WO2022082863A1 - 一种基于人体重力势能转化的康复外骨骼助行器 - Google Patents

一种基于人体重力势能转化的康复外骨骼助行器 Download PDF

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Publication number
WO2022082863A1
WO2022082863A1 PCT/CN2020/126133 CN2020126133W WO2022082863A1 WO 2022082863 A1 WO2022082863 A1 WO 2022082863A1 CN 2020126133 W CN2020126133 W CN 2020126133W WO 2022082863 A1 WO2022082863 A1 WO 2022082863A1
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Prior art keywords
bar
fixed
support assembly
steel wire
locking hooks
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PCT/CN2020/126133
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English (en)
French (fr)
Inventor
曹恩国
王刚
徐祺
王志明
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江南大学
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Publication of WO2022082863A1 publication Critical patent/WO2022082863A1/zh

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    • 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
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg

Definitions

  • the invention relates to the technical field of medical aids, in particular to a rehabilitation exoskeleton walker based on the transformation of human gravitational potential energy.
  • the body is large and has a certain weight, and the user needs to bear the load brought by the body when wearing it.
  • the battery has limited power storage capacity, and needs to be charged after wearing it for a period of time, which is cumbersome to operate.
  • a rehabilitation exoskeleton walker based on the transformation of human gravitational potential energy includes two support units, the support unit includes a waist fixing rod, a thigh support assembly and a calf support assembly, and the upper and lower ends of the thigh support assembly are respectively connected with the waist fixing rod.
  • the lower end and the upper end of the calf support assembly are hinged, the lever bracket is fixed on the thigh support assembly, the triangular bracket assembly is installed under the calf support assembly and the two can slide relative to each other, the calf support assembly and the tripod bracket assembly are connected with springs One, the tripod bracket assembly Stroke enlargement pulley is installed on the upper part of , the lower end of the lifting steel wire is fixed on the calf support assembly, the lower end of the lifting steel wire extends downward, bypasses the stroke enlargement pulley, and extends upward through the limit hole of the lever bracket to lift the steel wire.
  • the upper end of the shank is fixed on the waist fixing rod, the upper end of the triangular bracket assembly is fixed with multi-stage serrations, two lock hooks are hingedly installed in the calf support assembly, the upper ends of the two lock hooks are elastically connected, and the upper end of the unlocking steel wire is fixed at the waist.
  • the upper end of the unlocking steel wire extends downward through the limit hole of the lever bracket and then is divided into two branch steel wires which are fixedly connected to the lower ends of the two locking hooks, respectively.
  • the upper ends of the multi-level sawtooth are connected; when the multi-level sawtooth slides with the tripod assembly, the multiple-level sawtooth can be inserted between the two lock hooks and fastened with the lock hook to achieve multi-level locking; when the unlocking steel wire is pulled upwards , to drive the lower ends of the two lock hooks away from each other to unlock the lock hook.
  • the triangular bracket assembly includes a first bar and a right-angle plate, the right-angle plate is abutted and fixed on the lower end of the first bar, a right-angled edge of the right-angle plate is perpendicular to the first bar, and the lower end of the calf fixing sleeve is connected to the shoe-shaped foot support sleeve, When the foot support covers the ground, a right-angled edge of the right-angled plate presses the ground.
  • the calf support assembly includes a second bar, the cross section of the second bar is U-shaped, the second bar is internally formed with a bar-shaped limit channel 1, the middle of the second bar is fixed with a U-shaped fixing bracket 1, and the two parts of the first fixing bracket are fixed.
  • the side walls are abutted and fixed on the two outer side walls of the second bar, the middle part of the fixing bracket 1 is installed with a screw 1, and the lower end of the pulling steel wire is wound and fixed on the screw 1.
  • the cross section of the first bar is U-shaped, and the second bar-shaped limit channel is formed inside the first bar.
  • the rod body of the first bar is inserted into the second bar to form a sliding fit.
  • the notches of the bar two are arranged oppositely, and the stroke enlargement pulley is installed at the upper end of the bar one.
  • the lower part of the second bar is fixed with a U-shaped fixing bracket 2, the two side walls of the second fixing bracket are abutted and fixed on the two outer side walls of the second bar, the lower end of the spring 1 is fixed in the middle of the fixing bracket 2, and the upper end of the spring 1 It is fixed in the middle of the bar one, and the length direction of the spring one is consistent with the length direction of the bar one.
  • the two sides of the multi-level sawtooth are symmetrically provided with sawtooth respectively, the lower end of the multi-level sawtooth is fixed on the upper end of the first bar, the upper ends of the two locking hooks are connected by the second spring, and the lower ends of the two locking hooks are respectively overhanging inwards.
  • Mounting blocks are respectively fixed on the two outer side walls of the bar 2 located on both sides of the two locking hooks.
  • the two mounting blocks are arranged with arc-shaped limit pipe walls, and the arc-shaped limit pipe walls and the mounting blocks are enclosed into an arc-shaped limit channel.
