WO2022082862A1 - 一种基于重力势能锁止的被动式下肢助力外骨骼 - Google Patents

一种基于重力势能锁止的被动式下肢助力外骨骼 Download PDF

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Publication number
WO2022082862A1
WO2022082862A1 PCT/CN2020/126132 CN2020126132W WO2022082862A1 WO 2022082862 A1 WO2022082862 A1 WO 2022082862A1 CN 2020126132 W CN2020126132 W CN 2020126132W WO 2022082862 A1 WO2022082862 A1 WO 2022082862A1
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Prior art keywords
rod
spring
thigh
waist
potential energy
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PCT/CN2020/126132
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English (en)
French (fr)
Inventor
曹恩国
高阳
陈璐
王刚
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江南大学
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Application filed by 江南大学 filed Critical 江南大学
Priority to GB2300140.7A priority Critical patent/GB2611670A/en
Publication of WO2022082862A1 publication Critical patent/WO2022082862A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • 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
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • 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
    • A61H1/024—Knee
    • 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
    • A61H1/0244—Hip
    • 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
    • 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
    • A61H1/0266—Foot
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • 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
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • 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
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • 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
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • A61H2201/1284—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient using own weight
    • 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
    • A61H2201/1436—Special crank assembly
    • 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
    • A61H2201/1481—Special movement conversion means
    • A61H2201/149—Special movement conversion means rotation-linear or vice versa
    • 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
    • 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces

Definitions

  • the invention relates to the technical field of assisting devices, in particular to a passive lower limb assisting exoskeleton based on gravitational potential energy locking.
  • the existing passive lower extremity exoskeleton designs mostly use the swing energy generated during walking and convert it into a source of energy for assistance.
  • most passive lower extremity exoskeletons use springs for energy storage, but most of them use the form of instant release assistance, and the walking gait of a person is divided into different cycles.
  • the boosting effect usually releases the energy in the latter stage of the support period, and the energy use efficiency is low, and the coupling with the human gait is poor.
  • a passive lower-limb power-assisted exoskeleton based on gravitational potential energy locking comprising two power-assisted linkage mechanisms
  • the power-assisted linkage mechanism includes a waist rod, a thigh rod and a calf rod, and the upper and lower ends of the thigh rod are respectively connected to the waist rod
  • the lower end of the piece and the upper end of the calf rod are hingedly connected, and a small sprocket, a rotatable pawl and a swingable adjusting cylinder are installed on the waist rod.
  • the ratchet and the small sprocket are integrated to realize synchronous rotation.
  • One end of the body abuts one end of the pawl; the small sprocket and the large sprocket are connected by a chain, a rotating disc is fixed on the thigh rod, cylinder 1 and cylinder 2 are fixed on one side of the rotating disc, and the lower end of the calf rod is hinged
  • Install the foot rod and the sliding hole rod one end of the foot rod is installed with a bolt, the bolt can slide freely in the strip hole on one end of the sliding hole rod, the lower end of the spring one is fixed on the thigh rod, the spring one
  • the upper end of the wire rope is connected to one end of the wire rope, and the fixed pulley I is installed on the thigh rod.
  • the other end is connected with the large sprocket to realize synchronous rotation.
  • the sliding hole rod can be rotated to contact the ground; when the rotating disc rotates with the thigh rod in both directions, the cylinder 1 and cylinder 2 are toggled respectively.
  • the adjusting cylinder then controls the engagement or separation of the pawl from the ratchet.
  • a positioning plate is installed on the outer surface of the waist rod, a through hole is provided on the positioning plate, and the position adjustment cylinder is inserted in the through hole, the diameter of the through hole is larger than the diameter of the position adjustment cylinder, and the lower end of the position adjustment cylinder is provided with a positioning plate.
  • the shaft shoulder, a nut is installed in the middle of the adjusting cylinder, a second spring is sleeved on the adjusting cylinder, the lower end of the second spring abuts on the positioning plate, and the upper end of the second spring abuts on the nut.
  • One end of the pawl is provided with an arc-shaped groove, the upper end of the adjusting cylinder is inserted in the arc-shaped groove, the middle part of the pawl is rotatably sleeved on the installation column, and the installation column is vertically fixed on the waist rod. outer side.
  • crank connecting rod is hinged by two rod bodies.
  • a spring guide sleeve is installed on the thigh rod, the spring is arranged in the spring guide sleeve, the spring guide sleeve is in the shape of a square tube and the tube length direction is consistent with the thigh rod member, and a strip is opened on the outer tube wall of the spring guide sleeve along the tube length direction.
  • the two ends of the bar-shaped opening extend to the two ends of the spring guide sleeve, and one end of the crank connecting rod is placed on the outer tube wall of the spring guide sleeve.
  • the second fixed pulley is installed on the hinge shaft at the hinge between the thigh rod and the lower leg rod.
  • the second fixed pulley is located below the spring guide sleeve, and the first fixed pulley is located above the spring guide sleeve.
  • the wire rope first goes up around the fixed pulley 1 and then extends downward through the fixed pulley 2 and is wound for one week and then fixed at one end of the sliding hole rod.
