Self-adaptive passive wearable hemodialysis machine load device for complex terrain

Abstract

The application discloses a kind of complex terrain-oriented adaptive passive wearable hemodialysis machine load devices, including the load platform of wearing in the waist of user, hemodialysis machine is carried in the inside of load platform, outside is equipped with wearing fixed structure, two ends are respectively equipped with leg structure;The leg structure includes the spring recovery device A of being adapted to swing inside and outside of thigh inside measurement, femoral skeleton and calf skeleton;The rear end of the femoral skeleton is equipped with load-bearing connecting rod device, and the rear end of calf skeleton is equipped with power-assisted connecting rod device;The spring energy storage device B is equipped in the hip joint of the femoral skeleton and load platform connection, and the spring energy storage device C is equipped in the knee joint of the femoral skeleton and calf skeleton connection;Femoral skeleton and calf skeleton inside are equipped with the structure of adjustable leg binding height of different body type wearers;The lower end of the leg structure is equipped with foot structure;Spring recovery device D that can be adapted to swing inside and outside of ankle is equipped in the ankle joint of foot structure.

Description

Technical Field

[0001] This invention relates to an adaptive passive wearable hemodialysis machine load device for complex terrain. Specifically, it is a lower limb exoskeleton for wearers to provide assistance while walking, and a mechanical load device that can carry hemodialysis equipment and adapt to various terrain environments. Background Technology

[0002] With the rapid development of science and technology, passive wearable load devices have become a research hotspot in the scientific research field. With their advantages such as lightweight structure, convenient wearability, and good stability, they are widely used in medical, military and other fields to provide certain assistance to wearers when carrying heavy loads, playing an important role in reducing force, and also indirectly making a significant contribution to social development.

[0003] However, existing passive wearable load devices still have drawbacks such as limited applicable scenarios and unsatisfactory assistive effects. When used, the leg structure size often needs to be redesigned due to the different body shapes of the wearers, which greatly limits the promotion and application of passive wearable load devices.

[0004] To address the problems existing in the above design, the present invention designs a passive wearable load-bearing device with swingable hip and ankle joints that can be adjusted according to the wearer's body shape, thus expanding the application scenarios and wearers of passive wearable load-bearing devices and greatly enhancing their practicality. Summary of the Invention

[0005] The purpose of this invention is to provide an adaptive passive wearable hemodialysis machine load device for complex terrain, comprising a load-bearing platform 1 worn on the user's waist, a hemodialysis machine 2 carried on the inner side of the load-bearing platform 1, a wearable fixing structure 3 on the outer side, and leg structures 4 at both ends; the leg structure 4 includes a spring return device A4-1 on the inner side of the leg to adapt to the inward and outward swing of the thigh, a thigh frame 4-2, and a lower leg frame 4-3; a load-bearing connecting rod device 4-4 is provided at the rear end of the thigh frame 4-2, and a lower leg frame 4-3 is provided at the rear end of the lower leg frame 4-3. The end is equipped with a power-assisting linkage device 4-5; the hip joint connecting the thigh skeleton 4-2 to the load-bearing platform 1 is equipped with a spring energy storage device B4-6, and the knee joint connecting the thigh skeleton 4-2 to the lower leg skeleton 4-3 is equipped with a spring energy storage device C4-7; the inner sides of the thigh skeleton 4-2 and the lower leg skeleton 4-3 are equipped with a structure 4-8 that can adjust the height of the leg straps to adapt to wearers of different body types; the lower end of the leg structure 4 is equipped with a foot structure 5; the ankle joint of the foot structure 5 is equipped with a spring return device D5-1 that can adapt to the inward and outward swing of the ankle.

[0006] The wearing and fixing structure 3 includes wearing shoulder straps 3-1, wearing cushions 3-2, wearing waist belts 3-3, and waist belt buckles 3-4; the connection relationship between each component is as follows: wearing shoulder straps 3-1 are fixed to both sides of the back plate of the load-bearing platform 1; wearing cushions 3-2 are fixed to the center of the back plate of the load-bearing platform 1; wearing waist belts 3-3 are fixed to both sides of the lower end of the back plate of the load-bearing platform 1; and the two sections of wearing waist belts 3-3 are connected by waist belt buckles 3-4.

