CN111388281A

CN111388281A - Unpowered exoskeleton stair walking aid

Info

Publication number: CN111388281A
Application number: CN202010193895.0A
Authority: CN
Inventors: 千学明; 吕恒; 刘琛; 王鹏刚; 田毅博; 陈子举; 李佳琪; 霍磊
Original assignee: Xian Technological University
Current assignee: Xian Technological University
Priority date: 2020-03-19
Filing date: 2020-03-19
Publication date: 2020-07-10

Abstract

The invention relates to a power-free exoskeleton stair walking aid device which comprises a waistband, a belt buckle, power-assisted components, leg connecting rods, fixing devices and pedals, wherein the two sides of the waistband are respectively connected with the power-assisted components through power-assisted component bases; the exoskeleton of the invention adopts a mechanical energy storage mechanism and is not driven by a motor, so that the weight of the exoskeleton power-assisted walking aid device is greatly reduced, and the protection performance is improved; by adding the protective tightening device at the reasonable position of the thigh, the stability of the muscle of the user going upstairs and downstairs is ensured, and the coordination degree of the lower limb and the exoskeleton is higher.

Description

Unpowered exoskeleton stair walking aid

Technical Field

The invention belongs to the technical field of exoskeleton power-assisted walking aids, and particularly relates to an unpowered exoskeleton stair walking aid.

Background

The social types of China entering the 21 st century gradually tend to aging, the number of old people is more and more, the problem of limb movement disorder of the old people is increasingly prominent, and the old people who need to go upstairs and downstairs can climb stairs every day, which is a very painful thing. Because the joints of the old are stiff, the legs lack strength, the legs often step immovably, each step of each level can be an obstacle to going upstairs and downstairs, the old can fall down from stairs carelessly, and the old is seriously fractured, thereby causing great problems to the daily life of the old.

Most exoskeleton power-assisted walking aid devices in the existing market are expensive in price, need to be driven by a power source, and are large in size and heavy in weight; and most of the novel exoskeleton power-assisted walking aid devices are in a laboratory stage. For the market, an auxiliary mechanical tool which has high safety coefficient, long service cycle and high cost performance and is used for assisting the old to go up and down stairs is lacked.

Disclosure of Invention

In order to solve the technical problems in the prior art, the invention aims to provide an unpowered exoskeleton stair walking aid device, which solves the problems of large volume, complex structure and high price of walking aids in the current market.

In order to achieve the purpose, the technical scheme of the invention is as follows:

the unpowered exoskeleton stair walking aid device comprises a waistband, belt buckles, power-assisted components, leg connecting rods, fixing devices and pedals, wherein the waistband is of a rigid structure, the belt buckles are arranged at the front part of the waistband, the two sides of the waistband are respectively connected with the power-assisted components through power-assisted component bases, the two groups of power-assisted components are respectively connected with the leg connecting rods and the fixing devices through thigh connecting pieces, and the pedals are respectively arranged at the lower ends of the two groups of leg connecting rods and the fixing devices; the power assisting component comprises a rotating shaft, a ratchet, a flat key, a driving wheel, a bearing, an inner meshing tooth ratchet wheel cover, a plane volute spiral spring and a power assisting component shell, wherein the plane volute spiral spring is arranged in the power assisting component shell, the inner end of the plane volute spiral spring is sleeved with the rotating shaft, the plane volute spiral spring is connected with a connecting piece between thighs through the rotating shaft, the driving wheel is arranged outside the rotating shaft through the flat key, the driving wheel is matched with the inner meshing tooth ratchet wheel cover through the ratchet, and the bearing is arranged outside the rotating shaft and between the inner meshing tooth ratchet wheel cover and the.

