CN109464264A - A kind of human body lower limbs power assistive device - Google Patents
A kind of human body lower limbs power assistive device Download PDFInfo
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- CN109464264A CN109464264A CN201811457327.6A CN201811457327A CN109464264A CN 109464264 A CN109464264 A CN 109464264A CN 201811457327 A CN201811457327 A CN 201811457327A CN 109464264 A CN109464264 A CN 109464264A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 32
- 210000004394 hip joint Anatomy 0.000 claims abstract description 144
- 210000000689 upper leg Anatomy 0.000 claims abstract description 64
- 210000000629 knee joint Anatomy 0.000 claims abstract description 44
- 230000009467 reduction Effects 0.000 claims abstract description 43
- 210000002683 foot Anatomy 0.000 claims abstract description 32
- 210000002414 leg Anatomy 0.000 claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 244000309466 calf Species 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 claims abstract description 14
- 210000003423 ankle Anatomy 0.000 claims abstract description 10
- 210000001624 hip Anatomy 0.000 claims description 46
- 230000003139 buffering effect Effects 0.000 claims description 16
- 239000004677 Nylon Substances 0.000 claims description 13
- 229920001778 nylon Polymers 0.000 claims description 13
- 238000004146 energy storage Methods 0.000 claims description 10
- 229960001030 mephenoxalone Drugs 0.000 claims description 10
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 claims description 9
- 210000003127 knee Anatomy 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 4
- 230000007306 turnover Effects 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 241000233855 Orchidaceae Species 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 29
- 230000008569 process Effects 0.000 abstract description 11
- 230000000694 effects Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 14
- 238000000354 decomposition reaction Methods 0.000 description 10
- 238000005299 abrasion Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000035939 shock Effects 0.000 description 3
- 230000032683 aging Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 206010061296 Motor dysfunction Diseases 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000011084 recovery Methods 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
-
- 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
- A61H2201/5071—Pressure sensors
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of human body lower limbs power assistive device, it is related to rehabilitation and helps the elderly apparatus field of helping the disabled, including lumbar device, back device is connected in lumbar device, two sides are connected with leg device；Lumbar device includes receipts in hip joint/outreach mechanism and hip joint inside/outside rotation mechanism, motion process when analog human motion at hip joint；Leg device includes sequentially connected hip joint device, knee joint equipment, ankle device and foot device；Hip joint device includes hip joint harmonic reduction mould group, carries out hip joint movement driving by hip joint harmonic reduction mould group；Knee joint equipment includes knee joint harmonic reduction mould group, kneed movement driving is carried out by knee joint harmonic reduction mould group, further includes the intermeshing thigh joint gear and calf joint gear of the flexion/extension motion for realizing rotation centers more at knee joint.The assist exercise process of the equipment is closer to the actual motion process of skeleton, and power-assisted effect is good, and wearing comfort is strong.
Description
Technical field
It helps the elderly apparatus field of helping the disabled the present invention relates to rehabilitation, specially a kind of human body lower limbs power assistive device.
Background technique
In world wide, there are a large amount of different degrees of motor dysfunction of lower limb patients, since the exercise ability of lower limbs is impaired,
Quality of life is largely affected.It is shown according to clinic study, rationally effective rehabilitation training can be such that part suffers from
Person obtains a degree of recovery.
In addition, countries in the world require costly material resources and financial resources every year with the aging of population to increasingly sharpen,
To solve aging of population bring problems.After reaching a dating, physical function significantly weakens most the elderlys,
It is difficult to there is slow walking, climbing or stair climbing, can not stand or walk for a long time, or even needs to carry out by equipment such as wheelchairs
Daily daily life activity, greatly affected the Happiness of life.
Currently, existing human body lower limbs power assistive device is mainly various exoskeleton robots, but most of exoskeleton robots
Structure at knee joint mostly uses the rotary motion of single centre to assist patient's motion of knee joint, and studies according to human anatomy
Show that human body knee joint is a coaster ball-and-socket joint, during exercise, typically exhibits the sliding of instantaneous center of rotation, i.e., it is more
The rotary motion at center.Therefore, patient dress these ectoskeletons carry out power-assisted when, due to its biomimetic features motion principle with
There is some difference for the actual motion principle of skeleton, therefore the comfort of its power-assisted effect and wearing is still to be improved.This Shen
It please devise a human body lower limbs power assistive device, it is intended to help the elderly, helping the disabled and rehabilitation field provides a kind of feasible solution
Scheme, and some shortcomings existing for the existing exoskeleton robot equipment of effective solution.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of human body lower limbs power assistive devices.
