CN212490680U

CN212490680U - Exoskeleton walking aid instrument with self-stored elasticity performance

Info

Publication number: CN212490680U
Application number: CN202020307122.6U
Authority: CN
Inventors: 陆刘宪; 赵蒙; 杨建森; 李帛洋; 王永信; 马明玥; 赵梦瑶
Original assignee: Shaanxi Weikang Medical Equipment Co ltd
Current assignee: Shaanxi Weikang Medical Equipment Co ltd
Priority date: 2020-03-13
Filing date: 2020-03-13
Publication date: 2021-02-09
Anticipated expiration: 2030-03-13

Abstract

An exoskeleton walking aid device with self-stored elasticity performance comprises a nylon tripod connected with and fixing a hip joint, wherein a rotating shell is connected onto the nylon tripod, the rotating shell is connected with the upper part of a first rotating arm through a carbon fiber connecting rod, the first rotating arm and a second rotating arm opposite to the first rotating arm are sleeved on a nylon rotating shaft, the lower part of the second rotating arm is connected with a leg wrapping plate, and the leg wrapping plate is fixed at the lower leg of the knee joint; the utility model realizes spontaneous storage of elastic energy through spontaneous walking during use, and simultaneously uses the hip and the knee of a person as pivot points, and the walking process is equivalent to a double-bell pendulum, and the walking device completes high efficiency and harmonious assistance by means of natural gravity and completes the complete walking motion process of the human body by means of forward movement of the gravity center of the body; simple structure, even the inconvenient patient of legs and feet still can alone accomplish independently to wear, complete equipment light in weight conveniently carries.

Description

Exoskeleton walking aid instrument with self-stored elasticity performance

Technical Field

The utility model belongs to the technical field of rehabilitation medical instrument, concretely relates to but exoskeleton walking aid apparatus of storage bullet performance certainly.

Background

The limited patient's of shank motion accessible uses shank rehabilitation training apparatus, receives the restraint training of apparatus motion trail for the shank resumes normal walking posture, but traditional shank rehabilitation apparatus has the loaded down with trivial details and great shortcoming of weight of mechanical structure, and needs external auxiliary power device to realize the motion of recovered utensil, leads to the unable independent use of the inconvenient patient of leg foot or use inconvenient.

Disclosure of Invention

In order to overcome the defects of the prior art, the utility model aims to provide a self-storage exoskeleton walking aid device, which adopts light weight design and can be worn independently by a patient on the premise of not needing other power devices.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a but exoskeleton of self-storage bullet performance helps apparatus of walking, including connecting nylon tripod 1 of fixed hip joint, be connected with on the nylon tripod 1 and rotate casing 2, it connects through carbon fiber connecting rod 3 and first swinging boom 4 upper portion to rotate casing 2, first swinging boom 4 cup joints on nylon pivot 5 with second swinging boom 6 relative with first swinging boom 4, first swinging boom 4 and second swinging boom 6 can be circumferential motion around

nylon pivot

5, 6 lower parts of second swinging boom and leg binding plate 7 are connected, leg binding plate 7 is fixed in shank department under the knee joint.

The inside bearing 12 that is equipped with and cam 8 complex of rotating housing 2, cam 8 installs on nylon tripod 1, bearing 12 installs on round pin axle 13, and round pin axle 13 is connected on bearing frame 9, and bearing frame 9 one end and spring 10 meet, and the other end of spring 10 stretches into in swivel nut 14, and bearing 12, bearing frame 9, round pin axle 13, spring 10, swivel nut 14 are all installed in rotating housing 2.

The cam 8 is an elliptic variable force arm cam, the cam 8 consists of an upper half circle and a lower half ellipse, wherein the diameter of the upper half circle is 60mm, the major axis of the lower half ellipse is 72mm, the distance between a stop boss and the center of the cam is 37.5 mm, and the semiaxis of the ellipse is 62 mm; the lower cam ellipse is in contact with the bearing 12.

The carbon fiber connecting rod 3 is pressed by the flat-head socket head cap screws 11 from two sides of the first rotating arm 4 so as to form fastening connection; the leg binding plate 7 presses the carbon fiber connecting rod 3 from two sides by means of a flat-head socket head cap screw 11 to form a fastening connection.

