CN110125908A - A kind of laborsaving walking aid of no external impetus input - Google Patents
A kind of laborsaving walking aid of no external impetus input Download PDFInfo
- Publication number
- CN110125908A CN110125908A CN201910301835.3A CN201910301835A CN110125908A CN 110125908 A CN110125908 A CN 110125908A CN 201910301835 A CN201910301835 A CN 201910301835A CN 110125908 A CN110125908 A CN 110125908A
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- China
- Prior art keywords
- walking aid
- shoe body
- ratchet
- torsional spring
- return pawl
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention provides a kind of laborsaving walking aid of no external impetus input.It includes walking aid ontology, connectivity kit, ratchet mechanism, energy storage torsional spring.The laborsaving walking aid is wearable in user's both feet, by way of the energy storage torsional spring for being mounted on its bottom end, the energy storage of negative work will be done in human walking procedure, the release when doing positive work is realized without external impetus input type power-assisted.Meanwhile it being based on optimizing structure design, ectoskeleton self weight is reduced, the flexibility of ectoskeleton and the wheel efficiency of people are improved.Moreover, realizing free position stop of user during traveling with non-return ratchet mechanism, so that the walking aid locks energy when user is static, energy storage labour-saving purpose of design is reached, has substantially increased the stability and controllability of device.Novel ectoskeleton designed by the invention dresses mode, enhances the portability and practicability of such product.
Description
Technical field
The present invention relates to a kind of laborsaving walking aids of no external impetus input, belong to walking aid tool field.
Background technique
The major way of weight bearing long journey at present is still the Conventional drum vehicles, this kind of load mode road pavement environment etc. is wanted
Ask higher, such as the fields such as military affairs, scientific investigation, fire-fighting rescue still can not effectively use.Under special circumstances, soldier, scientific investigation people
Member and fire-extinguishing and lifesaving personnel often need to be implemented some as walked, bearing overweight object over long distances, transport the wounded, progress field
The tasks such as operation, mountain climbing expedition can not be completed at this time by traditional vehicles.
Based on the above specific demand, power-assisted can be provided for wearer by designing a kind of mechanism, energy when it being made to mitigate walking
Consumption, enhancing walking ability is very necessary.Tradition machinery exoskeleton device is a kind of wearable mobile machine, can
It is combined with each other by motor, pneumatic device, lever, hydraulic device etc. to provide power, but energy continuation of the journey and portability are always
It is two key problems urgently to be resolved.
Van L. Phillip about in the patent of prosthese energy stores and release device, mainly at below-knee prosthesis
C-type elastic element is installed, so that human body comes during exercise by the elastic force of elastic element for user's power-assisted, but individually
Elastic element energy can not be locked when its is static, and rebound phenomenon easily occurs in this state, so as to cause dress
It sets and controls more difficult, wild effect generation.
In the invention about the bionical boots of ostrich spring assist of Keahi Seymour, although using linear springs as fortune
Energy-storage travelling wave tube when dynamic, but additional increased single unit system height, so that control of user when static becomes more to be stranded
Difficulty, and also without energy locking device, so that there are still wild effects for force aid system.
In the ectoskeleton power assistive device to emerge now, generally all because component of machine is excessive seem it is huge heavy and with
Inevitable noise, while price is also costly.Following ectoskeleton still needs to improve in material and conformability, and
With high-intensitive, retractility is good, light weight, the speciality such as wear-resistant.
Summary of the invention
It is an object of the invention to be directed to the deficiencies in the prior art, a kind of the laborsaving of no external impetus input is provided
Human walking procedure can be done the energy storage of negative work, released when needing to do positive work by walking aid, the walking aid, thus real
Power-assisted now without external impetus input type.
