CN206044936U - A kind of power-assisted lower limb based on multistage snap-lock mechanism - Google Patents
A kind of power-assisted lower limb based on multistage snap-lock mechanism Download PDFInfo
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- CN206044936U CN206044936U CN201620416640.5U CN201620416640U CN206044936U CN 206044936 U CN206044936 U CN 206044936U CN 201620416640 U CN201620416640 U CN 201620416640U CN 206044936 U CN206044936 U CN 206044936U
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- Prior art keywords
- disc brake
- foot
- power
- lock mechanism
- lower limb
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Abstract
This patent discloses a kind of power-assisted lower limb based on multistage snap-lock mechanism, belongs to medical assisted movement instrument field.Including leg support structure, spring energy storage device, foot fixing device, knee brace structure；Leg support structure includes shank connecting plate, shank fixed plate；On spring energy storage device, extension spring one end is fixed on bracing frame, and the other end is linked on chain, chain other end connection cordage, while movable pulley lower end is connected with steel wire rope, steel wire rope is connected on fixture；Sprocket wheel side arranges disc brake group；There is disc brake line in disc brake group, disc brake line is connected with disc brake switch；Foot's base plate of foot fixing device is connected with pedal；One end of atmospheric pressure pole in knee brace is fixed on bracing frame；The other end is connected with thigh fixed plate, and this device wearing simplicity can aid in normal trip；When solution is taken a step, energy stores do not rebound, and when moving ahead, energy discharges the problem of power-assisted, additionally it is possible to act knee joint torque when sitting, so as to reduce the muscle power of consuming.
Description
Technical field
This patent is related to a kind of power-assisted lower limb based on multistage snap-lock mechanism, belongs to medical assisted movement instrument field.
Background technology
At present, people with disability's artifucial limb market all in consideration with elastomeric material come the normal walking of warrantor.Big multipurpose material mould
Intend buffering, or simply simple support, meet the walking of people with disability.But the storage focus utilization of energy is led in sport for the disabled
Domain, the artifucial limb of high energy storage, as elastic toughness is high, each step has strongly elastic force to be not suitable for normal gait.Particularly
Person in middle and old age people with disability or normal person, artifucial limb or wearable ectoskeleton are required for the machinery considered from normal gait angle
Structure, when solution is taken a step, energy stores do not rebound, and when moving ahead, energy discharges the problem of power-assisted.
Utility model content
For above-mentioned technical problem, the purpose of this patent is to provide a kind of power-assisted lower limb based on multistage snap-lock mechanism,
Normal person's walking of people with disability or legs and feet inconvenience can be aided in, this apparatus structure is simple, it is easy to use.
To solve above-mentioned technical problem, this patent is adopted the following technical scheme that：A kind of helping based on multistage snap-lock mechanism
Power lower limb, including leg support structure, spring energy storage device, foot fixing device；The leg support structure includes that shank connects
Plate 8, shank fixed plate 6；The shank connecting plate 8 is linked on bracing frame 20 by connecting lever 7；Set in support frame as described above 20
It is equipped with spring energy storage device；The spring energy storage device includes elastic extension spring 21, cordage 23, sprocket wheel 25, chain 24, steel wire rope
11；One end of the elastic extension spring 21 is fixed on bracing frame 20, and the other end is linked at one end of chain 24 by cordage 23；
The chain 24 is enclosed within sprocket wheel 25, and the other end of its chain connects another cordage 23, and its another cordage 23 bypasses dynamic cunning
Wheel 22 is fixed on bracing frame 20, while 22 lower end of movable pulley is connected with steel wire rope 11, the steel wire rope 11 passes through fixed pulley 10
It is connected on fixture 18；25 side of the sprocket wheel is provided with disc brake group 4；The disc brake group 4 is connected with disc brake line 19, the dish
Line 19 of stopping is connected with pressure disc brake switch 16；The pressure disc brake switch 16 and fixture 18 are arranged in foot fixing device；
The foot fixing device includes foot's base plate 17, pedal 14, foot's fixed plate 12；Foot's base plate 17 is passed through with pedal 14
Connecting shaft 15 connects；Foot's fixed plate 12 is arranged on pedal；Knee brace is additionally provided with leg structure；It is described
Knee brace includes atmospheric pressure pole 3, connecting shaft 5, connecting sliding rail 2, thigh fixed plate 1；One end of the atmospheric pressure pole 3 passes through
Connecting shaft 5 is fixed on bracing frame 20；The other end of the atmospheric pressure pole 3 is connected with thigh fixed plate 1 by connecting sliding rail 2.
