CN202168924U - Self-contained lower limb walking aid - Google Patents

Self-contained lower limb walking aid Download PDF

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Publication number
CN202168924U
CN202168924U CN2011201765727U CN201120176572U CN202168924U CN 202168924 U CN202168924 U CN 202168924U CN 2011201765727 U CN2011201765727 U CN 2011201765727U CN 201120176572 U CN201120176572 U CN 201120176572U CN 202168924 U CN202168924 U CN 202168924U
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CN
China
Prior art keywords
support bar
walking aid
thigh
revolute
shank
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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.)
Expired - Lifetime
Application number
CN2011201765727U
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Chinese (zh)
Inventor
张峻霞
王新亭
苏海龙
曹赛赛
王泽�
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Tianjin University of Science and Technology
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Tianjin University of Science and Technology
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Priority to CN2011201765727U priority Critical patent/CN202168924U/en
Application granted granted Critical
Publication of CN202168924U publication Critical patent/CN202168924U/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Abstract

The utility model relates to a self-contained lower limb walking aid which comprises a lumbar support frame, thigh support rods, crus support rods, foot support plates, hip joint rotating pairs, knee-joint rotating pairs, ankle joint rotating pairs, hip joint driving mechanisms, knee-joint driving mechanisms, thigh fastening belts and crus fastening belts which are arranged in a bilateral symmetry way. The self-contained lower limb walking aid has the advantages that the structural design is scientific and reasonable, the patients with paralytic lower limbs can be helped to stand and walk, in the running is stable, the support is reliable, the production and manufacture are convenient, and the cost is low; therefore, the self-contained lower limb walking aid is a walking aid with higher innovation, and has wide market prospect.

