CN109248050A - A kind of device of walking aid - Google Patents
A kind of device of walking aid Download PDFInfo
- Publication number
- CN109248050A CN109248050A CN201811330242.1A CN201811330242A CN109248050A CN 109248050 A CN109248050 A CN 109248050A CN 201811330242 A CN201811330242 A CN 201811330242A CN 109248050 A CN109248050 A CN 109248050A
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- Prior art keywords
- cam
- stored energy
- walking aid
- waist
- spring
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- 210000001624 hip Anatomy 0.000 claims abstract description 54
- 210000004394 hip joint Anatomy 0.000 claims abstract description 50
- 210000000629 knee joint Anatomy 0.000 claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims description 24
- 210000002414 leg Anatomy 0.000 claims description 19
- 238000010276 construction Methods 0.000 claims description 15
- 238000004146 energy storage Methods 0.000 claims description 11
- 230000006835 compression Effects 0.000 claims description 10
- 238000007906 compression Methods 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 5
- 239000002131 composite material Substances 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 claims description 3
- 229910052751 metal Inorganic materials 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 210000004417 patella Anatomy 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 2
- 210000003127 knee Anatomy 0.000 claims 1
- 210000003141 lower extremity Anatomy 0.000 description 21
- 238000005381 potential energy Methods 0.000 description 9
- 238000009825 accumulation Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 239000002360 explosive Substances 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 238000003860 storage Methods 0.000 description 4
- 206010019468 Hemiplegia Diseases 0.000 description 2
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 210000000544 articulatio talocruralis Anatomy 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010017585 Gait spastic Diseases 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 208000011644 Neurologic Gait disease Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1418—Cam
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
Abstract
A kind of device of walking aid, including hip joint stored energy mechanism, for by the fixed part ligature of hip joint stored energy mechanism user waist, what it is such that the center of rotation of hip joint stored energy mechanism and hip joint center of rotation be overlapped wearing component, the swing connector that connect hip joint stored energy mechanism movable part with knee joint rotary components, the knee joint rotary components are equipped with the shank wearing component for facilitating it to be fixed on shank, and the center of rotation of the knee joint rotary components is overlapped with knee joint center of rotation.The present invention can solve that existing device of walking aid system complex, weight is big, wearing comfort is poor, at high cost, be unfavorable for the problems such as high-volume promotes and applies.
Description
Technical field
The present invention relates to human locomotion technical field of auxiliary equipment more particularly to a kind of device of walking aid.
Background technique
Device of walking aid is to be worn on the outside of human body, and auxiliary human locomotion function rehabilitation, enhancing human body lower limbs muscle are resistance to
The mechanical device or Mechatronic Systems of power.Hip joint power-assisted is moved to the hemiplegic gait of the inductions such as spinal cord injury, cerebral apoplexy
One of most effective mode of rehabilitation, in addition, human hip lacks muscle-ligament tissue that ankle-joint is enriched with, it is unfavorable
It is auxiliary relative to the walking of ankle-joint power-assisted using the device of walking aid of hip joint power-assisted in being effectively absorbed and utilized for kinergety
Help device that there is more significant aided efficiency.The hip joint design of current device of walking aid mostly uses rotating electric machine or hydraulic
The active drives mode such as cylinder, cylinder, artificial-muscle, system complex, weight are big, wearing comfort is poor, at high cost, are unfavorable for large quantities of
Amount promotes and applies.
Summary of the invention
The purpose of the present invention is to provide a kind of device of walking aid of the passive type of hip joint energy storage, it is intended to solve existing
Active hip joint power-assisted device of walking aid system complex, weight is big, wearing comfort is poor and it is at high cost the problems such as.
In order to solve the above technical problems, the technical scheme is that a kind of device of walking aid, including pass through movable part
Divide to rotate around fixed part and realizes the hip joint stored energy mechanism of energy storage, for the fixed part ligature of hip joint stored energy mechanism to exist
The waist of user, the wearing component that the center of rotation of hip joint stored energy mechanism is overlapped with hip joint center of rotation, by hip
The swing connector that joint stored energy mechanism movable part is connect with knee joint rotary components, the knee joint rotary components are equipped with
The shank wearing component for facilitating it to be fixed on shank, the center of rotation and knee joint center of rotation of the knee joint rotary components
It is overlapped.