The utility model has the advantages that:

the utility model discloses can realize the limited patient's of shank convenient motion, the patient realizes spontaneous storage elastic energy through the action of spontaneous walking in the use, for the patient walking provides kinetic energy, regards people hip and knee as the pivot point simultaneously, and the process of walking is equivalent to a twofold clock pendulum, consequently can accomplish the high efficiency with the help of natural gravity, harmonious supplementary, relies on the centrobaric process of accomplishing complete human motion of walking of antedisplacement of health. The utility model discloses need not to lean on any external power device, simple structure, even the inconvenient patient of legs and feet still can alone accomplish independently to wear, complete equipment light in weight conveniently carries.

Drawings

Fig. 1 is a schematic view of the three-dimensional structure of the present invention.

Fig. 2 is the schematic diagram of the internal structure of the rotating housing of the present invention.

Fig. 3 is a schematic view of the power-assisted structure of the present invention.

Fig. 4 is a schematic plan view of the cam of the present invention.

Fig. 5 is a partial schematic view of the leg binding plate of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the following drawings and examples.

Referring to fig. 1, an exoskeleton walking aid device with self-stored elasticity performance comprises a nylon tripod 1 connected with a fixed hip joint, a rotating shell 2 is connected onto the nylon tripod 1, the rotating shell 2 rotates along with a thigh in the advancing process, the rotating shell 2 is connected with the upper portion of a first rotating arm 4 through a carbon fiber connecting rod 3, the first rotating arm 4 and a second rotating arm 6 opposite to the first rotating arm 4 are sleeved on a nylon rotating shaft 5, the first rotating arm 4 and the second rotating arm 6 can do circumferential motion around the nylon rotating shaft 5, the lower portion of the second rotating arm 6 is connected with a leg binding plate 7, and the leg binding plate 7 is fixed at the lower leg of a knee joint.

Referring to fig. 2 and 3, a bearing 12 matched with the cam 8 is arranged inside the rotating housing 2, the cam 8 is installed on the nylon tripod 1, the bearing 12 is installed on a pin shaft 13, the pin shaft 13 is connected on a bearing seat 9, one end of the bearing seat 9 is connected with a spring 10, the other end of the spring 10 extends into a threaded sleeve 14, and the bearing 12, the bearing seat 9, the pin shaft 13, the spring 10 and the threaded sleeve 14 are all installed in the rotating housing 2.

Referring to fig. 4, the cam 8 is an elliptical variable force arm cam, the cam 8 is composed of an upper half circle and a lower half ellipse, wherein the diameter of the upper half circle is 60mm, the major axis of the lower half ellipse is 72mm, the distance from the cam center to the stop boss is 37.5 mm, and the semiaxis of the ellipse is 62 mm; the cam 8 is positioned by a positioning pin with the diameter of 14 mm; a foam shock pad with the diameter of 24 mm is arranged outside the cam; the lower half cam ellipse is contacted with a bearing 12, when the bearing 12 rolls on the elliptical surface in a contact manner, the moment arm is continuously increased, and the bearing 12 is connected with a bearing seat 9 through a shaft pin 13 to compress a spring 10 along the axial direction of the spring 10 to continuously increase the elastic potential energy; when the rolling of the bearing 12 is completed, the compression of the spring 10 is stopped, and the energy accumulation is completed.

Referring to fig. 5, the carbon fiber connecting rod 3 is pressed by the flat-head socket head cap screws 11 from both sides of the first rotating arm 4 to form a fastening connection; the leg binding plate 7 presses the carbon fiber connecting rod 3 from two sides by means of a flat-head socket head cap screw 11 to form a fastening connection.

The utility model discloses a theory of operation does:

under the action of the elastic force of the spring 10, the bearing seat 9 drives the bearing 12 to be tightly attached to the outer surface of the cam 8, when the leg on the wearing side is grounded, the rotating shell 2 rotates to drive the bearing seat 9 and the bearing 12 to move along the radius increasing direction of the cam 8, at the moment, the spring 10 is compressed under the radial displacement of the bearing seat 9, the elastic potential energy is increased, and the energy accumulation process is finished when the rotating shell 2 stops rotating.

