CN110125908B

CN110125908B - Labor-saving walking aid without external power input

Info

Publication number: CN110125908B
Application number: CN201910301835.3A
Authority: CN
Inventors: 沈林勇; 徐振金; 姚琳娜; 章亚男; 郑旭芹
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 2019-04-16
Filing date: 2019-04-16
Publication date: 2022-06-14
Anticipated expiration: 2039-04-16
Also published as: CN110125908A

Abstract

The invention provides a labor-saving walking aid without external power input. It comprises a walking aid body, a connecting sleeve piece, a ratchet mechanism and an energy storage torsion spring. The labor-saving walking aid can be worn on both feet of a user, and stores the energy of negative work in the walking process of a human body in an energy storage torsion spring mode arranged at the bottom end of the labor-saving walking aid, and releases the energy when positive work is done, so that no external power input type assistance is realized. Meanwhile, based on the optimized structural design, the self weight of the exoskeleton is reduced, and the flexibility of the exoskeleton and the walking efficiency of people are improved. Moreover, the stopping of any state of a user in the advancing process is realized by using the non-return ratchet mechanism, so that the walking aid locks energy when the user is static, the design aim of energy storage and labor saving is fulfilled, and the stability and the controllability of the device are greatly improved. The novel exoskeleton wearing mode designed by the invention enhances the portability and the practicability of the products.

Description

Labor-saving walking aid without external power input

Technical Field

The invention relates to a labor-saving walking aid without external power input, belonging to the field of walking aids.

Background

At present, the main mode of load-bearing walking is still the traditional wheel type vehicle, the load-bearing mode has higher requirements on the road surface environment and the like, and the load-bearing mode can not be effectively used in the fields of military affairs, scientific investigation, fire fighting and rescue and the like. Under special conditions, soldiers, scientific experimenters and fire-fighting and life-saving personnel often need to perform tasks such as long-distance walking, bearing overweight objects, transporting injured personnel, carrying out field work, climbing exploration and the like, and the tasks cannot be completed by means of traditional vehicles at the moment.

Based on the above special requirements, it is necessary to design a mechanism to provide assistance to the wearer, so as to reduce the energy consumption during walking and enhance the walking ability. The traditional mechanical exoskeleton device is a wearable mobile machine, which can be powered by combining an electric motor, a pneumatic device, a lever, a hydraulic device and the like, but energy endurance and portability are two core problems to be solved urgently.

In the patent of Van l, Phillip about prosthetic energy storage and release devices, a C-shaped elastic element is mainly installed at a lower leg prosthesis, so that a user can be assisted by the elasticity of the elastic element when the human body is in motion, but the elastic element alone cannot lock energy when the human body is at rest, and a rebound phenomenon is easily generated in the state, so that the device is difficult to control and unstable.

In the invention of Keahi Seymour about the ostrich spring power-assisted bionic boot, although a linear spring is used as an energy storage element during movement, the overall device height is additionally increased, so that the control of a user during rest becomes difficult, and an energy locking device is also not provided, so that the power-assisted system still has an unstable phenomenon.

The exoskeleton power assisting devices available today are generally bulky and heavy with inevitable noise due to the excessive number of mechanical parts, and are also expensive. Future exoskeletons still need to be improved in material and fit, and have the characteristics of high strength, good flexibility, light weight, wear resistance and the like.

Disclosure of Invention

The invention aims to provide a labor-saving walking aid without external power input aiming at the defects in the prior art, and the walking aid can store energy for doing negative work in the walking process of a human body and release the energy when needing to do positive work, thereby realizing the assistance without external power input.

In order to solve the technical problems, the technical scheme of the invention is as follows:

a labor-saving walking aid without external power input is composed of a walking aid body, a connecting sleeve part, a ratchet mechanism and an energy-storing torsion spring. The walking aid body comprises a shoe body front part, a shoe body rear part, a shoe buckle, a shoe body rear bottom and a buffer rubber pad, wherein the shoe body front part is connected with the shoe body rear part in a hinged mode through a front shaft arranged on the shoe body front part, the shoe buckle is connected with the shoe body rear part through a fixing block, and the buffer rubber pad is respectively adhered to the shoe body rear bottom and the shoe body front part in a gluing mode. Except for special instructions, the walking aid body adopts an aluminum substrate which can ensure to bear the weight of a human body, and the changeable rubber of the buffering rubber mat and the sponge shoe pad of the shoe pad part can ensure that a user can wear the walking aid comfortably.

