CN106625597B - A kind of knee joint power assisting device of rigidity auto-changing - Google Patents
A kind of knee joint power assisting device of rigidity auto-changing Download PDFInfo
- Publication number
- CN106625597B CN106625597B CN201611189117.4A CN201611189117A CN106625597B CN 106625597 B CN106625597 B CN 106625597B CN 201611189117 A CN201611189117 A CN 201611189117A CN 106625597 B CN106625597 B CN 106625597B
- Authority
- CN
- China
- Prior art keywords
- support bar
- sliding
- leg support
- knee joint
- bar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
Abstract
The invention discloses a kind of knee joint power assisting device of rigidity auto-changing, which is mainly made of thigh support bar, leg support bar, connecting rod, sliding block, elastic component, sliding part and sliding supporting bar.It is connected between thigh support bar and leg support bar by rotating manner；Small end is articulated with thigh support bar, and lower end is hinged on sliding block；Sliding block is sleeved on leg support bar by sliding slot, and lower end and the upper end of elastic component are fixed together；Elastic component is sleeved on leg support bar, and lower end is fixed with sliding part；Sliding part is set in leg support bar by sliding slot, and lower end is fixed with sliding supporting bar；Sliding supporting bar is disposed in parallel with leg support bar.The arrangement achieves the auto-changings of support phase in human body lower limbs walking process and swing phase knee joint rigidity, preferably can provide power-assisted effect for knee joint.
Description
Technical field
The present invention relates to a kind of novel mechanical exoskeleton devices, are that the pure passively rigidity of one kind becomes automatically particularly
The knee joint power assisting device changed.
Background technique
In physical activity, knee joint is that human body bears burdens maximum position, especially when human body is squatted down to knee joint
The burden of generation is particularly acute, and knee joint is also easy to fatigue, causes the illness of people such as arthritis etc, mechanical exoskeleton
It is then the effective tool for solving the problems, such as this.In ectoskeleton power-assisted field, people always want to obtain a kind of pure passively knee pass
Power assisting device is saved, additional dynamic structure is not needed, it is only necessary to be completed with spring energy-storage original part；General passive knee-joint
Power assisting device can all use spring, and spring can be compressed when human body is squatted down generates power-assisted effect, however this similar structures
It all has a problem that, lower limb can not be solved and damp interference problem caused by knee joint bending in swing phase.Apparatus of the present invention
It is a kind of specific solution to the problem.
Summary of the invention
Technical problem: the technical problems to be solved by the present invention are: providing a kind of knee joint power-assisted of rigidity auto-changing
Device, the device can be worn on the lower limb of people；When human body lower limbs activity is in support phase, knee can be closed with certain rigidity
Section generates power-assisted effect, and in swing phase, which will not have an impact the interference of knee joint regular event.
Technical solution: in order to solve the above technical problems, the present invention adopts the following technical scheme that:
A kind of knee joint power assisting device of rigidity auto-changing, including thigh support bar 1 and leg support bar 2 are described big
Leg support rod 1 is mounted on leg support bar 2 with being able to rotate, comprising:
Sliding block 4, the sliding block 4 can be slidably mounted on leg support bar 2；
The upper end of connecting rod 3, the connecting rod 3 is mounted on thigh support bar 1 with being able to rotate, and lower end, which is able to rotate, is mounted on sliding block
On 4；
The upper end of elastic component 5, the elastic component 5 is mounted on sliding block 4；
Sliding part 6, the sliding part 6 can be slidably mounted on leg support bar 2, and the lower end of the elastic component 5 can be consolidated
Dingan County is on sliding part 6；
Sliding supporting bar 7, the sliding supporting bar 7 are mounted on sliding part 6, and are arranged in parallel with leg support bar 2.
Further, the sliding block 4 can be slidably mounted on leg support bar 2, and the sliding block 4 can be sleeved on shank branch
On strut 2 or sliding block 4 is mounted in the slot opened up inside leg support bar 2.