  • the inner arcs of the two arc-shaped limit channels are arranged oppositely, the lower ends of the two locking hooks are respectively fixed to the second screw vertically, and the two branch steel wires pass through the two arc-shaped limit channels respectively and are fixed on the corresponding screw two.
  • the middle and upper part of the multi-stage sawtooth is fixed to the positioning block, the positioning block is provided with a through hole one, the connecting steel wire passes through the through hole one, and the two ends of the connecting steel wire are respectively fixed on two screws two.
  • the thigh support assembly includes a bar three
  • the lever bracket is a bar block and is vertically fixed on the middle and upper part of the bar three
  • the lower end of the bar three is hinged with the upper end of the bar two, and is installed on the hinge shaft at the hinge.
  • Limit pulley the limit plate is vertically fixed on the bar two below the limit pulley, and two through holes are opened in the limit plate.
  • the middle thread is divided into two branch steel wires, and the pulling steel wire goes around the limit pulley and then passes through the second through hole of the limit plate and extends downward to bypass the stroke enlargement pulley.
  • the upper end of the third bar is provided with a plurality of evenly spaced hinge holes along the length direction of the rod, and one of the hinge holes is hinged with the lower end of the waist fixing rod through a hinge shaft.
  • the support unit also includes a waist fixing shell, a thigh fixing cover and a calf fixing cover, the waist fixing rod is fixed in the waist fixing shell, the two supporting units are distributed on both sides of the waist fixing shell, and the thigh support component is sleeved with a thigh bracket.
  • the outer shell of the calf support component is sleeved with a calf bracket shell, the upper end of the thigh bracket shell is hinged on one side of the waist fixing shell, the lower end of the thigh bracket shell is hinged with the upper end of the calf bracket shell, and the thigh fixing sleeve is fixed on the inner side of the thigh bracket shell, The calf fixing sleeve is fixed on the inner side of the calf bracket shell.
  • the combination of the locking hook and the multi-level sawtooth described in the present application can lock a length of the spring when the spring is stretched and stored for energy, so as to realize the effective buffering of the system and the efficient conversion of energy, and prevent the human body from rebounding; the greater the load on the human body, the higher the speed.
  • the greater the compression of the first spring the more energy stored when the locking hook and the multi-stage sawtooth lock the length of the first spring.
  • the change in the length of the tensioning steel wire is transformed into the change in the rotation angle between the waist fixing rod and the bar three at a certain angle.
  • This structure realizes the transformation of the gravity with a small stroke and a large force into a leg lift with a long stroke and a small force. Efficient use of energy and reduced gait impact.
  • the application does not require batteries, does not need to worry about battery life, and does not bring a lot of extra weight to the user.
  • FIG. 1 is a structural diagram of the present invention.
  • FIG. 2 is a partial structural diagram of FIG. 1 .
  • FIG. 3 is an enlarged view of part A in FIG. 2 .
  • FIG. 4 is an enlarged view of part B in FIG. 2 .
  • FIG. 5 is a structural diagram of the lock hook and multi-stage sawtooth matching according to the present invention.
  • the rehabilitation exoskeleton walker based on the conversion of human gravitational potential energy in this embodiment includes two support units.
  • the support unit includes a waist fixing rod 10, a thigh support assembly and a calf support assembly.
  • the upper and lower ends are respectively hinged with the lower end of the waist fixing rod 10 and the upper end of the calf support assembly, the lever bracket 20 is fixed on the thigh support assembly, the triangular bracket assembly is installed below the calf support assembly and the two can slide relative to each other, the calf support assembly and the triangle
  • a spring 11 is connected between the bracket assemblies, the upper part of the tripod bracket assembly is installed with a stroke enlargement pulley 3, the lower end of the lifting steel wire 18 is fixed on the calf support assembly, and the lower end of the lifting steel wire 18 extends downward to bypass the stroke enlargement pulley 3
  • the upper end of the lifting steel wire 18 is fixed on the waist fixing rod 10, the upper end of the triangular bracket assembly is fixed with the multi-stage sawtooth 14, and
  • the upper ends of the two locking hooks 15 are elastically connected, the upper end of the unlocking steel wire 19 is fixed on the waist fixing rod 10, and the upper end of the unlocking steel wire 19 extends downward through the limit hole of the lever bracket 20 and is divided into two parts.
  • the branch steel wires 191 are respectively fixedly connected with the lower ends of the two locking hooks 15, and the lower ends of the two locking hooks 15 are respectively connected with the upper ends of the multi-stage sawtooth 14 through the connecting steel wire; when the multi-stage sawtooth 14 slides with the tripod assembly, The multi-level serrations 14 can be inserted between the two lock hooks 15 and fastened with the lock hooks 15 to achieve multi-level locking; when the unlocking steel wire 19 is pulled upward, the lower ends of the two lock hooks 15 are driven away from each other to achieve the lock hook 15. Unlock.