  • the hinge point of the foot rod and the calf rod is located above the hinge point of the sliding hole rod and the calf rod.
  • the passive lower-limb power-assisted exoskeleton based on gravitational potential energy locking further comprises a waist fixing sleeve, two thigh fixing sleeves, two calf fixing sleeves and two foot fixing sleeves, and the two foot fixing sleeves are respectively connected to the two lower legs.
  • the lower end of the fixing sleeve, the upper end of the waist rod is fixed on one side of the waist fixing sleeve, the middle part of the thigh rod is fixed on the outer side of one of the thigh fixing sleeves, and the small
  • the middle part of the leg link is fixed on the outer side of one of the lower leg fixing sleeves, and the two power-assisted link mechanisms are distributed on both sides of the waist fixing sleeve.
  • the waist fixing sleeve, the thigh fixing sleeve and the calf fixing sleeve are all sleeve-shaped and the sleeve is The front side is opened and closed by a fastening belt, and the foot fixing sleeve is in the shape of a shoe supporting the foot.
  • the patent of the present invention provides a passive lower-limb power-assisted exoskeleton based on gravitational potential energy locking, which solves the problems of low utilization energy and poor coupling with human gait in the above technical background.
  • the user wears the lower limb power-assisted exoskeleton through the waist fixing sleeve, two thigh fixing sleeves, two calf fixing sleeves and two foot fixing sleeves. After wearing, they can walk with a normal gait. When the walking gait is at the end of the swing phase, the foot begins to land, and the left end of the sliding hole rod begins to contact the ground. Under the action of the ground support, the sliding hole rod rotates clockwise and pulls the traction wire rope.
  • the spring is pulling Under the action of the steel wire rope, it is gradually elongated along the spring guide sleeve to receive energy. At this time, the angle between the thigh rod and the waist rod gradually increases, the rotating disc rotates clockwise, and the second cylinder on the rotating disc also rotates clockwise. , as soon as the cylinder on the disc is rotated, the adjusting cylinder also rotates clockwise, so that the pawl rotates counterclockwise around the connection point, the ratchet is buckled, and the crank connecting rod is at the uppermost limit position for locking and energy storage. .
  • the hip joint movement angle reaches the maximum, and the rotating disc that moves with the thigh rod, under the action of the driving force of the cylinder 1 on the rotating disc behind it, moves the pawl and the pawl through the adjusting cylinder.
  • the ratchet is opened, and the spring is at its original length.
  • the exoskeleton stores energy and locks, and the spring remains stretched.
  • the user starts to lift the leg, releases energy, the exoskeleton is unlocked, and the spring returns to its original length, helping the user to continue the leg swing action and assist. Entering the next cycle, the user settles into the support period and cycles.
  • the whole stage can effectively use the gravitational potential energy during walking to assist the user, and at the same time use the locking mechanism, so that after the energy is stored in the walking support period, it is released during the leg lift or swing period, which improves the coupling between the exoskeleton and the human body. .
  • FIG. 1 is a structural diagram of the present invention.
  • FIG. 2 is a structural diagram of another angle of the present invention.
  • FIG. 3 is a partial structural diagram of FIG. 1 .
  • FIG. 4 is a partial structural diagram of FIG. 3 .
  • FIG. 5 is a structural diagram of FIG. 4 after removing the waist rod.
  • Fig. 6 is the installation structure diagram of the spring guide bush.
  • the passive lower-limb power-assisted exoskeleton based on gravitational potential energy locking in this embodiment includes two power-assisted link mechanisms, and the power-assisted link mechanism includes a waist rod 5 , a thigh rod 6 and a calf rod 7.
  • the upper and lower ends of the thigh rod 6 are hingedly connected to the lower end of the waist rod 5 and the upper end of the calf rod 7, respectively.
  • the waist rod 5 is equipped with a small sprocket 8, a rotatable pawl 13 and a swingable adjustment.
  • the positioning cylinder 20, the ratchet 18 and the small sprocket 8 are integrated to realize synchronous rotation, and one end of the positioning cylinder 20 abuts one end of the pawl 13; the small sprocket 8 and the large sprocket 23 are connected by the chain 9, the thigh
  • the rotating disk 10 is fixed on the rod member 6, the cylinder one 26 and the cylinder two 27 are fixed on one side of the rotating disk 10, and the lower end of the lower leg rod member 7 is hingedly installed with the foot rod member 16 and the sliding hole rod member 17, and the foot rod member
  • One end of 16 is installed with a bolt, the bolt can slide freely in the strip hole on one end of the sliding hole rod 17, the lower end of the spring one 24 is fixed on the thigh rod 6, and the upper end of the spring one 24 is connected to one end of the wire rope 15, the thigh rod.
  • the fixed pulley one 11 is installed on the component 6, the other end of the wire rope 15 is connected to one end of the sliding hole rod 17 after bypassing the fixed pulley one 11, the upper end of the spring one 24 is connected to one end of the crank connecting rod 14, and the other end of the crank connecting rod 14 is connected.