As a kind of embodiment of device of walking aid, the hip joint stored energy mechanism includes being mounted on waist worn group
Cam on part, with swing balance rack that connector is connect and transfer bar mechanism, the cam are mounted on circulating plate machine by shaft
In frame, the balance rack can opposing cam rotate around the shaft, the gyration central axis of the cam and user's hip joint turn
Dynamic central axis is overlapped, and is fixed with the transfer bar mechanism to link with it in the balance rack, the transfer bar mechanism includes movable end
It is connect with movable end, by the stored energy mechanism of the compression of movable end or extensional motion realization energy storage, the work of the transfer bar mechanism
Moved end is contacted with the profile of cam, when so that the transfer bar mechanism being rotated towards cam rise direction, the activity of the transfer bar mechanism
End is moved realization compression along cam profile or is stretched, to realize the energy storage of stored energy mechanism, in this embodiment, walking is auxiliary
The cam for helping device is fixing piece, and balance rack is rotated by shaft around cam, realizes the accumulation of energy of stored energy mechanism.
As the another embodiment of device of walking aid, the hip joint stored energy mechanism includes being mounted on waist worn
Balance rack on component, with the cam and transfer bar mechanism that swing connector and connect, the cam is mounted on balance by shaft
In rack, the cam can be rotated relative to balance rack, in gyration central axis and user's hip joint rotation of the cam
Mandrel line is overlapped, and is fixed with the transfer bar mechanism to link with it in the balance rack, the transfer bar mechanism include movable end and with
Movable end connection, the stored energy mechanism that energy storage is realized by the compression of movable end or extensional motion, the movable end of the transfer bar mechanism
It is contacted with the profile of cam, when so that the transfer bar mechanism being rotated towards cam rise direction, the movable end edge of the transfer bar mechanism
Cam profile is mobile to be realized compression or stretches, to realize the energy storage of stored energy mechanism.In this embodiment, walking auxiliary dress
The balance rack set is fixing piece, and cam is rotated by shaft around balance rack, realizes the accumulation of energy of stored energy mechanism.
Further, the stored energy mechanism is elastic potential energy of the spring stored energy mechanism.
Further, the stored energy mechanism include the spring guide being mounted in the guide barrel construction of balance rack, spring and
One end of spring pre-tightening knob, the spring is connect with spring guide, and the other end is connect with spring pre-tightening knob, and the spring is pre-
Spring guide, spring are successively fixed in the guide barrel construction of the balance rack by tight knob, are equipped on the spring guide
Can free rolling idler wheel, the idler wheel contacts with the profile of cam.
Further, the spring pre-tightening knob is connected through a screw thread mode and is mounted in balance rack.
Further, the idler wheel is centrally disposed on the central axis of spring guide.
Further, the central axis of the center of the idler wheel and spring guide is equipped with a deviation value.
Further, the idler wheel is mounted on the side of spring guide by roller shaft.
Further, the side of the cam is equipped with cam path, and the idler wheel is mounted in the cam path, the cam
The inner outline of slot composition cam.
Further, the cam is equipped with positive stop lug boss in rise extreme position.
Further, angular transducer is installed on the cam, the angular transducer be magneto-electric angular transducer,
Photo-electric angle sensor or variable resistance type angular transducer.
Further, the outside of the balance rack, which is equipped with, passes through battery powered Luminous Ring.
Further, the swing connector upper end is detachably connected in balance rack, the knee joint rotation group
Part is detachably connected to swing connector lower end.
As a kind of embodiment of waist worn component, the waist worn component includes that waist retainer, waist are tied up
Band adjusts band and lower swinging rack, and the waist retainer is equipped with and is tied up waist retainer by velcro or connection buckle
Beam is in the waist ligature band of human body waist, and the waist retainer and lower swinging rack are rotatablely connected by shaft, in the shaft
Mandrel line extends along user's direction of advance, and the lower swinging rack is connect with the fixed part of hip joint stored energy mechanism.
Further, it is additionally provided with the hip joint energy storage machine on lower swinging rack between the waist ligature band and lower swinging rack
Structure is bonded the adjusting band of human body, and the adjusting band adjusts length by velcro or connection buckle.
Further, the waist retainer and lower swinging rack use metal or the composite material with certain rigid
Production.
Further, the inside of the waist retainer and lower swinging rack and human body joint place are equipped with cushioned material layer.
It is described to swing the step-less adjustment company that connector is adjustable in length as a kind of embodiment for swinging connector
Bar.
As a kind of embodiment of knee joint rotary components, the knee joint rotary components include and swing connector company
The upper pivoted arm connect and the lower pivoted arm connecting with shank wearing component, the upper pivoted arm and lower pivoted arm are rotatablely connected.
Further, the rotating shaft center of the upper pivoted arm and lower pivoted arm be maintained at user's knee cap overcentre 1~
At 4cm.
As a kind of embodiment of shank wearing component, shank wearing component includes leg sticking part and passes through evil spirit
Art patch or connection buckle adjust the leg ligature band of length.
