CN110509259A - It is a kind of for mitigating the exoskeleton mechanism of joint pressure - Google Patents
It is a kind of for mitigating the exoskeleton mechanism of joint pressure Download PDFInfo
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- CN110509259A CN110509259A CN201910755297.5A CN201910755297A CN110509259A CN 110509259 A CN110509259 A CN 110509259A CN 201910755297 A CN201910755297 A CN 201910755297A CN 110509259 A CN110509259 A CN 110509259A
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- China
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- avris
- ectoskeleton
- suspender belt
- human body
- mitigating
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- 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
- A61H3/008—Using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- 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
-
- 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
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
-
- 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
- A61H2201/1628—Pelvis
- A61H2201/163—Pelvis 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
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
Abstract
The invention belongs to exoskeleton mechanism technical fields, more particularly to a kind of for mitigating the exoskeleton mechanism of joint pressure, including two groups of avris ectoskeletons, avris ectoskeleton includes the big leg assembly of avris and avris shank component, suspender belt is equipped at the top of the big leg assembly of avris, avris thigh component bottom is connected at the top of avris shank component by avris knee components, avris shank component bottom connects avris insole, avris retaining device is equipped at avris knee components, avris ectoskeleton includes symmetrically arranged left side ectoskeleton and right side ectoskeleton, left side ectoskeleton is placed in the left leg outer side of human body, right side ectoskeleton is placed in the right leg outer side of human body, suspender belt fixing human crotch hangs human body, avris retaining device is fixed with human knee, human foot is placed on avris insole.The configuration of the present invention is simple, easy to operate, the devices such as suspender belt, bandage are connect with human body flexible, contact area is big, comfort level is high, and production cost is low, are had a wide range of application, and are suitble to promote and apply.
Description
Technical field
The invention belongs to exoskeleton mechanism technical fields, more particularly, to a kind of for mitigating the dermoskeleton of joint pressure
Bone mechanism.
Background technique
Exoskeleton mechanism is that one kind can be worn on human body, provides support for human body to reduce knee joint, ankle-joint, foot
The mechanical structure of the pressure in portion.
Exoskeleton mechanism, which can be widely applied to arthritic, ankle is rivered bend hurts patient, surgeon, peasant, worker etc..
Occur lesion at patient articular, uprightly bring pressure to joint, pressure when normal stand can oppress lesion
Place, can normally be bent in the case where patient articular's lesion only rests on and do not brought pressure by body wt, and stand just
When can be in great pain, the pressure of patient articular can be preferably minimized by exoskeleton mechanism, reduce the pressure of lesion, mitigated
Pain when patient walks.
When people is in movement or labour, ankle is easy wound of rivering bend, and rivers bend wound in recovery process, the life of patient is by great
It influences, the total weight of human body is uprightly applied to traumatic part position of rivering bend, it is difficult to normally be walked, can be incited somebody to action by exoskeleton mechanism
The site pressure of ankle minimizes, and mitigates pain when patient's walking.
Many posies need operator to stand for a long time in factory, and peasant needs to stand for a long time when farming,
Surgeon also tends to need to stand upper several hours even more than ten a hours when being operated, and standing can make one for a long time
Body ankle, small legs lead to occur lesions such as " corns " on human calf's varication and foot.It can be with using the ectoskeleton
Reduce knee joint, ankle-joint, leg, foot pressure so that worker for a long time stand also be able to maintain it is comfortable and healthy.
All kinds of exoskeleton mechanisms being currently known are equipped with driving mechanism, and driving mechanism has that volume is big, quality weight, noise
Greatly, it consumes energy the defects of high.Wearable exoskeleton mechanism passes through rigid structure mostly and is fixed on patient's waist or thigh root, dermoskeleton
Bone mechanism and human contact's area are small, and rigid contact causes patient uncomfortable, and structure is complicated mostly, and high production cost is uncomfortable
It closes and promotes and applies.
Summary of the invention
The problem to be solved in the present invention is to provide a kind of exoskeleton mechanisms；Especially structure is simple and convenient to operate, with human body
Flexible connection, contact area is big, comfort level is high, and production cost is low, and the one kind having a wide range of application is for mitigating joint pressure
Exoskeleton mechanism.
