An unpowered human movement assistance aid

Abstract

The utility model belongs to the field of human exoskeleton, concretely relates to a kind of unpowered human movement power-assisted aid, including bottom plate, fixed installation on the limiting piece of bottom plate, flexible connection on the support cylinder of bottom plate, set up in the movable mechanism of bottom plate and the transmission mechanism being set in support cylinder, support cylinder outer sliding sleeve is equipped with slide cylinder, and slide cylinder is fixedly installed with the restraint for being equipped in the thigh, movable mechanism is used to drive transmission mechanism movement, transmission mechanism can drive slide cylinder sliding on support cylinder. The pressure generated by the weight of the user on the bottom plate is converted into the force of the restraint on the thigh by the movable mechanism, transmission mechanism and slide cylinder. The plantar pressure is converted into the thigh lifting force by mechanical transmission. The distance of the movable mechanism is constant, and the assistance for different users is constant. It is suitable for users of different weights.

Description

Technical Field

[0001] This utility model belongs to the field of human exoskeleton technology, and more specifically, it relates to a non-powered human mobility assistive device. Background Technology

[0002] An exoskeleton is a non-invasive mechanical device that is directly fitted onto the human body. Once worn, it supports the body, assists movement, and improves walking endurance. Exoskeletons are categorized into non-powered and powered exoskeletons based on whether they use power.

[0003] Powered exoskeletons require additional energy sources, such as internal combustion engines and batteries, as well as components like motors, sensors, and controllers. This results in high costs, expensive prices, poor battery life, and high maintenance expenses, hindering their widespread adoption. In contrast, non-powered exoskeletons do not require an external power source. Compared to powered exoskeletons, they are simpler in structure, cheaper, easier to maintain, and have no concerns about battery life.

[0004] In existing technologies, most non-powered exoskeletons capture human motion energy through mechanical structures and convert it into elastic potential energy to provide assistance. The working process can be divided into three stages: Stage 1, before the heel touches the ground, the energy storage spring touches the ground in advance and is compressed, absorbing the kinetic energy dissipated by the impact when the human heel touches the ground and storing it as elastic potential energy; Stage 2, after the heel touches the ground, the length of the energy storage spring remains basically unchanged, only providing a support force to support the weight; Stage 3, after the heel is lifted and before the whole foot leaves the ground, the compressed energy storage spring gradually releases the elastic potential energy, and the released elastic potential energy is transmitted to the human leg joint through a closed chain structure to reduce the torque of the human leg joint and achieve assistance to the human hip, knee and ankle joints.

[0005] However, the stiffness of the energy storage spring needs to be manually adjusted according to the user's weight. Lighter users require springs with lower stiffness, while heavier users require springs with higher stiffness. Users of different weights cannot share the same energy storage spring stiffness. Forcing sharing will lead to a two-way risk of loss of control: "lighter users being over-restrained or heavier users experiencing assistance failure," resulting in poor universality of existing unpowered exoskeletons. Secondly, the assistance provided by existing unpowered exoskeletons requires the dynamic deformation of the energy storage spring, i.e., energy storage and release. When the user is standing still, the energy storage spring cannot be released, thus failing to provide assistance to the user, i.e., there is a problem of static load failure.

[0006] Therefore, in view of this, we will study and improve the existing structure and its shortcomings to provide a non-powered human mobility assistive device, in order to achieve a more practical value. Utility Model Content

[0007] In view of the problems mentioned in the background art above, the present invention provides a non-powered human mobility assistive device, which can avoid excessive constraints on the user or assist failure, and at the same time avoid static load failure.

[0008] The technical solution adopted by this utility model is as follows: a non-powered human mobility assist device includes a base plate, a limiting member fixedly installed on the base plate, a support cylinder flexibly connected to the base plate, an active mechanism set on the base plate, and a transmission mechanism set inside the support cylinder. A sliding cylinder is slidably sleeved outside the support cylinder, and a restraint member for wearing on the thigh is fixedly installed on the sliding cylinder. The active mechanism is used to drive the transmission mechanism to move, and the transmission mechanism can drive the sliding cylinder to slide on the support cylinder.

