CN212445219U - Passive knee joint assistance exoskeleton device - Google Patents
Passive knee joint assistance exoskeleton device Download PDFInfo
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- CN212445219U CN212445219U CN202021246949.7U CN202021246949U CN212445219U CN 212445219 U CN212445219 U CN 212445219U CN 202021246949 U CN202021246949 U CN 202021246949U CN 212445219 U CN212445219 U CN 212445219U
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Abstract
The utility model discloses a passive form knee joint helping hand ectoskeleton device, including shank connecting piece and thigh connecting piece, the lower extreme of thigh connecting piece is equipped with thigh support piece, the upper end of shank connecting piece is equipped with middle support piece, middle support piece and thigh support piece rotate through first rotation piece and connect, still be equipped with shank support piece on the shank connecting piece, it is connected with the slip interior pole to rotate on the thigh support piece, it is connected with the support outer pole to rotate on the shank support piece, the sliding tray has been seted up to the upper end of supporting the outer pole, the sliding tray is stretched into to the lower extreme of pole in the slip, still be equipped with the helping hand spring in the sliding tray, the spout of vertical setting still has been seted up on shank support piece, the third rotates the. According to the scheme, the passive power assisting is provided for the knee joint of the human body during large-angle motions such as mountain climbing, stair climbing and the like, the walking load of the human body cannot be increased during walking on a flat road, and the adaptability of the power assisting exoskeleton is improved.
Description
Technical Field
The utility model relates to a wearable equipment technical field, concretely relates to passive form knee joint helping hand ectoskeleton device.
Background
The knee joint is an important joint in human body movement, the output torque of the knee joint can reach 250Nm and the power can reach 120W in the walking process, particularly, when the human body moves at large angles such as mountain climbing, stair climbing and the like, the human body knee joint can bear large acting force, and when the human body continuously moves at large angles such as mountain climbing, stair climbing and the like, the human body knee joint can have obvious phenomena of muscle soreness and motion fatigue, so that an efficient knee joint assisting exoskeleton device is urgently needed.
A knee joint assistance exoskeleton device is a bionic mechanical device which is worn outside a human knee joint and provides assistance for the human knee joint.
The prior knee joint power-assisted exoskeleton device is divided into an active knee joint power-assisted exoskeleton device and a passive knee joint power-assisted exoskeleton device, the active knee joint power-assisted exoskeleton device is divided into hydraulic drive and motor drive, the hydraulic drive power-assisted device is mainly applied to the field of exoskeleton robots, a hydraulic cylinder is arranged between thighs and shanks, and oil ways are switched through a hydraulic system to realize the support and release of the knee joints of the exoskeleton robots, and the hydraulic drive power-assisted device has the advantages of high power density and quick dynamic response, but has the problem that a hydraulic servo system is difficult to control; the motor-driven power assisting device is mainly applied to the fields of rehabilitation and disabled assisting, a mode that a motor with a speed reducer directly acts on a knee joint is adopted, a mode that a roller lead screw connected between a thigh and a shank is driven by the motor is also adopted, the motor-driven power assisting device is convenient to control, but the power density of the motor is low, the movement speed is low, and the motor-driven power assisting device is only suitable for the field of rehabilitation with dyskinesia of lower limbs. Compared with a passive knee joint assistance exoskeleton device, the active knee joint assistance exoskeleton device needs energy supply and motion control, and is complex in system, high in cost and low in reliability.
The passive knee joint assistance exoskeleton device is generally provided with an energy storage device, the energy storage device stores energy through the buckling movement of the knee joint of a human body and releases energy for assisting when the knee joint of the human body swings back, but when the traditional passive knee joint assistance exoskeleton device does not need assistance in walking on a flat road, the energy storage device still works, so that when the human body walks on the flat road, the knee joint still needs to be driven to store energy during buckling, the load of the human body during walking on the flat road is greatly improved, and the discomfort of the human body during walking on the flat road is increased.
SUMMERY OF THE UTILITY MODEL
The aforesaid to prior art exist not enough, the to-be-solved technical problem of the utility model is: how to provide a passive knee joint assistance exoskeleton device which can provide motion assistance for a knee joint of a human body in large-angle motions such as mountain climbing, stair climbing and the like and can not increase the motion load of the human body when the human body walks on a flat road.
