CN111228089B - Wearable telescopic lower limb exoskeleton assisting device - Google Patents
Wearable telescopic lower limb exoskeleton assisting device Download PDFInfo
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- CN111228089B CN111228089B CN202010177846.8A CN202010177846A CN111228089B CN 111228089 B CN111228089 B CN 111228089B CN 202010177846 A CN202010177846 A CN 202010177846A CN 111228089 B CN111228089 B CN 111228089B
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- waist
- shank
- thigh
- fixing mechanism
- guide rail
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims abstract description 78
- 210000001624 hip Anatomy 0.000 claims abstract description 57
- 210000000689 upper leg Anatomy 0.000 claims abstract description 52
- 210000002683 foot Anatomy 0.000 claims abstract description 20
- 210000000629 knee joint Anatomy 0.000 claims abstract description 16
- 210000004394 hip joint Anatomy 0.000 claims abstract description 14
- 244000309466 calf Species 0.000 claims abstract description 6
- 238000011065 in-situ storage Methods 0.000 claims abstract description 3
- 238000013016 damping Methods 0.000 claims description 20
- 210000003127 knee Anatomy 0.000 claims description 3
- 208000012661 Dyskinesia Diseases 0.000 abstract description 7
- 230000009471 action Effects 0.000 description 6
- 210000002414 leg Anatomy 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 210000003423 ankle Anatomy 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 2
- 241001166076 Diapheromera femorata Species 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000035790 physiological processes and functions Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
- A61H2003/046—Wheeled walking aids for patients or disabled persons with braking means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a wearable telescopic lower limb exoskeleton booster device, which is characterized in that a waist lifting mechanism comprising a guide rail and a guide rail clamp is fixed on an external balance frame, a thigh fixing mechanism and a shank fixing mechanism are respectively connected through a joint disc type motor, the thigh fixing mechanism is connected to a waist telescopic rod of the waist lifting mechanism, and a foot plate fixing mechanism is connected to the bottom of the shank fixing mechanism; the user is connected with the power supply control mechanism through the mobile phone APP to control the hip joint disc motor and the knee joint disc motor to act simultaneously, so that thighs and calves of the user are driven to rotate, and movement is achieved; the caster is used for realizing in-situ fixation, turning and braking; the waist lifting mechanism is lifted along the guide rail by controlling the guide rail clamp by a user, so that standing and squatting are realized. The invention can solve the problem that the people with lower limb dyskinesia move independently, combines the balance maintaining mechanism with the standing squatting mechanism, and is suitable for the related people with different body types.
Description
Technical Field
Aiming at the crowds with lower limb dyskinesia, the invention designs a wearable telescopic lower limb exoskeleton power assisting device and a method which can play roles in supporting, assisting and protecting under the condition that people need to move.
Background
At present, population aging has become a non-negligible social problem in many countries around the world. The aged has physiological function decline and serious lower limb patients and increased traffic accidents, and the recovery of normal walking ability is a good expectation for lower limb dyskinesia patients. Clinical medicine shows that in addition to the necessary medical treatment, scientific and correct rehabilitation training is also very effective for restoring limb functions. At present, a lower limb exoskeleton assisting device combining a balance maintaining device and a standing squatting mechanism is not available in the market, and the lower limb exoskeleton assisting device is high in cost and low in compatibility.
The existing lower limb exoskeleton devices at present are of the following types:
1) Walking stick type
The device has a plurality of types and small volume, so the device is very popular to use. However, the device is balanced in an auxiliary way, and has poor support protection for people.
2) Column type
The device has good supporting and protecting performance to people. But the equipment has large volume, high cost, poor mobility and poor wearing resistance.
3) Back wearing type
The device has small volume, light weight and good portability. But the equipment can not be adjusted in a telescopic way, has poor wearing compatibility, can not be suitable for patients with various lower limb dyskinesias, has no balance maintaining device and has poor balance.
Therefore, there is a need to provide a wearable telescopic lower limb exoskeleton assisting mechanical device which is small in size, low in cost, good in stability, convenient, safe and reliable.
Disclosure of Invention
Aiming at the problems, the invention provides a wearable telescopic lower limb exoskeleton assisting device which can play roles in supporting, assisting and protecting under the condition that a lower limb dyskinesia crowd needs to move, and the device is a lower limb exoskeleton assisting device which can combine a balance maintaining mechanism with a standing squatting mechanism, and has the advantages of simple design, low cost, convenience in wearing and easiness in assembly.