  • One end is connected with the large sprocket 23 to realize synchronous rotation.
  • the sliding hole rod 17 can be rotated to contact the ground;
  • the two 27 respectively turn the adjusting cylinder 20 to control the ratchet pawl 13 to engage or separate from the ratchet wheel 18 .
  • a positioning plate 19 is installed on the outer surface of the waist rod 5, a through hole is provided on the positioning plate 19, and the position adjustment cylinder 20 is inserted in the through hole, and the diameter of the through hole is larger than the diameter of the position adjustment cylinder 20.
  • the lower end is provided with a shaft shoulder, the middle of the adjusting cylinder 20 is installed with a nut 21, the adjusting cylinder 20 is sleeved with a spring two 22, the lower end of the spring two 22 abuts on the positioning plate 19, and the upper end of the spring two 22 abuts on nut 21.
  • One end of the pawl 13 is provided with an arc-shaped groove, the upper end of the adjusting cylinder 20 is inserted into the arc-shaped groove, the middle part of the pawl 13 is rotatably sleeved on the installation column, and the installation column is vertically fixed on the waist rod. 5 outside.
  • crank connecting rod 14 is hinged by two rod bodies.
  • a spring guide sleeve 25 is installed on the thigh rod 6, the spring one 24 is arranged in the spring guide sleeve 25, the spring guide sleeve 25 is a square tubular shape and the length of the tube is consistent with the thigh rod 6, and the upper edge of the outer tube wall of the spring guide sleeve 25 is A bar-shaped opening is formed in the length direction of the tube, and both ends of the bar-shaped opening extend to both ends of the spring guide sleeve 25 .
  • the second fixed pulley 12 is installed on the hinge shaft at the hinge between the thigh rod 6 and the calf rod 7, the fixed pulley two 12 is located below the spring guide sleeve 25, and the fixed pulley one 11 is located above the spring guide sleeve 25.
  • the wire rope 15 extending from the upper end of the 24 first goes around the fixed pulley one 11 upwards, then extends downwards through the fixed pulley two 12 and is wound for one week, and then is fixed at one end of the sliding hole rod 17 .
  • the hinge point of the foot rod 16 and the calf rod 7 is located above the hinge point of the sliding hole rod 17 and the calf rod 7 .
  • the passive lower-limb power-assisted exoskeleton based on gravitational potential energy locking also includes a waist fixing sleeve 1, two thigh fixing sleeves 2, two lower leg fixing sleeves 3 and two foot fixing sleeves 4.
  • the two foot fixing sleeves 4 are respectively connected to The lower ends of the two lower leg fixing sleeves 3, the upper end of the waist rod member 5 is fixed on one side of the waist fixing sleeve 1, the middle part of the thigh rod member 6 is fixed on the outer side of one of the thigh fixing sleeves 2, and the middle part of the calf rod member 7 is fixed on the On the outside of one of the lower leg fixing sleeves 3, two power-assisted linkage mechanisms are distributed on both sides of the waist fixing sleeve 1.
  • the waist fixing sleeve 1, the thigh fixing sleeve 2 and the calf fixing sleeve 3 are all sleeve-shaped and the front side of the sleeve is
  • the opening and closing are realized by the fastening belt 28, and the foot fixing cover 4 is in the shape of a shoe supporting the foot.
  • the user can open the fastening straps at the front ends of the waist fixed connection device 1, the thigh fixed connection device 2, and the calf fixed connection device 3 to wear, fix them, and check the fixation and connection.
  • the patent of the present invention provides a passive lower-limb power-assisted exoskeleton based on gravitational potential energy locking, which solves the problems of low utilization energy and poor coupling with human gait in the above technical background.
  • the user wears the lower limb power-assisted exoskeleton through the waist fixing sleeve 1, two thigh fixing sleeves 2, two calf fixing sleeves 3 and two foot fixing sleeves 4. After wearing, they can walk with a normal gait.
  • the walking gait is at the end of the swing phase, the foot begins to land, and the left end of the sliding hole rod 17 begins to contact the ground. Under the action of the ground support reaction, the sliding hole rod 17 rotates clockwise and pulls the traction wire rope 15.
  • the spring A 24 is gradually elongated along the spring guide sleeve 25 under the action of the traction wire rope 15 to store energy.
  • the angle between the thigh rod 6 and the waist rod 5 gradually increases, and the rotating disc 10 rotates clockwise, and the rotating circle
  • the second cylinder 27 on the disk 10 also rotates clockwise, so that the pawl 13 rotates counterclockwise around the connection point, the ratchet 18 is buckled, and the crank connecting rod 14 is at the uppermost limit position for locking and energy storage.
  • the hip joint movement angle reaches the maximum, and the rotating disc 10 that moves together with the thigh rod 6, under the action of the driving force of the cylinder-26 on the rotating disc 10 behind it, adjusts the position of the cylinder. 20 opens the pawl 13 and the ratchet wheel 18, and the spring one 24 is at its original length.
  • the exoskeleton stores energy and locks, and the spring one 24 maintains a stretched state.
