CN105997438A - Self-adjusted wearable leg power supporting tool - Google Patents

Abstract

The invention discloses a self-adjustable wearable leg power brace, which comprises two brace splints fixed on both sides of the human leg through binding, and each brace splint includes a thigh support plate connected with the thigh and a leg support plate connected with the calf The connected calf support plate, the thigh support plate and the calf support plate are rotatably connected at the position of the knee joint of the human body, and also include a drive device for driving the thigh support plate and the calf support plate to swing relative to each other, and the drive device includes a power box and Pulling the steel rope, the power box includes: a box body, a slider fixed on one side of the box body to fix the pulling steel rope, one end is fixed to the inner wall of the box, and the other end is fixed to the slider. The electric high-elastic polymer plate provides the power supply of the voltage, and the return spring is arranged between the inner wall of the box and the slider. The leg power brace has a very simple structure, few parts, and a light structure, which avoids adding a large extra burden to the user.

Description

A self-adjusting wearable leg power brace

technical field

The invention relates to the technical field of medical devices, in particular to a self-adjusting wearable leg power brace.

Background technique

Powered exoskeleton, also known as "exoskeleton armor" or "exoskeleton mecha", its structure is similar to the exoskeleton of insects, which can be worn on the human body to provide protection, extra power or ability, and enhance human body functions, such as using People with disabled legs can go upstairs by themselves, so that soldiers can walk like flying, run without obstacles, without fatigue, without injury, can use double jump, gloves on the rack are sticky, can absorb metal, etc.

The powered exoskeleton collects the user's activity information through sensors, and the information is transmitted to the information processor for processing, and then activates the corresponding mechanical parts to output energy. There are many types of sensors that can be used in powered exoskeletons, including angle finders, myoelectric sensors, ground sensors, muscle pressure sensors, and more. Similarly, there are many options for the mechanical system used for output, the more common ones are hydraulic system and pneumatic system. This kind of wearable exoskeleton is used in a wide range of fields. In addition to military applications, it is also widely used in medical rehabilitation to help patients overcome the corresponding limbs and mobility inconvenience. Wearable exoskeletons are designed to be worn on different parts of human beings, and different wearable exoskeletons have different shapes and functions according to the needs of different parts. The most common powered wearable exoskeletons are glove, jacket, trousers, backpack and top-to-bottom full suit.

There are literatures (reference: A Self-Adjusting Knee Exoskeleton for obot-Assisted Treatment of Knee Injuries.IEEE/RSJ International Conference on IntelligenRobots and Systems, San Francisco, CA, USA, Sept, 25-30, 2011, pp4917-4922.) A machine suitable for medical rehabilitation is disclosed. The 3-RRPMechanism it uses can accurately imitate and assist the movement and bending of the knee joint, and automatically align it, so as to assist the patient to achieve the effect of rehabilitation, especially suitable for use on multi-degree-of-freedom knees. Although the structure can fit well with the knee joint activities, the structure is complex and bulky, and is not suitable for the elderly with limited mobility and paralyzed patients, and the manufacturing process of the device is relatively complicated, which is not suitable for mass production.

There are documents (references: Design of a Quasi-Passive Knee Exoskeleton to AssistRunning.IEEE/RSJ International Conference on Intelligent Robots and Systems Acropolis Convention Center, Nice, France, Sept, 22-26, 2008, pp747-754.) disclose a An auxiliary machine suitable for running. The device uses a spring parallel to the knee to store and release energy during walking, so that the wearer will not feel tired when walking, and at the same time makes walking easier. Although this device can play a very good effect when the patient is recovering, the device is relatively bulky, which will add extra burden to the wearer, and its wearing method is complicated at the same time.

Due to the improvement of the world's medical level, the average life expectancy of human beings has been extended, and the number of elderly people has increased year by year. Many elderly people are facing problems such as joint aging and mobility problems. In addition, some people with poor mobility or no mobility are prone to atrophy and aging of their joints due to long-term inability to exercise. Therefore, there is an urgent need for a device that is easy to wear, easy to move, and capable of assisting rehabilitation and walking.

Contents of the invention

The invention provides a self-adjustable wearable leg power brace. The leg power brace has a simple and light structure, is convenient to wear, and can assist rehabilitation and walking.

