CN108582042B - Unpowered sitting-assisting mechanical leg - Google Patents
Unpowered sitting-assisting mechanical leg Download PDFInfo
- Publication number
- CN108582042B CN108582042B CN201810425010.8A CN201810425010A CN108582042B CN 108582042 B CN108582042 B CN 108582042B CN 201810425010 A CN201810425010 A CN 201810425010A CN 108582042 B CN108582042 B CN 108582042B
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- foot
- gas spring
- force
- leg
- hole
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- 210000002414 leg Anatomy 0.000 claims abstract description 59
- 210000000689 upper leg Anatomy 0.000 claims abstract description 33
- 210000001699 lower leg Anatomy 0.000 claims abstract description 28
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 18
- 210000001694 thigh bone Anatomy 0.000 claims abstract description 8
- 210000002082 fibula Anatomy 0.000 claims description 4
- 210000000629 knee joint Anatomy 0.000 abstract description 4
- 210000004394 hip joint Anatomy 0.000 abstract description 2
- 238000000034 method Methods 0.000 abstract description 2
- 230000036544 posture Effects 0.000 description 10
- 238000005452 bending Methods 0.000 description 5
- 210000001217 buttock Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 210000002303 tibia Anatomy 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C9/00—Stools for specified purposes
- A47C9/02—Office stools not provided for in main groups A47C1/00, A47C3/00 or A47C7/00; Workshop stools
- A47C9/025—Stools for standing or leaning against, e.g. in a semi-standing or half-seated position
-
- 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
Abstract
The invention discloses an unpowered sitting-assisting mechanical leg which comprises an upper body binding band, a left leg and a right leg; the upper body binding band is respectively connected with the left leg and the right leg; the left leg and the right leg have the same structure and comprise an elastic seat cushion, a thigh framework, a shank framework, a force-unloading support rod, a ball pair, a stabilizing pad and feet; the controllable gas spring connecting hole is hinged with the gas spring hole, so that the controllable gas spring can rotate around the thigh bone; the lower leg framework is internally provided with a hollow structure, and a straight track is arranged in the hollow structure; the bearing is arranged in the straight track and can roll up and down in the straight track; the mechanical leg is more in accordance with human engineering, and meets the comfort of human body in terms of joint angle and freedom degree. In terms of joint angles, analyzing the most comfortable sitting posture angles of a human body, including knee joint angles and hip joint angles, so as to provide a comfortable sitting posture experience for a wearer; in terms of the degree of freedom, not only is there no interference in the walking process, but also the optimal stability is achieved in a sitting posture state.
Description
Technical Field
The invention relates to a booster, in particular to an unpowered sitting-assisting mechanical leg.
Background
At present, the high load and long-time labor of workers continuously reduce the working efficiency of the workers and influence the physical health of the workers. And because the factory space is narrow, the chair is not suitable for placing the rest of workers, and the chair is inconvenient to move. Therefore, the workers feel tired in a short time due to long-time standing work, and the comfort and the working efficiency of the workers are affected.
The application number 201721030664.8 discloses a lower limb assistance exoskeleton based on gravity support, which consists of two mechanical legs distributed on the rear side of the leg of the human body, and the mechanical legs have the following problems: when a wearer walks, the walking interference problem caused by the invariable angle of the knee joint is solved; when the wearer sits down, the seat cushion angle of the buttocks is not changeable and is a downward inclination angle, so that the wearer tends to slide down, and uncomfortable feeling is given to the wearer.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide the unpowered sitting-assisting mechanical leg.
