CN114712171B - Wearable bionic leg-foot mechanism for assisting disabled and walk - Google Patents
Wearable bionic leg-foot mechanism for assisting disabled and walk Download PDFInfo
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- CN114712171B CN114712171B CN202210353553.XA CN202210353553A CN114712171B CN 114712171 B CN114712171 B CN 114712171B CN 202210353553 A CN202210353553 A CN 202210353553A CN 114712171 B CN114712171 B CN 114712171B
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 36
- 230000007246 mechanism Effects 0.000 title claims abstract description 28
- 210000000689 upper leg Anatomy 0.000 claims abstract description 90
- 210000000629 knee joint Anatomy 0.000 claims abstract description 62
- 210000002414 leg Anatomy 0.000 claims abstract description 12
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 30
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 30
- 241001330002 Bambuseae Species 0.000 claims description 30
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 30
- 239000011425 bamboo Substances 0.000 claims description 30
- 210000002683 foot Anatomy 0.000 claims description 23
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 14
- 235000001968 nicotinic acid Nutrition 0.000 abstract description 2
- 210000003371 toe Anatomy 0.000 description 35
- 210000003141 lower extremity Anatomy 0.000 description 14
- 206010033892 Paraplegia Diseases 0.000 description 8
- 241000282414 Homo sapiens Species 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000013507 mapping Methods 0.000 description 4
- 230000035939 shock Effects 0.000 description 4
- 241000309551 Arthraxon hispidus Species 0.000 description 2
- 238000002266 amputation Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000006260 foam Substances 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001429 stepping effect Effects 0.000 description 1
- 210000001226 toe joint Anatomy 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- 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 belongs to the technical field of leg and foot bionics, and particularly relates to a wearable bionic leg and foot mechanism for assisting disabled people and walking, which comprises a thigh bracket, a thigh connecting rod and a shank connecting rod, wherein the upper end of the shank connecting rod is provided with an arc ball groove, the lower end of the thigh connecting rod is respectively connected with a first connecting rod and a second connecting rod in a rotating way, the lower end of the first connecting rod and the lower end of the second connecting rod are respectively connected with the upper end of the shank connecting rod in a rotating way, a knee joint electric push rod is arranged on the thigh connecting rod, the telescopic end of the knee joint electric push rod is fixedly connected with a first driving rope, the lower end of the first driving rope is fixedly connected with the shank connecting rod, a knee joint ball hinge is movably arranged in the arc ball groove, and a knee joint spring presses the knee joint ball hinge in the arc ball groove. According to the invention, the first driving rope is pulled by the knee joint electric push rod to realize the relative rotation of the thigh connecting rod and the shank connecting rod, and the knee joint of the humanoid person realizes the flexible rotation by the knee joint spherical hinge and the knee joint spring, so that the comfort of the disabled person when walking by using the bionic leg-foot mechanism is ensured.
Description
Technical Field
The invention belongs to the technical field of leg and foot bionics, and particularly relates to a wearable bionic leg and foot mechanism for assisting disabled people and walking.
Background
According to the current medical theory and clinical medical practice, the rehabilitation training is very effective except necessary medical means to recover, improve and compensate the limb movement function, and the lower limb power bionic leg and foot can meet the requirements.
For disabled persons with paraplegia, the wearing type bionic leg and foot mechanism can help disabled persons walk, the bionic leg and foot mechanism is worn on the lower portion of the lower limb of paraplegia to replace the leg of a person to walk, the rotation of knee joints and ankle joints is finished through driving modes such as motors or hydraulic pressure, so that the lower limb movement of a wearer is finished, but the movement mode is stiff, the walking function can be met only, the damping performance is poor, wearing comfort of the user is poor, and normal body movement of the wearer cannot be completely helped.
Disclosure of Invention
The invention aims to overcome the defects of poor damping performance and poor wearing comfort in the prior art and provides a wearable bionic leg-foot mechanism which is convenient to wear and good in flexibility and is used for helping disabled people to walk.
