CN209175735U - A kind of knee joint power assisting device - Google Patents
A kind of knee joint power assisting device Download PDFInfo
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- CN209175735U CN209175735U CN201821770551.6U CN201821770551U CN209175735U CN 209175735 U CN209175735 U CN 209175735U CN 201821770551 U CN201821770551 U CN 201821770551U CN 209175735 U CN209175735 U CN 209175735U
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- output shaft
- fixing seat
- knee joint
- locking device
- elastic element
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Abstract
This application provides a kind of knee joint power assisting devices, including rigidity adjuster, power mechanism, rigidity adjuster includes the first fixing seat, second fixing seat, output shaft, locking device, first fixing seat and the second fixing seat are slidably set in the first end and the second end of output shaft respectively, the first elastic element is arranged on output shaft, second elastic element, one end of first elastic element acts on the locking device, the other end acts on first fixing seat, the one end of second elastic element acts on output shaft, the other end acts on first fixing seat, the locking device has locking state and unlocked state, when locking device is located at locking state, the locking device is fixed on the output shaft；When locking device is located at unlocked state, the locking device and the output shaft opposite can be slided, and the power mechanism is for driving the output shaft to move along its axis.
Description
Technical field
This application involves a kind of knee joint power assisting devices, are a kind of wearable lower limb exoskeleton power-assisting robots.
Background technique
With the arriving of astogeny society, more and more the elderlys are subject to middle wind effect, lose normal walking
Ability.In the process of walking, lower extremity movement includes stance (standing phase) and (swing recovery phase
Phase), need to bear upper limb weight in stance (standing phase) knee, leg muscle needs to mention for knee joint
For high level torque, suspend in (swing phase) lower limb recovery phase aerial, knee joint free extension, leg muscle only needs
Small value torque is provided, so, in the process of walking, lower limb knee joint shows as variation rigidity characteristic.
Ectoskeleton is a kind of wearable device that can be maintained or enhance human physiological functions, in military affairs, medical treatment, helps the elderly and helps the disabled
Etc. have broad prospect of application.Lower limb exoskeleton is as one of, it is intended to power-assisted human body walking.In military field,
Lower limb exoskeleton can increase distance on foot, promote weight bearing ability, muscle damage risk be reduced, to promote capacity for individual action.
In medical field, lower limb exoskeleton can be used for the gait rehabilitation of patient and the auxiliary walking of disabled person.In the field of helping the elderly, lower limb
Ectoskeleton can help the elderly to restore walking ability.
In recent years, the lower limb paralysis crowd due to caused by apoplexy obviously increased, the appearance energy of wearable lower limb exoskeleton
Torque required for joint of lower extremity during normal walking enough is provided for wearer, helps wearer's walking and rehabilitation.But
During normal walking gait cycle, torque required for lower limb stance and knee joint recovery phase and ankle-joint
Difference, so needing to design a kind of regulating device that can change rigidity size for lower limb assistance exoskeleton.
Summary of the invention
The application technical problems to be solved are to provide a kind of knee joint power assisting device.
In order to solve the above-mentioned technical problem, this application provides a kind of knee joint power assisting device, the knee joint power-assisteds
Device includes rigidity adjuster, power mechanism, and the rigidity adjuster includes the first fixing seat, the second fixing seat, defeated
Shaft, locking device, first fixing seat and the second fixing seat are slidably set in the first end of output shaft respectively
And the second end, the first elastic element, the second elastic element are arranged on the output shaft, first elastic element
One end acts on the locking device, and the other end acts on first fixing seat, second elastic element
One end acts on output shaft, and the other end acts on first fixing seat, and the locking device has locking state
And unlocked state, when the locking device is located at locking state, the locking device is fixed in the output shaft
On；When the locking device is located at unlocked state, the locking device and the output shaft opposite can be slided, described
Power mechanism for driving the output shaft to move along its axis.
