CN111728798B - An exoskeleton device that assists human body support and helps to sit up - Google Patents
An exoskeleton device that assists human body support and helps to sit up Download PDFInfo
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- CN111728798B CN111728798B CN202010595736.3A CN202010595736A CN111728798B CN 111728798 B CN111728798 B CN 111728798B CN 202010595736 A CN202010595736 A CN 202010595736A CN 111728798 B CN111728798 B CN 111728798B
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- thigh
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- shank
- lower leg
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 72
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 238000009423 ventilation Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 244000309466 calf Species 0.000 abstract 2
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 229910000851 Alloy steel Inorganic materials 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
Images
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C9/00—Stools for specified purposes
- A47C9/02—Office stools; Workshop stools
- A47C9/025—Stools for standing or leaning against, e.g. in a semi-standing or half-seated position
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1013—Lifting of patients by
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1049—Attachment, suspending or supporting means for patients
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1073—Parts, details or accessories
- A61G7/1082—Rests specially adapted for
- A61G7/109—Lower body, e.g. pelvis, buttocks
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1073—Parts, details or accessories
- A61G7/1082—Rests specially adapted for
- A61G7/1096—Knee, upper or lower leg
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- Health & Medical Sciences (AREA)
- Nursing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
本发明公开了一种辅助人体支撑并能帮助起坐的外骨骼器具，包括腰部组件、大腿组件、小腿组件以及支撑组件；支撑组件包括固定在大腿组件后部的大腿固定板和固定在小腿组件后部的小腿固定板，大腿固定板的底部铰接有滑条杆，滑条杆滑动设置在滑轨内，滑条杆从滑轨的上端伸入其内部并在其内部伸缩式滑动，滑轨内还固定有撑地杆，滑轨的上端经支撑杆与大腿固定板相连，支撑杆的两端分别铰接在滑轨的上端和大腿固定板的底部，滑轨还经连接杆与小腿固定板相连，连接杆的两端分别铰接在滑轨和小腿固定板上，本发明结构简单，生产制造容易，成本低廉，使用方便。
The invention discloses an exoskeleton device that assists the human body to support and helps to sit up, including a waist assembly, a thigh assembly, a calf assembly and a support assembly; The calf fixing plate at the rear, the bottom of the thigh fixing plate is hinged with a sliding bar, the sliding bar is slidably arranged in the sliding rail, the sliding bar extends from the upper end of the sliding rail into its interior and slides telescopically inside it, the sliding rail A ground support rod is also fixed inside, the upper end of the slide rail is connected with the thigh fixing plate through the support rod, the two ends of the support rod are hinged on the upper end of the slide rail and the bottom of the thigh fixing plate respectively, and the slide rail is also connected with the lower leg fixing plate through the connecting rod. The two ends of the connecting rod are respectively hinged on the slide rail and the lower leg fixing plate. The invention has simple structure, easy production, low cost and convenient use.
Description
Technical Field
The invention relates to human body auxiliary supporting equipment, in particular to an exoskeleton appliance.
Background
At present, no mature research result exists for the project at home and abroad, and most of the developed products are too expensive due to the cost or are still in the trial stage. Since japan is a developed country in which aging is serious, the quality of life of the elderly is important. The research on the exoskeleton-type assistive device for the aged is also carried out in japan first, but until now, no exoskeleton-type assistive device for the aged can be invented in japan, which is suitable for practical use and can be mass-produced.
The problems of the existing related products are as follows: 1, the structure is complex; 2, the operation is inconvenient; 3, the power device is heavy; 4, limited torque and power, which increases the difficulty of the wearer's movements; 5 the appearance is not beautiful; 6 the mechanical interface design of the exoskeleton does not meet the comfort of the wearer, limits wearing time, etc. The most representative Lokomat company has only 100 global sales, and the high cost and the complex structure and operation process bring great difficulty to practical popularization.
Disclosure of Invention
The invention aims to provide an exoskeleton appliance which assists the support of a human body and can help a user to sit up, and the exoskeleton appliance is simple in structure, easy to produce and manufacture, low in cost and convenient to use.