  • the user starts the leg-lifting phase, releases energy, unlocks the exoskeleton, and the spring 124 restores its original length, helping the user to continue the leg swing action and assist. Entering the next cycle, the user settles into the support period and cycles.
  • One end of the traction wire rope 15 in the exoskeleton goes around the fixed pulley 2 12, and the fixed pulley 1 11 is connected to the upper end of the spring 1 24.
  • the spring 1 24 is stretched under the action of external force to store the gravitational potential energy.
  • the exoskeleton's working process can be divided into three stages, namely the energy storage stage, the energy release stage, and the transition stage.
  • the walking gait is at the end of the swing phase, the ratchet wheel 18 and the pawl 13 are in an unbuckled state, and the left end of the foot rod 17 begins to contact the ground.
  • the foot rod The element 17 rotates clockwise and pulls the traction wire 15, and the spring 24 is gradually elongated along the spring guide sleeve 25 under the action of the traction wire 15.
  • the exoskeleton energy storage phase ends, and with the thigh
  • the protruding cylinder II 27 on the rotating disc 10 that the rod member 6 moves together makes the adjusting cylinder 20 rotate clockwise, which drives the pawl 13 to rotate counterclockwise around the axis, and the pawl 13 is stuck in the ratchet wheel 8 to carry out gravitational potential energy.
  • the foot surface is completely in contact with the ground, and the spring one 24 is in the longest stretched state. Since the ratchet wheel 13 and the pawl 18 are in the buckled state, the chain transmission fails at this time, and the crank connected to the large chain wheel 23
  • the connecting rod 14 is in the uppermost limit position.
  • the spring one 24 gradually shortens, releasing energy to assist the hip joint.
  • the ratchet wheel 18 and the pawl 13 are in a buckled state.
  • the failure of the chain drive causes the crank connecting rod 14 to be in a relatively static state during this process. Linear motion.
  • the crank connecting rod 14 rotates counterclockwise around its upper end point, and the force exerted by the joint action of the crank connecting rod 14 and the spring one 24 on the side of the spring guide sleeve 25 is used to assist the leg raising process.