The purpose of the present invention is achieved through the following technical solutions:
A kind of human body lower limbs power assistive device, including Backpack device, lumbar device and two symmetrically arranged leg devices, the leg
Part device includes hip joint device, knee joint equipment, ankle device, foot device and several leg bondage devices；
The Backpack device includes back baffle, load-bearing supporting plate and electric cabinet, and the back baffle is connect with load-bearing supporting plate, described
Electric cabinet is set on the load-bearing supporting plate；
The lumbar device includes that receipts in hip joint/outreach mechanism, waist bandage and two hip joint inside/outsides revolve mechanisms, described
Receipts/outreach mechanism includes waist connecting rod, receipts/outreach in receipts/outer showing shafts and two hip joints in two hip joints in hip joint
Two sides of rotating bar, the waist connecting rod are connect with the middle part of the back baffle and waist bandage respectively, the waist
The both ends of portion's connecting rod pass through receipts in the hip joint/outer showing shaft and receipts/outreach rotating bar one in a hip joint
End is hinged, and the hip joint inside/outside rotation mechanism includes that adjustable plate, fixed block, rotating block, hip joint inside/outside spin axis are connected with L-type
Block, receipts/outreach rotating bar is machined with adjusting long hole far from one end of waist connecting rod in the hip joint, the adjustable plate with
Receipts/outreach rotating bar connection, the fixed block are connect with the adjustable plate in the hip joint, and the fixed block passes through the hip
Intra-articular/outer spin axis and one end of the rotating block are hinged, and the other end of the rotating block is connect with the L-type link block, institute
It states L-type link block and one end of the rotating block is provided with bandage perforation, the both ends of the waist bandage are each passed through two
The bandage of the L-type link block is perforated；
The hip joint device includes hip joint flange, hip joint harmonic reduction mould group, buffer disc a, buffering torsional spring a and hip joint
Swing arm, is machined with adjusting long hole on the L-type link block, and the hip joint flange is equipped with connecting plate, the connecting plate with
The L-type link block connection, the flange circle of the hip joint flange are connect with the hip joint harmonic reduction mould group, and the hip closes
The output shaft of section harmonic reduction mould group is connect with one end of the buffer disc a, the other end and the hip joint of the buffer disc a
One end of swing arm is sequentially connected, and the both ends of the buffering torsional spring a are connect with the buffer disc a with hip joint swing arm respectively；
The knee joint equipment includes knee joint harmonic reduction mould group, buffer disc b, buffering torsional spring b, rocker arm, connecting rod, shank connection
Block, thigh bar, thigh joint gear, shank bar and calf joint gear, the hip joint swing arm add far from one end of buffer disc a
Work has adjusting long hole and connect with one end of the thigh bar, in the knee joint harmonic reduction mould group and the thigh bar
Portion's connection, output shaft are connect with one end of the buffer disc b, and the other end of the buffer disc b and one end of the rocker arm pass
The both ends of dynamic connection, the buffering torsional spring b are connect with the buffer disc b with rocker arm respectively, and one end of the connecting rod is shaken with described
Arm is connected far from one end of buffer disc b, and the other end is connect with one end of the shank link block；The shank link block it is another
One end is connect with the shank bar, and the thigh bar is connected with thigh joint gear far from one end of hip joint swing arm, described small
One end of leg bar is connected with calf joint gear, and the thigh joint gear is engaged with calf joint gear；
The ankle device includes that shank connecting rod, dorsiflex/plantar flexion axis, bearing block, link block one, inside/outside turn over pin shaft and company
Connect block two, one end of the shank connecting rod be machined with adjusting long hole and with the shank bar far from calf joint gear one
End connection, the other end of the shank connecting rod is hinged by the dorsiflex/plantar flexion axis and the bearing block, the bearing block and
The link block one connects, and it is hinged that the link block one with link block two turns over pin shaft by the inside/outside；
Several leg bondage devices are connect with the thigh bar and shank bar respectively, and the foot device and link block two connect
Connect, be provided with several pressure sensors in the foot device, the electric cabinet respectively with the hip joint harmonic reduction mould group,
Knee joint harmonic reduction mould group and pressure sensor Electricity Federation.
Further, bearing c, the hip joint are provided between the waist connecting rod and the interior receipts of hip joint/outer showing shaft
It is socketed with sleeve b used for positioning in interior receipts/outer showing shaft, both ends are provided with end cap c, and the end cap c is connect with the waist
Bar connection is provided with backing plate between the waist connecting rod and the waist bandage, the backing plate is for eliminating the end cap c's
The difference in height of end face and the waist connecting rod.
Further, it is provided with bearing d between the hip joint inside/outside spin axis and the fixed block, in the hip joint/
Axle sleeve used for positioning is socketed in outer spin axis, the both ends of the hip joint inside/outside spin axis are provided with end cap d, the end cap d
It is connect with the fixed block.
Further, connecting shaft is provided in the middle part of the buffer disc a, the connecting shaft passes through the hip joint swing arm simultaneously
It is connected with thin-wall bearing end cap a in its end, is provided with thin-wall bearing a between the connecting shaft and the hip joint swing arm, also
If the thin-wall bearing a is fixed by the thin-wall bearing end cap a and bearing including position limitation protection shell a and dry bearing positioning screw a
Position screw a positioning, the position limitation protection shell a connect with the hip joint harmonic reduction mould group, and the position limitation protection shell a is used for pair
The rotational angle of the hip joint swing arm is limited.
Further, connecting shaft is provided in the middle part of the buffer disc b, the connecting shaft passes through the rocker arm and Yu Qiduan
Portion is connected with thin-wall bearing end cap b, and thin-wall bearing b is provided between the connecting shaft and the rocker arm, further includes position limitation protection
If shell b and dry bearing positioning screw b, the thin-wall bearing b are positioned by the thin-wall bearing end cap b and bearing positioning screw b,
The position limitation protection shell b is connect with the knee joint harmonic reduction mould group, and the position limitation protection shell b is for turning the rocker arm
Dynamic angle is limited.
Further, further include thigh shaft, shank shaft, articular link plate and energy storage torsional spring, the thigh shaft with
The thigh bar connection, the shank shaft are connect with the shank bar, and the articular link plate includes that mutual fasten is arranged
Side connecting plate outside joint connection plate inside and joint, the thigh shaft is parallel with shank shaft to be arranged in the articular link plate
Interior, the thigh shaft and shank shaft are provided with bearing a between the articular link plate, the thigh shaft and small
The sleeve c and sleeve d for positioning to bearing a, the both ends of the thigh shaft and shank shaft are respectively sleeved in leg shaft
It is provided with end cap a, the end cap a is connect with the articular link plate, and convex column is provided in the articular link plate, described
Energy storage torsion spring set is set in the convex column, and both ends are connect with thigh bar and shank bar respectively.