  • the triangular bracket assembly includes a bar one 1 and a right angle plate 12, the right angle plate 12 is abutted and fixed on the lower end of the bar one 1 and a right angle side of the right angle plate 12 is perpendicular to the bar one 1, and the lower end of the lower leg fixing sleeve 22 is connected to the shoe shape.
  • the foot support sleeve 26 when the foot support sleeve 26 touches the ground, a right-angled edge of the right-angle plate 12 presses the ground.
  • the calf support assembly includes a bar 2, the cross section of the bar 2 is U-shaped, the bar 2 2 forms a bar-shaped limit channel 1 inside, and the middle of the bar 2 is fixed with a U-shaped fixing bracket 1 6, the fixing bracket The two side walls of the first 6 are abutted and fixed on the two outer side walls of the bar 2 2.
  • the middle part of the fixing bracket 1 6 is installed with a screw 1 27, and the lower end of the pulling steel wire 18 is wound and fixed on the screw 1 27.
  • the cross section of the bar one 1 is U-shaped, and the bar one 1 forms a bar-shaped limit channel 2 inside.
  • the notch and the notch of the bar 2 are arranged opposite to each other, and the stroke enlargement pulley 3 is installed at the upper end of the bar 1 .
  • the lower part of the second bar 2 is fixed with a U-shaped fixing bracket 2 13 , the two side walls of the second fixing bracket 13 are abutted and fixed on the two outer side walls of the second bar 2 , the lower end of the spring one 11 is fixed on the middle of the second fixing bracket 13 , The upper end of the spring one 11 is fixed in the middle of the bar one 1 , and the length direction of the spring one 11 is consistent with the length direction of the bar one 1 .
  • the two sides of the multi-level sawtooth 14 are symmetrically provided with sawtooth respectively, the lower end of the multi-level sawtooth 14 is fixed on the upper end of the bar one 1, the upper ends of the two locking hooks 15 are connected by the second spring 16, and the lower ends of the two locking hooks 15 are inwardly
  • the middle and upper parts of the two locking hooks 15 are hingedly fixed on the bottom surface of the groove of the second bar 2 respectively through hinge shafts.
  • Mounting blocks 29 are respectively fixed on the two outer side walls of the bars 2 located on both sides of the two locking hooks 15 , and the two mounting blocks 29 are arranged with arc-shaped limit pipe walls 30 , the arc-shaped limit pipe walls 30 and the mounting blocks 29 Enclosed into an arc-shaped limit channel, the inner arcs of the two arc-shaped limit channels are arranged oppositely, the lower ends of the two locking hooks 15 are respectively vertically fixed with two screws 28, and the two branch steel wires 191 are respectively drawn from the two arc-shaped limit channels. After passing through, it is fixed on the corresponding screw two 28.
  • the middle and upper part of the multi-stage sawtooth 14 is fixed to the positioning block 33.
  • the positioning block 33 is provided with a through hole 1, and the connecting steel wire passes through the through hole 1 and connects the two ends of the steel wire. They are fixed on the two screws 28 respectively.
  • the thigh support assembly includes a bar three 7, a lever bracket 20 is a bar block and is vertically fixed on the middle and upper part of the bar three 7, the lower end of the bar three 7 is hinged with the upper end of the bar two 2, and the hinge is hinged at the hinge.
  • a limit pulley 5 is installed on the shaft, a limit plate 31 is vertically fixed on the bar 2 below the limit pulley 5, and two through holes are opened in the limit plate 31. After the unlocking steel wire 19 bypasses the limit pulley 5 The steel wire 191 is divided into two branches through one of the through holes 2 of the limit plate 31 , and the pulling steel wire 18 passes through the limit pulley 5 and passes through the other through hole 2 of the limit plate 31 downward. Extend around the stroke magnifying pulley 3.
  • the upper end of the bar 3 7 is provided with a plurality of evenly spaced hinge holes 32 along the length of the rod, and one of the hinge holes 32 is hinged with the lower end of the waist fixing rod 10 through a hinge shaft.
  • the support unit also includes a waist fixing shell 25, a thigh fixing cover 23 and a calf fixing cover 22, the waist fixing rod 10 is fixed in the waist fixing shell 25, the two supporting units are distributed on both sides of the waist fixing shell 25, and the thigh support assembly is outside.
  • the thigh support shell 24 is sleeved, and the calf support shell 21 is sleeved outside the calf support assembly.
  • the fixing sleeve 23 is fixed on the inner side of the thigh support shell 24
  • the calf fixing sleeve 22 is fixed on the inner side of the calf support shell 21 .
  • the waist fixing shell 25 of the present application is put on the waist of the user, the two thigh fixing covers 23 are put on the thighs, the two calf fixing covers 22 are put on the lower legs, and the feet are placed on the foot support
  • the waist fixing shell 25, the thigh fixing cover 23 and the calf fixing cover 22 can be opened and closed by using Velcro or the like, so as to facilitate wearing.
