CN108721062A - Lightweight walking aid device with energy recovery function - Google Patents
Lightweight walking aid device with energy recovery function Download PDFInfo
- Publication number
- CN108721062A CN108721062A CN201810810887.9A CN201810810887A CN108721062A CN 108721062 A CN108721062 A CN 108721062A CN 201810810887 A CN201810810887 A CN 201810810887A CN 108721062 A CN108721062 A CN 108721062A
- Authority
- CN
- China
- Prior art keywords
- energy
- module
- waist
- ankle
- joint module
- 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.)
- Pending
Links
- 238000011084 recovery Methods 0.000 title claims abstract description 30
- 210000001624 hip Anatomy 0.000 claims abstract description 68
- 210000000629 knee joint Anatomy 0.000 claims abstract description 48
- 210000004394 hip joint Anatomy 0.000 claims abstract description 41
- 210000000689 upper leg Anatomy 0.000 claims abstract description 36
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 34
- 230000001172 regenerating effect Effects 0.000 claims abstract description 15
- 230000008878 coupling Effects 0.000 claims description 13
- 238000010168 coupling process Methods 0.000 claims description 13
- 238000005859 coupling reaction Methods 0.000 claims description 13
- 210000003423 ankle Anatomy 0.000 claims description 12
- 210000002414 leg Anatomy 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 244000309466 calf Species 0.000 claims description 8
- 210000000548 hind-foot Anatomy 0.000 claims description 8
- 238000005381 potential energy Methods 0.000 claims description 8
- 238000003860 storage Methods 0.000 claims description 8
- 210000004744 fore-foot Anatomy 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 4
- 238000004804 winding Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 210000001906 first metatarsal bone Anatomy 0.000 claims description 3
- 238000004064 recycling Methods 0.000 claims description 3
- 210000002683 foot Anatomy 0.000 claims description 2
- 210000003127 knee Anatomy 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 claims description 2
- 238000004146 energy storage Methods 0.000 claims 1
- 210000003141 lower extremity Anatomy 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 229910000861 Mg alloy Inorganic materials 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000005021 gait Effects 0.000 description 3
- 201000008482 osteoarthritis Diseases 0.000 description 3
- 238000012549 training Methods 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 description 2
- 229960001030 mephenoxalone Drugs 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 210000003464 cuspid Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002688 persistence Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 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
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
- A63B23/0464—Walk exercisers without moving parts
-
- 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
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
-
- 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
- A61H2201/1628—Pelvis
- A61H2201/163—Pelvis 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
- 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
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
-
- 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
-
- 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
- A61H2205/12—Feet
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/18—Inclination, slope or curvature
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/56—Pressure
Landscapes
- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Animal Behavior & Ethology (AREA)
- Epidemiology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Biophysics (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of lightweight walking aid devices with energy recovery function, belong to auxiliary walking technical field.Sole is connect with ankle-joint module, and ankle-joint module is connect by shank bar with knee joint module, and knee joint module is connect by thigh bar with hip joint module, and two side hip joint modules are connected by waist connector.Sole is set there are four pressure sensor, and ankle-joint module is equipped with ankle joint angle sensor.Waist is bolted with waist connector.Energy regenerating structure is made of ultracapacitor and accumulator group, the energy generated when being in generating state for storing servo motor using ultracapacitor, the gravitional force that walking generates is produced electricl energy by driving servo motor to invert simultaneously, energy regenerating is realized for battery charging.Advantage is：Small, light-weight, portable, walk help is good, highly practical, is suitable for certain active movement ability but walk more difficult patient and the elderly's use.
Description
Technical field
The present invention relates to auxiliary walking technical fields, more particularly to a kind of to have energy recovery function and realize that active helps
Capable lightweight recovery set for lower limbs, espespecially a kind of lightweight walking aid device with energy recovery function.
