CN109048872A

CN109048872A - A kind of wearable lower limb auxiliary is stood up ectoskeleton

Info

Publication number: CN109048872A
Application number: CN201811268671.0A
Authority: CN
Inventors: 张建华; 崔国锬; 刘璇; 路明播; 杨广磊
Original assignee: Hebei University of Technology
Current assignee: Hebei University of Technology
Priority date: 2018-10-29
Filing date: 2018-10-29
Publication date: 2018-12-21
Anticipated expiration: 2038-10-29
Also published as: CN109048872B

Abstract

The invention discloses a wearable lower limbs auxiliary standing exoskeleton, which comprises an upper body strap, a thigh support part, a calf support part, and a foot fixing part; One end of the knee joint is connected, the other end of the thigh support part is connected with one end of the calf support part, the joint of the two forms a knee joint, and the other end of the calf support part is connected with the fixed part of the foot; one thigh support part, one calf support part A unilateral lower limb assisted standing exoskeleton is formed with a foot fixing part, and two unilateral lower limb assisted standing exoskeletons are symmetrically assembled. The user wears it on the body. When standing up, it can provide enough support. At the same time, when the human body walks, it can provide the power to walk the human body. It is suitable for manufacturing, hospitals, etc. The squatting environment has broad application prospects.

Description

A kind of wearable lower limb auxiliary is stood up ectoskeleton

Technical field

The present invention relates to a kind of auxiliary to stand up ectoskeleton, and in particular to a kind of wearable lower limb auxiliary is stood up ectoskeleton.

Technical background

With the gradually arrival of China's aging, there is to a certain degree for the elderly for this daily simple action that stands up Difficulty；Furthermore the employee of many industries is many times needing to carry out long-time standing or work of bending the knee, this often gives double Foot and knee joint bring uncomfortable and then influence working efficiency, and occupational disease can even be caused by accumulating over a long period.But due to working space And the reason of workplace, be not suitable for putting traditional Chinese chair.

Existing exoskeleton device is mostly to provide the power of walking for human body or improve the outer weight bearing energy of human body Power is mainly worn on human body two sides, is unable to satisfy the gravity support to human body itself, and existing ectoskeleton is worked Cheng Dangzhong needs external power supply, and power source keeps whole structure complex, and than cumbersome.For example, patent document " is worn Wear formula ectoskeleton seat (CN201410705631) " the ectoskeleton seat that is related to passes through two brackets and branch of thigh and shank Telescopic rod between frame realizes that sitting posture when worker's rest supports that the device is bundled on shank by bandage, and there are biggish Defect: can not for example be bound well with human body, and knee only passes through one and is hingedly attached, and stability is poor etc..Specially The sitting type lower limb ectoskeleton that a kind of sharp document " sitting type lower limb ectoskeleton (CN201510384049) " is related to passes through the seat between two legs Chair, which can make one body, to be sat on the seat at any time, and by the driving of motor, can assist human body walking；But human body Sitting posture supports it is the damping clutch realization by knee, therefore when human body is sat down and unstable, additionally due to motor Reason increases whole complexity and weight, and energy consumption is higher.

Summary of the invention

In view of the deficiencies of the prior art, the present invention provides a kind of wearable lower limb auxiliary and stands up ectoskeleton, to assist human body Completion is stood up movement, while can carry out Auxiliary support to human body sitting posture, solve human body because it is long-term stand, bend the knee when to foot and Kneed damage problem.