[0009] The technical principle of this utility model is as follows: This device is driven by the user's own weight. The user's feet are fixed to the base plate by the limiting component, and the support cylinder is fixed to the user's thigh by the restraint component. The user's own weight will generate pressure on the base plate. When the user is in a walking posture, the legs move alternately, and the pressure on the base plate will gradually increase or decrease as the user walks. The pressure generated by the user's own weight on the base plate is synchronously converted into the upward force of the restraint component on the user's thigh through the moving mechanism, transmission mechanism and slide cylinder. That is, when the pressure on the base plate gradually increases, the upward force of the restraint component on the user's thigh gradually increases. Through mechanical transmission, the pressure on the sole of the foot is converted into the lifting force of the thigh. The moving distance of the moving mechanism is constant, and the assistance to different users is a fixed value, which is suitable for users of different weights. When the user is standing, the base plate continuously bears the load of the user's own weight. This load is transmitted to the transmission mechanism through the moving mechanism, which drives the slide to apply a constant lifting force to the thigh, offsetting part of the reaction force of the foot. This mechanism enables the device to continuously provide assistance under static conditions, completely eliminating the problem of static load failure.

[0010] Furthermore, the movable mechanism includes a movable component and a roller assembly. The movable component is rotatably mounted on the base plate. The movable component includes a first rotating plate and a second rotating plate that are fixedly connected. The first rotating plate is longer than the second rotating plate, and the included angle between the first rotating plate and the second rotating plate is in the range of 100° to 140°. The roller assembly is mounted on the base plate. The movable component drives the transmission component to move through the roller assembly. There are two sets of movable components, which are arranged diagonally.

[0011] Furthermore, the roller assembly includes a first rolling element, a second rolling element, a third rolling element, and a first pull rope. The base plate has a mounting groove and a connecting through hole on the side wall of the mounting groove for connecting the mounting groove to the outside. The first rolling element and the second rolling element are disposed in the mounting groove. The second rotating plate has a notch at the end away from the first rotating plate. The third rolling element is disposed at the notch. The first pull rope passes sequentially around the upper part of the first rolling element, the lower part of the third rolling element, and the upper part of the second rolling element. One end of the first pull rope is fixedly installed on the side wall of the mounting groove, and the other end of the first pull rope passes through the mounting groove. The end of the first pull rope away from the movable component is fixedly connected to the second pull rope, and the end of the second pull rope away from the first pull rope is disposed on the transmission mechanism. There are two sets of roller assemblies and mounting slots, and the roller assemblies, mounting slots and connecting through holes are all diagonally arranged.

[0012] Furthermore, the active component also includes a support plate fixedly installed on the side wall of the first rotating plate, and an anti-slip pad and a fourth rolling element are respectively provided on the end of the first rotating plate away from the second rotating plate.

[0013] Furthermore, an outer tube is installed on the side wall of the base plate, and the second pull rope is threaded through the outer tube.

[0014] Furthermore, the transmission mechanism includes a mounting assembly, a connecting assembly, and a transmission assembly. The mounting assembly includes a mounting plate, a first rotating member, a second rotating member, and a third rotating member. There are two mounting plates, which are symmetrically arranged along the vertical center plane of the support cylinder and are rotatably mounted on the inner wall of the support cylinder. The first rotating member and the second rotating member are both located between the two mounting plates, and are respectively located at both ends of the mounting plates. The first rotating member and the second rotating member are arranged in parallel, and the second rotating member can abut against the inner wall of the support cylinder. The third rotating member is rotatably mounted on the inner wall of the support cylinder, and is parallel to both the first and second rotating members. The third rotating member is located above the second rotating member. The connecting assembly and the transmission assembly are both located inside the support cylinder. The second pull rope is located on the transmission assembly and is used to drive the connecting assembly and the transmission assembly to move.

[0015] Furthermore, the connecting assembly includes an L-shaped fixing plate, a connecting rod, and a transmission component. There are two fixing plates, which are symmetrically mounted on the inner wall of the support cylinder along the vertical center face and horizontally fixed. The vertical side of the fixing plate is located between the two mounting plates. A sliding groove is opened on the side wall of the vertical side of the fixing plate. The connecting rod is slidably mounted in the sliding groove. The transmission component is coaxially rotatably mounted on the connecting rod. A first limiting groove and a second limiting groove are opened on the transmission component. The side of the second pull rope away from the first pull rope is wound around the first limiting groove to drive the transmission component to move in the sliding groove.