In order to solve the above technical problems, the technical scheme is that
A kind of laborsaving walking aid of no external impetus input, the device by include walking aid ontology, connectivity kit, ratchet mechanism,
Energy storage torsional spring composition.The walking aid ontology includes bottom and cushion rubber bumper after shoe body front, shoe body rear portion, shoe buckle, shoe body, wherein
Shoe body front is connect using articulated manner with shoe body rear portion by front axle mounted thereto, after shoe buckle is by fixed block and shoe body
Portion's connection, cushion rubber bumper pass through cementation method and stick in bottom and shoe body front after shoe body respectively.Special theory is removed in walking aid ontology
It is all made of aluminum substrate outside bright, can guarantee to bear body weight, the changeability rubber of cushion rubber bumper and insole portion sponge
Insole can make user comfortable and easy to wear.
The connectivity kit includes fixed block, sleeve, T-type connecting rod, rear axle, axis, ratchet shaft, front axle and E type retaining ring,
Middle fixed block, sleeve and T-type length of connecting rod end pass through axis concentric fit built in sleeve and connect, and T-type connecting rod short end is used by rear axle
Articulated manner is connect with bottom after shoe body, and slide bar, special-shaped ratchet have increment to connect with shoe body front by axis concentric fit, special-shaped
Ratchet is connect with bottom after shoe body by ratchet shaft concentric fit without increment.Above-mentioned each connecting shaft is both needed to after mating connection
Its both ends is aided with E type retaining ring to constrain axial freedom.
The ratchet mechanism includes slide bar, non-return pawl, special-shaped ratchet and linear springs, wherein sliding bar end and sleeve
It is slidably connected, non-return pawl is installed in slide bar.Its motion process are as follows: pass through the non-return spine of linear springs extension and contraction control in slide bar
Pawl homing, the stop of ratchet mechanism control device, exempt to allow energy storage device restoring force breaking plant balance, so as to make
User can remain stationary during traveling in free position；If human body is remain stationary, non-return pawl and the special-shaped ratchet gear teeth
Engagement, to lift trend on hindering；If releasing stationary state to continue to move, foot slightly needs slightly to push, and crosses non-return pawl
Sliding slot releases meshing state；If being always maintained at motion state, built-in inertia of the people in traveling can be such that non-return pawl crosses automatically
Sliding slot.
The energy storage torsional spring is a torsional spring, ratchet shaft circumferential position is fixedly mounted on, for realizing ankle-joint around axis
Rotary motion, that is, realize ankle-joint plantar flexion/dorsiflex freedom of motion.Its motion process are as follows: when human body is in gait support
Xiang Shi, non-return pawl are located above the special-shaped ratchet gear teeth, and torsional spring is compressed with design factors variation to store energy, complete until sole
It lands；When user is always maintained at motion state, built-in inertia of the people in traveling can make non-return pawl cross sliding slot automatically,
Compressed torsional spring release before simultaneously, to assist completing traveling process.
Particularly, in stop gear device, non-return pawl is located above the gear teeth of special-shaped ratchet.When the full sole of arrival
When ground state, human body, which can choose, to be continued on or remain stationary.When remaining stationary, non-return pawl and gear teeth meshing, from
And the trend lifted on insole is hindered, it remain stationary human body.When continuing movement, foot needs continue to push, and get over non-return pawl
The sliding slot at hook tooth end is crossed, to release meshing state, can be walked on.If being always maintained at motion state, people is expert at
Intrinsic inertia can help non-return pawl to cross above-mentioned sliding slot in, and without pushing, traveling process can be completed.
Compared with prior art, the present invention have following obvious prominent substantive distinguishing features and significant technology into
Step:
A kind of laborsaving walking aid of no external impetus input of the present invention, the energy storage by being mounted on walking aid bottom end are turned round
The mode of spring will do the energy storage of negative work in human walking procedure, the release when doing positive work, realize without external impetus input type
Power-assisted.Meanwhile the design based on the above structure, ectoskeleton self weight is reduced, the flexibility of ectoskeleton and the walking effect of people are improved
Rate realizes that human body can still walk freely in big weight bearing.It is advancing moreover, realizing user with non-return ratchet mechanism
It is laborsaving to have reached energy storage so that the walking aid locks energy when user is static for free position stop in the process
Purpose of design, substantially increase the stability and controllability of device.Novel ectoskeleton designed by the invention dresses mode,
Enhance the portability and practicability of such product.
