CN113733058A

CN113733058A - Bandage, trousers dress and knee joint helping hand ectoskeleton

Info

Publication number: CN113733058A
Application number: CN202111120070.7A
Authority: CN
Inventors: 王天
Original assignee: Hangzhou Chengtian Technology Development Co Ltd
Current assignee: Hangzhou Chengtian Technology Development Co Ltd
Priority date: 2021-09-24
Filing date: 2021-09-24
Publication date: 2021-12-03
Anticipated expiration: 2041-09-24
Also published as: CN113733058B

Abstract

The invention relates to the technical field of exoskeleton complete sets, and designs a variable-thickness and variable-rigidity binding band which meets the requirements of flexibility, comfort and rigidity. A pair of trousers is designed to form a matching relationship with the binding band. The buttonholes are arranged on the trousers, so that the buckles can be exposed, and the connection with the exoskeleton device is realized. A knee joint assistance exoskeleton is designed to be used in combination with the trousers. The beneficial effects are that: the bandage is comfortable to wear, is rigid and flexible, and meets the force transmission requirement; the weight of the binding belt is lower than that of the prior art; the use of the trousers improves the wearing comfort of the wearable exoskeleton; the knee joint assistance exoskeleton is matched with the binding bands and the trousers, has good integrity, is more fit for a human body, and more meets the force value requirement of driving the human body trunk by the exoskeleton joints.

Description

Bandage, trousers dress and knee joint helping hand ectoskeleton

Technical Field

The invention relates to the technical field of exoskeletons, in particular to a bandage, trousers and knee joint assisting exoskeletons.

Background

The exoskeleton bandage in the prior art is made of common fabric or elastic bandage, and has good isotropy. But for wearable devices isotropy is just not needed. Assuming a constant torque output from the drive end, the further away from the drive end the lower the force value that can be transmitted, the corresponding stiffness of the moment arm can be reduced appropriately. In fact, the exoskeleton binding bands in the prior art are mainly rigid force arms and isotropic binding bands, and are unfavorable for weight reduction and wearing comfort.

When the exoskeleton is worn, it is common to strap the exoskeleton straps around the pants without fitting. And after the binding bands are bound outside the trousers, the trousers fabric plays a role in lubrication along with the operation of the exoskeleton, so that the binding bands are not firm, and discomfort is increased.

Knee joint assisting exoskeletons are common knee joints which are tied up through binding bands. There are the problems described above.

Disclosure of Invention

The invention designs the variable-thickness and variable-rigidity binding band, and meets the requirements of flexibility, comfort and rigidity. On the other hand, the elasticity of the entire surface is improved by laying the elastic body 31 on the surface of the rigid rib 32. On the other hand, through linear or non-linear ground, change the thickness variation trend of strengthening rib 32 and body 31 for have better laminating nature with human surface, the curve change on better adaptation human surface promotes the travelling comfort. On the other hand, with the force transmission characteristic, from the snap ring 323 to the distal end, the rigidity requirement of the reinforcing bar 32 is reduced, and it is necessary to make the thickness thinner, thereby reducing the weight.

The invention designs a pair of trousers which are matched with the binding band. The connection to the exoskeleton device is achieved by making grommets 6 in the pants so that the buckles 323 are exposed.

The invention designs a knee joint assistance exoskeleton which is used in combination with trousers.

The specific invention content is as follows:

a binding band is in a sheet shape and comprises a body 31 and a reinforcing rib 32 embedded in the body 31; the body 31 is made of elastic material, is approximately in a bilateral symmetry shape after being unfolded, and gradually thins from the middle to two sides; the upper part and the lower part are symmetrical or asymmetrical, and the thickness is gradually reduced from the middle part to the two sides; the reinforcing ribs 32 are made of rigid materials, and the thickness variation trend corresponds to that of the body 31; the rib 32 is provided with a retaining ring 323, and the retaining ring 323 protrudes from the surface of the body 31.

Preferably, the two ends of the outer surface of the body 31 are respectively provided with a magic tape A surface 37 and a magic tape B surface 38 on the front and the back.

Preferably, the body 31 is sequentially provided with a cloth liner 34, a rubber particle layer 35, the body 31, a reinforcing rib 32, the body 31 and an elastic lining cloth 36 from top to bottom along the thickness direction; the colloidal particle layer 35 is made of silica gel, and colloidal particles 351 are arranged on the surface of the colloidal particle layer; the cloth liner 34 is a mesh material.

