CN107088140A - A kind of built-in air-pressure type wearable lower limb servicing unit - Google Patents
A kind of built-in air-pressure type wearable lower limb servicing unit Download PDFInfo
- Publication number
- CN107088140A CN107088140A CN201710372491.6A CN201710372491A CN107088140A CN 107088140 A CN107088140 A CN 107088140A CN 201710372491 A CN201710372491 A CN 201710372491A CN 107088140 A CN107088140 A CN 107088140A
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- Prior art keywords
- fixed part
- built
- pushrod chamber
- air
- lower limb
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 14
- 210000000689 upper leg Anatomy 0.000 claims abstract description 17
- 238000007789 sealing Methods 0.000 claims abstract description 4
- 210000002414 leg Anatomy 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000010276 construction Methods 0.000 abstract description 2
- 230000005484 gravity Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005381 potential energy Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 241000408659 Darpa Species 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1409—Hydraulic or pneumatic means
-
- 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
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of built-in air-pressure type wearable lower limb servicing unit, including：Gas push rod (10)：Pushrod chamber (2), push-rod piston (1) and putter shaft (3) including built-in air pressure, wherein, described push-rod piston (1) is arranged in pushrod chamber (2), and can be moved along its inwall, the side of described push-rod piston (1) is also connected with the putter shaft (3) that sealing passes pushrod chamber (2)；Fixed part：Including thigh fixed part (9) and shank fixed part (4), wherein, thigh fixed part (9) is flexibly connected one end of pushrod chamber (2)；Connecting rod (8)：Its two ends is movably connected with pushrod chamber (2) cavity wall and shank fixed part (4).Compared with prior art, the present invention have it is simple in construction, cost is relatively low, the features such as vdiverse in function.
Description
Technical field
The present invention relates to a kind of lower limb servicing unit, filled more particularly, to a kind of built-in air-pressure type wearable lower limb auxiliary
Put.
Background technology
Wearable power assisting device is to compare a brand-new research field in recent years, and it can help people to extend its four limbs
The locomitivity at position, mitigates burden of the weight to people.Current Wearable power assisting device existing in the world mainly has Japan
The serial lower limb exoskeletons of the HAL of University of tsukuba, U.S. DARPA EHPA research projects, the C-LEG of German Otto Bock are intelligently imitated
Raw leg etc..
And the Wearable power assisting device of external impetus has some following shortcomings the need for tradition：
1st, whole device include may be worn on human body the mechanical device at each position, power set and control device and
The multiple sensors of body motion information are detected, causes deadweight excessive, its portability is reduced to a certain extent.
2nd, the equipment manufacturing cost such as sensor, heavy-duty motor is high so that the practicality of whole device, popularization reduction.
For some above-mentioned problems, how while the function of auxiliary walking and auxiliary seat is completed, simplify device knot
Structure is conducted oneself with dignity with alleviator, reduces cost, is the difficult point of designing for manufacturing Wearable power assisting device
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of built-in air-pressure type is worn
Wear formula lower limb servicing unit.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of built-in air-pressure type wearable lower limb servicing unit, including：
Gas push rod：Including pushrod chamber, push-rod piston, putter shaft, wherein, described push-rod piston is movably arranged on built-in
In the pushrod chamber of air pressure, and it can be moved along its inwall, the side of described push-rod piston, which is also connected with sealing, passes pushing away for pushrod chamber
Club body；
Fixed part：Including thigh fixed part and shank fixed part, wherein, thigh fixed part is flexibly connected the one of pushrod chamber
End；
Connecting rod：Its two ends is movably connected with pushrod chamber cavity wall and shank fixed part.
Described thigh fixed part is connected by ball pair with pushrod chamber.
One end of described connecting rod connects shank fixed part by Oldham's coupling, and the other end passes through revolute pair and pushrod chamber
Connection.
The one-way wheel for being additionally provided with and being contacted with ground on the end of pushrod chamber is stretched out in putter shaft.
Through hole is additionally provided with described push-rod piston.Gas push rod sets through hole inside push-rod piston so that push-rod piston
The gas pressure at two ends is equal, and the sectional area of push-rod piston both sides is different (one end is connected with putter shaft, and the other end does not have),
Under gas pressure effect, the pressure to the small side of sectional area is produced, and no matter which position push-rod piston is in, it is produced
Pressure it is all constant.
The course of work and principle of the present invention is as follows：
Package unit makes Wearable clothes, by two fixed parts (thigh fixed part and shank fixed part) respectively with greatly
Leg is connected with shank.It is connected in thigh fixed part by a ball pair with gas push rod.Air pressure built in gas push rod, not by external force
In the case of can keep elongation state.When people's walking, when leg is put down, gas push rod extension (i.e. piston push rod) contact ground, and
Compressed it by gravity, in the process, kinetic energy and the transform gravitational energy of people's leg are the position potential energy of piston in gas push rod, lift
The energy stored during leg will be discharged, and leg is lifted in help, reach the purpose of auxiliary walking.One is fixed with gas push rod can only
The one-way wheel of one-directional rotation, to reduce the friction of gas push rod on the ground during advance.A piece connecting rod one end passes through ten couplets
Joint is connected with shank fixed part, and the other end is connected by a revolute pair with gentle push rod, thus thigh, shank, connecting rod and
Gas push rod constitutes a four-bar mechanism, has reached stable purpose.This invention can play a part of auxiliary walking, upstairs, sit.