The technical scheme for solving the technical problems is that an unpowered sitting-assisting mechanical leg is provided, and is characterized by comprising an upper body binding band, a left leg and a right leg; the upper body binding band is respectively connected with the left leg and the right leg; the left leg and the right leg have the same structure and comprise an elastic seat cushion, a thigh framework, a shank framework, a controllable gas spring bearing mechanism, a force unloading support rod, a ball pair, a stabilizing pad and feet;
the upper body binding band comprises a binding band body and an upper body buckle; the upper end of the elastic seat cushion is provided with a connecting column, and the lower end of the elastic seat cushion is provided with an elastic seat cushion fixing hole; the upper end of the thigh framework is provided with thigh framework fixing holes and binding band connecting posts, and the lower end of the thigh framework is provided with shank connecting holes and controllable gas spring connecting holes; the upper end of the shank framework is provided with a thigh connecting hole, the lower end of the shank framework is provided with a force unloading supporting rod hole, the side wall of the shank framework is provided with a fastening screw hole, and the fastening screw hole is communicated with the force unloading supporting rod hole; the controllable gas spring bearing mechanism comprises a bearing, a controllable gas spring and a shaft; the upper end of the controllable gas spring is provided with a gas spring hole, the lower end of the controllable gas spring is provided with a hole, a shaft is arranged at the lower end of the controllable gas spring, and bearings are arranged at the two ends of the shaft; the upper end of the force-unloading supporting rod is provided with a plurality of small grooves, and the lower end of the force-unloading supporting rod is provided with a concave table; the foot comprises a foot connecting piece, a foot rest, a foot pad, a foot binding band and a foot buckle;
the connecting column is connected with the bandage body; the elastic seat cushion fixing holes are connected with the thigh bone fixing holes; thigh straps with thigh buckles are arranged on the strap connecting columns; the shank connecting hole is connected with the thigh connecting hole through a pin shaft, so that the shank framework can rotate around the thigh framework; the controllable gas spring connecting hole is hinged with the gas spring hole, so that the controllable gas spring can rotate around the thigh bone; the shank framework is internally provided with a hollow structure, and a straight track is arranged in the hollow structure; the bearing is arranged in the straight track and can roll up and down in the straight track; the upper part of the force-unloading support rod is arranged in the force-unloading support rod hole, and after the proper length is adjusted, the force-unloading support rod is propped in the small groove through the fastening screw hole by the fastening screw, so that the force-unloading support rod and the calf bone are fixed; the tail end of the force-unloading support rod is provided with a ball pair, the ball pair is connected with a stabilizing pad, and the stabilizing pad can rotate around the force-unloading support rod in all directions so as to ensure that the stabilizing pad is in full contact with the ground at any sitting posture angle; the foot connecting piece is arranged on the concave table, the tail end of the foot connecting piece is connected with the foot rest through a shaft, the foot connecting piece can rotate left and right around the force unloading support rod, the foot rest can rotate left and right around the foot connecting piece, and the foot rest can rotate left and right around the force unloading support; the front end of the foot rest is provided with foot pads through a shaft; the foot pad is provided with a strip hole for installing a foot strap; foot buckles are arranged on the foot binding bands.
Compared with the prior art, the invention has the beneficial effects that:
(1) The mechanical leg is more in accordance with human engineering, and meets the comfort of human body in terms of joint angle and freedom degree. In terms of joint angles, analyzing the most comfortable sitting posture angles of a human body, including knee joint angles and hip joint angles, so as to provide a comfortable sitting posture experience for a wearer; in terms of the degree of freedom, not only is there no interference in the walking process, but also the optimal stability is achieved in a sitting posture state.
(2) The mechanical leg is an unpowered mechanical leg, and the whole machine is lighter than a powered mechanical leg, so that the mechanical leg is convenient for a wearer to wear.
(3) The controllable gas spring bearing mechanism can roll in the straight track through the bearing, and interference when a human body walks can be avoided.
(4) When the wearer sits down, part of the force can be discharged to the ground through the force-discharging support rod, so that the pressure of feet is relieved. The force-unloading support rod is provided with a small groove, so that the length of the lower leg of the mechanical leg can be adjusted by adjusting the length of the force-unloading support rod in the force-unloading support rod hole according to wearers with different leg lengths.