The purpose of the invention is realized as follows: an exoskeleton appliance for assisting in supporting a person and assisting in sitting up comprises a waist assembly, a thigh assembly, a shank assembly and a support assembly; the waist component is used for binding the waist, the thigh component is used for binding the thigh, and the shank component is used for binding the shank; the waist component is hinged to the upper end of the thigh component, the lower end of the thigh component is hinged to the upper end of the shank component, and the support component is connected to the rear portions of the thigh component and the shank component;
the supporting component comprises a thigh fixing plate fixed at the rear part of the thigh component and a shank fixing plate fixed at the rear part of the shank component, the bottom of the thigh fixing plate is hinged with a slide bar rod, the slide bar rod is arranged in a slide rail in a sliding mode, the slide bar rod extends into the slide rail from the upper end of the slide rail and slides in a telescopic mode, a ground supporting rod is further fixed in the slide rail, the upper end of the slide rail is connected with the thigh fixing plate through a supporting rod, the two ends of the supporting rod are hinged to the upper end of the slide rail and the bottom of the thigh fixing plate respectively, the slide rail is connected with the shank fixing plate through a connecting rod, and the two ends of the connecting rod are hinged to the slide rail and the shank fixing plate respectively.
Compared with the prior art, the invention has the beneficial effects that: the exoskeleton walking assisting device is simple in structure, easy to produce and manufacture, low in cost and convenient to use, and can realize most functions of the exoskeleton walking assisting device on the market, and on the basis, the practicability and the innovativeness of the whole device are greatly improved; meanwhile, the invention has the advantages of convenient disassembly and assembly, easy carrying, small occupied space and portability in traveling.
In order to enable the thigh assembly to be more convenient and reliable in wrapping and binding, the thigh assembly comprises two pairs of thigh connecting rods, the rear portions of each pair of thigh connecting rods are connected through an arc-shaped thigh supporting plate and used for supporting the thigh, the front portions of each pair of thigh connecting rods are connected through a thigh binding band and used for being matched with the thigh supporting plate to bind the thigh, and the thigh assembly is hinged with the waist assembly and the shank assembly through thigh supporting rods respectively.
In order to enable the shank assembly to be wrapped and bound more conveniently and reliably, the shank assembly comprises two pairs of shank connecting rods, the rear parts of each pair of shank connecting rods are connected through an arc shank supporting plate, the front parts of each pair of shank connecting rods are connected through shank binding bands and used for being matched with the shank supporting plate to bind the shank, and the shank assembly is hinged with the thigh assembly through a shank supporting rod.
In order to enable the waist binding of the waist binding device to be more convenient and reliable, the waist component comprises an arc-shaped waist supporting plate, waist connecting rods are fixed on two sides of the waist supporting plate, and the waist connecting rods are hinged with the thigh components.
In order to make the waist more comfortable and the air permeability better, a plurality of air holes are formed in the back of the waist supporting plate.
As a further limitation of the invention, the bottom of the lower leg assembly is hinged to the foot securing plate. Make the binding with the human body more reliable through the fixed plate of design foot.
In order to make the support rod have wider application environment and more reliable support, the bottom of the ground supporting rod is connected with a ball head, and the bottom surface of the ball head is processed into a plane.
As a further limitation of the invention, a spring is further arranged in the slide rail, and two ends of the spring respectively abut against two ends of the ground supporting rod and two ends of the slide bar rod. The design of the spring enables the invention to realize the reset function, and the elastic action of the spring can enhance the sitting action to buffer and improve the comfort.
Drawings
Fig. 1 is a schematic view of the whole structure of the invention when standing and walking.
Fig. 2 is a schematic view of the overall structure of the present invention when sitting down.
Fig. 3 is a partial detail structure diagram of the sitting-up assisting device of the invention.
Fig. 4 is a partial structure view of the support rod ball head in the invention.
In the figure: 1 waist supporting plate, 2 waist connecting rods, 3 hinges, 4 thigh connecting rods, 5 thigh straps, 6 hinges, 7 shank connecting rods, 8 shank straps, 9 hinges, 10 foot fixing plates, 11 thigh supporting plates, 12 thigh fixing plates, 13 supporting rods, 14 sliding bar rods, 15 sliding rails, 16 springs, 17 ground supporting rods, 18 connecting rods and 19 shank supporting plates.
Detailed Description
The present invention is further illustrated by the following specific examples.
An exoskeleton device for assisting human body support and helping sitting up as shown in fig. 1 comprises a waist support plate 1, a waist connecting rod 2, a hinge 3, a thigh connecting rod 4, a thigh bandage 5, a hinge 6, a shank connecting rod 7, a shank bandage 8, a hinge 9, a foot fixing plate 10, a thigh support plate 11, a thigh fixing plate 12, a support rod 13, a slide bar rod 14, a slide rail 15, a spring 16, a ground supporting rod 17, a connecting rod 18 and a shank support plate 19.