Further, the upper end of the connecting rod 3 is mounted on thigh support bar 1 by hinged mode, and lower end passes through hinge
The mode connect is mounted on sliding block 4.
Further, the upper end of the elastic component 5 is fixed on sliding block 4, and lower end is fixed on sliding part 6.
Further, the elastic component 5 is sleeved on leg support bar 2 or is mounted on opens up inside leg support bar 2
Slot in.
Further, the sliding supporting bar 7 is mounted in the slot opened up inside leg support bar 2, or sliding support
Bar 7 is sleeved on 2 outside of leg support bar or sliding supporting bar 7 is set side by side with leg support bar 2.
The utility model has the advantages that compared with prior art, technical solution of the present invention has the advantages that
(1) sliding block can be free to slide on leg support bar, and angle knee-sprung so is just limited solely by elastic component
Stroke, as reach maximum as possible.
(2) lower end of connecting rod is connected on sliding block with being able to rotate, which is contacted by elastic component and sliding support, is led to
Cross the state of contacting to earth of sliding supporting bar lower end, thus it is possible to vary the working condition of elastic component, be automatically performed knee joint support phase with
The rigidity of swing phase converts.
(3) upper end of elastic component, which is capable of fixing, is connected on sliding block, and lower end is fixedly connected on sliding part, can be in lower limb branch
Support phase plays energy storage power-assisted, and can play buffering and position-limiting action in swing phase, reduces the impact of sliding supporting bar bring.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the knee joint power assisting device of rigidity auto-changing of the invention.
Specific embodiment
To keep purpose and the technical solution 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 the technical solution of the embodiment of the present invention.Obviously, described embodiment is of the invention
A part of the embodiment, instead of all the embodiments.Based on described the embodiment of the present invention, those of ordinary skill in the art
Every other embodiment obtained, shall fall within the protection scope of the present invention under the premise of being not necessarily to creative work.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, it will not be explained in an idealized or overly formal meaning.
The meaning of heretofore described "and/or" refers to that the case where respective individualism or both exists simultaneously wraps
Including including.
The meaning of heretofore described " inside and outside " refers to relative to equipment itself, the side inside sensing equipment
To in, on the contrary is outer, rather than the specific restriction to the device of the invention mechanism.
When the meaning of heretofore described " left and right " refers to reader's face attached drawing, the left side of reader is a left side,
The right of reader is the right side, rather than the specific restriction to the device of the invention mechanism.
The meaning of heretofore described " connection " can be between component be directly connected to be also possible to pass through between component
Other components are indirectly connected with.
As shown in Figure 1, the knee joint power assisting device of rigidity auto-changing of the invention, comprising: thigh support bar 1 and shank
Support rod 2, thigh support bar 1 are mounted on leg support bar 2 with being able to rotate, and sliding block 4, sliding block 4 can be slidably mounted on shank
On support rod 2；Connecting rod 3, the upper end of connecting rod 3 are mounted on thigh support bar 1 with being able to rotate, and lower end is mounted on shank with being able to rotate
On support rod 2；Elastic component 5, elastic component 5 can be sleeved on leg support bar 2, and the upper end, which is capable of fixing, to be mounted on sliding block 4；Sliding
Part 6, sliding part 6 can be slidably mounted on leg support bar 2, and the lower end of elastic component 5, which is capable of fixing, to be mounted on sliding part 6；It is sliding
Dynamic support rod 7, the upper end of sliding supporting bar 7 is fixedly mounted on sliding part 6, and is arranged in parallel with leg support bar 2.
Sliding block 4 is sleeved on leg support bar 2 or sliding block 4 is mounted in the slot opened up inside leg support bar 2, only
The connection type of state of wanting to make to keep between sliding block 4 and leg support bar 2 to be slidably connected should all fall in protection of the invention
In range.
The upper end of connecting rod 3 is mounted on thigh support bar 1 by hinged mode, can also be connected otherwise
It connects, as long as guaranteeing that 3 upper end of connecting rod can rotate on thigh support bar 1.