Further, the inside of the leg sticking part and leg ligature band and human body joint place are equipped with cushioned material layer.
The advantage of the invention is that the machine to be dissipated using hip joint cam-spring push-rod mechanism storage lower limb support phase movement
Tool energy, and the energy of storage is redistributed and is applied to subsequent swing phase movement, realize that hip joint moves power-assisted, relative to actively
Formula device of walking aid has unpowered, simple structure, wearing comfort good and the advantages such as low cost, suitable for hemiplegia, postoperative
Rehabilitation treatment, aged, weak crowd and outdoor enthusiast's assistant to walking.
In conclusion the present invention proposes a kind of device of walking aid, main energy sources are to human body " waste energy "
Recycling, the mechanical energy to be dissipated by storage lower limb support phase movement, and after the energy of storage redistributed being applied to
Continuous swing phase movement, so recycles, and realizes that hip joint moves power-assisted, has unpowered, simple structure, wearing comfort good and low
The advantages that cost, is suitable for hemiplegia, rehabilitation of patients after surgical treatment is treated, aged, weak crowd and outdoor enthusiast's assistant to walking.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention.
Fig. 2 is the structural schematic diagram that the present invention is worn.
Fig. 3 is the explosive view of hip joint stored energy mechanism embodiment 1 of the present invention.
Fig. 4 (a) is the cross-sectional view of embodiment 1.
Fig. 4 (b) is the cross-sectional view in the face Fig. 4 (a) A-A.
Fig. 5 is the explosive view of hip joint stored energy mechanism embodiment 2 of the present invention.
Fig. 6 (a) is the cross-sectional view of embodiment 2.
Fig. 6 (b) is the cross-sectional view in the face Fig. 6 (a) A-A.
Fig. 7 is the explosive view of hip joint stored energy mechanism embodiment 3 of the present invention.
Fig. 8 (a) is the cross-sectional view of embodiment 3.
Fig. 8 (b) is the cross-sectional view in the face Fig. 8 (a) A-A.
Fig. 9 is the explosive view of hip joint stored energy mechanism embodiment 4 of the present invention.
Figure 10 (a) is the cross-sectional view of embodiment 4.
Figure 10 (b) is the cross-sectional view in the face Figure 10 (a) A-A.
In attached drawing, 1, waist worn component, 2, hip joint stored energy mechanism, 3, swing connector, 4, knee joint rotary components,
5, shank dress component, 6, user, 11, waist retainer, 12, controller, 13, waist ligature band, 14, adjust band, 15, turn
Axis, 16, lower swinging rack, 21, cam, 22, balance rack, 23, transfer bar mechanism, 24, angular transducer, 25 Luminous Rings, 211, convex
Race, 231, idler wheel, 232, roller shaft, 233, spring guide, 234, spring, 235 spring pre-tightening knobs, 241, magnet, 242,
Electromagnetic inductor, 243, the fixed bracket of sensor, 41, upper pivoted arm, 42, lower pivoted arm, 51, sticking part, 52, leg ligature band.
Specific embodiment
For a better understanding of the present invention, with reference to the accompanying drawing and embodiment, invention is described in further detail, but
Embodiments of the present invention are not limited only to this, and protection scope of the present invention is also related to those skilled in the art and conceives according to the present invention
It is conceivable that equivalent technologies mean.
Embodiment 1:
Device of walking aid as shown in Figures 1 to 4, including the following contents:
(1) present apparatus includes waist worn component 1, hip joint stored energy mechanism 2, swings connector 3, knee joint rotary components
4 and shank dress component 5.Wherein, waist worn component 1 be used for by 2 ligature of hip joint stored energy mechanism user 6 waist,
See Fig. 1 and 2, including waist retainer 11, controller 12, waist ligature band 13, adjusting band 14, shaft 15 and lower swinging rack 16,
Hip joint stored energy mechanism 2 is connected on waist worn component 1, including cam 21, balance rack 22, transfer bar mechanism 23, angle pass
Sensor 24 and Luminous Ring 25, transfer bar mechanism 23 include that idler wheel 231, roller shaft 232, spring guide 233, spring 234 and spring are pre-
Tight knob 235, angular transducer 24 include the fixed bracket 243 of magnet 241, electromagnetic inductor 242 and sensor, and Luminous Ring 25 is embedding
Enter 22 outer end face of balance rack, swings 3 upper end of connector and be detachably connected to balance rack 22 in hip joint stored energy mechanism 2
On, knee joint rotary components 4 are detachably connected to swing 3 lower end of connector, and the upper pivoted arm 41 including the total centre of gyration is under
Pivoted arm 42, shank dress component 5 and are used to its connected 4 ligature of knee joint rotary components seeing Fig. 1 in the shank of user 6
And Fig. 2, including leg sticking part 51 and leg ligature band 52.