The invention solves the technical problems by the following technical proposal:
the invention relates to a wearable telescopic lower limb exoskeleton assisting device, which comprises an external balance frame, a waist lifting mechanism, a thigh fixing mechanism, a shank fixing mechanism, a foot plate fixing mechanism, casters and a power supply control mechanism, wherein the waist lifting mechanism is arranged on the external balance frame; the outer balancing stand is fixedly provided with a waist lifting mechanism comprising a guide rail and a guide rail clamp, the thigh fixing mechanism is connected to a waist telescopic rod of the waist lifting mechanism through a hip joint disc type motor, the shank fixing mechanism is connected to the lower part of the thigh fixing mechanism through a knee joint disc type motor, and the foot plate fixing mechanism is connected to the bottom of the shank fixing mechanism;
the user is connected with the power supply control mechanism through the mobile phone APP to control the hip joint disc motor and the knee joint disc motor to act simultaneously, so that thighs and calves of the user are driven to rotate, and movement is achieved; the caster is used for realizing in-situ fixation, turning and braking; the waist lifting mechanism is lifted along the guide rail by controlling the guide rail clamp by a user, so that standing and squatting are realized.
For the above technical solution, the present invention is further preferred:
preferably, the external balancing frame is a frame structure with an opening at the front part, the waist fixing mechanism is fixed inside the rear frame of the external balancing frame, and the power supply control mechanism is arranged at the rear end of the external balancing frame.
Preferably, the waist lifting mechanism comprises a guide rail fixing rear plate, a pair of guide rails are fixed on the guide rail fixing rear plate, a sliding block and a guide rail clamp device are arranged on the guide rails, the waist connecting plate is connected to the sliding block, and the waist connecting plate is controlled to move up and down along the sliding block through the guide rail clamp device.
Preferably, a pair of waist telescopic rods are respectively connected with two ends of the waist connecting plate, and the pair of waist telescopic rods are respectively connected with a hip joint disc type motor.
Preferably, the thigh fixing mechanism comprises a pair of thigh inner rods and a pair of thigh outer rods which are sleeved with each other, the pair of thigh inner rods are respectively connected to the hip joint disc type motor, and the pair of thigh outer rods are connected to the knee joint disc type motor.
Preferably, the shank fixing mechanism comprises a pair of shank inner rods and a shank outer rod which are sleeved with each other, the pair of shank inner rods are respectively connected to the knee joint disc type motor, and the shank outer rod is connected with the foot plate fixing mechanism.
Preferably, thigh strap plates are respectively connected to the pair of thigh outer rods, shank strap plates are connected to the pair of shank outer rods, and the thigh outer rods and the shank strap plates are fastened by elastic straps.
Preferably, the hip joint disc type motor and the knee joint disc type motor are inclined by 15-20 degrees; the shank fixation mechanism is maintained on the same vertical line as the knee joint disc motor.
Preferably, the bottom of the external balancing frame is connected with four caster connecting plates, the front two caster connecting plates are connected with the cushioning universal wheels, and the rear two caster connecting plates are connected with the cushioning directional wheels; the damping universal wheel and the damping directional wheel are provided with damping springs and braking plates.
Correspondingly, the invention also provides a walking method of the device, which comprises the following steps:
1) The user adjusts the thigh outer rod and the thigh inner rod, the shank outer rod and the shank inner rod, and the left waist telescopic rod and the right waist telescopic rod, wears the body into the thigh strap plate and the shank strap plate, and fixes the body on the waist connecting plate;
2) The user steps on the brake pedal at the rear side of the cushioning directional wheels at the two sides of the front end by feet, and the lower limb exoskeleton assisting mechanical device is fixed in place;
3) The user uses the elastic binding band to fix the leg parts on the thigh binding band plate and the shank binding band plate respectively;
4) The user is connected with the power supply control mechanism through the mobile phone APP, and the hip joint disc type motor and the knee joint disc type motor are controlled to act simultaneously to generate torque so as to drive thighs and calves of the user to rotate, so that the user can move forwards and backwards;
5) The user turns through the damping directional wheel, and the stability is realized through the damping spring on the damping directional wheel;
6) The user rotates the guide rail clamp, and performs standing and squatting actions through the cooperation of the sliding blocks and the guide rails;
7) After the standing and squatting actions are completed, the user reversely rotates the handle of the guide rail clamp to lock the guide rail clamp, and other movements are performed again.
The beneficial effects of the invention are as follows:
(1) The retractility of the leg loop bar and the waist loop bar ensures that the wearable lower limb exoskeleton power-assisted mechanical device can be suitable for people with different body types.
(2) The external balancing stand can ensure that the support, the assistance and the protection function are played under the condition that the crowd with lower limb dyskinesia needs to move, and the balance of a user in the use process is improved, so that the mobility of the crowd is greatly enhanced, and the device is safe and reliable.
