CN105055121B - Power drive type pressure reliever for lower limb joint - Google Patents

Abstract

The power-driven lower limb joint decompression device includes a left telescopic support structure, a right telescopic support structure, a connection and rotation adjustment structure, a back structure, and a power control device. The upper end is connected, and the lower end of the carrying structure is connected with the middle part of the connection rotation adjustment structure; the structure of the left telescopic support structure and the right telescopic support structure are the same and symmetrical; the power control device is located at the lower part of the rear side of the carrying mechanism. The invention is simple in structure, easy to manufacture, high in automation, can be used as a tool for the elderly to take care of themselves, and can also be used as a recovery exercise after the disabled and sick, fully reducing the pressure of people carrying heavy objects, and greatly increasing the weight of carrying heavy objects , It is also especially suitable for transporting goods on rugged mountain roads.

Description

Power driven lower extremity joint decompression device

technical field

The invention relates to a device for assisting the movement of the elderly, in particular to a power-driven lower limb joint decompression device.

Background technique

As the aging society gradually enters, the burden of the elderly in the support of the young is also increasing. There are a lot of seemingly ordinary housework, which is difficult for middle-aged and elderly people who are physically weak; when the only child gets married, they will face the problem of two people supporting four or more elderly people, and they will become more and more difficult in life. More and more people encounter the problem of serious lack of personal physical strength. Therefore, there is an urgent need for a machine in the market to assist the weak and middle-aged and elderly people to exercise, to help these people improve their self-care ability and improve their quality of life.

Contents of the invention

In order to solve the deficiencies in the prior art, the present invention provides a power-driven lower limb joint decompression device with simple structure, light weight, easy manipulation and high degree of automation.

In order to solve the above technical problems, the present invention adopts the following technical solutions: a power-driven lower limb joint decompression device, including a left telescopic support structure, a right telescopic support structure, a connection rotation adjustment structure, a back structure, a power control device, and a left and right rotation adjustment structure. The two ends are respectively connected with the upper ends of the left telescopic support structure and the right telescopic support structure, and the lower end of the back-carrying structure is connected with the middle part of the connecting rotation adjustment structure; the structures of the left telescopic support structure and the right telescopic support structure are the same and symmetrical; The lower part of the rear side of the mechanism;

The connection and rotation adjustment structure includes a width adjustment plate and two connection plates. The lower end of the carrying structure is connected to the top of the two connection plates through a fixed seat, and the two ends of the width adjustment plate are respectively connected to the middle of the two connection plates. The lower end is hinged with an X-direction hinge seat that can rotate along a vertical plane, the outside of the X-direction hinge seat is hinged with a Z-direction first hinge plate that can rotate along a horizontal plane, and the outside of the Z-direction first hinge plate is hinged with a Z-direction hinge plate that can rotate along a horizontal plane. The second hinge plate, the outside of the second hinge plate in the Z direction is hinged with a Y-direction hinge seat that can rotate along the horizontal plane. The upper end of the telescopic support structure is hinged; there is a belt between the two connecting plates;

There is an X-direction deceleration motor on the connecting plate for driving the rotation of the X-direction hinge seat, a left Y-direction deceleration motor is provided on the left Y-direction hinge seat for driving the left telescopic support structure to swing back and forth, and the right Y-direction hinge seat There is a right Y-direction deceleration motor for driving the right telescopic support structure to swing back and forth;

A Z-direction drive mechanism for driving the Y-direction hinge seat to rotate along the Z direction is arranged in the Y-direction hinge seat.

The Z-direction drive mechanism includes a casing arranged in the Y-direction hinge seat, and the casing is provided with a servo motor, a sun gear, a planet carrier, a planetary gear, an inner ring gear, an output shaft, a bearing, a bearing seat and a shaft coupling, The servo motor is coaxially fixed on the second hinge plate in the Z direction, the planetary gear is rotatably connected to the planetary carrier, the planetary frame is set in the inner ring gear, the sun gear is set on the power output shaft of the servo motor, and the sun gear passes through the planetary carrier Located in the middle of the planetary gear, the planetary gear meshes with the sun gear and the inner ring gear respectively, the inner ring gear is fixedly connected with the bearing seat coaxially, the bearing is arranged in the bearing seat, one end of the output shaft is fixedly connected with the center of the planet carrier coaxially, and the output The other end of the shaft passes through the inner ring of the bearing and is connected to one end of the coupling, and the other end of the coupling is fixedly connected to the Y-direction hinge seat.