In order to solve the technical problem, the utility model discloses a following technical scheme:
a passive knee joint assisting exoskeleton device comprises a shank connecting piece and a thigh connecting piece which are respectively used for being connected with shanks and thighs of a human body, wherein a thigh supporting piece is arranged at the lower end of the thigh connecting piece, an intermediate supporting piece is arranged at the upper end of the shank connecting piece, the intermediate supporting piece and the thigh supporting piece are rotatably connected through a first rotating piece which is arranged in the horizontal axial direction, a shank supporting piece is further arranged on the shank connecting piece, a downward sliding inner rod is further rotatably connected to the shank supporting piece through a second rotating piece which is arranged in the horizontal axial direction, an upward supporting outer rod is further rotatably connected to the shank supporting piece through a third rotating piece which is arranged in the horizontal axial direction, a sliding groove which is arranged in the axial direction of the supporting outer rod is formed in the upper end of the supporting outer rod, and the lower end of the sliding inner rod extends into the sliding groove and can slide, still be equipped with helping hand spring in the sliding tray, helping hand spring's both ends are connected respectively the lower extreme of pole in the slip with the bottom of sliding tray, helping hand spring is in free extension state when initial condition, just helping hand spring is in middle support piece with thigh support piece relative rotation in-process can by the pole compression in the slip still set up the spout of vertical setting on the shank support piece, the third rotates the piece and is located when initial condition the top of spout, just the third rotates the piece and is in middle support piece with thigh support piece relative rotation in-process can be followed the spout slides the bottom of spout.
In this scheme, the initial state is: the human body is in an upright state, namely the motion angle of the knee joint of the human body is 0 degree, and the included angle between the thigh supporting part and the middle supporting part is 180 degrees.
The utility model discloses a theory of operation is: when the exoskeleton device is used, firstly, the thigh connecting piece and the shank connecting piece are respectively connected with thighs and shanks of a human body, when the exoskeleton device is worn, the thigh connecting piece and the shank connecting piece are both worn on the rear sides of legs of the human body, and the thigh supporting piece and the middle supporting piece rotate relatively along with the rotation of knee joints of the human body, so that the rotation of the knee joints of the human body is adapted, and the aim of wearing the exoskeleton device on the legs of the human body is fulfilled.
When a human body walks, the crus swing knee joint bends, relative rotation occurs between the middle supporting piece and the thigh supporting piece to adapt to the movement of the knee joint, meanwhile, the middle supporting piece is fixedly connected with the crus connecting piece, the crus connecting piece is used for connecting the crus supporting piece, so that the middle supporting piece can enable the crus supporting piece to rotate relative to the thigh supporting piece in the rotating process of the thigh supporting piece, the relative distance between the crus supporting piece and the thigh supporting piece is reduced in the bending process of the knee joint, in order to adapt to the relatively reduced distance, the sliding inner rod with the upper end rotatably connected with the thigh supporting piece and the supporting outer rod with the lower end rotatably connected with the crus supporting piece can slide downwards along the sliding groove together with the third rotating.
When a human body moves at large angles such as climbing mountains and climbing stairs, the flexion amplitude of the knee joint is larger, when the third rotating piece slides to the lowest end of the sliding groove, the flexion amplitude of the knee joint is continuously increased, at the moment, in order to further adapt to the change of the distance between the thigh supporting piece and the shank supporting piece, the sliding inner rod slides downwards along the sliding groove of the supporting outer rod and stores compression energy to the power-assisted spring, so that when a human shank swings back and extends the knee joint, the shank supporting piece rotates relative to the thigh supporting piece, the thigh supporting piece drives the sliding inner rod to slide upwards along the sliding groove for resetting, the sliding inner rod slides upwards for resetting, the power-assisted spring is further driven to reset, and energy is released in the resetting process of the power-assisted spring to; when the human body walks on a flat road, the flexion amplitude of the knee joint is smaller, and the third rotating piece cannot slide to the lower end of the sliding groove in the whole flexion process of the knee joint, so that the power-assisted spring arranged in the supporting outer rod cannot be compressed to store energy, and therefore, when the human body walks on the flat road, the power-assisted spring is in a free extension state, so that the exoskeleton device cannot bring extra resistance to the human body when walking on the flat road, and the load of the human body when walking on the flat road cannot be increased.
Therefore, the scheme realizes the purposes of providing passive assistance for the knee joint of the human body during large-angle motions such as mountain climbing, stair climbing and the like, and not increasing the walking load of the human body during walking on a flat road, and improves the adaptability of the assistance exoskeleton.
Preferably, when the third rotating member slides to the lowest end of the sliding groove and the power spring is in a free extension state, an acute included angle formed by the thigh supporting member and the middle supporting member is 55-65 °.