Further, the thigh bar and shank bar one end close to each other are provided with rubber cushion blocks, the rubber pad
Block is used for the damping limit of the thigh bar and shank bar when knee extension.
Further, the dorsiflex/bearing b and sleeve a, the bearing block are provided between plantar flexion axis and the bearing block
Two sides be connected with end cap b, the sleeve a and end cap b are used to carry out axially position to the bearing b；
The inside/outside turns over and is socketed with torsional spring on pin shaft, and the both ends of the torsional spring connect with the link block one and link block two respectively
It connects, one end that the inside/outside turns over pin shaft is provided with shaft end screw.
Further, the foot device further includes sole support plate, foot's bandage and foot pad, the sole support plate with
The connection of foot's bandage, the foot pad covering are set in the sole support plate, and the pressure sensor is set to the sole
Between support plate and foot pad, the link block two is connect with the sole support plate.
Further, the leg bondage device includes nylon block, cover board, two bandages and two bandage connecting columns, institute
The two sides for stating nylon block are respectively connected with the bandage connecting column, and the bandage connecting column is connect with one end of the bandage, described
Cover board is connect with the nylon block, and the nylon block is connect with the thigh bar or shank bar.
The beneficial effects of the present invention are:
1. intermeshing thigh joint gear and calf joint gear are arranged at knee joint, transmission accuracy is enhanced, simultaneously
So that along the direction that gear engages change in location occurs for kneed flexion/extension motion center, more fitting skeleton is practical
Motion process better conforms to the movement characteristic of human body knee joint, enhances power-assisted effect and wearing comfort；
2. lumbar device, which is equipped with receipts/outreach mechanism and hip joint inside/outside in hip joint, revolves mechanism, part rotation is provided freely
Degree, receipts/abduction exercise and hip joint inside/outside revolve motion process in hip joint when simulating human motion, and more fitting skeleton is real
Border motion process enhances power-assisted effect and wearing comfort；
3. energy storage torsional spring is arranged in knee joint equipment, energy is stored when knee joint carries out curvature movement, when carrying out stretching routine
It releases energy, is conducive to equipment and saves energy；
4. each active joint had not only realized the flexible starting of joint drive using buffering torsional spring, but also can buffer since control misses
The poor instantaneous rigid shock of bring；
5. using harmonic reduction mould group as power device, integrated rotary encoder can be used for hip joint and knee joint fortune
The real-time detection of dynamic information；
6. foot device be arranged pressure sensor can real-time detection people-machine vola reciprocal force, inductive signal；Electric cabinet is arranged to distinguish
With pressure sensor and each harmonic reduction mould group Electricity Federation, complete to automatically control；
It is adjusted 7. being realized by setting long hole, so that the power assistive device can meet the use demand of different user, strong applicability.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of human body lower limbs power assistive device of the present invention；
Fig. 2 is the structural decomposition diagram of Fig. 1；
Fig. 3 is the structural decomposition diagram of Backpack device；
Fig. 4 is the structural decomposition diagram of lumbar device；
Fig. 5 is receipts/outreach mechanism structural decomposition diagram in hip joint；
Fig. 6 is the structural decomposition diagram that hip joint inside/outside revolves mechanism；
Fig. 7 is the structural schematic diagram of hip joint device；
Fig. 8 is the structural decomposition diagram of Fig. 7；
Fig. 9 is the part-structure diagrammatic cross-section of Fig. 7；
Figure 10 is the enlarged drawing in the portion A in Fig. 9；
Figure 11 is the structural schematic diagram of knee joint equipment；
Figure 12 is the structural decomposition diagram of Figure 11；
Figure 13 is the drive part structural profile illustration of knee joint equipment；
Figure 14 is the enlarged drawing in the portion B in Figure 13；
Figure 15 is the articular portion structural profile illustration of knee joint equipment；
Figure 16 is the structural schematic diagram of ankle device；
Figure 17 is the structural decomposition diagram of Figure 16；
Figure 18 is the scheme of installation of torsional spring in ankle device；
Figure 19 is the structural decomposition diagram of foot device；
Figure 20 is the structural decomposition diagram of leg bondage device；
In figure, 1- Backpack device, 2- lumbar device, 3- hip joint device, 4- knee joint equipment, 5- ankle device, 6- foot
Device, the leg 7- bondage device, the back 11- baffle, 12- load-bearing supporting plate, 13- electric cabinet, receipts/outreach mechanism in 21 hip joints,
22- hip joint inside/outside revolves mechanism, 23- waist bandage, the joint 31- flange, 32- hip joint harmonic reduction mould group, 33- buffer disc
A, 34- buffering torsional spring a, 35- thin-wall bearing a, 36- hip joint swing arm, 37- thin-wall bearing end cap a, 38- bearing positioning screw a,
39- position limitation protection shell, 41- connecting rod, 42- shank link block, 43- bearing a, 44- end cap a, 45- rubber cushion blocks, 46- energy storage are turned round
Spring, the joint 47- connection plate inside, side connecting plate outside the joint 48-, 51- shank connecting rod, 52- dorsiflex/plantar flexion axis, 53- bearing b,
54- sleeve a, 55- bearing block, 56- end cap b, 57- link block one, 58- inside/outside turn over pin shaft, the shaft end 59- screw, 510- link block
Two, 511- torsional spring, 61- sole support plate, 62- pressure sensor, 63- foot bandage, 64- foot pad, 71- nylon block, 72- connection
Column, 73- cover board, 74- bandage, 211- waist connecting rod, 212- backing plate, the interior receipts of 213- hip joint/outer showing shaft, 214- sleeve b,
Receipts/outreach rotating bar in 215- bearing c, 216- end cap c, 217- hip joint, 221- adjustable plate, 222- fixed block, 223- rotation
Block, 224- hip joint inside/outside spin axis, 225- bearing d, 226- axle sleeve, 227- end cap d, 228-L type link block, 411- knee joint
Harmonic reduction mould group, 412- buffer disc b, 413- buffer torsional spring b, and 414- bearing positioning screw b, 415- thin-wall bearing b, 416- is thin
Wall bearing (ball) cover b, 417- position limitation protection shell b, 418- rocker arm, 431- thigh bar, 432- thigh shaft, 433- thigh joint tooth
Wheel, 434- sleeve c, 441- shank bar, 442- shank shaft, 443- calf joint gear, 444- sleeve d.