Shank bandage 9 is provided with the shank fixed plate, described 6 one end of shank fixed plate is connected to shank connecting plate 8
On, one end is connected on shank bandage 9.
Support frame as described above 20 is fixed on foot's base plate 17.
The connection lever 7 is provided with 2, consolidates leg support structure and spring energy storage device.
The disc brake group 4 includes video disc and disc brake film clamping machine；The sprocket wheel side is welded on one with the video disc in disc brake group 4
Rise, the disc brake film clamping machine is arranged on bracing frame 20；When human body heel step on disc brake switch 16, disc brake switch 16 close,
Disc brake pressure is transferred on disc brake film clamping machine by disc brake line 19, disc brake film clamping machine closure, video disc locking.
Bearing is provided with the middle of the sprocket wheel 25, the bearing includes aviation engine clutch bear group 26, aviation engine clutch bear
Group 26 includes rolling bearing and freewheel clutch；When video disc locking, pin so as to bearing group 26 is fixed, bearing group 26 can only be unidirectional
Turn clockwise.
Foot's bandage 13 is additionally provided with the pedal, one end of foot's fixed plate 12 is connected on pedal 14, one
End is connected on foot's bandage 13.
When human body is squatted down, connecting sliding rail 2 glides the connecting sliding rail 2 automatically.
The fixture 18 is arranged on pedal.
The pressure disc brake switch 16 is arranged on foot's base plate 17, when human body heel is stepped down on pedal 14, when pushing,
On pressure disc brake of just stepping on switch 16；When pedal is stepped down by pressure, steel wire rope 11 downwards in pressure transmission to chain 24,
Chain 24 is made to drive the spring of lower section to deform upon, chain 24 drives the sprocket wheel 25 of engagement to turn clockwise during moving down
It is dynamic to drive aviation engine clutch bear group 26 to rotate clockwise.
The beneficial effect of this patent：
(1) this structure wearing simplicity can aid in normal walking, it is also possible to strengthen and run and skip capability.
(2) this patent can effectively solve the problem that the stage energy stores of landing do not rebound, and the stage energy that moves ahead discharges asking for power-assisted
Topic, is not required to realize the effective power-assisted of human motion using extra power.
(3) this patent can mitigate knee joint torque when human body is sat, so as to reduce the muscle power of consuming.
Description of the drawings
Fig. 1 is a kind of power-assisted lower limb side view based on multistage snap-lock mechanism.
Specific embodiment
With reference to shown in Fig. 1, this patent includes leg support structure, spring energy storage device, foot fixing device；The shank
Supporting construction includes shank connecting plate 8, shank fixed plate 6, shank bandage 9；Described 6 one end of shank fixed plate is connected to shank company
On fishplate bar 8, one end is connected on shank bandage 9；The shank connecting plate 8 is linked on bracing frame 20 by connecting lever 7；
Support frame as described above is fixed on foot's base plate 17；Spring energy storage device is additionally provided with support frame as described above 20.
The spring energy storage device includes elastic extension spring 21, cordage 23, sprocket wheel 25, chain 24, steel wire rope 11；The bullet
Property extension spring 21 one end be fixed on bracing frame 20, the other end is linked at one end of chain 24 by cordage 23；The chain
24 are enclosed within sprocket wheel 25, and its cordage 23 bypasses movable pulley 22 and is fixed on bracing frame 20, while 22 lower end of movable pulley is connected with
Steel wire rope 11, the steel wire rope are connected on fixture 18 by fixed pulley 10；Bearing, the axle are provided with the middle of the sprocket wheel 25
Contract and include aviation engine clutch bear group 26, aviation engine clutch bear group 26 includes rolling bearing and freewheel clutch；The sprocket wheel
25 sides are provided with disc brake group 4；Which includes video disc and disc brake film clamping machine；Weld with the video disc in disc brake group 4 the sprocket wheel side
Together, the disc brake film clamping machine is arranged on bracing frame 20；The disc brake group 4 is connected with disc brake line 19, the disc brake line 19
It is connected with pressure disc brake switch 16；The pressure disc brake switch 16 and fixture 18 are arranged on foot fixing device.
The foot fixing device includes foot's base plate 17, connecting shaft 15, pedal 14, foot's fixed plate 12；The connection
Axle 15 is arranged on foot's base plate front end, is connected with pedal 14；Described 12 one end of foot's fixed plate is connected on pedal 14, and one end connects
It is connected in fixing band 13.
Knee brace is additionally provided with leg structure；The knee brace include atmospheric pressure pole 3, connecting shaft 5,
Connecting sliding rail 2, thigh fixed plate 1；One end of the atmospheric pressure pole 3 is fixed on bracing frame 20 by connecting shaft 5；The atmospheric pressure pole
3 other end is connected with thigh fixed plate 1 by connecting sliding rail, and this arranges to rise for user sits power-assisted.