Detailed description of the invention
To make the objectives, technical solutions, and advantages of the present invention clearer, below by clearly understandable mode, in conjunction with
Attached drawing is further described above-mentioned characteristic, technical characteristic, advantage and its implementation of the invention, in which:
A kind of Fig. 1: structural schematic diagram of the laborsaving walking aid of no external impetus input of the present invention；
Fig. 2: locking, ratchet and energy storing structure cross-sectional view of the present invention；
Fig. 3: sleeve and its connection component schematic diagram of the present invention；
Fig. 4: stop gear apparatus structure schematic diagram of the present invention；
Fig. 5: energy storage torsion spring device structural schematic diagram of the present invention.
Specific embodiment
It elaborates below to the preferred embodiment of the present invention, the present embodiment is under the premise of the technical scheme of the present invention
Implemented, the detailed implementation method and specific operation process are given, but protection scope of the present invention be not limited to it is following
Embodiment.To make simplified form, each figure only schematically shows part related to the present invention, they do not represent it
Practical structures as product.
Embodiment one:
Referring to Fig. 1 and Fig. 2, this without external impetus input laborsaving walking aid, including walking aid ontology (I), connectivity kit (II),
Ratchet mechanism (III) and energy storage torsional spring (IV), it is characterised in that: shoe body front (15), shoe body in the walking aid ontology (I)
Bottom (6) are connected by corresponding connecting shaft using articulated manner concentric fit after rear portion (1), shoe body；The connectivity kit (II)
Middle rear axle (5), axis (9), ratchet shaft (12), front axle (13) concentric fit connect each building block in walking aid ontology (I)；
Non-return pawl (10) in the ratchet mechanism (III) engages under different travel conditions from special-shaped ratchet (11), with control device
Stop；Torsional spring (19) in the energy storage torsional spring (IV) is fixedly mounted on ratchet shaft (12) circumferential position, to store ankle-joint
Kinetic energy when pivoting movement；Its motion process are as follows: when human body is in gait support phase, non-return pawl (10) is located at special-shaped spine
It takes turns above (11) gear teeth, torsional spring (19) is compressed with design factors variation to store energy, complete until sole lands；When in movement
When state, built-in inertia of the people in traveling can make non-return pawl (10) cross sliding slot automatically, while compressed torsional spring before
(19) it discharges, to assist completing traveling process.
Embodiment two:
The present embodiment is basically the same as the first embodiment, and special feature is as follows:
The walking aid ontology (I) includes bottom (6) and buffering after shoe body front (15), shoe body rear portion (1), shoe buckle (17), shoe body
Rubber mat (7,14), wherein shoe body front (15) are by front axle (13) mounted thereto using articulated manner and shoe body rear portion (1)
Connection, shoe buckle (17) are connect by fixed block (2) with shoe body rear portion (1), and cushion rubber bumper (7,14) is glued respectively by cementation method
It is connected in bottom (6) and shoe body front (15) after shoe body；It is all made of aluminum substrate unless otherwise specified in walking aid ontology (I), it can
Guarantee to bear body weight, the changeability rubber and insole portion sponge insole of cushion rubber bumper can make user comfortable and easy to wear.
The connectivity kit (II) includes fixed block (2), sleeve (3), T-type connecting rod (4), rear axle (5), axis (9), ratchet
Axis (12), front axle (13) and E type retaining ring (16), wherein fixed block (2), sleeve (3) and T-type connecting rod (4) long end pass through sleeve (3)
Built-in axis concentric fit connection, T-type connecting rod (4) short end is connect using articulated manner with bottom after shoe body (6) by rear axle (5), sliding
Bar (8), special-shaped ratchet (11) have increment to connect with shoe body front (15) by axis (9) concentric fit, special-shaped ratchet (11) nothing
Increment is connect with bottom after shoe body (6) by ratchet shaft (12) concentric fit；Above-mentioned each connecting shaft is both needed to after mating connection
Its both ends is aided with E type retaining ring (16) to constrain axial freedom.
