CN107088140B - A wearable lower limb assist device with built-in air pressure - Google Patents

Abstract

The present invention relates to a kind of built-in air-pressure type wearable lower limb auxiliary devices, it include: gas push rod (10): pushrod chamber (2), push-rod piston (1) and putter shaft (3) including built-in air pressure, wherein, push-rod piston (1) setting is in pushrod chamber (2), and can be moved along its inner wall, the side of the push-rod piston (1) is also connected with the putter shaft (3) that sealing is pierced by pushrod chamber (2)；Fixed part: including thigh fixed part (9) and shank fixed part (4), wherein thigh fixed part (9) is flexibly connected the one end of pushrod chamber (2)；Connecting rod (8): its both ends is movably connected with pushrod chamber (2) cavity wall and shank fixed part (4).Compared with prior art, the features such as present invention has structure simple, and cost is relatively low, vdiverse in function.

Description

A wearable lower limb assist device with built-in air pressure

technical field

The invention relates to a lower limb assisting device, in particular to a built-in pneumatic wearable lower limb assisting device.

Background technique

Wearable power-assisted device is a relatively new research field in recent years, it can help people expand the movement ability of their limbs and reduce the burden of heavy objects on people. At present, the existing wearable power-assisted devices in the world mainly include the HAL series lower extremity exoskeleton of the University of Tsukuba in Japan, the EHPA research project of DARPA in the United States, and the C-LEG intelligent bionic leg of Ottobock in Germany.

However, traditional wearable power-assisted devices that require external power have the following disadvantages:

1. The entire device includes mechanical devices, power devices and control devices that can be worn on various parts of the human body, as well as various sensors that detect human body movement information, resulting in excessive weight and reducing its portability to a certain extent.

2. The high cost of equipment such as sensors and high-power motors reduces the practicability and popularity of the whole device.

In view of some of the above problems, how to simplify the structure of the device to reduce the weight of the device and reduce the cost while completing the functions of assisting walking and assisting sitting is a difficult point in the manufacture and design of wearable power assist devices

Contents of the invention

The object of the present invention is to provide a built-in air pressure type wearable lower limb assisting device in order to overcome the above-mentioned defects in the prior art.

The purpose of the present invention can be achieved through the following technical solutions:

A wearable lower limb assist device with built-in air pressure, comprising:

Pneumatic push rod: including a push rod cavity, a push rod piston, and a push rod shaft, wherein the push rod piston is movably arranged in the push rod cavity with built-in air pressure and can move along its inner wall, and the push rod piston One side is also connected to the push rod shaft which is sealed and passed out of the push rod chamber;

Fixing part: including a thigh fixing part and a calf fixing part, wherein the thigh fixing part is movably connected to one end of the push rod cavity;

Connecting rod: its two ends are respectively movably connected to the cavity wall of the push rod and the fixed part of the lower leg.

The thigh fixing part is connected with the push rod cavity through a ball pair.

One end of the connecting rod is connected to the shank fixing part through an Oldham coupling, and the other end is connected to the push rod chamber through a rotating pair.

A one-way wheel in contact with the ground is also provided on the end of the push rod shaft extending out of the push rod cavity.

The push rod piston is also provided with a through hole. The gas push rod has a through hole inside the push rod piston, so that the gas pressure at both ends of the push rod piston is equal, and the cross-sectional area on both sides of the push rod piston is different (one end is connected with the push rod shaft, and the other end is not). Next, the pressure to the side with the smaller cross-sectional area is generated, and no matter which position the push rod piston is in, the generated pressure remains unchanged.

Working process and principle of the present invention are as follows:

The whole set of devices is made into a wearable garment, which is connected to the thigh and the calf by two fixing parts (a thigh fixing part and a lower leg fixing part) respectively. The fixed portion of the thigh is connected with the air push rod through a ball pair. The air push rod has built-in air pressure, and it will maintain the elongated state without external force. When a person walks and puts his legs down, the protruding part of the air push rod (that is, the piston push rod) touches the ground and is compressed by gravity. Positional potential energy, the energy stored when lifting the leg will be released to help lift the leg and achieve the purpose of assisting walking. A one-way wheel that can only rotate in one direction is fixed on the air push rod to reduce the friction of the air push rod on the ground when moving forward. One end of a connecting rod is connected to the fixed part of the lower leg through a cross coupling, and the other end is connected to the air push rod through a rotating joint, so that the thigh, lower leg, connecting rod and air push rod form a four-bar mechanism to achieve a stable Purpose. The invention can play the role of assisting walking, going upstairs and sitting. When a person maintains a sitting posture, the air push rod remains shortened and the one-way wheel is in contact with the ground. Since the one-way wheel cannot rotate backwards, the whole device can support the weight of the person to achieve the purpose of assisting sitting.

Compared with the prior art, the present invention has the characteristics of simple structure, low cost, multiple functions and the like.