The principle of this patent：
Lower limb is placed on the front end of shank connecting plate 8 first by person, the foot of user is fixed by foot's fixed plate 12
On foot's base plate 17, shank is fixed bandage by shank fixed plate and shank and fixes shank, completes shank wearing.
Then when user walking forward, heel first lands, and heel is stepped on disc brake switch 16, and disc brake switch 16 is closed
Close, disc brake pressure is transferred on disc brake film clamping machine by disc brake line 19, disc brake film clamping machine closure video disc locking, so as to bearing group 26
Fixed to pin, bearing group 26 unidirectionally can only turn clockwise.After striding, people steps down in sole support plate 11 due to pressure itself
On, as pedal 14 is fixed by connecting shaft 15 with 17 front end of foot base plate, pedal 14 is stepped down by pressure, and wire 11 is downward
In pressure transmission to chain 24 so that chain 24 drives the spring of lower section to deform upon.During chain 24 is moved down
Drive the sprocket wheel 25 for engaging to rotate clockwise drive aviation engine clutch bear group 26 to rotate clockwise.When human pressure makes spring pressure
To after maximum, spring needs release, but due to video disc locking, causes the axle of bearing group 26 to be unable to rotate counterclockwise, spring
Can not discharge, people will not be subject to spring elastic force upwards.
After human body opposite side lower limb is stepped, this side lower limb heel lift, disc brake switch 16 are opened, disc brake release, and sprocket wheel can be with
Rotate counterclockwise, now spring 21 heel of retraction pedal 14 is lifted, human body obtains thrust forward and towing force upwards,
Realize in good time power-assisted.When solution is taken a step, energy stores do not rebound, and when moving ahead, energy discharges the problem of power-assisted；
When human normal is walked, connect thigh fixed plate connecting sliding rail below and glide automatically, so as to not affect human body
It is normal to walk.When human body needs to sit down, connect thigh fixed plate connecting sliding rail below first and glide automatically, after subsequent thigh
The 3 pressurized contraction of atmospheric pressure pole of side, now human body major part weight born by thigh fixed plate.It is when human body needs to stand, first
Atmospheric pressure pole 3 on rear side of first thigh extends, and is that now human body moves offer power-assisted upwards, subsequently connection thigh fixed plate company below
Slide rail upper cunning automatically is connect, completes to stand.
This patent replaces traditional method using mechanical mechanism, and the structure wearing simplicity can aid in normal trip；Effectively
The solution stage energy stores that land do not rebound, and the stage energy that moves ahead discharges the problem of power-assisted, is not required to realize people using extra power
Body moves effective power-assisted, additionally it is possible to act knee joint torque when sitting, so as to reduce the muscle power of consuming.
Although this utility model is disclosed as above with preferred embodiment, which is not limited to this utility model, any
Person skilled in the art, in without departing from spirit and scope of the present utility model, can do various changes and modification, therefore this
The protection domain of utility model should be by being defined that claims are defined.
Claims (9)
1. a kind of power-assisted lower limb based on multistage snap-lock mechanism, it is characterised in that：Including leg support structure, spring energy-storage dress
Put, foot fixing device；The leg support structure includes shank connecting plate (8), shank fixed plate (6)；The shank connection
Plate (8) is linked on bracing frame (20) by connecting lever (7)；Spring energy storage device is provided with support frame as described above (20)；Institute
Stating spring energy storage device includes elastic extension spring (21), cordage (23), sprocket wheel (25), chain (24), steel wire rope (11)；The bullet
Property extension spring (21) one end be fixed on bracing frame (20), the other end is linked at one end of chain (24) by cordage (23)；
The chain (24) is enclosed within sprocket wheel (25), and the other end of its chain (24) connects another cordage (23), its another cordage
(23) bypass movable pulley (22) to be fixed on bracing frame (20), while movable pulley (22) lower end is connected with steel wire rope (11), it is described
Steel wire rope (11) is connected on fixture (18) by fixed pulley (10)；Sprocket wheel (25) side is provided with disc brake group (4)；Institute
State disc brake group (4) and be connected with disc brake line (19), the disc brake line (19) is connected with pressure disc brake switch (16)；The pressure disc brake
Switch (16) and fixture (18) are arranged in foot fixing device；The foot fixing device includes foot's base plate (17), steps on
Plate (14), foot's fixed plate (12)；Foot's base plate (17) is connected by connecting shaft (15) with pedal (14)；The foot is solid
Fixed board (12) is arranged on pedal；Knee brace is additionally provided with leg structure；The knee brace includes gas
Depression bar (3), connecting shaft (5), connecting sliding rail (2), thigh fixed plate (1)；One end of the atmospheric pressure pole (3) passes through connecting shaft (5)
It is fixed on bracing frame (20)；The other end of the atmospheric pressure pole (3) is connected with thigh fixed plate (1) by connecting sliding rail (2).
