CN112497197A

CN112497197A - Unpowered walking assisting mechanical leg capable of having a squatting rest

Info

Publication number: CN112497197A
Application number: CN202110000571.5A
Authority: CN
Inventors: 赵光华
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-01-04
Filing date: 2021-01-04
Publication date: 2021-03-16

Abstract

The invention provides a walking power-assisted mechanical leg that can squat and rest without power, has a simple and lightweight structure, does not use external power such as batteries, can be used for a long time, and is suitable for the elderly and people with leg disorders. The mechanical legs have the support ability, reduce the pressure on the knees, and can form a power-assisting effect. The waist-bearing ring is in accordance with the shape of the buttocks, and the triangular nylon belt is installed to form the effect of a seat. You can squat and rest at any time during use. The invention is also applicable For those who need to stand for a long time, such as car assembly line operators and medical staff who stand on the operating table for a long time, they can rest with the support of mechanical legs when standing, reduce physical exertion and greatly improve work efficiency.

Description

Unpowered walking assisting mechanical leg capable of having a squatting rest

The technical field is as follows:

the invention belongs to the field of medical rehabilitation, and particularly relates to an unpowered walking assisting mechanical leg capable of resting in a squatting mode.

Background art:

at present, with the development of science and technology, various exoskeleton robots and various exoskeleton mechanical legs which can solve the problem of inconvenient walking of people are continuously generated, the motor function of old people or patients with leg diseases can be improved, and the life quality of people is improved.

How to reduce helping hand structure volume, weight reduction, reduce cost and use nimble light, become the problem that needs to solve at present urgently.

In addition, for long-time standing work, such as operators of automobile assembly lines, operating table surgeons and the like, a power-assisted mechanical leg capable of reducing the working strength is also needed, and the power-assisted mechanical leg can rest by means of the support of the mechanical leg during standing, so that the physical consumption is reduced.

Disclosure of Invention

The walking assisting mechanical leg aims to overcome the defects of the prior art, is simple and portable, does not need power, can be popularized and applied to the vast old and people with walking difficulty, is supported by the mechanical leg when walking, reduces the pressure on the knee joint, and can squat and sit at any time for rest.

The invention adopts a metal hollow pipe as a leg support, and is characterized in that: the thigh supporting tube (1) and the shank supporting tube (2) are used as leg exoskeleton supports, and a controllable ratchet wheel combination device is arranged at the knee joint where the big leg and the small leg are connected, and the device controls the separation and the engagement of a pawl (22) and a ratchet wheel (21) according to the walking state. In order to enable the motion flexibility of the mechanical leg to be the same as the free motion state of the leg of a human body, a simulated hip joint with 3 degrees of freedom is designed at the position of the hip joint, a joint bearing (3) is installed at the upper end of a thigh supporting tube to simulate the 3 degrees of freedom of motion of the hip joint of the human body, an ankle joint bearing (8) is designed at the ankle part to simulate the degree of freedom of motion of the ankle part, the whole structure of the ankle joint simulation device is that the joint bearing (3) at the upper end of the thigh supporting tube (1) is connected with a waist bearing movable ring (12), knee joints of the thigh supporting tube and the thigh supporting tube are connected through a controllable ratchet wheel combination structure, the ankle joint (8) of the shank supporting tube is connected with a pedal bracket (11), the pedal bracket (11) is provided with a pedal rotating plate (28) and a rotating lever (29) fixedly, form shank ectoskeleton after the unit mount, nylon magic subsides shoes bandage (10) are installed in pedal support (11) to tighten with shoes, waist bearing looper (12) of waist design are connected with thigh stay tube upper portion joint bearing (3) through hip joint connecting plate (34), and waist bearing looper (12) preparation has triangle-shaped nylon pocket area (18), can regard as rest seat, when the human rest of squatting, is born health weight by the ectoskeleton completely.