(5) The elastic seat cushion has better elasticity and toughness, when the buttocks of a wearer are seated on the elastic seat cushion, the bending angle of the elastic seat cushion is automatically adjusted according to the stress according to different sitting postures of a person, and the lower buttocks of the wearer do not have a sliding trend due to the adjustable bending angle, so that the elastic seat cushion is more stable.
(6) The distance between the shank connecting hole and the controllable gas spring connecting hole is minimized on the premise of not affecting interference, and the compactness of the mechanism is improved.
(7) The tail end of the force unloading support rod is provided with the stabilizing pad, and the stabilizing pad can rotate around the force unloading support rod in all directions, so that the stabilizing pad is ensured to be in full contact with the ground when in any sitting posture angle, and the effects of force unloading and stabilization are achieved.
Drawings
FIG. 1 is a schematic view of the overall structure of an embodiment of an unpowered sitting-assist mechanical leg of the present invention;
FIG. 2 is a schematic view of an upper body strap of one embodiment of an unpowered sitting-assist mechanical leg of the present invention;
FIG. 3 is a schematic view of an elastic seat cushion of one embodiment of an unpowered sitting-aiding mechanical leg of the present invention;
FIG. 4 is a schematic view of a thigh armature of one embodiment of an unpowered sitting-assist mechanical leg of the present invention;
FIG. 5 is a schematic illustration of a front isometric view of a calf bone of one embodiment of an unpowered sitting-assist mechanical leg of the invention;
FIG. 6 is a schematic view of a rear side of a calf bone in accordance with an embodiment of the unpowered sitting-assist mechanical leg of the invention;
FIG. 7 is a schematic diagram of a controllable gas spring bearing mechanism of one embodiment of an unpowered sitting-aiding mechanical leg of the present invention;
FIG. 8 is a schematic view of a thigh frame to calf frame connection of one embodiment of an unpowered sitting-assist mechanical leg of the invention;
FIG. 9 is a schematic view of a force-unloading strut of one embodiment of an unpowered sitting-aiding mechanical leg of the present invention;
FIG. 10 is a schematic diagram of the foot of one embodiment of an unpowered sitting-assist mechanical leg of the present invention; ( In the figure: 1. an upper body strap; 11. a band body; 12. the upper body is buckled; 2. an elastic seat cushion; 21. a connecting column; 22. a flexible seat cushion fixing hole; 3. thigh skeletons; 31. thigh bone fixation holes; 32. shank connecting holes; 33. a controllable gas spring connecting hole; 34. a strap connecting column; 35. thigh straps; 36. thigh buckles; 4. a lower leg armature; 41. thigh connecting holes; 42. a straight track; 43. a fastening screw hole; 44. a force-unloading strut hole; 5. a controllable gas spring bearing mechanism; 51. a bearing; 52. a controllable gas spring; 53. a gas spring hole; 54. a shaft; 6. a force-unloading support rod; 61. a small groove; 62. a concave table; 63. a ball pair; 64. a stabilizing pad; 7. a foot; 71. a foot link; 72. a foot rest; 73. foot pads; 74. a foot strap; 75. a slit hole; 76. foot fastener )
Detailed Description
Specific examples of the present invention are given below. The specific examples are provided only for further elaboration of the invention and do not limit the scope of the claims of the present application.