Background technology
It is moved synchronously in human body and with people currently, lower limb walk-aiding exoskeleton device is wearable, inspection is followed in walking movement
It surveys body motion information and driving force is actively provided, to help patient's normal walking and carry out rehabilitation training, or help wearer
The walking for completing the long period, mitigates the fatigue of wearer.With the development of science and technology, portable lower limb rehabilitation training product is got over
Come more, has higher requirement to the weight of product itself, equally have on battery capacity, charging technique to power supply system
Higher and higher standard has battery powered persistence very high requirement, the deficiency of existing battery technology to cause charging frequent,
Which greatly limits the convenience that this kind of rehabilitation equipment uses.Meanwhile the universal of wearable device also results in huge energy
Demand, to the energy and environmental threat getting worse.
Therefore, it is quite necessary to propose that a kind of lightweight, portability are high, small to outside resources dependence, environmentally friendly
Energy regenerating and the walking aid device that utilizes.
Invention content
The purpose of the present invention is to provide a kind of lightweight walking aid devices with energy recovery function, solve existing skill
The above problem existing for art.The present invention uses magnesium alloy for main material, realizes lightweight.The present invention is small, light-weight, easy
It carries, walk help is good, small to outside resources dependence, environmentally friendly.Suitable for having certain active movement ability but walking
More difficult patient and the elderly.
The above-mentioned purpose of the present invention is achieved through the following technical solutions：
Lightweight walking aid device with energy recovery function, including sole 12, ankle-joint module 1, ankle support part 2, knee
Joint module 10, spiral power spring storaging energy device 1005, hip joint module 8, shank bar 3, calf support 11, thigh bar 4, thigh support
Part 9, waist 7, waist connector 5, shoulder strap 6 and energy recovery module, the sole 12 are connect with ankle-joint module 1, and ankle closes
Section module 1 is connect by shank bar 3 with knee joint module 10, and knee joint module 10 is connected by thigh bar 4 and hip joint module 8
It connects, is connected by waist connector 5 between two side hip joint modules 8；Waist 7 is bolted with waist connector 5；It is described
Spiral power spring storaging energy device 1005, which will walk when " whereabouts " acts, drives clockwork spring to tighten the elastic potential energy storage generated, then turns to part
Kinetic energy exports, and realizes power-assisted；The gravitional force that the energy recovery module generates walking is by driving servo motor reversion production
Raw electric energy realizes energy regenerating for battery charging.
The sole 12 includes forefoot 1201, hind paw 1203, is led between the forefoot 1201, hind paw 1203
It is hinged to cross bolt 1202, at tiptoe first metatarsal bone, 4 pressure sensors 1204 are equipped on the outside of sole and at heel.
The ankle-joint module 1 is equipped with ankle joint angle sensor 101, and ankle-joint module 1 is connected with shank bar 3, ankle
Articular branches support member 2 is fixed on calf support 11 on shank bar 3, and thigh support part 9 is fixed on thigh bar 4.
The knee joint module 10 includes absolute rotary encoder 1003, and servo motor 1001, cycloidal-pin wheel slow down
Device 1002, shaft coupling 1004, the absolute rotary encoder 1003 are mounted on 1001 motor shaft of servo motor, servo motor
1001 are connected by shaft coupling 1004 with cycloidal-pin gear speed reducer 1002；Servo motor 1001 is fixed in motor cabinet, motor cabinet
It is fixed on 10 top of knee joint module；The knee joint module 10 is connected with thigh bar 4, and thigh bar support 9 is fixed on thigh
On bar 4.
The spiral power spring storaging energy device 1005 includes：Clockwork spring fixed column 10051, clockwork spring 10052, gear wheel 10053, pinion gear
10054, winder 10055, bottom end cover 10056, bearing 10057 and outer ring 10058, in the outer ring 10058, clockwork spring
10052 are fixed in clockwork spring fixed column 10051, and clockwork spring fixed column 10051 is fixed on bottom end cover 10056, and by screw with
Upper end cover connects, and winder 10055 is fixed on bottom end cover, coaxial with clockwork spring 10052；Gear wheel 10053 and pinion gear 10054
Engagement, bearing 10057 are fixed on gear wheel 10053, and bearing 10057 is integrated with shaft coupling 1004；The clockwork spring storage
When energy device is that leg carries out " whereabouts " action, joint shaft drives the rotation of gear wheel 10053, gear wheel 10053 to drive pinion gear
10054 and winder 10055, realize that clockwork spring winding is winded up, elastic potential energy storage；When walking next time, using in clockwork spring
Energy is exported as partial power, realizes power-assisted.
