CN106514625B - A knee joint power assist device with self-transformation stiffness - Google Patents
A knee joint power assist device with self-transformation stiffness Download PDFInfo
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- CN106514625B CN106514625B CN201611189118.9A CN201611189118A CN106514625B CN 106514625 B CN106514625 B CN 106514625B CN 201611189118 A CN201611189118 A CN 201611189118A CN 106514625 B CN106514625 B CN 106514625B
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- Prior art keywords
- support bar
- sliding
- knee joint
- leg support
- sliding block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses the knee joint power assisting device of rigidity transformation into itself a kind of, which is mainly made of thigh support bar, leg support bar, connecting rod, sliding block, elastic component, sliding part and sliding supporting bar.It is connected between thigh support bar and leg support bar by rotating manner；Sliding block is sleeved on thigh support bar by sliding slot；Elastic component is sleeved on thigh support bar, and the upper end is fixed with thigh support bar, and lower end is fixed with sliding block；Sliding part is set in leg support bar by sliding slot；The upper end of connecting rod is articulated with sliding block, and lower end is hinged on sliding part；Sliding supporting bar with leg support bar be it is disposed in parallel, the upper end is fixedly connected on sliding part.The arrangement achieves the automatic switchovers of support phase in human body lower limbs walking process and swing phase knee joint rigidity, preferably can provide power-assisted effect for knee joint.
Description
Technical field
The present invention relates to a kind of novel mechanical exoskeleton devices, are a kind of pure passively rigidity transformation into itself particularly
Knee joint power assisting device.
Background technique
In physical activity, knee joint is that human body bears burdens maximum position, especially when human body is squatted down to knee joint
The burden of generation is particularly acute, and knee joint is also easy to fatigue, causes the illness of people such as arthritis etc, mechanical exoskeleton
It is then the effective tool for solving the problems, such as this.In ectoskeleton power-assisted field, people always want to obtain a kind of pure passively knee pass
Power assisting device is saved, additional dynamic structure is not needed, it is only necessary to be completed with spring energy-storage original part；General passive knee-joint
Power assisting device can all use spring, and spring can be compressed when human body is squatted down generates power-assisted effect, however this similar structures
It all has a problem that, lower limb resistance problem caused by knee joint bending in swing phase can not be solved.Apparatus of the present invention are
To a kind of specific solution of the problem.
Summary of the invention
Technical problem: the technical problems to be solved by the present invention are: providing the knee joint power-assisted dress of rigidity transformation into itself a kind of
It sets, which can be worn on the lower limb of people；It, can be with certain rigidity to knee joint when human body lower limbs activity is in support phase
Power-assisted effect is generated, in swing phase, which will not have an impact the drag effect of knee joint regular event.
Technical solution: in order to solve the above technical problems, the present invention adopts the following technical scheme that:
A kind of knee joint power assisting device of rigidity transformation into itself, including thigh support bar 1 and leg support bar 2, the thigh
Support rod 1 is mounted on leg support bar 2 with being able to rotate, comprising:
Sliding block 4, the sliding block 4 can be slidably mounted on thigh support bar 1；
The upper end of elastic component 5, the elastic component 5 is capable of fixing on thigh support bar 1, and lower end is capable of fixing on sliding block 4；
Sliding part 6, the sliding part 6 can be slidably mounted on leg support bar 2；
The upper end of connecting rod 3, the connecting rod 3 is mounted on sliding block 4 with being able to rotate, and lower end is mounted on sliding part 6 with being able to rotate
On；
Sliding supporting bar 7, the sliding supporting bar 7, which is capable of fixing, to be mounted on sliding part 6, and parallel with leg support bar 2
Setting.
Further, the sliding block 4 can be slidably mounted on thigh support bar 1, and the sliding block 4 can be sleeved on thigh branch
On strut 1 or sliding block 4 is mounted in the slot opened up inside thigh support bar 1.
Further, the upper end of the connecting rod 3 is mounted on sliding block 4 by hinged mode, and lower end passes through hinged side
Formula is mounted on sliding part 6.
Further, the elastic component 5 is sleeved on thigh support bar 1 or is mounted on opens up inside thigh support bar 1
Slot in.
Further, the sliding supporting bar 7 is mounted in the slot opened up inside leg support bar 2, or sliding support
Bar 7 is sleeved on 2 outside of leg support bar or sliding supporting bar 7 is set side by side with leg support bar 2.
The utility model has the advantages that compared with prior art, technical solution of the present invention has the advantages that
(1) sliding block can be free to slide on thigh support bar, and angle knee-sprung so is just limited solely by elastic component
Stroke, as reach maximum as possible.
(2) lower end of connecting rod is connected on sliding part with being able to rotate, which fixes with sliding support, passes through sliding
The state of contacting to earth of support rod lower end, can change the working condition of elastic component, be automatically performed knee joint in lower limb support phase and swing
The rigidity of phase switches.
