CN112497197A

CN112497197A - Unpowered walking assisting mechanical leg capable of having a squatting rest

Info

Publication number: CN112497197A
Application number: CN202110000571.5A
Authority: CN
Inventors: 赵光华
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-01-04
Filing date: 2021-01-04
Publication date: 2021-03-16

Abstract

The invention provides a unpowered walking assisting mechanical leg capable of resting in a squatting mode, which is simple and light in structure, does not use external power such as a battery and the like, can be used for a long time, and is suitable for the old and people suffering from leg diseases.

Description

Unpowered walking assisting mechanical leg capable of having a squatting rest

The technical field is as follows:

the invention belongs to the field of medical rehabilitation, and particularly relates to an unpowered walking assisting mechanical leg capable of resting in a squatting mode.

Background art:

at present, with the development of science and technology, various exoskeleton robots and various exoskeleton mechanical legs which can solve the problem of inconvenient walking of people are continuously generated, the motor function of old people or patients with leg diseases can be improved, and the life quality of people is improved.

How to reduce helping hand structure volume, weight reduction, reduce cost and use nimble light, become the problem that needs to solve at present urgently.

In addition, for long-time standing work, such as operators of automobile assembly lines, operating table surgeons and the like, a power-assisted mechanical leg capable of reducing the working strength is also needed, and the power-assisted mechanical leg can rest by means of the support of the mechanical leg during standing, so that the physical consumption is reduced.

Disclosure of Invention

The walking assisting mechanical leg aims to overcome the defects of the prior art, is simple and portable, does not need power, can be popularized and applied to the vast old and people with walking difficulty, is supported by the mechanical leg when walking, reduces the pressure on the knee joint, and can squat and sit at any time for rest.

The invention adopts a metal hollow pipe as a leg support, and is characterized in that: the thigh supporting tube (1) and the shank supporting tube (2) are used as leg exoskeleton supports, and a controllable ratchet wheel combination device is arranged at the knee joint where the big leg and the small leg are connected, and the device controls the separation and the engagement of a pawl (22) and a ratchet wheel (21) according to the walking state. In order to enable the motion flexibility of the mechanical leg to be the same as the free motion state of the leg of a human body, a simulated hip joint with 3 degrees of freedom is designed at the position of the hip joint, a joint bearing (3) is installed at the upper end of a thigh supporting tube to simulate the 3 degrees of freedom of motion of the hip joint of the human body, an ankle joint bearing (8) is designed at the ankle part to simulate the degree of freedom of motion of the ankle part, the whole structure of the ankle joint simulation device is that the joint bearing (3) at the upper end of the thigh supporting tube (1) is connected with a waist bearing movable ring (12), knee joints of the thigh supporting tube and the thigh supporting tube are connected through a controllable ratchet wheel combination structure, the ankle joint (8) of the shank supporting tube is connected with a pedal bracket (11), the pedal bracket (11) is provided with a pedal rotating plate (28) and a rotating lever (29) fixedly, form shank ectoskeleton after the unit mount, nylon magic subsides shoes bandage (10) are installed in pedal support (11) to tighten with shoes, waist bearing looper (12) of waist design are connected with thigh stay tube upper portion joint bearing (3) through hip joint connecting plate (34), and waist bearing looper (12) preparation has triangle-shaped nylon pocket area (18), can regard as rest seat, when the human rest of squatting, is born health weight by the ectoskeleton completely.

