CN111388281A - Unpowered exoskeleton stair walker - Google Patents

Abstract

The invention relates to a non-powered exoskeleton stair walking aid device, comprising a belt, a belt buckle, a booster component, a leg link, a fixing device and a footrest. Both sides of the waistband are connected with one booster component through the booster component base, and two sets of booster components are connected to each other. The leg connecting rods and the fixing device are connected by the connecting piece between the thighs. The lower end of the two sets of leg connecting rods and the fixing device are each provided with a foot pedal; The inner cover of the toothed ratchet wheel, the plane scroll spring and the outer shell of the booster assembly, the exoskeleton of the present invention adopts a mechanical energy storage mechanism and does not use a motor drive, which greatly reduces the weight of the exoskeleton assisting walking device and improves the protection performance; The protective tightening device is added to the reasonable position of the thigh to ensure the stability of the user's muscles going up and down the stairs, and make the lower limbs and the exoskeleton more coordinated.

Description

Unpowered exoskeleton stair walker

technical field

The invention belongs to the technical field of exoskeleton assisting walking devices, in particular to an unpowered exoskeleton stair walking assisting device.

Background technique

In the 21st century, the social type of our country is gradually aging, the number of elderly people is increasing, and the problem of physical mobility impairment of the elderly is becoming more and more prominent. For the elderly who need to go up and down the stairs, it will be very painful to climb the stairs every day thing. Due to the rigidity of the joints of the elderly and the lack of strength in the legs, the legs often cannot move, and each step will become an obstacle for them to go up and down the stairs. Everyday life creates big problems.

Most of the exoskeleton-assisted walking devices on the market today are expensive, and all require a power source to drive, which is bulky and heavy; and most of the new exoskeleton-assisted walking devices are in the laboratory stage. For the market, there is a lack of an auxiliary mechanical tool that has a high safety factor, a long service life and high cost performance to assist the elderly to go up and down stairs.

SUMMARY OF THE INVENTION

In order to solve the existing technical problems, the purpose of the present invention is to provide an unpowered exoskeleton stair walking aid, which solves the problems of bulky, complex structure and high price of the walking aid currently on the market.

To achieve the above object, the technical scheme of the present invention is:

A non-powered exoskeleton stair walking aid device, including a belt, a belt buckle, a power assist component, a leg link, a fixing device and a footrest, the belt is a rigid structure, and a belt buckle is arranged at the front of the belt, and the two sides of the belt are powered by power Each of the component bases is connected to a booster component, the two sets of booster components are connected to the leg link and the fixing device through the connecting piece between the thighs, and each of the two sets of leg links and the lower end of the fixture is provided with a foot pedal; the booster components It includes a rotating shaft, a ratchet tooth, a flat key, a driving wheel, a bearing, an inner cover of the inner meshing tooth ratchet wheel, a flat scroll spring and a booster assembly shell. The end sleeve is connected to the rotating shaft, the flat scroll spring is connected to the connecting piece between the thighs through the rotating shaft, and the driving wheel is arranged outside the rotating shaft through the flat key. A bearing is provided between the cover and the flat scroll spring.

Further, the leg link and the fixing device include a thigh plate and a telescopic rod, a thigh tie connection, a thigh tie, a calf connecting rod, a leg tie connection, and a calf tie; the thigh plate and the telescopic rod are composed of two The stage rod is sleeved and formed, and the thigh plate member and the telescopic rod can be telescopically adjusted in length; the thigh plate member and the telescopic rod are connected to the thigh strap through a leg strap connector, and the calf connecting rod is connected to the calf strap through the leg strap connector; the The thigh plate piece, the telescopic rod and the calf connecting rod are axially connected, and the calf connecting rod and the foot pedal are axially connected.

Beneficial effects of the present invention:

1. The exoskeleton of the present invention adopts a mechanical energy storage mechanism and does not use a motor drive, which greatly reduces the weight of the exoskeleton assisting walking device and improves the protective performance; The stability of the muscles up and down the stairs, and the coordination of the lower limbs and the exoskeleton is better.

2. The present invention focuses on the problem of stair walking for the elderly, and intends to design a new type of unpowered exoskeleton stair walking device to provide auxiliary power for the elderly with weak lower limb muscles, so that going up and down the stairs is more labor-saving and comfortable; plane scroll springs are used to assist The simple design structure can achieve light weight, low price and easy to carry. Effectively solve the problem of the elderly going up and down stairs.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is the exploded schematic diagram of the waist assist assembly of the present invention;

Fig. 3 is the partial schematic diagram of the waist assist structure of the present invention;

4 is a side view of a thigh plate and a knee joint structure of the present invention;

Fig. 5 is the calf and foot structure schematic diagram of the present invention;

In the figure, 1-belt, 2-belt buckle, 3-assist assembly base, 4-thigh connecting piece, 5-assist assembly, 501-spindle, 502-ratchet, 503-flat key, 504-drive wheel, 505 -Bearing, 506-Inner cover of inner gear ratchet, 507-Flat scroll spring, 508-Assistance assembly shell, 6-Thigh plate and telescopic rod, 7-Thigh strap connection, 8-Thigh strap, 9-Calf connection Rod, 10-leg strap connection, 11-calf strap, 12-foot pedal.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the attached embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Referring to an unpowered exoskeleton stair walking device shown in FIG. 1, it includes a belt 1, a belt buckle 2, a power assist assembly base 3, a connecting piece between the thighs 4, a power assist assembly 5, a thigh plate and a telescopic rod 6, and a thigh strap. Connecting piece 7 , thigh binding 8 , calf connecting rod 9 , leg binding connecting piece 10 , calf binding 11 , foot pedal 12 .