The connecting kit comprises a fixed block, a sleeve, a T-shaped connecting rod, a rear shaft, a middle shaft, a ratchet shaft, a front shaft and an E-shaped retaining ring, wherein the fixed block, the sleeve and the long end of the T-shaped connecting rod are concentrically matched and connected through a built-in shaft of the sleeve, the short end of the T-shaped connecting rod is connected with the rear bottom of the shoe body through the rear shaft in a hinged mode, the sliding rod and the special-shaped ratchet are concentrically matched and connected with the front part of the shoe body through the middle shaft, and the non-toothed end of the special-shaped ratchet is concentrically matched and connected with the rear bottom of the shoe body through the ratchet shaft. After the connecting shafts are connected in a matching mode, two ends of each connecting shaft are required to be supplemented with E-shaped retaining rings to restrict the axial freedom degree.

The ratchet mechanism comprises a slide rod, a non-return pawl, a special-shaped ratchet and a linear spring, wherein the sliding end of the slide rod is connected with the sleeve in a sliding mode, and the non-return pawl is installed in the slide rod. The motion process is as follows: the non-return pawl is controlled to return to the original position through the extension and contraction of a linear spring in the slide rod, the ratchet mechanism controls the stopping of the device, and the restoring force of the energy storage device is prevented from damaging the balance of the device, so that a user can keep still in any state in the advancing process; if the human body keeps still, the non-return pawl is meshed with the gear teeth of the special-shaped ratchet wheel, so that the lifting trend is hindered; if the static state is released and the movement is continued, the foot needs to be slightly pressed down to enable the non-return pawl to cross the sliding groove and release the meshing state; if the motion state is kept all the time, the inherent inertia of the person in the process of traveling can enable the non-return pawl to automatically cross the sliding groove.

The energy storage torsion spring is a torsion spring which is fixedly arranged at the circumferential position of the ratchet shaft and is used for realizing the rotation motion of the ankle joint around the shaft, namely realizing the degree of freedom of the plantar flexion/dorsiflexion motion of the ankle joint. The motion process is as follows: when a human body is in a gait supporting phase, the non-return pawl is positioned above the gear teeth of the special-shaped ratchet wheel, and the torsion spring is compressed along with the change of the angle of the device to store energy until the whole sole of the foot is on the ground; when the user keeps moving, the inherent inertia of the person in the process of moving can enable the non-return pawl to automatically cross the sliding groove, and meanwhile, the compressed torsion spring is released, so that the moving process is assisted to be completed.

In particular, in the locking ratchet device, the non-return pawl is located above the teeth of the shaped ratchet. When reaching the full ball state, the body may choose to continue to travel or remain stationary. When the shoe is kept still, the non-return pawl is meshed with the gear teeth, so that the trend of lifting the shoe pad is hindered, and the human body is kept still. When the foot continues to move, the foot needs to be pressed down continuously, so that the non-return pawl passes over the slide groove at the end of the ratchet wheel tooth, the meshing state is relieved, and the walking can be continued. If the person keeps moving all the time, the inherent inertia of the person in the process of moving can help the non-return pawl to cross the sliding groove, and the moving process can be completed without pressing down.

Compared with the prior art, the invention has the following obvious prominent substantive characteristics and remarkable technical progress:

the labor-saving walking aid without external power input stores energy for doing negative work in the walking process of a human body in an energy storage torsion spring mode arranged at the bottom end of the walking aid, and releases the energy when doing positive work, thereby realizing the assistance without external power input. Meanwhile, based on the design of the structure, the self weight of the exoskeleton is reduced, the flexibility of the exoskeleton and the walking efficiency of people are improved, and the human body can still walk freely under the condition of large load. Moreover, the non-return ratchet mechanism is used for realizing the stop of a user in any state in the process of traveling, so that the walking aid locks energy when the user is static, the design aim of energy storage and labor saving is fulfilled, and the stability and the controllability of the device are greatly improved. The novel exoskeleton wearing mode designed by the invention enhances the portability and the practicability of the products.