The action principle is as follows: when two legs stand, the pedal rotating plate (28) is stepped flat under the action of the gravity of a human body, as shown in a state of figure 6, the rotating lever (29) rotates downwards, the traction steel wire rope (26) pulls the pawl clutch mandril (24) to pull downwards, under the action of the pawl tension spring (23), the pawl (22) and the ratchet wheel (21) return to a normal meshing state, as shown in figure 3, the mechanical leg is in an inflexible state and plays a supporting role, when the human body starts to walk, one foot is lifted, the pedal rotating plate (28) releases the traction on the pawl clutch mandril (24), the mandril (22) is pushed upwards under the push of the mandril reset spring (25), the pulling force of the pawl tension spring (23) is overcome, the pawl (22) is jacked, the pawl (22) and the ratchet wheel (21) are separated, as shown in figure 4, at the moment, the knee joint is in a free moving state and can take a stepping action, after forward stepping, the foot step, the rotating lever (29) is driven to rotate anticlockwise and downwards, the traction steel wire rope (26) pulls the pawl clutch ejector rod (24) to move downwards to be separated from the pawl (22), the pawl (22) resets to be meshed with the ratchet wheel (21) under the pulling of the pawl tension spring (23), and the pawl and the ratchet wheel are in a one-way rotating state again, namely the knee joint can only stand upwards and straighten in a bending state but cannot bend downwards, so that the supporting force for the body is formed. The other leg has the same movement state, when the two legs stand, the ratchet structures of the two side claws are in a one-way locking state, so that the two legs can stretch and stand upright when bent, and when the legs squat downwards, the ratchet structures are locked, and the support effect of the mechanical legs on the body is formed.

Further: the invention is additionally designed with a manual adjusting function for the action of a ratchet wheel structure at the knee joint, a pawl manual adjusting button (5) is arranged at the knee joint of a mechanical leg, the pawl manual adjusting button (5) can be shifted upwards when the ratchet wheel unidirectional rotation function is not needed, the pawl (22) can be pulled upwards through a pawl manual separating hook (30), the engagement between the pawl (22) and the ratchet wheel (21) is released, the same function that the knee joint can freely move when the foot part is lifted is achieved, the arbitrary bending angle of the knee joint can be conveniently adjusted, namely the sitting posture height of a human body is adjusted, the knee joint is shifted back to the original position after being adjusted to the required height, the unidirectional locking function is recovered, and the support for the human body.

Further: the controllable ratchet wheel structure between the knee joints of the thigh supporting tube (1) and the shank supporting tube (2) is designed to lock and rotate in a one-way within the range of 0-120 degrees, so that the purpose that the human body can sit at any position from the upright leg to the 120-degree squatting position for rest can be achieved.

Furthermore, a 0-120 degree rotating groove (19) and a limit pin (20) are arranged at the knee joint, so that the range of motion of the knee joint between 0-120 degrees is further ensured.

Further: the support of the body weight is realized by that after the thigh support tube (1) is connected with the waistline bearing movable ring (12), the nylon pocket belt (18) on the waistline bearing movable ring (12) pockets the buttocks to form a seat to realize the squatting function.

Further: waistline bearing looper (12) design is for having hinge looper (17) of waistline size regulation hole, can select the mounting hole of different positions as required, can adjust waistline size of a dimension to be fit for different waistlines personnel and use, waistline bearing looper (12) adopt hinge (17) to open the structure, can open the closed convenient wearing.

Further: thigh stay tube (1) and shank stay tube (2) adopt length adjustable structure, through pressing adjustment button, adjustable big or small leg stay tube length to adapt to different height personnel and use.

And a further step: the waist-line bearing loop (12) is tied on the waist through a waist-line tightening nylon belt (13) to be combined and fixed with the body, and the nylon pocket belt (18) is hung on the waist-line bearing loop (12) through a metal hook (16) capable of adjusting the length of the nylon belt. The big and small leg supporting tubes are provided with a bandage fixing clip (7) which can pass through a magic tape bandage (33) with a thread gluing, and a thigh binding cushion (31) and a shank binding cushion (32) are padded in the middle to fasten the thigh part and the shank ankle part.

