A lower extremity assisting mechanism for standing assistance

Abstract

This utility model discloses a lower limb assistive mechanism for standing support. The knee joint locking unit forms a joint locking limit by engaging the outer limiting protrusion of the locking plate with the limiting groove of the thigh rod. Different protrusions and grooves can be designed with different angles and numbers, enabling multi-point locking of the knee joint of the lower limb assistive mechanism. Unlocking or locking can be performed at any angle without operational restrictions. This solution has a simple structure. The thigh support structure supports and collects the load of the buttocks. The knee joint locking structure locks the joint at a small angle and transmits force downward. The lower leg force transmission structure collects the downward flexion force of the front of the lower leg and provides support. Finally, the shoe support structure transmits the collected load to the ground. It can realize the force transmission of standing support and achieve support assistance with a slight knee flexion of about 10°, reducing the burden of standing for long periods of time.

Description

Technical Field

[0001] This utility model belongs to the field of exoskeletons, specifically relating to a lower limb assistive mechanism for standing assistance. Background Technology

[0002] In the field of exoskeletons, lower limb exoskeletons are a crucial component. Currently, lower limb assistive exoskeletons are emerging in medical rehabilitation, industrial work, and outdoor sports, with applications constantly expanding from assisting rehabilitation training for hemiplegic patients to reducing the burden on workers and helping mountain climbers easily. However, they still face many challenging problems. On the one hand, limited by their mechanical structure and energy conversion methods, they struggle to provide precise and efficient assistance under different terrains and complex movement conditions. For example, their assistive effect is poor when going uphill or downhill, walking quickly, or making sudden stops and turns, and may even interfere with normal human movements. On the other hand, balancing the weight of the device with wearing comfort is difficult. To ensure structural strength and power output, the overall design is often quite bulky. Wearing such devices not only adds extra burden but also easily causes discomfort due to concentrated local pressure, affecting the user experience and hindering widespread adoption.

[0003] like Figure 1 As shown, for example, patent CN201811039527.X discloses a height-adjustable exoskeleton seat. The exoskeleton seat includes a thigh and lower leg structure assembly and a sitting posture support assembly. The thigh and lower leg structure assembly includes a thigh structure assembly and a lower leg structure assembly that are rotatably connected. The thigh structure assembly changes its length by moving, and the lower leg structure assembly changes its length by moving, thereby realizing the height adjustment of the exoskeleton seat. The sitting posture support assembly includes a slide rail baffle connected to the thigh structure assembly, an adjustment slider slidably connected to the slide rail baffle, an upper support rod rotatably connected to the adjustment slider, a lower piston rod rotatably connected to the upper support rod, and a support cylinder connecting the lower piston rod and the lower leg structure assembly. The support cylinder is used to drive the lower piston rod to move. However, this exoskeleton seat and related prior art usually limit the knee joint movement angle, making it impossible for users to squat or raise their legs high, affecting their mobility. At the same time, there is no operable unlocking mechanism designed, making it inconvenient to use. Summary of the Invention

[0004] In order to overcome the above-mentioned technical defects in the prior art, this utility model proposes a lower limb assistive mechanism for standing assistance.

[0005] The technical solution to achieve the purpose of this utility model is as follows:

[0006] A lower limb assistive mechanism for standing assistance includes a thigh support unit, a knee joint locking unit, a calf force transmission unit, and a shoe support unit;

[0007] The knee joint locking unit is fixedly connected to the thigh support unit and the calf force transmission unit by means of pins or bolts.

[0008] The calf force transmission unit and the shoe support unit are fixed together by their internal interlocking locking structure to form a telescopic adjustment mechanism.

[0009] Furthermore, the thigh support unit includes a thigh component, an adjusting rod, and a pressing and locking mechanism;

[0010] The adjusting rod is connected to the thigh component via a pressing and locking mechanism. The adjusting rod has multiple holes, and the pressing and locking mechanism is connected to the thigh component through the corresponding holes, thereby realizing the position adjustment of the thigh support unit.