Specific embodiment
In the description of the present application, it should be noted that unless otherwise clearly defined and limited, term ' connected ' ' connects
Connect ' it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, can also can also be two indirectly connected through an intermediary
Connection inside element can be wireless connection, be also possible to wired connection.For the ordinary skill in the art,
The concrete meaning of above-mentioned term in this application can be understood with concrete condition.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Mode is applied to be described in further detail technical solution of the present invention, but protection scope of the present invention be not limited to it is as described below.
As shown in Figure 1 and Figure 2, a kind of human body lower limbs power assistive device includes that Backpack device 1, lumbar device 2 and two symmetrically set
The leg device set, leg device include hip joint device 3, knee joint equipment 4, ankle device 5, foot device 6 and several
Leg bondage device 7.Backpack device 1 and lumbar device 2 connect, and the both ends of lumbar device 2 are connect with a leg device.Always
When people or patient dress human body lower limb power assistive device, which can provide lower limb power-assisted, assist exercise process for user
Closer to the actual motion process of skeleton, power-assisted effect is good, and wearing comfort is strong.
As shown in figure 3, Backpack device 1 include back baffle 11, load-bearing supporting plate 12 and electric cabinet 13, back baffle 11 with hold
Great trust plate 12 connects, and electric cabinet 13 is set on load-bearing supporting plate 12.
As shown in Figures 4 to 6, lumbar device 2 includes receipts/outreach mechanism 21, waist bandage 23 and two hips in hip joint
Intra-articular/outward turning mechanism 22.
Receipts/outreach mechanism 21 includes receipts in 211, two hip joints of waist connecting rod/outer showing shaft 213 and two in hip joint
Receipts/outreach rotating bar 217 in hip joint.Two sides of waist connecting rod 211 connect with back baffle 11 and backing plate 212 respectively
It connects, the both ends of waist connecting rod 211 pass through receipts/outreach rotating bar in the interior receipts/outer showing shaft 213 of hip joint and a hip joint
217 one end is hinged.In hip joint receipts/outreach rotating bar 217 can be received in hip joint/outer showing shaft 213 is in certain angle range
Interior rotation.When it is implemented, receipts/outreach rotating bar 217 and waist connecting rod 211 devise special structure shape in hip joint
Shape, in rotation there are two extreme positions, receipts/outreach rotating bar 217 and waist connecting rod 211 in extreme position hip joint
Hard contact, to realize receipts/abduction exercise limit in the power assistive device hip joint.
Further, it is provided with bearing c215 between waist connecting rod 211 and the interior receipts of hip joint/outer showing shaft 213, to reduce
Resistance when rotation, while abrasion is reduced, increase service life.It is socketed with sleeve b214 in receipts/outer showing shaft 213 in hip joint,
Its both ends is provided with end cap c216, and end cap c216 is connect with waist connecting rod 211, and sleeve b214 and end cap c216 are used for bearing
C215 is positioned.Backing plate 212 is connected in waist connecting rod 211, backing plate 212 is used to eliminate end face and the waist of end cap c216
The difference in height of connecting rod 211, to promote comfort level when user's wearing.
It includes adjustable plate 221, fixed block 222, rotating block 223, hip joint inside/outside spin axis that hip joint inside/outside, which revolves mechanism 22,
224 and L-type link block 228.Receipts/outreach rotating bar 217 is machined with adjusting far from one end of waist connecting rod 211 and uses in hip joint
Long hole, adjustable plate 221 are connect with receipts in hip joint/outreach rotating bar 217, can by being connected to the different location of above-mentioned long hole
Realize the adjusting of waist or so width dimensions.Fixed block 222 is connect with adjustable plate 221, and fixed block 222 passes through hip joint inside/outside
Spin axis 224 and one end of rotating block 223 are hinged, and the other end of rotating block 223 is connect with L-type link block 228.Rotating block 223 can
It is rotated within the scope of certain angle around hip joint inside/outside spin axis 224.When it is implemented, fixed block 222 and rotating block 223 design
Special planform, in rotation, there are two extreme positions, connect firmly in extreme position fixed block 222 and rotating block 223
Touching, to realize the limit of power assistive device hip joint inside/outside rotation movement.
Further, bearing d225 is provided between hip joint inside/outside spin axis 224 and fixed block 222, when reducing rotation
Resistance, while reducing abrasion, increase service life.It is socketed with axle sleeve 226 in hip joint inside/outside spin axis 224, in hip joint/
The both ends of outer spin axis 224 are provided with end cap d227, and end cap d227 is connect with fixed block 222, and axle sleeve 226 and end cap d227 are used
It is positioned in bearing d225.
L-type link block 228 is provided with bandage perforation, the centre of waist bandage 23 and backing plate far from one end of rotating block 223
212 connections, both ends are each passed through the bandage perforation of two L-type link blocks 228, for by the waist of user and above-mentioned human body
2 bondage of lumbar device of lower limb power assistive device together, realizes wearing.