  • the hip joint movement angle reaches the maximum, and the raised cylinder 1 26 on the rotating disc 10 that moves with the thigh rod 6 rotates the adjusting cylinder 20 counterclockwise, so that the pawl 13 surrounds The shaft rotates clockwise, leaves the ratchet 8, and the energy is released.
  • the spring one 24 is at its original length.
  • the whole stage can effectively use the gravitational potential energy during walking to assist the user, and at the same time use the locking mechanism, so that after the energy is stored in the walking support period, it is released during the leg lift or swing period, which improves the coupling between the exoskeleton and the human body. .

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  • Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Epidemiology (AREA)
  • General Health & Medical Sciences (AREA)
  • Pain & Pain Management (AREA)
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Abstract

一种基于重力势能锁止的被动式下肢助力外骨骼，腰部杆件(5)上安装棘轮(18)、棘爪(13)、小链轮(8)以及定位板(19)，定位板(19)上开设通孔，通孔中穿插安装有可摆动式调位柱体(20)；大腿杆件(6)上安装转动圆盘(10)、大链轮(23)、定滑轮一(11)和弹簧一(24)，大链轮(23)和小链轮(8)通过链条(9)连接，转动圆盘(10)上安装圆柱一(26)和圆柱二(27)，小腿杆件(7)的下端铰接安装足部杆件(16)和滑孔杆件(17)，弹簧一(24)的下端固定在大腿杆件(6)上，弹簧一(24)的上端连接钢丝绳(15)的一端，钢丝绳(15)的另一端和滑孔杆件(17)一端相连，弹簧一(24)的上端和曲柄连杆(14)的一端相连，曲柄连杆(14)的另一端和大链轮(23)同步转动，能够有效利用行走时的重力势能对用户进行助力，提高外骨骼与人体运动的耦合性。

Description

一种基于重力势能锁止的被动式下肢助力外骨骼 技术领域
本发明涉及助力器械技术领域，尤其是一种基于重力势能锁止的被动式下肢助力外骨骼。
背景技术
现有被动式下肢外骨骼设计多利用行走时产生的摆动能量，转化为助力的能量来源，利用能量少，难以起到很好的助力作用。此外，大多数被动式下肢外骨骼利用弹簧进行能量储存，但多采用即时释放的助力形式，而人的行走步态分为不同周期，这种即时反馈很难对摆动期即行走抬腿阶段产生良好助力效果，通常在支撑期的后阶段就已经将能量释放，能量使用效率低，与人的步态耦合性较差。
技术问题
能量使用效率低，与人的步态耦合性较差。
技术解决方案
一种基于重力势能锁止的被动式下肢助力外骨骼，包括两个助力连杆机构，助力连杆机构包括腰部杆件、大腿杆件和小腿杆件，大腿杆件的上下两端分别和腰部杆件的下端、小腿杆件的上端铰接相连，腰部杆件上安装小链轮、可转动式棘爪和可摆动式调位柱体，棘轮和小链轮为一体式实现同步转动，调位柱体的一端抵靠在棘爪的一端；小链轮和大链轮通过链条连接，大腿杆件上固定转动圆盘，转动圆盘的一侧面固定圆柱一和圆柱二，小腿杆件的下端铰接安装足部杆件和滑孔杆件，足部杆件的一端安装螺栓，螺栓可在滑孔杆件一端上的条形孔内自由滑动，弹簧一的下端固定在大腿杆件上，弹簧一的上端连接钢丝绳的一端，大腿杆件上安装定滑轮一，钢丝绳的另一端绕过定滑轮一后和滑孔杆件一端相连，弹簧一的上端和曲柄连杆的一端相连，曲柄连杆的另一端和大链轮连接实现同步转动，当足部着地时，滑孔杆件可随之转动至和地面接触；当转动圆盘随大腿杆件双向转动时，圆柱一和圆柱二分别拨动调位柱体进而控制棘爪从棘轮中扣合或分离。
作为上述技术方案的进一步改进：
