CN202211834U - Line angle driven lower limb walking aid - Google Patents
Line angle driven lower limb walking aid Download PDFInfo
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- CN202211834U CN202211834U CN2011202134017U CN201120213401U CN202211834U CN 202211834 U CN202211834 U CN 202211834U CN 2011202134017 U CN2011202134017 U CN 2011202134017U CN 201120213401 U CN201120213401 U CN 201120213401U CN 202211834 U CN202211834 U CN 202211834U
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 21
- 210000004394 hip joint Anatomy 0.000 claims abstract description 37
- 210000000689 upper leg Anatomy 0.000 claims abstract description 23
- 210000002683 foot Anatomy 0.000 claims abstract description 19
- 210000000629 knee joint Anatomy 0.000 claims abstract description 19
- 244000309466 calf Species 0.000 claims abstract description 17
- 210000001624 hip Anatomy 0.000 claims abstract description 16
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 10
- 238000006073 displacement reaction Methods 0.000 claims abstract description 9
- 210000001503 joint Anatomy 0.000 claims abstract description 3
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims 2
- 206010033799 Paralysis Diseases 0.000 abstract description 7
- 239000003638 chemical reducing agent Substances 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 8
- 238000011160 research Methods 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 206010033892 Paraplegia Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000003205 diastolic effect Effects 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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Abstract
本实用新型涉及一种线角驱动下肢助行器由左右对称设置的腰部支撑架、大腿支撑杆、小腿支撑杆、脚部支撑板、髋关节第一旋转副、髋关节第二旋转副、膝关节旋转副、踝关节旋转副、外展内收驱动机构、屈伸驱动机构、大腿紧固带、小腿紧固带构成，腰部支撑架的两端分别通过外展内收驱动机构连接大腿支撑杆顶端的髋关节第一旋转副，大腿支撑杆顶端安装有髋关节第二旋转副，大腿支撑杆的下端通过膝关节旋转副连接小腿支撑杆，小腿支撑杆的下端通过踝关节旋转副连接脚部支撑板，在两侧的髋关节第二旋转副及膝关节旋转副上均共同安装屈伸驱动机构，该屈伸驱动机构为线角位移驱动机构。本实用新型能够帮助下肢瘫痪患者实现站立行走，且运行平稳，支撑可靠。
The utility model relates to a walking aid for the lower limbs driven by a line angle, which is composed of a waist support frame, a thigh support rod, a calf support rod, a foot support plate, a first hip joint rotation pair, a hip joint second rotation pair, and a knee joint which are symmetrically arranged left and right. Joint rotation joint, ankle joint rotation joint, abduction and adduction drive mechanism, flexion and extension drive mechanism, thigh fastening belt, calf fastening belt, the two ends of the waist support frame are respectively connected to the top of the thigh support rod through the abduction and adduction drive mechanism The first rotation pair of the hip joint, the second rotation pair of the hip joint is installed on the top of the thigh support rod, the lower end of the thigh support rod is connected to the calf support rod through the knee joint rotation pair, and the lower end of the calf support rod is connected to the foot support through the ankle joint rotation pair plate, the second rotation pair of the hip joint and the rotation pair of the knee joint on both sides are jointly installed with a flexion and extension drive mechanism, and the flexion and extension drive mechanism is a linear angular displacement drive mechanism. The utility model can help patients with paralysis of the lower limbs to stand and walk, and has stable operation and reliable support.
Description
技术领域 technical field
本实用新型涉及助行装置，特别是一种线角驱动下肢助行器。The utility model relates to a walking aid, in particular to a walking aid for lower limbs driven by wire angles.
背景技术 Background technique
动力式助行器是现代科学技术进步与人体康复需求相结合的成果，目的是研究开发对下肢瘫痪者进行行走功能评估、诊断、恢复、步行代偿以及护理所需的各种助行设备。目前，世界上约有10余家实验室在从事可穿戴型助行器的研究，且大多是用于正常人的助力或是下肢功能障碍患者的康复，很少有用于帮助下肢瘫痪者重新站立行走的装置的研究。且现有的研究多是采用电机直接驱动或是气动，造价也都十分昂贵。另外，现有动力式助行器不具有大腿部分的外展内收功能，在行走时动作僵直，仿真度舒适度欠佳。Powered walking aids are the result of the combination of modern scientific and technological progress and the needs of human rehabilitation. The purpose is to research and develop various walking aids for the evaluation, diagnosis, recovery, walking compensation and nursing of paraplegics. At present, there are more than 10 laboratories in the world engaged in the research of wearable walking aids, and most of them are used for the assistance of normal people or the rehabilitation of patients with lower limb dysfunction, and few are used to help paralyzed people stand up again. The study of walking devices. And most of the existing researches use motor direct drive or pneumatic, and the cost is also very expensive. In addition, the existing powered walking aids do not have the function of abduction and adduction of the thigh, and the movement is stiff when walking, and the simulation and comfort are not good.
