CN111991194A

CN111991194A - Leg exoskeleton device for assisting old people in moving

Info

Publication number: CN111991194A
Application number: CN202010742131.2A
Authority: CN
Inventors: 朱永强; 何永强; 丁心怡; 邹林
Original assignee: Yiwu Industrial and Commercial College
Current assignee: Yiwu Industrial and Commercial College
Priority date: 2020-07-29
Filing date: 2020-07-29
Publication date: 2020-11-27

Abstract

The invention belongs to the field of intelligent equipment, and particularly discloses a leg exoskeleton device for assisting the elderly to move, wherein an execution terminal comprises thigh supporting rods and shank supporting rods hinged to the lower ends of the thigh supporting rods, leg binding bands are fixed on the thigh supporting rods and the shank supporting rods, a circular ring is fixed at the upper end of each thigh supporting rod, an elastic waist binding band penetrates through the circular ring, a fixing assembly for fixing the waist binding band is arranged in the circular ring, a clamping assembly for fixing the waist binding band in a ring shape is arranged at the end part of the waist binding band, shoulder straps are fixed on two sides of the upper end of the waist binding band, and a lantern ring for sleeving the shoulder is arranged at the; the inner sides of the thigh supporting rod and the shank supporting rod are respectively fixed with a first air bag, a plurality of transverse springs are fixed in the first air bags, the first air bags are provided with air inlet holes and air outlet holes, air inlet one-way valves are installed in the air inlet holes, and pressure limiting valves are installed in the air outlet holes. By adopting the scheme of the invention, the problem of inconvenient wearing can be solved.

Description

Leg exoskeleton device for assisting old people in moving

Technical Field

The invention belongs to the field of intelligent equipment, and particularly relates to a leg exoskeleton device for assisting the old in moving.

Background

With the increasing age of people, when the elderly step into the middle-aged years after the maturity period, various body functions gradually become problematic, health indexes of the elderly are in a descending state, leg weakness and weakness are one of the serious problems, and the leg weakness and weakness can have great influence on life and daily life of the elderly, such as: can not sit upright, get on or off the bed, go to the toilet, bath, walk and the like normally.

And current wheelchair design, more be the help old person and carry out the removal of position, can't solve foretell most of problems, have certain limitation on home range and motion mode to if the old person uses the wheelchair trip for a long time, because the health can not extend and can influence the blood circulation, cause the shank to catch a cold or edema even, can oppress the lumbar vertebrae simultaneously and cause bigger harm. The use of crutches is too small and still requires a lot of physical effort and work for the user.

Based on the problems, the robot exoskeleton takes place at the same time, and the human motion capability is restored and enhanced by an engineering science method, so that the robot exoskeleton is one of important scientific targets of basic scientific researches of interdiscipline subjects such as robotics and the like, and the robot exoskeleton is a carrier for developing the scientific researches. The robot exoskeleton is a device worn outside a human body in parallel, is generally driven by a motor, hydraulic pressure or air pressure, detects the motion state of limbs and the motion intention of the human body in real time through a detection system, realizes man-machine cooperative assistance through a driving system and a control system, and achieves the aim of enhancing the limb strength or assisting the human body motion, such as HAL series hybrid assistance leg robot exoskeleton commonly researched by professor Yoshiyuki Sanki of Japan Bobo university and other research groups, lower limb exoskeleton robot Rewalk developed by Elger medical technology company of Israel, second generation military exoskeleton ExoHiker, ExoClimber and third generation exoskeleton HULC developed by American berkely Bionics company, and a load-bearing exoskeleton XOS-2 and the like driven by a rotary hydraulic actuator. The typical exoskeleton robots mainly adopt a motor and hydraulic drive mode or a hybrid drive mode of the motor and the hydraulic drive mode, have obvious assistance, but have the defects of multiple parts, great self weight, high energy consumption and the like, are difficult to identify by the mind of common users due to the shape of an armor, are inconvenient to wear, and are not suitable for the old.

To this end, the applicant has developed a leg exoskeleton device suitable for wearing by elderly persons.