[0007] Leg structure 4 includes a spring return device A4-1 that adapts to the inward and outward swing of the thigh, thigh frame 4-2, lower leg frame 4-3, load-bearing linkage device 4-4, assist linkage device 4-5, spring energy storage device B4-6, spring energy storage device C4-7, a structure 4-8 for finely adjusting the height of the leg straps, hip joint connector 4-1-1, auxiliary connector 4-1-2, swing rod 4-1-3, compression spring A4-1-4, compression spring top rod A4-1-5, compression spring sleeve A4-1-6, thigh link 4-2-1, hip joint link 4-2-2, connecting buckle A4-2-3, auxiliary link 4-2-4, lower leg link 4-3-1, ankle joint link 4-3-2, and connecting buckle B4-3-3. The components include: ankle joint support 4-3-4, gas spring sleeve 4-4-1, gas spring rod 4-4-2, compression spring B 4-5-1, compression spring top rod B 4-5-2, compression spring sleeve B 4-5-3, inner end cap of spring energy storage device B 4-6-1, outer end cap of spring energy storage device B 4-6-2, spiral spring slot B 4-6-3, spiral spring B 4-6-4, inner end cap of spring energy storage device C 4-7-1, outer end cap of spring energy storage device C 4-7-2, spiral spring slot C 4-7-3, spiral spring C 4-7-4, thigh strap 4-8-1, calf strap 4-8-2, strap spring 4-8-3; the connection relationship between the components is: hip joint connector 4-1-1, auxiliary... Auxiliary connector 4-1-2 is hinged to the lower end of load-bearing platform 1 via a revolute joint; the two ends of swing rod 4-1-3 are fixedly connected to the reserved holes of hip joint connector 4-1-1 and auxiliary connector 4-1-2; the two ends of compression spring A4-1-4 are fixedly connected to the outer side of the disc of compression spring top rod A4-1-5 and the inner top end of compression spring sleeve A4-1-6 respectively; swing rod 4-1-3 is connected to compression spring top rod A4-1-5; compression spring sleeve A4-1-6 is hinged to the lower end of load-bearing platform 1 via a revolute joint; thigh connecting rod 4-2-1 is connected to hip joint connecting rod 4-2-2 via connecting buckle A4-2-3; spiral spring slot B4-6-3 is fixedly connected inside hip joint connector 4-1-1; spiral spring B4- 6-4 are sequentially fixed to both sides of the spiral spring slot B4-6-3; the inner end cap 4-6-1 and the outer end cap 4-6-2 of the spring energy storage device B are coaxially hinged on both sides of the hip joint connector 4-1-1; the lower ends of the inner end cap 4-6-1 and the outer end cap 4-6-2 of the spring energy storage device B are fixedly connected and fixedly connected to the hip joint connector 4-1-1; the auxiliary connector 4-1-2 is hinged to the gas spring sleeve 4-4-1 through a rotating pair; the gas spring rod 4-4-2 is located inside the gas spring sleeve 4-4-1; the spiral spring slot C4-7-3 is fixed to the lower end of the thigh connecting rod 4-2-1; the spiral spring C4-7-4 is sequentially fixed to the inner side of the spiral spring slot C4-7-3.The inner end cap 4-7-1 and the outer end cap 4-7-2 of the spring energy storage device C are coaxially hinged on both sides of the lower end of the thigh connecting rod 4-2-1; the lower ends of the inner end cap 4-7-1 and the outer end cap 4-7-2 of the spring energy storage device C are fixedly connected and fixedly connected to the lower leg connecting rod 4-3-1; the inner end cap 4-7-1 of the spring energy storage device C is hinged to the auxiliary connecting rod 4-2-4 through a revolute joint; the gas spring sleeve 4-4-2 and the compression spring sleeve B4-5-3 are both hinged to the auxiliary connecting rod 4-2-4 on the same axis through a revolute joint; the two ends of the compression spring B4-5-1 are respectively fixedly connected to the upper inner end of the compression spring sleeve B4-5-3 and the outer side of the disc of the compression spring top rod B4-5-2; Ankle joint support 4-3-4 and compression spring top rod B4-5-2 are hinged via a revolute joint; lower leg link 4-3-1 is connected to ankle joint link 4-3-2 via connecting buckle B4-3-3; ankle joint link 4-3-2 is hinged to ankle joint support 4-3-4 via a revolute joint; thigh strap 4-8-1 is fixedly connected to the inner groove of thigh link 4-2-1; strap spring 4-8-3 is fitted inside the support rod in the inner groove of thigh link 4-2-1, with one side of strap spring 4-8-3 fixedly connected to thigh strap 4-8-1 and the other side fixedly connected to the end face of the inner groove of thigh link 4-2-1; similarly, lower leg strap 4-8-2 and strap spring 4-8-3 are fixedly connected to the inner groove of lower leg link 4-3-1.