Further, the leg connecting rod and the fixing device comprise a thigh plate and a telescopic rod, a thigh binding connecting piece, a thigh binding, a shank connecting rod, a leg binding connecting piece and a shank binding; the thigh plate and the telescopic rod are formed by sleeving two-stage rods, and the length of the thigh plate and the length of the telescopic rod can be adjusted in a telescopic mode; the thigh plate and the telescopic rod are connected with a thigh binder through a leg binder connecting piece, and the shank connecting rod is connected with a shank binder through a leg binder connecting piece; the thigh plate, the telescopic rod and the shank connecting rod are in shaft connection, and the shank connecting rod and the pedal are in shaft connection.

The invention has the beneficial effects that:

1. the exoskeleton of the invention adopts a mechanical energy storage mechanism and is not driven by a motor, so that the weight of the exoskeleton power-assisted walking aid device is greatly reduced, and the protection performance is improved; by adding the protective tightening device at the reasonable position of the thigh, the stability of the muscle of the user going upstairs and downstairs is ensured, and the coordination degree of the lower limb and the exoskeleton is higher.

2. The invention aims at the problem of stair walking of the old, designs a novel unpowered exoskeleton stair walking aid device to provide auxiliary power for the old with weak muscle strength of lower limbs, so that the old can walk up and down stairs more conveniently and comfortably; the simple design structure that uses the flat spiral spring to come the helping hand can accomplish light in weight, the low price, conveniently carries. Effectively solving the problem that the old people go upstairs and downstairs.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is an exploded view of the waist assist assembly of the present invention;

FIG. 3 is a partial schematic view of a waist assist structure of the present invention;

FIG. 4 is a side view of the thigh panel and knee joint structure of the present invention;

FIG. 5 is a schematic view of the structure of the lower leg and foot of the present invention;

in the figure, 1-waistband, 2-buckle, 3-booster component base, 4-thigh connecting piece, 5-booster component, 501-rotating shaft, 502-ratchet, 503-flat key, 504-driving wheel, 505-bearing, 506-inner engaged gear ratchet wheel inner cover, 507-plane spiral spring, 508-booster component shell, 6-thigh plate piece and telescopic rod, 7-thigh binding connecting piece, 8-thigh binding, 9-shank connecting rod, 10-shank binding connecting piece, 11-shank binding and 12-pedal.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following examples, it being understood that the described examples are only a part of the examples of the present invention, and not all examples. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, the unpowered exoskeleton stair walking aid device comprises a waistband 1, a belt buckle 2, a power assisting assembly base 3, a thigh connecting piece 4, a power assisting assembly 5, a thigh plate and telescopic rod 6, a thigh binding connecting piece 7, a thigh binding 8, a shank connecting rod 9, a leg binding connecting piece 10, a shank binding 11 and a pedal 12.

Waistband 1 is the rigid structure, sets up belt buckle 2 in waistband 1 front portion, and belt buckle 2's effect is that the help is fixed between the waist, and a helping hand subassembly base 3 is connected respectively to waistband 1 both sides, and helping hand subassembly shell passes through helping hand subassembly base 3 and connects helping hand subassembly 5, and helping hand subassembly 5 can rotate around helping hand subassembly base 3 center, helping hand subassembly 5 passes through connecting piece 4 between the thigh and connects thigh plate and telescopic link 6, and thigh plate and telescopic link 6 comprises the pole cover of both sides, comes to be fit for the wearer of different heights through the length of adjusting thigh plate and telescopic link 6.

As shown in fig. 2 and 3, the power assisting assembly 5 includes a rotating shaft 501, a ratchet 502, a flat key 503, a driving wheel 504, a bearing 505, an inner cover 506 of inner gear ratchet, a flat spiral spring 507, and a power assisting assembly housing 508, wherein the power assisting assembly housing 508 is internally provided with the flat spiral spring 507, the flat spiral spring 507 is connected with the inter-thigh connecting piece 4 through the rotating shaft 501, the driving wheel 504 is arranged outside the rotating shaft 501 through the flat key 503, the driving wheel 504 is matched with the inner cover 506 of inner gear ratchet through the ratchet 502, and the bearing 505 is arranged outside the rotating shaft 501, between the inner cover 506 of inner gear ratchet and the flat spiral spring 507; when the thigh of the person is in the double-support phase, i.e. the crossing gait, the inter-thigh link 4 follows the thigh to make the ratchet 504 rotate outwards to drive the rotating shaft 501 to compress the flat spiral spring 501, so as to store energy, and when the energy is released, the inter-thigh link can assist the hip in the single-support phase to lift the thigh.