[0011] The pressing locking mechanism includes a locking pin, a spring, and a button. The button is connected to the locking pin by a pin or a rivet. The button and the spring are connected to corresponding holes on the thigh piece by a pin, bolt, or rivet. Pressing the button pushes the locking pin outward or resets it to achieve locking and unlocking between the thigh piece and the adjusting rod.

[0012] Furthermore, the knee joint locking unit includes a thigh bar, a calf bar, a locking shaft, a locking plate, an unlocking plate, a rubber sleeve, and a housing;

[0013] The thigh rod is used to connect to the thigh support unit, and the calf rod is used to connect to the calf force transmission unit;

[0014] The lower end of the thigh bar and the upper end of the calf bar are connected by a through locking shaft, forming a rotary motion pair; a locking plate and an unlocking plate are sequentially sleeved on the locking shaft;

[0015] The locking plate is provided with a limiting protrusion, and the thigh bar is provided with a corresponding limiting groove;

[0016] The locking plate engages with the limiting protrusion and the limiting groove of the thigh bar to form a joint locking limit;

[0017] The unlocking plate is equipped with a lever, and a rubber sleeve is fitted onto the lever. The device is externally equipped with a housing.

[0018] Furthermore, there are multiple pairs of limiting protrusions and limiting grooves.

[0019] Furthermore, multiple magnets with alternating polarities are embedded in the locking plate;

[0020] The unlocking chip is embedded with multiple magnets of alternating polarities;

[0021] The number of magnets on the locking plate is equal to the number of magnets on the unlocking plate.

[0022] Furthermore, the lower leg force transmission unit includes a lower leg component and a pressing and locking mechanism;

[0023] One end of the lower leg piece is connected to the knee joint locking unit, and the other end of the lower leg piece is connected to the shoe support unit through a pressing locking mechanism;

[0024] The pressing locking mechanism includes a locking pin, a spring, and a button. The button is connected to the locking pin by a pin or a rivet. The button and the spring are connected to corresponding holes on the lower leg piece by a pin, bolt, or rivet. Pressing the button pushes the locking pin outward or resets it to achieve locking and unlocking between the lower leg piece and the shoe support unit.

[0025] Furthermore, the shoe support unit includes an adjustment rod, a connector, a first torsion spring, a universal ankle support, a connecting cover shaft, a support rod, a second torsion spring, and a footrest;

[0026] The adjusting rod is connected to the lower leg force transmission unit;

[0027] The adjusting rod is fixed to the connecting piece by bolts, and the connecting piece is connected to the Wanxiang ankle by pins or bolts to form an abduction motion pair;

[0028] The support rod is connected to the Wanxiang ankle via a connecting cover shaft, forming a flexion motion pair.

[0029] The first torsion spring is placed between the connector and the omnidirectional ankle to provide abduction restoring torque, and the second torsion spring is placed between the connecting cover shaft, the support rod and the omnidirectional ankle to provide flexion restoring torque;

[0030] The lower end of the support rod is connected and fixed to the footrest by bolts or rivets.

[0031] Compared with the prior art, the advantages of this utility model are as follows:

[0032] (1) The knee joint locking unit of this utility model forms a joint locking limit by engaging the outer limiting protrusion of the locking plate with the limiting groove of the thigh rod. Different protrusions and grooves can be designed with different angles and numbers. For example, if there are 3, there is a locking position every 120°, and if there are 6, there is a locking position every 60°. When in use, the locking and unlocking plates are switched by rotating to achieve different or the same polarity of the magnets on the locking and unlocking plates. This avoids the physical structure connecting the two, so that it can be unlocked and locked at any angle without causing mechanical interference. It can realize multi-point locking of the knee joint of the lower limb assist mechanism and can be unlocked or locked at any angle without operational restrictions.