2. the power-assisted lower limb based on multistage snap-lock mechanism according to claim 1, is characterised by, the shank fixed plate
(6) shank bandage (9) is provided with, described shank fixed plate (6) one end is connected on shank connecting plate (8), and one end is connected to
On shank bandage (9).
3. a kind of power-assisted lower limb based on multistage snap-lock mechanism according to claim 1, is characterised by, support frame as described above
(20) it is fixed on foot's base plate (17).
4. a kind of power-assisted lower limb based on multistage snap-lock mechanism according to claim 1, is characterised by, the connection lever
(7) 2 are provided with, leg support structure and spring energy storage device is consolidated.
5. a kind of power-assisted lower limb based on multistage snap-lock mechanism according to claim 1, is characterised by, the disc brake group
(4) comprising video disc and disc brake film clamping machine；The sprocket wheel side is welded together with the video disc in disc brake group (4), the disc brake folder
Piece device is arranged on bracing frame (20)；When human body heel step on disc brake switch (16), disc brake switch (16) closure, disc brake pressure
It is transferred on disc brake film clamping machine by disc brake line (19), disc brake film clamping machine closure, video disc locking.
6. a kind of power-assisted lower limb based on multistage snap-lock mechanism according to claim 1, is characterised by, the sprocket wheel (25)
Centre is provided with bearing, and the bearing includes aviation engine clutch bear group (26), and aviation engine clutch bear group (26) is including rotary shaft
Hold and freewheel clutch；When video disc locking, pin so as to bearing group (26) is fixed, bearing group (26) can only unidirectionally dextrorotation
Turn.
7. a kind of power-assisted lower limb based on multistage snap-lock mechanism according to claim 1, is characterised by, the pedal (14)
On be additionally provided with foot's bandage (13), one end of foot's fixed plate (12) is connected on pedal (14), and one end is connected to foot
On portion's bandage (13).
8. a kind of power-assisted lower limb based on multistage snap-lock mechanism according to claim 1, is characterised by, the connecting sliding rail
(2) when human body is squatted down, connecting sliding rail (2) is glided automatically.
9. a kind of power-assisted lower limb based on multistage snap-lock mechanism according to claim 1, is characterised by, the pressure disc brake
Switch (16) is arranged on foot's base plate (17), when human body heel is stepped down on pedal (14), when pushing, pressure dish of just stepping on
Stop on switch (16)；When pedal is stepped down by pressure, steel wire rope (11) in pressure transmission to chain (24), makes chain downwards
(24) spring of lower section is driven to deform upon, chain (24) drives the sprocket wheel (25) of engagement to turn clockwise during moving down
It is dynamic to drive aviation engine clutch bear group (26) to rotate clockwise.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620416640.5U CN206044936U (en) | 2016-05-10 | 2016-05-10 | A kind of power-assisted lower limb based on multistage snap-lock mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620416640.5U CN206044936U (en) | 2016-05-10 | 2016-05-10 | A kind of power-assisted lower limb based on multistage snap-lock mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206044936U true CN206044936U (en) | 2017-03-29 |
Family
ID=58371779
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620416640.5U Expired - Fee Related CN206044936U (en) | 2016-05-10 | 2016-05-10 | A kind of power-assisted lower limb based on multistage snap-lock mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206044936U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105943314A (en) * | 2016-05-10 | 2016-09-21 | 江南大学 | Assistant leg based on multi-stage spring lock mechanism |
| CN107126348A (en) * | 2017-03-31 | 2017-09-05 | 清华大学 | A kind of accurate passive knee ankle-joint coupling lower limb exoskeleton and its control method |
-
2016
- 2016-05-10 CN CN201620416640.5U patent/CN206044936U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105943314A (en) * | 2016-05-10 | 2016-09-21 | 江南大学 | Assistant leg based on multi-stage spring lock mechanism |
| CN107126348A (en) * | 2017-03-31 | 2017-09-05 | 清华大学 | A kind of accurate passive knee ankle-joint coupling lower limb exoskeleton and its control method |
| CN107126348B (en) * | 2017-03-31 | 2019-06-18 | 清华大学 | A kind of quasi- passive knee ankle-joint coupling lower limb exoskeleton and its control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170329 Termination date: 20190510 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |