CN115946101A

CN115946101A - Leg power-assisted exoskeleton

Info

Publication number: CN115946101A
Application number: CN202310179107.6A
Authority: CN
Inventors: 张才
Original assignee: Individual
Current assignee: Individual
Priority date: 2023-03-01
Filing date: 2023-03-01
Publication date: 2023-04-11

Abstract

The invention discloses a leg power-assisted exoskeleton which comprises an adjustable strap exoskeleton, wherein the exoskeleton is divided into three areas, namely a waist fixing support, a traction strap and a leg supporting framework, the back surface of the framework supporting of the exoskeleton is fixed by a magic tape binding belt, the double layers protect the safety of a human body, and elastic components are arranged at the joints of the fixing support of the exoskeleton and thighs, thighs and calves and serve as supporting parts; the wheelchair has the capability of enabling the disabled people without force and weak force to walk under the driving of no external force, is simple and convenient to operate, and enables the disabled people to be far away from the wheelchair.

Description

Leg assistance exoskeleton

Technical Field

The invention relates to the field of leg power-assisted exoskeletons, in particular to a device for walking by providing power through arms in a leg weakness/disability/leg-free state.

Background

At present, leg power-assisted mechanisms in the market outside are basically exoskeleton power-assisted devices provided for healthy people, leg mechanical power-assisted exoskeletons for disabled people to walk independently are not provided, and the leg power-assisted devices enable special people to achieve the purpose of walking by themselves through arm driving.

Disclosure of Invention

The invention aims to provide a mechanical leg assistance exoskeleton for disabled people, which solves the problem that the existing disabled people need family or medical care accompanying to walk through a wheelchair.

The purpose of the invention can be realized by the following technical scheme:

a leg exoskeleton assistor comprises a leg assisting exoskeleton, wherein the leg assisting exoskeleton is used for providing power for legs through arms, the speed can be adjusted through the arm swinging frequency and the swinging amplitude, the fastest automatic walking effect can be conveniently and quickly achieved, the advancing and the direction of a human body can be controlled through the arms and the body, and the leg assisting exoskeleton is simple and easy to operate;

as a further scheme of the invention, the device for the disabled people with single leg/double legs can be arranged on the single leg to work or arranged on the side of the double legs to work through the connecting equipment, and the user without walking ability can realize the real independent walking through the control of the arm traction direction and amplitude, thereby providing the opportunity of secondary independent walking for the user.

As a further scheme of the invention, the waist and leg connecting and supporting framework 9 is a U-shaped supporting piece, the standing type ensures the stability of the support, the support can swing left and right during the advancing process, and the supporting performance is synchronously ensured.

As a further scheme of the invention, the arm traction bandage, the waist and back belt skeleton and the leg outer skeleton can be rigidly connected and fixed without using magic tapes, and the comfortable type is increased by the internal inflatable cushion pad, so that the effects of supporting and comfortable type are achieved.

As a further scheme of the invention, as shown in figure 3, the leg support rod can also be controlled by a motor, the speed and the support position of the motor can be controlled, so that the human body can be in a walking and stable standing position, and the power is supplied by the power supply to walk, climb stairs and sit down.

As a further proposal of the invention, the motor is in a height adjustable state through the swinging rod, the stepping amplitude of the walking of the human body is controlled by adjusting the height, and the shoulder strap is only used as a fixed part.

In a further aspect of the present invention, the upper portions of the legs of the waist fixing bracket are swingable in the right and left directions, and the right and left rotations of the legs are controlled by the swinging movement to control the traveling direction.

The invention has the beneficial effects that:

the assisting exoskeleton can be directly taken and worn to walk vertically and climb stairs, is convenient and quick to use, and can control walking distance and speed through arm swinging frequency and amplitude.