Preferably, the locking device includes driving mechanism, fastener and sliding part, and the sliding part is slideably
It being set on the output shaft, the sliding part is between the second fixing seat and the first elastic element, and described the
The one end of one elastic element acts on the sliding part, and the fastener is set in the output shaft by an axis hole
On, the output shaft and axis hole clearance fit, when the locking device is located at locking state, the axis of the fastener
The axis in hole and the output shaft are in an angle, and the output shaft is stuck in the axis hole；When the locking device
When positioned at unlocked state, the axis of the axis hole of the fastener and the output shaft are substantially parallel, the output shaft energy
It is enough to be slided in the axis hole.
Preferably, the driving mechanism includes for applying the elastic force towards the first fixing seat to the fastener
Loaded member, the driving assembly for driving the fastener mobile to the second fixing seat direction, the driving assembly packet
One first driving motor, the worm screw driven by first driving motor, the worm gear cooperated with the worm screw are included, it is described
The first pressure unit is provided on worm gear, when worm gear rotation, the loaded member is provided with the second pressure unit, and described first applies
Splenium and the second pressure unit are pressed on the two sides of the fastener respectively.
Preferably, first elastic element and the second elastic element are the spring being set on the output shaft,
The output shaft is a multi-diameter shaft, and second elastic element is set on the axle journal of the output shaft, and described
The one end of second elastic element acts on the shaft shoulder of output shaft, and the other end acts on first fixing seat.
Preferably, the rigidity adjuster further includes a connecting plate, first fixing seat and the second fixing seat
It is fixed on the connecting plate.
Preferably, the rigidity adjuster further includes the third fixing seat being fixedly connected with the sliding part, institute
The driving mechanism stated is mounted in the third fixing seat, the U-shaped profile of the third fixing seat, the third
Fixing seat includes two opposite the first side walls, second sidewall, the connection wall for connecting the first side wall and second sidewall, and described adds
Holder is mounted on the first side wall, and first driving motor and the worm screw are mounted on the second sidewall
On, the worm gear is rotatably mounted in the connection wall by an axis.
Preferably, the rigidity adjuster further includes one first mounting plate, the second mounting plate, the first side wall
It is mounted on the free end of second sidewall on first mounting plate, first mounting plate is fixed with the third
Seat is mutually enclosed the enclosed space that a cross section is in hollow, and second mounting plate is fixed on the sliding part
On, the one end of the worm screw is rotatably mounted in the second sidewall of the third fixing seat, and the other end can turn
Dynamic is mounted on second mounting plate.
Preferably, one speed reducer is additionally provided between the worm screw and first driving motor.
Preferably, the power mechanism include the drawstring for being fixed on the first end of the output shaft, with it is described
Connector that first fixing seat is mutually fixedly connected, second for pulling drawstring being mounted on the connector drive electricity
Machine.
The knee joint power assisting device of the application, rigidity adjuster are mounted on wearer's thigh position, and parallel with thigh,
Power mechanism is mounted on wearer's knee site, and power mechanism is applied power and carried by drawstring coupling stiffness regulating mechanism lower end
Lotus.By the locking and unlocking of locking device, the rigidity of rigidity adjuster is controlled, according to lower limb stance and recovery phase
Knee joint is different from torque required for ankle-joint, the exportable two kinds of different-stiffness values of output shaft, and it is soft that walking can be improved
It is pliable, help wearer's walking and rehabilitation.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of knee joint power assisting device described herein.
Fig. 2 is the structural schematic diagram of the rigidity adjuster of the application.
Fig. 3 is the configuration schematic diagram of the rigidity adjuster of the application.
Fig. 4 is the partial structure diagram of the rigidity adjuster of the application.
Fig. 5 is structural schematic diagram of the rigidity adjuster in the first working condition of the application.
Fig. 6 is structural schematic diagram of the rigidity adjuster in the second working condition of the application.
Wherein: 10, the first fixing seat；101, sleeve；20, the second fixing seat；30, connecting plate；40, output shaft；41, first
Elastic element；50, fastener；60, sliding part；61, the first mounting plate；63, the second elastic element；70, the second mounting plate；71,
First driving motor；72, retarder；73, worm gear；74, worm screw；75, the first pressure unit；76, loaded member；77, the second pressure unit；
100, rigidity adjuster；200, power mechanism；81, the second driving motor；82, connector；83, drawstring.