In order to solve the above technical problems, one technical scheme adopted by the invention is that: one kind is pressurized for mitigating joint
The exoskeleton mechanism of power, including two groups of avris ectoskeletons, the avris ectoskeleton include the big leg assembly of avris and avris shank group
Part, the big leg assembly top of avris is equipped with avris suspender belt terminal pad, is connected with suspender belt in the avris suspender belt terminal pad, described
Avris thigh component bottom is connected at the top of the avris shank component by avris knee components, avris shank component bottom
Portion connects avris insole, and avris retaining device is equipped at the avris knee components, and the avris ectoskeleton includes symmetrically setting
The left side ectoskeleton and right side ectoskeleton set, the left side ectoskeleton are placed in the left leg outer side of human body, and the right side ectoskeleton is placed in
The avris suspender belt terminal pad of the right leg outer side of human body, left and right both sides is fixedly connected by fixing strap of waist, the fixing strap of waist
Prevent the avris suspender belt terminal pad from occurring rocking because of human motion and move, the suspender belt is fixed on human body crotch, described
Avris retaining device is fixed with human knee, and human foot is placed on the avris insole.
Further, the suspender belt is made of two O-ring parallel connections, and the suspender belt both ends are separately connected avris described in two sides
Suspender belt terminal pad, the suspender belt middle part are placed in middle between the left side ectoskeleton and the right side ectoskeleton.
Further, the big leg assembly of the avris and the avris shank component are connecting rod, the avris thigh group
Telescopic device is equipped on part and the avris shank component.
Further, the telescopic device includes conduit, and the catheter interior is equipped with servo motor, and the servo motor connects
Connect screw rod, the screw rod mating connection feed screw nut, feed screw nut's connection expansion link, the servo motor drive silk
Bar rotation, the screw rod drive the telescopic rod rotation, realize that the telescopic rod is flexible.
Further, the avris knee components include fixed bracket, and the fixed bracket is rounded, the fixed branch
Position is equipped with groove among frame, is set in the groove there are two connecting hole, two connecting holes are respectively articulated with two rocker arms, institute
Rocker arm front end is stated equipped with gear, two gear intermeshings realize that two rocker arms relatively rotate.
Further, the avris retaining device includes baffle and bandage, and the baffle both ends are equipped with strip hole, described to tie up
Band one end is fixedly connected with described baffle one end around the strip hole, and the bandage other end is flexibly connected institute by take-up
State the baffle other end.
Further, the take-up is thread gluing.
Further, the baffle is concave inward structure, and the baffle recess radian is identical as human knee's radian.
Further, avris shank component bottom and avris insole junction are equipped with ankle support frame.
Further, the ankle support frame and avris shank component junction are equipped with rotating device.
The advantages and positive effects of the present invention are:
The present invention by setting suspender belt, by two sides exoskeleton mechanism is fixed to human body crotch to hang human body, and Strap portion is by people
Human body is hung up the total weight for supporting human body in human body crotch by all wt stepless action of body.
Ectoskeleton lower end is fastened on human foot, ankle ankle from being bonded with the ankle support frame and insole of human foot
Support frame acts on the total weight of human body on insole matched with its, has fixation hole and ankle support frame to cooperate on insole,
Ankle support frame can carry out small-scale activity centered on fixed point in insole to cooperate the movement of human body.
The big leg assembly and shank component of ectoskeleton are made of the metallic rod of rigidity, and metallic rod is equipped with telescopic device,
Realize the cooperative movement of ectoskeleton and human body.
The big leg assembly of ectoskeleton and shank component junction are equipped with knee component, have baffle contact before and after knee component
Human knee position, baffle is fixed on the knee of people with bandage cooperation that can be elastic, so that the joint motion angle of ectoskeleton
Consistent with skeleton, baffle plays the role of driving ectoskeleton and fixed ectoskeleton position.
Most of weight of people acts on the suspender belt of crotch, ectoskeleton by with suspender belt by people hang up to
Mitigate the pressure of human body knee joint and ankle-joint.It is by the rotatable engagement of knee component and ankle ankle support frame, it can be achieved that outer
The movement of bone mechanism cooperation human body.It is the configuration of the present invention is simple, easy to operate, the devices such as suspender belt, bandage connect with human body flexible,
Contact area is big, comfort level is high, and production cost is low, has a wide range of application, and is suitble to promote and apply.
