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WO2018090945A1 - Enhanced intelligent bionically-assisted mechanical leg for simulating neural electrical signal - Google Patents

Enhanced intelligent bionically-assisted mechanical leg for simulating neural electrical signal Download PDF

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Publication number
WO2018090945A1
WO2018090945A1 PCT/CN2017/111272 CN2017111272W WO2018090945A1 WO 2018090945 A1 WO2018090945 A1 WO 2018090945A1 CN 2017111272 W CN2017111272 W CN 2017111272W WO 2018090945 A1 WO2018090945 A1 WO 2018090945A1
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WIPO (PCT)
Prior art keywords
plate
leg
electrical signal
simulating
power assisting
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/111272
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French (fr)
Chinese (zh)
Inventor
刘美君
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Individual
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Individual
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Publication of WO2018090945A1 publication Critical patent/WO2018090945A1/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • A61B5/316—Modalities, i.e. specific diagnostic methods
    • A61B5/389—Electromyography [EMG]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6813—Specially adapted to be attached to a specific body part
    • A61B5/6828—Leg
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/683—Means for maintaining contact with the body
    • A61B5/6831—Straps, bands or harnesses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/08—Other bio-electrical signals
    • A61H2230/085—Other bio-electrical signals used as a control parameter for the apparatus

Definitions

  • the invention relates to the field of bionic power assisting machinery, in particular to an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal.
  • the technical problem to be solved by the present invention is: in order to overcome the above problems, an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal is provided, which has a reasonable structure, a simple structure, convenient use, safety, reliability, and intelligence.
  • the high degree of advantages effectively solve the problem of too few leg power assisting machines.
  • the power mechanism includes a motor symmetrically disposed on the annular plate, a lead screw, a buffer spring, and a curved plate; the main shaft of the motor is driven and connected to the lead screw through the baffle, and a buffer spring is disposed on the main shaft of the motor. And the two ends of the buffer spring are respectively abutted against the baffle and the motor; the two ends of the curved plate are respectively screwed with the two lead screws;
  • the upper end of the urging column is hinged with the curved plate, and the middle end of the urging column is hinged with the support shaft;
  • the power assisting plate is hinged to the supporting plate;
  • the power assisting plate includes a front plate and a rear plate that are hinged to each other;
  • the rear plate is provided with a first groove, a second groove, a first groove,
  • the second groove is respectively provided with a pedal, one end of the pedal is hinged with the power assisting plate, and a first boosting spring is disposed below the other end of the pedal;
  • One end of the power assisting plate is fixedly disposed with a second boosting spring, the supporting plate is provided with a connecting protrusion, and the connecting protrusion and the second boosting spring are connected to each other by a cable; the connecting convexity
  • the block is provided with a threaded hole, and the threaded hole is internally threaded with a sleeve, and the sleeve is fixedly connected to the cable, and the sleeve is provided with an adjusting nut.
  • leg strap opening is provided with a buckle.
  • front plate and the rear plate are respectively provided with snap rings for fixing the feet.
  • baffle and the annular plate are of a unitary structure.
  • the back plate is provided with a first pressure sensor
  • the rear plate is provided with a second pressure sensor
  • microcontroller is electrically connected to the myoelectric sensor, the acceleration sensor, the motor, the first pressure sensor and the second pressure sensor, respectively.
  • the power source required for the present invention is supplied by an external wearable battery pack.
  • the invention has the beneficial effects of: an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal, comprising a leg strap, a supporting mechanism, a power mechanism, a force applying column and a power assisting plate, and the leg strap fixing the supporting mechanism to the lower leg a plurality of myoelectric sensors disposed inside the leg straps determine the movement state of the calf by detecting the electrical signals of the skin of the calf, and the power mechanism drives the force column to add walking assistance to the legs, and the motor of the power mechanism is in the supporting mechanism
  • the support plates are slidably connected to each other to prevent the user's center of gravity from being suddenly stressed by the force applied to the column, and the second power spring and the cable are matched.
  • the forward leg When the user advances, the forward leg will stretch the second power spring. Yes, when the same leg is pushed forward, the potential energy in the second booster spring is converted into forward power; the booster plate provides assistance for the user to lift the leg through the first booster spring provided on the sole of the foot;
  • the utility model has the advantages of simple structure, convenient use, safety and reliability, high intelligence degree, etc., and effectively solves the current leg power assisting machinery. The problem.
  • FIG. 1 is a schematic view showing the overall structure of an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal according to the present invention
  • FIG. 2 is a schematic view showing a connection structure of a leg strap and a supporting mechanism of an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal according to the present invention
  • FIG. 3 is a schematic structural view of a support plate of an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal according to the present invention
  • FIG. 4 is a schematic structural view of a connecting bump of an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal according to the present invention
  • FIG. 5 is a schematic structural view of a power mechanism of an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal according to the present invention
  • FIG. 6 is a diagram of an enhanced intelligent bionic power assisting mechanical leg that simulates a neural electrical signal according to the present invention.
  • FIG. 7 is a schematic cross-sectional structural view of a power assisting plate of an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal according to the present invention
  • FIG. 8 is a schematic diagram showing the connection structure of electronic components of an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal according to the present invention.
  • leg strap 11, myoelectric sensor, 12, acceleration sensor, 13, microcontroller, 14, snap, 2, support mechanism, 21, support shaft, 22, ring Plate, 23, support plate, 24, baffle, 25, chute, 26, connecting lug, 261, sleeve, 262, adjusting nut, 27, cable, 28, second booster spring, 3, power mechanism, 31, motor, 32, lead screw, 33, buffer spring, 34, curved plate, 4, force column, 5, power plate, 51, snap ring, 52, rear plate, 521, first groove, 522, second Groove, 523, first pressure sensor, 524, first booster spring, 525, pedal, 53, front plate, 531, second pressure sensor.