[0008] The foot structure 5 includes a spring return device D5-1, a foot plate 5-2, a foot strap 5-3, a spring return sleeve 5-1-1, a spring return push rod 5-1-2, a spring return top shaft 5-1-3, and a compression spring D5-1-4. The connection relationship between the components is as follows: the spring return top shaft 5-1-3 is fixedly connected to the lower end of the ankle joint support 4-3-4; the spring return push rod 5-1-2 is installed as a boss into the groove of the spring return sleeve 5-1-1; the two ends of the compression spring D5-1-4 are respectively fixedly connected to the top of the spring return sleeve 5-1-1 and the inner side of the spring return push rod 5-1-2; the spring return sleeve 5-1-1 is fixedly connected to the foot plate 5-2; and the foot strap 5-3 is hinged to the foot plate 5-2 through a rotating joint.

[0009] The working principle of this invention is as follows:

[0010] Reference Figure 1 , Figure 2 , Figure 17 , Figure 18 An adaptive passive wearable hemodialysis machine load device for complex terrain consists of a load-bearing platform 1 worn on the user's waist, a hemodialysis machine 2, a wearable fixing structure 3, a leg structure 4, and a foot structure 5.

[0011] Reference Figure 1 , Figure 2 , Figure 4, Figure 5 , Figure 15 , Figure 17 , Figure 18 When the leg structure 4 of a passive wearable hemodialysis machine load device adapted to complex terrain swings inward and outward around the hip joint, the hip joint connector 4-1-1 and the auxiliary connector 4-1-2 are both in the same plane, causing the swing rod 4-1-3 to swing accordingly. This causes the compression spring rod A4-1-5, which is hinged to the swing rod 4-1-3, to extend or shorten. Since the two ends of the compression spring A4-1-4 are respectively fixed to the outer side of the disc of the compression spring rod A4-1-5 and the inner top of the compression spring sleeve A4-1-6, when the compression spring rod A4-1-5 extends or shortens, the compression spring A4-1-4 will be stretched or compressed accordingly, so that energy is stored in the compression spring A4-1-4. When the leg structure 4 swings inward and outward around the hip joint, the potential energy stored in the spring return device A4-1 will suppress the amplitude of the inward and outward swing and provide a restoring force to return to the normal state.

[0012] Reference Figure 1 , Figure 2 , Figure 6 , Figure 7 , Figure 17 , Figure 18 In a leg structure 4 of a passive wearable hemodialysis machine load device adapted to complex terrain, when in an upright gait, the thigh skeleton 4-2, the lower leg skeleton 4-3, and the load-bearing linkage device 4-4 transfer the load from top to bottom to the ground to achieve the load-bearing effect. When in a walking gait, the gas spring sleeve 4-4-2 and the gas spring sleeve 4-4-1 of the load-bearing linkage device 4-4 can be relatively stationary at a certain position, and the load can also be transferred to the ground through the thigh linkage 4-2-1 and the lower leg linkage 4-3-1, thereby realizing the load-bearing capacity during walking.

[0013] Reference Figure 1 , Figure 2 , Figure 6 , Figure 7 , Figure 17 , Figure 18 An adaptive passive wearable hemodialysis machine load device for complex terrain has an assistive linkage device 4-5 that connects the knee joint and ankle joint at the rear end of the lower leg linkage 4-3-1. When in an upright gait, the compression spring B4-5-1 in the assistive linkage device 4-5 is at its original length. When in a walking gait, the distance from the end of the auxiliary linkage 4-2-4 to the ankle joint decreases, causing the compression spring B4-5-1 to be compressed. During walking, kinetic energy is converted into elastic potential energy and stored in the compression spring B4-5-1. When returning to an upright gait, it provides a restoring force, thus achieving the effect of assisting walking.

[0014] Reference Figure 1, Figure 2 , Figure 8 , Figure 9 , Figure 17 , Figure 18 A passive wearable hemodialysis machine load device adapted to complex terrain is described. During normal walking, the hip joint swings back and forth. A spring energy storage device B4-6 is installed at the hip joint, which contains two sets of opposing spiral springs B4-6-4. The inner end cap 4-6-1 and the inner side of the outer end cap 4-6-2 of the spring energy storage device B are both equipped with pawls, which are in opposite directions. When the thigh swings forward, one set of spiral springs B4-6-4 interacts with the pawls on the inner side of the end cap, storing the wearer's gravitational potential energy due to the added load in the spring energy storage device B4-6. When returning to an upright gait, the spring energy storage device B4-6 releases energy, providing assistance; the same applies when the thigh swings backward.

[0015] Reference Figure 1 , Figure 2 , Figure 10 , Figure 17 , Figure 18 A passive wearable hemodialysis machine load device adapted to complex terrain has a unidirectional swing amplitude of the knee joint during normal walking. A spring energy storage device C4-7 is provided at the knee joint. Its working principle is the same as that of the spring energy storage device B4-6. The difference is that the spiral spring C4-7-4 is in the same direction, and only the inner end cap 4-7-1 of the spring energy storage device C has a pawl.