(2) as shown in Figure 1, waist retainer 11 and lower swinging rack 16 are connected by the rotation of shaft 15 in waist worn component 1
It connects, 15 central axis of shaft extends along user's direction of advance, and the hip joint stored energy mechanism 2 being connected with lower swinging rack 16 can be around
15 central axis left-right rotation of shaft, to adapt to different building shape wearer.Controller 12 is connected in 11 outside of waist retainer, control
It include MCU processor, SD card, accelerometer, gyroscope and for controller, angular transducer and Luminous Ring power supply in device processed 12
Lithium battery.Waist ligature band 13 and waist retainer 11 are connected, and are tied up waist retainer 11 by velcro or connection buckle
Beam is in human body waist.It adjusts 14 both ends of band to be connected with waist ligature band 13 and lower swinging rack 16 respectively, passes through velcro or connection
Buckle adjusts length and to be bonded human body completely with the hip joint stored energy mechanism 2 that lower swinging rack 16 is connected.In the present embodiment, waist
Portion's retainer 11, lower swinging rack 16 are bonded using metal or the production of the composite material with certain rigid, inside with human body
Place can be connected low bounce-back sponge padded coaming, and waist ligature band 13 is using having flexible fabric or leatherwork.
(3) as shown in Figure 1,3, cam 21 and swinging rack 16 lower in waist worn component 1 are solid in hip joint stored energy mechanism 2
Even, it and rotates coaxially and connect with balance rack 22.Idler wheel 231 is rotatably connected by co-axial rollers axis 232 in transfer bar mechanism 23
(there are two types of mounting means, the connections of the first mounting means for idler wheel 231 and spring guide 233 in this example on spring guide 233
When, the rotation center of idler wheel 231 is arranged on the central axis of spring guide 233, when second of mounting means connects, idler wheel 231
Rotation center and the central axis of spring guide 233 one deviation value is set, such as: idler wheel 231 is mounted on by roller shaft 232
The side of spring guide 233), spring guide 233, spring 234 and spring pre-tightening knob 235 are sequentially coaxially mounted on from inside to outside
In the guide barrel construction of balance rack 22, idler wheel 231 is kept in contact by force-closed mode and cam 21 under spring force
It does not disengage.Magnet 241 is connected on 22 central axis of balance rack in angular transducer 24, can be with balance rack 22 in cam 21
The rotation of mandrel line, electromagnetic inductor 242 are connected on cam 21 by the fixed bracket 243 of sensor, magnet 241 and electromagnetic induction
Distance is less than 3mm between device 242.In the present embodiment, hip joint stored energy mechanism 2 uses radial translating follower dish type evagination turbine
Structure arrangement, i.e. cam mechanism offset distance are 0, see Fig. 4 (a), Fig. 4 (b), wherein guiding axis and circulating plate machine on spring guide 233
22 guide barrel construction internal keyway coaxial cooperation of frame guarantees that cam 21 is parallel with the axis of rotation of idler wheel 231,234 both ends of spring difference
It sinks to spring guide 233 and 235 inner hole of spring pre-tightening knob guarantees spring always along the guide barrel construction axis side of balance rack 22
To stretching motion, by threaded engagement, rotation adjustment spring pre-tightens 235 edge of knob for spring pre-tightening knob 235 and balance rack 22
The relative position of 22 upper guide slot structure axis direction of balance rack, can get different initial tension of spring, to adapt to different help
Power demand.
(4) as shown in Fig. 4 (a), Fig. 4 (b), cam motion angle for actuating travel is no more than 90 ° in the hip joint stored energy mechanism, closely
Angle of repose is not less than 145 °, and 21 motion angle for actuating travel of cam is 90 ° in hip joint stored energy mechanism 2, and near angle of repose is 230 °, and is being pushed away
Positive stop lug boss is arranged in way limit position, prevents device of walking aid motion range beyond human body stretching, extension and the flexion angle limit.?