The ratchet mechanism (III) includes slide bar (8), non-return pawl (10), special-shaped ratchet (11) and linear springs (18),
Wherein slide bar (8) sliding end is slidably connected with sleeve (3), is equipped with non-return pawl (10) in slide bar (8)；Its motion process are as follows:
By linear springs (18) extension and contraction control non-return pawl (10) homing in slide bar (8), ratchet mechanism control device stops
It is dynamic, exempt to allow energy storage device restoring force breaking plant balance so that user can protect during traveling in free position
It holds static；If human body is remain stationary, non-return pawl (10) and special-shaped ratchet (11) gear teeth meshing, to lift trend on hindering；
If releasing stationary state to continue to move, foot slightly needs slightly to push, and non-return pawl (10) is made to cross sliding slot, releases meshing state；
If being always maintained at motion state, built-in inertia of the people in traveling can make non-return pawl (10) cross sliding slot automatically.
The energy storage torsional spring (IV) is a torsional spring (19), is fixedly mounted on ratchet shaft (12) circumferential position, for real
Existing ankle-joint realizes plantar flexion/dorsiflex freedom of motion of ankle-joint around the rotary motion of axis；Its motion process are as follows: work as human body
When in gait support phase, non-return pawl (10) is located above special-shaped ratchet (11) gear teeth, and torsional spring (19) changes with design factors
Compression is to store energy, until full sole lands；When user is always maintained at motion state, built-in inertia of the people in traveling
Non-return pawl (10) can be made to cross sliding slot automatically, while compressed torsional spring (19) release before, to assist completing to travel across
Journey.
Embodiment three:
As shown in Figure 1, 2, this laborsaving walking aid without external impetus input, including walking aid ontology I, connectivity kit II, ratchet
Mechanism III, energy storage torsional spring IV, it is characterised in that: the walking aid ontology (I) includes shoe body front (15), shoe body rear portion (1), shoes
Bottom (6) and cushion rubber bumper (7,14) after button (17), shoe body, wherein shoe body front (15) are adopted by front axle (13) mounted thereto
It is connect with articulated manner with shoe body rear portion (1), shoe buckle (17) is connect by fixed block (2) with shoe body rear portion (1), cushion rubber bumper
(7,14) pass through cementation method and stick in bottom (6) and shoe body front (15) after shoe body respectively.
The connectivity kit (II) includes fixed block (2), sleeve (3), T-type connecting rod (4), rear axle (5), axis (9), ratchet
Axis (12), front axle (13) and E type retaining ring (16), wherein fixed block (2), sleeve (3) and T-type connecting rod (4) long end pass through sleeve (3)
Built-in axis concentric fit connection, T-type connecting rod (4) short end is connect using articulated manner with bottom after shoe body (6) by rear axle (5), sliding
Bar (8), special-shaped ratchet (11) have increment to connect with shoe body front (15) by axis (9) concentric fit, special-shaped ratchet (11) nothing
Increment is connect with bottom after shoe body (6) by ratchet shaft (12) concentric fit.Above-mentioned each connecting shaft is both needed to after mating connection
Its both ends is aided with E type retaining ring (16) to constrain axial freedom.
The ratchet mechanism (III) includes slide bar (8), non-return pawl (10), special-shaped ratchet (11) and linear springs (18),
Wherein slide bar (8) sliding end is slidably connected with sleeve (3), is equipped with non-return pawl (10) in slide bar (8).The energy storage torsional spring
(IV) include torsional spring (19), be fixedly mounted on ratchet shaft (12) circumferential position, for realizing ankle-joint around the rotary motion of axis,
Realize plantar flexion/dorsiflex freedom of motion of ankle-joint.