The technical solution that the present invention solves the technical problem is: it designs a kind of wearable lower limb auxiliary and stands up ectoskeleton, It is characterised in that it includes upper body bandage, thigh support part, leg support part, foot's fixed part；The lower part of upper body bandage Two connecting pins be connected respectively with two thigh support parts far from kneed one end, the other end of thigh support part It is connected with one end of leg support part, the two junction forms knee joint, and the other end and the foot of leg support part are fixed Part is connected；One thigh support part, a leg support part and foot's fixed part constitute a single lower limb The ectoskeleton that stands up is assisted, two single lower limbs auxiliary stand up ectoskeleton in symmetrical assembly；

The thigh support part is made of adjusting support plate, the main support of thigh, the support of thigh pair, is set in the main support of thigh There is leg strap；The top that support plate is set to the main support of thigh is adjusted, thigh pair supports the lower section for being set to the main support of thigh, There are sliding rail in the two sides for adjusting support plate bottom surface, and multiple card slots are provided on bottom surface；Thigh is main to be supported close to one end of upper body bandage End on be provided with open-ended keyway, the fixture block that the centre inside keyway is provided with a row and card slot matches, keyway Internal two sides are provided with sliding slot corresponding with sliding rail；Spring is housed inside fixture block so that fixture block jack-up or whereabouts, work as fixture block It is caught in when jack-up in the card slot for adjusting support plate, so that the main support of thigh be made to fix with support Board position is adjusted；When fixture block falls When, adjusting support plate can slide in sliding slot, fixture block adjusted by engaging from different card slot thigh support part length with Adapt to different users；Thigh pair, which is supported on, is provided with the upward protrusion with through-hole, thigh close to one end of upper body bandage Master is supported on corresponding position and sets there are two downward band through-hole protrusion, and the band through-hole protrusion that thigh pair supports is located at the main branch of thigh Between two band through-hole protrusions in support, the two passes through pin-hinges together；

There are extension in the two sides of the end of one end that the main support of thigh is connect with the support of thigh pair with leg support part, Extension in the support of thigh pair is provided with through-hole on extension compared with the extension minister in the main support of thigh；The support of thigh pair It is hinged by No.1 screw with the extension of the main support of thigh；

Leg support part includes leg support, support link of standing up, adjustable lever, is equipped with lead screw mould on leg support Block, motor module, lead screw module include lead screw, two nut seats, slide units, motor module include motor, retarder, motor cabinet, Shaft coupling；The extension end of the main support of thigh is hinged by No. two screws and the one end for support link of standing up, the support of thigh pair Extension end it is hinged by one end of No. three screws and leg support；

Leg support is with radian and to be provided with the connecting plates of several mounting holes, with one end of thigh pair support connection Two sides are provided with extension, and the end of two extensions is provided with for the mounting hole with the support connection of thigh pair；Leg support There are four threaded holes for the upper end setting at middle part to install nut seat, and four through-holes are arranged to install in the lower end in the middle part of leg support Motor cabinet；The back side of leg support lower part is provided with boss, and there are two square holes for setting in the distal end faces of its underpart, to hold It receives the top of adjustable lever, adjustment length can be played the role of by the depth for being inserted into different；

Motor cabinet, two nut seats are installed on the back side of leg support, and lead screw is installed on two nut seats, slide unit installation On lead screw；Shaft coupling one end and the lower end of lead screw connect, and the other end of shaft coupling is connected with retarder, retarder and motor Output end is connected, and is set on the boss at the back side of leg support lower part on the downside of motor；

The other end for support link of standing up is hinged by the upper end of screw and slide unit；The lower end of adjustable lever is arranged There is mounting hole, is connected by the upper end of screw and supporting block；The two sides of supporting block are provided with mounting hole；It is connected in supporting block There is foot fixing device, foot fixing device includes two arc fixed plates, sole fixed plate and Liang Ge foot bandage；Two arcs Opposite shape fixed plate is in U-typed installation, and one end of the two is separately fixed in the mounting hole on supporting block two sides by screw；

Liang Ge foot bandage is transversely mounted on the different location of two arc fixed plate open ends, Liang Ge foot bandage respectively One end be separately fixed on an arc fixed plate, the other end of the two is pasted onto another arc by velcro and fixes On plate, to be fixed with foot；Sole fixed plate is set to the lower section of two arc fixed plates, and there are two both ends settings upwards Protrusion, this two project through between the Liang Ge foot bandage that screw is separately fixed on two arc fixed plates.