Preferably, the body 31 is made of silicone.

Preferably, the reinforcing rib 32 is made of carbon fiber, and the retaining ring 323 is fixed to the thick rib portion 321 of the reinforcing rib 32 by mounting.

A trousers, including trousers 1, include the said bandage; wherein: the inner sides of the legs of the trousers 1 are provided with inner side open-close openings 2, and the outer sides of the legs are provided with button holes 6; the bandage comprises an upper bandage 3 and a lower bandage 4 which are respectively positioned above and below the knee part. The binding band is sleeved in the trousers, and the retaining ring 323 passes through the button hole 6 and is exposed out of the trousers 1.

Preferably, the inner opening/closing part 2 is opened/closed by a zipper or a snap.

Preferably, the upper bandage 3, the lower bandage 4 and the inner side of the pants 1 are fixed and adhered relatively through magic tapes.

A knee joint assistance exoskeleton comprises the trousers, a knee joint assistance 5, an upper connecting fork 51 and a lower connecting fork 52; the shell and the output end of the knee joint booster 5 are respectively connected with an upper connection fork 51 and a lower connection fork 52; the upper connecting fork 51 and the lower connecting fork 52 are respectively provided with hole sites which are fixedly connected and buckled with the retaining ring 323.

Preferably, the knee booster 5 is an active driver or a passive elastic booster.

The invention has the beneficial effects that:

1. the bandage is comfortable to wear, is rigid and flexible, and meets the force transmission requirement;

2. the weight of the binding belt is lower than that of the prior art;

3. the use of the trousers improves the wearing comfort of the wearable exoskeleton;

4. the knee joint assistance exoskeleton is matched with the binding bands and the trousers, has good integrity, is more fit for a human body, and more meets the force value requirement of driving the human body trunk by the exoskeleton joints.

Drawings

FIG. 1 is a front view of the present invention.

FIG. 2 is a perspective view of a side view of the present invention.

Fig. 3 is a side view of the present invention.

FIG. 4 is an expanded view of the side opening and closing opening of the pants garment of the present invention.

Fig. 5 is a sectional view B-B.

Fig. 6 is a sectional view a-a.

Fig. 7 is an enlarged view of part C.

1-trousers, 2-inner side zipper, 3-upper bandage, 31-body, 311-body thick part, 312-body thin part, 32-reinforcing rib, 321-rib thick part, 322-rib thin part, 323-buckle, 324-arc part, 34-padding cloth, 35-rubber particle layer, 351-rubber particle, 36-elastic lining cloth, 37-magic tape A surface, 38-magic tape B surface, 4-lower bandage, 5-knee joint booster, 51-upper connecting fork, 52-lower connecting fork and 6-button hole.

Detailed Description

The invention will be described in detail with reference to the accompanying drawings, in which:

Generally, the projected area of the rib 32 is not too large compared with the projected area of the body 31. The reinforcing ribs 32 are preferably formed in a strip shape as a whole in the up-down direction.

The body 31 has a thick body portion 311 and a thin body portion 312 in appearance. Generally, the thick body portion 311 is located in the middle and the thin body portion 312 is located at the edge. The front and back surfaces of the thin body parts 312 on both sides are respectively provided with a magic tape A surface 37 and a magic tape B surface 38. When encircling the leg, the surface A37 of the magic tape and the surface B38 of the magic tape can be jointed with each other, thereby being fixedly jointed with the outer surface of the leg of the human body.

Of course, the strap is not limited to knee joint assistance, and through appropriate structural deformation, the strap can be used in positions such as hip joint exoskeleton, ankle joint exoskeleton, elbow joint exoskeleton and the like, and can also be used for integration of various joint exoskeletons, such as lower limb assistance exoskeletons.

And because the structure of the binding band is provided with the buckle 323, the binding band can be used independently. The scene is as follows: the patient lies on the bed and uses the bandage at multiple positions on the body. The assistant uses the rope with the hook to hang the hook on the buckle 323, and takes the buckle 323 as the acting point to lift, move and move the body of the patient.

The reinforcing rib 32 has a thick rib portion 321 in the middle and thin rib portions 322 on both sides. The thickness variation substantially corresponds to the thickness variation of the body 31.