The left telescopic support structure includes pneumatic muscle, curved plate, thigh support tube, calf support tube, thigh telescopic rod, calf telescopic rod and pedals, the upper end of the calf support tube is provided with a mount, and the lower end of the thigh support tube passes through the knee joint The hinge is hinged on the mounting base, the thigh telescopic rod is inserted into the thigh support tube from top to bottom, the upper part of the thigh support tube is provided with an upper locking ring for positioning the thigh telescopic rod, and the calf telescopic rod is inserted into the calf support tube from bottom to top Inside the tube, the lower part of the calf support tube is provided with a lower locking ring for positioning the calf telescopic rod; the lower end of the calf telescopic rod is fixedly connected to the outside of the upper surface of the pedal, and the thigh support tube is connected with an arc-shaped positioning plate that can be stuck on the thigh. Thigh bandages are arranged on the shaped positioning plate, and foot bandages are arranged on the pedals;

The lower end of the calf support tube is provided with a lower support, the middle and lower part of the thigh support tube is provided with an upper support, the lower end of the aerodynamic muscle is hinged on the lower support, the upper end of the arc plate is hinged on the upper support, and the lower end of the arc plate is connected to the upper end of the aerodynamic muscle. Hinged, the rear side of the arc-shaped plate is provided with a wear-resistant slideway along the up and down direction, and the front side of the mounting seat is provided with a roller rollingly connected with the wear-resistant slideway.

The pneumatic muscle includes an airbag and a rhombic braided mesh that is easy to stretch horizontally and vertically. The rhombus braided mesh is arranged on the inner wall of the airbag, the airbag is provided with an air nozzle, and the outer surface of the airbag is provided with a soft and elastic outer protective layer.

The carrying structure includes a vertically arranged frame, the lower end of the frame is fixedly connected to the fixing seat by bolts, the frame is provided with a load-bearing connecting frame with adjustable height, and a shoulder strap is provided on the left and right sides of the frame.

The power control device includes a box body arranged on the frame, and the box body is provided with a battery, a servo controller, a servo-pneumatic proportional valve group, a pressure reducing valve, a liquid nitrogen bottle, a thigh muscle group electromyographic signal sensor and a hip joint muscle The electromyographic signal sensor group and the battery are respectively connected to the servo controller, X-direction deceleration motor, left Y-direction deceleration motor, right Y-direction deceleration motor and servo motor through cables, and the servo controller is respectively connected to the servo pneumatic proportional valve group through the data signal line. , X-direction deceleration motor, left Y-direction deceleration motor, right Y-direction deceleration motor, servo motor, thigh muscle group myoelectric signal sensor and hip joint muscle group myoelectric signal sensor are connected, and the outlet of the liquid nitrogen bottle is connected to the servo motor through a pressure reducing valve. The inlet of the pneumatic proportional valve group is connected, the outlet of the servo pneumatic proportional valve group is connected with the inlet of the pneumatic muscle.

By adopting the above-mentioned technical scheme, when the present invention is in use, the user's feet are respectively stepped on the pedals and fixed with foot bandages, the thighs are covered with arc-shaped positioning plates and tightened with thigh bandages, and the waist is connected and rotated with a belt. The adjustment structure is fastened, and the shoulder strap is put on the shoulder to fasten the carrying structure. At the same time, the myoelectric signal sensor of the thigh muscle group and the myoelectric signal sensor of the hip joint muscle group were pasted on the thigh muscle group and the hip joint muscle group respectively. The heavy objects are tied on the load-bearing connecting frame, and the gravity of the heavy objects is supported by the left telescopic support structure and the right telescopic support structure after the carrying structure, connection and rotation adjustment structure, thus greatly reducing the pressure on people's spine and lower limbs.