A kind of laborsaving walking aid of above-mentioned no external impetus input, auxiliary walking are achieved in that: the walking aid
After ontology is worn on the both feet of user, when it, which strides, lands, energy storage torsional spring (13) compressed after by human body walking when it is negative
Function storage, non-return pawl (12) reaches special-shaped ratchet (5) tooth end and releases meshing state at this time, when continuing foot-up, special-shaped ratchet
It rotates forward and will not be hindered；When its foot-up is advanced, it is stored in the release of energy storage torsional spring kind negative work energy, mitigates user
Force when foot-up is advanced, to achieve the purpose that assist user's walking.Meanwhile to a large amount of pedestrians carry out gait analysis it
Afterwards, discovery ankle-joint maximum deflection angle average value in entire gait cycle is 15 degree, i.e., special-shaped ratchet range with teeth is 15
Degree, when user is in upright state, non-return pawl is meshed with special-shaped ratchet, and whole device is fixed, and user keeps quiet
Only fill state.
Further, when user remain stationary state, the gear teeth meshing of non-return pawl (12) and special-shaped ratchet (5), resistance
Hinder the trend lifted on insole rear portion (1), remain stationary human body.When continuing movement, foot needs continue to push, and make non-return pawl
(12) sliding slot at tooth end is crossed, meshing state is released, can walk on.If being always maintained at motion state, people is advancing
In intrinsic inertia non-return pawl (12) can be helped to cross above-mentioned sliding slot, without pushing, traveling process can be completed.
A kind of laborsaving walking aid of no external impetus input described in above embodiments, by being mounted on walking aid bottom end
Energy storage torsional spring mode, the energy storage of negative work will be done in human walking procedure, the release when doing positive work is realized dynamic without outside
Power input type power-assisted.Meanwhile the design based on the above structure, ectoskeleton self weight is reduced, flexibility and the people of ectoskeleton are improved
Wheel efficiency, realize that human body can still walk freely in big weight bearing.Moreover, realizing use with non-return ratchet mechanism
Free position stop of person during traveling reaches so that the walking aid locks energy when user is static
Energy storage labour-saving purpose of design substantially increases the stability and controllability of device.Novel ectoskeleton designed by the invention
Wearing mode enhances the portability and practicability of such product.
Claims (5)
1. a kind of laborsaving walking aid of no external impetus input, including walking aid ontology (I), connectivity kit (II), ratchet mechanism
(III) and energy storage torsional spring (IV), it is characterised in that: shoe body front (15), shoe body rear portion (1) in the walking aid ontology (I),
Bottom (6) are connected by corresponding connecting shaft using articulated manner concentric fit after shoe body；Rear axle in the connectivity kit (II)
(5), axis (9), ratchet shaft (12), front axle (13) concentric fit connect each building block in walking aid ontology (I)；The spine
Non-return pawl (10) in wheel mechanism (III) engages under different travel conditions from special-shaped ratchet (11), with control device stop；
Torsional spring (19) in the energy storage torsional spring (IV) is fixedly mounted on ratchet shaft (12) circumferential position, revolves to store ankle-joint around axis
Kinetic energy when transhipment is dynamic；Its motion process are as follows: when human body is in gait support phase, non-return pawl (10) is located at special-shaped ratchet (11)
Above the gear teeth, torsional spring (19) is compressed with design factors variation to store energy, complete until sole lands；When being kept in motion
When, built-in inertia of the people in traveling can make non-return pawl (10) cross sliding slot automatically, while compressed torsional spring (19) before
Release, to assist completing traveling process.
2. the laborsaving walking aid of no external impetus input according to claim 1, it is characterised in that: the walking aid ontology
It (I) include bottom (6) and cushion rubber bumper (7,14) after shoe body front (15), shoe body rear portion (1), shoe buckle (17), shoe body, wherein shoe body
Front (15) is connect using articulated manner with shoe body rear portion (1) by front axle (13) mounted thereto, and shoe buckle (17) passes through solid
Determine block (2) to connect with shoe body rear portion (1), cushion rubber bumper (7,14) sticks in bottom (6) and shoes after shoe body by cementation method respectively
Body front (15)；It is all made of aluminum substrate unless otherwise specified in walking aid ontology (I), can guarantee to bear body weight, delay
The changeability rubber and insole portion sponge insole for rushing rubber mat can make user comfortable and easy to wear.