Disclosure of Invention

The invention aims to provide a leg exoskeleton device for assisting the old in moving so as to solve the problem of inconvenience in wearing and meet the wearing requirements of the old.

In order to achieve the purpose, the basic scheme of the invention is as follows:

a leg exoskeleton device for assisting the elderly to move comprises a control terminal and an execution terminal, wherein the execution terminal comprises thigh supporting rods and shank supporting rods hinged to the lower ends of the thigh supporting rods, leg binding bands are fixed on the thigh supporting rods and the shank supporting rods, a circular ring is hinged to the upper end of each thigh supporting rod, an elastic waist binding band penetrates through the circular ring, a fixing assembly for fixing the waist binding band is arranged in the circular ring, a clamping assembly for fixing the waist binding band in an annular shape is arranged at the end of the waist binding band, shoulder straps are fixed on two sides of the upper end of the waist binding band, and a lantern ring for sleeving the shoulder portions is arranged at the upper; thigh bracing piece and shank bracing piece inboard all are fixed with first gasbag, and first gasbag internal fixation has a plurality of horizontal springs, is equipped with inlet port and venthole on the first gasbag, installs the check valve that admits air in the inlet port, installs the pressure-limiting valve in the venthole, and waist bandage both sides all are fixed with the second gasbag, and the intercommunication has the connection gasbag on the second gasbag, and two connection gasbags are behind the back alternately intercommunication on the venthole.

The theory of operation and the beneficial effect of this basic scheme lie in:

1. bind thigh bracing piece, shank bracing piece on thigh, shank through the shank bandage, bind the waist bandage at the waist, the disease makes to connect the gasbag and is located back waist department, realizes the fixed of waist bandage through the joint subassembly, removes the ring and makes the ring be located the both sides of waist after, fixes the ring in the both sides of waist bandage through fixed subassembly, the position of ring can carry on spacingly to the position of thigh bracing piece.

2. Pass the back with the braces from the back for the arm is worn out in following the lantern ring, in order to be connected to the shoulder with the braces, through the setting of braces, shifts the atress of waist part to the shoulder, reduces the waist atress, and considers that the old person has more hunchback phenomenon, sets up the lantern ring in this scheme and connects with the shoulder, and does not adopt the braces setting of current braces trousers, improves old person's use comfort.

3. Set up first gasbag and avoid the thigh bracing piece, shank bracing piece direct contact, to the thigh, the shank is protected in order improving and dresses the comfort level, it protects the waist to set up the second gasbag, and connect the gasbag setting to have a supporting role in back waist department to back waist, reduce the old person and walk the sour condition of back waist for a long time, and when the thigh received careless collision, first gasbag compression, gas in the first gasbag passes through the pressure limiting valve, connect the gasbag and enter into the second gasbag, make and connect the gasbag, the second gasbag all expands, carry out better protection to the waist, in order to avoid being injured.

4. The setting of this scheme is dressed comparatively conveniently, and through first gasbag, connection gasbag and second gasbag, can be better protect the old person, thigh bracing piece, shank bracing piece striking human and then cause further injury to the human body when avoiding colliding with carelessly.

Furthermore, the thigh supporting rod and the shank supporting rod are telescopic rods.

Has the advantages that: the length of the thigh supporting rod and the shank supporting rod can be adjusted according to different conditions such as the height of a human body, and the applicability of the device is improved.

Furthermore, the fixing assembly comprises a magnetic block fixed on one side of the circular ring and an electromagnet fixed on the other side of the circular ring, and the electromagnet has an attraction effect on the magnetic block after being electrified.

Has the advantages that: the electromagnet is started, the circular ring is fixed on the two sides of the waist bandage through the attraction of the electromagnet to the magnetic block, the position of the circular ring can limit the position of the thigh supporting rod, and the magnetic attraction structure can fix the waist bandage conveniently.

Further, the joint subassembly is including installing the snap ring in waist bandage one end and installing the buckle at the waist bandage other end, and the snap ring is close to buckle one side internal fixation limiting plate, and the buckle back is fixed with the connecting rod, and the waist bandage passes the space after-fixing between connecting rod and the buckle, and the size of buckle equals or is less than the size of snap ring inner circle.