It is assumed that the front and back swing of the thigh moves around the X axis, the left and right swing of the thigh moves around the Y axis, and the internal and external rotation of the thigh moves around the Z axis. The rotation pairs around the X axis and the Y axis can be outside the human body, but the rotation pair around the Z axis can only be inside the human body. When the left or right leg is moved forward, the hip joint muscles and thigh muscles will change, the thigh muscle group EMG sensor and the hip joint muscle group EMG sensor will transmit the change signal to the servo controller, and the servo controller A command signal is sent to the left Y-direction deceleration motor or the right Y-direction deceleration motor, and the left Y-direction deceleration motor and the right Y-direction deceleration motor respectively drive the left telescopic support structure and the right telescopic support structure. If the thigh swings left and right, the servo controller sends a command signal to the X-direction deceleration motor, and the left and right X-direction deceleration motors respectively drive the connection rotation adjustment structure to rotate, and the outer end of the connection rotation adjustment structure drives the left telescopic support structure and the right telescopic support structure left and right swing. When the thigh rotates internally and externally, the servo controller sends a command signal to the X-direction reduction motor, the servo motor rotates, drives the planetary gear through the sun gear, and the planetary gear drives the Y-direction hinge seat and the second hinge plate relative to the Z-direction through the output shaft turn.

When a person is about to stand up from a squat, a greater leg pull is required to achieve standing, and only a small amount of effort is required to maintain standing. The Fluidic Muscle drives the curved plate, which can provide different moment arms and force outputs by changing the fulcrum position of the curved plate. The roller is the fulcrum of the curved plate, and as the extension angle changes, the contact position between the roller and the curved plate also changes. When the stroke of the Fluidic Muscle is longer and the extension angle between the thigh support tube and the calf support tube is larger, the position of the roller will be closer to the lower part of the wear-resistant slideway; when the extension angle between the thigh support tube and the calf support tube is smaller , that is, when the knee is bent, the roller will be positioned closer to the upper part of the wear slide, so that the Fluidic Muscle provides more tension when squatting to stand up.

When people of different heights use it, the thigh telescopic rod can be adjusted up and down in the thigh support tube, and the calf telescopic rod can be adjusted up and down in the calf support tube, and the thigh telescopic rod and calf telescopic rod can be locked by the upper locking ring and the lower locking ring. Tight enough. The width adjustment plate can adjust the length in the horizontal direction of the connection and rotation adjustment structure, so as to be suitable for people with different waist circumferences.

The airbag of the pneumatic muscle expands, the diamond-shaped braided net increases horizontally and shortens vertically, the pneumatic muscle generates upward pulling force to pull up the counterweight, the airbag of the pneumatic muscle contracts, the diamond-shaped braided net decreases horizontally, and elongates vertically , the counterweight falls. The Fluidic Muscle only produces pulling force and not pushing force, just like human muscles.

The invention is simple in structure, easy to manufacture, high in automation, can be used as a tool for the elderly to take care of themselves, and can also be used as a recovery exercise after the disabled and sick, fully reducing the pressure of people carrying heavy objects, and greatly increasing the weight of carrying heavy objects , It is also especially suitable for transporting goods on rugged mountain roads.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Figure 2 is the left view of Figure 1 (in working state);

Fig. 3 is a structural schematic diagram of a power control device;

Figure 4 is a schematic diagram of the overall assembly of the connection and rotation adjustment structure on the right;

Fig. 5 is an exploded view of the connecting rotation adjustment structure in Fig. 4;

Figure 6 is a schematic diagram of the contraction and expansion of the Aerodynamic Muscle in Figure 1 .

detailed description

As shown in Figures 1-6, the power-driven lower limb joint decompression device of the present invention includes a left telescopic support structure, a right telescopic support structure, a connection rotation adjustment structure, a back structure, and a power control device, and the left and right sides of the connection rotation adjustment structure The ends are respectively connected to the upper ends of the left telescopic support structure and the right telescopic support structure, and the lower end of the back-carrying structure is connected to the middle part of the connecting rotation adjustment structure; the structures of the left telescopic support structure and the right telescopic support structure are the same and symmetrical; the power control device is located in the back-carrying mechanism lower rear side.