The technical scheme adopted for solving the technical problems is as follows:
a wearing type bionic leg and foot mechanism for helping disabled and walk is characterized in that: including the thigh bracket, install thigh connecting rod, shank connecting rod under the thigh bracket, the upper end of shank connecting rod has circular arc ball groove, the lower extreme of thigh connecting rod rotates respectively and is connected with first connecting rod and second connecting rod, the lower extreme of first connecting rod with the lower extreme of second connecting rod rotates respectively and connects the upper end of shank connecting rod, first connecting rod, thigh connecting rod, second connecting rod and shank connecting rod form the quadrangle, install knee joint electric putter on the thigh connecting rod, knee joint electric putter's expansion end fixedly connected with first drive rope, the lower extreme fixedly connected with of first drive rope is in on the shank connecting rod, the middle part fixedly connected with spring upper baffle of first connecting rod, the activity of circular arc ball inslot is provided with knee joint spherical hinge, knee joint spherical hinge with have knee joint spring between the spring upper baffle, the knee joint spring will knee joint spherical hinge is in the circular arc ball groove.
In order to further keep the flexibility of thigh when knee joint is crooked, to the thigh shock attenuation of paraplegia, the middle part rotation of thigh connecting rod is connected with first push rod section of thick bamboo, the middle part rotation of shank connecting rod is connected with second push rod section of thick bamboo, first push rod section of thick bamboo with all sliding connection has first guide bar in the second push rod section of thick bamboo, first guide bar overcoat is equipped with first spring, the both ends of first spring are propped respectively on first push rod section of thick bamboo and the second push rod section of thick bamboo.
Further, the ankle joint is driven to rotate through the rope, the flexibility is good, the lower end of the shank connecting rod is rotationally connected with a foot plate, the shank connecting rod is provided with an ankle joint electric push rod, the telescopic end of the ankle joint electric push rod is fixedly connected with one end of a second driving rope, and the other end of the second driving rope is fixedly connected with the foot plate.
In order to further promote ankle joint and rotate, shock attenuation is carried out to the shank connecting rod, the travelling comfort of guaranteeing the people when walking, the middle part of shank connecting rod rotates and is connected with a third push rod section of thick bamboo, the front portion of sole rotates and is connected with a fourth push rod section of thick bamboo, the third push rod section of thick bamboo with all sliding connection has the second guide bar in the fourth push rod section of thick bamboo, the second guide bar overcoat is equipped with the second spring, the both ends of second spring are propped respectively on the third push rod section of thick bamboo with the fourth push rod section of thick bamboo.
Still further, the front end of sole rotates and is connected with five toe subassemblies, the front end of sole has five toe links board that are parallel to each other, the toe subassembly includes toe rotation connecting rod and toe, the one end of toe rotation connecting rod with toe links board rotation connection, the other end with toe rotates to be connected, toe head with fixedly connected with toe extension spring between the sole. The toe structure can further help the wearer to buffer the impact force generated during walking, meanwhile, the joint mapping parts of the spring links can provide power assistance during walking of the wearer, and human-computer cooperation experience of the lower limb bionic exoskeleton is improved.
In order to be closer to the walking state of the lower limbs of the person, the thigh is usually leaned back relative to the shank during walking, an obtuse included angle is formed between the thigh and the shank, and the length of the first connecting rod is smaller than that of the second connecting rod.
Further, the knee joint spherical hinge comprises a spherical hinge head, a spherical hinge mounting plate and a lower spring guide rod, wherein the spherical hinge mounting plate is fixed on the upper part of the spherical hinge head, the lower side of the spring upper baffle is provided with an upper spring guide rod, two ends of a knee joint spring respectively prop against the spring upper baffle and the spring lower baffle, and the knee joint spring is sleeved on the upper spring guide rod and the lower spring guide rod. The whole knee joint is not designed into a ball pair or a revolute pair like a traditional mechanical knee joint, but the knee joint keeps a flexible rotation by the elastic rolling of the ball joint head in the circular arc ball groove.