实用新型内容 Utility model content
本实用新型的目的在于克服现有技术的不足，提供一种辅助下肢瘫痪患者重新站立行走的线角驱动下肢助行器，可实现按照正常人体的步态带动下肢瘫痪患者站立行走的目的，并具有结构合理，使用方便，安全可靠的优点。The purpose of this utility model is to overcome the deficiencies of the prior art, to provide a line angle driven lower limb walker for assisting the paralyzed patients to stand up and walk again, which can realize the purpose of driving the paralyzed patients to stand and walk according to the gait of the normal human body, and It has the advantages of reasonable structure, convenient use, safety and reliability.
本实用新型解决其技术问题是通过以下技术方案实现的：The utility model solves its technical problem and realizes through the following technical solutions:
一种线角驱动下肢助行器，其特征在于：由左右对称设置的腰部支撑架、大腿支撑杆、小腿支撑杆、脚部支撑板、髋关节第一旋转副、髋关节第二旋转副、膝关节旋转副、踝关节旋转副、外展内收驱动机构、屈伸驱动机构、大腿紧固带、小腿紧固带构成，腰部支撑架的两端分别通过外展内收驱动机构连接大腿支撑杆顶端的髋关节第一旋转副，大腿支撑杆顶端安装有髋关节第二旋转副，大腿支撑杆的下端通过膝关节旋转副连接小腿支撑杆，小腿支撑杆的下端通过踝关节旋转副连接脚部支撑板，在两侧的髋关节第二旋转副及膝关节旋转副上均共同安装屈伸驱动机构，该屈伸驱动机构为线角位移驱动机构。A line-angle driven lower limb walker is characterized in that: a waist support frame, a thigh support rod, a calf support rod, a foot support plate, a first hip joint rotation pair, a hip joint second rotation pair, Knee joint rotation joint, ankle joint rotation joint, abduction and adduction drive mechanism, flexion and extension drive mechanism, thigh fastening belt, calf fastening belt, the two ends of the waist support frame are respectively connected to the thigh support bar through the abduction and adduction drive mechanism The first rotation joint of the hip joint at the top, the second rotation joint of the hip joint is installed on the top of the thigh support rod, the lower end of the thigh support rod is connected to the calf support rod through the knee joint rotation joint, and the lower end of the calf support rod is connected to the foot through the ankle joint rotation joint The supporting plate is equipped with a flexion and extension driving mechanism on the second rotation pair of the hip joint and the rotation pair of the knee joint on both sides, and the flexion and extension driving mechanism is a linear angular displacement driving mechanism.
而且，所述的外展内收驱动机构由安装座、电机及减速器、传动机构、水平转动轴、滑块、凸轮及纵向摆动轴构成，安装座固装在腰部支撑架端部，电机及减速器与安装座固装，电机及减速器通过传动机构与水平转动轴联动，水平转动轴穿装过滑快并在端部固装凸轮，凸轮与安装座内侧面顶触，滑块垂直固装纵向摆动轴，该纵向摆动轴端部与髋关节旋转副转动轴固装。Moreover, the abduction and adduction drive mechanism is composed of a mounting base, a motor, a reducer, a transmission mechanism, a horizontal rotating shaft, a slider, a cam, and a longitudinal swing shaft. The mounting base is fixed on the end of the waist support frame, and the motor and The reducer and the mounting base are fixed, the motor and the reducer are linked with the horizontal rotating shaft through the transmission mechanism, the horizontal rotating shaft is fastened through the slide and a cam is fixed at the end, the cam touches the inner side of the mounting seat, and the slider is fixed vertically A vertical swing shaft is installed, and the end of the vertical swing shaft is fixed with the rotation shaft of the hip joint rotation pair.
