Modularized passive lower limb auxiliary supporting mechanism

Abstract

The modularized passive lower limb auxiliary supporting mechanism comprises a hip joint function module, a knee joint function module and a foot function module, the lower end of the hip joint function module is connected with the upper end of the knee joint function module through a butt joint rail groove, and the hip joint function module and the knee joint function module are used for adjusting the thigh length of a human body in a matched mode. The lower end of the knee joint function module is connected with the upper end of the foot function module through a butt joint rail groove and used for adjusting the length of the shank of the human body in a matched mode, and trend balance stabilizing springs are designed on the hip joint function module and the knee joint function module and used for helping the human body achieve gait supporting. Movement stress of hip joints, knee joints and ankle joints in the walking process is reduced, movement fatigue of the joints is reduced, and the walking assisting device has a good walking assisting effect.

Description

Technical Field

[0001] The utility model relates to an auxiliary support mechanism, in particular to a modular passive lower limb auxiliary support mechanism. Background Art

[0002] The lower limb auxiliary support mechanism is an important part of the skeleton carrying device. At present, the Chinese patent with the patent publication number CN114102564A and the name of the passive lower limb exoskeleton power-assisting device and method includes the following components: a lumbar plate; a hip joint mechanism, including a hip joint cam, a hip joint end cover, a straight spring and a hip joint fixed end, the hip joint cam is assembled on the upper end of the hip joint end cover, the hip joint cam contacts the lumbar plate through the end face bearing, the straight spring is rotatably connected to the lower end of the hip joint end cover, and the lower end of the straight spring is connected to the hip joint fixed end; an exoskeleton thigh, the upper end of the exoskeleton thigh is connected to the hip joint end cover; a knee joint energy storage mechanism, including a knee joint assembly, an elastic rod and a foot assembly, the upper end of the elastic rod is connected to the knee joint assembly, the lower end of the elastic rod is connected to the foot assembly, the knee joint assembly is connected to the lower end of the exoskeleton thigh, and the knee joint energy storage mechanism is used to store and release the gravitational potential energy of the human body during walking; an exoskeleton calf, the upper and lower ends of the exoskeleton calf are respectively connected to the knee joint assembly and the foot assembly.

[0003] This patented structure achieves power assistance through the energy storage and release of straight springs, but the power assistance effect of the straight spring is more obvious only under larger deformation conditions, which generally requires a larger angle of the human joints and has basically no power assistance effect for normal walking. Utility Model Content

[0004] The utility model aims to provide a modular passive lower limb auxiliary support mechanism, which can reduce the movement force of the hip joint, knee joint and ankle joint during walking, reduce joint movement fatigue, and have a good walking assistance effect.

[0005] The technical solution for achieving the purpose of the utility model is: a modular passive lower limb auxiliary support mechanism, including a hip joint function module, a knee joint function module and a foot function module. The lower end of the hip joint function module is connected to the upper end of the knee joint function module through a docking track groove, which is used to match and adjust the length of the human thigh. The lower end of the knee joint function module is connected to the upper end of the foot function module through a docking track groove, which is used to match and adjust the length of the human calf. The hip joint function module and the knee joint function module are designed with a trend balance stabilization spring to help the human body achieve gait support.

[0006] Furthermore, the hip joint functional module is fixedly connected to the human waist by a waistband, belt, webbing, Velcro or buckle, the upper end of the knee joint functional module is fixed to the human thigh by binding webbing, Velcro or buckle, and the lower end of the knee joint functional module is fixed to the human calf by binding webbing, Velcro or buckle.

[0007] Furthermore, the hip joint functional module includes a mounting seat, a first rotating shaft, a first rotating seat, a first adjusting rotating seat, an elastic body, a second rotating shaft and a first knob. The upper end of the first rotating shaft is connected to the mounting seat through an axis to form a rotating pair. The lower end of the first rotating shaft is provided with a hole, which is connected to the upper end hole of the first rotating seat through a pin to form a rotating pair. The lower end of the first rotating seat is connected to the first adjusting rotating seat through the second rotating shaft and a bearing to form a rotating pair. The elastic body is placed between the first rotating seat and the first adjusting rotating seat to realize the vertical direction of the first adjusting rotating seat. The first adjusting rotating seat is connected and fixed to the upper end of the knee joint functional module through the first knob to form a thigh length adjustment structure.

