for automatically switching particularly
Servomechanism.
Background technology
In physical activity, knee joint is subject to the maximum position of human body burden, especially when human body is squatted down to knee joint
Particularly more very, knee joint also easy fatigue causes the illness of people some arthritis etc to the burden of generation, and mechanical exoskeleton is then
It is the effective tool for solving this problem.In ectoskeleton power-assisted field, people always want to obtain a kind of pure passive knee joint
Servomechanism, it is not necessary to extra dynamic structure, it is only necessary to completed with spring energy-storage original paper；General knee joint is passively helped
Force mechanisms can all use spring, and spring can be compressed generation power-assisted effect when human body is squatted down, but this similar structures are all
Have a problem that, it is impossible to which the spring that knee joint bending causes when solving human body walking is interfered.The present invention is to the problem
A kind of concrete solution.
The content of the invention
For the problems referred to above, this law people provide a kind of knee joint servomechanism of automatic switchover, and the mechanism can be worn on
The lower limb of people, when human body is squatted down, to the knee joint of people power-assisted effect are played；When human normal lift leg is walked, the mechanism will not
The proper motion action of interference effect human body.
To solve above-mentioned technical problem, the present invention is adopted the following technical scheme that：
A kind of knee joint servomechanism of automatic switchover, including：
It is arranged on the thigh support bar 1 of automatic switching control equipment upper end；
The automatic switching control equipment being arranged between thigh support bar 1 and leg support bar 4, it includes being arranged on automatic switchover
The fixture 7 of device upper end, the oscillating bearing 2 for being arranged on the lower end of fixture 7, the bearing spider for being arranged on the lower end of oscillating bearing 2
3rd, the sliding part 11 that is arranged on the lower end of bearing spider 3, the sliding bearing 12 being arranged on inside sliding part 11, it is respectively hinged at fixation
Upper hinge 90 and lower hinge 902 on part 7 and sliding part 11, it is arranged between upper hinge 90 and lower hinge 902
Compression elastic piece 10 and sequentially through upper hinge 90, compression elastic piece 10 and lower hinge 902 sliding bar 8, wherein, institute
State and be fixedly connected by upper threaded rod 1901 between the lower end of thigh support bar 1 and the upper end of oscillating bearing 2, the upper threaded rod
1901 can be rotatably mounted on bearing spider 3 through the through hole on fixture 7, the lower end of oscillating bearing 2, the sliding bar 8
Upper end be provided with pole cap, lower end is provided with nut 1601, and the upper hinge 90 and lower hinge 902 are limited at sliding bar
Between 8 pole cap and nut 1601；
The leg support bar 4 of the lower end of bearing spider 3 is arranged on, the leg support bar 4 passes through the inside of sliding bearing 12,
Its upper end is fixed in the countersunk head formula through hole of the base of bearing spider 3 by lower threaded rod 1902；
The inside of leg support bar 4 and the sliding supporting bar 5 that can be slided up and down inside leg support bar 4 are arranged on, it is described
The upper end of sliding supporting bar 5 and the upper end of sliding part 11 are respectively arranged with mutual corresponding two installing holes, by upper pin
1801 and lower bearing pin 1802 insert two installing holes in sliding supporting bar 5 and sliding part 11 are interfixed, the sliding bearing
12 are limited between upper pin 1801 and lower bearing pin 1802；The side of the leg support bar 4 opens up a chute, the upper pin
Axle 1801 and lower bearing pin 1802 sequentially pass through installing hole, chute and the sliding supporting bar 5 of sliding part 11, and can be in chute up and down
Slide.
Further, also including vola support member 6, and it is fixed by screws in the bottom of leg support bar 4.
Further, the upper pin 1801 and lower bearing pin 1802 respectively with the installing hole and sliding part of sliding supporting bar 5
It is that interference is fixed between 11 installing hole.
Further, the sliding bar 8 is slidably connected respectively between upper hinge 901 and lower hinge 902, compresses bullet
Property part 10 is enclosed within sliding bar 8, and the lower end of sliding bar 8 is also equipped with slip stem nut 1601.
Further, the sliding part 11 and the concentric fit of sliding bearing 12.
Beneficial effect：Compared with prior art, technical scheme has the advantages that：
(1) telescopic spring bar is that sliding bar is constituted with compression elastic piece, and such combination can maximize the pressure of spring
Indention journey, makes as far as possible knee-sprung angle maximum.