The bandage body 31 is sequentially provided with a cloth liner 34, a rubber particle layer 35, a body 31, reinforcing ribs 32, the body 31 and an elastic lining cloth 36 from top to bottom along the thickness direction; the colloidal particle layer 35 is made of silica gel, and colloidal particles 351 are arranged on the surface of the colloidal particle layer; the cloth liner 34 is a mesh material.

The bandage body 31 is made of silica gel or other elastic materials, such as rubber.

The band reinforcing rib 32 is made of carbon fiber, and the retaining ring 323 is fixed on the rib thickness portion 321 of the reinforcing rib 32 by a mounting method. The strap reinforcement 32 has an arcuate portion 324 in the middle, primarily to better conform to the shape of the human leg. For different ages, weights, and leg shapes, the straps of the arcuate portion 324 may be customized to different specific shapes to promote overall fit.

The opening and closing opening 2 at the inner side of the trousers realizes the opening and closing operation through a zipper and a snap fastener.

The upper bandage 3, the lower bandage 4 and the inner side of the trousers 1 are fixed and adhered relatively through magic tapes.

The knee joint assisting exoskeleton knee joint booster 5 is an active driver or a passive elastic booster.

It should be noted that the structure and the accompanying drawings of the present invention mainly describe the basic principle, and on the basis of the design principle, the arrangement of the power mechanism, the power supply system, the control system, and the like of the device is not mentioned, but on the premise that those skilled in the art understand the above principle, the specific cognition of the power mechanism, the power supply system, and the control system can be clearly known, or the scheme of the present invention can be perfected by directly applying the prior art.

The above description is only for the preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings can be directly or indirectly applied to other related technical fields and are included in the scope of the present invention.

Claims

1. A strap, characterized in that;

the binding band is sheet-shaped and comprises a body 31 and a reinforcing rib 32 embedded in the body 31;

the body 31 is made of elastic material, is approximately in a bilateral symmetry shape after being unfolded, and gradually thins from the middle to two sides; the upper part and the lower part are symmetrical or asymmetrical, and the thickness is gradually reduced from the middle part to the two sides;

the reinforcing ribs 32 are made of rigid materials, and the thickness variation trend corresponds to that of the body 31;

the rib 32 is provided with a retaining ring 323, and the retaining ring 323 protrudes from the surface of the body 31.

2. The bandage as claimed in claim 1, further comprising a magic tape A surface 37 and a magic tape B surface 38 respectively disposed on the front and back surfaces of the outer surface of the main body 31.

3. The bandage according to claim 1 or 2, wherein the main body 31 comprises, from top to bottom in the thickness direction, a cloth pad 34, a layer of rubber particles 35, the main body 31, the reinforcing ribs 32, the main body 31, and an elastic lining cloth 36; the colloidal particle layer 35 is made of silica gel, and colloidal particles 351 are arranged on the surface of the colloidal particle layer; the cloth liner 34 is a mesh material.

4. A tie as claimed in claim 3, wherein the body 31 is of silicone.

5. A binding according to claim 2 or 4, wherein the reinforcing rib 32 is made of carbon fibre, and the retaining ring 323 is fixed to the thick portion 321 of the reinforcing rib 32 by mounting.

6. A pant garment, comprising a pant garment 1 comprising the strap of any of claims 1-5;

wherein: the inner sides of the legs of the trousers 1 are provided with inner side open-close openings 2, and the outer sides of the legs are provided with button holes 6;

the bandage comprises an upper bandage 3 and a lower bandage 4 which are respectively positioned above and below the knee part;

the binding band is sleeved in the trousers, and the retaining ring 323 passes through the button hole 6 and is exposed out of the trousers 1.

7. The trousers according to claim 6, wherein the inner opening/closing part 2 is opened/closed by a zipper or a snap fastener.

8. The trousers according to claim 7, wherein the upper and lower straps 3 and 4 are fixed to the inner side of the trousers 1 by hook and loop fasteners.

9. A knee-assisted exoskeleton comprising a pants garment as claimed in any one of claims 6 to 8, a knee booster 5, an upper clevis 51, a lower clevis 52; the shell and the output end of the knee joint booster 5 are respectively connected with an upper connection fork 51 and a lower connection fork 52; the upper connecting fork 51 and the lower connecting fork 52 are respectively provided with hole sites which are fixedly connected and buckled with the retaining ring 323.

10. A knee-assisted exoskeleton as claimed in claim 9 in which the knee booster 5 is an active driver or a passive elastic booster.