[0016] Reference Figure 1 , Figure 2 , Figure 12 , Figure 13 , Figure 14 , Figure 16 , Figure 17 , Figure 18 In a passive wearable hemodialysis machine load device for complex terrain, when the foot structure 5 swings inward and outward around the ankle joint, the spring return device D5-1 functions the same as the spring return device A4-1. The principle is as follows: When the ankle joint is not swinging, the compression spring D5-1-4 is at its original length. After the foot plate 5-2 and the ankle joint support 4-3-4 swing at an angle, the spring return top shaft 5-1-3 forces the spring return push rod 5-1-2 to move outward towards the outer side of the spring return sleeve 5-1-1. This causes the compression spring D5-1-4 located between the spring return sleeve 5-1-1 and the spring return push rod 5-1-2 to be compressed, thus reacting back to the spring return top shaft 5-1-3 to provide a restoring force. The same principle applies when the ankle joint swings in the opposite direction; the compression spring D5-1-4 on the opposite side then comes into play, providing a corresponding restoring force.

[0017] Reference Figure 1 , Figure 2 , Figure 11 , Figure 17 , Figure 18 An adaptive passive wearable hemodialysis machine load device for complex terrain has a structure 4-8 with adjustable leg strap height on the inner side of the thigh link 4-2-1 and the calf link 4-3-1 in the leg structure 4. By installing strap springs 4-8-3 at the upper and lower ends of the fixed sides of the thigh strap 4-8-1 and the calf strap 4-8-2, the straps can be adjusted within a certain range during walking, reducing the restraining effect of the straps on the wearer.

[0018] Reference Figure 1 , Figure 2 , Figure 5 , Figure 7 , Figure 17 , Figure 18 An adaptive passive wearable hemodialysis machine load device for complex terrain has a leg length adjustment device on the upper end of the thigh link 4-2-1 and the lower section of the calf link 4-3-1 in the leg structure 4. By adjusting the corresponding buckle positions at the connection points of the hip joint link 4-2-2 and the thigh link 4-2-1 and the ankle joint link 4-3-2 and the calf link 4-3-1, the device can meet the needs of wearers with different body types.

[0019] The advantages of this invention are:

[0020] 1. The present invention provides an adaptive passive wearable hemodialysis machine load device for complex terrain, which consists of a load-bearing platform worn on the user's waist, a hemodialysis machine carried on the back, a wearable fixing structure, a leg structure, and a foot structure. It is characterized by convenient wear, high flexibility, and wide applicability.

[0021] 2. The present invention provides an adaptive passive wearable hemodialysis machine load device for complex terrain, which is equipped with external swinging devices at the hip and ankle joints. While increasing the degree of freedom, it also controls the swing amplitude to a certain extent, realizing the wearer's terrain adaptability in the walking environment and the dexterity in dealing with rugged ground or sudden situations. This makes the device applicable to many scenarios, with a large working range and strong practicality.

[0022] 3. The present invention provides an adaptive passive wearable hemodialysis machine load device for complex terrain, which is equipped with spring energy storage devices at the hip joint and ankle joint. During walking, the gravitational potential energy of the wearer and the load-bearing equipment is converted into elastic potential energy, and then the potential energy is converted into the mechanical energy required for walking. This makes the structure more compact and more practical under passive conditions.

[0023] 4. The adaptive passive wearable hemodialysis machine load device for complex terrain of the present invention is applicable to a wider range of people and provides a more comfortable experience for the wearer. The fine adjustment device of the strap can increase "fault tolerance" while ensuring a secure fixation, and has strong practicality.

[0024] 5. The present invention provides an adaptive passive wearable hemodialysis machine load device for complex terrain. The carrying equipment can be flexibly replaced as needed, and the ingenious mechanical mechanism can handle work in more fields, making it highly practical.