(2) sliding part is fixed in spring-compressed bar lower end, and the sliding part is connected with the sliding supporting bar in leg support bar,
Can complete to land with it is liftoff between mechanism kinematic switching.
Description of the drawings
Fig. 1 is three-dimensional structure assembling schematic diagram of the present invention.
Fig. 2 is three-dimensional structure element schematic detail view.
Specific embodiment
To make the purpose and technical scheme of the embodiment of the present invention clearer, below in conjunction with the attached of the embodiment of the present invention
Figure, is clearly and completely described to the technical scheme of the embodiment of the present invention.Obviously, described embodiment is of the invention
A part of embodiment, rather than the embodiment of whole.Based on described embodiments of the invention, those of ordinary skill in the art
The every other embodiment obtained on the premise of without the need for creative work, belongs to the scope of protection of the invention.
Those skilled in the art of the present technique are appreciated that unless otherwise defined all terms used herein are (including technology art
Language and scientific terminology) have with art of the present invention in those of ordinary skill general understanding identical meaning.Should also
It is understood by, those terms defined in such as general dictionary should be understood that the meaning having with the context of prior art
The consistent meaning of justice, and unless defined as here, will not be with idealizing or excessively formal implication is explaining.
The implication of heretofore described "and/or" refers to the simultaneous situation of respective individualism or both and wraps
Including including.
The implication of heretofore described " inside and outside " is referred to relative to equipment itself, the side inside sensing equipment
To for interior, otherwise for outer, rather than the specific restriction of the equipment mechanism to the present invention.
When the implication of heretofore described " left and right " refers to reader just to accompanying drawing, the left side of reader is a left side,
The right of reader is the right side, rather than the specific restriction of the equipment mechanism to the present invention.
It can also pass through between part that the implication of heretofore described " connection " can be being directly connected between part
Other parts are indirectly connected with.
As depicted in figs. 1 and 2, the invention discloses a kind of knee joint servomechanism of 1. automatic switchovers, including：
It is arranged on the thigh support bar 1 of automatic switching control equipment upper end；
The automatic switching control equipment being arranged between thigh support bar 1 and leg support bar 4, it includes being arranged on automatic switchover
The fixture 7 of device upper end, the oscillating bearing 2 for being arranged on the lower end of fixture 7, the bearing spider for being arranged on the lower end of oscillating bearing 2
3rd, the sliding part 11 that is arranged on the lower end of bearing spider 3, the sliding bearing 12 being arranged on inside sliding part 11, it is respectively hinged at fixation
Upper hinge 90 and lower hinge 902 on part 7 and sliding part 11, it is arranged between upper hinge 90 and lower hinge 902
Compression elastic piece 10 and sequentially through upper hinge 90, compression elastic piece 10 and lower hinge 902 sliding bar 8, wherein, greatly
It is fixedly connected by upper threaded rod 1901 between the lower end and the upper end of oscillating bearing 2 of leg support bar 1, upper threaded rod 1901 is through admittedly
Determine the through hole on part 7, the lower end of oscillating bearing 2 can be rotatably mounted on bearing spider 3, and the upper end of sliding bar 8 is provided with bar
Cap, lower end is provided with nut 1601, and upper hinge 90 and lower hinge 902 are limited at the pole cap and nut 1601 of sliding bar 8
Between；
The leg support bar 4 of the lower end of bearing spider 3 is arranged on, leg support bar 4 passes through the inside of sliding bearing 12, thereon
End is fixed in the countersunk head formula through hole of the base of bearing spider 3 by lower threaded rod 1902；
The inside of leg support bar 4 and the sliding supporting bar 5 that can be slided up and down inside leg support bar 4 are arranged on, it is described
The upper end of sliding supporting bar 5 and the upper end of sliding part 11 are respectively arranged with mutual corresponding two installing holes, by upper pin
1801 and lower bearing pin 1802 insert two installing holes in sliding supporting bar 5 and sliding part 11 are interfixed, the quilt of sliding bearing 12
It is spacing between upper pin 1801 and lower bearing pin 1802；The side of leg support bar 4 opens up a chute, upper pin 1801 and lower pin
Axle 1802 sequentially passes through installing hole, chute and the sliding supporting bar 5 of sliding part 11, and can slide up and down in chute.
Also include vola support member 6, and be fixed by screws in the bottom of leg support bar 4.
Upper pin 1801 and lower bearing pin 1802 are respectively between the installing hole of sliding supporting bar 5 and the installing hole of sliding part 11
It is that interference is fixed.
