CN112959308A - Light knee joint power assisting device and power assisting method - Google Patents
Light knee joint power assisting device and power assisting method Download PDFInfo
- Publication number
- CN112959308A CN112959308A CN202110371775.XA CN202110371775A CN112959308A CN 112959308 A CN112959308 A CN 112959308A CN 202110371775 A CN202110371775 A CN 202110371775A CN 112959308 A CN112959308 A CN 112959308A
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- gear
- thigh
- support
- shank
- fixing column
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 18
- 210000001699 lower leg Anatomy 0.000 claims abstract description 44
- 210000000689 upper leg Anatomy 0.000 claims abstract description 42
- 210000002414 leg Anatomy 0.000 claims abstract description 16
- 238000004146 energy storage Methods 0.000 claims abstract description 14
- 239000000853 adhesive Substances 0.000 claims abstract description 3
- 230000001070 adhesive effect Effects 0.000 claims abstract description 3
- 230000033001 locomotion Effects 0.000 claims description 16
- 230000000694 effects Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000005452 bending Methods 0.000 abstract description 2
- 230000009194 climbing Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a light knee joint power assisting device and a power assisting method, which integrally adopt a symmetrical structure and structurally comprise: the binding device, the fixing device and the energy storage device; the binding device comprises an upper thigh binding band, a lower thigh binding band, an upper shank binding band and a lower shank binding band which are arranged in sequence from top to bottom and are all adhesive binding bands; the fixing device comprises a thigh support, a shank support, a cylindrical pin and a sponge layer, and is closely matched with a human body when worn; the energy storage device comprises a shell, a shell cover, a coil spring, a central gear, an intermediate gear and an internal gear, wherein the shell is fixedly connected to the outer side of the shank support, and the internal gear is fixedly connected with the shank support. The energy that produces the human body in-process of bending legs through energy memory stores, releases the energy of storage and carries out the helping hand when stretching the leg, alleviates the pressure that the knee joint bore, uses to tie up and ties up device and fixing device and dress in the shank, improves the suitability and the convenience of dressing greatly, and the inboard sponge layer increases the travelling comfort of dressing.
Description
Technical Field
The invention relates to the technical field of wearable equipment, in particular to a light knee joint power assisting device and a power assisting method.
Background
The knee joint is an important joint of a human body, and can bear great force during movement, particularly during violent movement such as jumping and the like, and the knee joint can be greatly damaged by long-time high-intensity movement, so that the motor function is reduced; even without high intensity exercises, the knee joint gradually weakens with age, and the activities at ordinary times become extremely strenuous.
The existing lower limb assistance exoskeleton is basically a wearable device for the lower half of the body, is complex and heavy in overall structure, inconvenient to carry and wear, low in practicability and high in cost, can generate great constraint on the movement of people, and is not suitable for being used in daily life. Therefore, a light knee joint power assisting device is urgently needed to assist a human body to finish large-angle and high-strength activities such as mountain climbing, stair climbing and the like.
Disclosure of Invention
The invention aims to provide a light knee joint power assisting device and a power assisting method aiming at the problems.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a light knee joint power assisting device and a power assisting method structurally comprise: the binding device, the fixing device and the energy storage device. The binding device is mainly used for fixing when being worn, and the whole device is ensured not to slide off when being used; the fixing device is closely matched with a human body when being worn, so that the fixing device is firm and comfortable to wear; the energy storage device is arranged on the outer side of the fixing device and is coaxial with the pin hole of the shank support, so that energy is stored when the legs are bent, and energy is released when the legs are stretched, and the function of assisting the legs is achieved. The whole device adopts a symmetrical structure, is distributed on the inner side and the outer side of the human leg, and has the same structure and function.
Preferably, the harnessing apparatus comprises: the upper thigh bandage, the lower thigh bandage, the upper shank bandage and the lower shank bandage. The thigh upper bandage, the thigh lower bandage, the crus upper bandage and the crus lower bandage are all adhesive bandages which are sequentially arranged from top to bottom and are respectively arranged on the upper side of the thigh support, the lower side of the thigh support, the upper side of the crus support and the lower side of the crus support.
Preferably, the fixing means comprises: thigh support, shank support, cylindric lock and sponge layer. The shank bracket and the thigh bracket are connected by the cylindrical pin, and can rotate relatively around the cylindrical pin; the sponge layer is adhered to the inner sides of the shank support and the thigh support; and the outer side of the thigh support is provided with a connecting hole for fixedly connecting with an internal gear to transmit motion.
Preferably, the energy storage device includes: the gear comprises a shell, a shell cover, a coil spring, a central gear, an intermediate gear and an internal gear. The shell is fixedly connected to the outer side of the shank support and coaxial with the pin hole of the shank support, an arc-shaped groove of 170 degrees is arranged on the shell to provide a movement space for the fixed column five on the inner gear, the arc-shaped groove is designed to be 170 degrees larger than the limit movement angle 160 degrees of the large shank and the small shank when a human body moves, and the normal movement of the human body can be guaranteed not to be limited; a first vertical groove is formed in the inner side of the shell wall and used for fixedly connecting the outer end of the coil spring; a first fixing column, a second fixing column, a third fixing column and a fourth fixing column are arranged in the shell; the central gear is mounted on the first fixing column, and one end of the gear is provided with a second vertical groove for fixedly connecting the inner end of the coil spring; the intermediate gear I, the intermediate gear II and the intermediate gear III are respectively arranged on the second fixing column, the third fixing column and the fourth fixing column, are engaged with the central gear to move, are uniformly distributed in the circumferential direction, have the same action and enable the movement and force transmission to be more uniform and stable; the inner gear is meshed with the intermediate gear I, the intermediate gear II and the intermediate gear III, and a fixing column V is arranged on the other side of the inner gear; the inner end of the coil spring is fixedly connected with a second vertical groove on the central gear, and the outer end of the coil spring is fixedly connected with a first vertical groove on the shell; the housing cover is fixedly connected to the housing.
Preferably, the fixing column five on the internal gear penetrates through the arc-shaped groove on the shell and is fixedly connected with the connecting hole on the thigh support, and when the fixing column five rotates along with the internal gear, power is transmitted to the thigh support, so that a power assisting effect is generated when the thigh moves in a straightening mode.
By adopting the technical scheme, the light knee joint power assisting device and the power assisting method have the beneficial effects that:
according to the light knee joint power assisting device and the power assisting method, the energy storage device is used for storing the energy generated in the leg bending process of a human body, the stored energy is released for assisting while the leg is stretched, the pressure born by the knee joint is reduced, the device is worn on the leg through the binding device and the fixing device, the wearing applicability and convenience are greatly improved, and the wearing comfort is improved due to the sponge layer on the inner side.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a lightweight knee joint power assisting device and a power assisting method according to the invention;
FIG. 2 is an exploded view of the energy storage device of the present invention;
FIG. 3 is a schematic view of the gear train configuration of the present invention;
FIG. 4 is a front view of the housing of the present invention;
FIG. 5 is a schematic view of the internal structure of the energy storage device of the present invention;
in the drawings: 1-a shank support; 2-cylindrical pin; 3-sponge layer; 4-thigh support; 5-upper thigh bandage; 6-under thigh bandage; 7-connecting hole; 8, binding bands are arranged on the crus; 9-lower shank bandage; 10-housing cover; 11-a coil spring; 12-a sun gear; 13-gear one; 14-gear two; 15-gear three; 16-internal gear; 17-fixed column five; 18-a housing; 19-arc groove; 20-fixing the column I; 21-fixed column two; 22-fixed column three; 23-fixed column four; 24-a vertical trench I; 25-vertical trench two;
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings.
As shown in fig. 1, 2, 3, 4 and 5, the lightweight knee joint power assisting device and the power assisting method of the invention comprise: the thigh support comprises a shank support 1, a cylindrical pin 2, a sponge layer 3, a thigh support 4, a thigh upper bandage 5, a thigh lower bandage 6, a connecting hole 7, a shank upper bandage 8, a shank lower bandage 9, a shell cover 10, a coil spring 11, a central gear 12, a middle gear 13, a middle gear II 14, a middle gear III 15, an internal gear 16, a fixing column V17, a shell 18, an arc-shaped groove 19, a fixing column I20, a fixing column II 21, a fixing column III 22 and a fixing column IV 23; 24-a vertical trench I; 25-vertical trench two. The binding devices are respectively arranged on the thigh bracket 4 and the shank bracket 1; the thigh support 4 is connected with the shank support 1 by a cylindrical pin 2, and the sponge layer 3 is adhered on the inner side; the energy storage device shell 18 is fixedly connected to the outer side of the shank support 1, is coaxial with the pin hole of the shank support, and fixedly connects the thigh support 4 with the internal gear 16 through the five fixing columns 17 to transmit motion.
Can be fixed in the shank through four bandages with whole, energy memory and knee joint are the same high, guarantee the reliability and the stability of dressing, dress convenient and fast.
When the human body moves up and down stairs or mountaineering and the like, the big leg and the small leg are bent, the thigh support 4 rotates around the connecting point, the motion is transmitted to the inner gear 16 through the five fixing columns 17, and the inner gear 16 rotates; the internal gear 16 transmits the motion to the central gear 12 through an intermediate gear, and the central gear 12 rotates to enable the coil spring 11 to rotate and compress for storing energy; in the process of straightening the big and small legs, the coil spring 11 releases the stored energy to rebound, so as to drive the central gear 12 to rotate reversely, the motion is transmitted to the internal gear 16 through the intermediate gear, the internal gear 16 rotates reversely, the thigh support 4 is driven to move reversely through the five fixing columns 17, a certain acting force is generated on the thigh support 4, and the power assisting effect is achieved.
In conclusion, the invention has simple integral structure, is light and comfortable, is attached to the human body, is convenient to carry and wear, and can be well adapted to various daily activities of the human body.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the details of construction and the principles of the invention described in the foregoing specification, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. The invention relates to a light knee joint power assisting device and a power assisting method, which are characterized by comprising the following steps: the binding device, the fixing device and the energy storage device; the whole body adopts a symmetrical structure, is symmetrically distributed on two sides of the human leg, and has the same structure and function; the binding device is used for fixing when being worn, so that the whole device cannot slide off when being used; the fixing device is closely matched with a human body when being worn, so that the fixing device is firm and comfortable to wear; the energy storage device is arranged on the outer side of the fixing device and is coaxial with the pin hole of the shank support, so that energy is stored when the legs are bent, and energy is released when the legs are stretched, and the function of assisting the legs is achieved.
2. The lightweight knee joint assisting device and assisting method according to claim 1, wherein the tying device comprises: an upper thigh strap, a lower thigh strap, an upper shank strap and a lower shank strap; the thigh upper bandage, the thigh lower bandage, the crus upper bandage and the crus lower bandage are all adhesive bandages which are sequentially arranged from top to bottom and are respectively arranged on the upper side of the thigh support, the lower side of the thigh support, the upper side of the crus support and the lower side of the crus support.
3. A lightweight knee joint assist device and method as set forth in claim 1, wherein the fixing device comprises: the thigh support, the shank support, the cylindrical pin and the sponge layer are arranged on the upper leg support; the shank bracket and the thigh bracket are connected by the cylindrical pin and can rotate relatively; the sponge layer is adhered to the inner sides of the shank support and the thigh support; and the outer side of the thigh support is provided with a connecting hole for fixedly connecting with an internal gear to transmit motion.
4. The knee joint assisting device and the knee joint assisting method of claim 1, wherein the two energy storage devices are symmetrically distributed on two sides of the upper and lower leg supports, have the same structure and function, and only one energy storage device is introduced for simplifying the description, and the two energy storage devices comprise: the gear comprises a shell, a shell cover, a coil spring, a central gear, an intermediate gear and an internal gear. The shell is fixedly connected to the outer side of the shank support and coaxial with the pin hole of the shank support, and an arc-shaped groove of 170 degrees is formed in the shell to provide a movement space for a fixing column five on the internal gear; a first vertical groove is formed in the inner side of the shell wall and used for fixedly connecting the outer end of the coil spring; a first fixing column, a second fixing column, a third fixing column and a fourth fixing column are arranged in the shell; the central gear is mounted on the first fixing column, and one end of the gear is provided with a second vertical groove for fixedly connecting the inner end of the coil spring; the intermediate gear I, the intermediate gear II and the intermediate gear III are respectively arranged on the second fixing column, the third fixing column and the fourth fixing column, are matched with the central gear, are uniformly distributed in the circumferential direction, have the same action and enable the transmission of motion and force to be more uniform and stable; the inner gear is matched with the intermediate gear, and a fifth fixing column is arranged on the other side of the inner gear; the inner end of the coil spring is fixedly connected with a second vertical groove on the central gear, and the outer end of the coil spring is fixedly connected with a first vertical groove on the shell; the housing cover is fixedly connected to the housing.
5. The power assisting device and the power assisting method for the light knee joint according to claim 1 are characterized in that a fixing column five on the inner gear penetrates through an arc-shaped groove on the shell and is fixedly connected with a connecting hole on the thigh support, and when the fixing column five rotates along with the inner gear, power is transmitted to the thigh support, so that a power assisting effect is generated when the thigh moves in a straightening mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110371775.XA CN112959308A (en) | 2021-04-07 | 2021-04-07 | Light knee joint power assisting device and power assisting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110371775.XA CN112959308A (en) | 2021-04-07 | 2021-04-07 | Light knee joint power assisting device and power assisting method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112959308A true CN112959308A (en) | 2021-06-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110371775.XA Pending CN112959308A (en) | 2021-04-07 | 2021-04-07 | Light knee joint power assisting device and power assisting method |
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| Country | Link |
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| CN (1) | CN112959308A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113681546A (en) * | 2021-09-16 | 2021-11-23 | 重庆理工大学 | Pulley line driven knee joint negative power capturing exoskeleton device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006115971A (en) * | 2004-10-20 | 2006-05-11 | Honda Motor Co Ltd | Walking aid device |
| KR20120124677A (en) * | 2011-05-04 | 2012-11-14 | 서강대학교산학협력단 | Knee Joint Assistive Device Having Mechanism of Variable Center of Rotation |
| JP2015080621A (en) * | 2013-10-23 | 2015-04-27 | 株式会社テオリック | Rise assisting tool |
| WO2016104330A1 (en) * | 2014-12-26 | 2016-06-30 | 本田技研工業株式会社 | Movement assistance device |
| CN107378915A (en) * | 2017-08-14 | 2017-11-24 | 华南理工大学 | A kind of lower limb power assisting device based on energy feedback |
| CN109730904A (en) * | 2019-02-19 | 2019-05-10 | 刘坤 | A kind of wearable walk-aiding exoskeleton of having a rest |
| CN110328654A (en) * | 2019-07-17 | 2019-10-15 | 军事科学院系统工程研究院军需工程技术研究所 | Passive type knee joint force aid system and method |
| CN110394783A (en) * | 2019-07-17 | 2019-11-01 | 军事科学院系统工程研究院军需工程技术研究所 | A kind of assistance type lower limb exoskeleton device |
| CN215037445U (en) * | 2021-04-07 | 2021-12-07 | 青岛科技大学 | Light knee joint power assisting device |
-
2021
- 2021-04-07 CN CN202110371775.XA patent/CN112959308A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006115971A (en) * | 2004-10-20 | 2006-05-11 | Honda Motor Co Ltd | Walking aid device |
| KR20120124677A (en) * | 2011-05-04 | 2012-11-14 | 서강대학교산학협력단 | Knee Joint Assistive Device Having Mechanism of Variable Center of Rotation |
| JP2015080621A (en) * | 2013-10-23 | 2015-04-27 | 株式会社テオリック | Rise assisting tool |
| WO2016104330A1 (en) * | 2014-12-26 | 2016-06-30 | 本田技研工業株式会社 | Movement assistance device |
| CN107378915A (en) * | 2017-08-14 | 2017-11-24 | 华南理工大学 | A kind of lower limb power assisting device based on energy feedback |
| CN109730904A (en) * | 2019-02-19 | 2019-05-10 | 刘坤 | A kind of wearable walk-aiding exoskeleton of having a rest |
| CN110328654A (en) * | 2019-07-17 | 2019-10-15 | 军事科学院系统工程研究院军需工程技术研究所 | Passive type knee joint force aid system and method |
| CN110394783A (en) * | 2019-07-17 | 2019-11-01 | 军事科学院系统工程研究院军需工程技术研究所 | A kind of assistance type lower limb exoskeleton device |
| CN215037445U (en) * | 2021-04-07 | 2021-12-07 | 青岛科技大学 | Light knee joint power assisting device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113681546A (en) * | 2021-09-16 | 2021-11-23 | 重庆理工大学 | Pulley line driven knee joint negative power capturing exoskeleton device |
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