Drawings

The above features, technical features, advantages and embodiments of the present invention will be further described in the following detailed description of the present invention in order to make the objects, technical solutions and advantages of the present invention clearer, and in conjunction with the accompanying drawings, in which:

FIG. 1: the invention relates to a structural schematic diagram of a labor-saving walking aid without external power input;

FIG. 2: the locking, ratchet and energy storage structure of the invention is in a sectional view;

FIG. 3: the sleeve and the connecting component thereof are shown schematically;

FIG. 4: the invention discloses a structural schematic diagram of a stop ratchet device;

FIG. 5: the energy storage torsion spring device is in a schematic structural diagram.

Detailed Description

The following is a detailed description of the preferred embodiments of the present invention, which is implemented on the premise of the technical solution of the present invention, and the detailed implementation and specific operation procedures are given, but the protection scope of the present invention is not limited to the following embodiments. For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product.

The first embodiment is as follows:

referring to fig. 1 and 2, the labor-saving walking aid without external power input comprises a walking aid body (i), a connecting sleeve member (ii), a ratchet mechanism (iii) and an energy storage torsion spring (iv), and is characterized in that: the front part (15) of the shoe body, the rear part (1) of the shoe body and the rear sole (6) of the shoe body in the walking aid body (I) are connected in a hinged manner in a concentric fit manner through corresponding connecting shafts; the rear shaft (5), the middle shaft (9), the ratchet shaft (12) and the front shaft (13) in the connecting kit (II) are concentrically matched and connected with all components in the walking aid body (I); a non-return pawl (10) in the ratchet mechanism (III) is meshed with a special-shaped ratchet (11) in different advancing states so as to control the device to stop; a torsion spring (19) in the energy storage torsion spring (IV) is fixedly arranged at the circumferential position of the ratchet shaft (12) so as to store the kinetic energy of the ankle joint during the rotation motion around the shaft; the motion process is as follows: when a human body is in a gait support phase, the non-return pawl (10) is positioned above the gear teeth of the special-shaped ratchet wheel (11), and the torsion spring (19) is compressed along with the change of the angle of the device to store energy until the whole sole lands on the ground; when in motion, the inherent inertia of the person in the travel causes the backstop (10) to automatically clear the slot, while the previously compressed torsion spring (19) is released, assisting in completing the travel process.

Example two:

this embodiment is substantially the same as the first embodiment, and is characterized in that:

the walking aid body (I) comprises a front shoe body (15), a rear shoe body (1), a shoe buckle (17), a rear shoe body bottom (6) and buffer rubber pads (7 and 14), wherein the front shoe body (15) is connected with the rear shoe body (1) in a hinged mode through a front shaft (13) arranged on the front shoe body (15), the shoe buckle (17) is connected with the rear shoe body (1) through a fixing block (2), and the buffer rubber pads (7 and 14) are respectively bonded on the rear shoe body bottom (6) and the front shoe body (15) in a cementing mode; except for special instructions, the walking aid body (I) adopts an aluminum substrate, so that the self weight of a human body can be borne, and the variable rubber of the buffering rubber mat and the sponge insole of the insole part can make a user comfortable to wear.

The connecting kit (II) comprises a fixed block (2), a sleeve (3), a T-shaped connecting rod (4), a rear shaft (5), a middle shaft (9), a ratchet shaft (12), a front shaft (13) and an E-shaped retaining ring (16), wherein the fixed block (2), the sleeve (3) and the long end of the T-shaped connecting rod (4) are concentrically matched and connected through a built-in shaft of the sleeve (3), the short end of the T-shaped connecting rod (4) is connected with the rear sole (6) of the shoe body in a hinged mode through the rear shaft (5), a sliding rod (8) and a special-shaped ratchet (11) are concentrically matched and connected with the front part (15) of the shoe body through the middle shaft (9), and the non-toothed end of the special-shaped ratchet (11) is concentrically matched and connected with the rear sole (6) of the shoe body through the ratchet shaft (12); after the connecting shafts are matched and connected, E-shaped snap rings (16) are additionally arranged at the two ends of each connecting shaft to restrict the axial freedom degree.