  • An enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal as shown in FIG. 1, comprising a leg strap 1, a support mechanism 2, a power mechanism 3, a force applying column 4, and a booster plate 5, said leg strap 1 is disposed on the lower leg portion, and the inside of the leg band 1 is provided with a plurality of myoelectric sensors 11 according to the position of the calf muscles, and the outer side of the leg band 1 is provided with an acceleration sensor 12 for detecting the state of movement of the leg and the microcontroller 13
  • the leg strap 1 is provided with a buckle 14 on the opening.
  • the leg strap 1 is provided with a snap button or velcro on the opening for closing the opening in the leg strap 1.
  • the support mechanism 2 is fixed to the leg strap 1; the support mechanism 2
  • the support plate 23 and the annular plate 22 fixedly disposed on the support plate 23 are disposed;
  • the support plate 23 is provided with a support shaft 21; and
  • the baffle plate 24 and the annular plate 22 are of a unitary structure.
  • the annular plate 22 is symmetrically disposed with a baffle 24 and a sliding groove 25;
  • the supporting plate 23 is attached to the rear side of the lower leg, and the abutting surface of the lower leg is a curved surface structure.
  • the support plate 23 may be made of a flexible material such as rubber, and in another embodiment, the support plate 23 is made of a non-flexible material such as a steel plate.
  • the power mechanism 3 includes a motor 31 symmetrically disposed on the annular plate 22, a lead screw 32, a buffer spring 33, and a curved plate 34; the main shaft of the motor 31 passes through the baffle plate. 24 and the lead screw 32 are drivingly connected to each other, the main shaft 31 of the motor 31 is sleeved with a buffer spring 33, and the two ends of the buffer spring 33 are respectively abutted against the baffle 24 and the motor 31; the two ends of the curved plate 34 are The two lead screws 32 are respectively screwed to each other; the annular plate 22 is provided with a sliding slot 25, and the motor 31 is provided with a slider, and the sliding block is slidably coupled with the sliding slot 25.
  • the motor 31 and the lead screw 32 are replaced by an electric cylinder, and the electric cylinder and the sliding slot 25 are slidably connected to each other, and the main shaft of the electric cylinder sequentially passes through the buffer spring 33, the baffle 24 and the curved plate 34 thread. connection.
  • the motor 31 and the lead screw 32 are replaced by a hydraulic cylinder or a cylinder, and the hydraulic cylinder or the cylinder is slidably connected to the sliding groove 25, and the main shaft of the hydraulic cylinder or the cylinder passes through the buffer spring 33 and the baffle 24 in sequence. It is fixedly connected to the curved plate 34.
  • the upper end of the urging column 4 is hinged to the support plate 23, and the middle end of the urging column 4 is hinged with the support shaft 21; the urging column 4 is a " ⁇ "-shaped structure, and the curved plate 34 drives the urging column 4 before and after.
  • the lower end of the force-applying column 4 pushes up the heel to provide assistance for the lifting foot.
  • the force-applying column 4 is insufficient to lift the heel or suddenly force (if the user suddenly retreats)
  • the force-applying column 4 is retracted forward, and the force on the force-applying column 4 is counteracted.
  • the motor 31 and the motor 31 are buffered by the buffer spring 33 and the chute 25 to avoid damage to the power mechanism 2 and the user.
  • the booster plate 5 is hinged to the support plate 23; the assisting force
  • the plate 5 includes a front plate 53 and a rear plate 52 that are hinged to each other.
  • the rear plate 52 is provided with a first recess 521 and a second recess 522.
  • the first recess 521 and the second recess 522 are respectively disposed.
  • the pedal 525 has one end of the pedal 525 articulated with the power assisting plate 5, and a lower side of the other end of the pedal 525 is provided with a first boosting spring 524; the first boosting spring 524 pushes the pedal 525 to provide assistance for the lifting foot.
  • the back plate 52 is provided with a first pressure sensor 523
  • the front plate 53 is provided with a second pressure sensor 531.
  • the first pressure sensor 523 and the second pressure sensor 531 are respectively used to detect the force of the forefoot and the hind paw, and combine the pressure of the two pressure sensors and the length of time of the force change, thereby judging that the leg is in advance. It is still in the retreat state, and then the power mechanism 2 is controlled to provide assistance. If the second pressure sensor 531 is first detected to be stressed, and then the first pressure sensor 523 is detected, the power mechanism 2 does not operate; for example, the first pressure sensor 523 is first detected to be stressed, and then the second pressure sensor 531 is detected. The force is judged to be in the forward state, and when the first pressure sensor 523 loses the force, the control power mechanism 2 acts to provide assistance for the lift leg.
  • one end of the power assisting plate 5 is fixedly provided with a second boosting spring 28
  • the supporting plate 23 is provided with a connecting lug 26
  • the connecting lug 26 and the second boosting spring 28 are The connecting protrusions 26 are connected to each other by a threaded hole.
  • the connecting hole 26 is provided with a threaded hole.
  • the threaded hole is internally threaded with a sleeve 261.
  • the sleeve 261 is fixedly connected to the cable 27, and the sleeve 261 is An adjustment nut 262 is provided.
  • the cooperation of the second assist spring 28 and the cable 27 will force the second assist spring 28 to accumulate when the user advances, and the second assist spring 28 when the same leg touches the body forward.
  • the potential energy is converted into forward power, and the adjustment nut 262 is used to adjust the length of the cable 27.
  • the front plate 53 and the rear plate 52 are respectively provided with snap rings 51 for fixing the leg portions.
  • the front panel 53 and the rear panel 52 are provided with straps for fixing the feet.
  • the microcontroller 13 is electrically connected to the myoelectric sensor 11, the acceleration sensor 12, the motor 31, the first pressure sensor 523, and the second pressure sensor 531, respectively. Sensor is The microcontroller 13 detects the leg motion data, and the microcontroller 13 analyzes the current state of motion and thereby controls the motion of the motor 31, while the power supply required by the present invention is externally supplied.
  • the electric energy source required for the present invention is supplied by an external wearable battery pack, the wearable battery pack may be a mobile power source provided externally, or the electric power source required for the present invention is supplied by a wearable power generating device.
  • the invention relates to an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal, comprising a leg strap, a supporting mechanism, a power mechanism, a force applying column and a power assisting plate, and the leg strap fixing the supporting mechanism to the lower leg.
  • a plurality of myoelectric sensors disposed inside the leg strap determine the movement state of the calf by detecting the electrical signal of the skin of the calf, the power mechanism drives the force column to add walking assistance to the leg, and the motor of the power mechanism is the support plate in the supporting mechanism.
  • the second assist spring and the cable cooperate to advance the second spring force when the user advances.
  • the utility model has the advantages of simple structure, convenient use, safety and reliability, high intelligence degree, etc., and effectively solves the problem that the leg power assisting machinery is too small.