Further, thigh fixing rods are symmetrically arranged on the left side and the right side of the thigh bracket, a thigh rigid ring with a semicircular arc opening is fixedly connected between the upper ends of the two thigh fixing rods, and a thigh fixing flexible belt is connected with the outer end of the thigh rigid ring. The lower limb of paraplegia of human body is fixed with the bionic leg-foot mechanism through the thigh rigid ring and the thigh fixing flexible belt.
Further, the thigh bracket is provided with an internal thread sleeve on two sides, and the thigh fixing rod is in threaded connection with the internal thread sleeve. The height of the rotary fixing rod can be adjusted by rotating the thigh fixing rod so as to adjust the height of the thigh rigid ring for fixing the lower limb of paraplegia, thereby meeting the requirements of disabled people with different amputation degrees.
Further, the upper surface of the thigh supporting plate is fixedly provided with a thigh supporting sponge cushion, so that the comfort of the wearer during wearing is ensured.
The wearable bionic leg-foot mechanism for helping disabled people and walking has the beneficial effects that:
1. the first driving rope is pulled by the knee joint electric push rod to realize the relative rotation of the thigh connecting rod and the shank connecting rod, and in the rotation process, the knee joint of the humanoid person realizes flexible rotation through the knee joint spherical hinge and the knee joint spring, is more similar to the knee joint of the human body, has good bionic performance, and ensures the comfort of the disabled person when walking by using the bionic leg-foot mechanism.
2. The bionic leg-foot mechanism considers in wearing comfort, thigh supporting sponge pads at wearing positions improve comfort, and meanwhile, the thigh fixing flexible belts can be adjusted to be suitable for wearers of different sizes.
Drawings
The invention will be described in further detail with reference to the drawings and the detailed description.
FIG. 1 is a diagram of the overall architecture of an embodiment of the present invention;
FIG. 2 is a block diagram of a knee joint according to an embodiment of the present invention;
FIG. 3 is a block diagram of an ankle joint according to an embodiment of the present invention;
figure 4 is a block diagram of a toe assembly of an embodiment of the present invention.
In the figure, 1, a thigh connecting rod, 2, a first connecting rod, 3, a shank connecting rod, 31, a circular arc ball groove, 4, a thigh bracket, 41, a female screw sleeve, 5, a second connecting rod, 6, a knee joint electric push rod, 7, a first driving rope, 8, a spring upper baffle, 9, a knee joint ball hinge, 91, a ball hinge head, 92, a ball hinge mounting plate, 93, a lower spring guide rod, 10, a knee joint spring, 11, a first push rod barrel, 12, a second push rod barrel, 13, a first guide rod, 14, a first spring, 15, a foot plate, 151, a toe connecting plate, 16, an ankle joint electric push rod, 17, a second driving rope, 18, a third push rod barrel, 19, a fourth push rod barrel, 20, a second guide rod, 21, a second spring, 22, a toe rotating connecting rod, 23, a toe head, 24, a toe tension spring, 25, an upper spring guide rod, 26, a thigh rigid ring, 27, a thigh fixing flexible band, 28, a thigh fixing rod, 29 and a thigh supporting sponge cushion are shown.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
The specific embodiment of the wearable bionic leg foot mechanism for assisting disabled persons shown in fig. 1-4 comprises a thigh bracket 4, a thigh connecting rod 1 and a shank connecting rod 3 which are arranged below the thigh bracket 4, wherein the thigh bracket 4 is used for fixing a blocked lower limb, the thigh connecting rod 1 is fixed below the thigh bracket 4, the upper end of the shank connecting rod 3 is provided with an arc ball groove 31, the lower end of the thigh connecting rod 1 is respectively and rotatably connected with a first connecting rod 2 and a second connecting rod 5, the lower end of the first connecting rod 2 and the lower end of the second connecting rod 5 are respectively and rotatably connected with the upper end of the shank connecting rod 3, the first connecting rod 2, the thigh connecting rod 1, the second connecting rod 5 and the shank connecting rod 3 form a quadrangle, a knee joint electric push rod 6 is arranged on the thigh connecting rod 1, the mounting end of the knee joint electric push rod 6 is arranged on the side edge of the thigh connecting rod 1, the telescopic end of the knee joint electric push rod 6 is fixedly connected with the upper end of a first driving rope 7, the lower end of the first driving rope 7 is fixedly connected with the knee connecting rod 3, the lower end of the knee joint electric push rod 7 is fixedly connected with the knee joint electric push rod 31, the first knee joint electric push rod 8 is fixedly connected with the spherical joint ball groove 9, the spherical joint ball joint 9 is arranged in the arc ball groove 9, and the ball joint 9 is hinged between the spherical joint groove 9 and the spherical joint groove 9 is formed in the spherical joint groove 9.