The technical scheme for realizing the purpose is as follows:

the invention can adopt rectangular stainless steel, aluminum alloy pipes or carbon fiber materials as the large and small leg supporting pipes according to the requirements, the scheme adopts an aluminum alloy hollow pipe, the knee parts connected with the large and small leg supporting pipes are provided with aluminum alloy knee joint connecting plates which are connected by adopting a rotating pin shaft, a controllable ratchet wheel combination structure is arranged between the two knee joint connecting plates, a ratchet wheel is fixed with the thigh supporting pipe knee joint connecting plate by a pin, a pawl is arranged on the shank supporting pipe knee joint connecting plate and is positioned by the rotating pin shaft, one end of a pawl tension spring is hung on the pawl, the other end of the pawl tension spring is hung on a clutch mandril base to form elastic traction on the pawl, the pawl clutch mandril penetrates a clutch reset spring and is positioned by an open retainer ring and is arranged on the clutch mandril base, a traction steel wire rope is inserted into a hole position, the pedal rotating plate rotates up and down by being fastened by jackscrews, and the pedal rotating lever pulls the steel wire rope to adjust the working position of the pawl and change the meshing state of the pawl and the ratchet wheel.

Waistline bearing looper plays the seat effect that bears health weight, it adopts the stainless steel area preparation, the four sides are convenient for open for hinge structure and dress, waistline bearing looper design has the size regulation hole, adjustable waistline size, it has nylon ring and the adjustable nylon belt of length to wear on it is in the waist with convenient system, install the buttock nylon pocket area of nylon belt preparation on the waistline bearing looper, play the usage of seat, the adjustable buttock pocket area elasticity of nylon pocket area couple of nylon pocket area tip, the health bearing constitutes the buttock seat by waistline bearing looper and nylon pocket area and supports, support human weight with the help of mechanical legs overall structure, form the position of sitting, reduce the health weight that the shank bore. The pedal support is provided with a nylon magic shoe-sticking bandage, so that the shoes and the pedal support can be tightly bound, and the walking is more flexible.

The beneficial effects produced by the invention are as follows:

1. the structure is simple and light, the cost is low, external power such as batteries is not used, and the device can be used for a long time.

2. The power-assisted mechanical leg is suitable for old people and people suffering from leg diseases, and can form a power-assisted effect due to the supporting capability of the power-assisted mechanical leg when walking and going upstairs, so that the knee bearing capacity is reduced, and meanwhile, the assisting force of nursing personnel can be reduced.

3. Can be used for squatting and sitting at any time, and also can reduce the physical strength of users and nursing staff.

4. The support device is also suitable for workers who stand for a long time, such as automobile assembly line operators and medical staff who stand for a long time on an operating table, and can rest by means of the support of the mechanical legs when the workers stand, so that the physical burden of standing for a long time is greatly reduced.

Description of the drawings:

FIG. 1: appearance schematic diagram of overall structure of power-assisted mechanical leg

In the figure: (1) thigh support pipe (2), shank support pipe (3), hip joint bearing (4), knee joint protective cover (5), pawl manual adjusting button (6), steel wire rope pipe (7), bandage fixing clamp (8), ankle joint bearing (9), pedal bracket protective cover (10), shoe bandage (11), pedal bracket (12), waist bearing movable ring

FIG. 2: waist bearing movable ring structure diagram

In the figure: (13) nylon belt (14), nylon belt ring (15), plastic buckle (16), nylon pocket belt hook (17), bearing movable ring hinge (18), nylon pocket belt (34) and hip joint fixing plate

FIG. 3: schematic illustration of knee joint structure

In the figure: (19) a rotating groove (20), a limit pin (21), a ratchet wheel (22), a pawl (23), a pawl tension spring (24), a pawl clutch mandril (25), a reset mandril spring (26), a traction steel wire rope (27) and a clutch mandril base

FIG. 4: separation diagram of pawl and ratchet wheel

FIG. 5: schematic structure of pedal support

In the figure: (28) pulling lever of pedal rotating plate (29)

FIG. 6: schematic pedal level of pedal rotating plate

FIG. 7: structural schematic diagram of pawl manual reset hook

In the figure: (30) pawl manual separation hook

FIG. 8: schematic diagram of appearance structure of knee joint

FIG. 9: pedal support stereo view

FIG. 10: schematic diagram of nylon band for binding large and small legs

In the figure: (31) thigh binding soft cushion (32) and shank binding soft cushion (33) magic tape buckle