The hip joint module 8 includes：Hip support element 802, Hip Angle sensor 801 and hip joint drive mould
Block 803, the hip support element 802 are connected with thigh bar 4, and hip joint drive module 803 is electric by the servo of knee joint module 10
Machine 1001, cycloidal-pin gear speed reducer 1002, shaft coupling 1004 integrate.
The waist 7 includes waist connector 5, waist bandage 701, the plastic buckle being fixed on waist bandage 701
702, it is fixed on the shoulder strap 6 of waist, the accumulator group 703 of electric energy, accumulator group is provided for hip joint, knee joint drive module
703 are positioned in battery pack bearing, and accumulator group bearing is fixed on waist connector 5, and the waist bandage 701 is fixed on waist
In portion 7.
The energy recovery module is made of ultracapacitor and accumulator group 703, using ultracapacitor for depositing
Storage servo motor 1001 is in the energy generated when generating state, while the gravitional force that walking is generated is by driving servo electricity
Machine reversion produces electricl energy, and energy regenerating is realized for battery charging.
The beneficial effects of the present invention are：
1, lightweight of the present invention, portability are high, small to outside resources dependence, environmentally friendly.In the rotation of exo-skeletal frame
The heart designs the biomethanics for meeting human body lower limbs, to eliminate since undesirable torque caused by joint misplaces.
2, realize that the walking that strides, the plantar flexion dorsiflex campaign of ankle-joint make wearing go by the movement of stretching of knee joint and hip joint
Do not interfered by ectoskeleton during walking.
3, lower limb unilateral side has three degree of freedom, realizes assisted walk using less necessary degree of freedom, reduces machine
The complexity of structure improves the efficiency of device.
4, normal leg carries out data acquisition, can accomplish that suffer from leg is consistent with normal leg gait.
5, in order to avoid migrating, lower limb are securely attached to the body of wearer by the present invention by the shoulder strap positioned at waist
On body.
6, positioned at the sensor measurement joint angles of each joint, for controlling and gait monitoring.
7, pressure sensor is located at sole, judges heel contact by four pressure sensors, keep flat enough and toe from
Ground a series of actions, for estimating gait phase.
8, the present invention not only realizes auxiliary patient and carries out assisted walk, improves portability and lightweight, while real
The recycling of energy is showed.It not only saves energy, also reduces the use of battery, tribute is also made that in terms of environmental protection
It offers.
9, when spiral power spring storaging energy device is mainly that leg carries out " whereabouts " action, realize that clockwork spring winding is winded up, elastic potential energy is deposited
Storage.It when walking next time, is exported using the energy in clockwork spring as partial power, realizes power-assisted.
10, energy regenerating structure is mainly made of ultracapacitor and accumulator group, using ultracapacitor for storing
Servo motor is in the energy generated when generating state, while the gravitional force that walking is generated is by driving servo motor reversion
It produces electricl energy, energy regenerating is realized for battery charging.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and is constituted part of this application, this hair
Bright illustrative example and its explanation is not constituted improper limitations of the present invention for explaining the present invention.
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the ankle-joint and sole structural schematic diagram of the present invention；
Fig. 3 is the knee joint modular structure schematic diagram of the present invention；
Fig. 4 is the spiral power spring storaging energy device internal structure schematic diagram of the present invention；
Fig. 5 is the hip joint modular structure schematic diagram of the present invention；
Fig. 6 is the waist and waist connecting-piece structure schematic diagram of the present invention.