In the present embodiment, when wearing side lower limb are in swing phase latter end heel contact, lower limb flexion angle is 30 ° at this time, and walking is auxiliary
Device is helped to start to absorb the dissipation mechanical energy that lower limb are transferred to support phase by swing phase, balance rack 22 and the push rod machine installed thereon
Structure 23 is rotated in the case where swinging connector 3 and driving around 21 centre of gyration of cam, and idler wheel 231 is from 21 actuating travel section cam profile of cam at this time
Starting point start to rotate along cam actuating travel section, i.e. position shown in dotted line along Fig. 4 (a), idler wheel 231 and 21 center of cam are away from gradually
Increase, the spring guide 233 being connected by roller shaft 232 with idler wheel 231 is done in the guide barrel construction of balance rack 22 to outside
Human motion mechanical energy part accumulate for elastic potential energy of the spring, is in when dressing side lower limb by linear motion, spring forced into compression
When support phase latter end toe is liftoff, lower limb stretching angle is 30 ° at this time, and device of walking aid starts the dissipation mechanical energy that will be absorbed
It is released to subsequent swing phase, the counter motion since the position shown in solid Fig. 4 (a) of idler wheel 231, center is away from gradually reducing, bullet
Spring gradually extends, and the spring potential energy of accumulation gradually discharges the mechanical energy for being converted into auxiliary, the active force between cam 21 and idler wheel 231
Tangential component (perpendicular to the guide barrel construction of balance rack 22) effect under, balance rack 22 by swing connector 3 discharge energy
Amount generates torque and leg is assisted to show naturally.
(5) swinging label on connector 3 has the equidistant coarse adjustment scale in section interval 3cm, 10 sections of subdivision etc. in every section of coarse adjustment scale
Away from trimming scale, it is used for step-less adjustment connecting rod effective length in conjunction with knee joint rotary components 4,150~190cm of height is adapted to and uses
Person.
(6) as shown in Fig. 2, in hip joint stored energy mechanism 2 in 21 gyration central axis of cam and the rotation of 6 hip joint of user
Mandrel line is overlapped, and rotating shaft center is maintained at 6 1~4cm of knee cap overcentre of user in the knee joint rotary components 4
Place, and it is in the positive lateral location of 6 shank of user, it constitutes around 6 hip joint of user and kneed compound oscillating power-assisted effect.
(7) as illustrated in fig. 1 and 2, leg sticking part 51 and pivoted arm lower in knee joint rotary components 4 in shank wearing component 5
42 are connected, and the internal low bounce-back sponge padded coaming that can be connected with human body joint place, ligature band 52 both ends in leg are connected to leg
Sticking part 51 two sides in portion's adjust length by velcro or connection buckle to tighten 6 leg of user.
(8) accelerometer, gyroscope detect trunk acceleration, angle, angle in controller 12 in waist worn component 1
Speed, angular transducer 24 detects human hip angle in hip joint stored energy mechanism 2, passes through MCU processor in controller 12
It calculates, user's gait feature can be obtained, and judge user's accidentally tumble event.
Embodiment 2:
As shown in Fig. 5, Fig. 6 (a), Fig. 6 (b), difference from Example 1 is, cam 21 is cam ring, the cam
It is equipped in 21 and matches cam path 211 with inner outline, the idler wheel 231 is mounted on the side of spring guide 233, and is arranged
In the cam path, the idler wheel 231 passes through force-closed mode and 21 inner outline of cam under 234 spring-force driven dual of spring
It is kept in contact without disengaging.The position as shown in dotted line in Fig. 6 (a), when wearing side lower limb are in swing phase latter end heel contact,
Lower limb flexion angle is 30 ° at this time, and device of walking aid starts to absorb the dissipation mechanical energy that lower limb are transferred to support phase by swing phase,
Balance rack 22 and the transfer bar mechanism 23 installed thereon are rotated in the case where swinging connector 3 and driving around 21 centre of gyration of cam, at this time
Idler wheel 231 is rotated since the starting point of 21 actuating travel section cam profile of cam along cam actuating travel section, idler wheel 231 and 21 center of cam
Away from incrementally increasing, the spring guide 233 being connected by roller shaft 232 with idler wheel 231 in the guide barrel construction of balance rack 22 to
Outside moves in a straight line, and spring is forced to stretch, and human motion mechanical energy part is accumulated for elastic potential energy of the spring, when dressing under side
Limb be in support phase latter end toe it is liftoff when, at this time lower limb stretching angle be 30 °, device of walking aid starts the dissipation that will be absorbed
Mechanical energy is released to subsequent swing phase, the counter motion since the position shown in solid Fig. 6 (a) of idler wheel 231, and center is away from gradually subtracting
Small, spring gradually shortens, and the spring potential energy of accumulation gradually discharges the mechanical energy for being converted into auxiliary, between cam 21 and idler wheel 231
Under tangential component (perpendicular to the guide barrel construction of the balance rack 22) effect of active force, balance rack 22 is by swinging connector 3
Release energy generate torque assist leg show naturally.