[0016] Furthermore, the transmission assembly includes a first elastic element and a third pull rope. One end of the first elastic element is fixedly installed on the inner wall of the support cylinder, and one end of the third pull rope is fixedly installed on the first elastic element. The other end of the third pull rope passes through the support cylinder and is fixedly installed on the slide cylinder to drive the slide cylinder to slide vertically on the support cylinder. The third pull rope is wound around the second rotating element, and the third pull rope is wound around the upper side of the first rotating element and the second rotating element, and the third pull rope is wound around the lower side of the second limiting groove.

[0017] Furthermore, it also includes a locking assembly, which includes a fixing block, a second elastic element, and an elastic rod. The elastic rod is vertically disposed inside the support cylinder. One end of the second elastic element is fixedly installed at the bottom of the support cylinder, and the fixing block is fixedly installed at the other end of the second elastic element. The elastic rod passes through and is fixed inside the fixing block. One end of the elastic rod can abut against the second rotating element, and the other end of the elastic rod passes through the bottom of the support cylinder and abuts against the ground.

[0018] The beneficial effects of this utility model are: 1. The user's own weight exerts pressure on the base plate through the moving mechanism, transmission mechanism, and slide cylinder, which is converted into an upward force on the thigh by the restraint component. Through mechanical transmission, the pressure on the sole of the foot is converted into a lifting force on the thigh. The moving distance of the moving mechanism is constant, and the assistance to different users is a fixed value, which is suitable for users of different weights.

[0019] 2. This device is driven by the user's own weight. As the pressure on the base plate gradually increases, the force exerted by the restraints on the user's thighs also gradually increases. Through mechanical transmission, the pressure on the sole of the foot is converted into the lifting force of the thigh. This device can avoid instantaneous impact on the user, making the user's experience more comfortable.

[0020] 3. When the user is standing, the base plate continuously bears the user's own weight. This load is transmitted to the transmission mechanism through the moving mechanism, driving the slide to apply a constant upward force to the thigh, partially offsetting the reaction force of the foot. This mechanism allows the device to continuously provide assistance under static conditions, completely eliminating the problem of static load failure. Attached Figure Description

[0021] This utility model can be further illustrated by the non-limiting embodiments given in the accompanying drawings; Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the movable mechanism in this utility model; Figure 3 This is a schematic diagram of the base plate of this utility model; Figure 4 This is a schematic diagram of the movable components in this utility model; Figure 5 This is a schematic diagram of the transmission mechanism in this utility model; Figure 6 for Figure 5 Enlarged view of point A in the middle.

[0022] The attached diagram is labeled as follows: 1. Base plate; 101. Mounting groove; 102. Connecting through hole; 2. Support cylinder; 3. Slide cylinder; 4. Restraint components; 5. Moving components; 501. First rotating plate; 502. Second rotating plate; 5021. Notch; 503. Support plate; 504. Anti-slip pad; 505. Fourth rolling element; 6. Roller assembly; 601. First rolling element; 602. Second rolling element; 603. Third rolling element; 604. First pull rope; 7. Second pull rope; 8. Outer tube; 9. Mounting components; 901. Mounting plate; 902. First rotating component; 903. Second rotating component; 904. Third rotating component; 10. Connecting assembly; 1001. Fixing plate; 10011. Slide groove; 1002. Connecting rod; 1003. Transmission component; 10031. First limiting groove; 10032. Second limiting groove; 11. Transmission assembly; 1101. First elastic element; 1102. Third pull rope; 12. Locking assembly; 1201. Fixing block; 1202. Second elastic element; 1203. Elastic rod 13. Limiting components. Detailed Implementation

[0023] like Figures 1-6 As shown, a non-powered human mobility assist device includes a base plate 1, a limiting member 13 fixedly installed on the base plate 1, a support cylinder 2 flexibly connected to the base plate 1, an active mechanism disposed on the base plate 1, and a transmission mechanism disposed within the support cylinder 2. A slide cylinder 3 is slidably sleeved outside the support cylinder 2, and a restraint member 4 for wearing on the thigh is fixedly installed on the slide cylinder 3. The active mechanism is used to drive the transmission mechanism to move, and the transmission mechanism can drive the slide cylinder 3 to slide on the support cylinder 2.

[0024] like Figure 1 As shown, the support cylinder 2 is flexibly connected to the base plate 1 by materials such as cloth and rubber, so that the support cylinder 2 can move freely relative to the base plate 1 with the connection point as the fulcrum, ensuring that the support cylinder 2 can move with the user's thigh when using this device.