Therefore, by comprehensively considering factors such as the height of a human body, the length of legs, walking road conditions and the like, the maximum bending angle of the knee joint of the human body during walking on a flat road is generally 55-65 degrees, when the third rotating member slides to the lowest end of the sliding groove, the acute angle formed by the thigh supporting member and the middle supporting member is also 55-65 degrees, so that the power spring can be always in a free extension state when the human body walks on the flat road, and the load on the knee joint is prevented from being increased during walking on the flat road.
Preferably, thigh support piece be used for with the position that the pole is connected in the slip is equipped with two second archs along horizontal axial direction interval, seted up in the second arch along horizontal axial direction setting and run through the bellied second connecting hole of second, the second rotates the piece and is the second pivot, two are passed respectively at the both ends of the horizontal axial direction of second pivot the bellied second connecting hole of second, and with corresponding position the second connecting hole rotates to be connected the second pivot is located two vertical second mounting hole has still been seted up to the position between the second arch, the upper end of pole in the slip is passed the second mounting hole and through the second fastener with the second pivot carries out fixed connection.
Therefore, the upper end of the sliding inner rod is fixedly connected with the second rotating shaft, and then the two ends of the second rotating shaft are rotatably connected with the second connecting holes in the second protrusions, so that the sliding inner rod is rotatably connected with the thigh supporting piece to adapt to the movement of the knee joint of a human body.
Preferably, shank support piece be used for with the position that the outer pole of support is connected is provided with two third archs along horizontal axial direction interval, seted up vertical setting and run through on the horizontal axis direction in the third arch the bellied spout of third, the third rotates the piece and is the third pivot, two are passed respectively at the both ends of the horizontal axial direction of third pivot the spout in the third arch, and with corresponding position the spout rotates to be connected the third pivot is located two vertical third mounting hole has still been seted up to the position between the third arch, the lower extreme that supports the outer pole passes the third mounting hole and through the third fastener with third pivot fixed connection.
Therefore, the lower end of the outer supporting rod is fixedly connected with the third rotating shaft, and then the two ends of the third rotating shaft are rotatably connected with the sliding grooves in the third bulges, so that the outer supporting rod is rotatably connected with the shank supporting piece to adapt to the movement of the knee joint of the human body.
Preferably, thigh support piece's lower extreme is equipped with the first connection arch that the horizontal axis set up, it runs through to have seted up along its axis direction in the first connection arch the bellied first connecting hole of first connection, middle support piece's upper end be equipped with the first installation arch that the bellied coaxial line of first connection set up, it runs through to have seted up along its axis direction in the first installation arch the bellied first mounting hole of first installation, first pivot is first pivot, first pivot passes first connecting hole with first mounting hole, in order to realize middle support piece with rotation between the thigh support piece is connected.
In this way, a rotational connection between the intermediate support and the thigh support is achieved, thereby accommodating movements of the human knee joint.
Preferably, the lower end of the thigh supporting part is provided with two first connecting bulges at intervals along the horizontal axial direction, the upper end of the middle supporting part is provided with two first mounting bulges at intervals along the horizontal axial direction, the two first mounting bulges extend into the space between the two first connecting bulges, and the end surfaces of the first mounting bulges are abutted to the end surfaces of the first connecting bulges at the corresponding positions.
Therefore, the knee joint continuously performs buckling and swinging back in the human body movement process, so that the thigh supporting piece and the middle supporting piece continuously perform relative rotation, and the reliability of connection between the thigh supporting piece and the middle supporting piece can be improved by arranging the two first connecting bulges and the two first mounting bulges.
Preferably, the thigh connecting piece is further provided with an elastic thigh binding belt, the thigh binding belt and the thigh connecting piece can jointly form a first accommodating space for accommodating a thigh of a human body, the shank connecting piece is provided with an elastic shank binding belt, and the shank binding belt and the shank connecting piece can jointly form a second accommodating space for accommodating a shank of the human body.
Therefore, when the exoskeleton device is worn on the legs of a human body, the thighs of the human body stretch into the first accommodating space formed by the thigh binding belts and the thigh connecting pieces, and the shanks of the human body stretch into the second accommodating space formed by the shank binding belts and the shank connecting pieces, so that the aim of wearing the exoskeleton device on the legs of the human body is fulfilled, and meanwhile, the thigh binding belts and the shank binding belts are elastic and can adapt to the wearing requirements of different human bodies.