[0033] (2) The present invention has a simple structure. It uses a thigh support structure to support and collect the load of the buttocks, a knee joint locking structure to lock the joint at a small angle and transmit force downward, and a calf force transmission structure to collect the downward flexion force of the front of the calf and provide support. Finally, the shoe support structure transmits the collected load to the ground, which can realize the force transmission of standing posture support and achieve support assistance with a slight knee flexion of about 10°, reducing the burden of long-term standing work.

[0034] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the height-adjustable exoskeleton seat structure in the background art of this utility model.

[0036] Figure 2 This is a schematic diagram of a lower limb assistive mechanism for standing assistance in an embodiment of this utility model.

[0037] Figure 3 This is a schematic diagram of a lower limb assistive mechanism for standing assistance in an embodiment of this utility model.

[0038] Figure 4 This is a schematic diagram of the thigh support unit structure in an embodiment of the present invention.

[0039] Figure 5 This is a schematic diagram of the knee joint locking unit structure in an embodiment of the present invention.

[0040] Figure 6 This is a schematic diagram of the locking plate and unlocking plate in the knee joint locking unit of an embodiment of this utility model.

[0041] Figure 7 This is a schematic diagram of the lower leg force transmission unit structure in an embodiment of this utility model.

[0042] Figure 8 This is a schematic diagram of the shoe support unit structure in an embodiment of the present invention. Detailed Implementation

[0043] It is readily understood that, based on the technical solution of this utility model, various embodiments of this utility model can be conceived by those skilled in the art without altering its essential spirit. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of this utility model or as a limitation or restriction on its technical solution. Rather, these embodiments are provided to enable those skilled in the art to gain a more thorough understanding of this utility model. Preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings, which constitute a part of this application and, together with the embodiments of this utility model, serve to illustrate the innovative concept of this invention.

[0044] Example

[0045] Combination Figure 2 and Figure 3 A lower limb assistive mechanism for standing assistance includes a thigh support unit 1, a knee joint locking unit 2, a calf force transmission unit 3, and a shoe support unit 4.

[0046] The knee joint locking unit 2 is fixedly connected to the thigh support unit 1 and the calf force transmission unit 3 by means of pins or bolts.

[0047] The calf force transmission unit 3 and the shoe support unit 4 are fixed together by their internal interlocking locking structure to form a telescopic adjustment mechanism.

[0048] In practical use, two assist mechanisms can be used to assist the legs on both sides respectively. The two components are set as mirror images of each other. In addition, a telescopic mechanism can also be set in the thigh support unit 1.

[0049] Combination Figure 4 The thigh support unit 1 includes a thigh component 101, an adjusting rod 102, and a pressing and locking mechanism;

[0050] The adjusting rod 102 is connected to the thigh component 101 via a pressing and locking mechanism. The adjusting rod 102 has multiple holes, and the pressing and locking mechanism is connected to the thigh component 101 via corresponding holes, thereby realizing the position adjustment of the thigh support unit 1.

[0051] The pressing locking mechanism includes a locking pin, a spring, and a button. The button is connected to the locking pin by a pin or a rivet. The button and the spring are connected to corresponding holes on the thigh piece 101 by a pin, bolt, or rivet. Pressing the button pushes the locking pin outward or resets it to achieve locking and unlocking between the thigh piece 101 and the adjusting rod 102.

[0052] Combination Figure 5 and Figure 6The knee joint locking unit 2 includes a thigh rod 201, a calf rod 202, a locking shaft 203, a locking plate 204, an unlocking plate 205, a rubber sleeve 206, and a housing 207.

[0053] The thigh rod 201 is used to connect the thigh support unit 1, and the calf rod 202 is used to connect the calf force transmission unit 3;

[0054] The lower end of the thigh bar 201 and the upper end of the calf bar 202 are connected by a through locking shaft 203, forming a rotary motion pair; a locking plate 204 and an unlocking plate 205 are sequentially sleeved on the locking shaft 203.