(3) upper and lower side of elastic component can be respectively fixedly connected on thigh support bar and sliding block, can be in lower limb support phase
Play energy storage power-assisted, and buffering and position-limiting action can be played in swing phase, reduces the impact of sliding supporting bar bring.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the knee joint power assisting device of rigidity transformation into itself of the invention.
Specific embodiment
To keep purpose and the technical solution of the embodiment of the present invention clearer, below in conjunction with the attached of the embodiment of the present invention
Figure, is clearly and completely described the technical solution of the embodiment of the present invention.Obviously, described embodiment is of the invention
A part of the embodiment, instead of all the embodiments.Based on described the embodiment of the present invention, those of ordinary skill in the art
Every other embodiment obtained, shall fall within the protection scope of the present invention under the premise of being not necessarily to creative work.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, it will not be explained in an idealized or overly formal meaning.
The meaning of heretofore described "and/or" refers to that the case where respective individualism or both exists simultaneously wraps
Including including.
The meaning of heretofore described " inside and outside " refers to relative to equipment itself, the side inside sensing equipment
To in, on the contrary is outer, rather than the specific restriction to the device of the invention mechanism.
When the meaning of heretofore described " left and right " refers to reader's face attached drawing, the left side of reader is a left side,
The right of reader is the right side, rather than the specific restriction to the device of the invention mechanism.
The meaning of heretofore described " connection " can be between component be directly connected to be also possible to pass through between component
Other components are indirectly connected with.
As shown in Figure 1, the knee joint power assisting device of rigidity transformation into itself of the invention, comprising: thigh support bar 1 and shank branch
Strut 2, thigh support bar 1 are mounted on leg support bar 2 with being able to rotate, and sliding block 4, sliding block 4 can be slidably mounted on thigh branch
On strut 1；Elastic component 5, elastic component 5 can be sleeved on thigh support bar 1, and the upper end is capable of fixing on thigh support bar 1, lower end
It is capable of fixing on sliding block 4；Sliding part 6, sliding part 6 can be slidably mounted on leg support bar 2；Connecting rod 3, the upper end of connecting rod 3
It is mounted on being able to rotate on sliding block 4, lower end is mounted on sliding part 6 with being able to rotate；Sliding supporting bar 7, sliding supporting bar 7 it is upper
End is fixedly mounted on sliding part 6, and is arranged in parallel with leg support bar 2.
Sliding block 4 is sleeved on thigh support bar 1 or sliding block 4 is mounted in the slot opened up inside thigh support bar 1, only
The connection type of state of wanting to make to keep between sliding block 4 and thigh support bar 1 to be slidably connected should all fall in protection of the invention
In range.
The upper end of connecting rod 3 is mounted on sliding block 4 by hinged mode, can also be attached otherwise, as long as
Guarantee that 3 upper end of connecting rod can rotate on sliding block 4.
The lower end of connecting rod 3 is mounted on sliding part 6 by hinged mode, can also be attached otherwise, only
Guarantee that 3 lower end of connecting rod can rotate on sliding part 6.
The upper end of elastic component 5 is fixed on thigh support bar 1, and lower end is fixed on sliding block 4.
Elastic component 5 is sleeved on thigh support bar 1 or is mounted in the slot opened up inside thigh support bar 1.
Sliding supporting bar 7 is mounted in the slot opened up inside leg support bar 2 or sliding supporting bar 7 is sleeved on shank
2 outside of support rod or sliding supporting bar 7 are set side by side with leg support bar 2.
In for the above embodiment, sliding of the sliding part 6 on leg support bar 2 is limited in certain sliding scale
Interior, specific sliding scale will be debugged according to the case where implementing user.
The length of 7 bottom end of sliding supporting bar extends the bottom end of leg support bar 2, i.e. the bottom end of sliding supporting bar 7 exceeds
The bottom end of leg support bar 2.In power assisting device in use, being that sliding supporting bar 7 contacts ground always, support on the ground, is propped up
Prop up the stress of power assisting device.
Sliding supporting bar is consolidated with sliding part.In support phase (vola lands) knee joint bending, sliding support
Bar lower end is contacted to earth, elastic component compression work, and device generates power-assisted by knee joint of certain rigidity；And at swing phase (vola is liftoff)
When knee joint bending, sliding supporting bar is free, and elastic component does not work, and knee joint rigidity is zero, will not generate resistance to human body walking
Power.The arrangement achieves the automatic switchovers of support phase in human body lower limbs walking process and swing phase knee joint rigidity, can be preferably
Power-assisted effect is provided for knee joint.
The course of work of above-mentioned knee joint power assisting device is: the thigh support bar of the device and leg support bar are fixed on
Human body lower limbs, when lower limb exercise is in support phase, knee joint bends, due to sliding supporting bar lower end and ground face contact, no
It opposite with leg support bar can slide, so that elastic component (spring) is pressurized with certain rigidity, generate to kneed power-assisted power
Square.
When lower limb exercise is in swing phase, sliding supporting bar leaves ground as free end, and elastic component is not pressurized, and rigidity is
Zero, so resistance will not be generated to kneed regular event, this is exactly that the knee joint power assisting device is passively helped with common lower limb
The difference of power device.