The connection and rotation adjustment structure includes a width adjustment plate 1 and two connection plates 2, the lower end of the carrying structure is connected to the upper ends of the two connection plates 2 through the fixing seat 3, and the two ends of the width adjustment plate 1 are respectively connected to the middle of the two connection plates 2 The lower end of each connecting plate 2 is hinged with an X-direction hinge seat 4 that can rotate along a vertical plane, and the outside of the X-direction hinge seat 4 is hinged with a Z-direction first hinge plate 5 that can rotate along a horizontal plane, and the Z-direction first hinge plate 5. A Z-direction second hinge plate 6 that can rotate along the horizontal plane is hinged on the outside, and a Y-direction hinge seat 7 that can rotate along the horizontal plane is hinged on the outside of the Z-direction second hinge plate 6. The outside of the Y-direction hinge seat 7 on the left is telescopic to the left. The upper end of the support structure is hinged, and the outside of the Y-direction hinge seat 7 on the right side is hinged with the upper end of the right telescopic support structure; a waist belt 8 is arranged between the two connecting plates 2 .

The connecting plate 2 is provided with an X-direction reduction motor 9 for driving the X-direction hinge seat 4 to rotate, and the Y-direction hinge seat 7 on the left side is provided with a left Y-direction reduction motor 10 for driving the left telescopic support structure to swing back and forth. The Y-direction hinge seat 7 is provided with a right Y-direction geared motor 11 for driving the right telescopic support structure to swing back and forth.

A Z-direction drive mechanism for driving the Y-direction hinge seat 7 to rotate along the Z direction is arranged inside the Y-direction hinge seat 7 .

The Z-direction drive mechanism includes a casing 12 arranged in the Y-direction hinge seat 7, and the casing 12 is provided with a servo motor 13, a sun gear 14, a planet carrier 15, a planetary gear 16, an inner ring gear 17, an output shaft 18, and a bearing 19. The bearing seat 20 and the coupling 21, the servo motor 13 is coaxially fixed on the second hinge plate 6 in the Z direction, the planetary gear 16 is rotatably connected to the planetary carrier 15, and the planetary carrier 15 is arranged in the inner ring gear 17, The sun gear 14 is arranged on the power output shaft 18 of the servo motor 13. The sun gear 14 passes through the planetary carrier 15 and is located in the middle of the planetary gear 16. The planetary gear 16 meshes with the sun gear 14 and the ring gear 17 respectively, and the ring gear 17 and the bearing The seat 20 is coaxially fixedly connected, the bearing 19 is arranged in the bearing seat 20, one end of the output shaft 18 is fixedly connected coaxially with the center of the planet carrier 15, and the other end of the output shaft 18 passes through the inner ring of the bearing 19 and is connected to one end of the coupling 21 , the other end of the coupling 21 is fixedly connected to the Y-direction hinge base 7 .

The left telescopic support structure comprises pneumatic muscle 22, arc-shaped plate 23, thigh support tube 24, calf support tube 25, thigh telescopic rod 26, calf telescopic rod 27 and pedal 28, and the upper end of the calf support tube 25 is provided with a mount 29, The lower end of the thigh support tube 24 is hinged on the mounting base 29 through the knee joint hinge 30, and the thigh telescopic rod 26 is inserted in the thigh support tube 24 from top to bottom, and the thigh support tube 24 top is provided with a lock for positioning the thigh telescopic rod 26. Tight ring 31, shank telescopic rod 27 is inserted in the shank support tube 25 from bottom to top, and the lower leg support tube 25 bottom is provided with the lower locking ring 32 that is used to locate the shank telescopic rod 27; 28 upper surface outsides are fixedly connected, and the thigh support tube 24 is connected with an arc positioning plate 33 that can be stuck on the thigh. The arc positioning plate 33 is provided with a thigh bandage 34, and the pedal 28 is provided with a foot bandage 35.