[0025] The present invention provides an adaptive passive wearable hemodialysis machine load device for complex terrain. It has a clever mechanical structure, flexible movement, and can adapt to various wearer body types and work scenarios. It has a wide working range, a broad audience, and strong practicality. Attached Figure Description

[0026] Figure 1 Overall isometric view of the passive wearable load device in this invention;

[0027] Figure 2 Overall front view of the passive wearable load device in this invention;

[0028] Figure 3 Axonometric view of the wearable fixing structure of the passive wearable load device in this invention;

[0029] Figure 4 Front view of the passive wearable load device spring return device A structure in this invention;

[0030] Figure 5 Axonometric view of the passive wearable load device spring return device A structure in this invention;

[0031] Figure 6 Side view of the thigh structure of the passive wearable load device in this invention;

[0032] Figure 7 Side view of the lower leg structure of the passive wearable load device in this invention;

[0033] Figure 8 Schematic diagram of the inner test of the elastic energy storage device B in the passive wearable load device of this invention;

[0034] Figure 9 Schematic diagram of the external measurement of the elastic energy storage device B in the passive wearable load device of this invention;

[0035] Figure 10 Schematic diagram of the elastic energy storage device C of the passive wearable load device in this invention;

[0036] Figure 11 A schematic diagram of the structure of the passive wearable load device in this invention, which allows for fine adjustment of the height of the leg strap;

[0037] Figure 12 Axonometric view of the foot structure of the passive wearable load device in this invention;

[0038] Figure 13 Side view of the foot spring return device of the passive wearable load device in this invention;

[0039] Figure 14 Axonometric view of the foot spring return device of the passive wearable load device in this invention;

[0040] Figure 15 Front view of the hip joint outward swing of the passive wearable load device in this invention;

[0041] Figure 16 Ankle joint alignment view of the passive wearable load device in this invention;

[0042] Figure 17 Axonometric view of the passive wearable load device in upright gait in this invention;

[0043] Figure 18 Axonometric diagram of the walking gait of the passive wearable load device in this invention.

[0044] In the picture:

[0045] 1: Weight-bearing platform; 2: Hemodialysis machine; 3: Wearable fixation structure; 4: Leg structure; 5: Foot structure

[0046] 3-1: Includes wearing the suspenders; 3-2: Wearing the back cushion; 3-3: Wearing the waist belt; 3-4: Waist belt buckle.

[0047] 4-1: Spring return device A 4-2: Thigh frame 4-3: Lower leg frame 4-4: Load-bearing linkage device 4-5: Assist linkage device 4-6: Spring energy storage device B 4-7: Spring energy storage device C 4-8: Structure with adjustable leg strap height

[0048] 4-1-1: Hip joint connector; 4-1-2: Auxiliary connector; 4-1-3: Swing rod; 4-1-4: Compression spring A; 4-1-5: Compression spring top rod A; 4-1-6: Compression spring sleeve A; 4-2-1: Thigh link; 4-2-2: Hip joint link; 4-2-3: Connecting buckle A; 4-2-4: Auxiliary link; 4-3-1: Lower leg link; 4-3-2: Ankle joint link; 4-3-3: Connecting buckle B; 4-3-4: Ankle joint support; 4-4-1: Gas spring sleeve; 4-4-2: Gas spring sleeve rod; 4-5-1: Compression spring B; 4-5-2: Compression spring top rod B; 4-5-3: Compression spring sleeve B; 4-6-1: Inner end cap of spring energy storage device B; 4-6-2: Outer end cap of spring energy storage device B; 4-6-3: Spiral spring groove B 4-6-4: Spiral Spring B 4-7-1: Spring Energy Storage Device C Inner End Cap 4-7-2: Spring Energy Storage Device C Outer End Cap 4-7-3: Spiral Spring Slot C 4-7-4: Spiral Spring C 4-8-1: Thigh Strap 4-8-2: Lower Leg Strap 4-8-3: Strap Spring

[0049] 5-1: Spring return device D 5-2: Foot plate 5-3: Foot strap 5-1-1: Spring return sleeve 5-1-2: Spring return push rod 5-1-3: Spring return top shaft 5-1-4: Compression spring D Detailed Implementation

[0050] The present invention will now be described with reference to the accompanying drawings and embodiments, but the present invention is not limited to the following embodiments.

[0051] Example 1

[0052] Reference Figure 1 , Figure 2 , Figure 17 , Figure 18 An adaptive passive wearable hemodialysis machine load device for complex terrain consists of a load-bearing platform 1 worn on the user's waist, a hemodialysis machine 2, a wearable fixing structure 3, a leg structure 4, and a foot structure 5, which can complete the task of carrying experimental devices to assist walking.

[0053] Reference Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 15 , Figure 17 , Figure 18When the leg structure 4 of a passive wearable hemodialysis machine load device adapted to complex terrain swings inward and outward around the hip joint, the hip joint connector 4-1-1 and the auxiliary connector 4-1-2 are both in the same plane, causing the swing rod 4-1-3 to swing accordingly. This causes the compression spring rod A4-1-5, which is hinged to the swing rod 4-1-3, to extend or shorten. Since the two ends of the compression spring A4-1-4 are respectively fixed to the outer side of the disc of the compression spring rod A4-1-5 and the inner top of the compression spring sleeve A4-1-6, when the compression spring rod A4-1-5 extends or shortens, the compression spring A4-1-4 will be stretched or compressed accordingly, so that energy is stored in the compression spring A4-1-4. When the leg structure 4 swings inward and outward around the hip joint, the potential energy stored in the spring return device A4-1 will suppress the amplitude of the inward and outward swing and provide a restoring force to return to the normal state.