In figure：1, ankle-joint module；2, ankle support part；3, shank bar；4, thigh bar；5, waist connector；6, it carries on the back
Band；7, waist；8, hip joint module；9, thigh support part；10, knee joint module；11, calf support；12, sole；101,
Ankle joint angle sensor；701, waist bandage；702 plastic buckles；703, accumulator group；801, Hip Angle sensor；
802, hip support element；803, hip joint drive module；1001, servo motor；1002, cycloidal-pin gear speed reducer；1003, it rotates
Encoder；1004, shaft coupling；1005, spiral power spring storaging energy device；10051, clockwork spring fixed column；10052, clockwork spring；10053, canine tooth
Wheel；10054, pinion gear；10055, winder；10056, bottom end cover；10057, bearing；10058, outer ring；1201, forefoot；
1202, bolt；1203, hind paw；1204, pressure sensor.
Specific implementation mode
The detailed content and its specific implementation mode further illustrated the present invention below in conjunction with the accompanying drawings.
Shown in Fig. 1 to Fig. 6, the lightweight walking aid device with energy recovery function of the invention, including sole, ankle
Joint module, knee joint module, hip joint module, shank bar, calf support, thigh bar, thigh support part, waist and shoulder strap
And realize the structure of energy regenerating.Wherein sole is connect with ankle-joint module, and ankle-joint module passes through shank bar and knee joint
Module connects, and knee joint module is connect by thigh bar with hip joint module, and two side hip joint modules are connected by waist connector
It connects.Sole is set there are four pressure sensor, and ankle-joint module is equipped with ankle joint angle sensor, and the knee joint module is equipped with connection
Axis device, servo motor, cycloidal-pin gear speed reducer, absolute rotary encoder and spiral power spring storaging energy device.Waist and waist connector
It is bolted.The spiral power spring storaging energy device, which will walk when " whereabouts " acts, drives clockwork spring to tighten the elastic potential energy storage generated
It deposits, then turns to part kinetic energy output, realize power-assisted；The energy regenerating structure is mainly by ultracapacitor and accumulator group structure
At, the energy generated when being in generating state for storing servo motor using ultracapacitor, while the weight that walking is generated
Power potential energy realizes energy regenerating by driving servo motor reversion to produce electricl energy, for battery charging.Apparatus of the present invention volume
Small, light-weight, portable, walk help is good, highly practical, is suitable for certain active movement ability but walks more difficult
Patient and the elderly use.Device coxa joint movement during walking is good with human motion consistency, passes through absolute type
Rotary encoder can control the position of hip joint and motion of knee joint, man-machine knee joint alignment and position deviation well
Small, ankle arthrosis is compact-sized.Product uses magnesium alloy light for main material own wt, can reach lightweight.
Lower limb unilateral side of the present invention has three degree of freedom：(1) degree of freedom is opened up in hip joint side；(2) hip joint bends and stretches degree of freedom；
(3) knee joint bends and stretches degree of freedom；Wherein, the flexion and extension of hip joint and kneed flexion and extension have driving.Using it is less from
Walking is realized by degree, the complexity of mechanism is reduced, improves the efficiency of device.Fortune is bent and stretched by knee joint and hip joint
It is dynamic to realize that the walking that strides, the plantar flexion dorsiflex campaign of ankle-joint make by ectoskeleton not interfered in wearing walking process, kneed fortune
For dynamic range at -70 ° ~ 0 °, hip joint bends and stretches -35 ° of range ~ 25 °, and -10 ° of abduction/adduction range ~ 5 °, i.e. wearer can be with
Normal walking is realized by this power assisting device.
As shown in Figure 1, the lightweight walking aid device with energy recovery function of the present invention includes sole 12, ankle-joint mould
Block 1, ankle support part 2, knee joint module 10, hip joint module 8, shank bar 3, calf support 11, thigh bar 4, thigh
Support element 9, waist 7, waist connector 5 and shoulder strap 7 and energy recovery module, the sole 12 connect with ankle-joint module 1
It connects, ankle-joint module 1 is connect by shank bar 3 with knee joint module 10, and knee joint module 10 passes through thigh bar 4 and hip joint mould
Block 8 connects, and is connected by waist connector 5 between two side hip joint modules 8；Waist 7 is connected with waist connector 5 by bolt
It connects；The energy recovery module produces electricl energy the gravitional force that walking generates by driving servo motor to invert, and is accumulator
Energy regenerating is realized in group charging.There are three degree of freedom for lightweight walking aid device unilateral side of the present invention with energy recovery function, divide
Not Wei 8 two degree of freedom of hip joint, complete hip joint and bend and stretch and take down the exhibits movement, two joint axis meets at human hip center；
10 one degree of freedom of knee joint, with human body knee joint coaxial line, the flexion and extension of corresponding human body knee joint；The walking aid device is realized
Three motion modes, the respectively flexion and extension of hip joint 8, interior receipts abduction exercise, the flexion and extension of knee joint 10.