Preferably, two first binding holes are formed in the thigh connecting piece at intervals along the horizontal axial direction, the thigh binding belt is of a long strip-shaped structure, first bonding parts are arranged at two ends of the thigh binding belt in the length direction, one end of the long strip-shaped structure of the thigh binding belt sequentially penetrates through the two first binding holes and then can be bonded with the other end of the long strip-shaped structure of the thigh binding belt through the first bonding parts, and therefore the thigh binding belt and the thigh connecting piece jointly form a first accommodating space for accommodating a thigh of a human body;
two second binding holes are formed in the shank connecting piece at intervals along the horizontal axial direction, the shank binding belt is of a long strip-shaped structure, second bonding parts are arranged at two ends of the shank binding belt in the length direction, one end of the shank binding belt, which penetrates through the two second binding holes in sequence, can be bonded with the other end of the shank binding belt, which is in the long strip-shaped structure, through the second bonding parts, so that the shank binding belt and the shank connecting piece jointly form a second accommodating space for accommodating human shanks.
Therefore, when the exoskeleton device is worn, the first bonding parts at the two ends of the thigh binding belt are separated, the second bonding parts at the two ends of the shank binding belt are separated, then the exoskeleton device is placed at the position corresponding to the legs of a human body, the first bonding parts at the two ends of the thigh binding belt are bonded together, the second bonding parts at the two ends of the shank binding belt are bonded together, the exoskeleton device is worn on the legs of the human body, when the exoskeleton device needs to be taken down, the first bonding parts and the second bonding parts are separated respectively, and therefore the exoskeleton device is conveniently worn and taken down.
Preferably, the thigh connecting piece, the thigh supporting piece, the middle supporting piece and one side of the shank connecting piece, which is used for being in contact with the leg of the human body, are all in an arc-shaped structure which is matched with the leg of the human body.
Therefore, after the exoskeleton device is worn, the thigh connecting piece, the thigh supporting piece, the middle supporting piece and the shank connecting piece can be better contacted with the legs of a human body, and the wearing comfort is improved.
Preferably, the thigh connecting piece and the shank connecting piece are both made of leather.
Therefore, the leather has the characteristics of softness and ventilation, the thigh connecting piece and the shank connecting piece are made of the leather, the leather can be better adapted to the walking of legs of a human body when being worn, and the leather is more comfortable and breathable when being worn.
Drawings
Fig. 1 is a schematic structural view of a view angle of the passive knee joint assisting exoskeleton device;
fig. 2 is a schematic structural view of another perspective of the passive knee-joint assisting exoskeleton device;
fig. 3 is a schematic structural view of another view angle of the passive knee joint assisting exoskeleton device;
fig. 4 is a rear side elevation view of the passive knee-joint assisting exoskeleton device;
FIG. 5 is a cross-sectional view A-A of FIG. 4;
fig. 6 is a schematic view of the passive knee joint assisting exoskeleton device of the present invention worn on a leg of a human body going upstairs.
Description of reference numerals: the thigh connecting piece 1, the shank connecting piece 2, the thigh supporting piece 3, the middle supporting piece 4, the shank supporting piece 5, the first rotating shaft 6, the second rotating shaft 7, the third rotating shaft 8, the sliding groove 9, the sliding inner rod 10, the supporting outer rod 11, the thigh binding belt 12, the first bonding part 121, the shank binding belt 13, the second bonding part 131, the first connecting bulge 14, the first mounting bulge 1 and the power-assisted spring 16.
Detailed Description
The present invention will be further explained with reference to the drawings and examples.
As shown in the attached drawings 1 to 6, a passive knee joint assisting exoskeleton device comprises a shank connecting piece 2 and a thigh connecting piece 1 which are respectively used for being connected with shanks and thighs of a human body, wherein a thigh supporting piece 3 is arranged at the lower end of the thigh connecting piece 1, an intermediate supporting piece 4 is arranged at the upper end of the shank connecting piece 2, the intermediate supporting piece 4 and the thigh supporting piece 3 are rotatably connected through a first rotating piece which is arranged in the horizontal axial direction, a shank supporting piece 5 is further arranged on the shank connecting piece 2, a downward sliding inner rod 10 is further rotatably connected on the thigh supporting piece 3 through a second rotating piece which is arranged in the horizontal axial direction, an upward supporting outer rod 11 is further rotatably connected on the shank supporting piece 5 through a third rotating piece which is arranged in the horizontal axial direction, a sliding groove which is arranged in the axial direction of the supporting outer rod 11 is formed in the upper end of the supporting outer rod, and the lower end, still be equipped with helping hand spring 16 in the sliding tray, the bottom at the lower extreme of pole 10 and the sliding tray in the slip is connected respectively at the both ends of helping hand spring 16, helping hand spring 16 is in the free extension state when initial condition, and helping hand spring 16 can be compressed by pole 10 in the slip in middle support piece 4 and thigh support piece 3 relative rotation in-process, the spout 9 of vertical setting has still been seted up on shank support piece 5, the third rotates the piece and is located the top of spout 9 when initial condition, and the third rotates the piece and can slide the lowermost end of spout 9 along spout 9 in middle support piece 4 and thigh support piece 3 relative rotation in-process.