(3) The wearable lower limb exoskeleton assisting mechanical device is simple in design, convenient and fast to wear, integrated in human and machine, low in cost and easy to assemble.
(4) The waist lifting mechanism formed by the guide rail and the guide rail clamp can meet the requirement that a user can realize advancing and retreating movements and squatting and standing movements in the wearing process, and the flexibility is better.
(5) The rehabilitation training mode can provide exercise rehabilitation training for people with lower limb dyskinesia and slow down muscle attenuation. Has the characteristics of practicality, convenience, small volume, low cost and the like.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate and do not limit the invention, and together with the description serve to explain the principle of the invention:
FIG. 1 is a front elevational view of the structure of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a side view of the present invention;
FIG. 4 is a schematic perspective view of the lower extremity exoskeleton of the present invention;
FIG. 5 is a schematic view of the lumbar lifting mechanism of the present invention;
FIG. 6 is a schematic view of a cushioning mechanism of the present invention;
fig. 7 is a schematic view of the leg extension mechanism of the present invention.
In the figure: 1-a damping universal wheel; 2-an external balancing stand; 3-caster connection plates; 4-left foot plate; 5-a power supply control box; 6-a rail clamp; 7-a waist connection plate; 8-hip disc motor; 9-knee joint disc type motor; 10-thigh outer bars; 11-thigh inner bars; 12-cushioning directional wheels; 13-a storage battery; 14-shank inner rod; 15-shank outer rod; 16-shank strap board; 17-right waist telescopic rod; 18-thigh strap plate; 19-ankle connection plate; 20-a guide rail; 21-right foot plate; 22-left waist telescopic rod; 23-sliding blocks; 24-a slide block oil filling nozzle; 25-cylindrical head screw a; 26-cylindrical head screw b; 27-a cylindrical head screw c; 28-cylindrical head screw d; 29-braking plate; 30-damping springs; 31-a guide rail fixing rear plate; 32-cylindrical head screw e; 33-rail clamp handles; 34-elastic band.
Detailed Description
The present invention will now be described in detail with reference to the drawings and the specific embodiments thereof, wherein the exemplary embodiments and descriptions of the present invention are provided for illustration of the invention and are not intended to be limiting.
As shown in fig. 1 to 7, the invention provides a wearable telescopic lower limb exoskeleton auxiliary device, which comprises an external balance frame 2, a waist lifting mechanism, a thigh fixing mechanism, a shank fixing mechanism, a foot plate fixing mechanism, casters and a power supply control mechanism; wherein, outside balance frame 2 is the frame construction of front portion opening, and waist fixed establishment fixes in outside balance frame 2 back frame inside. Wherein, as shown in fig. 5, the waist lifting mechanism comprises a guide rail fixing rear plate 31 fixed on the rear frame of the external balancing stand 2, a pair of guide rails 20 are fixed on the inner plate surface of the guide rail fixing rear plate 31, a sliding block 23 and a guide rail clamp 6 are arranged on the guide rails 20, a waist connecting plate 7 is connected on the sliding block 23, and a guide rail clamp handle 33 is arranged on the outer side of the guide rail clamp 6 as shown in fig. 3; the slide 23 is also provided with a slide oil nozzle 24. The waist connecting plate 7 is controlled to move up and down along the sliding block 23 through the guide rail clamp 6; the left waist telescopic rod 22 and the right waist telescopic rod 17 are respectively connected to two ends of the inner groove of the waist connecting plate 7 through the cylindrical head screws c27, and the cylindrical head screws c27 are loosened and adjusted at screw hole positions in the groove of the waist connecting plate 7 according to different body types, so that the waist connecting plate is suitable for the conditions of different body types with different waist widths, and the compatibility of the device is improved. Wherein, the ends of the left waist telescopic rod 22 and the right waist telescopic rod 17 are respectively connected with a hip joint disc type motor 8.
The thigh fixed establishment is connected on waist elevating system's left waist telescopic link 22 and right waist telescopic link 17, and wherein, thigh fixed establishment is including a pair of thigh interior pole 11 and a pair of thigh exterior pole 10 of interconnect, and thigh exterior pole 10 is installed in the thigh interior pole 11 outside, and the pole 11 nestification is inside thigh exterior pole 10 in the thigh, realizes the scalability, satisfies the condition of different leg lengths of different sizes. The tops of a pair of thigh inner rods 11 are respectively connected with the hip joint disc type motor 8, and the bottoms of a pair of thigh outer rods 10 are connected with the knee joint disc type motor 9; the thigh strap plates 18 are respectively connected to the inner sides of the pair of thigh outer bars 10, and elastic straps 34 are provided above and below the thigh strap plates 18.