  • the bar one 1 slides upward relative to the bar two 2 for a certain stroke, the spring one 11 is stretched, and the multi-stage sawtooth 14 moves upward for a certain stroke, and the two locking hooks 15
  • the position of the multi-stage sawtooth 14 is locked, and the stretched length of the spring one 11 is locked at the same time, and the gravitational potential energy is stored in the stretched spring one 11 .
  • the unlocking steel wire 19 When the hip joint swings, the unlocking steel wire 19 is pulled up, and the unlocking steel wire 19 pulls the lower ends of the two locking hooks 15 through the two branched steel wires 191 so that the lower ends of the two locking hooks 15 move away from each other, thereby making the locking hooks 15 away from each other
  • the multi-level sawtooth 14 realizes unlocking and releases the energy stored by the spring one 11 .
  • the spring one 11 releases the stored energy
  • the bar one 1 moves downward relative to the bar two 2
  • the stroke enlargement pulley 3 drives the pulling steel wire 18 to be tensioned, and the tensioning length is twice the moving distance of the bar one 1.
  • the lever structure formed together with the lever bracket 20 pulls the thigh to lift up to achieve power assistance.
  • the innovation of the present application is as follows: the cooperation of the locking hook 15 and the multi-stage sawtooth 14 can lock the length of the spring-11 when the spring-11 is stretched and stored, so as to realize the effective buffering of the system and the efficient conversion of energy, and prevent the human body from bouncing back; The greater the weight of the human body, the higher the speed, the greater the compression of the spring one 11, the more energy stored when the lock hook 15 and the multi-stage sawtooth 14 lock the stretched length of the spring one 11.
  • the spring one 11 When the spring one 11 releases the stored energy, the spring one 11 shortens so that the bar one 1 moves downward relative to the bar two 2, and the stroke enlargement pulley 3 drives the pulling wire 18 to be tensioned, and the length of the tension movement is equal to the distance of the downward movement Twice, to achieve the effect of stroke enlargement.