[0025] This device is driven by the user's own weight. When using this device, the user's feet are fixed to the base plate 1 by the limiting member 13, and the support cylinder 2 is fixed to the user's thigh by the restraint member 4. The user's own weight will generate pressure on the base plate 1. When the user walks, the legs move alternately, and the pressure on the base plate 1 will gradually increase or decrease as the user walks. The pressure on the base plate 1 causes the moving mechanism to move. When the moving mechanism moves, it drives the transmission mechanism to move synchronously. The transmission mechanism drives the slide cylinder 3 to slide upward on the support cylinder 2 synchronously. The restraint member 4 applies the force of the slide cylinder 3 to the user's thigh. Through the moving mechanism, transmission mechanism and slide cylinder 3, the pressure generated by the user's own weight is converted into an upward force on the user's thigh. That is, when the pressure on the base plate 1 gradually increases, the upward force of the restraint member 4 on the user's thigh gradually increases synchronously, offsetting 30% to 50% of the foot reaction force. The moving distance of the moving mechanism is constant, and the assistance to different users is a fixed value, which is suitable for users of different weights. When the user is standing, the base plate 1 continuously bears the weight of the user. This load is transmitted to the transmission mechanism through the movable mechanism, which drives the slide cylinder 3 to apply a constant upward force to the thigh, partially offsetting the reaction force of the foot. This mechanism allows the device to continuously provide assistance under static conditions, completely eliminating the problem of static load failure.

[0026] Furthermore, such as Figures 2-4 As shown, the movable mechanism includes a movable component 5 and a roller assembly 6. The movable component 5 is rotatably mounted on the base plate 1. The movable component 5 includes a first rotating plate 501 and a second rotating plate 502 fixedly connected. The first rotating plate 501 is longer than the second rotating plate 502. The included angle between the first rotating plate 501 and the second rotating plate 502 is in the range of 100° to 140°. The roller assembly 6 is mounted on the base plate 1. The movable component 5 drives the transmission assembly 11 to move through the roller assembly 6. There are two sets of movable components 5, which are arranged diagonally.

[0027] The ends of the first rotating plate 501 and the second rotating plate 502 are welded together and rotatably mounted on the base plate 1. The included angle between the first rotating plate 501 and the second rotating plate 502 is preferably 120°. In the initial state, the weight of the first rotating plate 501 is greater than that of the second rotating plate 502. Under the action of gravity, the second rotating plate 502 is in close contact with the lower surface of the base plate 1, and the lower end of the first rotating plate 501 is in contact with the ground. When the user uses the device, under the action of the user's own weight, the two sets of movable components 5 rotate synchronously around the connection point with the base plate 1 until both the first rotating plate 501 and the second rotating plate 502 are in contact with the ground, forming a stable support. At this time, both the first rotating plate 501 and the second rotating plate 502 rotate 30°. When the movable components 5 rotate, they can drive the transmission mechanism to move under the action of the roller assembly 6, thereby driving the slide cylinder 3 to slide on the support cylinder 2. Through the restraint member 4, an upward force is generated on the user's thigh, and the pressure on the sole of the foot is converted into a lifting force on the thigh through mechanical transmission.

[0028] Furthermore, such as Figure 2 As shown, the roller assembly 6 includes a first rolling element 601, a second rolling element 602, a third rolling element 603, and a first pull rope 604. The base plate 1 has a mounting groove 101 and a connecting through hole 102 on the side wall of the mounting groove 101 for connecting the mounting groove 101 with the outside. The first rolling element 601 and the second rolling element 602 are disposed in the mounting groove 101. The second rotating plate 502 has a notch 5021 at one end away from the first rotating plate 501. The third rolling element 603 is disposed at the notch 5021. The first pull rope 604 passes sequentially around the upper part of the first rolling element 601, the lower part of the third rolling element 603, and the upper part of the second rolling element 602. One end of the first pull rope 604 is fixedly installed on the side wall of the mounting groove 101, and the other end of the first pull rope 604 passes through the mounting groove 101. The end of the first pull rope 604 away from the movable component 5 is fixedly connected to a second pull rope 7. The end of the second pull rope 7 away from the first pull rope 604 is disposed on the transmission mechanism. There are two sets of roller assembly 6 and mounting groove 101, and the roller assembly 6, mounting groove 101 and connecting through hole 102 are all diagonally arranged.