Embodiment 3:
As shown in Fig. 7, Fig. 8 (a), Fig. 8 (b), difference from Example 1 is, cam 21 is inclined by circular wheel body
Dress of feeling at ease is constituted, and in this example, the rotation center of idler wheel 231 is mounted on the central axis of spring guide 233, in Fig. 8 (a)
Position shown in dotted line, when wearing side lower limb are in swing phase latter end heel contact, lower limb flexion angle is 30 ° at this time, walking
Auxiliary device starts to absorb the dissipation mechanical energy that lower limb are transferred to support phase by swing phase, balance rack 22 and the push rod installed thereon
Mechanism 23 is rotated in the case where swinging connector 3 and driving around 21 centre of gyration of cam, and idler wheel 231 is practical wide from 21 actuating travel section of cam at this time
The starting point of line starts to rotate along cam actuating travel section, idler wheel 231 and 21 center of cam away from incrementally increasing, by roller shaft 232 and
The connected spring guide 233 of idler wheel 231 moves in a straight line in the guide barrel construction of balance rack 22 to outside, and spring is urged
Human motion mechanical energy part accumulate for elastic potential energy of the spring by contracting, and when dressing side lower limb, to be in support phase latter end toe liftoff
When, lower limb stretching angle is 30 ° at this time, and device of walking aid starts the dissipation mechanical energy of absorption being released to subsequent swing
Phase, the counter motion since the position shown in solid Fig. 8 (a) of idler wheel 231, away from gradually reducing, spring gradually extends at center, accumulation
Spring potential energy gradually discharges the mechanical energy for being converted into auxiliary, between cam 21 and idler wheel 231 active force tangential component (perpendicular to
The guide barrel construction of balance rack 22) effect under, balance rack 22 by swing connector 3 release energy generates torque assist leg from
So show.
Embodiment 4:
As shown in Fig. 9, Figure 10 (a), Figure 10 (b), difference from Example 1 is, balance in hip joint stored energy mechanism 2
Lower swinging rack 16 is connected in rack 22 and waist worn component 1, and cam 21 is connect with connector 3 is swung, and passes through cam 21 in this way
Rotation, realize cam rise movement in hip joint stored energy mechanism, the fixed bracket 243 of cam 21 and the sensor installed thereon exists
It swings under connector 3 drives and is rotated around 22 centre of gyration of balance rack.The position as shown in dotted line in Figure 10 (a), when dressing under side
When limb is in swing phase latter end heel contact, lower limb flexion angle is 30 ° at this time, and device of walking aid starts to absorb lower limb by putting
Dynamic phase is transferred to the dissipation mechanical energy of support phase, and idler wheel 231 is since the starting point of 21 actuating travel section cam profile of cam along convex at this time
Actuating travel section rotation is taken turns, idler wheel 231, away from incrementally increasing, is led with 21 center of cam by the spring that roller shaft 232 is connected with idler wheel 231
Bar 233 moves in a straight line in the guide barrel construction of balance rack 22 to outside, spring forced into compression, by human motion mechanical energy portion
Point accumulation be elastic potential energy of the spring, when dress side lower limb be in support phase latter end toe it is liftoff when, lower limb stretching angle is at this time
30 °, device of walking aid starts for the dissipation mechanical energy of absorption to be released to subsequent swing phase, and idler wheel 231 is from Figure 10 (a) solid line
Shown position starts counter motion, and away from gradually reducing, spring gradually extends at center, and the spring potential energy of accumulation, which gradually discharges, to be converted into
The mechanical energy of auxiliary, the tangential component of active force between cam 21 and idler wheel 231 (perpendicular to the guide barrel construction of balance rack 22)
Under effect, cam 21 by swing connector 3 release energy generate torque assist leg show naturally.
In addition, it should be noted that, this patent is not limited to above embodiment, as long as its part does not specify specific size
Or shape, then the part can be any size or shape adaptable with its structure, no matter and making in its material composition
Any variation, it is all to be designed using structure provided by the present invention, all it is a kind of deformation of the invention, is considered as in the present invention
Within protection scope.
Claims (16)
1. a kind of device of walking aid, which is characterized in that including hip joint stored energy mechanism, for consolidating hip joint stored energy mechanism
Determine part ligature user waist, the center of rotation of hip joint stored energy mechanism is worn with what hip joint center of rotation was overlapped
The swing connector worn component, connect hip joint stored energy mechanism movable part with knee joint rotary components, the knee joint rotation
Turn component and is equipped with the shank wearing component for facilitating it to be fixed on shank, the center of rotation and knee of the knee joint rotary components
Articulation center is overlapped.