3. the laborsaving walking aid of no external impetus input according to claim 1, it is characterised in that: the connectivity kit
It (II) include fixed block (2), sleeve (3), T-type connecting rod (4), rear axle (5), axis (9), ratchet shaft (12), front axle (13) and E type
Retaining ring (16), wherein fixed block (2), sleeve (3) are connect with T-type connecting rod (4) long end by axis concentric fit built in sleeve (3), T
Type connecting rod (4) short end is connect using articulated manner with bottom after shoe body (6) by rear axle (5), and slide bar (8), special-shaped ratchet (11) have
Increment is connect with shoe body front (15) by axis (9) concentric fit, and special-shaped ratchet (11) passes through without increment and bottom after shoe body (6)
The connection of ratchet shaft (12) concentric fit；Above-mentioned each connecting shaft is both needed to be aided with E type retaining ring (16) at its both ends after mating connection
To constrain axial freedom.
4. the laborsaving walking aid of no external impetus input according to claim 1, it is characterised in that: the ratchet mechanism
It (III) include slide bar (8), non-return pawl (10), abnormal shape ratchet (11) and linear springs (18), wherein slide bar (8) sliding end and set
Cylinder (3) is slidably connected, and is equipped with non-return pawl (10) in slide bar (8)；Its motion process are as follows: pass through the straight line bullet in slide bar (8)
Spring (18) extension and contraction control non-return pawl (10) homing, the stop of ratchet mechanism control device exempt to allow the reply of energy storage device
The balance of power breaking plant, so that user can remain stationary during traveling in free position；If human body is remain stationary
When, non-return pawl (10) and special-shaped ratchet (11) gear teeth meshing, to lift trend on hindering；If releasing stationary state after reforwarding
Dynamic, then foot slightly needs slightly to push, and non-return pawl (10) is made to cross sliding slot, releases meshing state；If being always maintained at motion state, people
Built-in inertia in traveling can make non-return pawl (10) cross sliding slot automatically.
5. the laborsaving walking aid of no external impetus input according to claim 1, it is characterised in that: the energy storage torsional spring
(IV) it is a torsional spring (19), is fixedly mounted on ratchet shaft (12) circumferential position, the rotation for realizing ankle-joint around axis is transported
It is dynamic, that is, realize plantar flexion/dorsiflex freedom of motion of ankle-joint；Its motion process are as follows: non-return when human body is in gait support phase
Pawl (10) is located above special-shaped ratchet (11) gear teeth, and torsional spring (19) is compressed with design factors variation to store energy, Quan until
Sole lands；When user is always maintained at motion state, built-in inertia of the people in traveling can make non-return pawl (10) automatic
Sliding slot is crossed, while compressed torsional spring (19) release before, to assist completing traveling process.
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| CN201910301835.3A CN110125908B (en) | 2019-04-16 | 2019-04-16 | Labor-saving walking aid without external power input |
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|---|---|---|---|
| CN201910301835.3A CN110125908B (en) | 2019-04-16 | 2019-04-16 | Labor-saving walking aid without external power input |
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| CN110125908B CN110125908B (en) | 2022-06-14 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110977934A (en) * | 2019-10-23 | 2020-04-10 | 南京航空航天大学 | Wearable power-assisted robot without drive |
| CN111870456A (en) * | 2020-08-04 | 2020-11-03 | 张家港江苏科技大学产业技术研究院 | Labor-saving mechanical device |
| CN112245860A (en) * | 2020-10-19 | 2021-01-22 | 军事科学院军事医学研究院环境医学与作业医学研究所 | Sole booster unit |
| CN113648188A (en) * | 2021-07-27 | 2021-11-16 | 中山大学 | Walking power assisting device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110977934A (en) * | 2019-10-23 | 2020-04-10 | 南京航空航天大学 | Wearable power-assisted robot without drive |
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| CN112245860A (en) * | 2020-10-19 | 2021-01-22 | 军事科学院军事医学研究院环境医学与作业医学研究所 | Sole booster unit |
| CN113648188A (en) * | 2021-07-27 | 2021-11-16 | 中山大学 | Walking power assisting device |
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