In this scheme, the initial state is: the human body is in an upright state, namely the motion angle of the knee joint of the human body is 0 degree, and the included angle between the thigh supporting part 3 and the middle supporting part 4 is 180 degrees.
The utility model discloses a theory of operation is: when the exoskeleton device is used, firstly, the thigh connecting piece 1 and the shank connecting piece 2 are respectively connected with the thigh and the shank of a human body, when the exoskeleton device is worn, the thigh connecting piece 1 and the shank connecting piece 2 are both worn on the rear side of the leg of the human body, and along with the rotation of the knee joint of the human body, the thigh supporting piece 3 and the middle supporting piece 4 rotate relatively, so that the aim of wearing the exoskeleton device on the leg of the human body is fulfilled.
When a human body walks, the crus swings and the knee joint bends, relative rotation is generated between the middle support part 4 and the thigh support part 3 to adapt to the movement of the knee joint, meanwhile, the middle support part 4 is fixedly connected with the crus connecting part 2, and the crus connecting part 2 is used for connecting the crus support part 5, so that the middle support part 4 enables the crus support part 5 to rotate relative to the thigh support part 3 in the process of rotating relative to the thigh support part 3, the relative distance between the crus support part 5 and the thigh support part 3 is reduced in the process of bending the knee joint, and in order to adapt to the relatively reduced distance, the sliding inner rod 10 with the upper end rotatably connected with the thigh support part 3 and the supporting outer rod 11 with the lower end rotatably connected with the crus support part 5 can slide downwards along the sliding groove 9.
When a human body moves at large angles such as climbing mountains and climbing stairs, the flexion amplitude of the knee joint is large, when the third rotating piece slides to the lowest end of the sliding groove 9, the flexion amplitude of the knee joint is continuously increased, at the moment, in order to further adapt to the change of the distance between the thigh supporting piece 3 and the shank supporting piece 5, the sliding inner rod 10 slides downwards along the sliding groove of the supporting outer rod 11 and stores compression energy to the power-assisted spring 16, so that when the human shank swings back and extends the knee joint, the shank supporting piece 5 rotates relative to the thigh supporting piece 3, the thigh supporting piece 3 drives the sliding inner rod 10 to slide upwards along the sliding groove for resetting, the sliding inner rod 10 slides upwards for resetting, the power-assisted spring 16 is further driven to reset, and energy is released in the resetting process of the power-assisted spring 16 to provide power; when the human body walks on a flat road, the flexion amplitude of the knee joint is smaller, and in the whole flexion process of the knee joint, the third rotating part cannot slide to the lower end of the sliding groove 9, so that the power-assisted spring 16 arranged in the outer supporting rod 11 cannot be compressed to store energy, and therefore, when the human body walks on the flat road, the power-assisted spring 16 is in a free extension state, so that the exoskeleton device cannot bring extra resistance to the human body when walking on the flat road, and the load of the human body when walking on the flat road cannot be increased.
Therefore, the scheme realizes the purposes of providing assistance for the knee joints of the human body during large-angle motions such as mountain climbing, stair climbing and the like, and increasing the walking load of the human body during walking on a flat road, and improves the adaptability of the assistance exoskeleton.
In this embodiment, when the third rotating member slides to the lowest end of the sliding slot 9 and the power spring 16 is in the freely extended state, the included angle between the thigh support member 3 and the intermediate support member 4 is 55-65 °.
Thus, by comprehensively considering factors such as the height of the human body, the length of the legs, the walking road condition and the like, the maximum bending angle of the knee joint of the human body during walking on a flat road is generally 55-65 degrees, when the third rotating member slides to the lowest end of the sliding groove 9, the acute angle formed by the thigh supporting member 3 and the middle supporting member 4 is also set to be 55-65 degrees, so that the power spring 16 can be always in a free extension state when the human body is walking on the flat road, and the load on the knee joint is prevented from being increased during walking on the flat road.