As shown in Fig. 2, the sole 12 includes forefoot 1201, hind paw 1203, the pressure being installed on hind paw
Sensor 1204 is hingedly formed between the forefoot 1201, hind paw 1203 by bolt 1202.In each foot installation 4
A pressure sensor 1204 is individually positioned in tiptoe, first metatarsal bone, sole outside and heel.Ankle joint angle sensor 101
It is screwed in ankle-joint module 1, ankle-joint module is connected with shank bar 3, ankle support part 2 and calf support
11 are fixed on shank bar 3, and thigh support part 9 is fixed on thigh bar 4.Ankle-joint is equipped with buffering with knee joint coupling part and fills
It sets, ensures that ankle-joint is injury-free.
As shown in figure 3, the knee joint module 10 includes absolute rotary encoder 1003, servo motor 1001, pendulum
Line pinwheel reducer 1002, shaft coupling 1004, wherein 10 inside block of knee joint module ensure device as mechanical limit structure
Patient's knee joint is injury-free when power is off.The absolute rotary encoder 1003 is mounted on 1001 motor shaft of servo motor,
Servo motor 1001 is connected by shaft coupling 1004 with cycloidal-pin gear speed reducer 1002.Servo motor 1001 is fixed on motor cabinet
Interior, motor cabinet is fixed on 10 top of knee joint module.The knee joint module 10 is connected 4 with thigh bar, and thigh bar support 9 is solid
Due on thigh bar 4.
As shown in figure 4, the spiral power spring storaging energy device 1005 includes：Clockwork spring fixed column 10051, clockwork spring 10052, gear wheel
10053, pinion gear 10054, winder 10055, bottom end cover 10056, bearing 10057, outer ring 10058.The clockwork spring 10052 is solid
It is scheduled in clockwork spring fixed column 10051, clockwork spring fixed column is fixed on bottom end cover 10056, and is connect with upper end cover by screw, hair
Axis 10055 is fixed on bottom end cover, coaxial with clockwork spring.Gear wheel 10053 is engaged with pinion gear 10054, and bearing 10057 is fixed
In on gear wheel 10053, bearing 10057 is integrated with 1004 shaft couplings.The spiral power spring storaging energy device be leg carry out " under
Fall " action when, joint shaft drives gear wheel 10053 to rotate, and gear wheel 10053 drives pinion gear 10054 and winder
10055, realize that clockwork spring winding is winded up, elastic potential energy storage.When walking next time, using the energy in clockwork spring as partial power
Power-assisted is realized in output.
As shown in figure 5, the hip joint module 8 includes：Hip support element 802, Hip Angle sensor 801 and hip
Joint drive module 803, the hip support element 802 are connected with thigh bar 4, and thigh bar 4 is connect with knee joint module 10, thigh
Bar 4 is connected with hip support element 802.Hip joint drive module 803 is by servo motor 1001, the cycloidal-pin wheel of knee joint module 10
Retarder 1002, shaft coupling 1004 integrate.
As shown in fig. 6, the waist 7 includes waist connector 5 and waist bandage 701, is fixed on waist bandage 701
Plastic buckle 702, be fixed on waist shoulder strap 6, the accumulator group 703 of electric energy is provided for hip joint, knee joint drive module,
Accumulator group 703 is positioned in battery pack bearing, and battery pack bearing is fixed on waist connector, and the waist bandage 701 is solid
Due on waist 7.