As shown in Figure 7 to 10, hip joint device 3 includes hip joint flange 31, hip joint harmonic reduction mould group 32, buffering
Disk a33, buffering torsional spring a34 and hip joint swing arm 36.
Adjusting long hole is machined on L-type link block 228, hip joint flange 31 is equipped with connecting plate, and connecting plate and L-type connect
Connect block 228 connection, by adjust it in the link position on long hole, it can be achieved that the power assistive device dress when waist in the front-back direction
Size adjusting, to adapt to the waist sizes of different wearers.
The flange circle of hip joint flange 31 is connect with hip joint harmonic reduction mould group 32, and hip joint harmonic reduction mould group 32 is
Existing equipment selects KAH series hollow shaft rotary actuator when specific implementation, be internally integrated motor, rotary encoder and
The output shaft of harmonic speed reducer, hip joint harmonic reduction mould group 32 is connect with one end of buffer disc a33, to provide driving power.
The other end of buffer disc a33 and one end of hip joint swing arm 36 are sequentially connected, specially buffer disc a33 and hip joint swing arm 36
Rigid teeth is provided on opposite flank, buffer disc a33 and hip joint swing arm 36, which mutually fasten, to be arranged, and is passed by rigid teeth
It is dynamic.The output shaft of hip joint harmonic reduction mould group 32 drives buffer disc a33 rotation, then hip joint swing arm 36 is driven to rotate, real
Existing human body lower limb power assistive device hip joint stretches/Qu Yundong.Meanwhile the rotation that the hip joint harmonic reduction mould group 32 is internally integrated
Encoder can also be measured in real time the angle that human body lower limb power assistive device hip joint is stretched/bent in motion process.
Be provided between buffer disc a33 and hip joint swing arm 36 buffering torsional spring a34, buffer torsional spring a34 both ends respectively with
Buffer disc a33 is connect with hip joint swing arm 36, and the flexible starting of joint motions on the one hand can be achieved, on the other hand can be used for buffering
Due to controlling the issuable instantaneous rigid shock of error.
Further, connecting shaft is provided in the middle part of buffer disc a33, connecting shaft passes through hip joint swing arm 36 and in its end
It is provided with thin-wall bearing end cap a37, thin-wall bearing end cap a37 is connect with hip joint swing arm 36, buffer disc a33 and hip joint swing arm
36 pass through the connection axis connection.Thin-wall bearing a35 is provided between connecting shaft and hip joint swing arm 36, to reduce resistance when rotation
Power, while abrasion is reduced, increase service life.If the side of thin-wall bearing a35 is provided with dry bearing positioning screw a38, thin-walled
Bearing a35 is positioned by thin-wall bearing end cap a37 and bearing positioning screw a38.The connection of 32 end of hip joint harmonic reduction mould group
There is limit protective shell a39, position limitation protection shell a39 uses specific shape and structure, for the rotational angle to hip joint swing arm 36
It is limited.
As shown in Figure 11 to 15, knee joint equipment 4 includes knee joint harmonic reduction mould group 411, buffer disc b412, buffering torsion
Spring b413, Rocker arm 4 18, connecting rod 41, shank link block 42, thigh bar 431, thigh joint gear 433, shank bar 441 and shank
Joint gear 443.
Hip joint swing arm 36 is machined with adjusting long hole far from one end of buffer disc a33 and connects with one end of thigh bar 431
It connects, is adjusted by adjusting installation site of the thigh bar 431 on long hole, the thigh size for being suitable for different wearers is wanted
It asks.
Knee joint harmonic reduction mould group 411 is existing equipment, and the rotation of KAH series hollow shaft is selected when specific implementation to execute
Device has been internally integrated motor, rotary encoder and harmonic speed reducer.Knee joint harmonic reduction mould group 411 and thigh bar 431
Middle part connection, output shaft is connect with one end of buffer disc b412, to provide driving power.The other end of buffer disc b412 with shake
One end of arm 418 is sequentially connected, and is provided with rigid teeth, buffer disc on the opposite flank of specially buffer disc b412 and Rocker arm 4 18
B412 and Rocker arm 4 18, which mutually fasten, to be arranged, and is driven by rigid teeth.The output shaft band of knee joint harmonic reduction mould group 411
Dynamic buffer disc b412 rotation, then drives Rocker arm 4 18 to rotate, and realizes human body lower limb power assistive device knee sprung/stretching, extension fortune
It is dynamic.Meanwhile the rotary encoder that the knee joint harmonic reduction mould group 411 is internally integrated also can be to human body lower limb power assistive device knee
Angle during the flexion/extension motion of joint is measured in real time.
Buffering torsional spring b413 is provided between buffer disc b412 and Rocker arm 4 18, buffer the both ends of torsional spring b413 respectively with it is slow
Punch plate b412 is connect with Rocker arm 4 18, and the flexible starting of joint motions on the one hand can be achieved, on the other hand can be used for buffering due to control
The issuable instantaneous rigid shock of error processed.
Further, connecting shaft is provided in the middle part of buffer disc b412, connecting shaft passes through Rocker arm 4 18 and is arranged in its end
There are thin-wall bearing end cap b416, thin-wall bearing end cap b416 to connect with Rocker arm 4 18, buffer disc b412 and Rocker arm 4 18 pass through the company
Spindle connection.It is provided with thin-wall bearing b415 between connecting shaft and Rocker arm 4 18, to reduce resistance when rotation, while reducing mill
Damage increases service life.The side of thin-wall bearing b415 is provided with several positioning screw b414, and thin-wall bearing b415 passes through thin-walled
Bearing (ball) cover b416 and bearing positioning screw b414 positioning.The end of knee joint harmonic reduction mould group 411 is connected with position limitation protection
Shell b417, position limitation protection shell b417 use specific shape and structure, limit for the rotational angle to Rocker arm 4 18.