[0029] The first rolling element 601, the second rolling element 602, and the third rolling element 603 are all pulleys, wherein the first rolling element 601 and the second rolling element 602 are fixed pulleys that can change the direction of movement of the first pull rope 604. The first rolling element 601, the second rolling element 602, and the third rolling element 603 form a pulley group, and the first pull rope 604 is in close contact with the first rolling element 601, the second rolling element 602, and the third rolling element 603.

[0030] The end of the first pull rope 604 is fixedly installed on the side wall of the mounting groove 101. At the same time, the first pull rope 604 is wrapped around the lower part of the third rolling member 603. When the movable component 5 rotates around the connection with the base plate 1, the third rolling member 603 moves synchronously with the second rotating plate 502, which can pull the first pull rope 604 to move in the connecting through hole 102, thereby pulling the second pull rope 7. The second pull rope 7 can synchronously apply the pulling force to the transmission component 11.

[0031] There are two sets of roller assemblies 6 and mounting slots 101, and the roller assemblies 6, mounting slots 101 and connecting through holes 102 are all diagonally arranged. The first pull ropes 604 in the two sets of mounting slots 101 can move in opposite directions and are connected to the second pull ropes 7 outside the base plate 1. The first pull ropes 604 in the two sets of mounting slots 101 can also move in the same direction and are connected to the second pull ropes 7 outside the base plate 1 after passing through the two connecting through holes 102. Here, the first pull ropes 604 in the two sets of mounting slots 101 move in the same direction.

[0032] Furthermore, such as Figure 1 , Figure 2 and Figure 4 As shown, the active component 5 also includes a support plate 503 fixedly installed on the side wall of the first rotating plate 501. The end of the first rotating plate 501 away from the second rotating plate 502 is respectively provided with an anti-slip pad 504 and a fourth rolling element 505.

[0033] The support plate 503 enhances the stability of the user's walking, as the user's heel lands first and then the ball of the foot. The anti-slip pad 504 prevents the first rotating plate 501 from sliding relative to the ground when the user uses the device, making the user's walking more stable. The fourth rolling element 505 facilitates the rotation of the movable component 5.

[0034] Furthermore, such as Figure 2 and Figure 5 As shown, an outer tube 8 is provided on the side wall of the base plate 1, and the second pull rope 7 is threaded through the outer tube 8.

[0035] When the second pull rope 7 is pulled, it moves axially along the outer tube 8 inside the outer tube 8. The outer tube 8 can prevent external interference to the second pull rope 7, making the operation of the device more stable.

[0036] Furthermore, such as Figure 5 and Figure 6As shown, the transmission mechanism includes a mounting assembly 9, a connecting assembly 10, and a transmission assembly 11. The mounting assembly 9 includes a mounting plate 901, a first rotating member 902, a second rotating member 903, and a third rotating member 904. There are two mounting plates 901, symmetrically arranged along the vertical center plane of the support cylinder 2 and rotatably mounted on the inner wall of the support cylinder 2. The first rotating member 902 and the second rotating member 903 are both disposed between the two mounting plates 901, and are respectively positioned on opposite sides of the mounting plate 901. At one end, the first rotating member 902 and the second rotating member 903 are arranged in parallel. The second rotating member 903 can abut against the inner wall of the support cylinder 2. The third rotating member 904 is rotatably arranged on the inner wall of the support cylinder 2, and the third rotating member 904 is parallel to both the first rotating member 902 and the second rotating member 903. The third rotating member 904 is located above the second rotating member 903. The connecting assembly 10 and the transmission assembly 11 are both arranged inside the support cylinder 2. The second pull rope 7 is arranged on the transmission assembly 11 and is used to drive the connecting assembly 10 and the transmission assembly 11 to move.

[0037] A rotating shaft is provided on the mounting plate 901. The mounting plate 901 is rotatably connected to the side wall of the support cylinder 2 via the rotating shaft. The two mounting plates 901, together with the first rotating component 902 and the second rotating component 903, form a frame. The mounting plates 901 are inclined so that the horizontal position of the first rotating component 902 is higher than that of the second rotating component 903. The connecting component 10 is set in the frame to avoid interference between the mounting component 9 and the connecting component 10. The frame can rotate inside the support cylinder 2. Under the action of the transmission component 11, the second rotating component 903 can abut against the side wall of the support cylinder 2. The rotation amplitude of the frame is small. Therefore, the first rotating component 902, the second rotating component 903 and the third rotating component 904 are all fixed pulleys.