所述腰部杆件的外侧面上安装定位板，定位板上开设通孔，调位柱体安插在通孔中，通孔的直径大于调位柱体的直径，调位柱体的下端设有轴肩，调位柱体的中部安装螺母，调位柱体上套设弹簧二，弹簧二的下端抵靠在定位板上，弹簧二的上端抵靠在螺母上。
所述棘爪的一端设有弧形凹槽，调位柱体的上端安插在弧形凹槽中，棘爪的中部可转动式套设在安装柱上，安装柱垂直固定在腰部杆件的外侧面。
所述曲柄连杆由两个杆体铰接而成。
所述大腿杆件上安装弹簧导套，弹簧一布置在弹簧导套内，弹簧导套为方管状且管长方向和大腿杆件一致，弹簧导套的外侧管壁上沿管长方向开设条形开口且条形开口的两端延伸至弹簧导套的两端部，曲柄连杆的一端搭在弹簧导套的外侧管壁上。
所述大腿杆件和小腿杆件之间铰接处的铰接轴上安装定滑轮二，定滑轮二位于弹簧导套的下方，定滑轮一位于弹簧导套的上方，自弹簧一的上端延伸出的钢丝绳先向上绕过定滑轮一后向下延伸经定滑轮二缠绕一周后固定在滑孔杆件的一端。
所述足部杆件和小腿杆件的铰接点位于滑孔杆件和小腿杆件的铰接点的上方。
所述基于重力势能锁止的被动式下肢助力外骨骼还包括腰部固定套、两个大腿固定套、两个小腿固定套和两个足部固定套，两个足部固定套分别连接在两个小腿固定套的下端，腰部杆 件的上端固定在腰部固定套的一侧，大腿杆件的中部固定在其中一个大腿固定套的外侧，小
腿杆件的中部固定在其中一个小腿固定套的外侧，两个助力连杆机构分布在腰部固定套的两侧，腰部固定套、大腿固定套和小腿固定套均为套筒状且套筒的前侧通过扣紧带实现开合，足部固定套为支撑足部的鞋状。
有益效果
本发明专利提供了一种基于重力势能锁止的被动式下肢助力外骨骼，解决上述技术背景中，利用能量少及与人步态耦合性较差问题。用户通过腰部固定套、两个大腿固定套、两个小腿固定套和两个足部固定套进行下肢助力外骨骼穿戴，穿戴后，可进行正常步态行走。当行走步态处于摆动相末期时，足部开始落地，滑孔杆件的左端与地面开始接触，在地面支反力作用下，滑孔杆件顺时针旋转并拉动牵引钢丝绳，弹簧一在牵引钢丝绳的作用下沿着弹簧导套逐渐被拉长，收纳能量，此时，大腿杆件与腰部杆件角度逐渐变大，转动圆盘顺时针转动，转动圆盘上的圆柱二也顺时针旋转，转动圆盘上的圆柱一使调位柱体也顺时针旋转，从而使棘爪围绕连接点进行逆时针旋转，扣上棘轮，曲柄连杆处于最上方的极限位置，进行锁止和能量存储。当行走步态处于支撑相末期至摆动相初期时，棘轮和棘爪处于扣合状态，链传动不影响扣合，曲柄连杆的下端在弹簧一的拉力作用下开始相对于大腿杆件作直线运动。这个过程中曲柄连杆绕其上端点做逆时针转动，曲柄连杆和弹簧一共同作用在弹簧导套侧面施加的力用来助力抬腿过程。当释能助力过程结束时，髋关节运动角度达到最大，随大腿杆件一起运动的转动圆盘，在其后面转动圆盘上圆柱一的推动力作用下，通过调位柱体将棘爪和棘轮打开，此时弹簧一处于原长。
在行走过程中，支撑期，外骨骼储存能量并进行锁止，弹簧一保持拉伸状态。在摆动期初期，用户开始进行抬腿阶段，释放能量，外骨骼解锁，弹簧一恢复原长，帮助用户继续进行摆腿动作，进行助力。进入下一个周期，用户落脚进入支撑期，进行周期循环。
整个阶段能够有效利用行走时的重力势能对用户进行助力，同时利用锁止机构，使能量在行走支撑期存储后，在抬腿即摆动期再进行释放，提高了外骨骼与人体运动的耦合性。
附图说明
图1是本发明的结构图。
图2是本发明的另一角度的结构图。
图3是图1的部分结构图。
图4是图3的部分结构图。
图5是图4去掉腰部杆件后的结构图。
图6是弹簧导套的安装结构图。
其中：1、腰部固定套；2、大腿固定套；3、小腿固定套；4、足部固定套；5、腰部杆件；6、大腿杆件；7、小腿杆件；8、小链轮；9、链条；10、转动圆盘；11、定滑轮一；12、定滑轮二；13、棘爪；14、曲柄连杆；15、钢丝绳；16、足部杆件；17、滑孔杆件；18、棘轮；19、定位板；20、调位柱体；21、螺母；22、弹簧二；23、大链轮；24、弹簧一；25、弹簧导套；26、圆柱一；27、圆柱二；28、扣紧带。
本发明的实施方式
下面结合附图，说明本发明的具体实施方式。
如图1-6所示，本实施例的基于重力势能锁止的被动式下肢助力外骨骼，包括两个助力连杆机构，助力连杆机构包括腰部杆件5、大腿杆件6和小腿杆件7，大腿杆件6的上下两端分别和腰部杆件5的下端、小腿杆件7的上端铰接相连，腰部杆件5上安装小链轮8、可转动 式棘爪13和可摆动式调位柱体20，棘轮18和小链轮8为一体式实现同步转动，调位柱体20的一端抵靠在棘爪13的一端；小链轮8和大链轮23通过链条9连接，大腿杆件6上固定转动圆盘10，转动圆盘10的一侧面固定圆柱一26和圆柱二27，小腿杆件7的下端铰接安装足部杆件16和滑孔杆件17，足部杆件16的一端安装螺栓，螺栓可在滑孔杆件17一端上的条形孔内自由滑动，弹簧一24的下端固定在大腿杆件6上，弹簧一24的上端连接钢丝绳15的一端，大腿杆件6上安装定滑轮一11，钢丝绳15的另一端绕过定滑轮一11后和滑孔杆件17一端相连，弹簧一24的上端和曲柄连杆14的一端相连，曲柄连杆14的另一端和大链轮23连接实现同步转动，当足部着地时，滑孔杆件17可随之转动至和地面接触；当转动圆盘10随大腿杆件6双向转动时，圆柱一26和圆柱二27分别拨动调位柱体20进而控制棘爪13从棘轮18中扣合或分离。