  • the length change of the tensioning steel wire 18 is converted into the change of the rotation angle between the waist fixing rod 10 and the bar three 7 between a certain angle.

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Abstract

一种基于人体重力势能转化的康复外骨骼助行器，涉及医疗辅助器械技术领域，大腿支撑组件的上下端分别和腰部固定杆件（10）的下端、小腿支撑组件的上端铰接，大腿支撑组件上固定杠杆支架（20），小腿支撑组件的下方滑动式安装有三角支架组件，小腿支撑组件和三角支架组件之间连接弹簧一（11），三角支架组件的上部安装行程放大滑轮（3），提拉钢线（18）的下端固定在小腿支撑组件上，提拉钢线（18）的下端向下延伸绕过行程放大滑轮（3）后向上延伸穿过杠杆支架（20）的限位孔后固定在腰部固定杆件（10）上，三角支架组件的上端固定多级锯齿（14），当多级锯齿（14）滑动时，多级锯齿（14）能够安插扣合在两个锁钩（15）之间实现多级锁定；当解锁钢线（19）向上提拉时解锁，有效利用能量，不需要电池，无须担心续航问题。

Description

一种基于人体重力势能转化的康复外骨骼助行器 技术领域
本发明涉及医疗辅助器械技术领域，尤其是一种基于人体重力势能转化的康复外骨骼助行器。
背景技术
现阶段市面上的康复外骨骼多为主动式，依靠电池提供动力，机体体积大，有一定重量，使用者穿戴时需要承受机体带来的负重。并且电池蓄电能力有限，穿戴一段时间后需要进行充电，操作繁琐。
技术问题
机体体积大，有一定重量，使用者穿戴时需要承受机体带来的负重。并且电池蓄电能力有限，穿戴一段时间后需要进行充电，操作繁琐。
技术解决方案
一种基于人体重力势能转化的康复外骨骼助行器，包括两个支撑单元，支撑单元包括腰部固定杆件、大腿支撑组件和小腿支撑组件，大腿支撑组件的上下端分别和腰部固定杆件的下端、小腿支撑组件的上端铰接，大腿支撑组件上固定杠杆支架，小腿支撑组件的下方安装有三角支架组件且二者可相对滑动，小腿支撑组件和三角支架组件之间连接弹簧一，三角支架组件的上部安装行程放大滑轮，提拉钢线的下端固定在小腿支撑组件上，提拉钢线的下端向下延伸绕过行程放大滑轮后向上延伸穿过杠杆支架的限位孔后提拉钢线的上端固定在腰部固定杆件上，三角支架组件的上端固定多级锯齿，小腿支撑组件中铰接安装两个锁钩，两个锁钩的上端弹性相连，解锁钢线的上端固定在在腰部固定杆件上，解锁钢线的上端向下延伸穿过杠杆支架的限位孔后分成两条分支钢线分别和两个锁钩的下端固定相连，两个锁钩的下端分别通过连接钢线和多级锯齿的上端相连；当多级锯齿跟随三角支架组件一同滑动时，多级锯齿能够安插到两个锁钩之间并和锁钩扣合实现多级锁定；当解锁钢线向上提拉时，带动两个锁钩的下端相互远离锁钩实现解锁。
作为上述技术方案的进一步改进：
所述三角支架组件包括条杆一和直角板，直角板贴靠固定在条杆一的下端且直角板的一条直角边和条杆一垂直，小腿固定套的下端连接鞋状足部支撑套，当足部支撑套着地时，所述直角板的一条直角边压制地面。
所述小腿支撑组件包括条杆二，条杆二的横截面为U型，条杆二内部构成条形限位槽道一，条杆二的中部固定U型固定支架一，固定支架一的两侧壁贴靠固定在条杆二的两外侧壁上，固定支架一的中部安装螺钉一，提拉钢线的下端缠绕固定在螺钉一上。
所述条杆一的横截面为U型，条杆一内部构成条形限位槽道二，条杆一的杆身安插在条杆二中构成可滑动式配合，条杆一的槽口和条杆二的槽口相对布置，行程放大滑轮安装在条杆一的上端杆身处。
所述条杆二的下部固定U型固定支架二，固定支架二的两侧壁贴靠固定在条杆二的两外侧壁上，弹簧一的下端固定在固定支架二的中部，弹簧一的上端固定在条杆一的中部，弹簧一的长度方向和条杆一的长度方向一致。
所述多级锯齿的两侧分别对称设有锯齿，多级锯齿的下端固定在条杆一的上端，两个锁钩的上端通过弹簧二相连，两个锁钩的下端向内侧分别悬伸有和多级锯齿的两侧锯齿相配合的钩子，两个锁钩的上端内侧分别开设卡槽，弹簧二的两端分别安插在两个锁钩的卡槽中，两个 锁钩的中上部分别通过铰接轴铰接固定在条杆二的槽底面上。
位于两个锁钩两侧的条杆二的两外侧壁上分别固定安装块，两个安装块上布置弧形限位管壁，弧形限位管壁和安装块围合成弧形限位通道，两个弧形限位通道的内弧相对布置，两个锁钩的下端分别垂直固定螺钉二，两条分支钢线分别自两个弧形限位通道后穿过后固定在相应的螺钉二上，所述多级锯齿的中上部固定定位块，定位块中开设通孔一，所述连接钢线自通孔一中穿过，连接钢线的两端分别固定在两个螺钉二上。
