CN112704627B - Hip-knee hybrid drive walker with brake - Google Patents
Hip-knee hybrid drive walker with brake Download PDFInfo
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- CN112704627B CN112704627B CN202011624776.2A CN202011624776A CN112704627B CN 112704627 B CN112704627 B CN 112704627B CN 202011624776 A CN202011624776 A CN 202011624776A CN 112704627 B CN112704627 B CN 112704627B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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Abstract
本发明提供一种带制动的髋膝混合驱动助行器，用于辅助行走，包括：腰部固定件，放置于使用者腰部的后方，用于固定腰部；腰带，穿过腰部固定件缠绕于使用者的腰部，与腰部固定件配合固定使用者的腰部，且腰带侧面还套设有悬挂固定件；髋关节模块，通过悬挂固定件连接于腰带上，用于使用者髋关节的运动；膝关节模块，通过传动带与髋关节模块反向连接，用于使用者膝关节的运动；第一大腿杆件，与髋关节模块连接；第二大腿杆件，与膝关节模块连接，且与第一大腿杆件通过螺钉锁紧固定，还与第一大腿杆件配合，进而根据第一大腿杆件和第二大腿杆件的长度调节传动带的长度；小腿护板，与膝关节模块通过销轴连接，贴附于使用者的小腿前方。
The present invention provides a hip-knee hybrid drive walker with brakes, which is used for assisting walking and comprises: a waist fixing piece, which is placed behind the waist of a user and is used for fixing the waist; a waist belt, which passes through the waist fixing piece and is wrapped around the waist of the user, and cooperates with the waist fixing piece to fix the waist of the user, and a suspension fixing piece is also sleeved on the side of the waist belt; a hip joint module, which is connected to the waist belt through the suspension fixing piece and is used for the movement of the user's hip joint; a knee joint module, which is reversely connected to the hip joint module through a transmission belt and is used for the movement of the user's knee joint; a first thigh rod, which is connected to the hip joint module; a second thigh rod, which is connected to the knee joint module and is locked and fixed to the first thigh rod by screws, and is also cooperated with the first thigh rod, so as to adjust the length of the transmission belt according to the length of the first thigh rod and the second thigh rod; a calf guard, which is connected to the knee joint module through a pin shaft and is attached to the front of the user's calf.
Description
Technical Field
The invention belongs to the field of exoskeleton assisting walking, and particularly relates to a hip-knee hybrid driving walker with a brake.
Background
The lower limb exoskeleton robot is an important solution for assisting walking and assisting and promoting the pleasure of the elderly, disabled and related movement dysfunction. Among them, knee joint is an important ring for realizing the exoskeleton function of lower limbs. The existing exoskeleton robot mainly has the modes of direct motor driving, hydraulic driving, pneumatic driving and the like, but has the problems of huge volume, poor wearability, and contradiction between weight and battery endurance, such as the prior art:
1. The Chinese patent publication No. CN107582334A discloses an exoskeleton robot and a knee joint part thereof, wherein the knee joint part comprises a knee joint driving assembly and a knee joint transmission assembly, the knee joint driving assembly comprises a knee joint friction wheel, and the knee joint transmission assembly is in friction connection with the knee joint friction wheel so as to rotate under the friction drive of the knee joint friction wheel. However, there is a certain hidden trouble in the actual operation, for example, when the battery is not powered up during the outdoor operation, the user cannot continue to walk.
2. The Chinese patent publication No. CN108186294A discloses a lower limb rehabilitation exoskeleton system and a master-slave adjustable joint thereof. Comprises a waist wearing unit, a hip joint unit, a thigh rod unit, a knee joint unit, a shank rod unit, an ankle joint unit and a sole unit which are connected with each other. The volume is huge, the structure is complex, the wearability is poor, and the outdoor activities are not facilitated.
In summary, the existing structure is too dependent on structural design, the applicable gait is less, the upslope upstairs cannot do positive work, no energy interaction mechanism exists between the hip and the knee, and further energy conservation is difficult. Therefore, it is necessary to design a structure capable of solving the above-mentioned problems.