而且，所述的线角位移驱动机构由两驱动电机、上可变半径滑轮、下可变半径滑轮、两对称的线角驱动组件及环形缆线构成，上可变半径滑轮与髋关节旋转副转动轴固装，下可变半径滑轮与膝关节旋转副转动轴固装，在上可变半径滑轮及下可变半径滑轮上共同套装环形缆线，在该缆线的纵向上分别安装线角驱动组件，该线角驱动组件的上端固装齿轮，该齿轮与驱动电机输出端齿轮啮合。Moreover, the linear angle displacement drive mechanism is composed of two drive motors, an upper variable radius pulley, a lower variable radius pulley, two symmetrical linear angle drive components and a ring cable, and the upper variable radius pulley and the hip joint rotation pair The rotation shaft is fixed, the lower variable radius pulley is fixed with the rotation shaft of the knee joint rotation joint, the ring cable is set on the upper variable radius pulley and the lower variable radius pulley, and the wire angles are respectively installed in the longitudinal direction of the cable. A driving assembly, the upper end of the wire angle driving assembly is fixed with a gear, and the gear meshes with the output end gear of the driving motor.
而且，所述线角驱动组件由同轴套装的外线角驱动件及内线角驱动件构成，该外线角驱动件及内线角驱动件的扭转方向相反。Moreover, the wire angle driving assembly is composed of an outer wire angle driving part and an inner wire angle driving part coaxially set, and the twisting directions of the outer wire angle driving part and the inner wire angle driving part are opposite.
而且，所述的外线角驱动件、内线角驱动件均由多个连接环及之间的线网构成。Moreover, both the outer wire angle driving element and the inner wire angle driving element are composed of a plurality of connecting rings and wire nets between them.
而且，所述的脚部支撑板由后支撑板及转动安装的前支撑板构成。Moreover, the foot support plate is composed of a rear support plate and a rotatably mounted front support plate.
而且，所述的脚部支撑板上表面安装有紧固带。Moreover, a fastening belt is installed on the upper surface of the foot support plate.
本实用新型的优点和有益效果为：Advantage and beneficial effect of the present utility model are:
1.本线角驱动下肢助行器在髋关节设有两个旋转副，膝关节、踝关节、脚掌各设有一个旋转副，其中髋关节和膝关节处的用于实现屈伸运动的旋转副采用同心直线角位移系统驱动，髋关节处用于实现外展内收运动的旋转副采用电机带动谐波减速器和同步齿形带传动进行驱动，踝关节与脚掌处不加驱动。使用时，通过腰部和脚底对人体进行支撑，通过紧固带将助行器在腰部、大腿、小腿和脚部与人固定，助行器会按照已输入的程序带动下肢瘫痪者的腿部运动，实现行走动作，为下肢瘫痪患者的生活提供极大便利。1. This line-angle driven lower limb walker has two rotation pairs at the hip joint, and one rotation pair at the knee joint, ankle joint, and sole of the foot. Among them, the rotation pairs at the hip joint and knee joint are used to realize flexion and extension. It is driven by a concentric linear angular displacement system. The rotating pair used to realize abduction and adduction at the hip joint is driven by a motor to drive a harmonic reducer and a synchronous toothed belt drive. The ankle joint and the sole of the foot are not driven. When in use, the human body is supported by the waist and the soles of the feet, and the walker is fixed on the waist, thighs, calves and feet by fastening belts, and the walker will drive the legs of the paralyzed person to move according to the input program , Realize the walking action, and provide great convenience for the life of patients with paralysis of the lower limbs.
2.本线角驱动下肢助行器通过在腰部支撑架的两端与大腿支撑杆之间安装外展内收驱动机构，实现髋关节的外展内收，能够更加真实的模拟人体的行走步态，使用者的行走动作更加舒适、自如。2. This line angle drive lower limb walker installs the abduction and adduction drive mechanism between the two ends of the waist support frame and the thigh support rod to realize the abduction and adduction of the hip joint, which can more realistically simulate the walking of the human body The user's walking movements are more comfortable and free.
3.本线角驱动下肢助行器在髋关节及膝关节均通过线角驱动组件实现同时动作，具有传动效果好，平稳度高的优点。3. The line-angle driven lower limb walker realizes simultaneous movements at the hip joint and knee joint through the line-angle drive assembly, which has the advantages of good transmission effect and high stability.
4.本线角驱动下肢助行器的线角驱动组件由同轴套装的外线角驱动件及内线角驱动件构成，形成同心线角驱动组件，该同心线角驱动组件相比单个线角驱动组件的优点是：在负载端的运动类似于滑块机构(无旋转约束)，这保证了线角驱动组件中的旋转微分传递到每个单元件。这减少了重量和复杂性。4. The line angle drive assembly of this line angle driven lower limb walker is composed of an outer line angle drive part and an inner line angle drive part coaxially set to form a concentric line angle drive assembly. Compared with a single line angle drive, the concentric line angle drive assembly The advantage of the assembly is that the motion at the load end is similar to a slider mechanism (no rotational constraints), which guarantees that the rotational differential in the line-angle drive assembly is transferred to each single element. This reduces weight and complexity.