The exoskeleton mechanism, which can be widely applied to arthritic, ankle is rivered bend hurts patient, surgeon, peasant, worker etc.
Deng.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the embodiment of the present invention.
Fig. 2 is the telescopic device structural schematic diagram of the embodiment of the present invention.
Fig. 3, Fig. 4 are the avris knee components structural schematic diagrams of the embodiment of the present invention.
Fig. 5, Fig. 6 are the avris knee components motion principle figures of the embodiment of the present invention.
Fig. 7 is the avris retaining device structural schematic diagram of the embodiment of the present invention.
Fig. 8, Fig. 9 are the ankle support frame structural schematic diagrams of the embodiment of the present invention.
Figure 10 is the avris Shoe-pad structure schematic diagram of the embodiment of the present invention.
Figure 11 is the ankle support frame of the embodiment of the present invention and the cooperation schematic diagram of avris insole.
Drawing reference numeral explanation:
1, the big leg assembly 3 of avris suspender belt terminal pad 2, avris, suspender belt
4, left side ectoskeleton 5, avris retaining device 6, avris shank component
7, ankle support frame 8, avris insole 9, avris knee components
10, right side ectoskeleton 11, fixing strap of waist 12, telescopic device
13, conduit shell 14, conduit 15, motor fixed cylinder
16, servo motor 17, shaft coupling 18, screw rod
19, feed screw nut 20, feed screw nut's guide sleeve 21, telescopic rod
23, fixed bracket 24, rocker arm 25, bearing
26, gear 27, shaft 28, baffle
29, bandage 30, fixation hole.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
It is illustrated below in conjunction with attached drawing provided by the invention a kind of for mitigating the exoskeleton mechanism of joint pressure.
As shown in Figure 1, a kind of for mitigating the exoskeleton mechanism of joint pressure, including two groups of avris ectoskeletons.Side
Side ectoskeleton includes the big leg assembly 2 of avris and avris shank component 6, is equipped with avris suspender belt terminal pad at the top of the big leg assembly 2 of avris
1, avris suspender belt terminal pad 1 is placed in human body waist.Avris suspender belt terminal pad 1 is equipped with suspender belt 3, and suspender belt 3 is for hanging human body, side
Big 2 bottom of leg assembly in side connects 6 top of avris shank component by avris knee components 9, and 6 bottom of avris shank component passes through
Ankle support frame 7 connects avris insole 8.Avris retaining device 5 is equipped at avris knee components 9, avris ectoskeleton includes pair
Claim the left side ectoskeleton 4 and right side ectoskeleton 10 of setting.Left side ectoskeleton 4 is placed in the left leg outer side of human body, and right side ectoskeleton 10 is set
It is connected in the avris suspender belt terminal pad 1 of the right leg outer side of human body, 3 fixing human crotch of suspender belt, left and right both sides by fixing strap of waist 11
Fixed, fixing strap of waist 11 prevents avris suspender belt terminal pad 1 from occurring rocking because of human motion and move.Fixing strap of waist 11 is solid
Being scheduled on human body waist prevents avris suspender belt terminal pad 1 from shifting, and avris retaining device 5 is fixed with human knee, and human foot is placed in
On avris insole 8.
Suspender belt 3 can be various structures, will as long as left side ectoskeleton 4 and right side ectoskeleton 10 are fixed with human body respectively
Human body major part weight concentrates on suspender belt 3, so that human body knee joint and ankle-joint pressure mitigate.
Suspender belt 3 provided in this embodiment is made of two O-ring parallel connections, and 3 both ends of suspender belt are separately connected arranged on left and right sides avris
Suspender belt terminal pad 1 is placed in middle between left side ectoskeleton 4 and right side ectoskeleton 10 in the middle part of suspender belt 3.In use, human body both legs
It is respectively placed in 3 both ends O shape of suspender belt, 3 part of suspender belt hangs human body thus by all wt stepless action of human body in human body
Crotch mitigates the pressure of knee joint and ankle-joint.