所述大腿支撑组件包括条杆三，杠杆支架为条形块状且垂直固定在条杆三的中上部，条杆三的下端和条杆二的上端铰接且在此铰接处的铰接轴上安装限位滑轮，位于限位滑轮下方的条杆二上垂直固定限位板，限位板中开设两个通孔二，解锁钢线绕过限位滑轮后从限位板的其中一个通孔二中穿出分成两条分支钢线，提拉钢线绕过限位滑轮后从限位板的另一个通孔二中穿出向下延伸绕过行程放大滑轮。
所述条杆三的上端沿杆长方向开设多个均匀间隔布置的铰接孔，在其中一个铰接孔处通过铰接轴实现和腰部固定杆件下端的铰接。
所述支撑单元还包括腰部固定外壳、大腿固定套和小腿固定套，腰部固定杆件固定在腰部固定外壳中，两个支撑单元分布在腰部固定外壳的两侧，大腿支撑组件外部套设大腿支架外壳，小腿支撑组件外部套设小腿支架外壳，大腿支架外壳的上端铰接在腰部固定外壳的一侧，大腿支架外壳的下端和小腿支架外壳的上端铰接，大腿固定套固定在大腿支架外壳的内侧，小腿固定套固定在小腿支架外壳的内侧。
有益效果
本申请所述锁钩和多级锯齿的配合在弹簧一拉伸储能时能够锁定弹簧一长度，实现***有效缓冲与能量的高效转化，防止人体弹回；人体负重越大，速度越高，弹簧一压缩量越大，锁钩、多级锯齿将弹簧一拉伸长度锁定时储存的能量越多。在弹簧一释放储存能量时，弹簧一缩短使得条杆一相对于条杆二向下移动，行程放大滑轮带动提拉钢线张紧，张紧移动长度为下移距离的两倍，实现了行程放大的效果。提拉钢线张紧的长度变化转化为腰部固定杆件和条杆三在一定角度之间的旋转角度变化。此结构实现了行程小力量大的重力转化成行程长力量小的抬腿。有效利用能量，减少步态影响。本申请不需要电池，无须担心续航问题，不会给使用者带来大量额外重量负担。
附图说明
图1是本发明的结构图。
图2是图1的部分结构图。
图3是图2中A部分的放大图。
图4是图2中B部分的放大图。
图5是本发明锁钩和多级锯齿配合的结构图。
其中：1、条杆一；2、条杆二；3、行程放大滑轮；5、限位滑轮；6、固定支架一；7、条杆三；10、腰部固定杆件；11、弹簧一；12、直角板；13、固定支架二；14、多级锯齿；15、锁钩；16、弹簧二；18、提拉钢线；191、分支钢线；19、解锁钢线；20、杠杆支架；21、小腿支架外壳；22、小腿固定套；23、大腿固定套；24、大腿支架外壳；25、腰部固定外壳；26、足部支撑套；27、螺钉一；28、螺钉二；29、安装块；30、弧形限位管壁；31、限位板；32、铰接孔；33、定位块。
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所示，本实施例的基于人体重力势能转化的康复外骨骼助行器，包括两个支撑单元，支撑单元包括腰部固定杆件10、大腿支撑组件和小腿支撑组件，大腿支撑组件的上下端分别和腰部固定杆件10的下端、小腿支撑组件的上端铰接，大腿支撑组件上固定杠杆支架20，小腿支撑组件的下方安装有三角支架组件且二者可相对滑动，小腿支撑组件和三角支架组件之间连接弹簧一11，三角支架组件的上部安装行程放大滑轮3，提拉钢线18的下端固定在小腿支撑组件上，提拉钢线18的下端向下延伸绕过行程放大滑轮3后向上延伸穿过杠杆支架20的限位孔后提拉钢线18的上端固定在腰部固定杆件10上，三角支架组件的上端固定多级锯齿14，小腿支撑组件中铰接安装两个锁钩15，两个锁钩15的上端弹性相连，解锁钢线19的上端固定在在腰部固定杆件10上，解锁钢线19的上端向下延伸穿过杠杆支架20的限位孔后分成两条分支钢线191分别和两个锁钩15的下端固定相连，两个锁钩15的下端分别通过连接钢线和多级锯齿14的上端相连；当多级锯齿14跟随三角支架组件一同滑动时，多级锯齿14能够安插到两个锁钩15之间并和锁钩15扣合实现多级锁定；当解锁钢线19向上提拉时，带动两个锁钩15的下端相互远离锁钩15实现解锁。
三角支架组件包括条杆一1和直角板12，直角板12贴靠固定在条杆一1的下端且直角板12的一条直角边和条杆一1垂直，小腿固定套22的下端连接鞋状足部支撑套26，当足部支撑套26着地时，直角板12的一条直角边压制地面。
小腿支撑组件包括条杆二2，条杆二2的横截面为U型，条杆二2内部构成条形限位槽道一，条杆二2的中部固定U型固定支架一6，固定支架一6的两侧壁贴靠固定在条杆二2的两外侧壁上，固定支架一6的中部安装螺钉一27，提拉钢线18的下端缠绕固定在螺钉一27上。条杆一1的横截面为U型，条杆一1内部构成条形限位槽道二，条杆一1的杆身安插在条杆二2中构成可滑动式配合，条杆一1的槽口和条杆二2的槽口相对布置，行程放大滑轮3安装在条杆一1的上端杆身处。
条杆二2的下部固定U型固定支架二13，固定支架二13的两侧壁贴靠固定在条杆二2的两外侧壁上，弹簧一11的下端固定在固定支架二13的中部，弹簧一11的上端固定在条杆一1的中部，弹簧一11的长度方向和条杆一1的长度方向一致。