In this embodiment, the position that thigh support piece 3 is used for being connected with slide inner rod 10 is equipped with two second archs along horizontal axial direction interval, set up on the second arch along horizontal axial direction setting and run through the bellied second connecting hole of second, the second rotates the piece and is second pivot 7, the second connecting hole on two second archs is passed respectively at the both ends of the 7 horizontal axial directions of second pivot, and rotate with the second connecting hole that corresponds the position and be connected, vertical second mounting hole has still been seted up in the position that second pivot 7 is located between two second archs, the upper end of slide inner rod 10 passes the second mounting hole and carries out fixed connection with second pivot 7 through the second fastener.
Therefore, the upper end of the sliding inner rod 10 is fixedly connected with the second rotating shaft 7, and then the two ends of the second rotating shaft 7 are rotatably connected with the second connecting holes on the second protrusions, so that the sliding inner rod 10 is rotatably connected with the thigh supporting piece 3 to adapt to the movement of the knee joint of the human body.
In this embodiment, the position of shank support piece 5 that is used for being connected with support outer rod 11 is provided with two third archs along horizontal axial direction interval, set up vertical setting on the third arch and run through the bellied spout 9 of third on the horizontal axial direction, the third rotates the piece and is third pivot 8, the spout 9 on two third archs is passed respectively at the both ends of the 8 horizontal axial directions of third pivot, and rotate with the spout 9 that corresponds the position and be connected, vertical third mounting hole has still been seted up in the position that third pivot 8 is located between two third archs, the lower extreme that supports outer rod 11 passes the third mounting hole and passes through third fastener and third pivot 8 fixed connection.
Therefore, the lower end of the outer supporting rod 11 is fixedly connected with the third rotating shaft 8, and then the two ends of the third rotating shaft 8 are rotatably connected with the sliding grooves 9 on the third bulges, so that the outer supporting rod 11 is rotatably connected with the calf supporting piece 5 to adapt to the movement of the knee joint of the human body.
In this embodiment, the lower extreme of thigh support piece 3 is equipped with the first connection arch 14 that the horizontal axis set up, set up the first connecting hole that runs through first connection arch 14 along its axis direction on the first connection arch 14, the upper end of middle support piece 4 is equipped with the first installation arch 15 that sets up with the first connection arch 14 coaxial line, set up the first mounting hole that runs through first installation arch 15 along its axis direction on the first installation arch 15, first rotation piece is first pivot 6, first pivot 6 passes first connecting hole and first mounting hole, in order to realize the rotation between middle support piece 4 and the thigh support piece 3 and be connected.
In this way, a rotational connection between the intermediate support 4 and the thigh support 3 is achieved, which accommodates movements of the human knee joint.
In this embodiment, the lower end of the thigh supporting part 3 is provided with two first connecting protrusions 14 at intervals along the horizontal axial direction, the upper end of the middle supporting part 4 is provided with two first mounting protrusions 15 at intervals along the horizontal axial direction, the two first mounting protrusions 15 extend into the space between the two first connecting protrusions 14, and the end surfaces of the first mounting protrusions 15 abut against the end surfaces of the first connecting protrusions 14 at the corresponding positions.
Thus, since the knee joint is continuously subjected to flexion and swing back movements during the movement of the human body, the thigh support 3 and the intermediate support 4 are continuously rotated relatively, and the reliability of the connection between the thigh support 3 and the intermediate support 4 can be improved by providing the two first coupling protrusions 14 and the two first mounting protrusions 15.
In this embodiment, the thigh connecting part 1 is further provided with an elastic thigh binding band 12, the thigh binding band 12 and the thigh connecting part 1 can jointly form a first accommodating space for accommodating a thigh of a human body, the shank connecting part 2 is provided with an elastic shank binding band 13, and the shank binding band 13 and the shank connecting part 2 can jointly form a second accommodating space for accommodating a shank of the human body.
Therefore, when the exoskeleton device is worn on the legs of a human body, the thighs of the human body extend into a first accommodating space formed by the thigh binding belts 12 and the thigh connecting pieces 1, and the shanks of the human body extend into a second accommodating space formed by the shank binding belts 13 and the shank connecting pieces 2, so that the exoskeleton device is worn on the legs of the human body, and meanwhile, the thigh binding belts 12 and the shank binding belts 13 are elastic and can adapt to the wearing requirements of different human bodies.