One end of connecting rod 41 is connect with Rocker arm 4 18 far from one end of buffer disc b412, the other end and shank link block 42
One end connection.The other end of shank link block 42 is connect with shank bar 441, thigh bar 431 far from hip joint swing arm 36 one
End is connected with thigh joint gear 433, and one end of shank bar 441 is connected with calf joint gear 443, thigh joint gear 433
It is engaged with calf joint gear 443.The knee joint equipment 4 provides power drive by the knee joint harmonic reduction mould group 411
Buffer disc b412 rotation, buffer disc b412 drive the Rocker arm 4 18 to rotate, and Rocker arm 4 18 drives the connecting rod 41 to act, then small
Leg link block 42 drives shank bar 441 to act, and realizes the human body lower limbs power assistive device knee sprung/stretching routine.Upper
It states in action process, thigh joint gear 433 and the calf joint gear 443 do gear motion, so that its buckling/stretching, extension fortune
Along the direction that gear engages change in location occurs for dynamic center, so that the flexion/extension motion of more rotation centers is realized, with more preferably suitable
Answer the movement characteristic of human body knee joint.
Further, knee joint equipment 4 further includes thigh shaft 432, shank shaft 442, articular link plate, energy storage torsional spring
46。
Thigh shaft 432 is connect with thigh bar 431, and shank shaft 442 is connect with shank bar 441.Articular link plate includes
Side connecting plate 48 outside the joint connection plate inside 47 and joint of setting is mutually fastened, thigh shaft 432 is parallel with shank shaft 442
It being arranged in articular link plate, thigh shaft 432 and shank shaft 442 are provided with bearing a43 between articular link plate, with
Reduce resistance when rotation, while reducing abrasion, increases service life.It is socketed respectively in thigh shaft 432 and shank shaft 442
Have a sleeve c434 and sleeve d444, the both ends of thigh shaft 432 and shank shaft 442 are provided with end cap a44, end cap a44 with
Articular link plate connection, sleeve c434, sleeve d444 and end cap a44 play the positioning action to bearing a43.
Convex column is provided in articular link plate, energy storage torsional spring 46 is sheathed in convex column, both ends respectively with thigh bar
431 and shank bar 441 connect, when knee sprung, energy storage torsional spring 46 can store extra energy；When the knee is in extension,
The energy storage torsional spring 46 releases the stored energy again.
Thigh bar 431 and the one end close to each other of shank bar 441 are provided with rubber cushion blocks 45, when knee extension to pole
When extreme position, two meeting mutual extrusions of rubber cushion blocks 45 play the role of damping limit.
As shown in Figure 16 to 18, ankle device 5 includes shank connecting rod 51, dorsiflex/plantar flexion axis 52, bearing block 55, connects
Connect block 1, inside/outside turns over pin shaft 58 and link block 2 510.One end of shank connecting rod 51 be machined with adjusting long hole and with it is small
Leg bar 441 is connected far from one end of calf joint gear 443, by adjust link position of the shank bar 441 on the long hole into
Row adjustment is suitable for the shank size requirement of different wearers.
The other end of shank connecting rod 51 is hinged by dorsiflex/plantar flexion axis 52 and bearing block 55, bearing block 55 and link block
One 57 connections, link block 1 and link block 2 510 turn over pin shaft 58 hingedly by inside/outside.Dorsiflex/plantar flexion axis 52 and bearing block 55
Between be provided with bearing b53 and sleeve a54, the two sides of bearing block 55 are connected with end cap b56.Setting bearing b53 can be effectively reduced
Resistance when rotation, while abrasion is reduced, increase service life, sleeve a54 and end cap b56 are used to carry out axis to bearing b53
To positioning.
Inside/outside turns over and is socketed with torsional spring 511 on pin shaft 58, the both ends of torsional spring 511 respectively with link block 1 and link block two
510 connections, one end that inside/outside turns over pin shaft 58 are provided with shaft end screw 59, exist when user dresses above-mentioned human body lower limbs power assistive device
When out-of-flatness landform is walked, the torque that ankle-joint inside/outside turns over movement can be effectively buffered.
As shown in figure 19, foot device 6 includes sole support plate 61, foot's bandage 63, foot pad 64 and several pressure sensings
Device 62.Sole support plate 61 is connected on link block two.Sole support plate 61 is connect with foot bandage 63, and user when in use may be used
Bondage is carried out by leg strap 63.The covering of foot pad 64 is set in sole support plate 61, and pressure sensor 62 is set to sole
Between support plate 61 and foot pad 64.The pressure sensor 62 is electrically connected with electric cabinet 13, induction pressure signal is used for, to realize people
Body recognizing model of movement and force-feedback control.Electric cabinet 13 also subtracts with hip joint harmonic reduction mould group 32 and knee joint harmonic wave respectively
Fast 411 Electricity Federation of mould group, after receiving from the feedback signal of pressure sensor 62, electric cabinet 13 controls hip joint harmonic reduction mould
Group 32 and knee joint harmonic reduction mould group 411 complete respective action process.On the one hand the setting of foot pad 64 enhances user and wears
On the other hand the comfort level worn can protect pressure sensor 62, prolong its service life.
As shown in figure 20, leg bondage device 7 is connected including 73, two nylon block 71, cover board bandages 74 with two bandages
Column 72.The two sides of nylon block 71 are respectively connected with bandage connecting column 72, and bandage connecting column 72 is connect with one end of bandage 74, cover board 73
It is connect with nylon block 71, nylon block 71 is connect with thigh bar 431 or shank bar 441.Bondage device 7 is used for the thigh of user
Wearing is completed together with above-mentioned human body lower limbs power assistive device corresponding position bondage in position and shank position.