The lower end of the calf support tube 25 is provided with a lower support 36, the middle and lower part of the thigh support tube 24 is provided with an upper support 37, the lower end of the pneumatic muscle 22 is hinged on the lower support 36, and the upper end of the arc plate 23 is hinged on the upper support 37. The lower end of the arc plate 23 is hinged with the upper end of the pneumatic muscle 22. The back side of the arc plate 23 is provided with a wear-resistant slideway 38 along the up-down direction, and the front side of the mounting seat 29 is provided with a roller 39 rollingly connected with the wear-resistant slideway 38.

The pneumatic muscle 22 includes an airbag 40 and a diamond-shaped braided mesh 41 that is easy to stretch horizontally and vertically. The rhombus-shaped braided mesh 41 is arranged on the inner wall of the airbag 40. The airbag 40 is provided with an air nozzle 42. The outer surface of the airbag 40 is provided with a soft and elastic outer protection. Layer 43.

The carrying structure includes a vertically arranged frame 44, the lower end of the frame 44 is fixedly connected with the holder 3 by bolts, the frame 44 is provided with a height-adjustable load-bearing connecting frame 45, and the left and right sides of the frame 44 are respectively provided with a shoulder strap 46.

The power control device includes a box body 47 arranged on the frame 44. The box body 47 is provided with a storage battery 48, a servo controller 49, a servo pneumatic proportional valve group 50, a pressure reducing valve 51, a liquid nitrogen bottle 52, and an electromyography of the thigh muscle group. Signal sensor 53 and hip joint muscle group myoelectric signal sensor 54, accumulator 48 are respectively connected with servo controller 49, X to reduction motor 9, left Y direction reduction motor 10, right Y direction reduction motor 11 and servo motor 13 by cable, Servo controller 49 communicates with servo pneumatic proportional valve group 50, X direction reduction motor 9, left Y direction reduction motor 10, right Y direction reduction motor 11, servo motor 13, thigh muscle group myoelectric signal sensor 53 and The hip joint muscle group electromyographic signal sensor 54 is connected, the outlet of the liquid nitrogen bottle 52 is connected with the inlet of the servo pneumatic proportional valve group 50 through the pressure reducing valve 51, and the outlet of the servo pneumatic proportional valve group 50 is connected with the inlet of the pneumatic muscle 22 through the high-pressure air pipe 56 connections.

When the present invention is in use, the user's feet are respectively stepped on the pedals 28 and fixed with foot bandages 35, the thighs are covered with arc-shaped positioning plates 33 and tightened with thigh bandages 34, and the waist is connected and rotated with a belt 8. The adjustment structure is fastened, and the shoulder strap 46 is put on the shoulder to fasten the carrying structure. At the same time, the myoelectric signal sensor 53 of the thigh muscle group and the myoelectric signal sensor 54 of the hip joint muscle group are pasted on the thigh muscle group and the hip joint muscle group respectively. The weight is tied on the load-bearing connecting frame 45, and the gravity of the weight is supported by the left telescopic support structure and the right telescopic support structure after carrying the structure, connecting the rotation adjustment structure, and thus greatly reducing the pressure on people's spine and lower limbs.

It is assumed that the back and forth swing of the thigh moves around the X axis, the left and right swing of the thigh moves around the Y axis, and the internal and external rotation of the thigh moves around the Z axis. The revolving pairs around the X-axis and Y-axis can be outside the human body, but the revolving pairs around the Z-axis can only be inside the human body. When the left leg or the right leg is moved forward, the hip joint muscles and the thigh muscles will change, and the thigh muscle group EMG sensor 53 and the hip joint muscle group EMG sensor 54 will transmit the change signal to the servo controller 49, The servo controller 49 sends a command signal to the left Y geared motor 10 or the right Y geared motor 11, and the left Y geared motor 10 and the right Y geared motor 11 drive the left telescopic support structure and the right telescopic support structure respectively. If the thigh swings left and right, the servo controller 49 sends a command signal to the X-direction reduction motor 9, and the left and right X-direction reduction motors 9 respectively drive the connecting rotation adjustment structure to rotate, and the outer end of the connection rotation adjustment structure drives the left telescopic support structure and the right telescopic support structure. The support structure swings from side to side. When the thigh rotates internally and externally, the servo controller 49 sends a command signal to the reduction motor 9 to X, and the servo motor 13 rotates to drive the planetary gear 16 through the sun gear 14, and the planetary gear 16 drives the Y to the hinge seat 7 and the hinge seat 7 through the output shaft 18. Rotate relative to Z to the second hinge plate 6 .