The action principle is as follows: when two legs stand, the pedal rotating plate (28) is stepped flat under the action of the gravity of a human body, as shown in a state of figure 6, the rotating lever (29) rotates downwards, the traction steel wire rope (26) pulls the pawl clutch mandril (24) to pull downwards, under the action of the pawl tension spring (23), the pawl (22) and the ratchet wheel (21) return to a normal meshing state, as shown in figure 3, the mechanical leg is in an inflexible state and plays a supporting role, when the human body starts to walk, one foot is lifted, the pedal rotating plate (28) releases the traction on the pawl clutch mandril (24), the mandril (22) is pushed upwards under the push of the mandril reset spring (25), the pulling force of the pawl tension spring (23) is overcome, the pawl (22) is jacked, the pawl (22) and the ratchet wheel (21) are separated, as shown in figure 4, at the moment, the knee joint is in a free moving state and can take a stepping action, after forward stepping, the foot step, the rotating lever (29) is driven to rotate anticlockwise and downwards, the traction steel wire rope (26) pulls the pawl clutch ejector rod (24) to move downwards to be separated from the pawl (22), the pawl (22) resets to be meshed with the ratchet wheel (21) under the pulling of the pawl tension spring (23), and the pawl and the ratchet wheel are in a one-way rotating state again, namely the knee joint can only stand upwards and straighten in a bending state but cannot bend downwards, so that the supporting force for the body is formed. The other leg has the same movement state, when the two legs stand, the ratchet structures of the two side claws are in a one-way locking state, so that the two legs can stretch and stand upright when bent, and when the legs squat downwards, the ratchet structures are locked, and the support effect of the mechanical legs on the body is formed.

Further: the invention is additionally designed with a manual adjusting function for the action of a ratchet wheel structure at the knee joint, a pawl manual adjusting button (5) is arranged at the knee joint of a mechanical leg, the pawl manual adjusting button (5) can be shifted upwards when the ratchet wheel unidirectional rotation function is not needed, the pawl (22) can be pulled upwards through a pawl manual separating hook (30), the engagement between the pawl (22) and the ratchet wheel (21) is released, the same function that the knee joint can freely move when the foot part is lifted is achieved, the arbitrary bending angle of the knee joint can be conveniently adjusted, namely the sitting posture height of a human body is adjusted, the knee joint is shifted back to the original position after being adjusted to the required height, the unidirectional locking function is recovered, and the support for the human body.

Further: the controllable ratchet wheel structure between the knee joints of the thigh supporting tube (1) and the shank supporting tube (2) is designed to lock and rotate in a one-way within the range of 0-120 degrees, so that the purpose that the human body can sit at any position from the upright leg to the 120-degree squatting position for rest can be achieved.

Furthermore, a 0-120 degree rotating groove (19) and a limit pin (20) are arranged at the knee joint, so that the range of motion of the knee joint between 0-120 degrees is further ensured.

Further: the support of the body weight is realized by that after the thigh support tube (1) is connected with the waistline bearing movable ring (12), the nylon pocket belt (18) on the waistline bearing movable ring (12) pockets the buttocks to form a seat to realize the squatting function.

Further: waistline bearing looper (12) design is for having hinge looper (17) of waistline size regulation hole, can select the mounting hole of different positions as required, can adjust waistline size of a dimension to be fit for different waistlines personnel and use, waistline bearing looper (12) adopt hinge (17) to open the structure, can open the closed convenient wearing.

Further: thigh stay tube (1) and shank stay tube (2) adopt length adjustable structure, through pressing adjustment button, adjustable big or small leg stay tube length to adapt to different height personnel and use.

And a further step: the waist-line bearing loop (12) is tied on the waist through a waist-line tightening nylon belt (13) to be combined and fixed with the body, and the nylon pocket belt (18) is hung on the waist-line bearing loop (12) through a metal hook (16) capable of adjusting the length of the nylon belt. The big and small leg supporting tubes are provided with a bandage fixing clip (7) which can pass through a magic tape bandage (33) with a thread gluing, and a thigh binding cushion (31) and a shank binding cushion (32) are padded in the middle to fasten the thigh part and the shank ankle part.