Description

Self contained lower limb walking aid
Technical field
This utility model relates to walking aid device, particularly a kind of self contained lower limb walking aid.
Background technology
Dynamical type walking aid engineering is the achievement that the modern science and technology progress combines with the human body recovery demand, and purpose is the various walk-aid equipments of researching and developing the lower extremity paralysis person carries out walking function assessment, diagnosis, recovery, walking is compensatory and care institution needs.At present, family's laboratory is arranged surplus in the of 10 in the world approximately in the research of being engaged in wearable type walking aid, and be power-assisted or the lower limb disorder rehabilitation of patients that is used for the normal person mostly, seldom be useful on and help stand the again research of device of walking of lower extremity paralysis person.And mostly existing research is to adopt motor direct-drive or pneumatic, and cost is also all very expensive.
Summary of the invention
The purpose of this utility model is to overcome the deficiency of prior art, and the self contained lower limb walking aid that provides a kind of auxiliary lower extremity paralysis patient to stand walking again has advantage rational in infrastructure, easy to use, safe and reliable.
This utility model solves its technical problem and realizes through following technical scheme:
A kind of self contained lower limb walking aid; It is characterized in that: constitute by the lumbar support frame that is symmetrical set, thigh support bar, shank support bar, foot support plate, hip joint revolute, knee joint revolute, ankle joint revolute, hip joint driving mechanism, knee joint driving mechanism, thigh restraint zone, shank restraint zone; The lumbar support frame is made up of waist transverse support bar and waist vertical supporting bar; The lower end of waist vertical supporting bar connects the thigh support bar through the hip joint revolute; The lower end of thigh support bar connects the shank support bar through the knee joint revolute; Lower end at the shank support bar connects foot's gripper shoe through the ankle joint revolute; The hip joint driving mechanism is installed between waist vertical supporting bar and the thigh support bar, the knee joint driving mechanism is installed between thigh support bar and the shank support bar, hip joint driving mechanism and knee joint driving mechanism constitute by motor and feed screw nut drive mechanism; In thigh support bar inboard the thigh restraint zone is installed all, the shank restraint zone all is installed in shank support bar inboard.
And; The feed screw nut drive mechanism of described hip joint driving mechanism and knee joint driving mechanism constitutes by motor cabinet, upper bush, lower sleeve, pinion, synchronous cog belt, nut gear, leading screw; Install upper bush on motor cabinet top, the motor cabinet bottom installs lower sleeve, leading screw is installed in upper bush and the lower sleeve, nut gear is installed in engagement on leading screw; Motor is packed on the motor cabinet, and motor drives the leading screw elevating movement through pinion, synchronous cog belt, nut gear.
And, side connecting plate hinge dress behind the upper bush upper end of the feed screw nut drive mechanism of described hip joint driving mechanism and the waist vertical supporting bar, side connecting plate hinge dress behind leading screw lower end and the thigh support bar.
And the upper bush upper end of the feed screw nut drive mechanism of described knee joint driving mechanism is adorned with the connecting plate hinge of thigh support bar front side, the arc connecting plate hinge dress of leading screw lower end and shank support bar front side.
And upper support bar and lower support bar that said thigh support bar is installed by plug constitute, and pass through dowel fixes between upper support bar and the lower support bar.
And upper support bar and lower support bar that described shank support bar is installed by plug constitute, and pass through dowel fixes between upper support bar and the lower support bar.
And, connect through pin between the waist transverse support bar of described lumbar support frame.
And described hip joint revolute, knee joint revolute, ankle joint revolute are the bearing revolute.
Advantage of this utility model and beneficial effect are:
1. this self contained lower limb walking aid adopts parts such as lumbar support frame, thigh support bar, shank support bar, foot support plate to form stable human body lower limbs supporting construction; Through restraint zone walking aid is fixed in waist, thigh, shank and foot and human body; After the process control programming; Can carry out bending through hip joint driving mechanism, knee joint driving mechanism drive hip joint and knee joint; Thereby realize driving the stand purpose of walking of lower extremity paralysis patient, for lower extremity paralysis patient's life provides very big facility according to normal human's gait.
2. hip joint driving mechanism of this self contained lower limb walking aid and knee joint driving mechanism constitute by motor and feed screw nut drive mechanism, can simulate human body muscular movement and body gait well, and transmission process steadily, reliably moves stable; And, have simple in structurely, cost is low, the advantage that energy consumption is little.