2. device of walking aid according to claim 1, it is characterised in that: the hip joint stored energy mechanism includes being mounted on
Cam on waist worn component, with swing the balance rack and transfer bar mechanism that connector connect, the cam passes through shaft peace
In balance rack, the balance rack can opposing cam rotate around the shaft, the gyration central axis and use of the cam
Person's hip joint center of rotation axis is overlapped, and is fixed with the transfer bar mechanism to link with it, the transfer bar mechanism in the balance rack
It is connect including movable end and with movable end, by the stored energy mechanism of the compression of movable end or extensional motion realization energy storage, it is described to push away
The movable end of linkage is contacted with the profile of cam, when so that the transfer bar mechanism being rotated towards cam rise direction, the push rod
The movable end of mechanism moves realization compression along cam profile or stretches, to realize the energy storage of stored energy mechanism.
3. device of walking aid according to claim 1, it is characterised in that: the hip joint stored energy mechanism includes being mounted on
Balance rack on waist worn component, with the cam and transfer bar mechanism that swing connector and connect, the cam passes through shaft peace
In balance rack, the cam can be rotated relative to balance rack, and the gyration central axis and user's hip of the cam are closed
It saves center of rotation axis to be overlapped, the transfer bar mechanism to link with it is fixed in the balance rack, the transfer bar mechanism includes living
It moved end and connect with movable end, realize the stored energy mechanism of energy storage, the transfer bar mechanism by the compression of movable end or extensional motion
Movable end contacted with the profile of cam, when so that the transfer bar mechanism being rotated towards cam rise direction, the transfer bar mechanism
Movable end moves realization compression along cam profile or stretches, to realize the energy storage of stored energy mechanism.
4. device of walking aid according to claim 2 or 3, it is characterised in that: the stored energy mechanism is spring gesture
It can stored energy mechanism.
5. device of walking aid according to claim 4, it is characterised in that: the stored energy mechanism includes being mounted on circulating plate machine
Spring guide, spring and spring pre-tightening knob in the guide barrel construction of frame, one end of the spring is connect with spring guide, another
End is connect with spring pre-tightening knob, and spring guide, spring are successively fixed on the balance rack by the spring pre-tightening knob
In guide barrel construction, be equipped on the spring guide can free rolling idler wheel, the idler wheel contacts with the profile of cam.
6. device of walking aid according to claim 5, it is characterised in that: the spring pre-tightening knob is connected through a screw thread
Mode is mounted in balance rack.
7. device of walking aid according to claim 5, it is characterised in that: the idler wheel is centrally disposed in spring guide
Central axis on.
8. device of walking aid according to claim 5, it is characterised in that: in the center and spring guide of the idler wheel
Mandrel is equipped with a deviation value.
9. device of walking aid according to claim 8, it is characterised in that: the idler wheel is mounted on spring by roller shaft
The side of guide rod.
10. device of walking aid according to claim 9, it is characterised in that: the side of the cam is equipped with cam path, institute
It states idler wheel to be mounted in the cam path, the cam path constitutes the inner outline of cam.
11. device of walking aid according to claim 2 or 3, it is characterised in that: be equipped with angle sensor on the cam
Device, the angular transducer are magneto-electric angular transducer, photo-electric angle sensor or variable resistance type angular transducer.
12. device of walking aid according to claim 11, it is characterised in that: the outside of the balance rack, which is equipped with, to be passed through
Battery powered Luminous Ring.
13. according to claim 1 to device of walking aid described in one of 3, it is characterised in that: the swing connector upper end can
It is releasably connected in balance rack, the knee joint rotary components are detachably connected to swing connector lower end, the pendulum
Follower link is a kind of length infinitely variable connecting plate or connecting rod.
14. according to claim 1 to device of walking aid described in one of 3, it is characterised in that: the waist worn component includes
Waist retainer, waist ligature band adjust band and lower swinging rack, and the waist retainer, which is equipped with, passes through velcro or connection card
By waist retainer ligature in the waist ligature band of human body waist, the waist retainer and lower swinging rack are rotated button by shaft
Connection, the spindle central axis extend along user's direction of advance, the fixation of the lower swinging rack and hip joint stored energy mechanism
Part connects, and is additionally provided between the waist ligature band and lower swinging rack the hip joint stored energy mechanism on lower swinging rack being bonded people
The adjusting band of body, the adjusting band adjust length by velcro or connection buckle, and the waist retainer and lower swinging rack are adopted
With metal or the production of the composite material with certain rigid, the inside and human body of the waist retainer and lower swinging rack are pasted
Cushioned material layer is equipped at conjunction.
15. according to claim 1 to device of walking aid described in one of 3, it is characterised in that: the knee joint rotary components packet
It includes and swings the upper pivoted arm and the lower pivoted arm connecting with shank wearing component, the upper pivoted arm and the rotation of lower pivoted arm that connector is connect
The rotating shaft center of connection, the upper pivoted arm and lower pivoted arm is maintained at 1~4cm of user's knee cap overcentre.