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Abstract

Disclosed is an enhanced intelligent bionically-assisted mechanical leg for simulating a neural electrical signal, comprising a leg strap (1), a support mechanism (2), a power mechanism (3), a force applying column (4) and an assisting plate (5). The leg strap (1) is arranged at a shank portion. An inner side of the leg strap (1) is provided with a plurality of electromyographic sensors (11), and outer side of the leg strap (1) is provided with an acceleration sensor (12) and a microcontroller (13). The support mechanism (2) comprises a support plate (23) and an annular plate (22) fixedly arranged on the support plate (23). The power mechanism (3) is arranged on the support mechanism (2) and comprises an electric motor (31) arranged on the annular plate (22), a lead screw (32), a damping spring (33) and an arc-shaped plate (34). The force applying column (4) is hinged to the power mechanism (3) and the support mechanism (2). One end of the assisting plate (5) is hinged to the support mechanism (2). The present intelligent bionically-assisted mechanical leg is reasonable in structure, and has the advantages of a simple structure, convenient use, safety and reliability, and a high degree of intelligence and the like, thereby effectively solving the problem that only a few leg assisting machines exist.

Description

一种模拟神经电信号的增强型智能仿生助力机械腿An enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal 技术领域Technical field

本发明涉及仿生助力机械领域，尤其是涉及一种模拟神经电信号的增强型智能仿生助力机械腿。The invention relates to the field of bionic power assisting machinery, in particular to an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal.

背景技术Background technique

在现在的社会中，随着科学技术的进步，全国有很多下肢瘫痪或是下肢行动不便的人，针对此类问题市场上出现了很多种康复装置，但是结构都很复杂或是没有单一针对腿部进行康复治疗的康复产品。而针对腿部康复治疗，需要一种结构简单且能满足够引导腿部进行步态训练和步态运动的机械装置；此外对于需要长时间步行的人而言，如果能有一种根据腿部的运动特点,通过检测使用者小腿肌肉的神经电信号为腿部行走提供一定的助力，将大大降低其身体的疲劳度。In the current society, with the advancement of science and technology, there are many people with lower limb paralysis or lower limbs inconvenient movements in the country. There are many kinds of rehabilitation devices on the market for such problems, but the structure is very complicated or there is no single target. Rehabilitation products for rehabilitation. For leg rehabilitation, there is a need for a mechanical device that is simple in structure and sufficient to guide the leg for gait training and gait movement; in addition, for a person who needs a long walk, if there is a leg based The characteristics of the movement, by detecting the nerve electrical signals of the user's calf muscles, provide a certain amount of assistance for the leg walking, which will greatly reduce the fatigue of the body.

发明内容Summary of the invention

本发明要解决的技术问题是：为了克服上述中存在的问题，提供了一种模拟神经电信号的增强型智能仿生助力机械腿，其结构合理，具有结构简单、使用方便、安全可靠、智能化程度高等优点，有效解决现在腿部助力机械太少的问题。The technical problem to be solved by the present invention is: in order to overcome the above problems, an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal is provided, which has a reasonable structure, a simple structure, convenient use, safety, reliability, and intelligence. The high degree of advantages, effectively solve the problem of too few leg power assisting machines.

本发明解决其技术问题所采用的技术方案是：一种模拟神经电信号的增强型智能仿生助力机械腿，包括腿部束带、支撑机构、动力机构、施力柱以及助力板，所述的腿部束带是设置在小腿部，腿部束带内侧设置有若干肌电传感器，腿部束带的外侧设置有加速传感器以及微控制器；The technical solution adopted by the present invention to solve the technical problem thereof is: an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal, comprising a leg strap, a supporting mechanism, a power mechanism, a force applying column and a power assisting plate, the leg portion The strap is disposed on the lower leg portion, and a plurality of myoelectric sensors are disposed on the inner side of the leg strap, and an acceleration sensor and a microcontroller are disposed on the outer side of the leg strap;

所述的支撑机构是固定于腿部束带上；支撑机构包括支撑板以及固定设置 在支撑板上的环形板；所述的支撑板上设置有支撑轴；所述的环形板上对称设置有挡板、滑槽；The support mechanism is fixed to the leg strap; the support mechanism includes a support plate and a fixed setting An annular plate on the support plate; the support plate is provided with a support shaft; the annular plate is symmetrically provided with a baffle and a sliding groove;

所述的动力机构包括对称设置在环形板上的电机、丝杠、缓冲弹簧以及弧形板；所述电机的主轴穿过挡板与丝杠相互传动连接，电机主轴上套设有缓冲弹簧，且缓冲弹簧的两端是分别与挡板、电机相互抵接；所述弧形板的两端是分别与两根丝杠相互螺纹连接；The power mechanism includes a motor symmetrically disposed on the annular plate, a lead screw, a buffer spring, and a curved plate; the main shaft of the motor is driven and connected to the lead screw through the baffle, and a buffer spring is disposed on the main shaft of the motor. And the two ends of the buffer spring are respectively abutted against the baffle and the motor; the two ends of the curved plate are respectively screwed with the two lead screws;