Compared with prior art, the invention has the following beneficial effects:

One, present invention auxiliary is stood up drives slide unit to prop up human body by the support link on slide unit using lead screw, human body Using the mobile auxiliary human body walking of slide unit when normal walking, when human body is in sitting posture, using the self-locking of lead screw or motor The support to sitting posture is completed, the present apparatus only to power is provided at knee joint, saves energy.

The two, present invention are worn on human body lower limbs rear portion, may be worn in human body clothes, by adjust leg support device, The length of thigh support adjustable plate, to be applicable in different crowds.It is a humanized design.It is equal when human body stands up or walks Good supporting role can be played, effectively mitigation human-body fatigue.

Three, structure of the invention are very easy, and overall weight is small, facilitates wearing and carrying.Complicated operation is not needed.

Detailed description of the invention

Fig. 1 is the overall structure diagram of an embodiment of the present invention.

Fig. 2 is the thigh support structural schematic diagram of an embodiment of the present invention.

Fig. 3 is the leg support structural schematic diagram of an embodiment of the present invention.

Fig. 4 is the knee joint structure schematic diagram of an embodiment of the present invention.

Fig. 5 is the foot fixing device structural schematic diagram of an embodiment of the present invention.

Specific embodiment

It elaborates with reference to the accompanying drawings of the specification to the present invention.

The present invention provides a kind of wearable lower limb auxiliary and stands up ectoskeleton (referring to Fig. 1-5), including upper body bandage 1, thigh Support section, leg support part, foot's fixed part；Two connecting pins of the lower part of upper body bandage 1 respectively with two thighs Support section is connected far from kneed one end, and the other end of thigh support part is connected with one end of leg support part, The two junction forms knee joint, and the other end of leg support part is connected with foot's fixed part.One thigh support part, One leg support part and foot's fixed part constitute a single lower limb and assist the ectoskeleton that stands up, two single lower limbs Auxiliary stands up ectoskeleton in symmetrical assembly.Ectoskeleton is stood up with a single lower limb auxiliary to be illustrated below.

The thigh support part is made of adjusting support plate 2, the main support 3 of thigh, thigh pair support 5, the main support 3 of thigh It is equipped with leg strap 4；The top that support plate 2 is set to the main support 3 of thigh is adjusted, thigh pair support 5 is set to the main branch of thigh There are sliding rail in the lower section of support 3, the two sides for adjusting 2 bottom surface of support plate, multiple card slots are provided on bottom surface；The main support of thigh is 3 close to upper Open-ended keyway is provided on the end of one end of body bandage, the centre inside keyway is provided with a row and matches with card slot Fixture block, the two sides inside keyway are provided with sliding slot corresponding with sliding rail；Spring is housed inside fixture block so that fixture block jack up or It falls, is caught in the card slot for adjusting support plate 2 when fixture block jack-up, so that the main support 3 of thigh be made to consolidate with 2 position of support plate is adjusted It is fixed；When fixture block falls, adjusting support plate 2 can slide in sliding slot, and fixture block is by engaging from different card slots to adjust thigh Support section length is to adapt to different users；Thigh pair support 5 is provided with upward band in one end close to upper body bandage The protrusion of through-hole, thigh is main to support 3 to set in corresponding position there are two downward band through-hole protrusion, and thigh pair supports the band logical on 5 Hole protrusion is located between two band through-hole protrusions in the main support 3 of thigh, and the two passes through pin-hinges together.

There are extension in the two sides of the end of one end that the main support 3 of thigh is connect with thigh pair support 5 with leg support part Portion, thigh pair support the extension minister in the support 3 main compared with thigh of the extension on 5, are provided with through-hole on extension；Thigh pair Support 5 and the extension of the main support 3 of thigh are hinged by No.1 screw 101.