In this embodiment, two first binding holes are formed in the thigh connecting piece 1 at intervals along the horizontal axial direction, the thigh binding belt 12 is in a long strip-shaped structure, the two ends of the thigh binding belt 12 in the length direction are both provided with first bonding portions 121, and one end of the long strip-shaped structure of the thigh binding belt 12 sequentially penetrates through the two first binding holes and can be bonded with the other end of the long strip-shaped structure of the thigh binding belt 12 through the first bonding portions 121, so that the thigh binding belt 12 and the thigh connecting piece 1 form a first accommodating space for accommodating a thigh of a human body together;
two second binding holes have been seted up along horizontal axial direction interval on shank connecting piece 2, shank binding area 13 is long bar-shaped structure, and shank binding area 13 length direction's both ends all are equipped with second bonding portion 131, thigh binding area 12 long bar-shaped structure's one end passes in proper order and can bond together through second bonding portion 131 with shank binding area 13 long bar-shaped structure's the other end behind two second binding holes to make shank binding area 13 and shank connecting piece 2 form the second accommodation space that is used for holding human shank jointly.
Thus, when the exoskeleton device is worn, the first bonding parts 121 at the two ends of the thigh binding band 12 are separated, the second bonding parts 131 at the two ends of the shank binding band 13 are separated, then the exoskeleton device is placed at a position corresponding to the legs of a human body, the first bonding parts 121 at the two ends of the thigh binding band 12 are bonded together, and the second bonding parts 131 at the two ends of the shank binding band 13 are bonded together, so that the exoskeleton device is worn on the legs of the human body.
In this embodiment, the thigh link 1, the thigh support 3, the middle support 4 and the shank link 2 are all in an arc shape corresponding to the leg of the human body at the side contacting the leg of the human body.
Therefore, after the exoskeleton device is worn, the thigh connecting piece 1, the thigh supporting piece 3, the middle supporting piece 4 and the shank connecting piece 2 can be better contacted with the legs of a human body, and the wearing comfort is improved.
In this embodiment, the thigh link 1 and the shank link 2 are both made of leather.
Therefore, the leather has the characteristics of softness and ventilation, the thigh connecting piece 1 and the shank connecting piece 2 are made of the leather, the leather can be better adapted to the walking of legs of a human body when being worn, and the leather is more comfortable and breathable when being worn.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that those modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all should be covered in the scope of the claims of the present invention.
Claims (10)
1. A passive knee joint assisting exoskeleton device is characterized by comprising a shank connecting piece and a thigh connecting piece which are respectively used for being connected with shanks and thighs of a human body, wherein a thigh supporting piece is arranged at the lower end of the thigh connecting piece, an intermediate supporting piece is arranged at the upper end of the shank connecting piece, the intermediate supporting piece and the thigh supporting piece are rotatably connected through a first rotating piece which is arranged in the horizontal axial direction, a shank supporting piece is further arranged on the shank connecting piece, a downward sliding inner rod is further rotatably connected on the thigh supporting piece through a second rotating piece which is arranged in the horizontal axial direction, an upward supporting outer rod is further rotatably connected on the shank supporting piece through a third rotating piece which is arranged in the horizontal axial direction, a sliding groove which is arranged in the axial direction of the supporting outer rod is formed in the upper end of the supporting outer rod, the lower end of the sliding inner rod extends into the sliding groove and can slide back and, still be equipped with helping hand spring in the sliding tray, helping hand spring's both ends are connected respectively the lower extreme of pole in the slip with the bottom of sliding tray, helping hand spring is in free extension state when initial condition, just helping hand spring is in middle support piece with thigh support piece relative rotation in-process can by the pole compression in the slip still set up the spout of vertical setting on the shank support piece, the third rotates the piece and is located when initial condition the top of spout, just the third rotates the piece and is in middle support piece with thigh support piece relative rotation in-process can be followed the spout slides the bottom of spout.
2. The passive knee-joint assisted exoskeleton device of claim 1, wherein when the third rotating member slides to the lowest end of the sliding chute and the power spring is in a freely extended state, the thigh support and the middle support form an acute included angle of 55-65 °.
3. The passive knee joint assisting exoskeleton device as claimed in claim 1, wherein two second protrusions are formed at a position, where the thigh support is connected to the sliding inner rod, at intervals along a horizontal axial direction, second connection holes are formed in the second protrusions, the second rotation member is a second rotation shaft, two ends of the second rotation shaft in the horizontal axial direction respectively penetrate through the second connection holes in the two second protrusions, the second rotation shaft is rotatably connected to the second connection holes in corresponding positions, a vertical second mounting hole is further formed in a position, where the second rotation shaft is located between the two second protrusions, and an upper end of the sliding inner rod penetrates through the second mounting hole and is fixedly connected to the second rotation shaft through a second fastener.