The invention provides the following technical solutions:

A self-adjustable wearable leg power brace, including two brace splints fixed on both sides of the human leg by binding, each brace splint includes a thigh support plate connected with the thigh and a calf support connected with the calf The thigh support plate and the calf support plate are rotatably connected at the position of the knee joint of the human body, and also include a drive device that drives the thigh support plate and the calf support plate to swing relative to each other, and the drive device includes a power box and a pulling wire ,

Power box includes:

box body,

The slider is slidably set in the box body, and one side of the slider is fixed to pull the steel rope,

Dielectric high-elastic polymer plate, one end is fixed to the inner wall of the box, the other end is fixed to the slider,

power supply, providing voltage to the dielectric elastomeric polymer plate,

The return spring is arranged between the inner wall of the box and the slider;

The power box is fixed on the thigh support plate or the strap on the thigh support plate, and the free end of the pulling steel rope is fixed on the calf support plate or the bandage on the calf support plate.

When the driving device of the present invention is energized, the dielectric high-elastic polymer plate is elongated under the action of the voltage, which drives the slider to move, and the slider pulls the steel rope to make the angle between the thigh support plate and the calf support plate smaller; After electrification, under the action of the return spring, the steel rope is relaxed, and the thigh support plate and the calf support plate are reset, so that the thigh support plate and the calf support plate swing relative to each other, helping the user to perform rehabilitation training or assist walking. The main part of the driving device of the present invention is a dielectric high-elastic polymer plate. Compared with conventional hydraulic systems, air pressure systems or motors, the structure is very simple, with few parts and light structure, which avoids adding a large extra to the user. burden.

Preferably, the driving device includes a first driving device and a second driving device respectively arranged on the two splints of the brace, and a third driving device arranged on the strap behind the knee.

Driving devices are respectively arranged on both sides and the rear side of the legs, and multiple driving devices work together to make the relative swinging action of the thigh support plate and the calf support plate more stable.

The thigh support plate and the calf support plate are respectively provided with a plurality of straps, which are used to fix the leg power brace to the user's legs. In order to increase the user's comfort, as a preference, the straps Equipped with self-tightening device.

Preferably, the self-tightening device includes:

self-tightening box,

Two rotating shafts, the gap is set in the self-tightening box, the strap passes through the gap and is pressed by the two rotating shafts, and the two rotating shafts rotate relative to tighten or loosen the strap,

The driving part drives the two rotating shafts to rotate relative to each other.

The driving part can be in various driving forms, and preferably, the driving part is a motor.

Under the action of the driving power, the motor drives the two rotating shafts to rotate relative to each other, and the two rotating shafts press the strap tightly. When the two rotating shafts rotate relatively, the strap is tightened or loosened due to the friction between the rotating shaft and the strap.

As a preference, the driving member of another driving mode includes:

Dielectric high-elastic polymer strips and telescopic springs are connected in parallel between the inner wall of the self-tightening box and the rotating shaft,

A second power supply provides voltage to the dielectric elastomer strip.

After the power is turned on, the two dielectric high-elastic polymer strips respectively connected to the two rotating shafts are stretched, and the two rotating shafts are driven to rotate, so that the strap is tightened; after the power is turned off, the rotating shaft is reset under the tension of the telescopic spring, and the strap is loosened.

The strap with the self-tightening device makes the leg power brace of the present invention easy to wear, and at the same time, the tightening and loosening of the strap has a massage function on the user's leg and promotes the blood circulation of the user's leg.

Preferably, the leg power brace of the present invention further includes a foot pedal, and the foot pedal is connected to the calf support plate through a driving device.

The driving device enables the pedals of the leg power brace of the present invention to be tightened up or loosened down, and can assist users with weak ankles to walk.

Preferably, the length of the calf support board is telescopically adjustable. The adjustable length of the calf support plate is convenient for people of different heights to use the leg dynamic brace of the present invention.

Compared with prior art, the beneficial effect of the present invention is:

1. The main part of the driving device of the present invention is a dielectric high-elastic polymer plate. Compared with conventional hydraulic systems, air pressure systems or motors, the structure is very simple, the parts are few, and the structure is light, which avoids adding a large amount to the user. the additional burden of

2. The strap with the self-tightening device makes the leg power brace of the present invention easy to wear, and at the same time, the tightening and loosening of the strap has a massage function on the user's leg and promotes the blood circulation of the user's leg.