The big leg assembly 2 of avris and avris shank component 6 are connecting rod, and connecting rod is equipped with telescopic device 12.Flexible dress
Setting 12 can be various structures, meet people of different heights's use, have a wide range of application.Telescopic device 12 provided in this embodiment is such as
Shown in Fig. 2, telescopic device 12 includes conduit 14 and motor fixed cylinder 15, and motor fixed cylinder 15 is placed in 14 inside of conduit and conduit 14
Immovable fitting, conduit shell 13, conduit 14 and 13 immovable fitting of conduit shell are equipped with outside conduit 14, and conduit shell 13 is conduit
14 provide protections, prevent conduit 14 from deforming due to by external force, and 13 lower end of conduit shell is equipped with step structure, step and flexible
21 clearance fit of bar, the diameter of step mating part is less than the diameter of 20 step of feed screw nut's guide sleeve, so that telescopic rod 21 is by about
Beam falls off inside conduit 14 without skidding off.
Servo motor 16 is fixed in motor fixed cylinder 15, servo motor 16 drives shaft coupling 17 and screw rod 18 to connect, silk
The driving traction feed screw nut 19 of bar 18 rotation, 19 bottom connection wire rod nut guide sleeve 20 of feed screw nut, feed screw nut's guide sleeve 20 connect
Telescopic rod 21 is connect, feed screw nut's guide sleeve 20 cooperates telescopic rod 21 to slide in conduit 14, realizes that telescopic rod 21 is flexible, feed screw nut
Guide sleeve 20 and 14 clearance fit of conduit.
As shown in Figure 3, Figure 4, avris knee components 9 include fixed bracket 23 and rocker arm 24, and fixed bracket 23 is rounded,
The fixed intermediate position of bracket 23 is equipped with groove, is set in groove there are two connecting hole, and two connecting holes are respectively articulated with two rocker arms 24,
24 immovable fitting gear 26 of rocker arm is fixed on fixed bracket 23 by shaft 27 through bearing 25, and two gears 26 are intermeshed, mesh
Be that two rocker arms 24 is allowed to keep angle identical with the fixation bracket 23 of knee is placed in and its movement is more coordinated, two
Rocker arm 24 is separately connected the connecting rod of the big leg assembly 2 of avris and the connecting rod of avris shank component 6, two rocker arms 24 and fixed branch
Relative angle between frame 23 is equal, and operation logic parses as seen in figs. 5-6.As shown in fig. 7, avris retaining device 5 includes
Baffle 28 and bandage 29,28 both ends of baffle are equipped with strip hole, and 29 one end of bandage is fixedly connected with 28 one end of baffle around strip hole, ties up
29 other end of band is flexibly connected 28 other end of baffle by take-up.
Take-up can be various structures, and avris retaining device 5 can be achieved with the patch at human knee position by adjusting
It closes, so that the joint motion angle of ectoskeleton is consistent with skeleton, the take-up in the present embodiment is thread gluing.
Preferably, baffle 28 is concave inward structure, and baffle 28 is recessed, and radian is identical as human knee's radian, and compactness is good.
As shown in figure 8,6 bottom of avris shank component and 8 junction of avris insole are equipped with ankle support frame 7.Ankle support
Frame 7 and 6 junction of avris shank component are equipped with rotating device.Ankle support frame 7 by the total weight of human body act on and its
On matched avris insole 8, there are fixation hole and ankle support frame 7 to cooperate on avris insole 8, ankle support frame 7 can be in avris
Insole 8 carries out small-scale activity centered on fixed point to cooperate the movement of human body, operation logic parsing such as Figure 11
It is shown.
As shown in figure 9, ankle support frame 7 is made of high-strength engineering plastic, end is relatively thin, can random torsional bending.
As shown in Figure 10, avris insole 8 is equipped with fixed fixation hole 30, and ankle support frame 7 is inserted, to fix its position.Foot
Ankle support frame 7 is fixed on avris insole 8, can arbitrarily forward after left-right rotation to cooperate the movement of human body.
The working principle of the invention is:
Avris ectoskeleton upper end is fixed to human body crotch by suspender belt 3 to hang human body, and avris ectoskeleton lower end is by fitting human foot
The ankle support frame 7 and avris insole 8 in portion cooperate shoes to be fixed on human foot, and avris ectoskeleton both ends are by rigid metal dermoskeleton
Bone is connected with joint prosthesis.There is before and after ectoskeleton baffle 28 to contact human knee position, baffle 28 plays driving ectoskeleton and solid
Determine the effect of ectoskeleton position, human body major part weight acts on the suspender belt 3 of crotch, and ectoskeleton with suspender belt 3 by being incited somebody to action
People hangs up to mitigate the pressure of human body knee joint and ankle-joint.