The ratchet mechanism (III) comprises a sliding rod (8), a non-return pawl (10), a special-shaped ratchet (11) and a linear spring (18), wherein the sliding end of the sliding rod (8) is connected with the sleeve (3) in a sliding manner, and the non-return pawl (10) is installed in the sliding rod (8); the motion process is as follows: the non-return pawl (10) is controlled to return to the original position through the extension and retraction of a linear spring (18) in the slide bar (8), the ratchet mechanism controls the stopping of the device, and the restoring force of the energy storage device is prevented from damaging the balance of the device, so that a user can keep still in any state in the advancing process; if the human body keeps still, the non-return pawl (10) is meshed with the gear teeth of the special-shaped ratchet wheel (11), so that the lifting trend is hindered; if the static state is released and the movement is continued, the foot needs to be slightly pressed down to enable the non-return pawl (10) to cross the sliding groove and release the meshing state; if the motion state is kept all the time, the inherent inertia of the person in the process of moving can lead the non-return pawl (10) to automatically cross the sliding groove.

The energy storage torsion spring (IV) is a torsion spring (19) which is fixedly arranged at the circumferential position of the ratchet shaft (12) and is used for realizing the rotation motion of the ankle joint around the shaft, namely realizing the degree of freedom of the plantar flexion/dorsiflexion motion of the ankle joint; the motion process is as follows: when a human body is in a gait support phase, the non-return pawl (10) is positioned above the gear teeth of the special-shaped ratchet wheel (11), and the torsion spring (19) is compressed along with the change of the angle of the device to store energy until the whole sole lands on the ground; when the user keeps moving, the inherent inertia of the person in the process of traveling will make the backstop pawl (10) automatically pass the sliding groove, and at the same time, the torsion spring (19) compressed before is released, thereby assisting the traveling process.

Example three:

as shown in figures 1 and 2, the labor-saving walking aid without external power input comprises a walking aid body I, a connecting sleeve II, a ratchet mechanism III and an energy storage torsion spring IV, and is characterized in that: the walking aid body (I) comprises a shoe body front part (15), a shoe body rear part (1), a shoe buckle (17), a shoe body rear bottom (6) and buffer rubber pads (7 and 14), wherein the shoe body front part (15) is connected with the shoe body rear part (1) in an articulated mode through a front shaft (13) installed on the shoe body front part, the shoe buckle (17) is connected with the shoe body rear part (1) through a fixing block (2), and the buffer rubber pads (7 and 14) are respectively adhered to the shoe body rear bottom (6) and the shoe body front part (15) in an adhesion mode.

The connecting kit (II) comprises a fixing block (2), a sleeve (3), a T-shaped connecting rod (4), a rear shaft (5), a middle shaft (9), a ratchet shaft (12), a front shaft (13) and an E-shaped retaining ring (16), wherein the fixing block (2), the sleeve (3) and the long end of the T-shaped connecting rod (4) are concentrically matched and connected through a built-in shaft of the sleeve (3), the short end of the T-shaped connecting rod (4) is connected with the rear bottom (6) of the shoe body in a hinged mode through the rear shaft (5), a sliding rod (8) and a special-shaped ratchet (11) are concentrically matched and connected with the front part (15) of the shoe body through the middle shaft (9) in a tooth end mode, and the non-tooth end of the special-shaped ratchet (11) is concentrically matched and connected with the rear bottom (6) of the shoe body through the ratchet shaft (12). After the connecting shafts are matched and connected, E-shaped snap rings (16) are additionally arranged at the two ends of each connecting shaft to restrict the axial freedom degree.