多级锯齿14的两侧分别对称设有锯齿，多级锯齿14的下端固定在条杆一1的上端，两个锁钩15的上端通过弹簧二16相连，两个锁钩15的下端向内侧分别悬伸有和多级锯齿14的两侧锯齿相配合的钩子，两个锁钩15的上端内侧分别开设卡槽，弹簧二16的两端分别安插在两个锁钩15的卡槽中，两个锁钩15的中上部分别通过铰接轴铰接固定在条杆二2的槽底面上。
位于两个锁钩15两侧的条杆二2的两外侧壁上分别固定安装块29，两个安装块29上布置弧形限位管壁30，弧形限位管壁30和安装块29围合成弧形限位通道，两个弧形限位通道的内弧相对布置，两个锁钩15的下端分别垂直固定螺钉二28，两条分支钢线191分别自两个弧形限位通道后穿过后固定在相应的螺钉二28上，多级锯齿14的中上部固定定位块33，定位块33中开设通孔一，连接钢线自通孔一中穿过，连接钢线的两端分别固定在两个螺钉二28上。
大腿支撑组件包括条杆三7，杠杆支架20为条形块状且垂直固定在条杆三7的中上部，条杆三7的下端和条杆二2的上端铰接且在此铰接处的铰接轴上安装限位滑轮5，位于限位滑轮5下方的条杆二2上垂直固定限位板31，限位板31中开设两个通孔二，解锁钢线19绕过限位滑轮5后从限位板31的其中一个通孔二中穿出分成两条分支钢线191，提拉钢线18绕过限位滑轮5后从限位板31的另一个通孔二中穿出向下延伸绕过行程放大滑轮3。
条杆三7的上端沿杆长方向开设多个均匀间隔布置的铰接孔32，在其中一个铰接孔32处通过铰接轴实现和腰部固定杆件10下端的铰接。
支撑单元还包括腰部固定外壳25、大腿固定套23和小腿固定套22，腰部固定杆件10固定 在腰部固定外壳25中，两个支撑单元分布在腰部固定外壳25的两侧，大腿支撑组件外部套设大腿支架外壳24，小腿支撑组件外部套设小腿支架外壳21，大腿支架外壳24的上端铰接在腰部固定外壳25的一侧，大腿支架外壳24的下端和小腿支架外壳21的上端铰接，大腿固定套23固定在大腿支架外壳24的内侧，小腿固定套22固定在小腿支架外壳21的内侧。具体使用时，将本申请的腰部固定外壳25套在使用者的腰部，将两个大腿固定套23套在大腿上，将两个小腿固定套22套在小腿上，脚部放置在足部支撑套26上，其中，腰部固定外壳25、大腿固定套23和小腿固定套22可以采用魔术贴等实现可开合，以便于穿戴。穿戴好以后，行走时下压三角支架组件，条杆一1相对于条杆二2向上滑动一定行程，弹簧一11被拉伸，多级锯齿14随之向上移动一定行程后，两个锁钩15将多级锯齿14的位置锁定，同时将弹簧一11拉伸的长度锁定，将重力势能储存在拉伸的弹簧一11中。在髋关节摆动时，会提拉解锁钢线19，解锁钢线19通过两个分支钢线191拉动两个锁钩15的下端使得两个锁钩15的下端相互远离，从而使得锁钩15远离多级锯齿14实现解锁，释放弹簧一11储存的能量。在弹簧一11释放储存能量时，条杆一1相对条杆二2向下移动，行程放大滑轮3带动提拉钢线18张紧，张紧长度为条杆一1下移距离的两倍，与杠杆支架20共同组成的杠杆结构拉动大腿抬起，实现助力。
本申请的创新点如下：所述锁钩15和多级锯齿14的配合在弹簧一11拉伸储能时能够锁定弹簧一11长度，实现***有效缓冲与能量的高效转化，防止人体弹回；人体负重越大，速度越高，弹簧一11压缩量越大，锁钩15、多级锯齿14将弹簧一11拉伸长度锁定时储存的能量越多。在弹簧一11释放储存能量时，弹簧一11缩短使得条杆一1相对于条杆二2向下移动，行程放大滑轮3带动提拉钢线18张紧，张紧移动长度为下移距离的两倍，实现了行程放大的效果。提拉钢线18张紧的长度变化转化为腰部固定杆件10和条杆三7在一定角度之间的旋转角度变化。此结构实现了行程小力量大的重力转化成行程长力量小的抬腿。有效利用能量，减少步态影响。本申请不需要电池，无须担心续航问题，不会给使用者带来大量额外重量负担。
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 (10)

  1. 一种基于人体重力势能转化的康复外骨骼助行器，其特征在于：包括两个支撑单元，支撑单元包括腰部固定杆件(10)、大腿支撑组件和小腿支撑组件，大腿支撑组件的上下端分别和腰部固定杆件(10)的下端、小腿支撑组件的上端铰接，大腿支撑组件上固定杠杆支架(20)，小腿支撑组件的下方安装有三角支架组件且二者可相对滑动，小腿支撑组件和三角支架组件之间连接弹簧一(11)，三角支架组件的上部安装行程放大滑轮(3)，提拉钢线(18)的下端固定在小腿支撑组件上，提拉钢线(18)的下端向下延伸绕过行程放大滑轮(3)后向上延伸穿过杠杆支架(20)的限位孔后提拉钢线(18)的上端固定在腰部固定杆件(10)上，三角支架组件的上端固定多级锯齿(14)，小腿支撑组件中铰接安装两个锁钩(15)，两个锁钩(15)的上端弹性相连，解锁钢线(19)的上端固定在在腰部固定杆件(10)上，解锁钢线(19)的上端向下延伸穿过杠杆支架(20)的限位孔后分成两条分支钢线(191)分别和两个锁钩(15)的下端固定相连，两个锁钩(15)的下端分别通过连接钢线和多级锯齿(14)的上端相连；当多级锯齿(14)跟随三角支架组件一同滑动时，多级锯齿(14)能够安插到两个锁钩(15)之间并和锁钩(15)扣合实现多级锁定；当解锁钢线(19)向上提拉时，带动两个锁钩(15)的下端相互远离锁钩(15)实现解锁。