In this embodiment, the user firstly fixes the human body and the device together through the thigh bandage 5, the shank bandage 8 and the waist support plate 1, and the waist support plate 1 is provided with a plurality of air holes, so that the comfort of the wearer is improved. The whole device transmits the self-gravity of the upper body of the human body to the waist supporting plate 1, the waist supporting plate 1 is supported by the foot connecting rods 2, the thigh connecting rods 4, the shank connecting rods 7 and the foot fixing plates 10, and the weight of the upper body part of the human body is supported in an auxiliary mode through the exoskeleton connecting piece to assist the human body to stand.
In this embodiment, the device is deployed as in figure 2, the user can sit down with the device providing additional support.
In this embodiment, the sitting-up auxiliary supporting device is foldable, and the mechanism consisting of the thigh fixing plate 12, the supporting rod 13 and the sliding bar 14 can be unfolded to form a triangle when the human body sits down, so as to improve the stability of the device. The slide bar 14 slides in the slide rail 15, the retraction and the expansion of the device can be realized, the spring 16 is in a compressed state when a human body is in a sitting state, the device is locked at the moment, the slide bar 14 cannot slide, the spring 16 is in an original length state and can be freely stretched and compressed within a certain range during walking, the resistance is small, and the slide bar 14 can slide up and down in a small amplitude. When a user needs to sit down, the user only needs to bend the thigh slightly to compress the spring to expand the device, when the user needs to stand up, the spring can slowly recover to the original length, and meanwhile, the pressure of the spring is used for helping the user to stand up. The whole device can be used for sitting up at any time. The supporting mode has the advantages of stable structure, lower manufacturing cost and simpler manufacturing process, and is suitable for mass production.
In this embodiment, the sitting-up auxiliary supporting device is a multi-rod foldable detachable structure, a plurality of hinges are adopted for connection, so that the sitting-up auxiliary supporting device is convenient to assemble and disassemble, and the main body is of an alloy steel structure for enhancing the structural strength.
In this embodiment, the sitting-up auxiliary supporting means is placed at the rear of the human body to prevent interference with normal walking.
In summary, the invention combines the advantages of the traditional power assisting device, adopts the rod and the hinge to transmit the gravity of the upper body of the human body to the supporting plates of the feet in the aspect of body supporting, reduces the burden of the human body and can meet the design requirement. The aluminum alloy material is adopted to greatly reduce the equipment quality and improve the portability. Meanwhile, a plurality of supporting modes are designed, and the reliability and the practicability of the device in the actual use process are improved. The supporting device for assisting walking can be folded and detached, and can realize sitting and resting at any time and any place.
The present invention is not limited to the above-mentioned embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and modifications to some technical features without creative efforts according to the disclosed technical contents, and these substitutions and modifications are all within the protection scope of the present invention.
Claims (7)
1. An exoskeleton appliance for assisting in supporting a person and assisting in sitting up, comprising a waist assembly, a thigh assembly, a shank assembly and a support assembly; the waist component is used for binding the waist, the thigh component is used for binding the thigh, and the shank component is used for binding the shank; the waist component is hinged to the upper end of the thigh component, the lower end of the thigh component is hinged to the upper end of the shank component, and the support component is connected to the rear portions of the thigh component and the shank component;
the supporting component comprises a thigh fixing plate fixed at the rear part of the thigh component and a shank fixing plate fixed at the rear part of the shank component, the bottom of the thigh fixing plate is hinged with a slip bar rod, the slip bar rod is arranged in a sliding rail in a sliding mode, the slip bar rod stretches into the inside of the slip bar rod from the upper end of the sliding rail and slides in a telescopic mode in the slip bar rod, a ground supporting rod is further fixed in the sliding rail, springs are further arranged in the sliding rail, the two ends of each spring are respectively abutted against the two ends of the ground supporting rod and the two ends of the slip bar rod, the upper end of the sliding rail is connected with the thigh fixing plate through a supporting rod, the two ends of each supporting rod are respectively hinged to the upper end of the sliding rail and the bottom of the thigh fixing plate, the sliding rail is further connected with the shank fixing plate through a connecting rod, and the two ends of the connecting rod are respectively hinged to the sliding rail and the shank fixing plate.