5.本实用新型具有结构设计科学合理，能够帮助下肢瘫痪患者实现站立行走，并且具有运行平稳，支撑可靠，易于生产制作，成本低的优点，是一种具有较高创新性的助行器，具有广泛的市场前景。5. The utility model has scientific and reasonable structural design, can help patients with lower limb paralysis to stand and walk, and has the advantages of stable operation, reliable support, easy production and low cost, and is a highly innovative walking aid. It has broad market prospects.
附图说明 Description of drawings
图1为本实用新型的结构示意图(立体图)；Fig. 1 is a structural representation (stereoscopic view) of the utility model;
图2为本实用新型的外展内收驱动机构的放大图；Figure 2 is an enlarged view of the abduction and adduction drive mechanism of the utility model;
图3为本实用新型的屈伸驱动机构的放大图；Figure 3 is an enlarged view of the flexion and extension drive mechanism of the present utility model;
图4为本实用新型的线角驱动组件的放大图。Fig. 4 is an enlarged view of the wire angle driving assembly of the present invention.
具体实施方式 Detailed ways
下面通过具体实施例对本实用新型作进一步详述，以下实施例只是描述性的，不是限定性的，不能以此限定本实用新型的保护范围。The utility model is described in further detail below through specific examples, the following examples are only descriptive, not limiting, and cannot limit the protection scope of the utility model with this.
一种线角驱动下肢助行器，其由左右对称设置的腰部支撑架1、大腿支撑杆5、小腿支撑杆8、脚部支撑板11、髋关节第一旋转副14、髋关节第二旋转副4、膝关节旋转副7、踝关节旋转副10、外展内收驱动机构2、屈伸驱动机构3、大腿紧固带6、小腿紧固带9构成。A walking aid for lower limbs driven by a line angle, which consists of a
腰部支撑架用于支撑穿戴者的腰部使其上身保持直立，分为左右两部分，中间有销钉连接，可实现轻微的旋转运动。腰部支撑架的两端分别通过外展内收驱动机构连接大腿支撑杆顶端的髋关节第一旋转副。外展内收驱动机构由安装座19、电机及减速器21、齿形带传动机构22、水平转动轴20、滑块18、凸轮17及纵向摆动轴16构成，安装座固装在腰部支撑架端部，电机及减速器与安装座固装，电机及减速器通过齿形带传动机构与水平转动轴联动，水平转动轴穿装过滑快并在端部固装凸轮，凸轮与安装座内侧面顶触，滑块垂直固装纵向摆动轴，该纵向摆动轴端部与髋关节第一旋转副转动轴固装。外展内收驱动机构的电机连接至控制器。The waist support frame is used to support the wearer's waist to keep the upper body upright. It is divided into two parts, left and right, connected by pins in the middle, which can realize slight rotational movement. The two ends of the lumbar support frame are respectively connected to the first rotation joint of the hip joint at the top of the thigh support rod through the abduction and adduction drive mechanism. The abduction and adduction driving mechanism is composed of a
大腿支撑杆顶端安装有髋关节第二旋转副，该髋关节第一旋转副的纵向摆动轴与髋关节第二旋转副的转动轴采用同一轴。大腿支撑杆的下端通过膝关节旋转副连接小腿支撑杆。小腿支撑杆的下端通过踝关节旋转副连接脚部支撑板。在两侧的髋关节第二旋转副及膝关节旋转副上均共同安装屈伸驱动机构，该屈伸驱动机构为线角位移驱动机构。线角位移驱动机构由两驱动电机24、30，上可变半径滑轮23、下可变半径滑轮29、两对称的线角驱动组件27、28及环形缆线31构成，上可变半径滑轮与髋关节第二旋转副转动轴固装，下可变半径滑轮与膝关节旋转副转动轴固装，在上可变半径滑轮及下可变半径滑轮上共同套装环形缆线，在该缆线的纵向上分别安装线角驱动组件，该线角驱动组件的上端固装齿轮26，该齿轮与驱动电机输出端齿轮25啮合。线角位移驱动机构的驱动电机连接至控制器。A second rotation pair of the hip joint is installed on the top of the thigh support rod, and the longitudinal swing axis of the first rotation pair of the hip joint adopts the same axis as the rotation axis of the second rotation pair of the hip joint. The lower end of the thigh support rod is connected with the calf support rod through the knee joint rotation joint. The lower end of the calf support rod is connected to the foot support plate through the ankle joint rotation joint. A flexion and extension drive mechanism is installed on the second hip joint rotation pair and the knee joint rotation pair on both sides, and the flexion and extension drive mechanism is a linear angular displacement drive mechanism. Line angle displacement driving mechanism is made of two drive motors 24,30, upper variable radius pulley 23, following variable radius pulley 29, two symmetrical line angle drive assemblies 27,28 and ring cable 31, and upper variable radius pulley and The rotation shaft of the second rotation pair of the hip joint is fixed, the lower variable radius pulley and the rotation shaft of the knee joint rotation pair are fixed, and the ring cable is installed on the upper variable radius pulley and the lower variable radius pulley. Longitudinally install the wire angle driving assembly respectively, the upper end of the wire angle driving assembly is fixed with a gear 26, and this gear is meshed with the output end gear 25 of the drive motor. The driving motor of the linear angular displacement driving mechanism is connected to the controller.