  2. 如权利要求1所述的基于人体重力势能转化的康复外骨骼助行器，其特征在于：所述三角支架组件包括条杆一(1)和直角板(12)，直 角板(12)贴靠固定在条杆一(1)的下端且直角板(12)的一条直角边和条杆一(1)垂直，小腿固定套(22)的下端连接鞋状足部支撑套(26)，当足部支撑套(26)着地时，所述直角板(12)的一条直角边压制地面。
  3. 如权利要求2所述的基于人体重力势能转化的康复外骨骼助行器，其特征在于：所述小腿支撑组件包括条杆二(2)，条杆二(2)的横截面为U型，条杆二(2)内部构成条形限位槽道一，条杆二(2)的中部固定U型固定支架一(6)，固定支架一(6)的两侧壁贴靠固定在条杆二(2)的两外侧壁上，固定支架一(6)的中部安装螺钉一(27)，提拉钢线(18)的下端缠绕固定在螺钉一(27)上。
  4. 如权利要求3所述的基于人体重力势能转化的康复外骨骼助行器，其特征在于：所述条杆一(1)的横截面为U型，条杆一(1)内部构成条形限位槽道二，条杆一(1)的杆身安插在条杆二(2)中构成可滑动式配合，条杆一(1)的槽口和条杆二(2)的槽口相对布置，行程放大滑轮(3)安装在条杆一(1)的上端杆身处。
  5. 如权利要求4所述的基于人体重力势能转化的康复外骨骼助行器，其特征在于：所述条杆二(2)的下部固定U型固定支架二(13)，固定支架二(13)的两侧壁贴靠固定在条杆二(2)的两外侧壁上，弹簧一(11)的下端固定在固定支架二(13)的中部，弹簧一(11)的上端固定在条杆一(1)的中部，弹簧一(11)的长度方向和条杆一(1)的长度方向一致。
  6. 如权利要求5所述的基于人体重力势能转化的康复外骨骼助行器， 其特征在于：所述多级锯齿(14)的两侧分别对称设有锯齿，多级锯齿(14)的下端固定在条杆一(1)的上端，两个锁钩(15)的上端通过弹簧二(16)相连，两个锁钩(15)的下端向内侧分别悬伸有和多级锯齿(14)的两侧锯齿相配合的钩子，两个锁钩(15)的上端内侧分别开设卡槽，弹簧二(16)的两端分别安插在两个锁钩(15)的卡槽中，两个锁钩(15)的中上部分别通过铰接轴铰接固定在条杆二(2)的槽底面上。
  7. 如权利要求6所述的基于人体重力势能转化的康复外骨骼助行器，其特征在于：位于两个锁钩(15)两侧的条杆二(2)的两外侧壁上分别固定安装块(29)，两个安装块(29)上布置弧形限位管壁(30)，弧形限位管壁(30)和安装块(29)围合成弧形限位通道，两个弧形限位通道的内弧相对布置，两个锁钩(15)的下端分别垂直固定螺钉二(28)，两条分支钢线(191)分别自两个弧形限位通道后穿过后固定在相应的螺钉二(28)上，所述多级锯齿(14)的中上部固定定位块(33)，定位块(33)中开设通孔一，所述连接钢线自通孔一中穿过，连接钢线的两端分别固定在两个螺钉二(28)上。
  8. 如权利要求7所述的基于人体重力势能转化的康复外骨骼助行器，其特征在于：所述大腿支撑组件包括条杆三(7)，杠杆支架(20)为条形块状且垂直固定在条杆三(7)的中上部，条杆三(7)的下端和条杆二(2)的上端铰接且在此铰接处的铰接轴上安装限位滑轮(5)，位于限位滑轮(5)下方的条杆二(2)上垂直固定限位板(31)，限位板(31)中开设两个通孔二，解锁钢线(19)绕过限位滑轮(5) 后从限位板(31)的其中一个通孔二中穿出分成两条分支钢线(191)，提拉钢线(18)绕过限位滑轮(5)后从限位板(31)的另一个通孔二中穿出向下延伸绕过行程放大滑轮(3)。
  9. 如权利要求8所述的基于人体重力势能转化的康复外骨骼助行器，其特征在于：所述条杆三(7)的上端沿杆长方向开设多个均匀间隔布置的铰接孔(32)，在其中一个铰接孔(32)处通过铰接轴实现和腰部固定杆件(10)下端的铰接。
  10. 如权利要求9所述的基于人体重力势能转化的康复外骨骼助行器，其特征在于：所述支撑单元还包括腰部固定外壳(25)、大腿固定套(23)和小腿固定套(22)，腰部固定杆件(10)固定在腰部固定外壳(25)中，两个支撑单元分布在腰部固定外壳(25)的两侧，大腿支撑组件外部套设大腿支架外壳(24)，小腿支撑组件外部套设小腿支架外壳(21)，大腿支架外壳(24)的上端铰接在腰部固定外壳(25)的一侧，大腿支架外壳(24)的下端和小腿支架外壳(21)的上端铰接，大腿固定套(23)固定在大腿支架外壳(24)的内侧，小腿固定套(22)固定在小腿支架外壳(21)的内侧。
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