Description of drawings

Fig. 1 is the structural representation of air push rod of the present invention;

Fig. 2 is a structural representation of the present invention;

Fig. 3 is a schematic diagram of the use state of the present invention when walking;

Fig. 4 is a schematic diagram of the state when the present invention maintains a sitting posture;

In the figure, 1-push rod piston, 2-push rod cavity, 3-push rod shaft, 4-calf fixing part, 5-one-way wheel, 6-ball pair, 7-cross coupling, 8-connecting rod , 9-thigh fixed part, 10-air push rod.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

Example 1

A built-in pneumatic wearable lower limb assist device, the structure of which is shown in Figure 2, including:

Air push rod 10, its structure is shown in Figure 1: comprises push rod chamber 2, built-in air pressure push rod piston 1, push rod shaft 3, wherein, push rod piston 1 is arranged in push rod chamber 2, and can be moved along Its inner wall moves, and one side of the push rod piston 1 is also connected to the push rod shaft 3 that is sealed and penetrates the push rod chamber 2. The push rod piston 1 is also provided with a through hole, and the push rod shaft 3 extends out of the push rod chamber 2 Also be provided with the one-way wheel 5 that contacts with ground on the end.

Fixing part: including a thigh fixing part 9 and a calf fixing part 4, wherein the thigh fixing part 9 is connected to one end of the push rod chamber 2 through a ball pair 6, and the calf fixing part 4 is connected with a connecting rod 8 through an Oldham coupling 7, The other end of the connecting rod 8 is connected with the push rod cavity 2 through a rotary pair.

The whole set of devices is made into a wearable garment, which is connected to the thigh and the shank respectively by two fixing parts (thigh fixing part 9 and calf fixing part 4). The thigh fixing part 9 is connected to the air push rod 10 through a ball pair 6 . The air push rod 10 has built-in air pressure, and it will maintain an elongated state without external force. As shown in Figure 3, when a person walks and puts his legs down, the protruding part of the air push rod 10 (ie, the piston push rod) touches the ground and is compressed by gravity to store potential energy. The stored energy is released when the leg is lifted, and is compressed by gravity. During this process, the kinetic energy and gravitational potential energy of the human leg are converted into the positional potential energy of the piston in the air push rod. The stored energy will be released when the leg is lifted, helping to lift Legs, to achieve the purpose of assisting walking. A one-way wheel 5 that can only rotate in one direction is fixed on the air push rod 10, so as to reduce the friction of the air push rod 10 on the ground when advancing. One end of a connecting rod 8 is connected to the lower leg fixing part 4 through a cross coupling 7, and the other end is connected to the air push rod 10 through a rotating pair, thus the thigh, calf, connecting rod 8 and air push rod 10 form a four-bar organization, to achieve the purpose of stability. The invention can play the role of assisting walking, going upstairs and sitting. As shown in Figure 4, when a person maintains a sitting posture, the air push rod 10 remains in a shortened state and the one-way wheel 5 is in contact with the ground. Since the one-way wheel 5 cannot rotate backwards, the whole device can support the weight of the person to achieve the purpose of assisting sitting. Purpose.

The above descriptions of the embodiments are for those of ordinary skill in the art to understand and use the invention. It is obvious that those skilled in the art can easily make various modifications to these embodiments, and apply the general principles described here to other embodiments without creative effort. Therefore, the present invention is not limited to the above-mentioned embodiments. Improvements and modifications made by those skilled in the art according to the disclosure of the present invention without departing from the scope of the present invention should fall within the protection scope of the present invention.

Claims (4)

1. a kind of built-in air-pressure type wearable lower limb auxiliary device characterized by comprising

Gas push rod (10): pushrod chamber (2), push-rod piston (1) and putter shaft (3) including built-in air pressure, wherein described pushes away Bar piston (1) setting can move in pushrod chamber (2) along its inner wall, and the side of the push-rod piston (1) is also connected with sealing It is pierced by the putter shaft (3) of pushrod chamber (2)；

Fixed part: including thigh fixed part (9) and shank fixed part (4), wherein thigh fixed part (9) is flexibly connected pushrod chamber (2) one end；

Connecting rod (8): its both ends is movably connected with pushrod chamber (2) cavity wall and shank fixed part (4)；

The one-way wheel (5) with ground face contact is additionally provided on the end that putter shaft (3) stretch out pushrod chamber (2).

2. a kind of built-in air-pressure type wearable lower limb auxiliary device according to claim 1, which is characterized in that described is big Leg fixed part (9) is connect by ball secondary (6) with pushrod chamber (2).

3. a kind of built-in air-pressure type wearable lower limb auxiliary device according to claim 1, which is characterized in that the company One end of bar (8) is connected by Oldham's coupling (7) connection shank fixed part (4), the other end by revolute pair and pushrod chamber (2) It connects.

4. a kind of built-in air-pressure type wearable lower limb auxiliary device according to claim 1, which is characterized in that described pushes away Bar piston is additionally provided with through-hole on (1).