As shown in fig. 7, the lower leg fixing mechanism is connected to the lower part of the thigh fixing mechanism, and the lower leg fixing mechanism comprises a pair of lower leg inner rods 14 and lower leg outer rods 15, wherein the lower leg inner rods 14 are sleeved in the lower leg outer rods 15 and are connected through cylindrical head screws a 25; the tops of the pair of shank inner rods 14 are respectively connected to the knee joint disc type motor 9, the pair of shank outer rods 15 are connected with shank strap plates 16 through cylindrical head screws e32, and the shank strap plates 16 are fastened through elastic straps 34; the bottoms of the pair of outer shank rods 15 are horizontally connected with the foot plate fixing mechanism through a pair of L-shaped plates, the vertical parts of the L-shaped plates are connected to the outer shank rods 15 through cylindrical head screws b26, and the horizontal parts of the L-shaped plates are connected with the foot plate fixing mechanism through cylindrical head screws d 28.
As shown in fig. 2, wherein the hip disc motor 8 attached to the ends of a pair of lumbar telescoping rods is inclined at an angle of 15-20 ° with respect to the knee disc motor 9 to facilitate engagement with the lumbar lifting mechanism when telescoping the thighs. At the same time, the calf immobilization mechanism remains on the same vertical line as the knee disc motor 9.
The foot plate fixing mechanism includes an ankle connecting plate 19 and a pair of foot plates (left foot plate 4, right foot plate 21), the ankle connecting plate 19 being fixedly attached to both sides of the shank 15, the left foot plate 4 and the right foot plate 21 being horizontally connected to the ankle connecting plate 19.
The bottom of outside balancing stand 2 links to each other with four truckle connecting plates 3, and two truckle connecting plates 3 in front side link to each other with cushioning universal wheel 1, and two truckle connecting plates 3 in rear side link to each other with cushioning directional wheel 12, make the device realize the turning function. As shown in fig. 6, a pair of connection brackets are connected to the caster connection plate 3, a damping spring 30 is provided on each connection bracket, each connection bracket is connected to the damping universal wheel 1 or the damping directional wheel 12 through a pin, and a brake plate 29 is connected to each pin. The damping spring 30 is installed at one side of the damping universal wheel 1 and the damping directional wheel 12, so that the stability of the device can be improved and the comfort of a user can be improved when the device moves and spans small obstacles.
The power control mechanism is arranged outside the rear frame of the external balancing stand 2, the power control mechanism comprises a storage battery 13 and a power control box 5, a controller connected with a mobile phone of a user is arranged in the power control box 5, and the power control box 5 is arranged at the rear end of the external balancing stand 2.
Before use:
fig. 1 and 3 illustrate that a user adjusts the thigh outer lever 10 and the thigh inner lever 11, the shank outer lever 15 and the shank inner lever 14, and the left waist telescopic lever 22 and the right waist telescopic lever 17 according to his body type with the help of a worker, thereby being compatible with his body type and improving the comfort of the user. After the adjustment, a user can independently wear the device, and the user can use the feet to step on the brake pedal 29 at the rear side of the cushioning universal wheel 1 at the two sides of the front end, so that the lower limb exoskeleton assisting mechanical device is fixed in place; after this step, the user attaches the leg to thigh strap 18 and shank strap 16 and secures the leg to the strap using elastic straps 34.
When moving:
fig. 6 and 7 illustrate that a user can control the wearable lower limb exoskeleton assistance mechanical device through the mobile phone APP. When the user sends a preset command, the hip joint disc type motor 8 and the knee joint disc type motor 9 start to act simultaneously to generate torque, so that thighs and calves of the user are driven to rotate, and the forward and backward functions are realized. Under the action of the cushioning universal wheels 1 at the two sides of the front end of the external balancing stand 2, a user can realize a turning function. When a user uses the device to span small obstacles, the damping springs 30 arranged on one side of the damping universal wheel 1 and the damping directional wheel 12 can improve the stability of the device and the comfort of the user in the whole using process.