When a person is about to stand up from a squat, a greater leg pull is required to achieve standing, and only a small amount of effort is required to maintain standing. The pneumatic muscle 22 drives the arc plate 23 , so that different force arms and force outputs can be provided by changing the position of the fulcrum of the arc plate 23 . The roller 39 is exactly the fulcrum of the arc-shaped plate 23, and as the extension angle changes, the contact position of the roller 39 and the arc-shaped plate 23 also changes. When the stroke of the pneumatic muscle 22 is longer and the extension angle between the thigh support tube 24 and the calf support tube 25 is larger, the position of the roller 39 will be closer to the lower part of the wear-resistant slideway 38; when the thigh support tube 24 and the calf support tube The smaller the angle of extension between 25, that is, when knees are bent, the position of the roller 39 will be closer to the upper part of the wear-resistant slideway 38, so that the pneumatic muscle 22 provides greater pulling force when squatting down and preparing to stand up.

When people of different heights use it, the thigh telescopic rod 26 can be adjusted up and down in the thigh support tube 24, and the calf telescopic rod 27 can be adjusted up and down in the calf support tube 25, and the upper locking ring 31 and the lower locking ring 32 will Thigh telescopic rod 26 and shank telescopic rod 27 can be locked. Width adjustment plate 1 can adjust the length on the horizontal direction of connection rotation adjustment structure, to be suitable for the use of the people of different waistlines.

The airbag 40 of the pneumatic muscle 22 expands, the rhombus woven mesh 41 increases horizontally and shortens vertically, the pneumatic muscle 22 generates upward pulling force to pull up the counterweight 55, the airbag 40 of the pneumatic muscle 22 shrinks, and the diamond woven mesh 41 is horizontal The direction decreases, the vertical direction elongates, and the counterweight 55 falls. The pneumatic muscle 22 only produces pulling force and does not produce pushing force, the same as human muscles.

Claims (6)

1. powder actuated joint of lower extremity decompressor, it is characterised in that：Including left retractable support structure, right retractable support knot Structure, connection rotate adjustment structure, bear structure, power control unit, and connection rotates adjustment structure or so two ends and stretches with a left side respectively The upper end connection of contracting supporting construction and right retractable support structure, bears structure lower end and rotates the connection of adjustment structure middle part with being connected； Left retractable support structure is identical and symmetrical with the construction of right retractable support structure；Power control unit is located to be born after mechanism Side lower part；

Connection rotates adjustment structure includes one piece of width adjustment plates and two pieces of connecting plates, bears on structure lower end and two pieces of connecting plates Connected by fixed seat between end, width adjustment plates two ends are connected respectively with two pieces of connecting plate middle parts, the lower end of every piece of connecting plate The X that can be rotated along vertical plane is hinged with to hinge seat, X is hinged with the Z-direction that can be rotated along the horizontal plane to hinge seat outside One flap, Z-direction first axle plate outside is hinged with the Z-direction second hinge plate that can be rotated along the horizontal plane, outside Z-direction second hinge plate Side is hinged with the Y-direction hinge seat that can be rotated along the horizontal plane, Y-direction hinge seat outside and the left retractable support structure upper end hinge in left side Connect, the Y-direction hinge seat outside on right side is hinged with right retractable support structure upper end；Waistband is provided between two pieces of connecting plates；Connecting plate The X for driving X to rotate to hinge seat is provided with to reducing motor, the Y-direction hinge seat in left side is provided with left flexible for driving The left Y-direction reducing motor of supporting construction swing, before the Y-direction hinge seat on right side is provided with for driving right retractable support structure The right Y-direction reducing motor for swinging afterwards；The Z-direction drive mechanism for driving Y-direction hinge seat to rotate along Z-direction is provided with Y-direction hinge seat.