Specific embodiment
The application is described further in the following with reference to the drawings and specific embodiments, so that those skilled in the art can be with
It more fully understands the application and can be practiced, but illustrated embodiment is not as the restriction to the application.
As shown, the knee joint power assisting device includes rigidity this application provides a kind of knee joint power assisting device
Regulating device 100, power mechanism 200.
The rigidity adjuster 100 includes the first fixing seat 10, the second fixing seat 20, output shaft 40, locking device.
First fixing seat 10 and the second fixing seat 20 is slidably set in the first end of output shaft 40 respectively
And the second end, the first elastic element 41, the second elastic element 63, first elasticity are arranged on the output shaft 40
One end of element 41 acts on the locking device, and the other end acts on first fixing seat 10, and described second
The one end of elastic element 63 acts on output shaft 40, and the other end acts on first fixing seat 10.
In a preferred embodiment, first elastic element 41 and the second elastic element 63 be set in it is described defeated
Spring on shaft 40, the output shaft 40 are a multi-diameter shaft, and second elastic element 63 is set in the output
On the axle journal of axis 40, and the one end of second elastic element 63 acts on the shaft shoulder of output shaft 40, and the other end is made
For first fixing seat 10.The rigidity adjuster 100 further includes a connecting plate 30, first fixing seat
10 and second fixing seat 20 be fixed on the connecting plate 30.The rigidity adjuster 100 is installed by connecting plate 30
At thigh position.
The locking device has locking state and unlocked state, when the locking device is located at locking state,
The locking device is fixed on the output shaft 40；It is described when the locking device is located at unlocked state
Locking device and the output shaft 40 opposite can slide, and the power mechanism 200 is for driving 40 edge of output shaft
It is moved axially.Specifically, the locking device includes driving mechanism, fastener 50 and sliding part 60, the sliding part
60 are slidably sleeved on the output shaft 40, and the sliding part 60 is located at the second fixing seat 20 and the first elastic element
Between 41, and the one end of first elastic element 41 acts on the sliding part 60, and the fastener 50 passes through
One axis hole is set on the output shaft 40, the output shaft 40 and axis hole clearance fit, when the locking device position
When locking state, the axis of the axis hole of the fastener 50 and the output shaft 40 are in an angle, the output shaft
40 are stuck in the axis hole；When the locking device is located at unlocked state, the axis of the axis hole of the fastener 50
Substantially parallel with the output shaft 40, the output shaft 40 can slide in the axis hole.
The driving mechanism includes for applying the elastic force towards the first fixing seat 10 to the fastener 50
Loaded member 76, the driving assembly for driving the fastener 50 mobile to 20 direction of the second fixing seat, the driving group
Part includes one first driving motor 71, cooperates by worm screw 74 that first driving motor 71 drives, with the worm screw 74
Worm gear 73, be additionally provided with one speed reducer 72 between the worm screw 74 and first driving motor 71.The worm gear
The first pressure unit 75 is provided on 73, when worm gear 73 rotates, the loaded member 76 is provided with the second pressure unit 77, described
First pressure unit 75 and the second pressure unit 77 are pressed on the two sides of the fastener 50 respectively.
In a preferred embodiment, fastener 50 is to be set in the plate-like piece on output shaft 40, institute by an axis hole
The sliding part 60 stated is the block being set on output rod, and the sliding part 60 has one to stretch to 20 direction of the second fixing seat
Forced section out, the one end of the fastener 50 are the force side for applying thrust to the forced section, the other end
Portion is that can swing swinging end along force side under the action of the driving mechanism.
The rigidity adjuster 100 further includes the third fixing seat being fixedly connected with the sliding part 60, described
Driving mechanism be mounted in the third fixing seat, the U-shaped profile of the third fixing seat, the third is solid
Reservation includes two opposite the first side walls, second sidewall, the connection wall for connecting the first side wall and second sidewall, the load
Part 76 is mounted on the first side wall, and first driving motor 71 and the worm screw 74 are mounted on described second
On side wall, the worm gear 73 is rotatably mounted in the connection wall by an axis.