When one leg is worn and one leg is stepped out, the rotating shell 2 rotates to drive the spring 10, the bearing seat 9 and the bearing 12 move along the direction of reducing the radius of the cam 8, so that the elastic potential energy of the spring 10 is released, and the torque along the leg lifting direction is generated by rotating the shell 2. The rotating shell 2 transmits torque to the nylon rotating shaft 5 through the carbon fiber connecting rod 3; the first rotating arm 4 and the second rotating arm 6 can move circumferentially relative to the nylon rotating shaft 5, so that torque is transmitted to the leg wrapping plate 7 through the second rotating arm 6, a wearer can feel slight lifting, the knee joint of the wearer can feel the pushing feeling, and the burden of the crotch joint, the knee joint and the ankle joint in the moving process is reduced.

The use method of the exoskeleton walking aid instrument with the self-elastic storage performance comprises the following steps:

1) before walking, the hip joint needs to be fixed with the nylon tripod 1 through a binding band, and the lower leg below the knee joint needs to be fixed with the leg wrapping plate 7 through the binding band;

2) when one leg is worn to land and the striding body of the other leg tilts forward, the rotating shell 2 rotates clockwise to drive the bearing 12, the bearing seat 9 and the spring 10 move along the circumferential direction of the cam 8, due to the increase of the diameter of the cam 8, the bearing seat 9 generates radial displacement to compress the spring 10, the elastic energy of the spring is increased to store energy, and the energy storage process is finished when the rotating shell 2 stops rotating;

3) when one leg is worn to swing out, the rotating shell rotates anticlockwise to drive the bearing 12, the bearing seat 9 and the spring 10 move in the direction that the radius of the cam 8 is reduced along the circumferential direction of the cam 8, so that elastic energy of the spring is released, the rotating shell 2 generates torque to drive the carbon fiber connecting rod 3 and the nylon rotating shaft 5 to help the leg to naturally swing out, the knee is slightly pushed, and the burden of a hip joint, a knee joint and an ankle joint in the advancing process is reduced.

An exoskeleton walking aid instrument with self-stored elasticity performance adopts a human body bionics design, energy is accumulated by matching a cam 8 and a spring 10 in a mode of forward movement of the gravity center of a body to provide assistance when a user walks a leg, leg movement in a walking process is completely simulated by applying a pendulum principle, a heavy external power device is avoided, the structural weight of the instrument is reduced, the exoskeleton walking aid instrument is convenient for independent use of patients with inconvenient legs and feet, the walking aid process accords with a human body 'passive walking' principle, and repeated walking exercise can enable muscles of the patients with the inconvenient legs and feet to form a process of correctly memorizing and accelerating recovery of the exoskeleton walking aid instrument.

Claims

1. An exoskeleton walking aid device with self-stored elasticity performance, which is characterized in that: including connecting nylon tripod (1) of fixed hip joint, be connected with on nylon tripod (1) and rotate casing (2), it connects through carbon fiber connecting rod (3) and first swinging boom (4) upper portion to rotate casing (2), first swinging boom (4) and second swinging boom (6) relative with first swinging boom (4) cup joint on nylon pivot (5), circumferential motion can be around nylon pivot (5) in first swinging boom (4) and second swinging boom (6), second swinging boom (6) lower part and leg strap board (7) are connected, leg strap board (7) are fixed in shank department under the knee joint.

2. The self-storable exoskeleton walk aid device of claim 1 wherein: rotate casing (2) inside be equipped with cam (8) complex bearing (12), install on nylon tripod (1) cam (8), install on round pin axle (13) bearing (12), round pin axle (13) are connected on bearing frame (9), bearing frame (9) one end and spring (10) meet, the other end of spring (10) stretches into in swivel nut (14), all install in rotating casing (2) bearing (12), bearing frame (9), round pin axle (13), spring (10), swivel nut (14).

3. A self-storable exoskeleton walk aid device as claimed in claim 2 wherein: the cam (8) is an elliptic variable arm cam, the cam (8) consists of an upper half circle and a lower half ellipse, wherein the diameter of the upper half circle is 60mm, the major axis of the lower half ellipse is 72mm, and the semi-axis of the ellipse is 62 mm; the lower half cam ellipse is in contact with the bearing (12).

4. The self-storable exoskeleton walk aid device of claim 1 wherein: the carbon fiber connecting rod (3) is pressed by the flat-head socket head cap screws (11) from two sides of the first rotating arm (4) to form fastening connection; the leg binding plate (7) compresses the carbon fiber connecting rod (3) from two sides by means of flat-head socket head cap screws (11) to form fastening connection.