When people keeps sitting posture, gas push rod keeps shortening state and one-way wheel is contacted with ground, whole because one-way wheel can not rotate backward
Individual device can support the weight of people, reach the purpose that auxiliary is sat.
Compared with prior art, the present invention have it is simple in construction, cost is relatively low, the features such as vdiverse in function.
Brief description of the drawings
Fig. 1 is the structural representation of the gas push rod of the present invention；
Fig. 2 is structural representation of the invention；
Use state schematic diagram when Fig. 3 is present invention walking；
Fig. 4 keeps view during sitting posture for the present invention；
In figure, 1- push-rod pistons, 2- pushrod chambers, 3- putter shafts, 4- shank fixed parts, 5- one-way wheels, 6- ball pairs, 7- ten
Couplet joint, 8- connecting rods, 9- thigh fixed parts, 10- gas push rods.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment 1
A kind of built-in air-pressure type wearable lower limb servicing unit, its structure as shown in Fig. 2 including：
Gas push rod 10, its structure is as shown in Figure 1：Including pushrod chamber 2, the push-rod piston 1 of built-in air pressure, putter shaft 3, its
In, push-rod piston 1 is arranged in pushrod chamber 2, and can be moved along its inwall, and the side of push-rod piston 1 is also connected with sealing and passed to push away
Be additionally provided with through hole on the putter shaft 3 of rod cavity 2, push-rod piston 1, putter shaft 3 stretch out pushrod chamber 2 end on be additionally provided with
The one-way wheel 5 of ground contact.
Fixed part：Including thigh fixed part 9 and shank fixed part 4, wherein, thigh fixed part 9 connects push rod by ball pair 6
One end of chamber 2, shank fixed part 4 sets a connecting rod 8 by the connection of Oldham's coupling 7, and the other end of the connecting rod 8 is by rotating
Pair is connected with pushrod chamber 2.
Package unit makes Wearable clothes, by two fixed parts (thigh fixed part 9 and shank fixed part 4) respectively with
Thigh is connected with shank.It is connected in thigh fixed part 9 by a ball pair 6 with gas push rod 10.Air pressure built in gas push rod 10, not
By elongation state can be kept in the case of external force.As shown in figure 3, when people's walking, when leg is put down, the extension of gas push rod 10 is (i.e.
Piston push rod) contact ground, and compressed it by gravity, store potential energy.Lift leg when store energy release, and by gravity by its
Compression, in the process, kinetic energy and the transform gravitational energy of people's leg are the position potential energy of piston in gas push rod, are stored during lift leg
Energy will be discharged, and leg is lifted in help, reach the purpose of auxiliary walking.One is fixed with gas push rod 10 can only one-directional rotation
One-way wheel 5, to reduce the friction of gas push rod 10 on the ground during advance.Piece one end of connecting rod 8 passes through an Oldham's coupling 7
It is connected with shank fixed part 4, the other end is connected by a revolute pair with gentle push rod 10, thus thigh, shank, the and of connecting rod 8
Gas push rod 10 constitutes a four-bar mechanism, has reached stable purpose.This invention can play auxiliary walking, upstairs, sit work
With.As shown in figure 4, when people keeps sitting posture, gas push rod 10 keeps shortening state and one-way wheel 5 is contacted with ground, due to unidirectional
Wheel 5 can not rotate backward, and whole device can support the weight of people, reach the purpose that auxiliary is sat.
The above-mentioned description to embodiment is understood that for ease of those skilled in the art and using invention.
Person skilled in the art obviously can easily make various modifications to these embodiments, and described herein general
Principle is applied in other embodiment without passing through performing creative labour.Therefore, the invention is not restricted to above-described embodiment, ability
Field technique personnel are according to the announcement of the present invention, and not departing from improvement and modification that scope made all should be the present invention's
Within protection domain.
Claims (5)
1. a kind of built-in air-pressure type wearable lower limb servicing unit, it is characterised in that including：
Gas push rod (10)：Pushrod chamber (2), push-rod piston (1) and putter shaft (3) including built-in air pressure, wherein, described pushes away
Bar piston (1) is arranged in pushrod chamber (2), and can be moved along its inwall, and the side of described push-rod piston (1) is also connected with sealing
Pass the putter shaft (3) of pushrod chamber (2)；
Fixed part：Including thigh fixed part (9) and shank fixed part (4), wherein, thigh fixed part (9) is flexibly connected pushrod chamber
(2) one end；
Connecting rod (8)：Its two ends is movably connected with pushrod chamber (2) cavity wall and shank fixed part (4).
2. a kind of built-in air-pressure type wearable lower limb servicing unit according to claim 1, it is characterised in that described is big
Leg fixed part (9) is connected by ball secondary (6) with pushrod chamber (2).