The ratchet mechanism (III) comprises a sliding rod (8), a non-return pawl (10), a special-shaped ratchet (11) and a linear spring (18), wherein the sliding end of the sliding rod (8) is connected with the sleeve (3) in a sliding mode, and the non-return pawl (10) is installed in the sliding rod (8). The energy storage torsion spring (IV) comprises a torsion spring (19) which is fixedly arranged at the circumferential position of the ratchet shaft (12) and is used for realizing the rotation motion of the ankle joint around the shaft, namely realizing the plantar flexion/dorsiflexion motion freedom degree of the ankle joint.

The labor-saving walking aid without external power input has the following implementation mode of assisting walking: after the walking aid body is worn on the feet of a user, when the walking aid body strides and lands on the ground, the energy storage torsion spring (13) is compressed to store negative work when the user walks, at the moment, the non-return pawl (12) reaches the tail end of the tooth of the special-shaped ratchet wheel (5) to release the meshing state, and when the user continues to lift the feet, the special-shaped ratchet wheel rotates in the positive direction and cannot be blocked; when the foot lifting device lifts the foot to move, the negative functions stored in the energy storage torsion spring are released, so that the force applied by the user when the foot is lifted to move is reduced, and the purpose of assisting the user in walking is achieved. Meanwhile, after gait analysis is carried out on a large number of pedestrians, the maximum deflection angle average value of the ankle joint in the whole gait cycle is found to be 15 degrees, namely the range of the special-shaped ratchet wheel with teeth is 15 degrees, when a user is in an upright state, the non-return pawl is meshed with the special-shaped ratchet wheel, the whole device is fixed, and the user keeps a static mounting state.

Furthermore, when the user keeps a static state, the non-return pawl (12) is meshed with the gear teeth of the special-shaped ratchet wheel (5) to block the trend of lifting the rear part (1) of the insole, so that the human body keeps static. When the walking is continued, the foot needs to be pressed down continuously, so that the non-return pawl (12) passes over the slide groove at the end of the tooth, the meshing state is released, and the walking can be continued. If the person keeps moving all the time, the inherent inertia of the person in the process of moving can help the non-return pawl (12) to cross the sliding groove, and the process of moving can be completed without pressing down.

The labor-saving walking aid without external power input in the embodiment stores energy for doing negative work in the walking process of a human body in a mode of the energy storage torsion spring arranged at the bottom end of the walking aid, and releases the energy when doing positive work, thereby realizing the power assisting without external power input. Meanwhile, based on the design of the structure, the self weight of the exoskeleton is reduced, the flexibility of the exoskeleton and the walking efficiency of people are improved, and the human body can still walk freely under the condition of large load. Moreover, the non-return ratchet mechanism is used for realizing the stop of a user in any state in the process of traveling, so that the walking aid locks energy when the user is static, the design aim of energy storage and labor saving is fulfilled, and the stability and the controllability of the device are greatly improved. The novel exoskeleton wearing mode designed by the invention enhances the portability and the practicability of the products.

Claims

1. The utility model provides a laborsaving ware of helping hand of no external power input, includes ware body of helping hand (I), connects external member (II), ratchet (III) and energy storage torsional spring (IV), its characterized in that: the front part (15) of the shoe body, the rear part (1) of the shoe body and the rear sole (6) of the shoe body in the walking aid body (I) are connected in a hinged manner in a concentric fit manner through corresponding connecting shafts; the rear shaft (5), the middle shaft (9), the ratchet shaft (12) and the front shaft (13) in the connecting kit (II) are concentrically matched and connected with all components in the walking aid body (I); a non-return pawl (10) in the ratchet mechanism (III) is meshed with a special-shaped ratchet (11) in different advancing states so as to control the device to stop; a torsion spring (19) in the energy storage torsion spring (IV) is fixedly arranged at the circumferential position of the ratchet shaft (12) so as to store the kinetic energy of the ankle joint during the rotation around the shaft; the motion process is as follows: when a human body is in a gait support phase, the non-return pawl (10) is positioned above the gear teeth of the special-shaped ratchet wheel (11), and the torsion spring (19) is compressed along with the change of the angle of the device to store energy until the whole sole of the foot is landed; when in a moving state, the inherent inertia of a person in the process of traveling can enable the non-return pawl (10) to automatically cross the sliding chute, and simultaneously the compressed torsion spring (19) is released, thereby assisting in completing the traveling process;