As shown in fig. 4 and 5, the thigh plate and the telescopic rod 6 are connected with the thigh 8 through the leg binding connecting piece 7, the shank connecting rod 9 is connected with the shank binding 11 through the leg binding connecting piece 10, the leg binding connecting piece 7 is connected with the thigh plate and the telescopic rod 6 through the rivet, the thigh plate and the telescopic rod 6, the shank connecting rod 9 and the pedal 12 can be rotatably connected therebetween, and the corresponding knee joint and ankle joint flexion movement of a wearer can be realized.

The invention discloses a working principle of a powerless exoskeleton stair walking aid device, which comprises the following steps:

the user wears the waistband of the novel unpowered stair walking aid device on the waist, and then wears the thighs 8 and the shanks 11 on the two sides on the thighs and the shanks. The assistance principle is that the inner end of the flat spiral spring 507 is sleeved with the rotating shaft 501, when the thigh of a person is in a double-support phase, namely a cross gait, the thigh connecting piece 4 follows the thigh to enable the ratchet 502 to rotate outwards to drive the rotating shaft 501 to compress the flat spiral spring 507, so that energy is stored, and the energy can be released to assist the hip in lifting the thigh in a single-support phase. When the legs are lifted to the highest point, the legs are put down by the gravity of the legs, and a walking cycle is completed.

The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. Any partial modification or replacement within the technical scope of the present disclosure by a person skilled in the art should be included in the scope of the present disclosure.

Claims

1. Unpowered ectoskeleton stair help capable device, its characterized in that: the waist belt comprises a waist belt (1), belt buckles (2), power-assisted components (5), leg connecting rods, fixing devices and pedals (12), wherein the waist belt (1) is of a rigid structure, the belt buckles (2) are arranged at the front part of the waist belt (1), the two sides of the waist belt are respectively connected with the power-assisted components (5) through power-assisted component bases (3), the two groups of the power-assisted components (5) are respectively connected with the leg connecting rods and the fixing devices through inter-thigh connecting pieces (4), and the pedals (12) are respectively arranged at the lower ends of the two groups of the leg connecting rods; helping hand subassembly (5) are including pivot (501), ratchet (502), flat key (503), drive wheel (504), bearing (505), interior meshing tooth ratchet inner cup (506), flat spiral spring (507) and helping hand subassembly shell (508), flat spiral spring (507) are equipped with in helping hand subassembly shell (508), pivot (501) are cup jointed to the inner of flat spiral spring (507), and connecting piece (4) between the thigh are connected through pivot (501) in flat spiral spring (507), set up drive wheel (504) through flat key (503) outside pivot (501), and drive wheel (504) are through ratchet (502) and interior meshing tooth ratchet inner cup (506) cooperation, set up bearing (505) between pivot (501), interior meshing tooth ratchet inner cup (506) and flat spiral spring (507).

2. The unpowered exoskeleton stair walker device of claim 1, wherein: the leg connecting rod and fixing device comprises a thigh plate and telescopic rod (6), a thigh binding connecting piece (7), a thigh binding (8), a shank connecting rod (9), a leg binding connecting piece (10) and a shank binding (11); the thigh plate and the telescopic rod (6) are formed by sleeving two-stage rods, and the length of the thigh plate and the telescopic rod (6) can be adjusted in a telescopic mode; the thigh plate and the telescopic rod (6) are connected with a thigh binder (8) through a leg binder connecting piece (7), and the shank connecting rod (9) is connected with a shank binder (11) through a leg binder connecting piece (10); the thigh plate, the telescopic rod (6) and the shank connecting rod (9) are connected through a shaft, and the shank connecting rod (9) and the pedal (12) are connected through a shaft.