[0054] Reference Figure 1 , Figure 2 , Figure 6 , Figure 7 , Figure 17 , Figure 18 In a leg structure 4 of a passive wearable hemodialysis machine load device adapted to complex terrain, when in an upright gait, the thigh skeleton 4-2, the lower leg skeleton 4-3, and the load-bearing linkage device 4-4 transfer the load from top to bottom to the ground to achieve the load-bearing effect. When in a walking gait, the gas spring sleeve 4-4-2 and the gas spring sleeve 4-4-1 of the load-bearing linkage device 4-4 can be relatively stationary at a certain position, and the load can also be transferred to the ground through the thigh linkage 4-2-1 and the lower leg linkage 4-3-1, thereby realizing the load-bearing capacity during walking.

[0055] Reference Figure 1 , Figure 2 , Figure 6 , Figure 7 , Figure 17 , Figure 18 An adaptive passive wearable hemodialysis machine load device for complex terrain has an assistive linkage device 4-5 that connects the knee joint and ankle joint at the rear end of the lower leg linkage 4-3-1. When in an upright gait, the compression spring B4-5-1 in the assistive linkage device 4-5 is at its original length. When in a walking gait, the distance from the end of the auxiliary linkage 4-2-4 to the ankle joint decreases, causing the compression spring B4-5-1 to be compressed. During walking, kinetic energy is converted into elastic potential energy and stored in the compression spring B4-5-1. When returning to an upright gait, it provides a restoring force, thus achieving the effect of assisting walking.

[0056] Reference Figure 1 , Figure 2 , Figure 8 , Figure 9 , Figure 17, Figure 18 A passive wearable hemodialysis machine load device adapted to complex terrain is described. During normal walking, the hip joint swings back and forth. A spring energy storage device B4-6 is installed at the hip joint, which contains two sets of opposing spiral springs B4-6-4. The inner end cap 4-6-1 and the inner side of the outer end cap 4-6-2 of the spring energy storage device B are both equipped with pawls, which are in opposite directions. When the thigh swings forward, one set of spiral springs B4-6-4 interacts with the pawls on the inner side of the end cap, storing the wearer's gravitational potential energy due to the added load in the spring energy storage device B4-6. When returning to an upright gait, the spring energy storage device B4-6 releases energy, providing assistance; the same applies when the thigh swings backward.

[0057] Reference Figure 1 , Figure 2 , Figure 10 , Figure 17 , Figure 18 A passive wearable hemodialysis machine load device adapted to complex terrain has a unidirectional swing amplitude of the knee joint during normal walking. A spring energy storage device C4-7 is provided at the knee joint. Its working principle is the same as that of the spring energy storage device B4-6. The difference is that the spiral spring C4-7-4 is in the same direction, and only the inner end cap 4-7-1 of the spring energy storage device C has a pawl.

[0058] Reference Figure 1 , Figure 2 , Figure 12 , Figure 13 , Figure 14 , Figure 16 , Figure 17 , Figure 18 In a passive wearable hemodialysis machine load device for complex terrain, when the foot structure 5 swings inward and outward around the ankle joint, the spring return device D5-1 functions the same as the spring return device A4-1. The principle is as follows: When the ankle joint is not swinging, the compression spring D5-1-4 is at its original length. After the foot plate 5-2 and the ankle joint support 4-3-4 swing at an angle, the spring return top shaft 5-1-3 forces the spring return push rod 5-1-2 to move outward towards the outer side of the spring return sleeve 5-1-1. This causes the compression spring D5-1-4 located between the spring return sleeve 5-1-1 and the spring return push rod 5-1-2 to be compressed, thus reacting back to the spring return top shaft 5-1-3 to provide a restoring force. The same principle applies when the ankle joint swings in the opposite direction; the compression spring D5-1-4 on the opposite side then comes into play, providing a corresponding restoring force.

[0059] Reference Figure 1 , Figure 2 , Figure 11 , Figure 17 , Figure 18An adaptive passive wearable hemodialysis machine load device for complex terrain has a structure 4-8 with adjustable leg strap height on the inner side of the thigh link 4-2-1 and the calf link 4-3-1 in the leg structure 4. By installing strap springs 4-8-3 at the upper and lower ends of the thigh strap 4-8-1 and the calf strap 4-8-2, the straps can be adjusted within a certain range during walking, reducing the restraining effect of the straps on the wearer.