The invention provides an unpowered sitting-assisting mechanical leg (mechanical leg for short, see fig. 1-10), which is characterized by comprising an upper body strap 1, a left leg and a right leg; the upper body bandage 1 is respectively connected with a left leg and a right leg; the left leg and the right leg have the same structure and comprise an elastic seat cushion 2, a thigh bone 3, a shank bone 4, a controllable gas spring bearing mechanism 5, a force-unloading strut 6, a ball pair 63, a stabilizing pad 64 and a foot 7;
the upper body strap 1 comprises a strap body 11 and an upper body buckle 12; the upper end of the elastic seat cushion 2 is provided with a connecting column 21, and the lower end of the elastic seat cushion 2 is provided with an elastic seat cushion fixing hole 22; the upper end of the thigh skeleton 3 is provided with a thigh skeleton fixing hole 31 and a binding band connecting column 34, and the lower end is provided with a shank connecting hole 32 and a controllable gas spring connecting hole 33; the upper end of the lower leg framework 4 is provided with a thigh connecting hole 41, the lower end is provided with a force unloading supporting rod hole 44, the side wall is provided with a fastening screw hole 43, and the fastening screw hole 43 is communicated with the force unloading supporting rod hole 44; the controllable gas spring bearing mechanism 5 comprises a bearing 51, a controllable gas spring 52 and a shaft 54; the upper end of the controllable gas spring 52 is provided with a gas spring hole 53, the lower end of the controllable gas spring is provided with a hole, a shaft 54 is arranged at the lower end of the controllable gas spring, and bearings 51 are arranged at the two ends of the shaft 54; the upper end of the force-unloading supporting rod 6 is provided with a plurality of small grooves 61, and the lower end is provided with a concave table 62; the foot 7 includes a foot link 71, a foot rest 72, a foot pad 73, a foot strap 74, and a foot clasp 76;
the upper body buckle 12 is arranged on the bandage body 11 and is used for fixing the bandage body 11 with the adjusted length; the connecting column 21 is connected with the bandage body 11; the elastic seat cushion fixing holes 22 are connected with the thigh bone fixing holes 31 through rivets; a thigh strap 35 having a thigh buckle 36 is mounted on the strap attachment post 34; the shank connecting hole 32 is connected with the thigh connecting hole 41 through a pin shaft, so that the shank frame 4 can rotate around the thigh frame 3; the controllable gas spring connecting hole 33 is hinged with the gas spring hole 53, so that the controllable gas spring 52 can rotate around the thigh skeleton 3; the lower leg framework 4 is internally provided with a hollow structure, and a straight rail 42 is arranged in the hollow structure; the bearing 51 is placed in the straight rail 42 and can roll up and down in the straight rail 42; the upper part of the force-unloading support rod 6 is arranged in the force-unloading support rod hole 44, and after the proper length is adjusted, the force-unloading support rod 6 and the lower leg bone 4 are fixed by pushing the fastening screw into the small groove 61 through the fastening screw hole 43; the ball pair 63 is arranged at the tail end of the force-unloading supporting rod 6, the ball pair 63 is connected with the stabilizing pad 64, and the stabilizing pad 64 can rotate around the force-unloading supporting rod 6 in all directions, so that the stabilizing pad 64 is ensured to be in full contact with the ground when in any sitting posture angle, and the effects of force unloading and stabilizing are achieved. The foot connecting piece 71 is arranged on the concave table 62, the tail end of the foot connecting piece is connected with the foot rest 72 through a shaft, the foot connecting piece 71 can rotate left and right around the force unloading support rod 6, and the foot rest 72 can rotate left and right around the foot connecting piece 71, so that the foot rest 72 can rotate left and right around the force unloading support rod 6 up and down, and the flexibility of the foot of a wearer is ensured; the foot rest 72 is a U-shaped structure in which the wearer places his or her feet; the front end of the foot rest 72 is provided with a foot pad 73 through a shaft; foot pad 73 is the place where the wearer steps on, and long strip holes 76 are formed on foot pad 73 for installing foot straps 74; the foot strap 74 is used to secure the foot of the person and the foot 7; foot buckles 76 are mounted on the foot straps 74, and when the wearer wears the mechanical legs, the foot buckles 76 are closed to connect the feet of the wearer with the feet 7 of the mechanical legs.