Description of drawings

Fig. 1 is the structural schematic diagram of leg power brace of the present invention;

Fig. 2 is a schematic diagram of the unfolded structure of the leg power brace of the present invention;

Fig. 3 is a structural schematic diagram of the driving device of the present invention;

Fig. 4 is the structural representation of the self-tightening device of embodiment 1;

Fig. 5 is a schematic structural diagram of the self-tightening device of Embodiment 2.

In the accompanying drawings: 1. thigh support board; 2. calf support board; 21. first calf support board; 22. second calf support board; 3. pedal; 4. strap; 41. first strap; 42. Second strap; 43. Third strap; 44. Fourth strap; 5. Driving device; 51. First driving device; 52. Second driving device; 53. Third driving device; 501. Power Box; 502, pulling steel rope; 503, slider; 504, dielectric high-elastic polymer plate; 505, return spring; 6, self-tightening device; 611, self-tightening box; 612, rotating shaft; 613, motor; 614 , Dielectric high-elastic polymer strip; 615, telescopic spring.

detailed description

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be noted that the following embodiments are intended to facilitate the understanding of the present invention, but do not limit it in any way.

Example 1

As shown in Figure 1, the self-adjusting wearable leg power brace of this embodiment includes a thigh support plate 1 and a calf support plate 2 that are rotatably connected, a driving device 5 that drives the thigh support plate 1 and the calf support plate 2 to swing relative to each other, Connected with the pedal 3 at the bottom of the calf support plate 2, the thigh support plate 1 and the calf support plate 2 are respectively fixed on the user's thigh and calf by straps 4.

As shown in FIG. 2 , the driving device 5 includes a first driving device 51 and a second driving device 52 respectively arranged on the two splints of the brace, and a third driving device 53 arranged on the strap behind the knee.

As shown in Figure 3, the driving device 5 includes a power box and a pulling steel rope 502. The power box includes: a box body 501, a slider 503 slidably arranged in the box body 501, one end is fixed to the box inner wall, and the other end is connected to the slider. Block 503 fixed dielectric high-elastic polymer plate 504, reset spring 505 arranged between the inner wall of the box and the slider, one side of the slider 503 is fixed to pull the steel rope 502, and the power box is also provided with a power supply for media Electroelastomer plate 504 provides the voltage.

The power boxes of the first driving device 51 and the second driving device 52 are fixed on the thigh support plate 1, and the free ends of the pulling steel rope 502 are fixed on the calf support plate 2, and are fixed with the support plate on the strap behind the knee. Parallel sponge belts, the power box of the third driving device 53 is fixed on the upper end of the sponge belt, and the free end of the pulling steel rope 502 is fixed on the lower end of the sponge belt.

In order to ensure the stability of the driving device 5, each driving device 5 is provided with two steel ropes 502, and the two steel ropes are arranged symmetrically.

When the driving device 5 is energized, the dielectric high-elastic polymer plate 504 is elongated under the action of the voltage, which drives the slider 503 to move, and the slider pulls the steel rope 502, so that the angle between the thigh support plate 1 and the calf support plate 2 changes. Small; after power off, under the action of the return spring 505, the steel rope 502 is relaxed, and the thigh support plate 1 and the calf support plate 2 are reset, so that the thigh support plate 1 and the calf support plate 2 swing relative to each other, helping to use Rehabilitation training or assisted walking.

The strap 4 includes a first strap 41 and a second strap 42 fixed on the thigh support board 1 , a third strap 43 and a fourth strap 44 fixed on the calf support board 2 . A breathable composite sponge is fixed on the side of each strap close to the user's leg, the width of the sponge is 8-12 cm, and the thickness is 3-5 cm. Each strap is divided into two elliptical arc sections, the length of the first strap 41 is 75cm, the length of the second strap 42 is 70cm, the length of the third strap 43 is 55cm, and the length of the fourth strap 44 is 45cm . The straps are fixed by Velcro, and each strap is equipped with a self-tightening device.