[0038] Furthermore, such as Figure 5 and Figure 6 As shown, the connecting assembly 10 includes an L-shaped fixing plate 1001, a connecting rod 1002, and a transmission component 1003. There are two fixing plates 1001, which are symmetrically mounted on the inner wall of the support cylinder 2 along the vertical center face and horizontally fixed. The vertical side of the fixing plate 1001 is located between the two mounting plates 901. A sliding groove 10011 is opened on the side wall of the vertical side of the fixing plate 1001. The connecting rod 1002 is slidably mounted in the sliding groove 10011. The transmission component 1003 is coaxially rotatably mounted on the connecting rod 1002. A first limiting groove 10031 and a second limiting groove 10032 are opened on the transmission component 1003. The side of the second pull rope 7 away from the first pull rope 604 is wound around the first limiting groove 10031 to drive the transmission component 1003 to move in the sliding groove 10011.

[0039] The horizontal end of the fixing plate 1001 is fixedly installed on the inner wall of the support cylinder 2, and the vertical side of the fixing plate 1001 is set in the frame to avoid interference of the fixing plate 1001 with the frame. The transmission component 1003 is a movable pulley, and the second pull rope 7 is wound in the first limiting groove 10031. When the second pull rope 7 is pulled by the first pull rope 604, it can drive the transmission component 1003 to move downward. Under the action of the connecting rod 1002 and the slide groove 10011, the transmission component 1003 can be guaranteed to move in a stable vertical direction.

[0040] Furthermore, such as Figure 5 and Figure 6 As shown, the transmission assembly 11 includes a first elastic element 1101 and a third pull rope 1102. One end of the first elastic element 1101 is fixedly installed on the inner wall of the support cylinder 2, and one end of the third pull rope 1102 is fixedly installed on the first elastic element 1101. The other end of the third pull rope 1102 passes through the support cylinder 2 and is fixedly installed on the slide cylinder 3 to drive the slide cylinder 3 to slide vertically on the support cylinder 2. The third pull rope 1102 is wound around the second rotating element 903. The third pull rope 1102 is wound around the upper side of the first rotating element 902 and the second rotating element 903, and the third pull rope 1102 is wound around the lower side of the second limiting groove 10032.

[0041] The first elastic element 1101 is a spring. The second pull rope 7 is in close contact with the first rotating element 902, the third rotating element 904, and the transmission element 1003. At the same time, the second pull rope 7 is wound around the lower part of the transmission element 1003, which is a movable pulley. When the second pull rope 7 is pulled, it drives the transmission element 1003 to rotate and move vertically downward. The two sides of the third pull rope 1102 are pulled towards the transmission element 1003. While the left side of the third pull rope 1102 pulls the slide cylinder 3, the right side of the third pull rope 1102 can stretch the first elastic element 1101. The first rotating element 902 and the third rotating element 904 can change the direction of the third pull rope 1102. At the same time, the first rotating element 902 rotates clockwise under the action of the third pull rope 1102, and the second rotating element 903 will rotate synchronously until the second rotating element 903 abuts against the side wall of the support cylinder 2.

[0042] The third pull rope 1102 is wound around the second rotating member 903. When the second rotating member 903 abuts against the side wall of the support cylinder 2, the right side of the third pull rope 1102 is locked, meaning the right side of the third pull rope 1102 is no longer pulled. The left side of the third pull rope 1102 continues to pull the slide cylinder 3, converting the user's weight into an upward force on the user's thigh. Through mechanical transmission, the pressure on the sole of the foot is converted into a lifting force on the thigh. The movement distance of the first pull rope 604, the second pull rope 7, and the third pull rope 1102 is determined by the rotation angle of the movable component 5. When the second rotating plate 502 abuts against the ground, the movable component 5 no longer rotates, meaning the rotation angle of the movable component 5 is a constant value. Therefore, the assistance provided by this device to different users is a constant value, making it suitable for users of different weights.