Drawings

FIG. 1 is a schematic diagram of the back structure of a mechanically assisted exoskeleton of the present invention;

FIG. 2 is a schematic side view of a mechanically assisted exoskeleton of the present invention;

FIG. 3 is a schematic view of a leg structure that can be expanded to be electrically operated when used in a mechanically assisted exoskeleton of the present invention;

in the figure: 1. traction braces; 2. an arm traction bandage; 3. a traction rope; 4. a traction rope; 5. a traction rope; 6. fixing a pull ring; 7. a leg exoskeleton; 8. a foot exoskeleton; 9. the waist and the legs are connected with a supporting framework; 10. a waist back belt framework; 11. a transverse support bar; 12. an electric motor;

detailed description of the preferred embodiments

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-2, a mechanical assistance exoskeleton for legs comprises a traction strap 1, traction ropes 3, 4 and 5 are installed in the traction strap 1, an outer leg skeleton 7, a waist and leg connection supporting skeleton 9, a waist strap skeleton 10 and a transverse supporting rod 11 are fixed by rotatable fixing bolts, fixed to the waist and legs of a human body by magic fixing tapes and arranged in a separable manner.

One side of each of the traction ropes 3, 4 and 5 is connected with the arm traction bandage 2, and the other side is fixed on the waist back belt framework 10 through a fixed outer ring 6 and a transverse supporting rod 11 through a fixed bolt and is in an immovable state.

The foot outer framework 8 and the leg outer framework 7 are controlled to move slightly through fixing bolts, so that the foot posture is ensured during walking, and the foot outer framework and the leg outer framework are arranged in a separable mode.

The waist brace framework 10 and the transverse support frame 11 are used as mechanical positioning rotation and support through the waist and leg connection support framework 9 and are arranged in a separable mode.

The invention relates to a mechanical assisting exoskeleton for legs, which is used for firstly wearing a mechanical skeleton, fixing the waist and the waist of legs of the waist and shoulders through magic fixing tapes and traction braces, enabling two arms to penetrate through the two braces, enabling the waist-winding magic tapes to surround the waist, connecting the waist-winding magic tapes with the waist through buckles, enabling a human body to stand horizontally, enabling a transverse support frame 11 to be in a horizontal direction, enabling an arm traction bandage 2 to be pulled outwards through arm force, enabling a traction rope 4 to guide thighs to be stressed and bent, enabling an arm traction bandage 2 to move backwards through arm force synchronously, enabling a traction rope 5 to guide the rear part of a transverse support rod 11 to be lifted, enabling the lower part of an outer skeleton 7 of the legs to be bent and lifted backwards through arm force, the foot exoskeleton 8 is driven to slightly bend and lift, then the arm traction bandage 2 is forcefully moved forwards through the arm, the traction rope 3 is used for guiding the front part of the transverse supporting rod 11 to lift, the lower part of the leg exoskeleton 7 is pulled straightly and lift forwards, the foot exoskeleton 8 is driven to slightly bend forwards, then the arm traction bandage 2 is used for achieving the effect that the walking on the legs of a human body is lifted and stepped and the human body stably lands through inward measurement and recovery of the arm, the arms on the two sides alternately repeat the action, the left leg and the right leg stably move forwards, the reciprocating is realized, the human body stably and safely walks, and the moving direction can be controlled through the left part and the right part of the body by forcefully moving.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Drawings

FIG. 3 is a schematic view of a leg structure that can be expanded to be electrically used when used in a mechanical leg assist exoskeleton of the present invention;

description of the preferred embodiment

The technical solutions of the present invention will be described below clearly and completely in conjunction with the embodiments, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-2, a mechanical assistance exoskeleton for legs comprises a traction strap 1, wherein traction ropes 3, 4 and 5 are installed in the traction strap 1, an outer skeleton 7 of legs, a waist and leg connection supporting skeleton 9, a waist strap skeleton 10 and a transverse supporting rod 11 are fixed by a rotatable fixing bolt, fixed to the waist and legs of a human body by magic fixing tapes and arranged in a separable manner.

The foot outer framework 8 and the leg outer framework 7 are controlled by fixing bolts to move slightly, so that the posture of the foot is ensured during walking, and the foot outer framework and the leg outer framework are arranged in a separable manner.