The all wt stepless action of human body in human body crotch, human body is hung up to support people by 3 part of suspender belt
The total weight of body.
Ankle support frame 7 acts on the total weight of human body on avris insole 8 matched with its, has on avris insole 8
Fixation hole 30 and ankle support frame 7 cooperate, and ankle support frame 7 can carry out small range in avris insole 8 centered on fixed point
Activity to cooperating human motion.
Ectoskeleton is equipped with baffle 28 at human knee, and baffle 28 is fixed on human knee with the cooperation of bandage 27 that can be elastic
Place, so that the joint motion angle of ectoskeleton is consistent with skeleton.
The advantages and positive effects of the present invention are:
Two sides exoskeleton mechanism is fixed to human body crotch and hangs human body by the present invention by setting suspender belt, when people due to it is long when
Between and when feeling that ankle, knee are ached, human body is hung in controllable extensible member elongation, and Strap portion is by all wt of human body
Human body is hung up the total weight for supporting human body, mitigates the pressure of ankle, knee by stepless action in human body crotch
Power.
Ectoskeleton lower end is fastened on human foot, ankle ankle from being bonded with the ankle support frame and insole of human foot
Support frame acts on the total weight of human body on insole matched with its, has fixation hole and ankle support frame to cooperate on insole,
Ankle support frame can carry out small-scale activity centered on fixed point in insole to cooperate the movement of human body.
The big leg assembly and shank component of ectoskeleton are made of the metallic rod of rigidity, and metallic rod is equipped with telescopic device
Adapt to the user of different heights.
The big leg assembly of ectoskeleton and shank component junction are equipped with knee component, have baffle contact before and after knee component
Human knee position, baffle is fixed on the knee of people with bandage cooperation that can be elastic, so that the joint motion angle of ectoskeleton
Consistent with skeleton, baffle plays the role of driving ectoskeleton and fixed ectoskeleton position.
Most of weight of people acts on the suspender belt of crotch, ectoskeleton by with suspender belt by people hang up to
Mitigate the pressure of human body knee joint and ankle-joint.It is by the rotatable engagement of knee component and ankle ankle support frame, it can be achieved that outer
The movement of bone mechanism cooperation human body.It is the configuration of the present invention is simple, easy to operate, the devices such as suspender belt, bandage connect with human body flexible,
Contact area is big, comfort level is high, and production cost is low, has a wide range of application, and is suitble to promote and apply.
The present invention can be worn on human body, be widely used in arthritic, ankle rivers bend and hurts patient, worker, peasant etc.
The crowd in need for reducing ankle, knee pressure.
Occur lesion at patient articular, uprightly bring pressure to joint, causes the arthralgia of patient unbearably and difficult
To carry out normal walking, the pressure of patient articular can be preferably minimized by exoskeleton mechanism, mitigate pain when patient's walking
It is bitter.
Once there is the patient for fracturing and passing through treatment in thigh, shank, foot, and patient generally requires during rehabilitation
After just can be carried out after the resting of several months such as stand, rehabilitation exercise walking because the bone of thigh and calf, these positions of foot is held
By a large amount of pressure, it cannot be allowed to bear too many pressure in the short time after operative treatment, to prevent there is secondary injury,
The pressure that can reduce patient's thigh and calf, foot bones when using the ectoskeleton technology allows patient that can carry out rehabilitation exercise ahead of time,
It is postoperative to be substantially reduced the probability for secondary injury occur using the ectoskeleton over a period to come.
When people is in movement or labour, ankle is easy wound of rivering bend, and rivers bend wound in recovery process, the life of patient is by great
It influences, the total weight of human body is uprightly applied to traumatic part position of rivering bend, it is difficult to normally be walked, can be incited somebody to action by exoskeleton mechanism
The site pressure of ankle minimizes, and mitigates pain when patient's walking.
Peasant, worker generally require to stand for a long time, and human ankle can be made, small legs, lead to human body by standing for a long time
Occur lesions such as " corns " in shank vein varicose and foot.Human foot and each joint can be reduced by exoskeleton mechanism
Pressure, alleviate compressing and blood supply it is unsmooth, prevent or slow down lesion occur.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all to utilize this
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field is included within the scope of the present invention.