The energy recovery module is made of ultracapacitor and accumulator group, is watched using ultracapacitor for storing
It takes motor 1001 and is in the energy generated when generating state, while the gravitional force that walking is generated is by driving servo motor anti-
Turn to produce electricl energy, energy regenerating is realized for battery charging.When servo motor is in motoring condition, ultracapacitor is in
Discharge condition provides energy to servo motor.When servo motor is in generating state, energy is flowed to super by DC bus
Capacitor, at this time ultracapacitor be in charged state（Recover energy）；When servo motor is in motoring condition, energy by
Ultracapacitor group flows to DC bus, powers for mechanism together with fairing, ultracapacitor is in discharge condition at this time
（That is energy recycling）.Energy using accumulator group for being generated when storing servo motor generating state, while servo electricity
When machine is in motoring condition, ultracapacitor is in discharge condition, provides energy to servo motor.
The lightweight walking aid device with energy recovery function of the present invention coxa joint movement and human body during walking
Movement consistency is good, can control hip joint well by absolute rotary encoder and mechanical stop limiter and knee closes
The position for saving movement, accomplishes power-off protection equipped with mechanical stop limiter, safe.Man-machine knee joint alignment and position deviation
Small, ankle arthrosis is compact-sized.Product uses magnesium alloy light for main material own wt, can reach lightweight.
Shown in Fig. 1 to Fig. 6, when the present invention has the lightweight walking aid device implementation of energy recovery function：It is first
First wearer uprightly dresses ectoskeleton walking aid device with the help of other people, then, is adjusted according to the own situation of wearer small
Walking aid device can be reached and human body is good is bonded, makes for the length of leg bar, thigh pole length and waist bandage and shoulder strap
Ankle-joint, the knee joint of human body are He Hip joint contrapositions are dressed in the corresponding rotary shaft of robot with adapting to wearer's body wearing
It is kept standing position after good walking aid device；The control system of walking aid device makes the driver at each position work, realize lift leg, across
Step.When carrying out falling the action of leg, gravitional force is recycled, electric energy is converted to by servo motor, is battery charging, to
Realize the function of energy regenerating.
Detection body motion information is followed in dynamic walking movement and driving force is actively provided, to help the normal row of patient
Rehabilitation training is walked and carried out, or the walking for helping wearer to complete larger heavy burden and long period, mitigates the fatigue of wearer.
The present invention have energy recovery function lightweight walking aid device implementation, during walking coxa joint movement with
Human motion consistency is good, can control the position of knee joint and ankle motion well by absolute rotary encoder
It sets, man-machine knee joint alignment and position deviation are small, and ankle arthrosis is compact-sized.Product uses magnesium alloy for main material itself
It is light-weight, lightweight can be reached.
The foregoing is merely the preferred embodiments of the present invention, are not intended to restrict the invention, for the technology of this field
For personnel, the invention may be variously modified and varied.All any modification, equivalent substitution, improvement and etc. made for the present invention,
It should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of lightweight walking aid device with energy recovery function, it is characterised in that：Including sole（12）, ankle-joint module
（1）, ankle support part（2）, knee joint module（10）, spiral power spring storaging energy device（1005）, hip joint module（8）, shank bar
（3）, calf support（11）, thigh bar（4）, thigh support part（9）, waist（7）, waist connector（5）, shoulder strap（6）And
Energy recovery module, the sole（12）With ankle-joint module（1）Connection, ankle-joint module（1）Pass through shank bar（3）It is closed with knee
Save module（10）Connection, knee joint module（10）Pass through thigh bar（4）With hip joint module（8）Connection, two side hip joint modules
（8）Between pass through waist connector（5）Connection；Waist（7）With waist connector（5）It is bolted；The spiral power spring storaging energy
Device（1005）To walk the elastic potential energy storage for driving clockwork spring tightening to generate when " whereabouts " acts, and it is defeated to then turn to part kinetic energy
Go out, realizes power-assisted；The energy recovery module produces electricl energy the gravitional force that walking generates by driving servo motor to invert,
Energy regenerating is realized for battery charging.