The invention relates to a mechanical assistance exoskeleton for legs, which is used for firstly wearing a mechanical skeleton, fixing waist, leg waist and shoulders of waist by a magic fixing tape and a traction strap, enabling two arms to penetrate through the two straps, winding the waist-winding magic tape on the waist, connecting the waist-winding magic tape with the waist by a lock catch, horizontally standing a human body, enabling a transverse support frame 11 to be in a horizontal direction, enabling an arm traction bandage 2 to be pulled outwards by arm force at the moment, enabling a traction rope 4 to guide thighs to be stressed and bent, enabling an arm traction bandage 2 to move backwards by arm force synchronously, enabling a traction rope 5 to guide the rear part of a transverse support rod 11 to be lifted, enabling the lower part of an exoskeleton for legs 7 to be bent and lifted backwards, the foot exoskeleton 8 is driven to slightly bend and lift, then the arm traction bandage 2 is forcefully moved forwards through the arm, the traction rope 3 is used for guiding the front part of the transverse supporting rod 11 to lift, the lower part of the leg exoskeleton 7 is pulled straightly and lift forwards, the foot exoskeleton 8 is driven to slightly bend forwards, then the arm traction bandage 2 is used for achieving the effect that the walking on the legs of a human body is lifted and stepped and the human body stably lands through inward measurement and recovery of the arm, the arms on the two sides alternately repeat the action, the left leg and the right leg stably move forwards, the reciprocating is realized, the human body stably and safely walks, and the moving direction can be controlled through the left part and the right part of the body by forcefully moving.

Claims

1. A leg assist exoskeleton, comprising: the leg mechanical assistance exoskeleton comprises a leg mechanical assistance exoskeleton, wherein a traction strap (1) is arranged on the leg mechanical assistance exoskeleton, traction ropes (3), (4) and (5) on the traction strap (1) are connected with a waist strap framework (10), and an arm traction bandage (2) and a transverse support frame (11) are connected through inner traction ropes (3), (4) and (5) and a leg fixing pull ring (6) on a leg outer framework (7); the leg outer framework (7), the foot outer framework (8) and the waist strap framework (10) are fixed on the body part through magic fixing tapes.

2. A leg exoskeleton aid as claimed in claim 1, which in use is characterised by: the leg outer skeleton (7) can be stretched by providing power stress through the arm traction bandage (2) through the traction ropes (3), (4) and (5), and the human arm outputs power.

3. A leg exoskeleton aid as claimed in claim 1 or claim 2 wherein: the exoskeleton comprises an arm traction bandage (2), traction braces (1), a waist brace framework (10), a leg outer framework (7) and a foot outer framework (8), and the upper part, the middle part and the lower part are integrally connected.

4. The leg exoskeleton assistance device of claim 1, wherein: the no-external-force introduction provides power through the arm traction band (2) to enable the leg exoskeleton (7) to bend and advance under stress.

5. The leg exoskeleton assistance device of claim 1, wherein: the leg support is composed of a fixing pull ring (6), a leg support framework (7), a foot outer framework (8), a waist and leg connection support framework (9), a waist and back strap framework (10) and a transverse support frame (11), the leg is fixedly connected through a rotatable bolt, and the waist and leg connection part is fixedly connected through a fixing bolt.

6. A leg exoskeleton aid as claimed in claim 1, 2 or 3 wherein: the upper waist strap framework (10), the leg exoskeleton (7), the traction straps (1) and the arm traction straps (2) are fixed to the body by the magic fixing tape, the fixing force is adjustable, and the three parts are all in separable arrangement.

7. The leg exoskeleton assistance device of claim 1 wherein the leg assist exoskeleton is specifically configured to be used in the following steps: the method comprises the following steps: the user wears the exoskeleton, the arm traction binding bands (2) are opened leftwards and rightwards, and thighs of the leg exoskeleton (7) can be lifted through the traction ropes (4); step two: then the binding band (2) is dragged by the arm to swing backwards, and the leg of the leg exoskeleton (7) can be bent and lifted by the traction rope (5); step three: then the binding band (2) is dragged by the arm to swing forwards, the leg exoskeleton (7) can be lifted forwards and straightened by the traction rope (3) to walk forwards in one step, and the front part of the walking robot reciprocates when the walking robot moves forwards; step four: when the arms are retracted vertically, the body stands stably on the ground.