3. the thigh support bar of this self contained lower limb walking aid, the form that the shank support bar is adjustable in length can be adjusted according to the height of user, and be easy to use.
4. hip joint revolute, knee joint revolute, the ankle joint revolute of this self contained lower limb walking aid are the bearing revolute, can make stability of rotation, along sliding, reduce noise.
5. the junction employing arc connecting plate of the knee joint driving mechanism between shank support bar and thigh support bar of this self contained lower limb walking aid is connected, the be in luck compressive stress of disorder of internal organs that can reduce is expert at.
6. it is reasonable to the utlity model has scientific structure design, can help the lower extremity paralysis patient walking that realizes standing, and has and operate steadily; Support reliably, be easy to manufacture the advantage that cost is low; Be a kind of walking aid that has than high innovation character, have extensive market prospects.
Description of drawings
Fig. 1 is the structural representation (axonometric chart) of this utility model;
Fig. 2 is the explosive view of the driving mechanism of this utility model.
The specific embodiment
Through specific embodiment this utility model is done further to detail below, following examples are descriptive, are not determinate, can not limit the protection domain of this utility model with this.
A kind of self contained lower limb walking aid; It is made up of the lumbar support frame that is symmetrical set, thigh support bar 4, shank support bar 7, foot support plate 10, hip joint revolute 3, knee joint revolute 6, ankle joint revolute 9, hip joint driving mechanism 19, knee joint driving mechanism 14, thigh restraint zone 5, shank restraint zone 8, and the lumbar support frame is made up of waist transverse support bar 1 and waist vertical supporting bar 2.Connect through pin between the waist transverse support bar of lumbar support frame, can realize slight rotatablely moving.The lower end of waist vertical supporting bar connects the thigh support bar through the hip joint revolute, and the lower end of thigh support bar connects the shank support bar through the knee joint revolute, connects foot's gripper shoe in the lower end of shank support bar through the ankle joint revolute.The hip joint driving mechanism is installed between waist vertical supporting bar and the thigh support bar; The knee joint driving mechanism is installed between thigh support bar and the shank support bar; Hip joint driving mechanism and knee joint driving mechanism constitute by motor 28 and feed screw nut drive mechanism; In thigh support bar inboard the thigh restraint zone is installed all, the shank restraint zone all is installed in shank support bar inboard.
Upper support bar 17 and lower support bar 15 that the thigh support bar is installed by plug constitute, and pass through dowel fixes between upper support bar and the lower support bar.Upper support bar 12 and lower support bar 11 that the shank support bar is installed by plug constitute, and pass through dowel fixes between upper support bar and the lower support bar.Large and small lower limb support bar all can be adjusted according to the height of user, and is easy to use.Hip joint revolute, knee joint revolute, ankle joint revolute are the bearing revolute, can make stability of rotation, along sliding, reduce noise.
The feed screw nut drive mechanism of hip joint driving mechanism and knee joint driving mechanism constitutes by motor cabinet 22, upper bush 21, lower sleeve 25, pinion 27, synchronous cog belt 26, nut gear 23, leading screw 24 and related accessory; Install upper bush on motor cabinet top; The motor cabinet bottom installs lower sleeve; Leading screw is installed in upper bush and the lower sleeve, and nut gear is installed in engagement on leading screw, and motor is packed on the motor cabinet; Pinion slows down through synchronous cog belt and nut gear and links, and motor drives the leading screw elevating movement through pinion, synchronous cog belt, nut gear.Motor adopts the maxon servomotor, and is connected with controller, can be according to the program behavior of controller.
Side connecting plate 20 hinge dresses behind the upper bush upper end of the feed screw nut drive mechanism of hip joint driving mechanism and the waist vertical supporting bar, side connecting plate 18 hinge dresses behind leading screw lower end and the thigh support bar.The upper bush upper end of the feed screw nut drive mechanism of knee joint driving mechanism and the connecting plate of thigh support bar front side 16 hinge dresses; The arc connecting plate 13 hinge dress of leading screw lower end and shank support bar front side, this arc connecting plate can effectively reduce the compressive stress of disorder of internal organs of being in luck of being expert at.
The operation principle of this self contained walking aid is:
Through thigh restraint zone, shank restraint zone walking aid is connected with human body; The motor of hip joint driving mechanism and knee joint driving mechanism is controlled by controller, according to the setting program operation, and through feed screw nut drive mechanism driving lead screw straight-line; Thereby drive hip joint and kneed bending; And then the walking of realization human body, this walking aid can be simulated human body muscular movement and body gait well, and transmission process is steadily reliable.