Claims (10)
1. a kind of for mitigating the exoskeleton mechanism of joint pressure, including two groups of avris ectoskeletons, it is characterised in that: described
Avris ectoskeleton includes the big leg assembly of avris and avris shank component, is equipped with avris suspender belt at the top of the big leg assembly of avris and connects
Disk is connected with suspender belt in the avris suspender belt terminal pad, and the avris thigh component bottom is connected by avris knee components
At the top of the avris shank component, avris shank component bottom connects avris insole, sets at the avris knee components
There is an avris retaining device, the avris ectoskeleton includes symmetrically arranged left side ectoskeleton and right side ectoskeleton, outside the left side
Bone is placed in the left leg outer side of human body, and the right side ectoskeleton is placed in the right leg outer side of human body, and the avris suspender belt on left and right both sides connects
It connects disk to be fixedly connected by fixing strap of waist, the fixing strap of waist prevents the avris suspender belt terminal pad from occurring because of human motion
It rocks and moves, the suspender belt is fixed on human body crotch, and the avris retaining device is fixed with human knee, and human foot is placed in
On the avris insole.
2. according to claim 1 a kind of for mitigating the exoskeleton mechanism of joint pressure, it is characterised in that: described
Suspender belt is made of two O-ring parallel connections, and the suspender belt both ends are separately connected avris suspender belt terminal pad described in two sides, in the suspender belt
Portion is placed in middle between the left side ectoskeleton and the right side ectoskeleton.
3. according to claim 1 or 2 a kind of for mitigating the exoskeleton mechanism of joint pressure, it is characterised in that:
The big leg assembly of avris and the avris shank component are connecting rod, the big leg assembly of avris and the avris shank group
Telescopic device is equipped on part.
4. according to claim 3 a kind of for mitigating the exoskeleton mechanism of joint pressure, it is characterised in that: described
Telescopic device includes conduit, and the catheter interior is equipped with servo motor, the servo motor connection wire rod, and the screw rod cooperation connects
Feed screw nut, feed screw nut's connection expansion link are met, the servo motor drives the screw rod rotation, and the screw rod drives institute
Telescopic rod rotation is stated, realizes that the telescopic rod is flexible.
5. according to claim 1 or 2 or 4 is a kind of for mitigating the exoskeleton mechanism of joint pressure, feature exists
In: the avris knee components include fixed bracket, and the fixed bracket is rounded, and position is equipped among the fixed bracket
Groove is set in the groove there are two connecting hole, and two connecting holes are respectively articulated with two rocker arms, and the rocker arm front end is equipped with
Gear, two gear intermeshings, realizes that two rocker arms relatively rotate.
6. according to claim 1 or 2 or 4 is a kind of for mitigating the exoskeleton mechanism of joint pressure, feature exists
In: the avris retaining device includes baffle and bandage, and the baffle both ends are equipped with strip hole, and the one end of bandage is around described
Strip hole is fixedly connected with described baffle one end, and the bandage other end is flexibly connected the baffle other end by take-up.
7. according to claim 6 a kind of for mitigating the exoskeleton mechanism of joint pressure, it is characterised in that: described
Take-up is thread gluing.
8. according to claim 6 a kind of for mitigating the exoskeleton mechanism of joint pressure, it is characterised in that: described
Baffle is concave inward structure, and the baffle recess radian is identical as human knee's radian.
9. it is a kind of for mitigating the exoskeleton mechanism of joint pressure described according to claim 1 or 2 or 4 or 7 or 8,
Be characterized in that: avris shank component bottom and avris insole junction are equipped with ankle support frame.
10. according to claim 9 a kind of for mitigating the exoskeleton mechanism of joint pressure, it is characterised in that: institute
It states ankle support frame and avris shank component junction is equipped with rotating device.
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| CN201910755297.5A CN110509259A (en) | 2019-08-15 | 2019-08-15 | It is a kind of for mitigating the exoskeleton mechanism of joint pressure |
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| CN201910755297.5A CN110509259A (en) | 2019-08-15 | 2019-08-15 | It is a kind of for mitigating the exoskeleton mechanism of joint pressure |
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Application publication date: 20191129 |