The lower end of connecting rod 3 is mounted on sliding block 4 by hinged mode, can also be attached otherwise, as long as
Guarantee that 3 lower end of connecting rod can rotate on sliding block 4.
The upper end of elastic component 5 is fixed on sliding block 4, and lower end is fixed on sliding part 6.
Elastic component 5 is sleeved on leg support bar 2 or is mounted in the slot opened up inside leg support bar 2.
Sliding supporting bar 7 is mounted in the slot opened up inside leg support bar 2 or sliding supporting bar 7 is sleeved on shank
2 outside of support rod or sliding supporting bar 7 are set side by side with leg support bar 2.
In for the above embodiment, sliding of the sliding part 6 on leg support bar 2 is limited in certain sliding scale
Interior, specific sliding scale will be debugged according to the case where implementing user.
The length of 7 bottom end of sliding supporting bar extends the bottom end of leg support bar 2, i.e. the bottom end of sliding supporting bar 7 exceeds
The bottom end of leg support bar 2.In power assisting device in use, being that sliding supporting bar 7 contacts ground always, support on the ground, is propped up
Prop up the stress of power assisting device.
Sliding supporting bar is consolidated with sliding part.In support phase (vola lands) knee joint bending, sliding support
Bar lower end is contacted to earth, elastic component compression work, and device generates power-assisted by knee joint of certain rigidity；And at swing phase (vola is liftoff)
When knee joint bending, sliding supporting bar is free, and elastic component does not work, and knee joint rigidity is zero, will not generate resistance to human body walking
Power.The arrangement achieves the auto-changings of support phase in human body lower limbs walking process and swing phase knee joint rigidity, can be preferably
Power-assisted effect is provided for knee joint.
The course of work of above-mentioned knee joint power assisting device is: the thigh support bar of the device and leg support bar are fixed on
Human body lower limbs, when lower limb exercise is in support phase, knee joint bends, due to sliding supporting bar lower end and ground face contact, no
It opposite with leg support bar can slide, so that elastic component (spring) is pressurized with certain rigidity, generate to kneed power-assisted power
Square.
When lower limb exercise is in swing phase, sliding supporting bar leaves ground as free end, and elastic component is not pressurized, and rigidity is
Zero, so resistance will not be generated to kneed regular event, this is exactly that the knee joint power assisting device is passively helped with common lower limb
The difference of power device.
The rigidity transformation of above-mentioned knee joint equipment is entirely to be automatically performed by whether sliding supporting bar contacts to earth, and is not needed
Other movement auxiliary of people, this is also the unique distinction of the knee joint power assisting device.
The above is only embodiments of the present invention, and the description thereof is more specific and detailed, and but it cannot be understood as right
The limitation of the invention patent range.It should be pointed out that for those of ordinary skill in the art, not departing from the present invention
Under the premise of design, various modifications and improvements can be made, these are all belonged to the scope of protection of the present invention.
Claims (5)
1. a kind of knee joint power assisting device of rigidity auto-changing, including thigh support bar (1) and leg support bar (2), described
Thigh support bar (1) is mounted on leg support bar (2) with being able to rotate characterized by comprising sliding block (4), the sliding block
(4) it can be slidably mounted on leg support bar (2)；The upper end of connecting rod (3), the connecting rod (3) is mounted on thigh with being able to rotate
On support rod (1), lower end, which is able to rotate, to be mounted on sliding block (4)；The upper end of elastic component (5), the elastic component (5) is mounted on cunning
On block (4)；Sliding part (6), the sliding part (6) can be slidably mounted on leg support bar (2), the elastic component (5)
Lower end is mounted on sliding part (6)；Sliding supporting bar (7), the sliding supporting bar (7) are mounted on sliding part (6), and with
Leg support bar (2) is arranged in parallel.
2. a kind of knee joint power assisting device of rigidity auto-changing according to claim 1, which is characterized in that the connecting rod
(3) upper end is mounted on thigh support bar (1) by hinged mode, and lower end is mounted on sliding block (4) by hinged mode
On.