Disclosure of Invention
The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a hip-knee hybrid drive walker with a brake.
The invention provides a hip-knee hybrid driving walker with a brake, which is used for assisting walking and is characterized by comprising a waist fixing piece, a waistband, a waist belt, a hip joint module, a knee joint module, a first thigh rod piece, a second thigh rod piece, a knee joint guard plate and a pin shaft, wherein the waist fixing piece is placed behind the waist of a user and is used for fixing the waist, the waistband penetrates through the waist fixing piece and is wound on the waist of the user, the waist fixing piece is matched with the waist fixing piece to fix the waist of the user, a suspension fixing piece connected with the waist fixing piece is sleeved on the side face of the waistband, the hip joint module is connected to the waistband through the suspension fixing piece and is used for the movement of the hip joint of the user, the knee joint module is reversely connected with the hip joint module through a driving belt and is matched with the hip joint module to enable the user to walk, the first thigh rod piece is connected with the hip joint module, the second thigh rod piece is connected with the knee joint module and is locked and fixed with the first thigh rod piece through a screw, and further is matched with the first thigh rod piece, and the length of the driving belt is adjusted according to the length of the first thigh rod piece and the second thigh rod piece, and the knee joint module is attached to the front of the user.
The hip-knee hybrid driving walker with the brake can be further characterized in that the length of the suspension fixing piece is adjusted through screws, and a waist fixing supporting piece for supporting the waist is further connected below the suspension fixing piece.
The hip-knee hybrid driving walker with the brake can be further characterized in that the knee joint module is fixed on the thigh and the calf of a user through the binding bands, and the binding bands at the calf are matched with the calf guard plate, so that the calf is firmly bound, and the moment of the knee joint is transmitted to the calf.
The hip-knee hybrid driving walker with the brake can be further characterized in that the hip joint module comprises a motor, a first rotating shaft, a first belt pulley, a first bearing, a hip joint elastic output disc and a first thigh rod piece, wherein the motor is fixed on the suspension fixing piece through a motor fixing plate and is connected with the suspension fixing piece and the waist fixing supporting piece to serve as an output base, one end of the first rotating shaft is connected with a rotor of the motor through a flange, the first belt pulley is sleeved on the first rotating shaft, a driving belt is sleeved outside the first belt pulley, the clutch is provided with a movable end coaxially connected with the first belt pulley and a fixed end connected with the first rotating shaft, the first bearing is sleeved on the first rotating shaft and is arranged adjacent to the clutch, the hip joint elastic output disc is fixedly connected with the first thigh rod piece through a screw and is provided with a first inner ring directly connected with the first rotating shaft and a first outer ring connected with a first thigh connecting rod, and when the movable end of the clutch is meshed with the fixed end of the clutch, the fixed end of the clutch drives the clutch to rotate together with the movable end of the clutch and transmits torque, and when the fixed end of the clutch is separated from the movable end of the clutch, and the movable end of the clutch is free of the first belt pulley and the first belt pulley is not constrained from the first belt.
The hip-knee hybrid driving walker with the brake can be further characterized in that the first inner ring and the first outer ring are connected through the elastic section to form a disc-shaped torsion spring for storing energy or serving as a torque measuring unit for monitoring torque in real time, and two round holes are formed in the bottom of the first outer ring along the direction of the first rotating shaft and used for allowing screws to pass through, so that the hip joint elastic output disc is fixed on the first thigh rod piece.
The hip-knee hybrid driving walker with the brake can be characterized in that the knee joint module comprises a second belt pulley, a brake, a second rotating shaft, a knee joint elastic output disc and a second inner ring, wherein the second belt pulley is sleeved with a transmission belt and is connected with the first belt pulley in a reverse mode through the transmission belt, the brake is fixedly connected with a second thigh rod piece through a brake fixing plate and is provided with a brake fixing end and a brake movable end, the fixed connection position is the brake fixing end, the brake movable end is connected with the second belt pulley, the second rotating shaft is arranged inside the second belt pulley and is fixed on the second rotating shaft through a second bearing on the second rotating shaft, the knee joint elastic output disc is provided with a second inner ring fixedly connected with the brake movable end and the second belt pulley and a second outer ring connected with a shank guard plate through a pin shaft, and when the second outer ring and the brake fixing plate are disconnected with the brake movable end, and when the brake fixing plate is meshed with the brake movable end, the relative positions of the brake fixing end and the brake fixing end are kept motionless.