The technical scheme for realizing the purpose is as follows:

the invention can adopt rectangular stainless steel, aluminum alloy pipes or carbon fiber materials as the large and small leg supporting pipes according to the requirements, the scheme adopts an aluminum alloy hollow pipe, the knee parts connected with the large and small leg supporting pipes are provided with aluminum alloy knee joint connecting plates which are connected by adopting a rotating pin shaft, a controllable ratchet wheel combination structure is arranged between the two knee joint connecting plates, a ratchet wheel is fixed with the thigh supporting pipe knee joint connecting plate by a pin, a pawl is arranged on the shank supporting pipe knee joint connecting plate and is positioned by the rotating pin shaft, one end of a pawl tension spring is hung on the pawl, the other end of the pawl tension spring is hung on a clutch mandril base to form elastic traction on the pawl, the pawl clutch mandril penetrates a clutch reset spring and is positioned by an open retainer ring and is arranged on the clutch mandril base, a traction steel wire rope is inserted into a hole position, the pedal rotating plate rotates up and down by being fastened by jackscrews, and the pedal rotating lever pulls the steel wire rope to adjust the working position of the pawl and change the meshing state of the pawl and the ratchet wheel.

Waistline bearing looper plays the seat effect that bears health weight, it adopts the stainless steel area preparation, the four sides are convenient for open for hinge structure and dress, waistline bearing looper design has the size regulation hole, adjustable waistline size, it has nylon ring and the adjustable nylon belt of length to wear on it is in the waist with convenient system, install the buttock nylon pocket area of nylon belt preparation on the waistline bearing looper, play the usage of seat, the adjustable buttock pocket area elasticity of nylon pocket area couple of nylon pocket area tip, the health bearing constitutes the buttock seat by waistline bearing looper and nylon pocket area and supports, support human weight with the help of mechanical legs overall structure, form the position of sitting, reduce the health weight that the shank bore. The pedal support is provided with a nylon magic shoe-sticking bandage, so that the shoes and the pedal support can be tightly bound, and the walking is more flexible.

The beneficial effects produced by the invention are as follows:

1. the structure is simple and light, the cost is low, external power such as batteries is not used, and the device can be used for a long time.

2. The power-assisted mechanical leg is suitable for old people and people suffering from leg diseases, and can form a power-assisted effect due to the supporting capability of the power-assisted mechanical leg when walking and going upstairs, so that the knee bearing capacity is reduced, and meanwhile, the assisting force of nursing personnel can be reduced.

3. Can be used for squatting and sitting at any time, and also can reduce the physical strength of users and nursing staff.

4. The support device is also suitable for workers who stand for a long time, such as automobile assembly line operators and medical staff who stand for a long time on an operating table, and can rest by means of the support of the mechanical legs when the workers stand, so that the physical burden of standing for a long time is greatly reduced.

Description of the drawings:

FIG. 1: appearance schematic diagram of overall structure of power-assisted mechanical leg

In the figure: (1) thigh support pipe (2), shank support pipe (3), hip joint bearing (4), knee joint protective cover (5), pawl manual adjusting button (6), steel wire rope pipe (7), bandage fixing clamp (8), ankle joint bearing (9), pedal bracket protective cover (10), shoe bandage (11), pedal bracket (12), waist bearing movable ring

FIG. 2: waist bearing movable ring structure diagram

In the figure: (13) nylon belt (14), nylon belt ring (15), plastic buckle (16), nylon pocket belt hook (17), bearing movable ring hinge (18), nylon pocket belt (34) and hip joint fixing plate

FIG. 3: schematic illustration of knee joint structure

In the figure: (19) a rotating groove (20), a limit pin (21), a ratchet wheel (22), a pawl (23), a pawl tension spring (24), a pawl clutch mandril (25), a reset mandril spring (26), a traction steel wire rope (27) and a clutch mandril base

FIG. 4: separation diagram of pawl and ratchet wheel

FIG. 5: schematic structure of pedal support

In the figure: (28) pulling lever of pedal rotating plate (29)

FIG. 6: schematic pedal level of pedal rotating plate

FIG. 7: structural schematic diagram of pawl manual reset hook

In the figure: (30) pawl manual separation hook

FIG. 8: schematic diagram of appearance structure of knee joint

FIG. 9: pedal support stereo view

FIG. 10: schematic diagram of nylon band for binding large and small legs

In the figure: (31) thigh binding soft cushion (32) and shank binding soft cushion (33) magic tape buckle

The specific implementation mode is as follows:

the invention relates to an unpowered walking assistance mechanical leg capable of realizing squatting and resting, which has the following specific implementation modes:

when the waist-ankle joint is worn, the nylon belt can be inserted and buckled on a seat, the waist-bearing movable ring hinge is opened, the nylon belt is buckled between the waist, the waist-bearing movable ring is hung and buckled at a proper hole position, the pedal bracket is stepped on by feet, the thigh-binding nylon belt is tied at the root of a thigh, the nylon belt of the pedal bracket is tied at a vamp, the hip of the nylon belt is pocketed, the hook is hung on the waist-bearing movable ring, the. When the walking machine stands, the pedal rotating plate is stepped, the pawl reset ejector rod is pulled through the traction steel wire rope to be disengaged from the pawl, the pawl is meshed with the ratchet wheel under the pulling of the pawl tension spring, the ratchet wheel at the knee joint produces a clicking sound, namely the ratchet wheel performs unidirectional rotation action, the body feels mechanical leg supporting force when squatting, when one leg lifts to step, the pedal rotating pedal is disengaged from the traction of the pawl reset ejector rod, the pawl clutch ejector rod is jacked under the elastic force of the ejector rod reset spring to jack the pawl, the pawl is separated from the ratchet wheel to be meshed, the knee joint is in a free rotating state at the moment, walking can be performed by stepping, after the foot falls to the ground, the pedal rotating plate is stepped, the pawl clutch ejector rod is pulled through the steel wire rope to return to the pawl ratchet wheel meshing state, and the left leg and the right leg perform stepping. If the knee joint does not need to have a one-way self-locking function, the manual adjusting button of the pawl can be shifted upwards to pull the pawl to be disengaged from the ratchet wheel, and the walking state is the same as the normal walking state.

The squatting height adjusting method comprises three methods:

1. when one leg takes a step forward, the bending degree of the landing leg is controlled, when the other leg takes a step and lands, the same bending degree is also controlled, and the body weight can be supported by the mechanical legs after the two legs land.

2. Standing on both legs, standing on tiptoe tip (making the pedal rotating plate leave the ground) to bend the legs downwards, and landing the heels when the height is required, so that the bending angle can be kept.

3. Standing on both feet, using both hands to dial the manual adjusting button of the pawl upwards, the knee can be freely bent to a proper position, and then resetting the manual adjusting button of the pawl.

When squatting, the user needs to pay attention to the fact that the gravity center of the body slightly leans forward or the user holds objects by hands to ensure the stability of the body. If the back of the body is provided with a leaning object, the chair is completely as stable as a chair.

The embodiments of the present invention have been described in detail, but the description is only for the preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.

Claims

1. A walking power-assisted mechanical leg that can squat and rest without power, adopts metal hollow tube material as leg exoskeleton support, it is characterized in that: thigh support tube and calf support tube knee joint part adopts controllable pawl ratchet combination structure , simulating the rotation or support action required by the knee joint when walking and standing, the engagement and separation of the pawl ratchet is controlled by the pawl clutch ejector rod according to the walking state, the thigh support tube and the calf support tube are at the hip joint and the ankle joint The joint bearings with 3 degrees of freedom are installed at each place, the thigh support tube hip joint bearing is connected with the waist bearing ring, and the calf support tube ankle joint bearing is connected with the pedal bracket, simulating the movements of the hip joint, knee joint and ankle joint when walking , The waist is a load-bearing loop at the waist, and a nylon belt like a seat is made. When squatting and resting, the nylon belt covers the buttocks to bear the weight of the body. When walking, it can simulate all the joint motion characteristics of the human body. At the same time, the knee joint is set There is a manual adjustment button for the pawl, and the manual adjustment button for the pawl can completely separate the engagement between the pawl and the ratchet, so as to facilitate the use in various situations, and realize the functions of walking assistance and squatting rest.

2. The walking power-assisted mechanical leg that can squat and rest without power according to claim 1, wherein the engagement and separation of the pawl and the ratchet wheel at the knee joint are controlled by the pawl clutch ejector rod, When the foot is on the ground, the pawl clutch ejector rod is pulled by the traction wire rope and separated from the pawl, and the pawl is pulled by the pawl tension spring, so that the pawl and ratchet are reset and engaged, and they can only rotate in one direction, that is, they can stand upright when their knees are bent. Lift up, lock when squatting, play a support function.

3. The walking power-assisted mechanical leg that can squat and rest without power according to claim 2, characterized in that: in the detent clutch ejector device, the elastic force of the clutch return spring is greater than that of the detent tension spring When the traction wire rope is released, the clutch return spring overcomes the tension of the pawl tension spring, and lifts the pawl clutch ejector rod, so that the pawl rotates away from the ratchet wheel, that is, when the foot lifts off the ground, the traction wire rope is released to the pawl clutch ejector rod. With the traction, the clutch return spring of the pawl clutch ejector springs up, so that the pawl is separated from the ratchet wheel, and the knee can bend freely.

4. The walking power-assisted mechanical leg that can squat and rest without power according to claim 3, characterized in that: the detent clutch ejector rod traction wire rope is connected with the pedal rotating plate and the pull wire lever, and is installed in the On the pedal bracket, when walking, the feet fall to the ground and lift, press the pedal rotating plate and the cable lever, and pull the ratchet clutch ejector rod to pull down and reset, so as to control the separation and meshing state of the pawl and the ratchet.

5. a kind of unpowered walking power-assisted mechanical leg that can squat and rest according to claim 1 is characterized in that: the rotation angle of the pawl and ratchet wheel is designed to be between 0-120°, and at the same time, between the knee joints, there is a 0° The locking mechanism of the rotation groove and the limit pin between -120° further ensures the rotation range of the knee joint, that is, the human body can squat and rest at any position where the thigh is upright and squatting at 120°.

6. a kind of unpowered walking assist mechanical leg that can squat and rest according to claim 1 is characterized in that: the joint bearing is designed at the hip joint position and the ankle joint, to ensure that the hip joint and the ankle joint have the same The same three degrees of freedom movement of the joint and the ankle joint can realize the torsional movement of the human leg in the front, rear, left, right and vertical directions. The joint bearing of the thigh support tube is connected with the waist ring through the hip joint fixing plate.

7 . The walking power-assisted mechanical leg without power that can squat and rest according to claim 1 , wherein the waist bearing loop is composed of a waist loop hinge with an adjustment hole that can adjust the waist size. 8 . , The waist size can be adjusted to adapt to the use of people of different sizes. It has a waist-fastening nylon belt that can be tied around the waist. It is connected by a plastic buckle, and the front end of the nylon belt has a nylon belt hook with adjustable length. Structure, hangs on waist loop, waist loop and fastened nylon strap can be opened for easy donning.

8. The walking-assisting mechanical leg that can squat and rest without power according to claim 1, characterized in that: the pedal support is provided with Velcro nylon shoe straps to fasten the connection with the shoes and pass the ankle The spherical plain bearing is connected with the calf support tube.

9 . The walking power-assisted mechanical leg without power that can squat and rest according to claim 1 , wherein the manual adjustment button of the pawl can move the ratchet upward when the one-way rotation function of the ratchet wheel is not required. 10 . The pawl manual adjustment button disengages the engagement of the ratchet pawl to facilitate the use in various situations, and has the same function as the free movement of the knee joint when the foot is lifted.

10. A walking-assist mechanical leg without power that can squat and rest according to claim 1, wherein the large and calf support tubes have the function of adjustable length, so as to be suitable for people of different heights, and the large , The calf support tube is tied to the thigh and ankle through the fixing card fixed on the tube, so that the leg and the mechanical leg are connected and fixed, and the knee joint and ankle joint are pasted with anti-abrasion. Upholstered.