线角驱动组件为同心线角驱动组件，其由同轴套装的外线角驱动件32及内线角驱动件35构成，该外线角驱动件及内线角驱动件的扭转方向相反。外线角驱动件、内线角驱动件均由多个连接环33及之间的线网34构成。在同心线角驱动组件的作用下，线角驱动组件单元的旋转反应发生在电机附近，也就是扭矩最初产生的地方。现在同心线角驱动组件的负载端必须可以自由旋转，并通过电缆控制调节。The wire angle driving assembly is a concentric wire angle driving assembly, which is composed of an outer wire
除了消除了需要直线运动指导的必要，同心线角驱动组件配置将增加一个单个的线角驱动组件的有效长度而并非增加真实的组件。增加的单元允许同心线角驱动组件工作时比单独的线角驱动组件链在相同的长度上有一个较长的偏移，来达到更高的机械优势。同时，同心线角驱动组件的负载应用平均分布在内外线角驱动组件，因此，每个线角驱动组件都承担一部分负载，增加了同心线角驱动组件的承载能力。In addition to eliminating the need for linear motion guidance, the concentric angular drive assembly configuration will increase the effective length of a single linear angular drive assembly rather than adding actual assemblies. The added units allow concentric corner drive assemblies to operate with a longer offset than a single chain of corner drive assemblies over the same length for greater mechanical advantage. At the same time, the load application of the concentric line angle drive components is evenly distributed among the inner and outside line angle drive components, therefore, each line angle drive component bears a part of the load, which increases the bearing capacity of the concentric line angle drive components.
脚部支撑板由后支撑板及转动安装的前支撑板12构成，脚部支撑板上表面安装有紧固带13。Foot support plate is made of back support plate and the
本动力式助行器的工作原理为：The working principle of this powered walker is:
使用时，穿戴者通过紧固带将该助行器与大小腿、腰部、脚部固定，启动后，中心处理器会按照预先编订的程序控制电机的转动。在髋关节外展内收驱动机构中，电机转动，经谐波减速器减速和同步齿形带驱动水平转动轴，水平转动轴通过凸轮机构的顶触，驱动纵向摆动轴摆动，最终带动髋关节实现外展内收。When in use, the wearer fixes the walker with the upper and lower legs, waist, and feet through the fastening belt. After starting, the central processing unit will control the rotation of the motor according to the pre-programmed program. In the abduction and adduction drive mechanism of the hip joint, the motor rotates, the harmonic reducer decelerates and the synchronous toothed belt drives the horizontal rotation axis, and the horizontal rotation axis drives the vertical swing axis to swing through the top contact of the cam mechanism, and finally drives the hip joint Realize outreach and adduction.
在髋关节屈伸驱动机构处，两电机为反向转动，带动线角驱动组件转动，线角驱动组件将旋转运动转化为直线运动，一侧线角驱动组件收缩，则另一侧线角驱动机构伸长，从而拉动髋关节和膝关节在矢状面旋转，实现行走的功能，可变半径滑轮可以补偿主动同心线角驱动组件和对抗同心线角驱动组件不同的收缩舒张率。At the hip joint flexion and extension drive mechanism, the two motors rotate in opposite directions, driving the angle drive assembly to rotate, and the angle drive assembly converts the rotational motion into linear motion. The angle drive assembly on one side shrinks, and the angle drive mechanism on the other side elongates , so as to pull the hip joint and knee joint to rotate in the sagittal plane to realize the function of walking. The variable radius pulley can compensate the different systolic and diastolic rates of the active concentric angle drive component and the counter concentric drive component.
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