[0060] Reference Figure 1 , Figure 2 , Figure 5 , Figure 7 , Figure 17 , Figure 18 An adaptive passive wearable hemodialysis machine load device for complex terrain has a leg length adjustment device on the upper end of the thigh link 4-2-1 and the lower section of the calf link 4-3-1 in the leg structure 4. By adjusting the corresponding buckle positions at the connection points of the hip joint link 4-2-2 and the thigh link 4-2-1 and the ankle joint link 4-3-2 and the calf link 4-3-1, the device can meet the needs of wearers with different body types.

Claims

1. A complex terrain adaptive passive wearable hemodialysis machine load device, characterized in that: The device includes a weight-bearing platform (1) worn on the user's waist. The weight-bearing platform (1) has a hemodialysis machine (2) on its inner side, a wearing and fixing structure (3) on its outer side, and leg structures (4) at both ends. The leg structures (4) include a spring-loaded return device A (4-1) on the inner side of the leg to accommodate the inward and outward swinging of the thigh, a thigh frame (4-2), and a calf frame (4-3). The thigh frame (4-2) has a load-bearing connecting rod device (4-4) at its rear end, and the calf frame (4-3) has an assist connecting rod device (4-5) at its rear end. The hip joint connecting the frame (4-2) to the load-bearing platform (1) is equipped with a spring energy storage device B (4-6), and the knee joint connecting the thigh frame (4-2) to the calf frame (4-3) is equipped with a spring energy storage device C (4-7); the inner sides of the thigh frame (4-2) and the calf frame (4-3) are equipped with a structure (4-8) that allows for fine adjustment of the height of the leg straps to accommodate wearers of different body types; the lower end of the leg structure (4) is equipped with a foot structure (5); the ankle joint of the foot structure (5) is equipped with a spring return device D (5-1) that can accommodate the inward and outward swing of the ankle; The wearing and fixing structure (3) includes a wearing shoulder strap (3-1), a wearing cushion (3-2), a wearing waist belt (3-3), and a waist belt buckle (3-4); the connection relationship between each component is as follows: the wearing shoulder strap (3-1) is fixed to both sides of the back plate of the load-bearing platform (1); the wearing cushion (3-2) is fixed to the center of the back plate of the load-bearing platform (1); the wearing waist belt (3-3) is fixed to both sides of the lower end of the back plate of the load-bearing platform (1); the two sections of the wearing waist belt (3-3) are connected by the waist belt buckle (3-4); In the leg structure (4), the hip joint connector (4-1-1) and the auxiliary connector (4-1-2) are respectively hinged to the lower end of the load-bearing platform (1) through a rotating joint; the two ends of the swing rod (4-1-3) are fixedly connected to the reserved holes of the hip joint connector (4-1-1) and the auxiliary connector (4-1-2); the two ends of the compression spring A (4-1-4) are respectively fixedly connected to the outer side of the disc of the compression spring top rod A (4-1-5) and the inner top end of the compression spring sleeve A (4-1-6); the swing rod (4-1-3) is connected to the compression spring top rod A (4-1-5); the compression spring sleeve A (4-1-6) is hinged to the lower end of the load-bearing platform (1) through a rotating joint; the thigh connecting rod (4-2-1) is connected to the connecting buckle A (4-2-3). Connected to the hip joint link (4-2-2); the spiral spring slot B (4-6-3) is fixed inside the hip joint connector (4-1-1); the spiral spring B (4-6-4) is fixed on both sides of the spiral spring slot B (4-6-3) in sequence; the inner end cap (4-6-1) and the outer end cap (4-6-2) of the spring energy storage device B are coaxially hinged on both sides of the hip joint connector (4-1-1); the lower ends of the inner end cap (4-6-1) and the outer end cap (4-6-2) of the spring energy storage device B are fixed and fixed to the hip joint connector (4-1-1); the auxiliary connector (4-1-2) is hinged to the gas spring sleeve (4-4-1) through a rotating joint; the gas spring sleeve rod (4-4- 2) Located inside the gas spring sleeve (4-4-1); the spiral spring slot C (4-7-3) is fixed to the lower end of the thigh connecting rod (4-2-1); the spiral spring C (4-7-4) is fixed to the inner side of the spiral spring slot C (4-7-3) in sequence; the inner end cap (4-7-1) and the outer end cap (4-7-2) of the spring energy storage device C are coaxially hinged on both sides of the lower end of the thigh connecting rod (4-2-1); the lower ends of the inner end cap (4-7-1) and the outer end cap (4-7-2) of the spring energy storage device C are fixed and fixed to the lower leg connecting rod (4-3-1); the inner end cap (4-7-1) of the spring energy storage device C and the auxiliary connecting rod (4-2-4) are hinged through a rotating joint; the gas spring sleeve ( Both 4-4-2) and compression spring sleeve B (4-5-3) are hinged to auxiliary connecting rod (4-2-4) on the same axis via a revolute joint; the two ends of compression spring B (4-5-1) are respectively fixed to the upper inner end of compression spring sleeve B (4-5-3) and the outer side of the disc of compression spring top rod B (4-5-2); ankle joint support (4-3-4) is hinged to compression spring top rod B (4-5-2) via a revolute joint; lower leg connecting rod (4-3-1) is connected to ankle joint connecting rod (4-3-2) via connecting buckle B (4-3-3); ankle joint connecting rod (4-3-2) is hinged to ankle joint support (4-3-4) via a revolute joint; thigh strap (4-8-1) is fixed in the inner groove of thigh connecting rod (4-2-1);The strap spring (4-8-3) is fitted inside the support rod within the inner groove of the thigh connecting rod (4-2-1), with one side of the strap spring (4-8-3) fixed to the thigh strap (4-8-1) and the other side fixed to the end face of the inner groove of the thigh connecting rod (4-2-1); similarly, the calf strap (4-8-2) is fixed to the inner groove of the calf connecting rod (4-3-1) along with the strap spring (4-8-3).