The hip-knee hybrid driving walker with the brake can be characterized in that the second inner ring and the second outer ring are connected through the elastic section to form a disc-shaped torsion spring for storing energy or serving as a torque measuring unit for monitoring torque in real time, and the bottom of the second outer ring is provided with a long hole along the horizontal direction, and the long hole is used for the passing of a pin shaft, so that the knee joint elastic output disc has 1 degree of freedom of movement in the coronal plane of a human body and further rotates.
Effects and effects of the invention
According to the hip-knee hybrid driving walker with brake, the waist belt is tightly tied with the waist of a human body, so that the hip joint module and the knee joint module can be prevented from sliding downwards due to gravity, the length of the suspension fixing piece can be modified according to different requirements because the hip joint module and the knee joint module are connected to the waist belt through the suspension fixing piece, the first thigh rod piece is connected with the hip joint module, the second thigh rod piece is connected with the knee joint module, and the knee joint module and the hip joint module are reversely connected through the transmission belt, the knee joint module and the hip joint module can reversely move, the length of the second thigh rod piece and the first thigh rod piece can be fixed through screw locking, the length of the knee joint module and the hip joint module can be adjusted, the tightness of the transmission belt can be adjusted, the waist belt is further sleeved with the suspension fixing piece connected with the waist fixing piece, and torque output can be achieved through the waist as a fixed base.
Therefore, the hip-knee hybrid driving walker with the brake is simple and portable in structure and convenient to wear, an energy interaction path between hip-knee elastic bodies is established, an energy-saving control mechanism is optimized, active hip-knee linkage is realized through the cooperation of a motor and a clutch, and the energy injection requirement of lifting the gravity center of a upslope upstairs and the like is met.
Drawings
FIG. 1 is a schematic structural view of a braked hip-knee hybrid drive walker in accordance with an embodiment of the present invention;
FIG. 2 is a schematic wearing view of a braked hip-knee hybrid drive walker in an embodiment of the present invention;
FIG. 3 is a schematic illustration of the connection of a hip module to a knee module of a braked hip-knee hybrid drive walker in an embodiment of the present invention;
FIG. 4 is a cross-sectional view of a hip module of a braked hip-knee hybrid drive walker in an embodiment of the present invention;
FIG. 5 is a cross-sectional view of a braked hip-knee hybrid drive walker hip joint module in an embodiment of the present invention;
FIG. 6 is a schematic view of a hip joint spring output disc of a braked hip-knee hybrid drive walker in an embodiment of the present invention;
FIG. 7 is a schematic perspective view of a knee module of a braked hip-knee hybrid drive walker in an embodiment of the present invention;
FIG. 8 is a cross-sectional view of a knee module of a braked hip-knee hybrid drive walker in an embodiment of the present invention;
FIG. 9 is a cross-sectional view of a knee module of a braked hip-knee hybrid drive walker in an embodiment of the present invention;
FIG. 10 is a schematic view of a knee resilient output disc of a braked hip-knee hybrid drive walker in an embodiment of the present invention;
FIG. 11 is a schematic diagram of the clutch and brake operating phases of a braked hip-knee hybrid drive walker in an embodiment of the present invention;
fig. 12 is a schematic representation of the principle of operation of a braked hip-knee hybrid drive walker in an embodiment of the present invention.
Detailed Description
In order to make the technical means and effects of the present invention easy to understand, the present invention will be specifically described with reference to the following examples and the accompanying drawings.
