CN102670382B - Walking-assistant intelligent crutch system - Google Patents
Walking-assistant intelligent crutch system Download PDFInfo
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- CN102670382B CN102670382B CN201210098831.8A CN201210098831A CN102670382B CN 102670382 B CN102670382 B CN 102670382B CN 201210098831 A CN201210098831 A CN 201210098831A CN 102670382 B CN102670382 B CN 102670382B
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Abstract
The invention discloses a walking-assistant intelligent crutch system. The walking-assistant intelligent crutch system comprises a human body gesture measuring module and a crutch module, wherein the crutch module comprises a body, a big support rod, an X-axis swinging mechanism and a Y-axis swinging mechanism; the body comprises a crutch support and a main body frame; the crutch support which is fixed on the main body frame is provided with an upper multi-axis force sensor in a fixing manner; the main body frame is provided with a sixth accelerometer and a sixth gyroscope in a fixing manner; the big support rod is connected with the main body frame through a big universal hinge; the X-axis swinging mechanism is connected with the main body frame through a small X-axis universal hinge; and the Y-axis swinging mechanism is connected with a main body frame through a small Y-axis universal hinge. The walking-assistant intelligent crutch system, disclosed by the invention, can realize the purpose of adjusting the gesture of the crutch module to actively assist in walking by using a computer to judge information acquired by sensors in both the human body gesture measuring module and the crutch module and control rotation of a motor in the system.
Description
Technical field
The present invention relates to Intelligent crutch system, relate in particular to a kind of Intelligent crutch system of auxiliary walking.
Background technology
Along with social development, disabled's quality of life receives increasing concern.Present stage, the Intelligent crutch developed of each business research mechanism was all to think that blind man navigation is main purpose, also do not occur the Intelligent crutch system of the temporary transient or permanent disability crowd walking of a set of auxiliary single lower limb with autonomous dynamic.
People are to the research of the lower limb formula hopping robot dynamic property history of existing more than 40 years, in actual applications, the limitation of wheeled robot and caterpillar type robot relatively, lower limb formula hopping robot move in point-supported mode, there is the ability of flexible motion in irregular and uneven terrain environment, be more suitable in fast moving in natural road conditions environment.
Native system is devoted to Intelligent crutch concept to combine with single-leg jumping robot technology, thereby develops a set of object that can adjust in real time jump gait and reach by detecting the information such as user health pose speed auxiliary walking.Tradition crutch needs user to lift, move forward from chief commander's crutch, and this cover system can allow crutch jump forward along with user moves forward independently.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, a kind of Intelligent crutch system of auxiliary walking is provided.The present invention adopts following technical scheme:
The Intelligent crutch system of auxiliary walking comprises human body attitude measurement module and crutch module, human body attitude measurement module comprises: the first accelerometer, the second accelerometer, the 3rd accelerometer, the 4th accelerometer, slender acanthopanax velometer, the first gyroscope, the second gyroscope, the 3rd gyroscope, the 4th gyroscope, the 5th gyroscope, the first accelerometer and the first gyroscope are fixed on human body front, the second accelerometer and the second gyroscope are fixed on human body right thigh front side, the 3rd accelerometer and the 3rd gyroscope are fixed on human body left thigh front side, the 4th accelerometer and the 4th gyroscope are fixed on human body right leg front side, and slender acanthopanax velometer and the 5th gyroscope are fixed on human body left leg front side, crutch module comprises: fuselage, large support bar, X-axis swing mechanism and Y-axis swing mechanism, fuselage comprises: the 6th accelerometer, the 6th gyroscope, main stand, crutch support, upper multi-axis force transducer, large universal hinge, the little universal hinge of Y-axis, the little universal hinge of X-axis, crutch is supported and fixed on main stand, and crutch supports upper edge and is fixed with multi-axis force transducer, is fixed with and on the 6th accelerometer and the 6th gyroscope, main stand, is hinged with large universal hinge, the little universal hinge of X-axis and the little universal hinge of Y-axis on main stand, large support bar comprises