3. a kind of knee joint power assisting device of rigidity auto-changing according to claim 1, which is characterized in that the sliding
The bottom end of support rod (7) exceeds the bottom end of leg support bar (2).
4. a kind of knee joint power assisting device of rigidity auto-changing according to claim 1, which is characterized in that the sliding
Support rod (7) is mounted in the slot opened up inside leg support bar (2) or sliding supporting bar (7) is sleeved on leg support bar
(2) outside or sliding supporting bar (7) are set side by side with leg support bar (2).
5. a kind of knee joint power assisting device of rigidity auto-changing according to claim 1, which is characterized in that the elasticity
Part (5) is sleeved on leg support bar (2) or is mounted in the slot opened up inside leg support bar (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611189117.4A CN106625597B (en) | 2016-12-20 | 2016-12-20 | A kind of knee joint power assisting device of rigidity auto-changing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611189117.4A CN106625597B (en) | 2016-12-20 | 2016-12-20 | A kind of knee joint power assisting device of rigidity auto-changing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106625597A CN106625597A (en) | 2017-05-10 |
| CN106625597B true CN106625597B (en) | 2019-03-12 |
Family
ID=58833337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611189117.4A Active CN106625597B (en) | 2016-12-20 | 2016-12-20 | A kind of knee joint power assisting device of rigidity auto-changing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106625597B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107116535A (en) * | 2017-05-22 | 2017-09-01 | 合肥工业大学 | Ectoskeleton power 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 |
| CN109718066A (en) * | 2018-12-14 | 2019-05-07 | 王东伟 | A kind of Chinese medicine othopedics fracture of lower limb walking aid |
| CN114571439A (en) * | 2022-03-15 | 2022-06-03 | 浙江工业大学 | Compact type joint braking lower limb assistance exoskeleton device |
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 CN201611189117.4A patent/CN106625597B/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 |
|---|---|
| CN106625597A (en) | 2017-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106514625B (en) | A kind of knee joint power assisting device of rigidity transformation into itself | |
| CN106625597B (en) | A kind of knee joint power assisting device of rigidity auto-changing | |
| US10688654B2 (en) | Exoskeleton device for supporting anti-radiation protective clothing | |
| US20200281745A1 (en) | Lower limb exoskeleton system having jump-down cushioning function and use method thereof | |
| CN204618765U (en) | Exercising apparatus for recovery of upper limb | |
| CN109227521B (en) | Passive energy storage type gravity support lower limb exoskeleton | |
| CN104490568A (en) | Human lower extremity exoskeleton walking aid rehabilitation robot | |
| CN205215656U (en) | Swing gait training appearance | |
| CN105597278B (en) | The pelvis mechanism for gait rehabilitation training that quickly can be adjusted and lock | |
| CN107854279B (en) | A kind of knee joint exoskeleton mechanism in parallel of rehabilitation | |
| CN110300642A (en) | Convenient for the attachment device of the ectoskeleton structure of bearing load in walking or running | |
| CN105342810A (en) | Swing gait training instrument | |
| CN204698953U (en) | A kind of type hydraulic actuator lower limb exoskeleton bionic device | |
| CN106625598B (en) | A kind of knee joint power assisting device that rigidity automatically switches | |
| CN205359728U (en) | Sufficient orthopedic ware of energy storage formula ankle | |
| CN104873359A (en) | Exoskeleton type finger motion function rehabilitation machine | |
| CN204744845U (en) | Hand function gripping draft rehabilitation training device | |
| CN111643320A (en) | Hip and knee linkage mechanism of lower limb exoskeleton robot and robot | |
| CN204932177U (en) | A kind of tool for helping for fatigue alleviating | |
| Abbruzzese et al. | An innovative design for an Assistive Arm Orthosis for stroke and muscle dystrophy | |
| CN208435876U (en) | A kind of power assisting device | |
| CN109276417A (en) | Rehabilitation assists self-care vehicle | |
| CN107363811B (en) | Exoskeleton lower limb and wearable robot | |
| CN204767213U (en) | Novel recovered ware of arm training | |
| CN204394651U (en) | Knee joint support |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |