CN113317968A - Gravity-assisted lower limb exoskeleton - Google Patents

Gravity-assisted lower limb exoskeleton Download PDF

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Publication number
CN113317968A
CN113317968A CN202110657841.XA CN202110657841A CN113317968A CN 113317968 A CN113317968 A CN 113317968A CN 202110657841 A CN202110657841 A CN 202110657841A CN 113317968 A CN113317968 A CN 113317968A
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CN
China
Prior art keywords
rod
gravity
shaft
thigh
rotating plate
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN202110657841.XA
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Chinese (zh)
Inventor
唐红兵
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Nanjing Meixue Power Technology Co ltd
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Nanjing Meixue Power Technology Co ltd
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Priority to CN202110657841.XA priority Critical patent/CN113317968A/en
Publication of CN113317968A publication Critical patent/CN113317968A/en
Withdrawn legal-status Critical Current

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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • 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

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  • 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)
  • Rehabilitation Tools (AREA)

Abstract

The invention is as follows: the gravity-assisted lower limb exoskeleton comprises a waistband, a hip rod, a universal connecting piece, a thigh rod, a shank rod, a pedal plate, a backpack shelf, a gravity push rod, a rotating plate and a left connecting rod and a right connecting rod, wherein the waistband is fixed with the left connecting rod and the right connecting rod, the left connecting rod and the right connecting rod are fixed with the hip rod, the hip rod is provided with the backpack shelf, the hip rod is connected with the universal connecting piece, the universal connecting piece is connected with the thigh rod, the thigh rod is connected with the shank rod, the shank rod is connected with the pedal plate, and the gravity push rod is connected with the thigh rod and the rotating plate.

Description

Gravity-assisted lower limb exoskeleton
Technical Field
The invention relates to a lower limb exoskeleton.
Background
With the development of human society, during tourism, exploration, disaster relief, fighting, work and the like, people sometimes need to carry heavy objects because of hiking and long-distance trekking, and are very difficult and hard to walk, and the speed, the body health and the benefit are influenced, especially for old, weak, sick and disabled people, the people are difficult, so that the people are very eager to have a light exoskeleton to assist the people to complete tasks; existing exoskeletons either require additional power, are very heavy and expensive, and require recharging with very short usage times; or the climbing robot can not help human to overcome gravity to climb when climbing uphill, mountain or upstairs without additional power; therefore, the exoskeleton does not need extra power, is simple and portable in structure and low in price, can effectively help people climb and walk by overcoming the gravity, meets the requirements of people in various aspects such as tourism, disaster relief, work, battle, exploration and the like, and becomes a problem to be solved urgently by people.
Disclosure of Invention
The invention aims to provide an advanced lower limb exoskeleton, which overcomes the limitation of the existing exoskeleton and provides a lower limb exoskeleton which does not need additional power, is low in price, light and convenient and can effectively help people to overcome the gravity to climb and walk for people.
1. The technical scheme for solving the technical problem is as follows: the gravity-assisted lower limb exoskeleton comprises ten components, namely a waistband, a hip rod, a universal connecting piece, a thigh rod, a shank rod, a pedal plate, a backpack shelf, a gravity push rod, a rotating plate and a left connecting rod and a right connecting rod, wherein the waistband is fixed with the left connecting rod and the right connecting rod, two ends of the left connecting rod and two ends of the right connecting rod are respectively fixed with the left hip rod and the right hip rod, and the lengths of the left connecting rod and the right connecting rod can be adjusted according to the hip width of a user; the backpack shelf is mounted at the upper end of the hip rod, and the width of the backpack shelf can be adjusted according to the length of the left connecting rod and the right connecting rod; the lower end of the hip rod and the upper end of the universal connecting piece are connected together through a hip shaft, and the universal connecting piece can freely rotate around the hip shaft; the lower end of the universal connecting piece is connected with the upper end of the thigh rod through a thigh shaft, and the thigh rod can freely rotate around the thigh shaft; the lower end of the thigh rod and the upper end of the shank rod are connected together through a knee shaft, and the shank rod can freely rotate around the knee shaft; the lower end of the shank rod is connected with the pedal plate and the rotating plate through a pedal shaft, and the pedal plate and the rotating plate can freely rotate around the pedal shaft; the upper end of the gravity push rod is connected with the thigh rod through a push rod shaft, and the gravity push rod can freely rotate around the push rod shaft; the lower end of the gravity push rod is connected with the rotating plate through a rotating plate shaft, and the rotating plate can freely rotate around the rotating plate shaft; the assistance principle of the exoskeleton is as follows: when a user goes upstairs, the gravity of the human body and the backpack is transferred to the foot stepping on the stairs, the gravity enables the rotating plate contacting the stairs to rotate around the pedal shaft, the rotation of the rotating plate pushes the gravity push rod to move upwards to push the thigh rod to rotate around the knee shaft, and the rotation of the thigh rod drives the gravity center of the human body and the backpack to move upwards to help the human body to overcome the gravity and step on the stairs.
The lengths of the thigh rod, the shank rod and the gravity push rod can be correspondingly adjusted according to the length of the leg of the user; when a person stands on the flat ground, the lower edge of the rotating plate just contacts the ground.
Thigh binding bands are installed on the thigh rods, shank binding bands are installed on the shank rods, and foot binding bands are arranged on the pedals.
To sum up the above
Compared with the existing lower limb exoskeleton, the lower limb exoskeleton does not need additional power, has a simple structure and low price, and can help a user to climb or walk by overcoming the gravity by utilizing the gravity of the user and a carried object; when the backpack is used on flat ground and downhill, the gravity of the backpack can be directly transmitted to the ground through the exoskeleton, and a user does not bear the weight of the backpack and is very relaxed as the user does not bear a heavy object; when going up a slope or going upstairs, the invention can lead the gravity of the user and the gravity of the backpack to do work, lead the gravity center of the user and the backpack to move upwards, help the user to climb and walk, greatly reduce the work required by the user to move the human body and the heavy object to the high place, and lead the user to save labor and relax; the invention utilizes self gravity to do self antigravity work, which is a successful classic in the application aspect of human antigravity; the invention can be applied to various fields of travel, disaster relief, exploration, fighting, work and the like of human beings, can be rapidly popularized and makes a little contribution to the progress of the human beings.
Drawings
Fig. 1 is a right side view of fig. 2.
Fig. 2 is a front view of the gravity assisted lower extremity exoskeleton of the embodiment.
Fig. 3 is a top view of fig. 2.
Fig. 4 is a schematic view of the gravity-assisted lower extremity exoskeleton of the embodiment going upstairs.
Detailed Description
Taking the attached drawings 1-4 as examples:
the invention comprises ten components of a waistband 1, hip rods 4, universal connecting pieces 6, thigh rods 8, shank rods 13, a pedal plate 18, a backpack shelf 2, a gravity push rod 12, a rotating plate 16 and left and right connecting rods 3, wherein the waistband 1 is fixed with the left and right connecting rods 3, two ends of the left and right connecting rods 3 are respectively fixed with the left and right hip rods 4, and the lengths of the left and right connecting rods 3 can be adjusted according to the hip width of a user; the backpack shelf 2 is arranged at the upper end of the hip rod 4, and the width of the backpack shelf 2 can be adjusted according to the length of the left and right connecting rods 3; the lower end of the hip rod 4 and the upper end of the universal connecting piece 6 are connected together through a hip shaft 5, and the universal connecting piece 6 can freely rotate around the hip shaft 5; the lower end of the universal connecting piece 6 is connected with the upper end of the thigh rod 8 through a thigh shaft 7, and the thigh rod 8 can freely rotate around the thigh shaft 7; the lower end of the thigh rod 8 and the upper end of the shank 13 are connected together by a knee shaft 11, and the shank 13 can freely rotate around the knee shaft 11; the lower end of the shank 13 is connected with the pedal plate 18 and the rotating plate 16 through a pedal shaft 17, and the pedal plate 18 and the rotating plate 16 can freely rotate around the pedal shaft 17; the upper end of the gravity push rod 12 is connected with the thigh rod 8 through a push rod shaft 10, and the gravity push rod 12 can freely rotate around the push rod shaft 10; the lower end of the gravity push rod 12 is connected with the rotating plate 16 through a rotating plate shaft 15, and the rotating plate 16 can freely rotate around the rotating plate shaft 15; the assistance principle of the exoskeleton is as follows: when a user goes upstairs, the gravity of the human body and the backpack is transferred to the feet stepping on the stairs, the gravity enables the rotating plate 16 contacting the stairs to rotate around the pedal shaft 17, the rotation of the rotating plate 16 pushes the gravity push rod 12 to move upwards, the thigh rod 8 is pushed to rotate around the knee shaft 11, and the rotation of the thigh rod 8 drives the gravity center of the human body and the backpack to move upwards, so that the human body is helped to overcome the gravity and step on the stairs.
The lengths of the thigh rod 8, the shank rod 13 and the gravity push rod 12 can be correspondingly adjusted according to the length of the leg of the user; when a person stands on the level ground, the lower edge of the rotating plate 16 is just contacted with the ground.
Thigh straps 9 are installed on the thigh rods 8, shank straps 14 are installed on the shank rods 13, and foot straps are installed on the foot pedals 18.
To sum up the above
Compared with the existing lower limb exoskeleton, the lower limb exoskeleton does not need additional power, has a simple structure and low price, only needs 2000 yuan, is heavy by 4KG, is convenient to carry and use, can bear goods with the weight of 80KG, and can help a user to climb or walk by overcoming the gravity by utilizing the gravity of the user and the borne goods; when the backpack is used on flat ground and downhill, the gravity of the backpack can be directly transmitted to the ground through the exoskeleton, and a user does not bear the weight of the backpack and is very relaxed as the user does not bear a heavy object; when going up a slope or going upstairs, the invention can lead the gravity of the user and the gravity of the backpack to do work, lead the gravity center of the user and the backpack to move upwards, help the user to climb and walk, greatly reduce the work required by the user to move the human body and the heavy object to the high place, and lead the user to save labor and relax; the invention utilizes self gravity to do self antigravity work, which is a successful classic in the application aspect of human antigravity; the invention can be applied to various fields of travel, disaster relief, exploration, fighting, work and the like of human beings, can be rapidly popularized and makes a little contribution to the progress of the human beings.

Claims (3)

1. A gravity-assisted lower limb exoskeleton is characterized in that: the waist belt is fixed with the left and right connecting rods, two ends of the left and right connecting rods are respectively fixed with the left and right hip rods, and the length of the left and right connecting rods can be adjusted according to the hip width of a user; the backpack shelf is mounted at the upper end of the hip rod, and the width of the backpack shelf can be adjusted according to the length of the left connecting rod and the right connecting rod; the lower end of the hip rod and the upper end of the universal connecting piece are connected together through a hip shaft, and the universal connecting piece can freely rotate around the hip shaft; the lower end of the universal connecting piece is connected with the upper end of the thigh rod through a thigh shaft, and the thigh rod can freely rotate around the thigh shaft; the lower end of the thigh rod and the upper end of the shank rod are connected together through a knee shaft, and the shank rod can freely rotate around the knee shaft; the lower end of the shank rod is connected with the pedal plate and the rotating plate through a pedal shaft, and the pedal plate and the rotating plate can freely rotate around the pedal shaft; the upper end of the gravity push rod is connected with the thigh rod through a push rod shaft, and the gravity push rod can freely rotate around the push rod shaft; the lower end of the gravity push rod is connected with the rotating plate through a rotating plate shaft, and the rotating plate can freely rotate around the rotating plate shaft; the assistance principle of the exoskeleton is as follows: when a user goes upstairs, the gravity of the human body and the backpack is transferred to the foot stepping on the stairs, the gravity enables the rotating plate contacting the stairs to rotate around the pedal shaft, the rotation of the rotating plate pushes the gravity push rod to move upwards to push the thigh rod to rotate around the knee shaft, and the rotation of the thigh rod drives the gravity center of the human body and the backpack to move upwards to help the human body to overcome the gravity and step on the stairs.
2. The gravity-assisted lower extremity exoskeleton of claim 1, wherein: the lengths of the thigh rod, the shank rod and the gravity push rod can be correspondingly adjusted according to the length of the leg of the user; when a person stands on the flat ground, the lower edge of the rotating plate just contacts the ground.
3. The gravity-assisted lower extremity exoskeleton of claim 1, wherein: thigh binding bands are installed on the thigh rods, shank binding bands are installed on the shank rods, and foot binding bands are arranged on the pedals.
CN202110657841.XA 2021-06-09 2021-06-09 Gravity-assisted lower limb exoskeleton Withdrawn CN113317968A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110657841.XA CN113317968A (en) 2021-06-09 2021-06-09 Gravity-assisted lower limb exoskeleton

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110657841.XA CN113317968A (en) 2021-06-09 2021-06-09 Gravity-assisted lower limb exoskeleton

Publications (1)

Publication Number Publication Date
CN113317968A true CN113317968A (en) 2021-08-31

Family

ID=77420694

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110657841.XA Withdrawn CN113317968A (en) 2021-06-09 2021-06-09 Gravity-assisted lower limb exoskeleton

Country Status (1)

Country Link
CN (1) CN113317968A (en)

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Application publication date: 20210831

WW01 Invention patent application withdrawn after publication