2. powder actuated joint of lower extremity decompressor according to claim 1, it is characterised in that：The Z-direction driving machine Structure includes the sleeve pipe being located in Y-direction hinge seat, and servomotor, central gear, planet carrier, planetary gear, internal tooth are provided with sleeve pipe Circle, output shaft, bearing, bearing block and shaft coupling, servomotor is coaxial to be fixed on Z-direction second hinge plate, and planetary gear turns In dynamic connection planet carrier, planet is erected in ring gear, and central gear is located on the power output shaft of servomotor, sun tooth Wheel is located in the middle of planetary gear through planet carrier, and planetary gear is engaged respectively with central gear and ring gear, ring gear and bearing Seat is coaxial to be fixedly connected, and bearing is located in bearing block, output shaft one end and planet carrier central coaxial to being fixedly connected, output shaft The other end is connected through bearing inner race with shaft coupling one end, and the shaft coupling other end is fixedly connected with Y-direction hinge seat.

3. powder actuated joint of lower extremity decompressor according to claim 2, it is characterised in that：The left retractable support Structure includes pneumatic muscle, arc, thigh support pipe, leg support pipe, thigh expansion link, shank expansion link and pedal, Leg support pipe upper end is provided with mounting seat, and thigh support pipe lower end is hinged in mounting seat by knee joint hinge, and thigh stretches Bar is plugged in from top to bottom in thigh support pipe, and thigh support pipe top is provided with the upper locking ring for positioning thigh expansion link, Shank expansion link is plugged in from bottom to top in leg support pipe, under leg support pipe bottom is provided with for positioning shank expansion link Retaining ring；Shank expansion link lower end is fixedly connected with pedal upper surface outside, and thigh support pipe is connected with and may be stuck on thigh Arc location-plate, arc location-plate is provided with thigh bandage, and pedal is provided with pin bandage；Leg support pipe lower end is provided with down Bearing, thigh support pipe middle and lower part is provided with upper bracket, and the lower end of pneumatic muscle is hinged on undersetting, and arc upper end is hinged on On upper bracket, arc lower end is hinged with pneumatic muscle upper end, and arc rear side is provided with along the vertical direction wear-resisting slideway, mounting seat Front side is provided with and the roller being connected is rolled with wear-resisting slideway.

4. powder actuated joint of lower extremity decompressor according to claim 3, it is characterised in that：The pneumatic muscle bag Include air bag and be easy to level and vertical flexible diamond weave net, diamond weave net is located on air bag inwall, and air bag is provided with gas Mouth, gasbag outer surface is provided with the external protection of soft elastic.

5. the powder actuated joint of lower extremity decompressor according to claim 3 or 4, it is characterised in that：It is described to bear knot Structure includes vertically disposed framework, and framework lower end is bolted to connection with fixed seat, and framework is provided with Height Adjustable Heavy burden link, framework is respectively arranged on the left side and the right side a shoulder belt.

6. powder actuated joint of lower extremity decompressor according to claim 5, it is characterised in that：The dynamic Control dress Put including the casing being located on framework, battery, servo controller, servo-pneumatic ratio valve group, pressure-reducing valve, liquid are provided with casing Nitrogen bottle, leg muscle group's electromyographic signal sensor and hip joint muscle group electromyographic signal sensor, battery respectively with servo control Device processed, X are to reducing motor, left Y-direction reducing motor, right Y-direction reducing motor and servomotor by cable connection, servo controller By data signal line respectively with servo-pneumatic ratio valve group, X to reducing motor, left Y-direction reducing motor, right Y-direction reducing motor, Servomotor, leg muscle group's electromyographic signal sensor and hip joint muscle group electromyographic signal sensor connection, liquid nitrogen bottle goes out The import connection that mouth passes through pressure-reducing valve and servo-pneumatic ratio valve group, the outlet of servo-pneumatic ratio valve group and entering for pneumatic muscle Mouth connection.