[0008] Furthermore, it also includes a quick release, which includes a quick release seat, a spring and a buckle. The quick release is connected and fixed with the buckle and the mounting seat component through its internal spring, and the hip joint function module is fixed to the human waist through two sets of quick releases.

[0009] Furthermore, the knee joint function module includes a thigh support brace, a calf support brace, a second swivel seat, a third swivel seat, an elastic body, a third rotating shaft and an elastic connecting block. The knee joint function module is connected and fixed to the hip joint function module through the thigh support brace, and the knee joint function module is connected and fixed to the foot function module through the calf support brace. Guide rail grooves are designed on the thigh support brace and the calf support brace to achieve length adjustment with the first adjustment swivel seat and the second adjustment swivel seat. The thigh support brace contacts the human body accordingly, and the calf support brace contacts the human body accordingly. The thigh support brace is connected to the second swivel seat through the elastic connecting block and fixed with a pin shaft. The upper end of the thigh support brace is connected to the first adjustment swivel seat through the first knob, and the calf support brace is connected to the third swivel seat through the elastic connecting block and fixed with a pin shaft. The lower end of the second swivel seat is connected to the third swivel seat through the third rotating shaft and a bearing to form a rotating pair, and the vertical parts of the upper end of the second swivel seat and the lower end of the third swivel seat form a horizontal distance offset, wherein the elastic body is placed between the second swivel seat and the third swivel seat to realize the vertical orientation of the knee joint function module.

[0010] Furthermore, the thigh support brace is located on the front oblique outer side of the human thigh, and the calf support brace is located on the back oblique outer side of the human calf.

[0011] Furthermore, the foot function module includes a second adjustment seat, a support plate, a shoe tray and a second knob. The foot function module is connected and fixed to the knee joint function module through the second adjustment seat and the second knob. The second adjustment seat is connected and fixed to the support plate through a joint bearing to form a kinematic pair. The support plate is partially inserted into the shoe tray and fixedly connected by bolts.

[0012] Furthermore, the front part of the shoe tray is designed with a standard mounting hole, which is locked and fixed with the shoe through an adjustment buckle, a plug buckle or a toothed belt.

[0013] Furthermore, the first adjustment swivel seat and the second adjustment swivel seat are adjusted and fixed by a locking mechanism.

[0014] Furthermore, the adjustment locking mechanism includes a locking buckle, a safety buckle, a locking tongue, an adjusting nut and a locking block. The locking buckle is connected to the waist-shaped hole at one end of the locking tongue through a pin shaft; the locking tongue passes through the first adjustment swivel seat or the second adjustment swivel seat and the locking block, and is connected to the adjusting nut through the thread at the other end of the locking tongue; the safety buckle is fixed to the first adjustment swivel seat or the second adjustment swivel seat by a screw passing through its designed hole. A protruding card point is provided at one end of the safety buckle, which is inserted into the corresponding groove of the locking buckle. The safety buckle has a built-in spring, and the protruding card point automatically buckles into the locking buckle groove to complete the press-to-unlock function. The locking block automatically unlocks after the locking buckle is unlocked through the built-in spring.

[0015] Compared with the prior art, the present invention has the following significant effects: (1) The present invention adopts a directional elastic body to make the knee joint tend to support and open, and cooperates with the directional elastic body of the hip joint and the designed horizontal distance offset of the thigh and calf to achieve an increase in the gait support period. At the same time, the oblique front and oblique rear protective gear arrangements eliminate the movement during exercise, further improving the support period effect; (2) The hip joint functional module of the present invention is fixed to the human waist through two sets of quick releases, and the quick release is connected and fixed with the buckle and mounting seat components through its internal spring, so that the device can be universally fixed with a variety of common waist seals, walking gear, belts, clothing, etc. in daily life; (3) The present invention reduces the movement force of the hip joint, knee joint and ankle joint during walking, and reduces joint movement fatigue; increases the proportion of the support period during walking, reduces the swing cycle, enhances the ground load force transmission, and thus reduces human movement metabolism; optimizes the design of the lower limb binding position, and re-arranges the protective gear position on the premise of ensuring that it does not interfere with exercise, thereby improving the comfort of human wearing. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional schematic diagram of the modular passive lower limb auxiliary support mechanism of the utility model.

[0017] Figure 2 This is a schematic diagram of the hip joint functional module of the present utility model.

[0018] Figure 3 This is a schematic diagram of the knee joint function module of the present utility model.