The working principle and working flow of the unpowered sitting-assisting mechanical leg are as follows:
the straps are elastic and adjustable in length, and the wearer firstly opens the buckles of the upper body strap 1, the leg straps 35 and the foot straps 74, wears and adjusts the lengths of the straps, then clamps the straps to achieve fixation with the wearer, and then adjusts the positions of the force-unloading struts 6 in the force-unloading strut holes 44 to be suitable for the length of the wearer, so that the straps can be used normally after fixation.
The elastic seat cushion 2 has better elasticity and toughness, when the buttocks of a wearer are seated on the elastic seat cushion 2, the bending angle of the elastic seat cushion 2 is automatically adjusted according to the stress according to different sitting postures of the wearer, and the sitting buttocks do not have a sliding trend because of the adjustable bending angle, so that the elastic seat cushion is more stable and provides the wearer with a comfortable sitting posture feeling.
When the wearer needs to sit down, the controllable gas spring bearing mechanism 5 first slides down the straight track 42 to the bottommost position, and if the position meets the sitting posture requirement, the length of the controllable gas spring 52 does not need to be adjusted; the length of the controllable gas spring 52 may be adjusted to adjust to the desired position of the wearer if the position of the wearer is not met. When the wearer needs to stand and walk, the wearer can directly stand and walk. Because of the design of the straight rail 42, the controllable gas spring bearing mechanism 5 can slide in the straight rail 42 without interfering with the bending of the knee joint during walking of the wearer.
The invention is applicable to the prior art where it is not described.
Claims (3)
1. An unpowered sitting-assisting mechanical leg is characterized by comprising an upper body binding band, a left leg and a right leg; the upper body binding band is respectively connected with the left leg and the right leg; the left leg and the right leg have the same structure and comprise an elastic seat cushion, a thigh framework, a shank framework, a controllable gas spring bearing mechanism, a force unloading support rod, a ball pair, a stabilizing pad and feet;
the upper body binding band comprises a binding band body and an upper body buckle; the upper end of the elastic seat cushion is provided with a connecting column, and the lower end of the elastic seat cushion is provided with an elastic seat cushion fixing hole; the upper end of the thigh framework is provided with thigh framework fixing holes and binding band connecting posts, and the lower end of the thigh framework is provided with shank connecting holes and controllable gas spring connecting holes; the upper end of the shank framework is provided with a thigh connecting hole, the lower end of the shank framework is provided with a force unloading supporting rod hole, the side wall of the shank framework is provided with a fastening screw hole, and the fastening screw hole is communicated with the force unloading supporting rod hole; the controllable gas spring bearing mechanism comprises a bearing, a controllable gas spring and a shaft; the upper end of the controllable gas spring is provided with a gas spring hole, the lower end of the controllable gas spring is provided with a hole, a shaft is arranged at the lower end of the controllable gas spring, and bearings are arranged at the two ends of the shaft; the upper end of the force-unloading supporting rod is provided with a plurality of small grooves, and the lower end of the force-unloading supporting rod is provided with a concave table; the foot comprises a foot connecting piece, a foot rest, a foot pad, a foot binding band and a foot buckle;
the connecting column is connected with the bandage body; the elastic seat cushion fixing holes are connected with the thigh bone fixing holes; thigh straps with thigh buckles are arranged on the strap connecting columns; the shank connecting hole is connected with the thigh connecting hole through a pin shaft, so that the shank framework can rotate around the thigh framework; the controllable gas spring connecting hole is hinged with the gas spring hole, so that the controllable gas spring can rotate around the thigh bone; the shank framework is internally provided with a hollow structure, and a straight track is arranged in the hollow structure; the bearing is arranged in the straight track and can roll up and down in the straight track; the upper part of the force-unloading support rod is arranged in the force-unloading support rod hole, and after the proper length is adjusted, the force-unloading support rod is propped in the small groove through the fastening screw hole by the fastening screw, so that the force-unloading support rod and the calf bone are fixed; the tail end of the force-unloading support rod is provided with a ball pair, the ball pair is connected with a stabilizing pad, and the stabilizing pad can rotate around the force-unloading support rod in all directions so as to ensure that the stabilizing pad is in full contact with the ground at any sitting posture angle; the foot connecting piece is arranged on the concave table, the tail end of the foot connecting piece is connected with the foot rest through a shaft, the foot connecting piece can rotate left and right around the force unloading support rod, the foot rest can rotate left and right around the foot connecting piece, and the foot rest can rotate left and right around the force unloading support; the front end of the foot rest is provided with foot pads through a shaft; the foot pad is provided with a strip hole for installing a foot strap; foot buckles are arranged on the foot binding bands.