Referring to fig. 1 and 2, in order to further maintain the flexibility of the thigh during knee joint bending, to absorb shock of the thigh of paraplegia, the middle part of the thigh link 1 is rotatably connected with a first push rod barrel 11, the middle part of the calf link 3 is rotatably connected with a second push rod barrel 12, first guide rods 13 are slidably connected in the first push rod barrel 11 and the second push rod barrel 12, a first spring 14 is sleeved on the first guide rod 13, and two ends of the first spring 14 respectively prop against the first push rod barrel 11 and the second push rod barrel 12.
The electric push rod 6 of knee joint on one side of the thigh connecting rod 1, two first push rod barrels 11 which are parallel to each other are arranged on the other side, two second push rod barrels 12 which are parallel to each other are correspondingly arranged in the middle of the shank connecting rod, the first push rod barrels 11 and the second push rod barrels 12 are oppositely arranged, and two ends of a first guide rod 13 penetrate into the first push rod barrels 11 and the second push rod barrels 12 respectively.
The knee joint spherical hinge 9 comprises a spherical hinge head 91, a spherical hinge mounting plate 92 fixed on the upper part of the spherical hinge head 91, and a lower spring guide rod 93 arranged on the spherical hinge mounting plate 92, an upper spring guide rod 25 is arranged on the lower side of the upper spring baffle plate 8, two ends of the knee joint spring 10 respectively prop against the upper spring baffle plate 8 and the lower spring baffle plate, and the knee joint spring 10 is sleeved on the upper spring guide rod 25 and the lower spring guide rod 93. Instead of designing the entire knee joint as a ball pair or a revolute pair as in a conventional mechanical knee joint, the knee joint is kept in a flexible rotation by the ball joint head 91 elastically rolling in the circular arc ball groove 31.
In order to get closer to the walking state of the lower limbs of the person, the thigh is usually leaned back relative to the shank during walking, an obtuse included angle is formed between the thigh and the shank, and the length of the first connecting rod 2 is smaller than that of the second connecting rod 5.
When the first driving rope 7 is in a loose state, the knee joint electric push rod 6 pulls the first driving rope 7, and as the length of the first connecting rod 2 is smaller than that of the second connecting rod 5, and the first connecting rod 2 is positioned at the rear side of the second connecting rod 5, under the pull of the knee joint spring 10 to the shank connecting rod 3, the knee joint is in a knee bending state, and an obtuse angle is formed between the thigh connecting rod 1 and the shank connecting rod 3. When the knee joint electric push rod 6 tightens the first driving rope 7 to drive the shank connecting rod 3 to rotate, the thigh connecting rod 1 and the shank connecting rod 3 are positioned on the same line, and the shank is straightened and walked forward.