[0043] When the user is in a standing position, the first pull rope 604, the second pull rope 7 and the third pull rope 1102 are always pulled, which means that the slide cylinder 3 is always under force. The slide cylinder 3 will always apply a force opposite to gravity to the user's thigh. Through mechanical transmission, the pressure on the sole of the foot is converted into the lifting force of the thigh, which can prevent the static load failure of this device.

[0044] When the user is in a walking posture, under the action of the elastic force of the first elastic element 1101 and the gravity of the first rotating plate 501, the first pull rope 604, the second pull rope 7 and the third pull rope 1102 can quickly return to their original shape, making it convenient for the next use. The feet cycle repeatedly, thus converting the pressure on the soles of the feet into the lifting force of the thighs through mechanical transmission.

[0045] Furthermore, such as Figure 5 As shown, it also includes a locking assembly 12, which includes a fixing block 1201, a second elastic element 1202, and an elastic rod 1203. The elastic rod 1203 is vertically arranged inside the support cylinder 2. One end of the second elastic element 1202 is fixedly installed at the bottom of the support cylinder 2, and the fixing block 1201 is fixedly installed on the other end of the second elastic element 1202. The elastic rod 1203 passes through and is fixed inside the fixing block 1201. One end of the elastic rod 1203 can abut against the second rotating element 903, and the other end of the elastic rod 1203 passes through the bottom of the support cylinder 2 and can abut against the ground.

[0046] The second elastic element 1202 is a spring. When the movable component 5 is not rotating, the elastic rod 1203 is fixed inside the support cylinder 2 under the action of the second elastic element 1202 and the fixed block 1201. When the movable component 5 rotates, the base plate 1 gradually descends until the lower end of the elastic rod 1203 abuts against the ground. The elastic rod 1203 undergoes elastic deformation, stretching the second elastic element 1202. At the same time, the upper end of the elastic rod 1203 abuts against the second rotating element 903, causing the second rotating element 903 to abut against the side wall of the support cylinder 2, locking the second rotating element 903 to the side wall of the support cylinder 2, making it easier for the third pull rope 1102 to pull the slide cylinder 3. When the user lifts their foot to walk, the elastic rod 1203 returns to its original shape under the action of its own elasticity and the second elastic element 1202, making it easy to use next time.

[0047] The present invention has been described in detail above. The specific embodiments are provided only to help understand the method and core idea of ​​the present invention. It should be noted that those skilled in the art can make various improvements and modifications to the present invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A non-powered human mobility assistive device, characterized in that: It includes a base plate (1), a limiting member (13) fixedly installed on the base plate (1), a support cylinder (2) flexibly connected to the base plate (1), an active mechanism set on the base plate (1), and a transmission mechanism set inside the support cylinder (2). A slide cylinder (3) is slidably sleeved outside the support cylinder (2). A restraint member (4) for wearing on the thigh is fixedly installed on the slide cylinder (3). The active mechanism is used to drive the transmission mechanism to move. The transmission mechanism can drive the slide cylinder (3) to slide on the support cylinder (2). The movable mechanism includes a movable component (5) and a roller assembly (6). The movable component (5) is rotatably mounted on the base plate (1). The movable component (5) includes a first rotating plate (501) and a second rotating plate (502) fixedly connected. The first rotating plate (501) is longer than the second rotating plate (502). The included angle between the first rotating plate (501) and the second rotating plate (502) is between 100° and 140°. The roller assembly (6) is mounted on the base plate (1). The movable component (5) drives the transmission assembly (11) to move through the roller assembly (6). There are two sets of movable components (5), which are arranged diagonally. The roller assembly (6) includes a first rolling element (601), a second rolling element (602), a third rolling element (603), and a first pull rope (604); the base plate (1) has a mounting groove (101) and a connecting through hole (102) on the side wall of the mounting groove (101) for connecting the mounting groove (101) to the outside; the first rolling element (601) and the second rolling element (602) are rotatably disposed in the mounting groove (101); the second rotating plate (502) has a notch (5021) at one end away from the first rotating plate (501); the third rolling element... The moving part (603) is located at the notch (5021). The first pull rope (604) passes through the upper part of the first rolling part (601), the lower part of the third rolling part (603), and the upper part of the second rolling part (602) in sequence. One end of the first pull rope (604) is fixedly installed on the side wall of the mounting groove (101), and the other end of the first pull rope (604) passes through the mounting groove (101). The end of the first pull rope (604) away from the moving component (5) is fixedly connected to the second pull rope (7). The end of the second pull rope (7) away from the first pull rope (604) is located on the transmission mechanism. There are two sets of roller assemblies (6) and mounting slots (101), and the roller assemblies (6), mounting slots (101) and connecting through holes (102) are all diagonally arranged.