3. a kind of built-in air-pressure type wearable lower limb servicing unit according to claim 1, it is characterised in that described company
One end of bar (8) connects shank fixed part (4) by Oldham's coupling (7), and the other end is connected by revolute pair and pushrod chamber (2)
Connect.
4. a kind of built-in air-pressure type wearable lower limb servicing unit according to claim 1, it is characterised in that in push rod
Body (3), which is stretched out on the end of pushrod chamber (2), is additionally provided with the one-way wheel (5) contacted with ground.
5. a kind of built-in air-pressure type wearable lower limb servicing unit according to claim 1, it is characterised in that described pushes away
Bar piston is additionally provided with through hole on (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710372491.6A CN107088140B (en) | 2017-05-24 | 2017-05-24 | A kind of built-in air-pressure type wearable lower limb auxiliary device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710372491.6A CN107088140B (en) | 2017-05-24 | 2017-05-24 | A kind of built-in air-pressure type wearable lower limb auxiliary device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107088140A true CN107088140A (en) | 2017-08-25 |
| CN107088140B CN107088140B (en) | 2019-09-27 |
Family
ID=59639878
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710372491.6A Expired - Fee Related CN107088140B (en) | 2017-05-24 | 2017-05-24 | A kind of built-in air-pressure type wearable lower limb auxiliary device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107088140B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108721061A (en) * | 2018-03-26 | 2018-11-02 | 大连交通大学 | A kind of novel auxiliary mechanical limb device |
| CN110584700A (en) * | 2019-09-23 | 2019-12-20 | 青岛大学附属医院 | Lead garment wearing and walking device and using method |
| CN111329721A (en) * | 2020-02-29 | 2020-06-26 | 同济大学 | Lower limb assistance exoskeleton device with spring energy storage and rapid unloading |
| CN111329720A (en) * | 2020-02-29 | 2020-06-26 | 同济大学 | Air-supported passive lower limb assistance exoskeleton device |
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| CN102207150A (en) * | 2011-05-24 | 2011-10-05 | 扬州市明瑞气弹簧有限公司 | Compression gas spring |
| CN102207152A (en) * | 2011-05-25 | 2011-10-05 | 扬州市明瑞气弹簧有限公司 | Compression type gas spring with double rods |
| CN202554833U (en) * | 2012-05-13 | 2012-11-28 | 刘建伟 | Leg muscle training device |
| CN104000708A (en) * | 2014-06-19 | 2014-08-27 | 陕西科技大学 | Walking device assisting in walking upstairs and walking downstairs |
| JP2014184086A (en) * | 2013-03-25 | 2014-10-02 | Equos Research Co Ltd | Walking support device and walking support program |
| CN106137686A (en) * | 2016-08-02 | 2016-11-23 | 鹰普（中国）有限公司 | A kind of knee joint power assisting device |
| WO2017067705A1 (en) * | 2015-10-21 | 2017-04-27 | Noonee Ag | Control unit for wearable sitting posture assisting device |
-
2017
- 2017-05-24 CN CN201710372491.6A patent/CN107088140B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102207150A (en) * | 2011-05-24 | 2011-10-05 | 扬州市明瑞气弹簧有限公司 | Compression gas spring |
| CN102207152A (en) * | 2011-05-25 | 2011-10-05 | 扬州市明瑞气弹簧有限公司 | Compression type gas spring with double rods |
| CN202554833U (en) * | 2012-05-13 | 2012-11-28 | 刘建伟 | Leg muscle training device |
| JP2014184086A (en) * | 2013-03-25 | 2014-10-02 | Equos Research Co Ltd | Walking support device and walking support program |
| CN104000708A (en) * | 2014-06-19 | 2014-08-27 | 陕西科技大学 | Walking device assisting in walking upstairs and walking downstairs |
| WO2017067705A1 (en) * | 2015-10-21 | 2017-04-27 | Noonee Ag | Control unit for wearable sitting posture assisting device |
| CN106137686A (en) * | 2016-08-02 | 2016-11-23 | 鹰普（中国）有限公司 | A kind of knee joint power assisting device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108721061A (en) * | 2018-03-26 | 2018-11-02 | 大连交通大学 | A kind of novel auxiliary mechanical limb device |
| CN110584700A (en) * | 2019-09-23 | 2019-12-20 | 青岛大学附属医院 | Lead garment wearing and walking device and using method |
| CN110584700B (en) * | 2019-09-23 | 2022-11-11 | 青岛大学附属医院 | Lead garment wearing and walking device and using method |
| CN111329721A (en) * | 2020-02-29 | 2020-06-26 | 同济大学 | Lower limb assistance exoskeleton device with spring energy storage and rapid unloading |
| CN111329720A (en) * | 2020-02-29 | 2020-06-26 | 同济大学 | Air-supported passive lower limb assistance exoskeleton device |
| CN111329721B (en) * | 2020-02-29 | 2021-10-08 | 同济大学 | Lower limb assistance exoskeleton device with spring energy storage and rapid unloading |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107088140B (en) | 2019-09-27 |
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