腰部杆件5的外侧面上安装定位板19，定位板19上开设通孔，调位柱体20安插在通孔中，通孔的直径大于调位柱体20的直径，调位柱体20的下端设有轴肩，调位柱体20的中部安装螺母21，调位柱体20上套设弹簧二22，弹簧二22的下端抵靠在定位板19上，弹簧二22的上端抵靠在螺母21上。
棘爪13的一端设有弧形凹槽，调位柱体20的上端安插在弧形凹槽中，棘爪13的中部可转动式套设在安装柱上，安装柱垂直固定在腰部杆件5的外侧面。
曲柄连杆14由两个杆体铰接而成。
大腿杆件6上安装弹簧导套25，弹簧一24布置在弹簧导套25内，弹簧导套25为方管状且管长方向和大腿杆件6一致，弹簧导套25的外侧管壁上沿管长方向开设条形开口且条形开口的两端延伸至弹簧导套25的两端部，曲柄连杆14的一端搭在弹簧导套25的外侧管壁上。大腿杆件6和小腿杆件7之间铰接处的铰接轴上安装定滑轮二12，定滑轮二12位于弹簧导套25的下方，定滑轮一11位于弹簧导套25的上方，自弹簧一24的上端延伸出的钢丝绳15先向上绕过定滑轮一11后向下延伸经定滑轮二12缠绕一周后固定在滑孔杆件17的一端。足部杆件16和小腿杆件7的铰接点位于滑孔杆件17和小腿杆件7的铰接点的上方。
基于重力势能锁止的被动式下肢助力外骨骼还包括腰部固定套1、两个大腿固定套2、两个小腿固定套3和两个足部固定套4，两个足部固定套4分别连接在两个小腿固定套3的下端，腰部杆件5的上端固定在腰部固定套1的一侧，大腿杆件6的中部固定在其中一个大腿固定套2的外侧，小腿杆件7的中部固定在其中一个小腿固定套3的外侧，两个助力连杆机构分布在腰部固定套1的两侧，腰部固定套1、大腿固定套2和小腿固定套3均为套筒状且套筒的前侧通过扣紧带28实现开合，足部固定套4为支撑足部的鞋状。用户可以打开腰部固定连接装置1、大腿固定连接装置2、小腿固定连接装置3前端的扣紧带进行穿戴，固定好，检查固定和连接情况。
本发明专利提供了一种基于重力势能锁止的被动式下肢助力外骨骼，解决上述技术背景中，利用能量少及与人步态耦合性较差问题。用户通过腰部固定套1、两个大腿固定套2、两个小腿固定套3和两个足部固定套4进行下肢助力外骨骼穿戴，穿戴后，可进行正常步态行走。当行走步态处于摆动相末期时，足部开始落地，滑孔杆件17的左端与地面开始接触，在地面支反力作用下，滑孔杆件17顺时针旋转并拉动牵引钢丝绳15，弹簧一24在牵引钢丝绳15的作用下沿着弹簧导套25逐渐被拉长，收纳能量，此时，大腿杆件6与腰部杆件5角度逐渐变大，转动圆盘10顺时针转动，转动圆盘10上的圆柱二27也顺时针旋转，从而使棘爪13围绕连接点进行逆时针旋转，扣上棘轮18，曲柄连杆14处于最上方的极限位置，进行锁止和能量存储。当行走步态处于支撑相末期至摆动相初期时，棘轮18和棘爪13处于扣合状态，链传动不影响扣合，曲柄连杆14的下端在弹簧一24的拉力作用下开始相对于大腿杆件6作直线运动。这个过程中曲柄连杆14绕其上端点做逆时针转动，曲柄连杆14和弹簧一24共同作用在弹簧导套25侧面施加的力用来助力抬腿过程。当释能助力过程结束时，髋 关节运动角度达到最大，随大腿杆件6一起运动的转动圆盘10，在其后面转动圆盘10上圆柱一26的推动力作用下，通过调位柱体20将棘爪13和棘轮18打开，此时弹簧一24处于原长。
在行走过程中，支撑期，外骨骼储存能量并进行锁止，弹簧一24保持拉伸状态。在摆动期初期，用户开始进行抬腿阶段，释放能量，外骨骼解锁，弹簧一24恢复原长，帮助用户继续进行摆腿动作，进行助力。进入下一个周期，用户落脚进入支撑期，进行周期循环。
外骨骼中牵引钢丝绳15的一端绕过定滑轮二12、定滑轮一11连接着弹簧一24上端，行走时，在外力的作用下实现对弹簧一24的拉伸，进行重力势能的存储。
人体足部逐渐与地面接触的过程中，滑孔杆件17接触地面，滑孔杆件17左端绕转动副做顺时针向上的运动，相反，右端做顺时针向下的运动，带动牵引钢丝绳15拉动弹簧一24，并起到放大行程的作用，从而增加弹簧一24拉伸长度，减小弹簧系数，从而减小弹簧一24重量和运动负担。
当人体穿戴外骨骼行走时，外骨骼的工作过程可以分为三个阶段，分别是储能阶段、释能阶段、过渡阶段。
储能阶段时，行走步态处于摆动相末期，棘轮18、棘爪13处于未扣合的状态，足部杆件17的左端开始与地面接触，在地面支反力的作用下，足部杆件17顺时针旋转并拉动牵引钢丝15，弹簧24在牵引钢丝15的作用下沿着弹簧导套25逐渐被拉长，由摆动相末期至支撑相中期时，外骨骼储能阶段结束，随大腿杆件6一起运动的转动圆盘10上凸起圆柱二27使调位柱体20顺时针旋转，带动棘爪13围绕轴心进行逆时针旋转，棘爪13卡入棘轮8中，进行重力势能锁止，此时脚面与地面完全接触，弹簧一24处于拉伸的最长状态，由于棘轮13、棘爪18是处于扣合状态，此时链传动失效，与大链轮23相连接的曲柄连杆14处于最上方的极限位置。
释能阶段时，弹簧一24逐渐缩短，释放能量为髋关节助力。棘轮18和棘爪13处于扣合状态，链传动的失效导致曲柄连杆14在这个过程中处于相对静止状态，曲柄连杆14的下端在弹簧一24的拉力作用下相对于大腿杆件6作直线运动。这个过程中曲柄连杆14绕其上端点做逆时针转动，曲柄连杆14和弹簧一24的共同作用在弹簧导套25侧面施加的力用来助力抬腿过程。当释能助力过程结束时，髋关节运动角度达到最大，随大腿杆件6一起运动的转动圆盘10上的凸起圆柱一26使调位柱体20逆时针旋转，从而使棘爪13围绕轴心进行顺时针旋转，离开棘轮8，能量释放，此时弹簧一24处于原长。