4. The passive knee joint assisting exoskeleton device as claimed in claim 1, wherein two third protrusions are disposed at intervals along a horizontal axial direction at positions where the lower leg support is connected to the outer support rod, the third protrusions are provided with sliding slots vertically disposed and penetrating through the third protrusions in the horizontal axial direction, the third rotating member is a third rotating shaft, two ends of the third rotating shaft in the horizontal axial direction respectively penetrate through the sliding slots of the two third protrusions and are rotatably connected to the corresponding sliding slots, a vertical third mounting hole is further formed at a position of the third rotating shaft between the two third protrusions, and a lower end of the outer support rod penetrates through the third mounting hole and is fixedly connected to the third rotating shaft through a third fastener.
5. The passive knee-joint assisting exoskeleton device as claimed in claim 1, wherein the lower end of the thigh support is provided with a first connecting protrusion disposed axially horizontally, the first connecting protrusion is provided with a first connecting hole penetrating through the first connecting protrusion along an axial direction thereof, the upper end of the middle support is provided with a first mounting protrusion disposed coaxially with the first connecting protrusion, the first mounting protrusion is provided with a first mounting hole penetrating through the first mounting protrusion along the axial direction thereof, the first rotating member is a first rotating shaft, and the first rotating shaft penetrates through the first connecting hole and the first mounting hole to realize the rotatable connection between the middle support and the thigh support.
6. The passive knee-joint assisting exoskeleton device as claimed in claim 5, wherein the lower end of the thigh support is provided with two first connecting protrusions at intervals along the horizontal axial direction, the upper end of the middle support is provided with two first mounting protrusions at intervals along the horizontal axial direction, the two first mounting protrusions extend into the space between the two first connecting protrusions, and the end surfaces of the first mounting protrusions abut against the end surfaces of the first connecting protrusions at corresponding positions.
7. The passive knee joint assisting exoskeleton device as claimed in claim 1, wherein an elastic thigh binding band is further arranged on the thigh connecting piece, the thigh binding band and the thigh connecting piece can jointly form a first accommodating space for accommodating a thigh of a human body, an elastic shank binding band is arranged on the shank connecting piece, and the shank binding band and the shank connecting piece can jointly form a second accommodating space for accommodating a shank of the human body.
8. The passive knee joint assisting exoskeleton device as claimed in claim 7, wherein two first binding holes are formed in the thigh connecting piece at intervals along the horizontal axial direction, the thigh binding belt is of a long strip-shaped structure, first bonding parts are respectively arranged at two ends of the thigh binding belt in the length direction, and one end of the long strip-shaped structure of the thigh binding belt sequentially penetrates through the two first binding holes and then can be bonded with the other end of the long strip-shaped structure of the thigh binding belt through the first bonding parts, so that the thigh binding belt and the thigh connecting piece jointly form a first accommodating space for accommodating a thigh of a human body;
two second binding holes are formed in the shank connecting piece at intervals along the horizontal axial direction, the shank binding belt is of a long strip-shaped structure, second bonding parts are arranged at two ends of the shank binding belt in the length direction, one end of the shank binding belt, which penetrates through the two second binding holes in sequence, can be bonded with the other end of the shank binding belt, which is in the long strip-shaped structure, through the second bonding parts, so that the shank binding belt and the shank connecting piece jointly form a second accommodating space for accommodating human shanks.
9. The passive knee-joint assisting exoskeleton device of claim 1, wherein the thigh links, the thigh supports, the intermediate supports and the shank links are in an arc-shaped configuration adapted to the leg of the person on the side in contact with the leg of the person.
10. The passive knee-assisted exoskeleton device of claim 1, wherein the thigh link and the shank link are both made of leather.
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| CN202021246949.7U CN212445219U (en) | 2020-06-30 | 2020-06-30 | Passive knee joint assistance exoskeleton device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112972208A (en) * | 2021-02-04 | 2021-06-18 | 首都医科大学附属北京天坛医院 | Knee joint rehabilitation walking assisting exoskeleton |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112972208A (en) * | 2021-02-04 | 2021-06-18 | 首都医科大学附属北京天坛医院 | Knee joint rehabilitation walking assisting exoskeleton |
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