所述的施力柱上端是与弧形板相互铰接，施力柱中端是与支撑轴相互铰接；The upper end of the urging column is hinged with the curved plate, and the middle end of the urging column is hinged with the support shaft;

所述的助力板是与支撑板相互铰接；所述的助力板包括相互铰接的前板以及后板；所述的后板上设置有第一凹槽、第二凹槽，第一凹槽、第二凹槽内分别设置有踏板，踏板的一端是与助力板相互铰接，踏板另一端的下方设置有第一助力弹簧；The power assisting plate is hinged to the supporting plate; the power assisting plate includes a front plate and a rear plate that are hinged to each other; the rear plate is provided with a first groove, a second groove, a first groove, The second groove is respectively provided with a pedal, one end of the pedal is hinged with the power assisting plate, and a first boosting spring is disposed below the other end of the pedal;

所述助力板的一端固定设置有第二助力弹簧，所述的支撑板上设置有连接凸块，所述的连接凸块与第二助力弹簧之间通过拉索相互连接；所述的连接凸块上设置有螺纹孔，螺纹孔内螺纹连接有套筒，套筒是与拉索相互固定连接，所述的套筒上设置有调节螺母。One end of the power assisting plate is fixedly disposed with a second boosting spring, the supporting plate is provided with a connecting protrusion, and the connecting protrusion and the second boosting spring are connected to each other by a cable; the connecting convexity The block is provided with a threaded hole, and the threaded hole is internally threaded with a sleeve, and the sleeve is fixedly connected to the cable, and the sleeve is provided with an adjusting nut.

进一步的，所述的腿部束带开口上设置有卡扣。Further, the leg strap opening is provided with a buckle.

进一步的，所述的前板、后板上分别设置有用于固定脚部的卡环。Further, the front plate and the rear plate are respectively provided with snap rings for fixing the feet.

进一步的，所述的挡板与环形板是一体式结构。Further, the baffle and the annular plate are of a unitary structure.

进一步的，所述的电机上设置有滑块，滑块是与滑槽相互滑动连接。Further, the motor is provided with a slider, and the slider is slidably connected to the sliding slot.

进一步的，所述的后板上设置有第一压力传感器，所述的后板上设置有第二压力传感器。Further, the back plate is provided with a first pressure sensor, and the rear plate is provided with a second pressure sensor.

进一步的，所述的微控制器是分别与肌电传感器、加速传感器、电机、第一压力传感器、第二压力传感器相互电性连接。Further, the microcontroller is electrically connected to the myoelectric sensor, the acceleration sensor, the motor, the first pressure sensor and the second pressure sensor, respectively.

进一步的，本发明所需的电力能源由外部可穿戴式电池组供给。 Further, the power source required for the present invention is supplied by an external wearable battery pack.

本发明的有益效果是：一种模拟神经电信号的增强型智能仿生助力机械腿，包括腿部束带、支撑机构、动力机构、施力柱以及助力板，腿部束带将支撑机构固定于小腿部，腿部束带内侧设置的若干肌电传感器通过检测小腿的皮表电信号判断小腿的运动状态，动力机构带动施力柱运动为腿部添加行走助力，而动力机构的电机是与支撑机构中的支撑板相互滑动连接，避免在施力柱突然受到外力导致使用人员重心不稳而摔倒；第二助力弹簧和拉索的配合，在使用人员前进时往前迈的腿将拉伸第二助力弹簧蓄能，当同一条腿着地将身体往前推时第二助力弹簧内的势能转化成向前的动力；助力板通过设置在脚底的第一助力弹簧为使用人员抬腿时提供助力；其结构合理，具有结构简单、使用方便、安全可靠、智能化程度高等优点，有效解决现在腿部助力机械太少的问题。The invention has the beneficial effects of: an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal, comprising a leg strap, a supporting mechanism, a power mechanism, a force applying column and a power assisting plate, and the leg strap fixing the supporting mechanism to the lower leg a plurality of myoelectric sensors disposed inside the leg straps determine the movement state of the calf by detecting the electrical signals of the skin of the calf, and the power mechanism drives the force column to add walking assistance to the legs, and the motor of the power mechanism is in the supporting mechanism The support plates are slidably connected to each other to prevent the user's center of gravity from being suddenly stressed by the force applied to the column, and the second power spring and the cable are matched. When the user advances, the forward leg will stretch the second power spring. Yes, when the same leg is pushed forward, the potential energy in the second booster spring is converted into forward power; the booster plate provides assistance for the user to lift the leg through the first booster spring provided on the sole of the foot; The utility model has the advantages of simple structure, convenient use, safety and reliability, high intelligence degree, etc., and effectively solves the current leg power assisting machinery. The problem.

附图说明DRAWINGS

下面结合附图和实施例对本发明进一步说明。The invention will now be further described with reference to the drawings and embodiments.

图1是本发明所述一种模拟神经电信号的增强型智能仿生助力机械腿的整体结构示意图；1 is a schematic view showing the overall structure of an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal according to the present invention;

图2是本发明所述一种模拟神经电信号的增强型智能仿生助力机械腿的腿部束带与支撑机构连接结构示意图；2 is a schematic view showing a connection structure of a leg strap and a supporting mechanism of an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal according to the present invention;

图3是本发明所述一种模拟神经电信号的增强型智能仿生助力机械腿的支撑板结构示意图；3 is a schematic structural view of a support plate of an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal according to the present invention;

图4是本发明所述一种模拟神经电信号的增强型智能仿生助力机械腿的连接凸块结构示意图；4 is a schematic structural view of a connecting bump of an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal according to the present invention;

图5是本发明所述一种模拟神经电信号的增强型智能仿生助力机械腿的动力机构结构示意图；5 is a schematic structural view of a power mechanism of an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal according to the present invention;

图6是本发明所述一种模拟神经电信号的增强型智能仿生助力机械腿的助 力板俯视结构示意图；6 is a diagram of an enhanced intelligent bionic power assisting mechanical leg that simulates a neural electrical signal according to the present invention. A schematic view of the structure of the force plate;

图7是本发明所述一种模拟神经电信号的增强型智能仿生助力机械腿的助力板剖面结构示意图；7 is a schematic cross-sectional structural view of a power assisting plate of an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal according to the present invention;

图8是本发明所述一种模拟神经电信号的增强型智能仿生助力机械腿的电子元器件连接结构示意图。FIG. 8 is a schematic diagram showing the connection structure of electronic components of an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal according to the present invention.