The above is only a preferred embodiment of the present invention, it should be understood that the present invention is not limited to described herein
Form should not be regarded as an exclusion of other examples, and can be used for other combinations, modifications, and environments, and can be at this
In the text contemplated scope, modifications can be made through the above teachings or related fields of technology or knowledge.And those skilled in the art institute into
Capable modifications and changes do not depart from the spirit and scope of the present invention, then all should be in the protection scope of appended claims of the present invention
It is interior.
Claims (10)
1. a kind of human body lower limbs power assistive device, which is characterized in that symmetrically set including Backpack device (1), lumbar device (2) and two
The leg device set, the leg device include hip joint device (3), knee joint equipment (4), ankle device (5), foot's dress
Set (6) and several leg bondage devices (7)；
The Backpack device (1) includes back baffle (11), load-bearing supporting plate (12) and electric cabinet (13), the back baffle (11)
It is connect with load-bearing supporting plate (12), the electric cabinet (13) is set on the load-bearing supporting plate (12)；
The lumbar device (2) includes receipts in hip joint/outreach mechanism (21), waist bandage (23) and two hip joint inside/outsides
It revolves mechanism (22), receipts/outreach mechanism (21) includes waist connecting rod (211), receipts/outreach in two hip joints in the hip joint
Receipts/outreach rotating bar (217) in axis (213) and two hip joints, two sides of the waist connecting rod (211) respectively with institute
It states back baffle (11) to connect with the middle part of waist bandage (23), the both ends of the waist connecting rod (211) pass through the hip
Intra-articular receipts/outer showing shaft (213) and receipts in a hip joint/outreach rotating bar (217) one end are hinged, the hip joint
Inside/outside rotation mechanism (22) include adjustable plate (221), fixed block (222), rotating block (223), hip joint inside/outside spin axis (224) and
L-type link block (228), receipts/outreach rotating bar (217) is machined with far from the one end of waist connecting rod (211) in the hip joint
It adjusts and uses long hole, the adjustable plate (221) connect with receipts in the hip joint/outreach rotating bar (217), the fixed block
(222) connect with the adjustable plate (221), the fixed block (222) by the hip joint inside/outside spin axis (224) with it is described
One end of rotating block (223) is hinged, and the other end of the rotating block (223) is connect with the L-type link block (228)；The L-type
Link block (228) is provided with bandage perforation far from the one end of rotating block (223), and the both ends of the waist bandage (23) are each passed through
The bandage perforation of two L-type link blocks (228)；
The hip joint device (3) includes hip joint flange (31), hip joint harmonic reduction mould group (32), buffer disc a(33), it is slow
Rush torsional spring a(34) and hip joint swing arm (36), adjusting long hole, the hip joint method are machined on the L-type link block (228)
Blue (31) are equipped with connecting plate, and the connecting plate is connect with the L-type link block (228), the method for the hip joint flange (31)
Orchid circle connect with the hip joint harmonic reduction mould group (32), the output shaft of the hip joint harmonic reduction mould group (32) with it is described
Buffer disc a(33) one end connection, the buffer disc a(33) the other end and the hip joint swing arm (36) one end be driven connect
Connect, the buffering torsional spring a(34) both ends connect respectively with the buffer disc a(33) with hip joint swing arm (36)；
The knee joint equipment (4) includes knee joint harmonic reduction mould group (411), buffer disc b(412), buffering torsional spring b(413),
Rocker arm (418), connecting rod (41), shank link block (42), thigh bar (431), thigh joint gear (433), shank bar (441) and
Calf joint gear (443), the hip joint swing arm (36) is far from buffer disc a(33) one end be machined with adjusting long hole and with
One end of the thigh bar (431) connects, the middle part of the knee joint harmonic reduction mould group (411) and the thigh bar (431)
Connection, output shaft connect with one end of the buffer disc b(412), the buffer disc b(412) the other end and the rocker arm
(418) one end transmission connection, the buffering torsional spring b(413) both ends respectively with the buffer disc b(412) and rocker arm (418)
One end of connection, the connecting rod (41) is connect with the rocker arm (418) far from one end of buffer disc b(412), the other end and institute
State one end connection of shank link block (42)；The other end of the shank link block (42) is connect with the shank bar (441), institute
It states thigh bar (431) to be connected with thigh joint gear (433) far from the one end of hip joint swing arm (36), the shank bar (441)
One end be connected with calf joint gear (443), the thigh joint gear (433) is engaged with calf joint gear (443)；
The ankle device (5) includes shank connecting rod (51), dorsiflex/plantar flexion axis (52), bearing block (55), link block one
(57), inside/outside turns over pin shaft (58) and link block two (510), and one end of the shank connecting rod (51) is machined with adjusting long hole
And it is connect with the shank bar (441) far from the one end of calf joint gear (443), the other end of the shank connecting rod (51)
Hingedly by the dorsiflex/plantar flexion axis (52) and the bearing block (55), the bearing block (55) and the link block one (57)
Connection, the link block one (57) and link block two (510) turn over pin shaft (58) hingedly by the inside/outside；
Several leg bondage devices (7) connect with the thigh bar (431) and shank bar (441) respectively, foot's dress
It sets (6) to connect with link block two (510), is provided with several pressure sensors (62), the electric cabinet in the foot device (6)
(13) respectively with the hip joint harmonic reduction mould group (32), knee joint harmonic reduction mould group (411) and pressure sensor (62)
Electricity Federation.