The rigidity switching of above-mentioned knee joint equipment is entirely to be automatically performed by whether sliding supporting bar contacts to earth, and is not needed
Other movement auxiliary of people, this is also the unique distinction of the knee joint power assisting device.
The above is only embodiments of the present invention, and the description thereof is more specific and detailed, and but it cannot be understood as right
The limitation of the invention patent range.It should be pointed out that for those of ordinary skill in the art, not departing from the present invention
Under the premise of design, various modifications and improvements can be made, these are all belonged to the scope of protection of the present invention.
Claims (5)
1. a kind of knee joint power assisting device of rigidity transformation into itself, including thigh support bar (1) and leg support bar (2), described big
Leg support rod (1) is mounted on leg support bar (2) with being able to rotate characterized by comprising
Sliding block (4), the sliding block (4) can be slidably mounted on thigh support bar (1)；
The upper end of elastic component (5), the elastic component (5) is fixed on thigh support bar (1), and lower end is fixed on sliding block (4)；
Sliding part (6), the sliding part (6) can be slidably mounted on leg support bar (2)；
The upper end of connecting rod (3), the connecting rod (3) is mounted on sliding block (4) with being able to rotate, and lower end is mounted on sliding part with being able to rotate
(6) on；
Sliding supporting bar (7), the sliding supporting bar (7) are mounted on sliding part (6), and parallel with leg support bar (2) set
It sets.
2. the knee joint power assisting device of rigidity transformation into itself according to claim 1 a kind of, which is characterized in that the connecting rod
(3) upper end is mounted on sliding block (4) by hinged mode, and lower end is mounted on sliding part (6) by hinged mode.
3. the knee joint power assisting device of rigidity transformation into itself according to claim 1 a kind of, which is characterized in that the sliding branch
The bottom end of strut (7) exceeds the bottom end of leg support bar (2).
4. the knee joint power assisting device of rigidity transformation into itself according to any one of claim 1-3 a kind of, which is characterized in that
The sliding supporting bar (7) is mounted in the slot opened up inside leg support bar (2) or sliding supporting bar (7) be sleeved on it is small
Outside leg support rod (2) or sliding supporting bar (7) is set side by side with leg support bar (2).
5. the knee joint power assisting device of rigidity transformation into itself according to claim 4 a kind of, which is characterized in that the elastic component
(5) it is sleeved on thigh support bar (1) or is mounted in the slot opened up inside thigh support bar (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611189118.9A CN106514625B (en) | 2016-12-20 | 2016-12-20 | A knee joint power assist device with self-transformation stiffness |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611189118.9A CN106514625B (en) | 2016-12-20 | 2016-12-20 | A knee joint power assist device with self-transformation stiffness |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106514625A CN106514625A (en) | 2017-03-22 |
| CN106514625B true CN106514625B (en) | 2019-02-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611189118.9A Active CN106514625B (en) | 2016-12-20 | 2016-12-20 | A knee joint power assist device with self-transformation stiffness |
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Families Citing this family (11)
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| CN108860359A (en) * | 2018-05-11 | 2018-11-23 | 浙江大学 | A kind of embedded legged type robot knee joint for integrating electro-hydraulic actuator |
| CN109224368A (en) * | 2018-08-28 | 2019-01-18 | 江明思 | A kind of unpowered single leg knee and shank nerve necrosis patient's auxiliary building climbing device |
| CN110076753A (en) * | 2019-04-28 | 2019-08-02 | 盐城工学院 | A kind of six-joint robot is external to help drawing mechanism |
| CN110653802B (en) * | 2019-09-30 | 2020-11-06 | 重庆理工大学 | Knee joint motion assist exoskeleton device |
| CN110744526B (en) * | 2019-10-30 | 2020-11-24 | 重庆理工大学 | A passive lower extremity motion assist exoskeleton device |
| CN111015726A (en) * | 2019-12-10 | 2020-04-17 | 长春工业大学 | A self-locking bionic mechanical knee joint based on tension structure |
| CN112518723A (en) * | 2020-12-17 | 2021-03-19 | 杭州添翼机器人有限公司 | Active and passive combined walking-aid lower limb exoskeleton |
| CN112618282A (en) * | 2020-12-17 | 2021-04-09 | 杭州添翼机器人有限公司 | Passive walking aid lower limb exoskeleton |
| FR3126195A1 (en) * | 2021-08-18 | 2023-02-24 | Edouard POTEAUX | Muscle assist device |
| CN114571439A (en) * | 2022-03-15 | 2022-06-03 | 浙江工业大学 | Compact type joint braking lower limb assistance exoskeleton device |
| CN115091501B (en) * | 2022-06-06 | 2025-01-21 | 北京工业大学 | A knee joint structure with dynamically adjustable speed ratio for high-explosive jumping motion |
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| Publication number | Publication date |
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| CN106514625A (en) | 2017-03-22 |
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