Examples:
As shown in fig. 1 and 2, the hip-knee hybrid driving walker 100 with brake of the present embodiment is used for assisting walking, and comprises a waist fixing member 1, a waistband 2, a hip joint module 3, a knee joint module 4, a first thigh bar 5, a second thigh bar 6 and a shank shield 7.
The waist fixing member 1 is placed behind the waist of the user for fixing the waist.
The waistband 2 passes through the waist fixing piece 1 and winds around the waist of the user, the waistband is matched with the waist fixing piece 1 to fix the waist of the user, and the side surface of the waistband 2 is also sleeved with a hanging fixing piece 8 connected with the waist fixing piece 1.
As shown in fig. 3-6, the hip module 3 is connected to the belt 2 by a suspension fixture 8 for movement of the hip joint of a user, comprising a motor 301, a first shaft 302, a first pulley 303, a clutch 304, a first bearing 305 and a hip joint elastic output disc 306.
The motor 301 is fixed to the suspension mount 8 by a motor fixing plate 307 so as to be connected to the suspension mount 8 and the waist mount 1 for use as an output base, wherein the motor fixing plate 307 is fastened to the suspension mount 8 by screws.
In this embodiment, the suspension fixture 8 is not a strap but a metal member, and the length is adjusted by a screw.
One end of the first rotating shaft 302 is connected with the rotor of the motor 301 through a flange.
The first belt wheel 303 is sleeved on the first rotating shaft 302, and the outside of the first belt wheel is sleeved with a driving belt 9
The clutch 304 has a clutch movable end 3041 coaxially connected with the first pulley 303 and a clutch fixed end 3042 connected with the first rotating shaft 302, wherein the output force can be calculated by the elastic principle of the elastic unit, as the first rotating shaft is directly connected with the first inner ring while the first outer ring is connected with the first thigh link 5, so that the torque can be transferred to the hip joint elastic output disc 306.
The first bearing 305 is sleeved on the first rotating shaft 302 and is disposed adjacent to the clutch 304.
The hip joint elastic output disc 306 is fixedly connected with the first thigh rod 5 through a screw, and is provided with a first inner ring which is directly connected with the first rotating shaft 302 and a first outer ring which is connected with the first thigh rod 5, wherein the first inner ring is connected with the first outer ring through an elastic section to form a disc-shaped torsion spring for storing energy or serving as a torque measuring unit for monitoring torque in real time, and two round holes 3061 are formed in the bottom of the first outer ring along the direction of the first rotating shaft 302 and used for the passing of the screw, so that the hip joint elastic output disc 306 is fixed on the first thigh rod 5.
In this embodiment, when the clutch-moving end 3041 is engaged with the clutch-fixed end 3042, the clutch-fixed end 3042 drives the clutch-moving end 3041 and the first pulley 303 to rotate together and transmit torque, and when the clutch-fixed end 3042 is disengaged from the clutch-moving end 3041, there is no constraint between the clutch-moving end 3042 and the first pulley 303, and no torque or resistance is transmitted.
As shown in fig. 7 to 10, the knee joint module 4 is reversely connected with the hip joint module 3 through the driving belt 9 and is fixed on the thigh and the calf of the user through the binding belt 12 for the movement of the knee joint of the user, and the binding belt 12 at the calf is matched with the calf guard 7 so as to bind the calf firmly, thereby transmitting the moment of the knee joint to the calf, and is matched with the hip joint module 3 so as to enable the user to walk, comprising a second belt wheel 401, a brake 402, a second bearing 403 and a knee joint elastic output disc 404.
The second pulley 401 is externally fitted with a belt 9 and is connected in reverse to the first pulley 303 by the belt 9.
The brake 402 is fixedly connected with the second thigh rod piece 6 through a brake fixing plate 405, and is provided with a brake fixing end 4021 and a brake movable end 4022, the brake fixing end 4021 is arranged at the fixed connection position, and the brake movable end 4022 is fixedly connected with the second belt wheel 401 through a countersunk head screw.
The second rotating shaft 403 is disposed inside the second pulley 401, and the second pulley 401 is fixed on the second rotating shaft 403 through a second bearing on the second rotating shaft 403.