[0019] Figure 4 This is a schematic diagram of the foot function module of the present utility model.

[0020] Figure 5 It is a schematic diagram of the first adjustment rotating seat and the second adjustment rotating seat of the utility model.

[0021] Figure 6 These are front and side views of the modular passive lower limb auxiliary support mechanism of the utility model. DETAILED DESCRIPTION

[0022] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] The utility model is a modular passive lower limb auxiliary support mechanism mainly comprising a hip joint function module 1, a knee joint function module 2 and a foot function module 3 (see attached Figure 1 and Figure 6 ). Among them, the lower end of the hip joint function module 1 and the upper end of the knee joint function module 2 are connected through a docking track groove to match and adjust the length of the human thigh, and the hip joint function module 1 is fixedly connected to the human waist through a specially designed waist seal, belt, webbing, Velcro, buckle, etc.; the lower end of the knee joint function module 2 and the upper end of the foot function module 3 are connected through a docking track groove to match and adjust the length of the human calf, and the upper end of the knee joint function module 2 is fixed to the human thigh through a specially designed binding webbing, Velcro, buckle, etc., and the lower end of the knee joint function module 2 is fixed to the human calf through a specially designed binding webbing, Velcro, buckle, etc.; the lower end of the foot function module 3 is fixed to the human foot shoe through a specially designed binding structure, and the foot function module 3 is designed with three-dimensional freedom release and motion limit corresponding to the human ankle joint; the hip joint function module 1 and the knee joint function module 2 are designed with a trend balance stabilization spring on a specific rotation axis to help the human body achieve gait support.

[0024] Example 1

[0025] Please see attached Figure 2In this embodiment, the hip joint function module 1 is composed of a mounting seat 101, a first rotating shaft 102, a first rotating seat 103, a first adjusting rotating seat 104, an elastic body 105, a second rotating shaft 106, a first knob 107, and a quick release 110, wherein the quick release 110 is composed of a quick release seat 111, a spring 112, and a buckle 113. The hip joint function module 1 is fixed to the human waist through two sets of quick releases 110. The quick release 110 is connected and fixed to the mounting seat 101 component through its internal spring 112, the buckle 113, and the first rotating shaft 102 component upper end shaft is connected to the mounting seat 101 component to form a rotating pair. The lower end hole of the first rotating shaft 102 component and the upper end hole of the first rotating seat 103 component are connected through a pin to form a rotating pair. The lower end of the first rotating seat 103 is connected to the first adjustment rotating seat 104 through the second rotating shaft 106 and the bearing to form a rotating pair. The elastic body 105 is placed between the first rotating seat 103 and the first adjustment rotating seat 104 to realize the first adjustment rotating seat 104 tending to be vertical. The first adjustment rotating seat 104 is connected and fixed to the thigh support brace 201 at the upper end of the knee joint function module 2 through the first knob 107 to form a thigh length adjustment structure.

[0026] Example 2

[0027] Please see attached Figure 3 In this embodiment, the knee joint function module 2 is composed of a thigh support brace 201, a calf support brace 202, a second swivel seat 203, a third swivel seat 204, an elastic body 205, a third rotating shaft 206, and an elastic connecting block 207. The knee joint function module 2 is connected and fixed to the hip joint function module 1 through the thigh support brace 201, and the knee joint function module 2 is connected and fixed to the foot function module 3 through the calf support brace 202. The thigh support brace 201 and the calf support brace 202 are designed with guide grooves that can be adjusted in length with the matching parts of the first adjustment swivel seat 104 and the second adjustment swivel seat 301. The thigh support brace 201 and the corresponding contact brace of the human body are located at the front oblique outer side of the human thigh, and the calf support brace 202 and the corresponding contact brace of the human body are located at the rear oblique outer side of the human calf. The brace 201 is connected to the second swivel seat 203 through an elastic connecting block 207 and fixed with a pin, the calf support brace 202 is connected to the third swivel seat 204 through an elastic connecting block 207 and fixed with a pin, the lower end of the second swivel seat 203 is connected to the third swivel seat 204 through a third rotating shaft 206 and a bearing to form a rotating pair, and the two vertical parts of the upper end of the second swivel seat 203 and the lower end of the third swivel seat 204 form a horizontal distance offset, wherein the elastic body 205 is placed between the second swivel seat 203 and the third swivel seat 204 to realize the vertical orientation of the knee joint function module 2.