When standing and squatting:
fig. 5 illustrates the principle of a user's standing squat action. The user rotates the handle 33 of the rail clamp to make it in a loose state, after this step, the user can perform standing and squatting actions under the combination of the slide block 23 and the rail 20, and after the standing action is completed, the user reversely rotates the handle 33 of the rail clamp to lock the rail clamp 6, and then perform other movements again.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (7)
1. The wearable telescopic lower limb exoskeleton assisting device is characterized by comprising an external balancing stand (2), a waist lifting mechanism, a thigh fixing mechanism, a shank fixing mechanism, a foot plate fixing mechanism, casters and a power supply control mechanism; the outer balancing stand (2) is fixedly provided with a waist lifting mechanism comprising a guide rail and a guide rail clamp, the thigh fixing mechanism is connected to a waist telescopic rod of the waist lifting mechanism through a hip joint disc type motor (8), the shank fixing mechanism is connected to the lower part of the thigh fixing mechanism through a knee joint disc type motor (9), and the foot plate fixing mechanism is connected to the bottom of the shank fixing mechanism;
the waist lifting mechanism comprises a guide rail fixed rear plate (31), a pair of guide rails (20) are fixed on the guide rail fixed rear plate (31), a sliding block (23) and a guide rail clamp (6) are arranged on the guide rails (20), a waist connecting plate (7) is connected to the sliding block (23), and the waist connecting plate (7) is controlled to move up and down along the sliding block (23) through the guide rail clamp (6);
the hip joint disc type motor (8) and the knee joint disc type motor (9) are inclined by 15-20 degrees; the shank fixing mechanism and the knee joint disc type motor (9) are kept on the same vertical line;
the user is connected with the power supply control mechanism through the mobile phone APP to control the hip joint disc type motor (8) and the knee joint disc type motor (9) to act simultaneously, so as to drive the thighs and the calves of the user to rotate and realize movement; the caster is used for realizing in-situ fixation, turning and braking; the waist lifting mechanism is lifted along the guide rail by controlling the guide rail clamp by a user, so that standing and squatting are realized.
2. The wearable telescopic lower limb exoskeleton assisting device according to claim 1, wherein the outer balancing frame (2) is of a frame structure with an opening at the front part, the waist fixing mechanism is fixed inside a rear frame of the outer balancing frame (2), and the power supply control mechanism is arranged at the rear end of the outer balancing frame (2).
3. The wearable telescopic lower limb exoskeleton booster device according to claim 1, wherein a pair of waist telescopic rods are respectively connected to two ends of the waist connecting plate (7), and the hip joint disc type motor (8) is respectively connected to the pair of waist telescopic rods.
4. The wearable telescopic lower limb exoskeleton assistance device as claimed in claim 1, wherein said thigh fixing mechanism comprises a pair of thigh inner rods (11) and a pair of thigh outer rods (10) which are sleeved with each other, the pair of thigh inner rods (11) are respectively connected to the hip disc motor (8), and the pair of thigh outer rods (10) are connected to the knee disc motor (9).
5. The wearable telescopic lower limb exoskeleton assistance device as claimed in claim 4, wherein said shank fixation mechanism comprises a pair of shank inner rods (14) and shank outer rods (15) which are sleeved with each other, the pair of shank inner rods (14) are respectively connected to the knee joint disc motor (9), and the shank outer rods (15) are connected to the foot plate fixation mechanism.
6. The wearable telescopic lower limb exoskeleton assistance device as claimed in claim 5, wherein a pair of thigh outer rods (10) are respectively connected with thigh strap plates (18), a pair of shank outer rods (15) are connected with shank strap plates (16), and the thigh outer rods (10) and the shank strap plates (16) are fastened by elastic straps (34).
7. The wearable telescopic lower limb exoskeleton assisting device according to claim 1, wherein the bottom of the external balancing frame (2) is connected with four caster connecting plates (3), the front two caster connecting plates (3) are connected with a cushioning universal wheel (1), and the rear two caster connecting plates (3) are connected with a cushioning directional wheel (12); the damping universal wheel (1) and the damping directional wheel (12) are provided with damping springs (30) and braking plates (29).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010177846.8A CN111228089B (en) | 2020-03-13 | 2020-03-13 | Wearable telescopic lower limb exoskeleton assisting device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010177846.8A CN111228089B (en) | 2020-03-13 | 2020-03-13 | Wearable telescopic lower limb exoskeleton assisting device |
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| Publication Number | Publication Date |
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| CN111228089A CN111228089A (en) | 2020-06-05 |
| CN111228089B true CN111228089B (en) | 2024-02-09 |
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| CN202010177846.8A Active CN111228089B (en) | 2020-03-13 | 2020-03-13 | Wearable telescopic lower limb exoskeleton assisting device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112587385A (en) * | 2021-01-05 | 2021-04-02 | 石家庄熙美科技有限公司 | Special equipment for leg recovery walking |
| CN112932908B (en) * | 2021-01-25 | 2023-03-24 | 袁伟 | Prevent falling and be convenient for orthopedics of removal uses rehabilitation training device |
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