With reference to fig. 1 and 3, the ankle joint is also driven by a rope to rotate, the flexibility is good, the lower end of the shank connecting rod 3 is rotationally connected with a foot plate 15, the shank connecting rod 3 is provided with an ankle joint electric push rod 16, the telescopic end of the ankle joint electric push rod 16 is fixedly connected with one end of a second driving rope 17, and the other end of the second driving rope 17 is fixedly connected with the foot plate 15. The other end of the second driving rope 17 in this embodiment is fixedly connected to the front end of the foot board 15.
In order to further improve the ankle joint and rotate, shock attenuation is carried out to shank connecting rod 3, the travelling comfort of guaranteeing the people when walking, the middle part of shank connecting rod 3 rotates and is connected with third push rod section of thick bamboo 18, the front portion of sole 15 rotates and is connected with fourth push rod section of thick bamboo 19, all sliding connection has second guide bar 20 in third push rod section of thick bamboo 18 and the fourth push rod section of thick bamboo 19, second guide bar 20 overcoat is equipped with second spring 21, the both ends of second spring 21 are propped up respectively on third push rod section of thick bamboo 18 and fourth push rod section of thick bamboo 19.
When the ankle joint electric push rod 16 contracts and pulls the second driving rope 17 to contract, the front end of the foot plate 15 is lifted upwards, and then the foot lifting preparation stepping action is completed.
Referring to fig. 4, five toe assemblies are rotatably coupled to the front end of the foot board 15, five toe coupling plates 151 disposed parallel to each other are provided to the front end of the foot board 15, the assemblies include a toe rotation link 22 and a toe head 23, one end of the toe rotation link 22 is rotatably coupled to the toe coupling plates 151, the other end is rotatably coupled to the toe head 23, and a toe tension spring 24 is fixedly coupled between the toe head 23 and the foot board 15. The toe structure can further help the wearer to buffer the impact force generated during walking, meanwhile, the joint mapping parts of the spring links can provide power assistance during walking of the wearer, and human-computer cooperation experience of the lower limb bionic exoskeleton is improved.
For human beings, the toes mainly play a role in maintaining the standing balance of the human body, and play a role in buffering the change of the front and rear gravity centers of the warfare of the human body; meanwhile, the toes also have the function of convenient walking, so that people can have more effort time when walking or running due to the elasticity of the toes, and the generated power can be stronger. After referring to the structure and function of the human toe, the bionic toe structure capable of realizing the toe function based on the bionic design. The design of the reference toe joint structure is that the toe bionic structure is formed by connecting two mapping joint parts through the spring, the spring has good buffering and energy storage functions, the toe structure can further help a wearer to buffer the impact force generated during walking, meanwhile, the spring-connected joint mapping parts can provide power assistance during walking of the wearer, and the human-computer cooperation experience of the lower limb bionic exoskeleton is improved.
Referring to fig. 1, thigh fixing rods 28 are symmetrically arranged on the left and right sides of the thigh bracket 4, a thigh rigid ring 26 with a semicircular arc opening is fixedly connected between the upper ends of the two thigh fixing rods 28, and a thigh fixing flexible belt 27 is connected with the outer end of the thigh rigid ring 26. The lower limb of the paraplegia of the human body is fixed with the bionic leg-foot mechanism through the thigh rigid ring 26 and the thigh fixing flexible belt 27.
The thigh bracket 4 has female sleeves 41 on both sides, and the thigh fixing lever 28 is screwed into the female sleeves 41. The height of the rotary fixing rod can be adjusted by rotating the thigh fixing rod 28 to adjust the height of the thigh rigid ring 26 for fixing the lower limb of paraplegia, so as to meet the requirements of disabled people with different amputation degrees. The upper surface of the thigh support plate is fixed with a thigh support foam cushion 29, ensuring comfort when the wearer wears. The thigh support foam pad 29 is air-permeable and flexible, protecting the lower extremities of the wearer.