The knee joint elastic output disc 404 is provided with a second inner ring fixedly connected with the brake movable end 4022 and the second belt pulley 401 and a second outer ring connected with the shank guard plate through a pin shaft, wherein the second inner ring is connected with the second outer ring through an elastic section to form a disc-shaped torsion spring for storing energy or serving as a torque measuring unit for monitoring torque in real time, a long hole 4041 is formed in the bottom of the second outer ring along the horizontal direction, and the long hole 4041 is used for the passing of the pin shaft, so that the knee joint elastic output disc 404 has 1 movable degree of freedom in a human crown surface and further rotates.
In this embodiment, when the second outer race and the brake fixing plate 405 are disconnected from the brake movable end 4022, the three rotate together, and when the brake fixing plate 405 is engaged with the brake movable end 4022, the relative positions of the brake movable end 4022 and the brake fixed end 4021 remain stationary.
The first thigh bar 5 is connected with the hip module 3.
The second thigh member bar 6 is connected with the knee joint module 4, is locked and fixed with the first thigh member bar 5 through a screw, is matched with the first thigh member bar 5, and further adjusts the length of the transmission belt 9 according to the lengths of the first thigh member bar 5 and the second thigh member bar 6, so that length adjustment and tightness adjustment of the transmission belt 9 are realized.
The shank guard 7 is connected with the knee joint module 4 through a pin shaft and is attached to the front of the shank of a user and used for fixing the shank of the user, and the shape of the shank guard 7 is fit with the shape of the shank of a human body.
The hip-knee hybrid driving walker 100 with brake of the present embodiment is worn on the body of a user and is fixed by the strap 10, and the operation phases of the clutch 304 of the hip joint module 3 and the brake 402 of the knee joint module 4 are as shown in fig. 11 and the operation principle is as shown in fig. 12.
A in fig. 11 is a starting heel strike condition, taking a right leg as an example, the following procedure is adopted:
When the support leg is grounded, the brake 402 of the knee joint module 4 is engaged, and the clutch 304 of the hip joint module 3 is disconnected, so that the knee joint elastic output disc 404 acts as a torsion spring, preferably the stiffness of the torsion spring, as shown in fig. 12. The motor 301 casing is fixed with the lumbar fixing support, and the motor is driven to the first inner ring by the motor output disc connected with the hip joint elastic output disc through a key according to a preset torque curve or a rotation angle curve, and the output torque or the rotation angle of the first inner ring is controlled by the motor output disc through a first rotation shaft, and a possible control mode is as follows:
Taking the example of the ground leveling behavior, starting from the moment of supporting the heel to land, at this time, the brake 402 of the knee joint module 4 is locked to fix the second inner ring or the second outer ring of the knee joint elastic output disc 404 with the second thigh rod 6, at this time, the bending of the exoskeleton knee joint is resisted by the elastic restoring torque of the knee joint elastic output disc 404, so that the knee joint tends to be in a straightened state.
When the hip joint module 3 extends along the limb of the wearer (swings backwards) and the thigh axis forms an included angle with the vertical line is larger than 0, the motor drives the first inner ring of the hip joint elastic output disc 306 to rotate, so that the first outer ring rotates along with the first outer ring to complete the extending action of the first thigh rod 5 and the second thigh rod 6, but the rotating speed/rotating angle of the first inner ring is kept larger than that of the first outer ring until the exoskeleton thigh axis forms a zero included angle with the vertical line, the hip joint elastic output disc 306 compresses and stores energy positively to assist the thigh to swing backwards and overcome the gravity, and when the supporting leg hip joint extends (swings backwards) and the thigh axis continues to swing backwards through the vertical line, the motor 301 stops or continues to extend at a speed slower than the extending speed of the thigh until the first thigh rod 5 and the second thigh rod 6 naturally stop along with the thigh of the wearer, in the process, the hip joint elastic output disc 306 compresses and stores energy reversely, and captures gravitational potential energy and the gravity energy in the falling process, in the process, and the knee joint module 4 is locked by the brake 402 to fix the second outer ring with the second thigh rod 6 or the second inner ring 6.