[0055] The locking plate 204 is provided with a limiting protrusion, and the thigh bar 201 is provided with a corresponding limiting groove;

[0056] The locking plate 204 engages with the limiting protrusion and the limiting groove of the thigh bar 201 to form a joint locking limit;

[0057] A lever is provided on the unlocking plate 205, and a rubber sleeve 206 is fitted on the lever to protect it. An outer shell 207 is provided on the outside of the device to limit the locking plate 204 and the unlocking plate 205 and to protect the entire locking unit.

[0058] There are multiple pairs of limiting protrusions and limiting grooves.

[0059] In addition, multiple magnets with alternating polarities are embedded in the locking plate 204, and multiple magnets with alternating polarities are embedded in the unlocking plate 205; and the number of magnets on the locking plate 204 and the number of magnets on the unlocking plate 205 are equal. The optimal number of magnets is an even number and greater than or equal to 4. When the magnets on the locking plate 204 and the unlocking plate 205 have the same polarity, the locking plate 204 is pushed towards the thigh bar 201, causing the outer limiting protrusion of the locking plate 204 to engage with the limiting groove of the thigh bar 201 to form a joint locking limit. When the magnets on the locking plate 204 and the unlocking plate 205 have different polarities, the locking plate 204 is attracted to the outer side, causing the outer limiting protrusion of the locking plate 204 to disengage from the limiting groove of the thigh bar 201 and unlock.

[0060] Combination Figure 7 The lower leg force transmission unit 3 includes a lower leg component 301 and a pressing and locking mechanism;

[0061] One end of the lower leg piece 301 is connected to the knee joint locking unit 2, and the other end of the lower leg piece 301 is connected to the shoe support unit 4 through a pressing locking mechanism;

[0062] The pressing locking mechanism includes a locking pin, a spring, and a button. The button is connected to the locking pin by a pin or a rivet. The button and the spring are connected to corresponding holes on the lower leg piece 301 by a pin, bolt, or rivet. Pressing the button pushes the locking pin outward or resets it to achieve locking and unlocking between the lower leg piece 301 and the shoe support unit 4.

[0063] Combination Figure 8 The shoe support unit 4 includes an adjustment rod 401, a connector 402, a first torsion spring 403, a universal ankle support 404, a connecting cover shaft 405, a support rod 406, a second torsion spring 407, and a foot support 408.

[0064] The adjusting rod 401 is connected to the lower leg force transmission unit 3;

[0065] The adjusting rod 401 is fixed to the connecting piece 402 by bolts, and the connecting piece 402 is connected to the Wanxiang ankle 404 by pins or bolts to form an abduction motion pair;

[0066] The support rod 406 is connected to the Wanxiang ankle 404 via the connecting cover shaft 405 and forms a flexion movement pair;

[0067] The first torsion spring 403 is placed between the connector 402 and the universal ankle 404 to provide abduction restoring torque, and the second torsion spring 407 is placed between the connecting cover shaft 405, the support rod 406 and the universal ankle 404 to provide flexion restoring torque;

[0068] The lower end of the support rod 406 is connected and fixed to the footrest 408 by bolts or rivets.

[0069] The above embodiments illustrate and describe the basic principles and main features of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from the spirit and scope of the invention, and all such changes and modifications fall within the scope of the invention as claimed.

Claims

1. A lower limb assistive mechanism for standing support, characterized in that, It includes a thigh support unit (1), a knee joint locking unit (2), a calf force transmission unit (3), and a shoe support unit (4); The knee joint locking unit (2) is fixedly connected to the thigh support unit (1) and the calf force transmission unit (3) by means of pins or bolts. The lower leg force transmission unit (3) and the shoe support unit (4) are fixed together by their internal interlocking locking structure to form a telescopic adjustment mechanism.