Leg support part includes leg support 7, support link of standing up 6, adjustable lever 15, is equipped on leg support 7 Lead screw module, motor module, lead screw module include 10, two nut seats 8, slide units 9 of lead screw (ball-screw or trapezoidal screw), electricity Machine module includes motor 14, retarder 13, motor cabinet 12, shaft coupling 11.The extension end of the main support 3 of thigh passes through No. two spiral shells Nail 102 is hinged with the one end for support link 6 of standing up, and the extension end of thigh pair support 5 passes through No. three screws 103 and shank branch One end of support 7 is hinged.

Leg support 7 is with radian and to be provided with the connecting plates of several mounting holes, the one end connecting with thigh pair support 5 Two sides be provided with extension, the end of two extensions is provided with the mounting holes 206 for connecting with thigh pair support 5；It is small There are four threaded holes 201 for the upper end setting at 7 middle part of leg support to install nut seat 8, and the lower end at 7 middle part of leg support is arranged four Through-hole 202 is to install motor cabinet 12；The back side of 7 lower part of leg support is provided with boss, is arranged in the distal end faces of its underpart There are two square holes 305, to accommodate the top of adjustable lever 15, can play the work of adjustment length by being inserted into the different depths With.

12, two nut seats 8 of motor cabinet are installed on the back side of leg support 7, and lead screw 10 is installed on two nut seats 8, Slide unit 9 is mounted on lead screw 10.11 one end of shaft coupling is connect with the lower end of lead screw 10, the other end and retarder 13 of shaft coupling 11 It is connected, retarder 13 is connected with the output end of motor 14, and the downside of motor 14 is set to the boss at the back side of 7 lower part of leg support On.

The other end of support link of standing up 6 is hinged by screw 203 and the upper end of slide unit 9.Adjustable lever 15 Lower end is provided with mounting hole, is connect by screw 302 with the upper end of supporting block 16.The two sides of supporting block 16 are provided with installation Hole；Foot fixing device is connected in supporting block 16, foot fixing device includes two arc fixed plates 17, sole fixed plate 18 With Liang Ge foot bandage 19.Two arc fixed plates 17 are opposite to be installed in U-typed, and one end of the two is solid respectively by screw 304 It is scheduled in the mounting hole on 16 two sides of supporting block.

Liang Ge foot bandage 19 is transversely mounted on the different location of two 17 open ends of arc fixed plate, Liang Ge foot respectively One end of bandage 19 is separately fixed on an arc fixed plate 17, and the other end of the two is pasted onto separately by velcro 303 On one arc fixed plate 17, to be fixed with foot.Sole fixed plate 18 is set to the lower section of two arc fixed plates 17, and two End setting there are two upward protrusion, this two project through that screw 301 is separately fixed on two arc fixed plates 17 two Between a foot's bandage 19.

Working principle of the present invention: the wearable lower limb auxiliary ectoskeleton that stands up is worn on rear side of human body, when human body stands up Constantly, the slide unit at knee joint drives support link to prop up thigh support part human body is helped to complete movement of standing up.When When human body is in sitting posture, slide unit is moved to section in a length mutually appropriate, is played by motor or the self-locking of lead screw to human body Sitting posture supporting role.Furthermore human body walking is assisted using the mobile completion of slide unit when human normal is walked.

The present invention solves the deficiencies in the prior art, and user only needs to be worn, when carrying out movement of standing up When, it is capable of providing enough support forces, just looks like that an invisible support stool is the same, while also carrying out walking in human body When, the power of walking can be provided to human body, for the environment that manufacturing industry, hospital etc. need to stand for a long time, squat down, with wide Application prospect.

The present invention does not address place and is suitable for the prior art.