过渡阶段时，当释能过程结束后，行走步态处于摆动相前中期，棘爪13和棘轮18处于打开状态，链传动恢复工作，在脚面触及到地面之前，曲柄连杆14伴随着大链轮23做顺时针转动。足底触及到地面之后，又一次开始了储能阶段，弹簧一24被拉伸，曲柄连杆14做逆时针运动，在储能阶段末期，曲柄连杆14又一次回到最上方的极限位置，大腿杆件6逐渐与腰部杆件5角度增大至棘轮18和棘爪13扣合，开始下一次循环。
整个阶段能够有效利用行走时的重力势能对用户进行助力，同时利用锁止机构，使能量在行走支撑期存储后，在抬腿即摆动期再进行释放，提高了外骨骼与人体运动的耦合性。
以上描述是对本发明的解释，不是对发明的限定，本发明所限定的范围参见权利要求，在本发明的保护范围之内，可以作任何形式的修改。

Claims (8)

  1. 一种基于重力势能锁止的被动式下肢助力外骨骼，其特征在于：包括两个助力连杆机构，助力连杆机构包括腰部杆件(5)、大腿杆件(6)和小腿杆件(7)，大腿杆件(6)的上下两端分别和腰部杆件(5)的下端、小腿杆件(7)的上端铰接相连，腰部杆件(5)上安装小链轮(8)、可转动式棘爪(13)和可摆动式调位柱体(20)，棘轮(18)和小链轮(8)为一体式实现同步转动，调位柱体(20)的一端抵靠在棘爪(13)的一端；小链轮(8)和大链轮(23)通过链条(9)连接，大腿杆件(6)上固定转动圆盘(10)，转动圆盘(10)的一侧面固定圆柱一(26)和圆柱二(27)，小腿杆件(7)的下端铰接安装足部杆件(16)和滑孔杆件(17)，足部杆件(16)的一端安装螺栓，螺栓可在滑孔杆件(17)一端上的条形孔内自由滑动，弹簧一(24)的下端固定在大腿杆件(6)上，弹簧一(24)的上端连接钢丝绳(15)的一端，大腿杆件(6)上安装定滑轮一(11)，钢丝绳(15)的另一端绕过定滑轮一(11)后和滑孔杆件(17)一端相连，弹簧一(24)的上端和曲柄连杆(14)的一端相连，曲柄连杆(14)的另一端和大链轮(23)连接实现同步转动，当足部着地时，滑孔杆件(17)可随之转动至和地面接触；当转动圆盘(10)随大腿杆件(6)双向转动时，圆柱一(26)和圆柱二(27)分别拨动调位柱体(20)进而控制棘爪(13)从棘轮(18)中扣合或分离。
  2. 如权利要求1所述的基于重力势能锁止的被动式下肢助力外骨骼，其特征在于：所述腰部杆件(5)的外侧面上安装定位板(19)，定位 板(19)上开设通孔，调位柱体(20)安插在通孔中，通孔的直径大于调位柱体(20)的直径，调位柱体(20)的下端设有轴肩，调位柱体(20)的中部安装螺母(21)，调位柱体(20)上套设弹簧二(22)，弹簧二(22)的下端抵靠在定位板(19)上，弹簧二(22)的上端抵靠在螺母(21)上。
  3. 如权利要求1所述的基于重力势能锁止的被动式下肢助力外骨骼，其特征在于：所述棘爪(13)的一端设有弧形凹槽，调位柱体(20)的上端安插在弧形凹槽中，棘爪(13)的中部可转动式套设在安装柱上，安装柱垂直固定在腰部杆件(5)的外侧面。
  4. 如权利要求1所述的基于重力势能锁止的被动式下肢助力外骨骼，其特征在于：所述曲柄连杆(14)由两个杆体铰接而成。
  5. 如权利要求1所述的基于重力势能锁止的被动式下肢助力外骨骼，其特征在于：所述大腿杆件(6)上安装弹簧导套(25)，弹簧一(24)布置在弹簧导套(25)内，弹簧导套(25)为方管状且管长方向和大腿杆件(6)一致，弹簧导套(25)的外侧管壁上沿管长方向开设条形开口且条形开口的两端延伸至弹簧导套(25)的两端部，曲柄连杆(14)的一端搭在弹簧导套(25)的外侧管壁上。
  6. 如权利要求5所述的基于重力势能锁止的被动式下肢助力外骨骼，其特征在于：所述大腿杆件(6)和小腿杆件(7)之间铰接处的铰接轴上安装定滑轮二(12)，定滑轮二(12)位于弹簧导套(25)的下方，定滑轮一(11)位于弹簧导套(25)的上方，自弹簧一(24)的上端延伸出的钢丝绳(15)先向上绕过定滑轮一(11)后向下延伸经 定滑轮二(12)缠绕一周后固定在滑孔杆件(17)的一端。
  7. 如权利要求1所述的基于重力势能锁止的被动式下肢助力外骨骼，其特征在于：所述足部杆件(16)和小腿杆件(7)的铰接点位于滑孔杆件(17)和小腿杆件(7)的铰接点的上方。
  8. 如权利要求1所述的基于重力势能锁止的被动式下肢助力外骨骼，其特征在于：所述基于重力势能锁止的被动式下肢助力外骨骼还包括腰部固定套(1)、两个大腿固定套(2)、两个小腿固定套(3)和两个足部固定套(4)，两个足部固定套(4)分别连接在两个小腿固定套(3)的下端，腰部杆件(5)的上端固定在腰部固定套(1)的一侧，大腿杆件(6)的中部固定在其中一个大腿固定套(2)的外侧，小腿杆件(7)的中部固定在其中一个小腿固定套(3)的外侧，两个助力连杆机构分布在腰部固定套(1)的两侧,腰部固定套(1)、大腿固定套(2)和小腿固定套(3)均为套筒状且套筒的前侧通过扣紧带(28)实现开合，足部固定套(4)为支撑足部的鞋状。
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