2. An exoskeleton device as claimed in claim 1 wherein the thigh assembly comprises two pairs of thigh links, the rear portion of each pair of thigh links being connected via an arcuate thigh support plate to support a thigh, the front portion of each pair of thigh links being connected via a thigh strap to cooperate with the thigh support plate to bind the thigh, the thigh assembly being hinged to the waist and lower leg assemblies via the thigh links.
3. An exoskeleton device as claimed in claim 1 or claim 2 wherein the lower leg assembly comprises two pairs of lower leg links, the rear of each pair of lower leg links being connected by an arcuate lower leg support plate and the front of each pair of lower leg links being connected by a lower leg strap for engaging the lower leg support plate to bind the lower leg, the lower leg assembly being hinged to the upper leg assembly by the lower leg links.
4. An exoskeleton device as claimed in claim 1 or claim 2 wherein the lumbar assembly comprises an arcuate lumbar support plate to which lumbar connecting rods are fixed on either side of the lumbar support plate, the lumbar connecting rods being hinged to the thigh assembly.
5. The exoskeleton device as claimed in claim 4 wherein the back of the lumbar support plate is formed with a plurality of ventilation holes.
6. An exoskeleton device as claimed in claim 1 or claim 2 wherein the lower leg assembly is hinged at its base to a foot fixing plate.
7. An exoskeleton device as claimed in claim 1 or claim 2 wherein the said ground supporting bar is connected at its bottom to a ball head, the bottom of which is made planar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010595736.3A CN111728798B (en) | 2020-06-28 | 2020-06-28 | An exoskeleton device that assists human body support and helps to sit up |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010595736.3A CN111728798B (en) | 2020-06-28 | 2020-06-28 | An exoskeleton device that assists human body support and helps to sit up |
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| Publication Number | Publication Date |
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| CN111728798A CN111728798A (en) | 2020-10-02 |
| CN111728798B true CN111728798B (en) | 2021-08-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010595736.3A Active CN111728798B (en) | 2020-06-28 | 2020-06-28 | An exoskeleton device that assists human body support and helps to sit up |
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| CN (1) | CN111728798B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112957205B (en) * | 2021-04-02 | 2022-06-24 | 南京汉尔斯生物科技有限公司 | Leg support |
| CN115024947B (en) * | 2022-08-09 | 2022-11-08 | 南昌大学 | A multifunctional lower extremity exoskeleton |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206525824U (en) * | 2016-11-11 | 2017-09-29 | 扬州大学 | A kind of curved surface bed structure based on ergonomics |
| CN108582042A (en) * | 2018-05-07 | 2018-09-28 | 河北工业大学 | A mechanical leg without power to assist sitting |
| CN208914117U (en) * | 2018-08-29 | 2019-05-31 | 扬州大学 | A kind of multi-function robot |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103200909B (en) * | 2010-09-27 | 2016-05-04 | 范德比尔特大学 | Action auxiliary equipment |
| CN106420203B (en) * | 2016-11-29 | 2018-04-20 | 天津大学 | The ectoskeleton wheelchair integrated mobile auxiliary robot of telescopic |
| CN106377394B (en) * | 2016-12-02 | 2018-12-04 | 华中科技大学 | Wearable exoskeleton seat device capable of measuring sitting posture of lower limbs of human body |
| IL272623B2 (en) * | 2017-08-29 | 2024-12-01 | Roam Robotics Inc | System and method for detecting semi-guided intent |
| CN107913136B (en) * | 2017-12-19 | 2023-08-01 | 吉林大学 | Intelligent toilet and rehabilitation training multifunctional wheelchair |
| CN108670733A (en) * | 2018-06-13 | 2018-10-19 | 苏州拓品微信息科技有限公司 | A kind of shank separate type wearing ectoskeleton seat unit |
| CN109304706B (en) * | 2018-12-05 | 2021-06-29 | 大连交通大学 | Flexible lower extremity exoskeleton with squat support performance |
| CN109702715B (en) * | 2018-12-06 | 2020-08-14 | 西安交通大学 | A mechanical exoskeleton seat |
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2020
- 2020-06-28 CN CN202010595736.3A patent/CN111728798B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206525824U (en) * | 2016-11-11 | 2017-09-29 | 扬州大学 | A kind of curved surface bed structure based on ergonomics |
| CN108582042A (en) * | 2018-05-07 | 2018-09-28 | 河北工业大学 | A mechanical leg without power to assist sitting |
| CN208914117U (en) * | 2018-08-29 | 2019-05-31 | 扬州大学 | A kind of multi-function robot |
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