the connecting kit (II) comprises a fixed block (2), a sleeve (3), a T-shaped connecting rod (4), a rear shaft (5), a middle shaft (9), a ratchet shaft (12), a front shaft (13) and an E-shaped retaining ring (16), wherein the fixed block (2), the sleeve (3) and the long end of the T-shaped connecting rod (4) are concentrically matched and connected through a built-in shaft of the sleeve (3), the short end of the T-shaped connecting rod (4) is connected with the rear sole (6) of the shoe body in a hinged mode through the rear shaft (5), a sliding rod (8) and a special-shaped ratchet wheel (11) are concentrically matched and connected with the front part (15) of the shoe body through the middle shaft (9) at the toothed ends, and the non-toothed end of the special-shaped ratchet wheel (11) is concentrically matched and connected with the rear sole (6) of the shoe body through the ratchet shaft (12); after the connecting shafts are matched and connected, E-shaped snap rings (16) are additionally arranged at the two ends of each connecting shaft to restrict the axial freedom degree.

2. The labor-saving walking aid without external power input according to claim 1, wherein: the walking aid body (I) comprises a shoe body front part (15), a shoe body rear part (1), a shoe buckle (17), a shoe body rear sole (6) and buffering rubber pads (7 and 14), wherein the shoe body front part (15) is connected with the shoe body rear part (1) in a hinged mode through a front shaft (13) arranged on the shoe body front part, the shoe buckle (17) is connected with the shoe body rear part (1) through a fixing block (2), and the buffering rubber pads (7 and 14) are respectively adhered to the shoe body rear sole (6) and the shoe body front part (15) in an adhering mode; except for special instructions, the walking aid body (I) adopts an aluminum substrate, so that the self weight of a human body can be borne, and the variable rubber of the buffering rubber mat and the sponge insole of the insole part can make a user comfortable to wear.

3. The labor-saving walking aid without external power input according to claim 1, wherein: the ratchet mechanism (III) comprises a sliding rod (8), a non-return pawl (10), a special-shaped ratchet (11) and a linear spring (18), wherein the sliding end of the sliding rod (8) is connected with the sleeve (3) in a sliding manner, and the non-return pawl (10) is installed in the sliding rod (8); the motion process is as follows: the non-return pawl (10) is controlled to return to the original position through the extension and retraction of a linear spring (18) in the slide bar (8), the ratchet mechanism controls the stopping of the device, and the restoring force of the energy storage device is prevented from damaging the balance of the device, so that a user can keep still in any state in the advancing process; if the human body keeps still, the non-return pawl (10) is meshed with the gear teeth of the special-shaped ratchet wheel (11), so that the lifting trend is hindered; if the static state is released and the movement is continued, the foot needs to be slightly pressed down to enable the non-return pawl (10) to cross the sliding groove and release the meshing state; if the motion state is kept all the time, the inherent inertia of the person in the process of moving can lead the non-return pawl (10) to automatically cross the sliding groove.

4. The labor-saving walking aid without external power input according to claim 1, wherein: the energy storage torsion spring (IV) is a torsion spring (19) which is fixedly arranged at the circumferential position of the ratchet shaft (12) and is used for realizing the rotation motion of the ankle joint around the shaft, namely realizing the degree of freedom of the plantar flexion/dorsiflexion motion of the ankle joint; the motion process is as follows: when a human body is in a gait support phase, the non-return pawl (10) is positioned above the gear teeth of the special-shaped ratchet wheel (11), and the torsion spring (19) is compressed along with the change of the angle of the device to store energy until the whole sole lands on the ground; when the user keeps moving, the inherent inertia of the person in the process of traveling will make the backstop pawl (10) automatically pass the sliding groove, and at the same time, the torsion spring (19) compressed before is released, thereby assisting the traveling process.