Has the advantages that: insert the buckle in the snap ring, the buckle receives spacing realization and the fixed of snap ring of limiting plate, and comparatively convenient realization waist bandage is fixed.

Furthermore, the thigh supporting rod and the shank supporting rod respectively comprise a fixing part and a telescopic part sleeved on the fixing part, the outer wall of the telescopic part is in threaded connection with a bolt, and the inner side of the bolt is abutted against the outer wall of the fixing part.

Has the advantages that: the movable part slides relative to the fixed part to stretch and retract the thigh supporting rod and the shank supporting rod, and after the movable part slides, the movable part is fixed on the fixed part through the screwed bolt.

Drawings

FIG. 1 is a front partial cross-sectional view of an embodiment of the present invention;

FIG. 2 is an enlarged view of portion A of FIG. 1;

FIG. 3 is a front cross-sectional view of an embodiment of the present invention.

Detailed Description

The following is further detailed by way of specific embodiments:

reference numerals in the drawings of the specification include: the waist support device comprises a lantern ring 1, a shoulder strap 2, a waist bandage 3, an electromagnet 4, a circular ring 5, a thigh support rod 6, a first air bag 7, a fixed part 7, a moving part 9, a spring 10, a clamping ring 11, a buckle 12, a limiting plate 13, a second air bag 14 and a connecting air bag 15.

Example (b):

the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, 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.

As shown in fig. 1, 2, and 3, a leg exoskeleton device for assisting an elderly person to move includes a control terminal and an execution terminal, where the execution terminal includes a thigh support rod 6 and a shank support rod hinged at a lower end of the thigh support rod 6, and the control terminal is used for controlling the thigh support rod 6 and the shank support rod to make corresponding changes through commands such as walking, sitting, and the like, which is prior art and is not described in detail in this application.

Thigh bracing piece 6, shank bracing piece are the telescopic link, and is concrete, and thigh bracing piece 6, shank bracing piece all include fixed part 7 and the pars contractilis of cover on fixed part 7, and pars contractilis outer wall threaded connection has the bolt, and the bolt inboard offsets with fixed part 7 outer wall.

All be fixed with the shank bandage on thigh bracing piece 6 and the shank bracing piece, 6 upper ends of thigh bracing piece articulate has ring 5, wears to be equipped with in the ring 5 and has elastic waist bandage 3, is equipped with the fixed subassembly that is used for fixed waist bandage 3 in the ring 5, and fixed subassembly is including fixing the magnetic path in 5 one sides of ring and fixing the electro-magnet 4 at 5 opposite sides of ring, and electro-magnet 4 circular telegram back has the attraction effect to the magnetic path.

3 tip of waist bandage are equipped with and are used for being annular joint subassembly with the fixed ring-shaped joint subassembly that is of waist bandage 3, the joint subassembly is including fixing the snap ring 11 at 3 one ends of waist bandage and installing buckle 12 at the 3 other ends of waist bandage, snap ring 11 is close to buckle 12 one side internal fixation and has a limiting plate 13, the 12 backs of buckle are fixed with the connecting rod, waist bandage 3 passes the space after-fixing between connecting rod and buckle 12, buckle 12 can be equivalent to waist bandage 3 and rotate promptly, buckle 12's size equals or is less than the size of 11 inner circles of snap ring. Shoulder belts are fixed on two sides of the upper end of the waist bandage 3, and lantern rings 1 for sleeving the shoulder parts are arranged at the upper ends of the shoulder belts.

The inner sides of the fixing portions 7 of the thigh supporting rod 6 and the shank supporting rod are respectively fixed with a first air bag 7, a plurality of transverse springs 10 are fixed in the first air bags 7, air inlet holes and air outlet holes are formed in the first air bags 7, air inlet check valves are installed in the air inlet holes, pressure limiting valves are installed in the air outlet holes, second air bags 14 are fixed on the two sides of the waist bandage 3, connecting air bags 15 are communicated on the second air bags 14, and the two connecting air bags 15 are communicated on the air outlet holes after being crossed behind the back.