The bionic leg-foot mechanism provided by the embodiment of the invention adopts aluminum alloy as an integral material, and has high precision and high strength.
The bionic muscle spring formed at the knee joint can provide a buffer effect, so that wearing comfort is improved.
The toe mechanism is additionally arranged on the sole plate part of the bionic leg foot, so that the impact force generated during walking can be further buffered by a wearer, the overall stability of the mechanism is improved, and power assistance can be provided during walking of the wearer.
It should be understood that the above-described specific embodiments are only for explaining the present invention and are not intended to limit the present invention. Obvious variations or modifications which extend from the spirit of the present invention are within the scope of the present invention.
Claims (10)
1. A wearing type bionic leg and foot mechanism for helping disabled and walk is characterized in that: the knee joint ball joint comprises a thigh bracket (4), a thigh connecting rod (1) arranged below the thigh bracket (4) and a shank connecting rod (3), wherein an arc ball groove (31) is formed in the upper end of the shank connecting rod (3), a first connecting rod (2) and a second connecting rod (5) are respectively and rotatably connected to the lower end of the thigh connecting rod (1), the lower end of the first connecting rod (2) and the lower end of the second connecting rod (5) are respectively and rotatably connected to the upper end of the shank connecting rod (3), the first connecting rod (2), the thigh connecting rod (1), the second connecting rod (5) and the shank connecting rod (3) form a quadrilateral, a knee joint electric push rod (6) is arranged on the thigh connecting rod (1), a first driving rope (7) is fixedly connected to the telescopic end of the knee joint electric push rod (6), a spring baffle (8) is fixedly connected to the lower end of the first driving rope (7), a spherical joint ball joint (31) is arranged in the spherical joint ball joint (9), and the spherical joint ball joint (9) is hinged to the spherical joint ball joint (9) of the knee joint;
the first driving rope (7) is pulled by the knee joint electric push rod (6) to realize the relative rotation of the thigh connecting rod (1) and the shank connecting rod (3), and the knee joint spherical hinge (9) and the knee joint spring (10) realize the flexible rotation.
2. The wearable bionic leg-foot mechanism for assisting disabled and walk according to claim 1, wherein: the middle part of thigh connecting rod (1) rotates and is connected with first push rod section of thick bamboo (11), the middle part of shank connecting rod (3) rotates and is connected with second push rod section of thick bamboo (12), first push rod section of thick bamboo (11) with all sliding connection has first guide bar (13) in second push rod section of thick bamboo (12), first guide bar (13) overcoat is equipped with first spring (14), the both ends of first spring (14) are in respectively on first push rod section of thick bamboo (11) with second push rod section of thick bamboo (12).
3. The wearable bionic leg-foot mechanism for assisting disabled and walk according to claim 2, wherein: the lower extreme rotation of shank connecting rod (3) is connected with sole (15), install ankle joint electric putter (16) on shank connecting rod (3), the flexible end fixed connection of ankle joint electric putter (16) is in the one end of second drive rope (17), the other end fixed connection of second drive rope (17) is in on sole (15).
4. A wearable bionic leg-foot mechanism for assisting disabled persons and walking as in claim 3, wherein: the middle part of shank connecting rod (3) rotates and is connected with third push rod section of thick bamboo (18), the front portion of sole (15) rotates and is connected with fourth push rod section of thick bamboo (19), third push rod section of thick bamboo (18) with all sliding connection has second guide bar (20) in fourth push rod section of thick bamboo (19), second guide bar (20) overcoat is equipped with second spring (21), the both ends of second spring (21) are in respectively on third push rod section of thick bamboo (18) with fourth push rod section of thick bamboo (19).
5. A wearable bionic leg-foot mechanism for assisting disabled persons and walking as in claim 3, wherein: the front end of the foot plate (15) is rotationally connected with five toe components, the front end of the foot plate (15) is provided with five toe connecting plates (151) which are arranged in parallel, each toe component comprises a toe rotating connecting rod (22) and a toe head (23), one end of each toe rotating connecting rod (22) is rotationally connected with the toe connecting plate (151), the other end of each toe rotating connecting rod is rotationally connected with the toe head (23), and a toe tension spring (24) is fixedly connected between the toe head (23) and the foot plate (15).