2. a kind of human body lower limbs power assistive device according to claim 1, which is characterized in that the waist connecting rod (211)
And received in hip joint/outer showing shaft (213) between be provided with bearing c(215), receive in the hip joint/outer showing shaft (213) on be socketed
Have sleeve b(214 used for positioning), both ends are provided with end cap c(216), the end cap c(216) and the waist connecting rod
(211) it connects, is provided with backing plate (212), the backing plate between the waist connecting rod (211) and the waist bandage (23)
(212) for eliminating the end cap c(216) end face and the waist connecting rod (211) difference in height.
3. a kind of human body lower limbs power assistive device according to claim 1, which is characterized in that the hip joint inside/outside spin axis
(224) bearing d(225 is provided between the fixed block (222)), it is socketed on the hip joint inside/outside spin axis (224) useful
End cap d(227 is provided in the both ends of the axle sleeve (226) of positioning, the hip joint inside/outside spin axis (224)), the end cap d
(227) it is connect with the fixed block (222).
4. a kind of human body lower limbs power assistive device according to claim 1, which is characterized in that the buffer disc a(33) in
Portion is provided with connecting shaft, and the connecting shaft passes through the hip joint swing arm (36) and is connected with thin-wall bearing end cap a in its end
(37), thin-wall bearing a(35 is provided between the connecting shaft and the hip joint swing arm (36)), it further include position limitation protection shell a
(39) and if dry bearing positioning screw a(38), the thin-wall bearing a(35) pass through the thin-wall bearing end cap a(37) and bearing
Positioning screw a(38) positioning, the position limitation protection shell a(39) it is connect with the hip joint harmonic reduction mould group (32), the limit
Position protective shell a(39) for being limited to the rotational angle of the hip joint swing arm (36).
5. a kind of human body lower limbs power assistive device according to claim 1, which is characterized in that the buffer disc b(412) in
Portion is provided with connecting shaft, and the connecting shaft passes through the rocker arm (418) and is connected with thin-wall bearing end cap b(416 in its end),
Thin-wall bearing b(415 is provided between the connecting shaft and the rocker arm (418)), further include position limitation protection shell b(417) and if
Dry bearing positioning screw b(414), the thin-wall bearing b(415) pass through the thin-wall bearing end cap b(416) and bearing positioning spiral shell
Follow closely b(414) positioning, the position limitation protection shell b(417) it is connect with the knee joint harmonic reduction mould group (411), the limit is protected
Protective case b(417) for being limited to the rotational angle of the rocker arm (418).
6. a kind of human body lower limbs power assistive device according to claim 1, which is characterized in that further include thigh shaft (432),
Shank shaft (442), articular link plate and energy storage torsional spring (46), the thigh shaft (432) and the thigh bar (431) are even
It connects, the shank shaft (442) connect with the shank bar (441), and the articular link plate includes the mutual pass for fastening setting
Side connecting plate (48) outside connection plate inside (47) and joint is saved, the thigh shaft (432) is parallel with shank shaft (442) to be worn
In in the articular link plate, the thigh shaft (432) and shank shaft (442) are all provided between the articular link plate
It is equipped with bearing a(43), it is respectively sleeved on the thigh shaft (432) and shank shaft (442) for being positioned to bearing a(43)
Sleeve c(434) and sleeve d(444), the both ends of the thigh shaft (432) and shank shaft (442) are provided with end cap a
(44), the end cap a(44) it is connect with the articular link plate, convex column, the energy storage are provided in the articular link plate
Torsional spring (46) is sheathed in the convex column, and both ends are connect with thigh bar (431) and shank bar (441) respectively.
7. a kind of human body lower limbs power assistive device according to claim 6, which is characterized in that the thigh bar (431) and small
Leg bar (441) one end close to each other is provided with rubber cushion blocks (45), when the rubber cushion blocks (45) are used for knee extension
The damping of the thigh bar (431) and shank bar (441) limits.
8. a kind of human body lower limbs power assistive device according to claim 1, which is characterized in that the dorsiflex/plantar flexion axis (52)
Bearing b(53 is provided between the bearing block (55)) and sleeve a(54), the two sides of the bearing block (55) are connected with end cap
B(56), the sleeve a(54) and end cap b(56) be used to the bearing b(53) carry out axially position；
The inside/outside turns over to be socketed with torsional spring (511) on pin shaft (58), the both ends of the torsional spring (511) respectively with the link block
One (57) and link block two (510) connection, one end that the inside/outside turns over pin shaft (58) is provided with shaft end screw (59).
9. a kind of human body lower limbs power assistive device according to claim 1, which is characterized in that the foot device (6) is also wrapped
Sole support plate (61), foot's bandage (63) and foot pad (64) are included, the sole support plate (61) connect with foot's bandage (63),
Foot pad (64) covering is set on the sole support plate (61), and the pressure sensor (62) is set to the sole branch
Between fagging (61) and foot pad (64), the link block two (510) connect with the sole support plate (61).
10. a kind of human body lower limbs power assistive device according to claim 1, which is characterized in that the leg bondage device (7)
Including nylon block (71), cover board (73), two bandages (74) and two bandage connecting columns (72), the two sides of the nylon block (71)
It is respectively connected with the bandage connecting column (72), the bandage connecting column (72) connect with one end of the bandage (74), the lid
Plate (73) is connect with the nylon block (71), and the nylon block (71) connect with the thigh bar (431) or shank bar (441).
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| CN201811457327.6A CN109464264B (en) | 2018-11-30 | 2018-11-30 | Human lower limb assisting device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811457327.6A CN109464264B (en) | 2018-11-30 | 2018-11-30 | Human lower limb assisting device |
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