Sliding bar 8 is slidably connected respectively between upper hinge 901 and lower hinge 902, and compression elastic piece 10 is enclosed within cunning
In lever 8, the lower end of sliding bar 8 is also equipped with slip stem nut 1601.Sliding part 11 and the concentric fit of sliding bearing 12.
Upper hinge 901 is connected with fixture 7 by bolt 1301 and nut 1702；Lower hinge 902 and sliding part 11
Connected by bolt 1302 and nut 1701.
Oscillating bearing 2 is fixed on bearing spider 3 on by bolt 14 and with nut 1602.
Leg support bar 4 is connected with bearing spider 3 by lower screw rod 1902, and is fixed by screw 1501 and 1502.
Fixture 7 is fixed on thigh support bar 1 by screw 1504.
The course of work of above-mentioned ESD is：Thigh support bar 1 and shank that set fixes the mechanism are tied up with flexibility
In human body lower limbs, when human body is squatted down, knee joint bends strut 4, and compression elastic piece 10 is pressurized, due to sliding supporting bar 5
Contact with ground, the relative shank support bar 4 of sliding part 11 will not slide, and thus compression elastic piece 10 will be produced to kneed curved
Square, forms power-assisted effect.
When human normal walking lift leg, the sliding supporting bar 5 in vola leaves ground, then sliding part 11 becomes free end,
Compression elastic piece 10 will not work during lift leg action, can't produce resistance to human leg.This exactly the knee-joint mechanism with
The passive servomechanism difference of common lower limb.
The mode of operation switching of above-mentioned knee joint spring is all whether the sliding supporting bar for leaning on vola contacts to earth what is be automatically performed,
Be not required to other actions auxiliary of very important person, this exactly the new knee-joint mechanism it is different from the passive servomechanism of common lower limb it
Place.
Claims (10)
1. the knee joint servomechanism of a kind of automatic switchover, it is characterised in that include：
It is arranged on the thigh support bar (1) of automatic switching control equipment upper end；
The automatic switching control equipment being arranged between thigh support bar (1) and leg support bar (4), it includes being arranged on automatic switchover
The fixture (7) of device upper end, the oscillating bearing (2) for being arranged on fixture (7) lower end, it is arranged on oscillating bearing (2) lower end
Bearing spider (3), the sliding part (11) for being arranged on bearing spider (3) lower end, the sliding bearing for being arranged on sliding part (11) inside
The upper movable part (901) that (12), can be rotatably mounted at respectively on fixture (7) and sliding part (11) and lower movable part (902),
The compression elastic piece (10) that is arranged between movable part (901) and lower movable part (902) and sequentially pass through upper movable part
(901), the sliding bar (8) of compression elastic piece (10) and lower movable part (902), wherein, the lower end of the thigh support bar (1) and
It is fixedly connected between oscillating bearing (2) upper end, the lower end of oscillating bearing (2) can be rotatably mounted on bearing spider (3)；
The leg support bar (4) of bearing spider (3) lower end is arranged on, the leg support bar (4) is through sliding bearing (12)
Inside, its upper end is fixed in the countersunk head formula through hole of bearing spider (3) base；
It is arranged on the sliding supporting bar (5) that leg support bar (4) is internal and can slide up and down inside leg support bar (4), institute
Say that the upper end of sliding supporting bar (5) and the upper end of sliding part (11) are respectively arranged with mutual corresponding two installing holes, by upper
Bearing pin (1801) and lower bearing pin (1802) insert sliding supporting bar (5) and sliding part (11) interfix in two installing holes,
The sliding bearing (12) is limited between upper pin (1801) and lower bearing pin (1802)；The side of the leg support bar (4)
While open up a chute, the upper pin (1801) and lower bearing pin (1802) installing hole sequentially through sliding part (11), chute and
Sliding supporting bar (5), and can slide up and down in chute.
2. the knee joint servomechanism of a kind of automatic switchover according to claim 1, it is characterised in that also including vola
Support member (6), and it is fixed by screws in the bottom of leg support bar (4).
3. a kind of knee joint servomechanism of automatic switchover according to claim 1, it is characterised in that the upper pin
And lower bearing pin (1802) is respectively interference between the installing hole of sliding supporting bar (5) and the installing hole of sliding part (11) (1801)
It is fixed.
4. a kind of knee joint servomechanism of the automatic switchover according to claim 1-3, it is characterised in that the sliding bar
(8) it is slidably connected between upper movable part (901) and lower movable part (902) respectively, compression elastic piece (10) is enclosed within sliding bar (8)
On, the lower end of sliding bar (8) is also equipped with slip stem nut (1601).