附图中标记分述如下：1、腿部束带，11、肌电传感器，12、加速传感器，13、微控制器，14、卡扣，2、支撑机构，21、支撑轴，22、环形板，23、支撑板，24、挡板，25、滑槽，26、连接凸块，261、套筒，262、调节螺母，27、拉索，28、第二助力弹簧，3、动力机构，31、电机，32、丝杠，33、缓冲弹簧，34、弧形板，4、施力柱，5、助力板，51、卡环，52、后板，521、第一凹槽，522、第二凹槽，523、第一压力传感器，524、第一助力弹簧，525、踏板，53、前板，531、第二压力传感器。The reference numerals in the drawings are as follows: 1. leg strap, 11, myoelectric sensor, 12, acceleration sensor, 13, microcontroller, 14, snap, 2, support mechanism, 21, support shaft, 22, ring Plate, 23, support plate, 24, baffle, 25, chute, 26, connecting lug, 261, sleeve, 262, adjusting nut, 27, cable, 28, second booster spring, 3, power mechanism, 31, motor, 32, lead screw, 33, buffer spring, 34, curved plate, 4, force column, 5, power plate, 51, snap ring, 52, rear plate, 521, first groove, 522, second Groove, 523, first pressure sensor, 524, first booster spring, 525, pedal, 53, front plate, 531, second pressure sensor.

具体实施方式detailed description

现在结合附图对本发明作进一步详细的说明。这些附图均为简化的示意图，仅以示意方式说明本发明的基本结构，因此其仅显示与本发明有关的构成。The invention will now be described in further detail with reference to the drawings. The drawings are simplified schematic diagrams, and only the basic structure of the present invention is illustrated in a schematic manner, and thus only the configurations related to the present invention are shown.

如图1所示的一种模拟神经电信号的增强型智能仿生助力机械腿，包括腿部束带1、支撑机构2、动力机构3、施力柱4以及助力板5，所述的腿部束带1是设置在小腿部，腿部束带1内侧根据小腿肌肉位置设置有若干肌电传感器11，腿部束带1的外侧设置有用于检测腿部运动状态的加速传感器12以及微控制器13；在一种实施例中，所述的腿部束带1开口上设置有卡扣14。在另一种实施例中，所述的腿部束带1开口上设置有子母扣或者魔术贴用于闭合腿部束带1上的开口。An enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal, as shown in FIG. 1, comprising a leg strap 1, a support mechanism 2, a power mechanism 3, a force applying column 4, and a booster plate 5, said leg strap 1 is disposed on the lower leg portion, and the inside of the leg band 1 is provided with a plurality of myoelectric sensors 11 according to the position of the calf muscles, and the outer side of the leg band 1 is provided with an acceleration sensor 12 for detecting the state of movement of the leg and the microcontroller 13 In one embodiment, the leg strap 1 is provided with a buckle 14 on the opening. In another embodiment, the leg strap 1 is provided with a snap button or velcro on the opening for closing the opening in the leg strap 1.

如图2、图3所示，所述的支撑机构2是固定于腿部束带1上；支撑机构2 包括支撑板23以及固定设置在支撑板23上的环形板22；所述的支撑板23上设置有支撑轴21；所述的挡板24与环形板22是一体式结构。所述的环形板22上对称设置有挡板24、滑槽25；所述的支撑板23与小腿后侧贴合，且与小腿后侧贴合面为弧面结构。在一种实施例中，支撑板23可由橡胶等柔性材料制成，在另一种实施例中，支撑板23由钢板等非柔性材料制成。As shown in FIG. 2 and FIG. 3, the support mechanism 2 is fixed to the leg strap 1; the support mechanism 2 The support plate 23 and the annular plate 22 fixedly disposed on the support plate 23 are disposed; the support plate 23 is provided with a support shaft 21; and the baffle plate 24 and the annular plate 22 are of a unitary structure. The annular plate 22 is symmetrically disposed with a baffle 24 and a sliding groove 25; the supporting plate 23 is attached to the rear side of the lower leg, and the abutting surface of the lower leg is a curved surface structure. In one embodiment, the support plate 23 may be made of a flexible material such as rubber, and in another embodiment, the support plate 23 is made of a non-flexible material such as a steel plate.

如图1、图5所示，所述的动力机构3包括对称设置在环形板22上的电机31、丝杠32、缓冲弹簧33以及弧形板34；所述电机31的主轴穿过挡板24与丝杠32相互传动连接，电机31主轴上套设有缓冲弹簧33，且缓冲弹簧33的两端是分别与挡板24、电机31相互抵接；所述弧形板34的两端是分别与两根丝杠32相互螺纹连接；所述的环形板22上设置有滑槽25，所述的电机31上设置有滑块，滑块是与滑槽25相互滑动连接。As shown in FIG. 1 and FIG. 5, the power mechanism 3 includes a motor 31 symmetrically disposed on the annular plate 22, a lead screw 32, a buffer spring 33, and a curved plate 34; the main shaft of the motor 31 passes through the baffle plate. 24 and the lead screw 32 are drivingly connected to each other, the main shaft 31 of the motor 31 is sleeved with a buffer spring 33, and the two ends of the buffer spring 33 are respectively abutted against the baffle 24 and the motor 31; the two ends of the curved plate 34 are The two lead screws 32 are respectively screwed to each other; the annular plate 22 is provided with a sliding slot 25, and the motor 31 is provided with a slider, and the sliding block is slidably coupled with the sliding slot 25.