The specific implementation mode is as follows:

the invention relates to an unpowered walking assistance mechanical leg capable of realizing squatting and resting, which has the following specific implementation modes:

when the waist-ankle joint is worn, the nylon belt can be inserted and buckled on a seat, the waist-bearing movable ring hinge is opened, the nylon belt is buckled between the waist, the waist-bearing movable ring is hung and buckled at a proper hole position, the pedal bracket is stepped on by feet, the thigh-binding nylon belt is tied at the root of a thigh, the nylon belt of the pedal bracket is tied at a vamp, the hip of the nylon belt is pocketed, the hook is hung on the waist-bearing movable ring, the. When the walking machine stands, the pedal rotating plate is stepped, the pawl reset ejector rod is pulled through the traction steel wire rope to be disengaged from the pawl, the pawl is meshed with the ratchet wheel under the pulling of the pawl tension spring, the ratchet wheel at the knee joint produces a clicking sound, namely the ratchet wheel performs unidirectional rotation action, the body feels mechanical leg supporting force when squatting, when one leg lifts to step, the pedal rotating pedal is disengaged from the traction of the pawl reset ejector rod, the pawl clutch ejector rod is jacked under the elastic force of the ejector rod reset spring to jack the pawl, the pawl is separated from the ratchet wheel to be meshed, the knee joint is in a free rotating state at the moment, walking can be performed by stepping, after the foot falls to the ground, the pedal rotating plate is stepped, the pawl clutch ejector rod is pulled through the steel wire rope to return to the pawl ratchet wheel meshing state, and the left leg and the right leg perform stepping. If the knee joint does not need to have a one-way self-locking function, the manual adjusting button of the pawl can be shifted upwards to pull the pawl to be disengaged from the ratchet wheel, and the walking state is the same as the normal walking state.

The squatting height adjusting method comprises three methods:

1. when one leg takes a step forward, the bending degree of the landing leg is controlled, when the other leg takes a step and lands, the same bending degree is also controlled, and the body weight can be supported by the mechanical legs after the two legs land.

2. Standing on both legs, standing on tiptoe tip (making the pedal rotating plate leave the ground) to bend the legs downwards, and landing the heels when the height is required, so that the bending angle can be kept.

3. Standing on both feet, using both hands to dial the manual adjusting button of the pawl upwards, the knee can be freely bent to a proper position, and then resetting the manual adjusting button of the pawl.

When squatting, the user needs to pay attention to the fact that the gravity center of the body slightly leans forward or the user holds objects by hands to ensure the stability of the body. If the back of the body is provided with a leaning object, the chair is completely as stable as a chair.

The embodiments of the present invention have been described in detail, but the description is only for the preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.

Claims

1. The utility model provides a unpowered walking helping hand machinery leg of sitting and sitting rest of can squatting, adopts metal hollow tubular product to support as shank ectoskeleton, its characterized in that: the knee joint parts of the thigh supporting tube and the shank supporting tube adopt a controllable pawl and ratchet wheel combined structure to simulate the rotation or supporting action required by the walking and standing of the knee joint, the engagement and the separation of the pawl and ratchet wheel are controlled by a pawl clutch ejector rod according to the walking state, the thigh supporting tube and the shank supporting tube are respectively provided with a joint bearing with 3 degrees of freedom at the hip joint and the foot ankle joint, the hip joint bearing of the thigh supporting tube is connected with a waist bearing movable ring, the ankle joint bearing of the shank supporting tube is connected with a pedal bracket to simulate the action of the hip joint, the knee joint and the ankle joint during walking, the waist bearing movable ring of the waist is manufactured with a nylon pocket belt similar to a seat, the hip is held by the nylon pocket belt to bear the body weight during squatting and resting, the motion characteristics of all joints of the legs of a human body can be simulated during walking, meanwhile, the knee joint part is provided with a pawl manual adjusting button, the walking aid chair is convenient to use under various conditions, and functions of walking assistance and squatting and resting are achieved.