6. The wearable bionic leg-foot mechanism for assisting disabled and walk according to claim 1, wherein: the length of the first connecting rod (2) is smaller than the length of the second connecting rod (5).
7. The wearable bionic leg-foot mechanism for assisting disabled and walk according to claim 1, wherein: the knee joint spherical hinge (9) comprises a spherical hinge head (91), a spherical hinge mounting plate (92) fixed on the upper portion of the spherical hinge head (91) and a lower spring guide rod (93) arranged on the spherical hinge mounting plate (92), an upper spring guide rod (25) is arranged on the lower side of the upper spring baffle plate (8), two ends of the knee joint spring (10) respectively lean against the upper spring baffle plate (8) and the lower spring baffle plate, and the knee joint spring (10) is sleeved on the upper spring guide rod (25) and the lower spring guide rod (93).
8. The wearable bionic leg-foot mechanism for assisting disabled and walk according to claim 2, wherein: thigh fixing rods (28) are symmetrically arranged on the left side and the right side of the thigh bracket (4), a thigh rigid ring (26) with a semicircular arc opening is fixedly connected between the upper ends of the two thigh fixing rods (28), and a thigh fixing flexible belt (27) is connected with the outer end of the thigh rigid ring (26).
9. The wearable bionic leg-foot mechanism for assisting disabled and walk according to claim 8, wherein: the thigh bracket (4) is provided with an internal thread sleeve (41) at two sides, and the thigh fixing rod (28) is connected in the internal thread sleeve (41) in a threaded manner.
10. The wearable bionic leg-foot mechanism for assisting disabled and walk according to claim 8, wherein: the upper surface of the thigh bracket (4) is fixed with a thigh supporting sponge cushion (29).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210353553.XA CN114712171B (en) | 2022-04-06 | 2022-04-06 | Wearable bionic leg-foot mechanism for assisting disabled and walk |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN205799482U (en) * | 2016-05-26 | 2016-12-14 | 成都润惠科技有限公司 | A kind of self-adapting flexible joint ESD |
| CN106956243A (en) * | 2017-03-06 | 2017-07-18 | 武汉大学 | A kind of bionical lower limb exoskeleton robot driven based on rope |
| CN111531523A (en) * | 2020-04-30 | 2020-08-14 | 宁波大学 | Power-assisted walking and auxiliary supporting mechanism |
| CN215701667U (en) * | 2021-05-27 | 2022-02-01 | 重庆理工大学 | Load supporting and assisting exoskeleton device |
| CN215821601U (en) * | 2021-09-29 | 2022-02-15 | 山东中科先进技术研究院有限公司 | Lower limb exoskeleton robot with bionic knee joint |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109454632B (en) * | 2019-01-14 | 2020-07-21 | 东北大学 | Lower limb exoskeleton system with descending buffer function |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205799482U (en) * | 2016-05-26 | 2016-12-14 | 成都润惠科技有限公司 | A kind of self-adapting flexible joint ESD |
| CN106956243A (en) * | 2017-03-06 | 2017-07-18 | 武汉大学 | A kind of bionical lower limb exoskeleton robot driven based on rope |
| CN111531523A (en) * | 2020-04-30 | 2020-08-14 | 宁波大学 | Power-assisted walking and auxiliary supporting mechanism |
| CN215701667U (en) * | 2021-05-27 | 2022-02-01 | 重庆理工大学 | Load supporting and assisting exoskeleton device |
| CN215821601U (en) * | 2021-09-29 | 2022-02-15 | 山东中科先进技术研究院有限公司 | Lower limb exoskeleton robot with bionic knee joint |
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