The belt 1 is a rigid structure, and a buckle 2 is arranged at the front of the belt 1. The function of the buckle 2 is to help fix it on the waist. Both sides of the belt 1 are connected to a power-assist assembly base 3 respectively. Component 5, and the booster component 5 can rotate around the center of the booster component base 3, the booster component 5 is connected to the thigh plate member and the telescopic rod 6 through the inter-thigh connector 4, and the thigh plate member and the telescopic rod 6 are formed by the sleeves of the two sides of the rod. , by adjusting the length of the thigh plate and the telescopic rod 6 to suit wearers of different heights.

As shown in FIG. 2 and FIG. 3 , the booster assembly 5 includes a rotating shaft 501, a ratchet tooth 502, a flat key 503, a drive wheel 504, a bearing 505, an inner gear ratchet inner cover 506, a flat scroll spring 507, and a booster assembly shell 508. The outer shell 508 of the booster assembly is equipped with a flat scroll spring 507. The flat scroll spring 507 is connected to the connecting piece 4 between the thighs through a rotating shaft 501. A driving wheel 504 is set outside the rotating shaft 501 through a flat key 503, and the driving wheel 504 is connected with the ratchet tooth 502. The inner meshing tooth ratchet inner cover 506 is matched, and the bearing 505 is arranged outside the rotating shaft 501, between the inner meshing tooth ratchet inner cover 506 and the plane scroll spring 507; The connecting piece 4 between the thighs follows the thigh so that the ratchet 504 rotates outward to drive the rotating shaft 501 to compress the flat scroll spring 501, thereby storing energy, and assisting the hip single support phase to lift the thigh when releasing the energy.

As shown in FIGS. 4 and 5 , the thigh plate and the telescopic rod 6 are connected with the thigh tie 8 through the leg tie connecting piece 7 , the calf connecting rod 9 is connected to the calf tie 11 through the leg tie connecting piece 10 , and the leg tie connecting piece 7 The thigh plate and the telescopic rod 6 are connected by rivets, and the thigh plate and the telescopic rod 6, the calf connecting rod 9 and the footboard 12 are all rotatably connected, corresponding to the wearer's knee joint and ankle joint flexion movement.

The working principle of the unpowered exoskeleton stair walking aid device of the present invention:

The user wears the belt of the new type of non-power stair walking aid device on the waist, and then puts the thigh binding 8 and the calf binding 11 on both sides on the thigh and calf. The assisting principle is to use the inner end of the flat scroll spring 507 to be sleeved with the rotating shaft 501. When the human thigh is in a double-support phase, that is, a cross gait, the inter-thigh connector 4 follows the thigh to make the ratchet 502 rotate outward. The rotating shaft 501 is driven to compress the flat scroll spring 507, thereby storing energy, and when releasing the energy, it can assist the hip to lift the thigh during the single support phase. When the leg is at the highest point, lower the leg under your own weight to complete a walking cycle.

The above specific examples are used to illustrate the present invention, which are only used to help understand the present invention, and are not intended to limit the present invention. Any partial modification or replacement within the technical scope disclosed by the present invention by anyone skilled in the art shall be included within the scope of the present invention.

Claims (2)

1. A non-powered exoskeleton stair walking aid is characterized in that: comprising a belt (1), a belt buckle (2), a booster assembly (5), a leg link and a fixing device and a footrest (12), the described The belt (1) is a rigid structure, a belt buckle (2) is arranged at the front of the belt (1), and a power assist assembly (5) is connected on both sides of the waist belt through a power assist assembly base (3), and two sets of the power assist assemblies (5) The leg connecting rods and the fixing device are all connected through the connecting piece (4) between the thighs, and a foot pedal (12) is respectively provided at the lower end of the two sets of leg connecting rods and the fixing device; the power assist component (5) includes a rotating shaft (501) , ratchet (502), flat key (503), drive wheel (504), bearing (505), inner gear ratchet inner cover (506), flat scroll spring (507) and booster assembly housing (508), all A plane scroll spring (507) is installed in the booster assembly shell (508), the inner end of the plane scroll spring (507) is sleeved with the rotating shaft (501), and the plane scroll spring (507) is connected to the thigh through the rotating shaft (501) The connecting piece (4) is provided with a driving wheel (504) outside the rotating shaft (501) through a flat key (503), and the driving wheel (504) is matched with the inner ratchet wheel inner cover (506) through the ratchet teeth (502), A bearing (505) is arranged between the outer and inner meshing tooth ratchet inner cover (506) of the rotating shaft (501) and the plane scroll spring (507). 2. The unpowered exoskeleton stair walking aid device according to claim 1, characterized in that: the leg link and the fixing device comprise a thigh plate and a telescopic rod (6), a thigh binding connector (7), A thigh binding (8), a calf connecting rod (9), a leg binding connecting piece (10), and a calf binding (11); the thigh plate and the telescopic rod (6) are constituted by a second-level rod socket connection, and the thigh plate and The telescopic rod (6) can be telescopically adjusted in length; the thigh plate member and the telescopic rod (6) are connected to the thigh binding (8) through the leg binding connecting piece (7), and the lower leg connecting rod (9) is connected by the leg binding connecting piece ( 10) Connect the lower leg binding (11); the thigh plate member and the telescopic rod (6) are axially connected to the lower leg connecting rod (9), and the lower leg connecting rod (9) is axially connected to the foot pedal (12).

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