The rigidity adjuster 100 further includes one first mounting plate 61, the second mounting plate 70, the first side wall
It is mounted on the free end of second sidewall on first mounting plate 61, first mounting plate 61 and the third
Fixing seat is mutually enclosed the enclosed space that a cross section is in hollow, and second mounting plate 70 is fixed on the cunning
On moving part 60, the one end of the worm screw 74 is rotatably mounted in the second sidewall of the third fixing seat, another
End is rotatably mounted on second mounting plate 70.
The power mechanism 200 include the drawstring 83 for being fixed on the first end of the output shaft 40, with it is described
Connector 82 that first fixing seat, 10 phase is fixedly connected, be mounted on the connector 82 for pulling the second of drawstring 83
Driving motor 81.
The working principle of the knee joint power assisting device of the application is as follows:
As shown in fig. 6, driving worm screw 74 to revolve counterclockwise by retarder 72 when the first rotation counterclockwise of driving motor 71
Turn, worm screw 74 drives worm gear 73 to swing towards 20 direction of the second fixing seat, so that the first pressure unit 75 be driven to push fastener 50
One end overcome the elastic force of loaded member 76, make not to be in contact between fastener 50 and output shaft 40, do not generate frictional force, i.e.,
Locking device is located at unlocked state.At this point, power mechanism 200 pulls the first end of output shaft 40, sliding part by drawstring 83
60 do not move, output shaft 40 the second elastic elements 63 of compression, and it is big that knee joint power assisting device for knee joint provides low torque
It is small.
As shown in figure 5, driving worm screw 74 to revolve clockwise by retarder 72 when the first driving motor 71 is rotated clockwise
Turn, the second applying unit of loaded member 76 makes the one end of fastener 50 towards the first fixing seat 10 elastic force that fastener 50 applies
Direction swing, so that the axis hole of fastener 50 is had angle with 40 shape of output shaft, output shaft 40 is stuck in the axis hole of fastener 50
In and locking device be located at locking state.At this point, power mechanism 200 pulls the first end of output shaft 40 by drawstring 83, tightly
Firmware 50 can be mobile simultaneously with output shaft 40, and sliding part 60 is also moved to 10 direction of the first fixing seat under the promotion of fastener 50
Dynamic, the first elastic element 41 and the second elastic element 63 are compressed simultaneously, and knee joint power assisting device provides high torque for knee joint
Size.
The knee joint power assisting device of the application, rigidity adjuster 100 are mounted on wearer's thigh position, and flat with thigh
Row, power mechanism 200 are mounted on wearer's knee site, and power mechanism 200 passes through 83 coupling stiffness regulating mechanism lower end of drawstring,
Apply dynamic load(loading).By the locking and unlocking of locking device, the rigidity of rigidity adjuster 100 is controlled, is stood according to lower limb
Stage and knee joint recovery phase are different with torque required for ankle-joint, 40 exportable two kinds of different-stiffness of output shaft
Walking flexibility can be improved in value, helps wearer's walking and rehabilitation.
Embodiment described above is only the preferred embodiment lifted to absolutely prove the application, the protection model of the application
It encloses without being limited thereto.Those skilled in the art made equivalent substitute or transformation on the basis of the application, in the application
Protection scope within.The protection scope of the application is subject to claims.
Claims (9)
1. a kind of knee joint power assisting device, which is characterized in that the knee joint power assisting device includes rigidity adjuster, power
Mechanism,
The rigidity adjuster includes the first fixing seat, the second fixing seat, output shaft, locking device, and described first is solid
Reservation and the second fixing seat are slidably set in the first end and the second end of output shaft respectively, cover on the output shaft
Equipped with the first elastic element, the second elastic element,
One end of first elastic element acts on the locking device, and it is fixed that the other end acts on described first
Seat, the one end of second elastic element act on output shaft, and the other end acts on first fixing seat,
The locking device has locking state and unlocked state, described when the locking device is located at locking state
Locking device be fixed on the output shaft；When the locking device is located at unlocked state, the locking dress
Setting opposite can slide with the output shaft,
The power mechanism is for driving the output shaft to move along its axis.