[0028] Example 3

[0029] Please see attached Figure 4In this embodiment, the foot function module 3 is composed of a second adjustment swivel seat 301, a support plate 302, a shoe support 303, and a second knob 304. The foot function module 3 is connected and fixed to the knee joint function module 2 through the second adjustment swivel seat 301 and the second knob 304. The second adjustment swivel seat 301 is connected and fixed to the support plate 302 through a joint bearing to form a kinematic pair. The support plate 302 is partially inserted into the shoe support 303 and fixedly connected by bolts. The front of the shoe support 303 is designed with a standard mounting hole, which can be used to lock and fix with the user's shoes using an adjustment buckle, a buckle, a toothed belt, etc.

[0030] The quick release 110 of the hip joint functional module 1 can be removed and not used, and the mounting seat 101 can be directly fixed and connected using bolts, adapter plates, webbing, etc., such as a specific waist seal, belt, walking gear, etc.;

[0031] The first adjustment rotating seat 104 and the second adjustment rotating seat 301 are Figure 5 The structure shown is adjusted and fixed by a locking mechanism, wherein the adjusting locking mechanism consists of a locking buckle 401, a safety buckle 402, a locking tongue 403, an adjusting nut 404, and a locking block 405. The locking buckle 401 is connected to the waist-shaped hole at one end of the locking tongue 403 through a pin; the locking tongue 403 passes through the first adjusting swivel seat 104 or the second adjusting swivel seat 301 and the locking block 405, and is connected to the adjusting nut 404 through the thread provided at the other end of the locking tongue 403; the safety buckle 402 is fixed to the first adjusting swivel seat 104 or the second adjusting swivel seat 301 by a screw passing through its designed hole, and the protruding card point designed at one end is inserted into the corresponding groove of the locking buckle 401. The safety buckle 402 has a built-in spring so that the protruding card point can be automatically buckled into the designed groove in the locking buckle 401 to complete the press-to-unlock function, and the built-in spring in the locking block 405 realizes automatic unlocking after the locking buckle 401 is unlocked.

[0032] The hip joint functional module of the utility model adopts a standardized modular design, so that the device can be universally fixed to a variety of common daily waist belts, walking gear, belts, clothing, etc. The knee joint functional module adopts a directional elastic body to make the knee joint tend to support and open, and cooperate with the hip joint directional elastic body and the designed horizontal distance offset of the thigh and calf to achieve an increase in the gait support period. At the same time, the oblique front and rear protective gear arrangements eliminate the movement during exercise, further improving the support period effect.

Claims

1. A modular passive lower limb auxiliary support mechanism, characterized in that: The invention comprises a hip joint function module (1), a knee joint function module (2) and a foot function module (3); the lower end of the hip joint function module (1) is connected to the upper end of the knee joint function module (2) via a docking track groove, and is used to match and adjust the length of a human thigh; the lower end of the knee joint function module (2) is connected to the upper end of the foot function module (3) via a docking track groove, and is used to match and adjust the length of a human calf; the hip joint function module (1) and the knee joint function module (2) are designed with a trend balance stabilization spring, and are used to help a human body achieve gait support.

2. A modular passive lower limb auxiliary support mechanism according to claim 1, characterized in that: The hip joint function module (1) is fixedly connected to the human waist via a waistband, a belt, a webbing, a Velcro or a buckle; the upper end of the knee joint function module (2) is fixed to the human thigh via a binding webbing, a Velcro or a buckle; and the lower end of the knee joint function module (2) is fixed to the human calf via a binding webbing, a Velcro or a buckle.

3. A modular passive lower limb auxiliary support mechanism according to claim 1, characterized in that: The hip joint function module (1) comprises a mounting seat (101), a first rotating shaft (102), a first rotating seat (103), a first adjusting rotating seat (104), a first elastic body (105), a second rotating shaft (106) and a first knob (107); the upper end of the first rotating shaft (102) is connected to the mounting seat (101) via an axis to form a rotating pair; the lower end of the first rotating shaft (102) is provided with a hole, which is connected to the upper end hole of the first rotating seat (103) via a pin to form a rotating pair. The first rotating seat (103) and the first adjusting rotating seat (104) are connected to each other through a second rotating shaft (106) and a bearing to form a rotating pair. The first elastic body (105) is arranged between the first rotating seat (103) and the first adjusting rotating seat (104) to realize the first adjusting rotating seat (104) tending to be vertical. The first adjusting rotating seat (104) and the upper end of the knee joint functional module (2) are connected and fixed through a first knob (107) to form a thigh length adjustment structure.