在一种可能的实施例中，电机31、丝杠32由电动缸代替，电动缸与滑槽25相互滑动连接，电动缸的主轴依次穿过缓冲弹簧33、挡板24与弧形板34螺纹连接。在一种可能的实施例中，电机31、丝杠32由液压缸或者气缸代替，液压缸或者气缸与滑槽25相互滑动连接，液压缸或者气缸的主轴依次穿过缓冲弹簧33、挡板24与弧形板34固定连接。In a possible embodiment, the motor 31 and the lead screw 32 are replaced by an electric cylinder, and the electric cylinder and the sliding slot 25 are slidably connected to each other, and the main shaft of the electric cylinder sequentially passes through the buffer spring 33, the baffle 24 and the curved plate 34 thread. connection. In a possible embodiment, the motor 31 and the lead screw 32 are replaced by a hydraulic cylinder or a cylinder, and the hydraulic cylinder or the cylinder is slidably connected to the sliding groove 25, and the main shaft of the hydraulic cylinder or the cylinder passes through the buffer spring 33 and the baffle 24 in sequence. It is fixedly connected to the curved plate 34.

如图1所示，所述的施力柱4上端是与支撑板23相互铰接，施力柱4中端是与支撑轴21相互铰接；施力柱4为“<”形结构，当弧形板34带动施力柱4前后运动时施力柱4下端顶起脚后跟，为抬脚提供助力，当施力柱4不足以抬起脚后跟或者突然受力(如使用人员突然后退)时，施力柱4向前回缩，施力柱4上的力反作用于电机31，电机31在缓冲弹簧33和滑槽25的作用下做缓冲运动，避免对动力机构2和使用人员造成损伤。As shown in FIG. 1, the upper end of the urging column 4 is hinged to the support plate 23, and the middle end of the urging column 4 is hinged with the support shaft 21; the urging column 4 is a "<"-shaped structure, and the curved plate 34 drives the urging column 4 before and after. When exercising, the lower end of the force-applying column 4 pushes up the heel to provide assistance for the lifting foot. When the force-applying column 4 is insufficient to lift the heel or suddenly force (if the user suddenly retreats), the force-applying column 4 is retracted forward, and the force on the force-applying column 4 is counteracted. The motor 31 and the motor 31 are buffered by the buffer spring 33 and the chute 25 to avoid damage to the power mechanism 2 and the user.

如图6、图7所示，所述的助力板5是与支撑板23相互铰接；所述的助力 板5包括相互铰接的前板53以及后板52；所述的后板52上设置有第一凹槽521、第二凹槽522，第一凹槽521、第二凹槽522内分别设置有踏板525，踏板525的一端是与助力板5相互铰接，踏板525另一端的下方设置有第一助力弹簧524；第一助力弹簧524推动踏板525，为抬脚提供助力。As shown in FIG. 6 and FIG. 7, the booster plate 5 is hinged to the support plate 23; the assisting force The plate 5 includes a front plate 53 and a rear plate 52 that are hinged to each other. The rear plate 52 is provided with a first recess 521 and a second recess 522. The first recess 521 and the second recess 522 are respectively disposed. The pedal 525 has one end of the pedal 525 articulated with the power assisting plate 5, and a lower side of the other end of the pedal 525 is provided with a first boosting spring 524; the first boosting spring 524 pushes the pedal 525 to provide assistance for the lifting foot.

所述的后板52上设置有第一压力传感器523，所述的前板53上设置有第二压力传感器531。第一压力传感器523、第二压力传感器531分别用于检测前脚掌、后脚掌的受力情况，结合两个压力传感器受力情况以及受力情况发生变化的时间长短，以此判断腿部处于前进还是后退状态，进而控制动力机构2提供助力。如先检测到第二压力传感器531受力，随后检测到第一压力传感器523，则动力机构2不动作；又例如先检测到第一压力传感器523受力，随后检测到第二压力传感器531受力，则判断处于前进状态，当第一压力传感器523失去受力时控制动力机构2动作为抬腿提供助力。The back plate 52 is provided with a first pressure sensor 523, and the front plate 53 is provided with a second pressure sensor 531. The first pressure sensor 523 and the second pressure sensor 531 are respectively used to detect the force of the forefoot and the hind paw, and combine the pressure of the two pressure sensors and the length of time of the force change, thereby judging that the leg is in advance. It is still in the retreat state, and then the power mechanism 2 is controlled to provide assistance. If the second pressure sensor 531 is first detected to be stressed, and then the first pressure sensor 523 is detected, the power mechanism 2 does not operate; for example, the first pressure sensor 523 is first detected to be stressed, and then the second pressure sensor 531 is detected. The force is judged to be in the forward state, and when the first pressure sensor 523 loses the force, the control power mechanism 2 acts to provide assistance for the lift leg.