5. a kind of knee joint servomechanism of the automatic switchover according to claim 1-4, it is characterised in that the sliding part
(11) with sliding bearing (12) concentric fit.
6. a kind of knee joint servomechanism of automatic switchover according to claim 1, it is characterised in that the thigh support
It is fixedly connected by upper threaded rod (1901) between the lower end and oscillating bearing (2) upper end of bar (1), the upper threaded rod (1901)
Through hole through on fixture (7).
7. a kind of knee joint servomechanism of automatic switchover according to claim 1, it is characterised in that the sliding bar
(8) upper end is provided with pole cap, and lower end is provided with nut (1601), and the upper movable part (901) and lower movable part (902) are limited
It is scheduled between the pole cap of sliding bar (8) and nut (1601).
8. a kind of knee joint servomechanism of automatic switchover according to claim 1, it is characterised in that the leg support
The upper end of bar (4) is fixed in the countersunk head formula through hole of bearing spider (3) base by lower threaded rod (1902).
9. a kind of knee joint servomechanism of automatic switchover according to claim 1, it is characterised in that the upper movable part
(901) it is separately mounted to by way of being hinged on fixture (7) and sliding part (11) with lower movable part (902).
10. a kind of knee joint servomechanism of automatic switchover according to claim 1, it is characterised in that the compression bullet
Property part (10) is compression spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611189116.XA CN106625596B (en) | 2016-12-20 | 2016-12-20 | A kind of knee joint servomechanism of automatic switchover |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611189116.XA CN106625596B (en) | 2016-12-20 | 2016-12-20 | A kind of knee joint servomechanism of automatic switchover |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106625596A true CN106625596A (en) | 2017-05-10 |
| CN106625596B CN106625596B (en) | 2019-03-12 |
Family
ID=58834718
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611189116.XA Active CN106625596B (en) | 2016-12-20 | 2016-12-20 | A kind of knee joint servomechanism of automatic switchover |
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| Country | Link |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201085759Y (en) * | 2007-09-21 | 2008-07-16 | 北京瑞海博科技有限公司 | Leg length adjusting mechanism of paraplegia walking vehicle |
| JP5126919B1 (en) * | 2012-04-09 | 2013-01-23 | 英治 川西 | Walking assist device |
| CN105662780A (en) * | 2016-01-12 | 2016-06-15 | 武汉理工大学 | Lower limb powered shape righting device |
| CN105726266A (en) * | 2014-12-24 | 2016-07-06 | 株式会社捷太格特 | Swinging joint device, walking-ability assisting device, and method for controlling rigidity of swinging joint |
| CN105752197A (en) * | 2016-04-05 | 2016-07-13 | 重庆大学 | Resilient four-link mechanical leg and test platform thereof |
| CN105856196A (en) * | 2016-05-19 | 2016-08-17 | 成都润惠科技有限公司 | Assisting device for exoskeleton of knee joint |
| CN105904440A (en) * | 2016-05-26 | 2016-08-31 | 成都润惠科技有限公司 | Self-adaptation flexible joint exoskeleton device |
-
2016
- 2016-12-20 CN CN201611189116.XA patent/CN106625596B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201085759Y (en) * | 2007-09-21 | 2008-07-16 | 北京瑞海博科技有限公司 | Leg length adjusting mechanism of paraplegia walking vehicle |
| JP5126919B1 (en) * | 2012-04-09 | 2013-01-23 | 英治 川西 | Walking assist device |
| CN105726266A (en) * | 2014-12-24 | 2016-07-06 | 株式会社捷太格特 | Swinging joint device, walking-ability assisting device, and method for controlling rigidity of swinging joint |
| CN105662780A (en) * | 2016-01-12 | 2016-06-15 | 武汉理工大学 | Lower limb powered shape righting device |
| CN105752197A (en) * | 2016-04-05 | 2016-07-13 | 重庆大学 | Resilient four-link mechanical leg and test platform thereof |
| CN105856196A (en) * | 2016-05-19 | 2016-08-17 | 成都润惠科技有限公司 | Assisting device for exoskeleton of knee joint |
| CN105904440A (en) * | 2016-05-26 | 2016-08-31 | 成都润惠科技有限公司 | Self-adaptation flexible joint exoskeleton device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106625596B (en) | 2019-03-12 |
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