2. the lightweight walking aid device according to claim 1 with energy recovery function, it is characterised in that：The foot
The palm（12）Including forefoot（1201）, hind paw（1203）, the forefoot（1201）, hind paw（1203）Between pass through bolt
（1202）It is hinged, at tiptoe first metatarsal bone, 4 pressure sensors are equipped on the outside of sole and at heel（1204）.
3. the lightweight walking aid device according to claim 1 with energy recovery function, it is characterised in that：The ankle
Joint module（1）Equipped with ankle joint angle sensor（101）, ankle-joint module（1）With shank bar（3）It is connected, ankle support
Part（2）With calf support（11）It is fixed on shank bar（3）On, thigh support part（9）It is fixed on thigh bar（4）On.
4. the lightweight walking aid device according to claim 1 with energy recovery function, it is characterised in that：The knee
Joint module（10）Including absolute rotary encoder（1003）, servo motor（1001）, cycloidal-pin gear speed reducer（1002）, connection
Axis device（1004）, the absolute rotary encoder（1003）Mounted on servo motor（1001）On motor shaft, servo motor
（1001）Pass through shaft coupling（1004）With cycloidal-pin gear speed reducer（1002）It is connected；Servo motor（1001）It is fixed on motor cabinet
Interior, motor cabinet is fixed on knee joint module（10）Top；The knee joint module（10）With thigh bar（4）It is connected, thigh bar branch
Support member（9）It is fixed on thigh bar（4）On.
5. the lightweight walking aid device according to claim 1 with energy recovery function, it is characterised in that：The clockwork spring
Energy storage device（1005）Including：Clockwork spring fixed column（10051）, clockwork spring（10052）, gear wheel（10053）, pinion gear（10054）,
Winder（10055）, bottom end cover（10056）, bearing（10057）And outer ring（10058）, in the outer ring（10058）It is interior, clockwork spring
（10052）It is fixed on clockwork spring fixed column（10051）On, clockwork spring fixed column（10051）It is fixed on bottom end cover（10056）On, and lead to
It crosses screw to connect with upper end cover, winder（10055）It is fixed on bottom end cover, with clockwork spring（10052）Coaxially；Gear wheel
（10053）With pinion gear（10054）Engagement, bearing（10057）It is fixed on gear wheel（10053）On, bearing（10057）With shaft coupling
Device（1004）It integrates；When the spiral power spring storaging energy device is that leg carries out " whereabouts " action, joint shaft drives gear wheel
（10053）Rotation, gear wheel（10053）Drive pinion gear（10054）And winder（10055）, realize that clockwork spring winding is winded up,
Elastic potential energy stores；It when walking next time, is exported using the energy in clockwork spring as partial power, realizes power-assisted.
6. the lightweight walking aid device according to claim 1 with energy recovery function, it is characterised in that：The hip
Joint module（8）Including：Hip support element（802）, Hip Angle sensor（801）And hip joint drive module（803）, institute
State hip support element（802）With thigh bar（4）It is connected, hip joint drive module（803）By knee joint module（10）Servo electricity
Machine（1001）, cycloidal-pin gear speed reducer（1002）, shaft coupling（1004）It integrates.
7. the lightweight walking aid device according to claim 1 with energy recovery function, it is characterised in that：The waist
Portion（7）Including waist connector（5）, waist bandage（701）, be fixed on waist bandage（701）On plastic buckle（702）, it is solid
Due to the shoulder strap of waist（6）, the accumulator group of electric energy is provided for hip joint, knee joint drive module（703）, accumulator group
（703）It is positioned in battery pack bearing, accumulator group bearing is fixed on waist connector（5）On, the waist bandage（701）Gu
Due to waist（7）On.