2. knee joint power assisting device as described in claim 1, which is characterized in that the locking device include driving mechanism,
Fastener and sliding part,
The sliding part is slidably sleeved on the output shaft, and the sliding part is located at the second fixing seat and first
Between elastic element, and the one end of first elastic element acts on the sliding part,
The fastener is set on the output shaft by an axis hole, the output shaft and axis hole clearance fit,
When the locking device is located at locking state, the axis of the axis hole of the fastener and the output shaft are in one
Angle, the output shaft are stuck in the axis hole；
When the locking device is located at unlocked state, the axis of the axis hole of the fastener and the output shaft are substantially
In parallel, the output shaft can slide in the axis hole.
3. knee joint power assisting device as claimed in claim 2, which is characterized in that the driving mechanism includes for described
Fastener apply one towards the first fixing seat elastic force loaded member, for driving the fastener to the second fixing seat side
To mobile driving assembly,
The driving assembly include one first driving motor, the worm screw driven by first driving motor, with it is described
The worm gear of worm screw cooperation, is provided with the first pressure unit on the worm gear, when worm gear rotation,
The loaded member is provided with the second pressure unit, and first pressure unit and the second pressure unit are pressed on described respectively
The two sides of fastener.
4. knee joint power assisting device as claimed in claim 3, which is characterized in that first elastic element and the second elasticity
Element is the spring being set on the output shaft, and the output shaft is a multi-diameter shaft, the second elastic element set
It is located on the axle journal of the output shaft, and the one end of second elastic element acts on the shaft shoulder of output shaft, separately
One end acts on first fixing seat.
5. knee joint power assisting device as described in claim 1, which is characterized in that the rigidity adjuster further includes a company
Fishplate bar, first fixing seat and the second fixing seat are fixed on the connecting plate.
6. knee joint power assisting device as claimed in claim 4, which is characterized in that the rigidity adjuster further includes and institute
The third fixing seat that the sliding part stated is fixedly connected, the driving mechanism is mounted in the third fixing seat, described
The U-shaped profile of third fixing seat, the third fixing seat include two opposite the first side walls, second sidewall, connections
The connection wall of the first side wall and second sidewall,
The loaded member is mounted on the first side wall, and first driving motor and the worm screw are mounted on institute
In the second sidewall stated, the worm gear is rotatably mounted in the connection wall by an axis.
7. knee joint power assisting device as claimed in claim 6, which is characterized in that the rigidity adjuster further includes one
The free end of one mounting plate, the second mounting plate, the first side wall and second sidewall is mounted on first mounting plate
On, first mounting plate and the third fixing seat are mutually enclosed the enclosed space that a cross section is in hollow,
Second mounting plate is fixed on the sliding part, and the one end of the worm screw is rotatably mounted on described the
In the second sidewall of three fixing seats, the other end is rotatably mounted on second mounting plate.
8. knee joint power assisting device as claimed in claim 3, which is characterized in that the worm screw and the first driving electricity
One speed reducer is additionally provided between machine.
9. knee joint power assisting device as claimed in claim 7, which is characterized in that the power mechanism is described including being fixed on
Output shaft first end drawstring, be mutually fixedly connected with first fixing seat connector, be mounted on the company
The second driving motor for being used to pull drawstring on fitting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821770551.6U CN209175735U (en) | 2018-10-30 | 2018-10-30 | A kind of knee joint power assisting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821770551.6U CN209175735U (en) | 2018-10-30 | 2018-10-30 | A kind of knee joint power assisting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209175735U true CN209175735U (en) | 2019-07-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821770551.6U Active CN209175735U (en) | 2018-10-30 | 2018-10-30 | A kind of knee joint power assisting device |
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| CN (1) | CN209175735U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176476A (en) * | 2018-10-30 | 2019-01-11 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | A kind of knee joint power assisting device |
-
2018
- 2018-10-30 CN CN201821770551.6U patent/CN209175735U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176476A (en) * | 2018-10-30 | 2019-01-11 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | A kind of knee joint power assisting device |
| CN109176476B (en) * | 2018-10-30 | 2024-02-06 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Knee joint booster unit |
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