When the wearer's thigh is then swung to the extreme position and begins to bend (forward swing), the clutch 304 of the hip module 3 is activated, causing the first inner race of the hip elastic output disc 306 to connect with the first pulley, and the motor 301 is de-energized or torque-controlled, and the first shaft 302 and first inner race are de-energized, and energy is stored in the hip elastic output disc 306, the first inner race of the hip elastic output disc 306 will tend to rotate in the direction that releases energy (in the opposite direction to the bending direction, i.e., the outer race begins to swing forward, the inner race swings backward), and is transferred through the first pulley to the knee elastic output disc 404, at which time the brake 402 of the knee module 4 is released again, thereby helping the knee to achieve a brief extension (because the belt 9 is wound in a figure 8, the first pulley 303 and the second pulley 401 are counter-rotated) until the inner and outer races of the hip elastic output disc 305 are at a consistent angle, and the potential energy is zero. Thereafter, the hip module 3 continues to bend (swing forward) with the limb of the wearer, at which time the first pulley 303 at the hip module 3 swings forward with the thigh bending, the belt 9 drives the knee elastic output disc 404, and the auxiliary knee module 4 bends with the wearer, during which the support leg naturally leaves the ground and is converted into a swing leg. When it is detected that the wearer's swing legs are again extended, the clutch 304 of the hip module 3 is again released, decoupling the knee module 4 and the hip module 3 movement. When the swing leg is detected to be about to land and the knee joint approaches flexion and extension, the brake 402 of the knee joint module 4 is activated again.
Effects and effects of the examples
According to the hip-knee hybrid driving walker with brake, the hip joint module and the knee joint module can be prevented from sliding downwards due to gravity because the waistband is tightly tied with the waist of a human body, the length of the hanging fixing piece can be modified according to different requirements because the hip joint module and the knee joint module are connected to the waistband through the hanging fixing piece, the first thigh rod piece is connected with the hip joint module, the second thigh rod piece is connected with the knee joint module, the knee joint module and the hip joint module are reversely connected through the transmission belt, reverse movement between the knee joint module and the hip joint module can be achieved, the length between the knee joint module and the hip joint module can be adjusted due to the fact that the second thigh rod piece and the first thigh rod piece are fixed through screw locking, and the tightness of the transmission belt can be adjusted, and torque output can be achieved through the waist serving as a fixed base because the waistband side face is also sleeved with the hanging fixing piece connected with the waist fixing piece.
According to the hip-knee hybrid driving walker with brake according to the present embodiment, since the straps are used, the knee joint module can be fixed to the thighs and calves of the user.
According to the hip-knee hybrid driving walker with brake according to the present embodiment, since the hip joint module has the motor, the first rotating shaft, the first pulley, the clutch, the first bearing and the hip joint elastic output disc which are mutually matched, when the clutch movable end is engaged with the clutch fixed end, the clutch movable end and the first pulley are driven to rotate together by the clutch fixed end and transmit torque, and when the clutch fixed end is disengaged from the clutch movable end, there is no constraint between the clutch movable end and the first pulley, and no torque and no resistance are transmitted.
According to the hip-knee hybrid driving walker with brake according to the present embodiment, since the knee joint module has the second pulley, the brake, the second rotating shaft, and the knee joint elastic output disc that are engaged with each other, the second outer race of the knee joint elastic output disc and the brake fixing plate can rotate together when the brake fixing plate is disengaged from the brake movable end, and the relative positions of the brake movable end and the brake fixing end are maintained when the brake fixing plate is engaged with the brake movable end.
Therefore, the hip-knee hybrid driving walker with the brake is simple and portable in structure and convenient to wear, an energy interaction path between hip-knee elastic bodies is established, an energy-saving control mechanism is optimized, active hip-knee linkage is realized through the cooperation of a motor and a clutch, and the energy injection requirement of lifting the gravity center of a upslope and the like is met.
The above embodiments are preferred examples of the present invention, and are not intended to limit the scope of the present invention.
Claims (4)
1. A hip-knee hybrid drive walker with braking for assisting walking, comprising:
The waist fixing piece is placed behind the waist of the user and is used for fixing the waist;
The waistband passes through the waist fixing piece and is wound on the waist of a user, the waistband is matched with the waist fixing piece to fix the waist of the user, and the side surface of the waistband is also sleeved with a hanging fixing piece connected with the waist fixing piece;
A hip module connected to the belt by the suspension fixture for movement of a user's hip;
The knee joint module is reversely connected with the hip joint module through a transmission belt, is used for the movement of a knee joint of a user, and is matched with the hip joint module, so that the user walks;
A first thigh link connected with the hip module;
a second thigh rod connected with the knee joint module, locked and fixed with the first thigh rod by a screw, and matched with the first thigh rod, so as to adjust the length of the transmission belt according to the lengths of the first thigh rod and the second thigh rod, and
The shank guard board is connected with the knee joint module through a pin shaft and is attached to the front of the shank of a user,
Wherein the hip module comprises:
the motor is fixed on the suspension fixing piece through a motor fixing plate, so as to be connected with the suspension fixing piece and the waist fixing piece and used as an output base;
one end of the first rotating shaft is connected with a rotor of the motor through a flange;
the first belt wheel is sleeved on the first rotating shaft, and the transmission belt is sleeved outside the first belt wheel;
a clutch having a clutch movable end coaxially connected with the first pulley and a clutch fixed end connected with the first rotation shaft;
A first bearing sleeved on the first rotating shaft and arranged adjacent to the clutch, and
The hip joint elastic output disc is fixedly connected with the first thigh rod piece through a screw and is provided with a first inner ring directly connected with the first rotating shaft and a first outer ring connected with the first thigh connecting rod,
Wherein when the clutch movable end is engaged with the clutch fixed end, the clutch fixed end drives the clutch movable end and the first belt wheel to rotate together and transmit torque, and when the clutch fixed end is separated from the clutch movable end, the clutch movable end and the first belt wheel are not restrained, and torque and resistance are not transmitted,
The first inner ring and the first outer ring are connected through an elastic section to form a disc-shaped torsion spring which is used for storing energy or used as a torque measuring unit for monitoring torque in real time,
Two round holes are formed in the bottom of the first outer ring along the direction of the first rotating shaft and used for the screws to pass through so as to fix the hip joint elastic output disc on the first thigh rod piece,
The knee joint module is fixed on thighs and calves of a user through the binding bands, and the binding bands at the calves are matched with the shank guard plates, so that the calves are firmly bound, and the moment of the knee joint is transmitted to the calves.
2. The braked hip-knee hybrid drive walker of claim 1 wherein:
the length of the suspension fixing piece is adjusted through the screw.
3. The braked hip-knee hybrid drive walker of claim 1 wherein:
wherein the knee joint module comprises:
the second belt wheel is sleeved with the driving belt, and is reversely connected with the first belt wheel through the driving belt;
The brake is fixedly connected with the second thigh rod piece through a brake fixing plate and is provided with a brake fixing end and a brake movable end, the fixed connection part is the brake fixing end, and the brake movable end is connected with a second belt wheel;
A second rotating shaft arranged inside the second belt wheel and fixed on the second rotating shaft through a second bearing on the second rotating shaft, and
The knee joint elastic output disc is provided with a second inner ring fixedly connected with the brake movable end and the second belt wheel and a second outer ring connected with the shank guard plate through the pin shafts, wherein when the second outer ring, the brake fixing plate and the brake movable end are disconnected, the second outer ring, the brake fixing plate and the brake movable end rotate together, and when the brake fixing plate is meshed with the brake movable end, the relative positions of the brake movable end and the brake fixed end are kept motionless.
4. A braked hip-knee hybrid drive walker as claimed in claim 3 wherein:
wherein the second inner ring and the second outer ring are connected through an elastic section to form a disc-shaped torsion spring for storing energy or serving as a torque measuring unit for monitoring torque in real time,
The bottom of the second outer ring is provided with a long hole along the horizontal direction, and the long hole is used for the pin shaft to pass through, so that the knee joint elastic output disc has 1 degree of freedom of movement in the coronal plane of the human body, and further rotates.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011624776.2A CN112704627B (en) | 2020-12-31 | 2020-12-31 | Hip-knee hybrid drive walker with brake |
| PCT/CN2021/138722 WO2022143196A1 (en) | 2020-12-31 | 2021-12-16 | Hip-knee hybrid drive walker having brake |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011624776.2A CN112704627B (en) | 2020-12-31 | 2020-12-31 | Hip-knee hybrid drive walker with brake |
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| Publication Number | Publication Date |
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| CN112704627A CN112704627A (en) | 2021-04-27 |
| CN112704627B true CN112704627B (en) | 2024-12-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011624776.2A Active CN112704627B (en) | 2020-12-31 | 2020-12-31 | Hip-knee hybrid drive walker with brake |
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| Country | Link |
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| CN (1) | CN112704627B (en) |
| WO (1) | WO2022143196A1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112704627B (en) * | 2020-12-31 | 2024-12-03 | 复旦大学 | Hip-knee hybrid drive walker with brake |
| CN116637005B (en) * | 2023-05-25 | 2025-10-17 | 中国科学院深圳先进技术研究院 | Multi-joint flexible lower limb exoskeleton for cerebral palsy children |
| CN119454412B (en) * | 2024-12-26 | 2025-10-03 | 中国人民解放军陆军军医大学第一附属医院 | A wearable walking aid with gait analysis function |
| CN119975600A (en) * | 2025-03-21 | 2025-05-13 | 哈尔滨工业大学 | A robot leg structure and waist-leg structure |
| CN120360751B (en) * | 2025-06-19 | 2025-10-10 | 湖南大学 | Knee joint structure, knee joint movement method and mechanical leg |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN214968610U (en) * | 2020-12-31 | 2021-12-03 | 复旦大学 | Hip and knee hybrid drive walking aid with brake |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101428657B (en) * | 2008-12-16 | 2011-02-02 | 吉林大学 | Propel mechanism of underactuated biped walk robot |
| CN102068367B (en) * | 2011-02-21 | 2013-05-22 | 华中科技大学 | Lower limb multi-training mode rehabilitation robot |
| US8968227B2 (en) * | 2012-01-23 | 2015-03-03 | Adicep Technologies, Inc. | Knee Brace |
| EP2895133B1 (en) * | 2012-09-17 | 2020-06-17 | President and Fellows of Harvard College | Soft exosuit for assistance with human motion |
| CN102949281B (en) * | 2012-11-07 | 2014-06-11 | 燕山大学 | Rehabilitation training robot for lower limb joint |
| JP6071824B2 (en) * | 2013-09-18 | 2017-02-01 | 株式会社東芝 | Knee joint motion support device |
| JP6264400B2 (en) * | 2016-06-28 | 2018-01-24 | ソニー株式会社 | Multiple link mechanism and exercise assistance method |
| CN106420270B (en) * | 2016-08-15 | 2019-04-30 | 江苏大学 | A wearable lower limb assist mechanism |
| JP6781091B2 (en) * | 2017-03-28 | 2020-11-04 | 本田技研工業株式会社 | Limb movement support device |
| CN208641205U (en) * | 2017-12-11 | 2019-03-26 | 中国矿业大学 | Lower limb exoskeleton robot |
| CN112704627B (en) * | 2020-12-31 | 2024-12-03 | 复旦大学 | Hip-knee hybrid drive walker with brake |
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- 2020-12-31 CN CN202011624776.2A patent/CN112704627B/en active Active
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| CN214968610U (en) * | 2020-12-31 | 2021-12-03 | 复旦大学 | Hip and knee hybrid drive walking aid with brake |
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| WO2022143196A1 (en) | 2022-07-07 |
| CN112704627A (en) | 2021-04-27 |
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