2. The non-powered human mobility assistive device according to claim 1, characterized in that: The active component (5) also includes a support plate (503) fixedly installed on the side wall of the first rotating plate (501). The end of the first rotating plate (501) away from the second rotating plate (502) is provided with an anti-slip pad (504) and a fourth rolling element (505).

3. The non-powered human mobility assistive device according to claim 2, characterized in that: An outer tube (8) is provided on the side wall of the base plate (1), and the second pull rope (7) is threaded through the outer tube (8).

4. A non-powered human mobility assistive device according to any one of claims 1-3, characterized in that: The transmission mechanism includes a mounting assembly (9), a connecting assembly (10), and a transmission assembly (11). The mounting assembly (9) includes a mounting plate (901), a first rotating member (902), a second rotating member (903), and a third rotating member (904). There are two mounting plates (901), which are symmetrically arranged along the vertical center plane of the support cylinder (2) and are rotatably mounted on the inner wall of the support cylinder (2). The first rotating member (902) and the second rotating member (903) are both arranged between the two mounting plates (901), and the first rotating member (902) and the second rotating member (903) are respectively arranged at both ends of the mounting plate (901). The first rotating part (902) and the second rotating part (903) are arranged in parallel. The second rotating part (903) can abut against the inner wall of the support cylinder (2). The third rotating part (904) is rotatably arranged on the inner wall of the support cylinder (2). The third rotating part (904) is parallel to the first rotating part (902) and the second rotating part (903). The third rotating part (904) is arranged above the second rotating part (903). The connecting component (10) and the transmission component (11) are both arranged inside the support cylinder (2). The second pull rope (7) is arranged on the transmission component (11) and is used to drive the connecting component (10) and the transmission component (11) to move.

5. The non-powered human mobility assistive device according to claim 4, characterized in that: The connecting assembly (10) includes an L-shaped fixing plate (1001), a connecting rod (1002), and a transmission component (1003). There are two fixing plates (1001), which are symmetrically mounted on the inner wall of the support cylinder (2) along its vertical center plane and horizontally fixed. The vertical side of the fixing plate (1001) is positioned between the two mounting plates (901). A groove (10011) is formed on the side wall of the vertical side of the fixing plate (1001). The connecting rod (1002) is slidably disposed in the slide groove (10011), and the transmission component (1003) is coaxially rotatably disposed on the connecting rod (1002). The transmission component (1003) has a first limiting groove (10031) and a second limiting groove (10032). The second pull rope (7) is wound around the side away from the first pull rope (604) in the first limiting groove (10031) to drive the transmission component (1003) to move in the slide groove (10011).

6. The non-powered human mobility assistive device according to claim 5, characterized in that: The transmission assembly (11) includes a first elastic element (1101) and a third pull rope (1102). One end of the first elastic element (1101) is fixedly installed on the inner wall of the support cylinder (2). One end of the third pull rope (1102) is fixedly installed on the first elastic element (1101). The other end of the third pull rope (1102) passes through the support cylinder (2) and is fixedly installed on the slide cylinder (3) to drive the slide cylinder (3) to slide vertically on the support cylinder (2). The third pull rope (1102) is wound around the second rotating element (903). The third pull rope (1102) is wound around the upper side of the first rotating element (902) and the second rotating element (903), and the third pull rope (1102) is wound around the lower side of the second limiting groove (10032).

7. The non-powered human mobility assistive device according to claim 6, characterized in that: It also includes a locking assembly (12), which includes a fixing block (1201), a second elastic element (1202) and an elastic rod (1203). The elastic rod (1203) is vertically arranged inside the support cylinder (2). One end of the second elastic element (1202) is fixedly installed at the bottom of the support cylinder (2), and the fixing block (1201) is fixedly installed on the other end of the second elastic element (1202). The elastic rod (1203) passes through and is fixed inside the fixing block (1201). One end of the elastic rod (1203) can abut against the second rotating element (903), and the other end of the elastic rod (1203) passes through the bottom of the support cylinder (2) and abuts against the ground.

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