2. The unpowered squat-able resting walking-assisted mechanical leg as claimed in claim 1, wherein: the knee joint part pawl is engaged with and separated from the ratchet wheel and is controlled by the pawl clutch ejector rod, the pawl clutch ejector rod is pulled by the traction steel wire rope to be separated from the pawl when the foot part is grounded, the pawl is pulled by the pawl tension spring to reset and engage the pawl ratchet wheel, the knee joint part can only rotate in one direction, namely the knee joint part can stand upright when being bent and is locked when squatting, and the supporting function is achieved.

3. The unpowered squat-able resting walking-assisted mechanical leg as claimed in claim 2, wherein: the elastic force of the clutch reset spring of the pawl clutch ejector rod device is larger than the tensile force of the pawl tension spring, when the traction steel wire rope is loosened, the clutch reset spring overcomes the tensile force of the pawl tension spring to jack the pawl clutch ejector rod, so that the pawl rotates to be separated from the ratchet wheel, namely, when the foot is lifted off the ground, the traction steel wire rope loosens the traction of the pawl clutch ejector rod, the clutch reset spring of the pawl clutch ejector rod bounces, so that the pawl is separated from the ratchet wheel, and the knee can freely bend and move.

4. The unpowered squat-able resting walking-assisted mechanical leg as claimed in claim 3, wherein: the pawl clutch ejector rod traction steel wire rope is connected with the pedal rotating plate and the pull-line lever and is arranged on the pedal support, and when the foot falls to the ground and is lifted during walking, the pedal rotating plate and the pull-line lever are pressed, the pawl clutch ejector rod is pulled down and reset to control the separation and engagement state of the pawl and the ratchet.

5. The unpowered squat-able resting walking-assisted mechanical leg as claimed in claim 1, wherein: the rotating angle of the pawl ratchet wheel is designed to be 0-120 degrees, and a locking mechanism of a rotating groove and a limiting pin is arranged between the knee joints at 0-120 degrees, so that the rotating range of the knee joints is further ensured, namely, a human body can sit and squat at any position of thigh erection and 120 degrees of squatting.

6. The unpowered squat-able resting walking-assisted mechanical leg as claimed in claim 1, wherein: the hip joint part and the ankle joint are provided with joint bearings to ensure that the hip joint and the ankle joint have three degrees of freedom motions which are the same as those of the hip joint and the ankle joint of a human body, and the twisting motions of the front, the back, the left, the right and the vertical directions of the legs of the human body can be realized. The joint bearing of the thigh supporting tube is connected with the waist movable ring through the hip joint fixing plate.

7. The unpowered squat-able resting walking-assisted mechanical leg as claimed in claim 1, wherein: the waistline bearing movable ring is composed of a waistline movable ring hinge with an adjusting hole and capable of adjusting the waistline size, the waistline size is adjustable, so that the waistline bearing movable ring can be used by people of different figures, a nylon belt capable of being fastened at the waist of the waist is arranged on the waistline bearing movable ring, the nylon belt is connected in a mutual insertion mode through plastic buckles, a hook structure of a nylon bag belt with adjustable length is arranged at the front end of the nylon bag belt, the nylon bag belt is hung on the waistline bearing movable ring, and the waistline bearing movable ring and the fastening nylon belt can be opened to be.

8. The unpowered squat-able resting walking-assisted mechanical leg as claimed in claim 1, wherein: the pedal support is provided with a magic tape nylon shoe bandage to tighten the connection with the shoe and is connected with the shank supporting tube through the ankle joint bearing.

9. The unpowered squat-able resting walking-assisted mechanical leg as claimed in claim 1, wherein: the manual pawl adjusting button can be used for poking the manual pawl adjusting button upwards to disengage from the ratchet wheel and the pawl when the ratchet wheel does not need the unidirectional rotation function, so that the use under various conditions is facilitated, and the same function of the knee joint free movement when the foot is lifted is achieved.

10. The unpowered squat-able resting walking-assisted mechanical leg as claimed in claim 1, wherein: big, shank stay tube have length-adjustable function to be suitable for different height crowds and use, its big, shank stay tube will take the fixed band of magic thread gluing through fixing the fixing clip on the pipe, ligature is in thigh and ankle position, so that shank and mechanical leg connect fixedly, knee joint and ankle joint position paste and have the anti-abrasive soft pad.