如图1所示，所述助力板5的一端固定设置有第二助力弹簧28，所述的支撑板23上设置有连接凸块26，所述的连接凸块26与第二助力弹簧28之间通过拉索27相互连接；所述的连接凸块26上设置有螺纹孔，螺纹孔内螺纹连接有套筒261，套筒261是与拉索27相互固定连接，所述的套筒261上设置有调节螺母262。第二助力弹簧28和拉索27的配合，在使用人员前进时往前迈的腿将拉伸第二助力弹簧28蓄能，当同一条腿着地将身体往前推时第二助力弹簧28内的势能转化成向前的动力，调节螺母262则用于调节拉索27的长度。As shown in FIG. 1 , one end of the power assisting plate 5 is fixedly provided with a second boosting spring 28 , and the supporting plate 23 is provided with a connecting lug 26 , and the connecting lug 26 and the second boosting spring 28 are The connecting protrusions 26 are connected to each other by a threaded hole. The connecting hole 26 is provided with a threaded hole. The threaded hole is internally threaded with a sleeve 261. The sleeve 261 is fixedly connected to the cable 27, and the sleeve 261 is An adjustment nut 262 is provided. The cooperation of the second assist spring 28 and the cable 27 will force the second assist spring 28 to accumulate when the user advances, and the second assist spring 28 when the same leg touches the body forward. The potential energy is converted into forward power, and the adjustment nut 262 is used to adjust the length of the cable 27.

所述的前板53、后板52上分别设置有用于固定脚部的卡环51。在一种可能的实施例中，前板53、后板52上设置有用于固定脚部的绑带。The front plate 53 and the rear plate 52 are respectively provided with snap rings 51 for fixing the leg portions. In a possible embodiment, the front panel 53 and the rear panel 52 are provided with straps for fixing the feet.

如图9所示，所述的微控制器13是分别与肌电传感器11、加速传感器12、电机31、第一压力传感器523、第二压力传感器531相互电性连接。传感器为 微控制器13检测腿部运动数据，微控制器13经过分析目前所处的运动状态，并以此控制电机31的动作，而本发明所需的电源则有外部供给。As shown in FIG. 9, the microcontroller 13 is electrically connected to the myoelectric sensor 11, the acceleration sensor 12, the motor 31, the first pressure sensor 523, and the second pressure sensor 531, respectively. Sensor is The microcontroller 13 detects the leg motion data, and the microcontroller 13 analyzes the current state of motion and thereby controls the motion of the motor 31, while the power supply required by the present invention is externally supplied.

本发明所需的电力能源由外部可穿戴式电池组供给，可穿戴式电池组可以是设置于外部的移动电源，或者本发明所需的电力能源是由可穿戴的发电装置供给。The electric energy source required for the present invention is supplied by an external wearable battery pack, the wearable battery pack may be a mobile power source provided externally, or the electric power source required for the present invention is supplied by a wearable power generating device.

本发明所述的一种模拟神经电信号的增强型智能仿生助力机械腿，包括腿部束带、支撑机构、动力机构、施力柱以及助力板，腿部束带将支撑机构固定于小腿部，腿部束带内侧设置的若干肌电传感器通过检测小腿的皮表电信号判断小腿的运动状态，动力机构带动施力柱运动为腿部添加行走助力，而动力机构的电机是与支撑机构中的支撑板相互滑动连接，避免在施力柱突然受到外力导致使用人员重心不稳而摔倒；第二助力弹簧和拉索的配合，在使用人员前进时往前迈的腿将拉伸第二助力弹簧蓄能，当同一条腿着地将身体往前推时第二助力弹簧内的势能转化成向前的动力；助力板通过设置在脚底的第一助力弹簧为使用人员抬腿时提供助力；其结构合理，具有结构简单、使用方便、安全可靠、智能化程度高等优点，有效解决现在腿部助力机械太少的问题。The invention relates to an enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal, comprising a leg strap, a supporting mechanism, a power mechanism, a force applying column and a power assisting plate, and the leg strap fixing the supporting mechanism to the lower leg. A plurality of myoelectric sensors disposed inside the leg strap determine the movement state of the calf by detecting the electrical signal of the skin of the calf, the power mechanism drives the force column to add walking assistance to the leg, and the motor of the power mechanism is the support plate in the supporting mechanism. Slidingly connected to each other to avoid the sudden drop of the external force of the force-applying column, causing the user to lose the center of gravity; the second assist spring and the cable cooperate to advance the second spring force when the user advances. When the same leg touches the ground and pushes the body forward, the potential energy in the second booster spring is converted into forward power; the booster plate provides assistance for the user to lift the leg through the first booster spring disposed on the sole of the foot; The utility model has the advantages of simple structure, convenient use, safety and reliability, high intelligence degree, etc., and effectively solves the problem that the leg power assisting machinery is too small.

以上述依据本发明的理想实施例为启示，通过上述的说明内容，相关工作人员完全可以在不偏离本项发明技术思想的范围内，进行多样的变更以及修改。本项发明的技术性范围并不局限于说明书上的内容，必须要根据权利要求范围来确定其技术性范围。 In view of the above-described embodiments of the present invention, various changes and modifications may be made by those skilled in the art without departing from the scope of the invention. The technical scope of the present invention is not limited to the contents of the specification, and the technical scope thereof must be determined according to the scope of the claims.

Claims (8)