16. according to claim 1 to device of walking aid described in one of 3, it is characterised in that: the shank dresses component and includes
Leg sticking part and the leg ligature band that length is adjusted by velcro or connection buckle, the leg sticking part and leg ligature
The inside and human body joint place of band are equipped with cushioned material layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811330242.1A CN109248050A (en) | 2018-11-09 | 2018-11-09 | A kind of device of walking aid |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811330242.1A CN109248050A (en) | 2018-11-09 | 2018-11-09 | A kind of device of walking aid |
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| CN109248050A true CN109248050A (en) | 2019-01-22 |
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| CN201811330242.1A Pending CN109248050A (en) | 2018-11-09 | 2018-11-09 | A kind of device of walking aid |
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| CN109771226A (en) * | 2019-01-24 | 2019-05-21 | 福建（泉州）哈工大工程技术研究院 | A kind of device of walking aid of passive delivery |
| CN109875838A (en) * | 2019-03-15 | 2019-06-14 | 山东聚维复合材料科技有限公司 | A kind of carbon fibre composite energy storage convalescence device |
| CN110101550A (en) * | 2019-04-10 | 2019-08-09 | 广州金眼医疗器械科技有限责任公司 | A kind of lightweight device of walking aid |
| CN110192966A (en) * | 2019-05-13 | 2019-09-03 | 安徽三联机器人科技有限公司 | A kind of lower limb power assisting device |
| CN110302038A (en) * | 2019-07-09 | 2019-10-08 | 上海博灵机器人科技有限责任公司 | A kind of unpowered exoskeleton device having disorder with children for lower limb development |
| CN110384604A (en) * | 2019-05-20 | 2019-10-29 | 苏州市职业大学 | A kind of adjustable walking power assisting device of step pitch |
| CN110420110A (en) * | 2019-08-06 | 2019-11-08 | 赵泽 | A kind of walking assisting device |
| CN111319065A (en) * | 2020-04-29 | 2020-06-23 | 哈工大机器人(湖州)有限公司 | Angle detection device and angle detection method for mechanical joint |
| CN111317480A (en) * | 2020-01-20 | 2020-06-23 | 深圳市丞辉威世智能科技有限公司 | Gait recognition method, device, equipment and readable storage medium |
| CN111557833A (en) * | 2020-05-22 | 2020-08-21 | 王明明 | Walking aid for patients with waist-wearing type single lower limb movement disorder |
| CN111759682A (en) * | 2020-07-14 | 2020-10-13 | 北方工业大学 | Unpowered human body lower limb assistance exoskeleton device |
| CN112972209A (en) * | 2021-03-16 | 2021-06-18 | 北京工业大学 | Hip and knee coupled passive energy storage assisting exoskeleton |
| CN114209541A (en) * | 2021-10-28 | 2022-03-22 | 中国科学院深圳先进技术研究院 | Walking assisting exoskeleton device |
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| CN110192966B (en) * | 2019-05-13 | 2022-02-08 | 安徽三联机器人科技有限公司 | Lower limb power assisting device |
| CN110192966A (en) * | 2019-05-13 | 2019-09-03 | 安徽三联机器人科技有限公司 | A kind of lower limb power assisting device |
| CN110384604A (en) * | 2019-05-20 | 2019-10-29 | 苏州市职业大学 | A kind of adjustable walking power assisting device of step pitch |
| CN110302038A (en) * | 2019-07-09 | 2019-10-08 | 上海博灵机器人科技有限责任公司 | A kind of unpowered exoskeleton device having disorder with children for lower limb development |
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| CN111319065A (en) * | 2020-04-29 | 2020-06-23 | 哈工大机器人(湖州)有限公司 | Angle detection device and angle detection method for mechanical joint |
| CN111557833A (en) * | 2020-05-22 | 2020-08-21 | 王明明 | Walking aid for patients with waist-wearing type single lower limb movement disorder |
| CN111557833B (en) * | 2020-05-22 | 2021-11-02 | 王明明 | Walking aid for patients with waist-wearing type single lower limb movement disorder |
| CN111759682A (en) * | 2020-07-14 | 2020-10-13 | 北方工业大学 | Unpowered human body lower limb assistance exoskeleton device |
| CN112972209A (en) * | 2021-03-16 | 2021-06-18 | 北京工业大学 | Hip and knee coupled passive energy storage assisting exoskeleton |
| CN114209541A (en) * | 2021-10-28 | 2022-03-22 | 中国科学院深圳先进技术研究院 | Walking assisting exoskeleton device |
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