2. The unpowered sitting assist mechanical leg as in claim 1 wherein the upper body clasp is mounted on the strap body for securing the adjusted length strap body.
3. The unpowered sitting assist mechanical leg of claim 1 wherein the foot rest is a U-shaped structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810425010.8A CN108582042B (en) | 2018-05-07 | 2018-05-07 | Unpowered sitting-assisting mechanical leg |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810425010.8A CN108582042B (en) | 2018-05-07 | 2018-05-07 | Unpowered sitting-assisting mechanical leg |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108582042A CN108582042A (en) | 2018-09-28 |
| CN108582042B true CN108582042B (en) | 2023-06-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810425010.8A Active CN108582042B (en) | 2018-05-07 | 2018-05-07 | Unpowered sitting-assisting mechanical leg |
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| CN (1) | CN108582042B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109223199A (en) * | 2018-11-15 | 2019-01-18 | 宋松源 | A kind of operative doctor chair |
| CN109676582B (en) * | 2018-11-29 | 2023-12-08 | 河北工业大学 | Exoskeleton anti-slip seat for assisting sitting of lower limbs |
| KR20200081595A (en) * | 2018-12-27 | 2020-07-08 | 삼성전자주식회사 | wearable chair |
| CN111728798B (en) * | 2020-06-28 | 2021-08-06 | 扬州大学 | Exoskeleton appliance assisting human body in supporting and helping people sit up |
| CN112168627A (en) * | 2020-11-10 | 2021-01-05 | 李则熙 | Human lower limb exoskeleton power assisting device |
| CN114099012A (en) * | 2021-11-11 | 2022-03-01 | 刘洪全 | Internet-based surgery auxiliary system for hepatobiliary surgery and use method thereof |
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| CN105250117A (en) * | 2015-07-03 | 2016-01-20 | 山东理工大学 | Sitting walking lower limb exoskeleton |
| US9808073B1 (en) * | 2014-06-19 | 2017-11-07 | Lockheed Martin Corporation | Exoskeleton system providing for a load transfer when a user is standing and kneeling |
| CN207027500U (en) * | 2017-08-17 | 2018-02-23 | 河北工业大学 | Lower limb assistance exoskeleton based on Gravity support |
| CN208557478U (en) * | 2018-05-07 | 2019-03-01 | 河北工业大学 | It is a kind of prevent walking interfere lower limb help seat ectoskeleton |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6733018B2 (en) * | 2002-01-24 | 2004-05-11 | Eli Razon | Adjustable leg support and seated to stand up walker |
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2018
- 2018-05-07 CN CN201810425010.8A patent/CN108582042B/en active Active
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|---|---|---|---|---|
| US9808073B1 (en) * | 2014-06-19 | 2017-11-07 | Lockheed Martin Corporation | Exoskeleton system providing for a load transfer when a user is standing and kneeling |
| CN105250117A (en) * | 2015-07-03 | 2016-01-20 | 山东理工大学 | Sitting walking lower limb exoskeleton |
| CN207027500U (en) * | 2017-08-17 | 2018-02-23 | 河北工业大学 | Lower limb assistance exoskeleton based on Gravity support |
| CN208557478U (en) * | 2018-05-07 | 2019-03-01 | 河北工业大学 | It is a kind of prevent walking interfere lower limb help seat ectoskeleton |
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| CN108582042A (en) | 2018-09-28 |
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