Claims

1. A wearable lower limb auxiliary exoskeleton for standing up is characterized in that it comprises an upper body strap, a thigh support part, a calf support part, and a foot fixing part; One end of the part away from the knee joint is connected, the other end of the thigh support part is connected with one end of the calf support part, the joint of the two forms a knee joint, and the other end of the calf support part is connected with the fixed part of the foot; a thigh support part, a The calf support part and a foot fixing part constitute a unilateral lower limb assisted standing exoskeleton, and the two unilateral lower limb assisted standing exoskeletons are symmetrically assembled;

The thigh support part is composed of an adjustment support plate, a main thigh support, and an auxiliary thigh support. The main thigh support is provided with leg straps; the adjustment support plate is arranged above the main thigh support, and the auxiliary thigh support is arranged at the bottom of the main thigh support. Below, there are slide rails on both sides of the bottom surface of the adjustment support plate, and multiple card slots are arranged on the bottom surface; a keyway with an open end is provided on the end of the main thigh support near the end of the upper body strap, and a row of card slots is provided in the middle of the keyway. The slot matches the card block, and the two sides inside the keyway are provided with chute corresponding to the slide rail; the inside of the card block is equipped with a spring to make the card block jack up or fall, and when the card block is jacked up, it snaps into the card of the adjustment support plate The position of the main thigh support and the adjustable support plate is fixed; when the block falls, the adjustable support plate can slide in the chute, and the block is engaged with different card slots to adjust the length of the thigh support part to adapt to different For the user; the thigh auxiliary support is provided with an upward protrusion with a through hole at the end close to the upper body strap, the main thigh support is provided with two downward protrusions with a through hole at the corresponding position, and the belt on the thigh auxiliary support The through-hole protrusion is located between the two through-hole protrusions on the main support of the thigh, and the two are hinged together by pins;

There are extensions on both sides of the end where the main support of the thigh is connected with the auxiliary support of the thigh and the support part of the calf. The extension on the auxiliary support of the thigh is larger than the extension on the main support of the thigh, and through holes are arranged on the extension; The extension of the auxiliary support and the main support of the thigh is hinged together by the No. 1 screw;

The calf support part includes a calf support, a stand-up support link, and an adjustable rod. A screw module and a motor module are installed on the calf support. The screw module includes a lead screw, two nut seats, and a slide table. The motor module includes a motor and a reducer. , motor base, coupling; the end of the extension of the main thigh support is hinged to one end of the upright support connecting rod through the No. 2 screw, and the end of the extension of the auxiliary thigh support is hinged to one end of the lower leg support through the No. 3 screw;

The calf support is a connecting plate with a radian and provided with several installation holes, extensions are provided on both sides of the end connected to the auxiliary support of the thigh, and the ends of the two extensions are provided with installation holes for connecting with the auxiliary support of the thigh; The upper end of the support middle part is provided with four threaded holes to install the nut seat, and the lower end of the lower leg support middle part is provided with four through holes for the installation of the motor seat; A square hole is used to accommodate the upper part of the adjustable rod, and the length can be adjusted by inserting different depths;

The motor seat and two nut seats are installed on the back of the calf support, the lead screw is installed on the two nut seats, and the slide table is installed on the lead screw; one end of the coupling is connected to the lower end of the lead screw, and the other end of the coupling is connected to the The reducer is connected, the reducer is connected with the output end of the motor, and the lower side of the motor is set on the boss on the back of the lower part of the calf support;

The other end of the stand-up support link is hinged with the upper end of the slide table through screws; the lower end of the adjustable rod is provided with a mounting hole, which is connected with the upper end of the support block through screws; both sides of the support block are provided with mounting holes; the support block There is a foot fixing device connected to the top, and the foot fixing device includes two arc-shaped fixing plates, a sole fixing plate and two foot straps; the two arc-shaped fixing plates are installed in a "U" shape relative to each other, and one end of the two passes through the The screws are respectively fixed in the mounting holes on both sides of the support block;

The two foot straps are installed horizontally at different positions at the opening ends of the two arc-shaped fixing plates. One end of the two foot straps is respectively fixed on an arc-shaped fixing plate, and the other ends of the two are pasted on the Another arc-shaped fixing plate is used to fix the feet; the sole fixing plate is arranged under the two arc-shaped fixing plates, and two upward protrusions are arranged at its two ends, and the two protrusions are respectively fixed on the Between the two foot straps on the two curved fixing plates.

2 . The wearable lower extremity assisting exoskeleton according to claim 1 , wherein the screw is a ball screw or a trapezoidal screw.