8. the lightweight walking aid device according to claim 1 with energy recovery function, it is characterised in that：The energy
Recycling module is measured by ultracapacitor and accumulator group（703）It constitutes, storing servo motor is used for using ultracapacitor
（1001）The energy generated when in generating state, while the gravitional force that walking is generated is by driving servo motor reversion production
Raw electric energy realizes energy regenerating for battery charging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810810887.9A CN108721062A (en) | 2018-07-23 | 2018-07-23 | Lightweight walking aid device with energy recovery function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810810887.9A CN108721062A (en) | 2018-07-23 | 2018-07-23 | Lightweight walking aid device with energy recovery function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108721062A true CN108721062A (en) | 2018-11-02 |
Family
ID=63927341
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810810887.9A Pending CN108721062A (en) | 2018-07-23 | 2018-07-23 | Lightweight walking aid device with energy recovery function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108721062A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109846682A (en) * | 2019-04-09 | 2019-06-07 | 河北工业大学 | A kind of combined type exoskeleton robot |
| CN109875838A (en) * | 2019-03-15 | 2019-06-14 | 山东聚维复合材料科技有限公司 | A kind of carbon fibre composite energy storage convalescence device |
| CN112603776A (en) * | 2020-12-24 | 2021-04-06 | 浙江理工大学 | Semi-active lower limb exoskeleton assistor based on rope pulley combination and control method thereof |
-
2018
- 2018-07-23 CN CN201810810887.9A patent/CN108721062A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109875838A (en) * | 2019-03-15 | 2019-06-14 | 山东聚维复合材料科技有限公司 | A kind of carbon fibre composite energy storage convalescence device |
| CN109846682A (en) * | 2019-04-09 | 2019-06-07 | 河北工业大学 | A kind of combined type exoskeleton robot |
| CN112603776A (en) * | 2020-12-24 | 2021-04-06 | 浙江理工大学 | Semi-active lower limb exoskeleton assistor based on rope pulley combination and control method thereof |
| CN112603776B (en) * | 2020-12-24 | 2022-10-21 | 浙江理工大学 | Half initiative low limbs ectoskeleton assistor based on rope sheave combination |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107126348B (en) | A kind of quasi- passive knee ankle-joint coupling lower limb exoskeleton and its control method | |
| Chen et al. | Knee exoskeletons for gait rehabilitation and human performance augmentation: A state-of-the-art | |
| CN107411939B (en) | A kind of dedicated power-assisted healing robot of single lower limb individuals with disabilities | |
| CN104552276B (en) | The ectoskeleton servomechanism that pneumatic muscles drives | |
| CN204450526U (en) | The ectoskeleton servomechanism that a kind of pneumatic muscles drives | |
| CN104490568B (en) | Human lower extremity exoskeleton walking aid rehabilitation robot | |
| CN103054692B (en) | Wearable lower limb exoskeleton walking-assisted robot | |
| CN104490563A (en) | Pneumatic muscle based intelligent wearable lower limb | |
| CN103892943B (en) | Active/passive is in conjunction with the flexible lower limb exoskeleton of force booster type | |
| CN111571572B (en) | Wearable power-assisted flexible exoskeleton | |
| CN106491319A (en) | A kind of wearable knee joint power-assisting robot | |
| CN108721062A (en) | Lightweight walking aid device with energy recovery function | |
| CN104825306A (en) | Hip joint assisting rehabilitation device based on sleeve rope transmission | |
| CN206577092U (en) | A kind of rehabilitation of anklebone servicing unit | |
| CN106726359A (en) | A kind of flexible wearable lower limb assistance exoskeleton clothes | |
| CN104758099A (en) | Lower limb assisting outer bone based on gravity balance | |
| CN108340348A (en) | A kind of light-duty auxiliary walking ectoskeleton utensil | |
| Yan et al. | A novel adaptive oscillators-based control for a powered multi-joint lower-limb orthosis | |
| Meng et al. | Flexible lower limb exoskeleton systems: A review | |
| Bai et al. | A portable ankle-foot rehabilitation orthosis powered by electric motor | |
| Zhang et al. | Design and validation of a lightweight soft hip exosuit with series-wedge-structures for assistive walking and running | |
| Weerasingha et al. | Powered ankle exoskeletons: existent designs and control systems | |
| Bai et al. | A powered ankle-foot orthoses for ankle rehabilitation | |
| CN206677945U (en) | A kind of wearable knee joint booster of intelligence | |
| Wu et al. | A pneumatically-actuated lower-limb orthosis |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181102 |
|
| WD01 | Invention patent application deemed withdrawn after publication |