4. A modular passive lower limb auxiliary support mechanism according to claim 3, characterized in that: It also comprises a quick release (110), wherein the quick release (110) comprises a quick release seat (111), a spring (112) and a buckle (113), and the quick release (110) is connected and fixed to the buckle (113) and the mounting seat (101) through its internal spring (112), and the hip joint function module (1) is fixed to the human waist through the two sets of quick releases (110).

5. The modular passive lower limb auxiliary support mechanism according to claim 3, characterized in that: The knee joint function module (2) comprises a thigh support brace (201), a calf support brace (202), a second rotating seat (203), a third rotating seat (204), a second elastic body (205), a third rotating shaft (206) and an elastic connecting block (207); the knee joint function module (2) is connected and fixed to the hip joint function module (1) via the thigh support brace (201); the knee joint function module (2) is connected and fixed to the foot function module (3) via the calf support brace (202); guide rail grooves are designed on the thigh support brace (201) and the calf support brace (202) to achieve length adjustment with the first adjusting rotating seat (104) and the second adjusting rotating seat (301); the thigh support brace (201) contacts the human body, and the calf support brace (202) contacts the human body. The thigh support brace (201) is connected to the second rotating seat (203) through an elastic connecting block (207) and fixed by a pin shaft. The upper end of the thigh support brace (201) is connected to the first adjustment rotating seat (104) through a first knob (107). The calf support brace (202) is connected to the third rotating seat (204) through an elastic connecting block (207) and fixed by a pin shaft. The lower end of the second rotating seat (203) is connected to the third rotating seat (204) through a third rotating shaft (206) and a bearing to form a rotating pair. The vertical parts of the upper end of the second rotating seat (203) and the lower end of the third rotating seat (204) form a horizontal distance offset. The second elastic body (205) is placed between the second rotating seat (203) and the third rotating seat (204) to realize the vertical orientation of the knee joint function module (2).

6. A modular passive lower limb auxiliary support mechanism according to claim 5, characterized in that: The thigh support protector (201) is located at the front oblique outer side of the human thigh, and the calf support protector (202) is located at the back oblique outer side of the human calf.

7. The modular passive lower limb auxiliary support mechanism according to claim 3, characterized in that: The foot function module (3) comprises a second adjustment swivel seat (301), a support plate (302), a shoe tray (303) and a second knob (304); the foot function module (3) is connected and fixed to the knee joint function module (2) via the second adjustment swivel seat (301) and the second knob (304); the second adjustment swivel seat (301) is connected and fixed to the support plate (302) via a joint bearing to form a kinematic pair; the support plate (302) is partially inserted into the shoe tray (303) and fixedly connected via bolts.

8. The modular passive lower limb auxiliary support mechanism according to claim 7, characterized in that: The front part of the shoe holder (303) is designed with a standard mounting hole, which is locked and fixed with the shoe through an adjustment buckle, a plug buckle or a toothed belt.

9. The modular passive lower limb auxiliary support mechanism according to claim 7, characterized in that: The first adjustable rotating seat (104) and the second adjustable rotating seat (301) are adjusted and fixed by using a locking mechanism.

10. A modular passive lower limb auxiliary support mechanism according to claim 9, characterized in that: The locking mechanism comprises a locking buckle (401), a safety buckle (402), a locking tongue (403), an adjusting nut (404) and a locking block (405); the locking buckle (401) is connected to a waist-shaped hole at one end of the locking tongue (403) through a pin shaft; the locking tongue (403) passes through the first adjusting rotating seat (104) or the second adjusting rotating seat (301) and the locking block (405), and is connected to the adjusting nut (404) through a thread provided at the other end of the locking tongue (403). The safety buckle (402) is fixed to the first adjustment rotating seat (104) or the second adjustment rotating seat (301) by means of a screw passing through a designed hole thereof. A protruding card point is provided at one end of the safety buckle (402) and is inserted into a corresponding groove of the locking buckle (401). The safety buckle (402) is automatically buckled into the groove of the locking buckle (401) by means of a built-in spring by means of which the protruding card point is automatically buckled into the groove of the locking buckle (401) to complete a press-to-unlock function. The locking block (405) is automatically unlocked by means of a built-in spring after the locking buckle (401) is unlocked.

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