2. The lower limb assistive mechanism for standing assistance according to claim 1, characterized in that, The thigh support unit (1) includes a thigh component (101), an adjusting rod (102), and a pressing and locking mechanism; The adjusting rod (102) is connected to the thigh piece (101) through a pressing locking mechanism. The adjusting rod (102) has multiple holes. The pressing locking mechanism is connected to the thigh piece (101) through the corresponding holes and realizes the position adjustment of the thigh support unit (1). The pressing locking mechanism includes a locking pin, a spring, and a button. The button is connected to the locking pin by a pin or a rivet. The button and the spring are connected to corresponding holes on the thigh piece (101) by a pin, bolt, or rivet. Pressing the button pushes the locking pin outward or resets it to achieve locking and unlocking between the thigh piece (101) and the adjusting rod (102).

3. The lower limb assistive mechanism for standing assistance according to claim 1, characterized in that, The knee joint locking unit (2) includes a thigh bar (201), a calf bar (202), a locking shaft (203), a locking plate (204), an unlocking plate (205), a rubber sleeve (206), and a housing (207); The thigh rod (201) is used to connect the thigh support unit (1), and the calf rod (202) is used to connect the calf force transmission unit (3); The lower end of the thigh bar (201) and the upper end of the calf bar (202) are connected by a through locking shaft (203) to form a rotary motion pair; a locking plate (204) and an unlocking plate (205) are sequentially sleeved on the locking shaft (203); The locking plate (204) is provided with a limiting protrusion, and the thigh rod (201) is provided with a corresponding limiting groove; The locking plate (204) engages with the limiting protrusion and the limiting groove of the thigh bar (201) to form a joint locking limit; The unlocking plate (205) is provided with a lever, and a rubber sleeve (206) is fitted on the lever. The device is provided with a housing (207).

4. The lower limb assistive mechanism for standing assistance according to claim 3, characterized in that, There are multiple pairs of limiting protrusions and limiting grooves.

5. The lower limb assistive mechanism for standing assistance according to claim 3, characterized in that, Multiple magnets with alternating polarities are embedded in the locking plate (204); The unlocking piece (205) is embedded with multiple magnets of alternating polarities; The number of magnets on the locking plate (204) is equal to the number of magnets on the unlocking plate (205).

6. The lower limb assistive mechanism for standing assistance according to claim 1, characterized in that, The lower leg force transmission unit (3) includes a lower leg component (301) and a pressing and locking mechanism; One end of the lower leg piece (301) is connected to the knee joint locking unit (2), and the other end of the lower leg piece (301) is connected to the shoe support unit (4) through a pressing locking mechanism; The pressing locking mechanism includes a locking pin, a spring, and a button. The button is connected to the locking pin by a pin or a rivet. The button and the spring are connected to corresponding holes on the lower leg piece (301) by a pin, bolt, or rivet. Pressing the button pushes the locking pin outward or resets it to achieve locking and unlocking between the lower leg piece (301) and the shoe support unit (4).

7. The lower limb assistive mechanism for standing assistance according to claim 1, characterized in that, The shoe support unit (4) described in section 2 includes an adjustment rod (401), a connector (402), a first torsion spring (403), a universal ankle (404), a connecting cover shaft (405), a support rod (406), a second torsion spring (407), and a foot support (408); The adjusting rod (401) is connected to the lower leg force transmission unit (3); The adjusting rod (401) is fixed to the connecting piece (402) by bolts, and the connecting piece (402) is connected to the Wanxiang ankle (404) by pins or bolts to form an abduction motion pair; The support rod (406) is connected to the Wanxiang ankle (404) via the connecting cover shaft (405) to form a flexion joint; The first torsion spring (403) is placed between the connector (402) and the universal ankle (404) to provide abduction restoring torque, and the second torsion spring (407) is placed between the connecting cover shaft (405), the support rod (406) and the universal ankle (404) to provide flexion restoring torque; The lower end of the support rod (406) is connected and fixed to the footrest (408) by bolts or rivets.

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