During the specific use, with thigh bracing piece 6 through the shank bandage, the shank bracing piece is bound at the thigh, on the shank, bind waist bandage 3 at the waist, the disease makes connection gasbag 15 be located back waist department, insert buckle 12 in snap ring 11, buckle 12 receives spacing realization and the fixed of snap ring 11 of limiting plate 13, remove ring 5 and make ring 5 be located behind the both sides of waist, start electromagnet 4, the both sides at waist bandage 3 are fixed with ring 5 through the attraction of electromagnet 4 to the magnetic path, ring 5's position can be spacing to thigh bracing piece 6. Pass the back with braces 2 from the back for the arm is worn out in following lantern ring 1, in order to be connected to the shoulder with braces 2, through the setting of braces 2, with the atress transfer part of waist to the shoulder, reduce the waist atress, and consider that the old person has more hunchback phenomenon, set up lantern ring 1 and shoulder in this scheme and connect, and do not adopt the braces 2 setting of 2 trousers of current braces, improve old person's use comfort.

Set up first gasbag 7 and avoid thigh bracing piece 6, shank bracing piece direct contact, to the thigh, the shank is protected in order to improve and dresses the comfort level, it protects the waist to set up second gasbag 14, and connect gasbag 15 setting to have the supporting role in back waist department, reduce the old person and walk the sour condition of back waist for a long time, and when the thigh received careless collision, first gasbag 7 compresses, gas in the first gasbag 7 passes through the pressure limiting valve, connect gasbag 15 and enter into second gasbag 14, make and connect gasbag 15, second gasbag 14 all expands, carry out better protection to the waist, in order to avoid being injured.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims

1. The utility model provides a supplementary old person's shank ectoskeleton device of action, includes control terminal and execution terminal, and execution terminal includes the thigh bracing piece and articulates the shank bracing piece at thigh bracing piece lower extreme, all is fixed with shank bandage, its characterized in that on thigh bracing piece and the shank bracing piece: the upper end of the thigh supporting rod is hinged with a circular ring, an elastic waist bandage penetrates through the circular ring, a fixing assembly for fixing the waist bandage is arranged in the circular ring, a clamping assembly for fixing the waist bandage in an annular shape is arranged at the end part of the waist bandage, shoulder straps are fixed on two sides of the upper end of the waist bandage, and lantern rings for sleeving shoulders are arranged at the upper ends of the shoulder straps; thigh bracing piece and shank bracing piece inboard all are fixed with first gasbag, and first gasbag internal fixation has a plurality of horizontal springs, is equipped with inlet port and venthole on the first gasbag, installs the check valve that admits air in the inlet port, installs the pressure-limiting valve in the venthole, and waist bandage both sides all are fixed with the second gasbag, and the intercommunication has the connection gasbag on the second gasbag, and two connection gasbags are behind the back alternately intercommunication on the venthole.

2. The leg exoskeleton device as claimed in claim 1, wherein: the thigh supporting rod and the shank supporting rod are telescopic rods.

3. The leg exoskeleton device as claimed in claim 2, wherein: the fixed assembly comprises a magnetic block fixed on one side of the circular ring and an electromagnet fixed on the other side of the circular ring, and the electromagnet has an attraction effect on the magnetic block after being electrified.

4. The leg exoskeleton device as claimed in claim 3, wherein: the joint subassembly is including installing the snap ring in waist bandage one end and installing the buckle at the waist bandage other end, and the snap ring is close to buckle one side internal fixation and has a limiting plate, and the buckle back is fixed with the connecting rod, and the waist bandage passes the space after-fixing between connecting rod and the buckle, and the size of buckle equals or is less than the size of snap ring inner circle.

5. The leg exoskeleton device as claimed in claim 4, wherein: the thigh supporting rod and the shank supporting rod respectively comprise a fixing part and a telescopic part sleeved on the fixing part, the outer wall of the telescopic part is in threaded connection with a bolt, and the inner side of the bolt is abutted to the outer wall of the fixing part.