一种模拟神经电信号的增强型智能仿生助力机械腿，包括腿部束带(1)、支撑机构(2)、动力机构(3)、施力柱(4)以及助力板(5)，所述的腿部束带(1)是设置在小腿部，所述的支撑机构(2)是固定于腿部束带(1)上，其特征在于：An enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal, comprising a leg strap (1), a support mechanism (2), a power mechanism (3), a force applying column (4), and a booster plate (5), The leg strap (1) is disposed on the lower leg portion, and the support mechanism (2) is fixed to the leg strap (1), and is characterized by: 所述腿部束带(1)内侧设置有若干肌电传感器(11)，腿部束带(1)的外侧设置有加速传感器(12)以及微控制器(13)；a plurality of myoelectric sensors (11) are disposed inside the leg strap (1), and an acceleration sensor (12) and a microcontroller (13) are disposed outside the leg strap (1); 所述支撑机构(2)包括支撑板(23)以及固定设置在支撑板(23)上的环形板(22)；所述的支撑板(23)上设置有支撑轴(21)；所述的环形板(22)上对称设置有挡板(24)、滑槽(25)；The support mechanism (2) includes a support plate (23) and an annular plate (22) fixedly disposed on the support plate (23); the support plate (23) is provided with a support shaft (21); a baffle plate (24) and a chute (25) are symmetrically arranged on the annular plate (22); 所述的动力机构(3)包括对称设置在环形板(22)上的电机(31)、丝杠(32)、缓冲弹簧(33)以及弧形板(34)；所述电机(31)的主轴穿过挡板(24)与丝杠(32)相互传动连接，电机(31)主轴上套设有缓冲弹簧(33)，且缓冲弹簧(33)的两端是分别与挡板(24)、电机(31)相互抵接；所述弧形板(34)的两端是分别与两根丝杠(32)相互螺纹连接；The power mechanism (3) includes a motor (31) symmetrically disposed on the annular plate (22), a lead screw (32), a buffer spring (33), and a curved plate (34); the motor (31) The main shaft passes through the baffle (24) and the lead screw (32), and the main shaft of the motor (31) is provided with a buffer spring (33), and the two ends of the buffer spring (33) are respectively opposite to the baffle (24). The motor (31) abuts each other; the two ends of the curved plate (34) are respectively screwed to the two lead screws (32); 所述的施力柱(4)上端是与支撑板(23)相互铰接，施力柱(4)中端是与支撑轴(21)相互铰接；The upper end of the urging column (4) is hinged to the support plate (23), and the middle end of the urging column (4) is hinged to the support shaft (21); 所述的助力板(5)是与支撑板(23)相互铰接；所述的助力板(5)包括相互铰接的前板(53)以及后板(52)；所述的后板(52)上设置有第一凹槽(521)、第二凹槽(522)，第一凹槽(521)、第二凹槽(522)内分别设置有踏板(525)，踏板(525)的一端是与助力板(5)相互铰接，踏板(525)另一端的下方设置有第一助力弹簧(524)；The booster plate (5) is hinged to the support plate (23); the booster plate (5) includes a front plate (53) and a rear plate (52) hinged to each other; the rear plate (52) A first groove (521) and a second groove (522) are disposed on the first groove (521) and the second groove (522), respectively, wherein a pedal (525) is disposed, and one end of the pedal (525) is Cooperating with the power assisting plate (5), a first boosting spring (524) is disposed under the other end of the pedal (525); 所述助力板(5)的一端固定设置有第二助力弹簧(28)，所述的支撑板(23)上设置有连接凸块(26)，所述的连接凸块(26)与第二助力弹簧(28)之间通 过拉索(27)相互连接；所述的连接凸块(26)上设置有螺纹孔，螺纹孔内螺纹连接有套筒(261)，套筒(261)是与拉索(27)相互固定连接，所述的套筒(261)上设置有调节螺母(262)。One end of the power assisting plate (5) is fixedly provided with a second boosting spring (28), and the supporting plate (23) is provided with a connecting bump (26), the connecting bump (26) and the second Between the booster springs (28) The connecting cables (27) are connected to each other; the connecting protrusions (26) are provided with threaded holes, and the threaded holes are internally threaded with a sleeve (261), and the sleeve (261) is fixed to the cable (27). Connected, the sleeve (261) is provided with an adjusting nut (262). 根据权利要求1所述的一种模拟神经电信号的增强型智能仿生助力机械腿，其特征在于：所述的腿部束带(1)开口上设置有卡扣(14)。The enhanced intelligent bionic power assisting mechanical leg for simulating a neural electrical signal according to claim 1, wherein the leg strap (1) is provided with a buckle (14) on the opening. 根据权利要求1所述的一种模拟神经电信号的增强型智能仿生助力机械腿，其特征在于：所述的前板(53)、后板(52)上分别设置有用于固定脚部的卡环(51)。The enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal according to claim 1, wherein the front plate (53) and the rear plate (52) are respectively provided with cards for fixing the foot. Ring (51). 根据权利要求1所述的一种模拟神经电信号的增强型智能仿生助力机械腿，其特征在于：所述的挡板(24)与环形板(22)是一体式结构。The enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal according to claim 1, wherein the baffle (24) and the annular plate (22) are of a unitary structure. 根据权利要求1所述的一种模拟神经电信号的增强型智能仿生助力机械腿，其特征在于：所述的电机(31)上设置有滑块，滑块是与滑槽(25)相互滑动连接。The enhanced intelligent bionic power assisting mechanical leg for simulating a neural electrical signal according to claim 1, wherein the motor (31) is provided with a slider, and the slider slides with the sliding slot (25). connection. 根据权利要求1所述的一种模拟神经电信号的增强型智能仿生助力机械腿，其特征在于：所述的后板(52)上设置有第一压力传感器(523)，所述的前板(53)上设置有第二压力传感器(531)。The enhanced intelligent bionic power assisting mechanical leg for simulating a neural electrical signal according to claim 1, wherein said rear plate (52) is provided with a first pressure sensor (523), said front plate A second pressure sensor (531) is provided on (53). 根据权利要求6所述的一种模拟神经电信号的增强型智能仿生助力机械腿，其特征在于：所述的微控制器(13)是分别与肌电传感器(11)、加速传感器(12)、电机(31)、第一压力传感器(523)、第二压力传感器(531)相互电性连接。The enhanced intelligent bionic power assisting mechanical leg for simulating a neural electrical signal according to claim 6, wherein said microcontroller (13) is respectively associated with a myoelectric sensor (11) and an acceleration sensor (12) The motor (31), the first pressure sensor (523), and the second pressure sensor (531) are electrically connected to each other. 根据权利要求1所述的一种模拟神经电信号的增强型智能仿生助力机械腿，其特征在于：所需的电力能源由外部可穿戴式电池组供给。 The enhanced intelligent bionic power assisting mechanical leg simulating a neural electrical signal according to claim 1, wherein the required electrical energy source is supplied by an external wearable battery pack.
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