2. The self-adaptive passive wearable hemodialysis machine load device for complex terrain according to claim 1, wherein, The foot structure (5) includes a spring return device D (5-1), a foot plate (5-2), a foot strap (5-3), a spring return sleeve (5-1-1), a spring return push rod (5-1-2), a spring return top shaft (5-1-3), and a compression spring D (5-1-4). The connection relationship between the components is as follows: the spring return top shaft (5-1-3) is fixedly connected to the lower end of the ankle joint support (4-3-4); the spring return push rod (5-1-2) is installed in the groove of the spring return sleeve (5-1-1) as a boss; the two ends of the compression spring D (5-1-4) are fixedly connected to the top of the spring return sleeve (5-1-1) and the inner side of the spring return push rod (5-1-2) respectively; the spring return sleeve (5-1-1) is fixedly connected to the foot plate (5-2); and the foot strap (5-3) is hinged to the foot plate (5-2) through a rotating joint.

3. The self-adapting passive wearable hemodialysis machine load device for complex terrain according to claim 1, wherein, The upper part of the leg structure has a spring return device at the hip joint that can adapt to the inward and outward swing of the thigh. It consists of a hip joint connector, an auxiliary connector, a swing rod, a compression spring, a compression spring top rod, and a compression spring sleeve. While increasing the degree of freedom of the hip, it also controls the swing amplitude to a certain extent, so as to enable the wearer to adapt to the terrain in the walking environment.

4. The self-adaptive passive wearable hemodialysis machine load device for complex terrain according to claim 1, wherein, The leg structure is equipped with a load-bearing linkage device, which includes a gas spring rod and a gas spring sleeve. In an upright gait, the load is applied to the thigh linkage and the lower leg linkage. In a walking gait, the gas spring rod and the gas spring sleeve of the load-bearing linkage device are relatively stationary at a certain position, and the load is also transferred to the ground through the thigh linkage and the lower leg linkage, thereby realizing the load-bearing capacity during walking.

5. The self-adapting passive wearable hemodialysis machine load device for complex terrain according to claim 1, wherein, The leg structure is equipped with an assist linkage device. When in an upright gait, the compression spring B in the assist linkage device is at its original length. When in a walking gait, the distance between the end of the assist linkage and the ankle joint decreases, causing the compression spring B to be compressed. During walking, kinetic energy is converted into elastic potential energy and stored in the compression spring B. When returning to an upright gait, it provides restoring force, thus achieving the effect of assisting walking.

6. The self-adapting passive wearable hemodialysis machine load device for complex terrain according to claim 1, wherein, The fine-adjustment device for the straps on the inner side of the thigh and calf links, by installing strap springs at the upper and lower ends of the fixed sides of the thigh and calf straps, allows the leg straps to be adjusted within a certain range, ensuring a secure fixation during walking while reducing the restraint on the wearer.

7. The self-adapting passive wearable hemodialysis machine load device for complex terrain according to claim 1, wherein, Both the upper end of the thigh link and the lower end of the calf link are equipped with devices to adjust the leg length. By adjusting the corresponding buckle positions at the connection points between the hip joint link and the thigh link, and between the ankle joint link and the calf link, the device can accommodate the needs of wearers with different body types.

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