As shown in FIG. 4 , the self-tightening device of this embodiment includes a self-tightening box 611 , two rotating shafts 612 arranged in the self-tightening box 611 , and a motor 613 for driving the rotating shafts to rotate. The gap between the two rotating shafts 612 is arranged in the self-tightening box 611. The strap 4 passes through the gap and is compressed by the two rotating shafts 611. The two rotating shafts rotate relatively, and the strap is tightened or loosened due to the friction between the rotating shaft and the strap. The self-tightening function of the straps makes the leg power brace of this embodiment easy to wear, and at the same time, the tightening and loosening of the straps has a massage function on the user's legs, which promotes the blood circulation of the user's legs.

The leg power brace of this embodiment also includes a foot pedal 3, which is connected to the calf support plate 2 through a driving device. The driving device enables the pedals to be tightened upwards or relaxed downwards, which can assist users with weak ankles to walk.

The length of calf support plate 2 is telescopically adjustable. The calf support plate 2 includes a first calf support plate 21 and a second calf support plate 22, the first calf support plate 21 and the second calf support plate 22 slide up and down and lock by pressing the jagged tenon button, so that The length of the leg power brace of this embodiment can be adjusted according to the height of the user.

Example 2

Compared with Embodiment 1, the only difference lies in the structure of the self-tightening device 6 .

As shown in FIG. 5 , the self-tightening device 6 of this embodiment includes a self-tightening box 611 , two rotating shafts 612 arranged in the self-tightening box 611 , and a driving member for driving the rotating shafts to rotate. The driving part includes a dielectric high-elastic polymer strip 614 and a telescopic spring 615 connected in parallel between the inner wall of the self-tightening box and the rotating shaft. Compressed, the strap 4 passing between the two rotating shafts 612 is tightened due to the friction of the rotating shafts; after the power is cut off, the dielectric high-elastic polymer strip 614 recovers, and the rotating shaft 612 resets under the tension of the telescopic spring 615, binding Take 4 to relax.

The embodiments described above have described the technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention, and are not intended to limit the present invention. All within the scope of the principles of the present invention Any modifications, supplements and equivalent replacements should be included within the protection scope of the present invention.

Claims (8)

1. a self-regulation wearable leg power brace, is fixed on human leg including by binding Two brace clamping plate of both sides, described each brace clamping plate include the thigh support plate that is connected with thigh and with The shin support panel that shank connects, described thigh support plate and shin support panel are being positioned at human body knee joint Position be rotationally connected, it is characterised in that also include drive thigh support plate relative with shin support panel The driving means swung, described driving means includes power box and tractive steel cable,

Power box includes:

Box body,

Slide block, is slidably arranged in box body, and tractive steel cable is fixed in the side of slide block,

The high-elastic polymer sheet of dielectric, one end fixes with inboard wall of cartridge, and the other end is fixed with slide block,

Power supply, provides voltage for the high-elastic polymer sheet of dielectric,

Back-moving spring, is arranged between inboard wall of cartridge and slide block；

Power box is fixed on the bandage on thigh support plate or on thigh support plate, tractive steel cable from It is fixed on shin support panel or on the bandage of shin support panel by end.

Self-regulation the most according to claim 1 wearable leg power brace, it is characterised in that Described driving means includes that being separately positioned on the first driving means on two brace clamping plate and second drives Dynamic device, and it is arranged on the 3rd driving means on the bandage of knee rear.

Self-regulation the most according to claim 1 wearable leg power brace, it is characterised in that It is provided with Self tightening device on described bandage.

Self-regulation the most according to claim 3 wearable leg power brace, it is characterised in that Described Self tightening device includes:

Self-tightening box,

Two rotating shafts, gap is located in self-tightening box, and bandage is compressed through gap by two rotating shafts, two rotating shafts Relatively rotate and tighten up or loosen bandage,

Actuator, drives two rotating shafts to relatively rotate.

Self-regulation the most according to claim 4 wearable leg power brace, it is characterised in that Described actuator is motor.

Self-regulation the most according to claim 4 wearable leg power brace, it is characterised in that Described actuator includes:

The high-elastic polymer strip of dielectric and coil tension spring, be connected in parallel between self-tightening box inwall and rotating shaft,

Second source, provides voltage for the high-elastic polymer strip of dielectric.

Self-regulation the most according to claim 1 wearable leg power brace, it is characterised in that Also including pedal, pedal is connected with shin support panel by driving means.

Self-regulation the most according to claim 1 wearable leg power brace, it is characterised in that The telescopic of shin support panel is adjustable.