Claims (8)

1. self contained lower limb walking aid; It is characterized in that: constitute by the lumbar support frame that is symmetrical set, thigh support bar, shank support bar, foot support plate, hip joint revolute, knee joint revolute, ankle joint revolute, hip joint driving mechanism, knee joint driving mechanism, thigh restraint zone, shank restraint zone; The lumbar support frame is made up of waist transverse support bar and waist vertical supporting bar; The lower end of waist vertical supporting bar connects the thigh support bar through the hip joint revolute; The lower end of thigh support bar connects the shank support bar through the knee joint revolute; Lower end at the shank support bar connects foot's gripper shoe through the ankle joint revolute; The hip joint driving mechanism is installed between waist vertical supporting bar and the thigh support bar, the knee joint driving mechanism is installed between thigh support bar and the shank support bar, hip joint driving mechanism and knee joint driving mechanism constitute by motor and feed screw nut drive mechanism; In thigh support bar inboard the thigh restraint zone is installed all, the shank restraint zone all is installed in shank support bar inboard.
2. self contained lower limb walking aid according to claim 1; It is characterized in that: the feed screw nut drive mechanism of described hip joint driving mechanism and knee joint driving mechanism constitutes by motor cabinet, upper bush, lower sleeve, pinion, synchronous cog belt, nut gear, leading screw; Install upper bush on motor cabinet top, the motor cabinet bottom installs lower sleeve; Leading screw is installed in upper bush and the lower sleeve; Nut gear is installed in engagement on leading screw, and motor is packed on the motor cabinet, and motor drives the leading screw elevating movement through pinion, synchronous cog belt, nut gear.
3. self contained lower limb walking aid according to claim 2; It is characterized in that: side connecting plate hinge dress behind the upper bush upper end of the feed screw nut drive mechanism of described hip joint driving mechanism and the waist vertical supporting bar, side connecting plate hinge dress behind leading screw lower end and the thigh support bar.
4. self contained lower limb walking aid according to claim 2; It is characterized in that: the upper bush upper end of the feed screw nut drive mechanism of described knee joint driving mechanism is adorned with the connecting plate hinge of thigh support bar front side, the arc connecting plate hinge dress of leading screw lower end and shank support bar front side.
5. self contained lower limb walking aid according to claim 1 is characterized in that: upper support bar and lower support bar that said thigh support bar is installed by plug constitute, and pass through dowel fixes between upper support bar and the lower support bar.
6. self contained lower limb walking aid according to claim 1 is characterized in that: upper support bar and lower support bar that described shank support bar is installed by plug constitute, and pass through dowel fixes between upper support bar and the lower support bar.
7. self contained lower limb walking aid according to claim 1 is characterized in that: connect through pin between the waist transverse support bar of described lumbar support frame.
8. self contained lower limb walking aid according to claim 1 is characterized in that: described hip joint revolute, knee joint revolute, ankle joint revolute are the bearing revolute.
CN2011201765727U 2011-05-30 2011-05-30 Self-contained lower limb walking aid Expired - Lifetime CN202168924U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011201765727U CN202168924U (en) 2011-05-30 2011-05-30 Self-contained lower limb walking aid

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2011201765727U CN202168924U (en) 2011-05-30 2011-05-30 Self-contained lower limb walking aid

Publications (1)

Publication Number Publication Date
CN202168924U true CN202168924U (en) 2012-03-21

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Application Number Title Priority Date Filing Date
CN2011201765727U Expired - Lifetime CN202168924U (en) 2011-05-30 2011-05-30 Self-contained lower limb walking aid

Country Status (1)

Country Link
CN (1) CN202168924U (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102160839A (en) * 2011-05-30 2011-08-24 天津科技大学 Self-contained lower limb walking aid
CN104027224A (en) * 2014-06-27 2014-09-10 电子科技大学 Elastic hip joint rotating device for exoskeleton robot
CN106361541A (en) * 2016-10-14 2017-02-01 福州大学 Knee joint load-bearing power assisting exoskeleton device and working method thereof
CN108852755A (en) * 2018-05-07 2018-11-23 天津科技大学 Hip joint training device, knee joint training device and joint of lower extremity training system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102160839A (en) * 2011-05-30 2011-08-24 天津科技大学 Self-contained lower limb walking aid
CN104027224A (en) * 2014-06-27 2014-09-10 电子科技大学 Elastic hip joint rotating device for exoskeleton robot
CN106361541A (en) * 2016-10-14 2017-02-01 福州大学 Knee joint load-bearing power assisting exoskeleton device and working method thereof
CN108852755A (en) * 2018-05-07 2018-11-23 天津科技大学 Hip joint training device, knee joint training device and joint of lower extremity training system

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AV01 Patent right actively abandoned

Granted publication date: 20120321

Effective date of abandoning: 20121003