the 7th accelerometer, the 7th gyroscope, Z axis motor, large support bar shell, the first belt wheel, the second belt wheel, little support bar, lower multi-axis force transducer, large support bar bottom end cover, Universal sleeve, large post upper lid, large support bar leading screw, support spring, large support bar piston, large support bar slide block, large support bar shell is cylinder type, and large support bar shell two ends are fixed with respectively large post upper lid and large support bar bottom end cover, and large support bar shell outside is fixed with Universal sleeve, in large support bar shell, be provided with in turn from top to bottom large support bar leading screw, large support bar piston, support spring, little support bar, large support bar slide block outside is fixed with the first belt wheel, large support bar slide block inner side coordinates with large support bar leading screw, little support bar is by passing and stretch out large support bar shell in large support bar bottom end cover centre bore, large post upper covers and is coaxially connected with large support bar slide block, the first belt wheel is connected with the second belt wheel by belt, the first belt wheel is parallel with the turning cylinder of the second belt wheel, the second belt wheel is fixedly connected with the axle of Z axis motor, on little support bar, be fixed with the 7th accelerometer and the 7th gyroscope, ramuscule strut lower end is fixed with lower multi-axis force transducer, large support bar shell is connected with the main stand of fuselage by large universal hinge outward, under Y-axis under X-axis in X swing mechanism in universal hinge and Y swing mechanism, on the Universal sleeve of universal hinge in large support bar, alternate 90 degree are arranged.
Described X-axis swing mechanism comprises: X-axis motor, the 3rd belt wheel, four-tape wheel, X-axis leading screw, X-axis slide block, X-axis swing universal hinge under connector, X-axis; X swings on connector and is connected with X-axis slide block, X-axis slide block outside is fixed with four-tape wheel, X-axis slide block inner side coordinates with X-axis leading screw, four-tape wheel is connected with the 3rd belt wheel by belt, the turning cylinder keeping parallelism of four-tape wheel and the 3rd belt wheel, the 3rd belt wheel is fixedly connected with the axle of X-axis motor, and under X-axis leading screw one end and X-axis, universal hinge is hinged, and under X-axis, universal hinge is hinged with the Universal sleeve of large support bar.
Described Y-axis swing mechanism comprises: y-axis motor, multicolored vaginal discharge wheel, the 6th belt wheel, Y-axis leading screw, Y-axis slide block, Y-axis swing universal hinge under connector, Y-axis; Y swings on connector and is connected with Y-axis slide block, Y-axis slide block outside is fixed with the 6th belt wheel, Y-axis slide block inner side coordinates with Y-axis leading screw, the 6th belt wheel is connected with multicolored vaginal discharge wheel by belt, the turning cylinder keeping parallelism of the 6th belt wheel and multicolored vaginal discharge wheel, multicolored vaginal discharge wheel is fixedly connected with the axle of y-axis motor, and under Y-axis leading screw one end and Y-axis, universal hinge is hinged, and under Y-axis, universal hinge is hinged with the Universal sleeve of large support bar.
The present invention gathers body motion information by human body attitude measurement module, by the accelerometer in crutch module and gyroscope, gather the movable information of crutch module, by the multi-dimension force sensor in crutch module, gather the force information that is subject to of crutch module, after comprehensive above-mentioned information, computer will send control signal, control electric machine rotation, make crutch module automatically along with user walking, make user walking lighter.
Accompanying drawing explanation
Below in conjunction with drawings and the embodiments, the present invention is further detailed explanation:
Fig. 1 is described system schematic;
Fig. 2 is described crutch module upward view;
Fig. 3 is the front view (large support bar has removed large support bar shell) of described large support bar and described Y-axis swing mechanism.
The specific embodiment
As Figure 1-3, the Intelligent crutch system of auxiliary walking comprises human body attitude measurement module and crutch module, human body attitude measurement module comprises: the first accelerometer 1, the second accelerometer 2, the 3rd accelerometer 3, the 4th accelerometer 4, slender acanthopanax velometer 5, the first gyroscope 8, the second gyroscope 9, the 3rd gyroscope 10, the 4th gyroscope 11, the 5th gyroscope 12, the first accelerometer 1 and the first gyroscope 8 are fixed on human body front, the second accelerometer 2 and the second gyroscope 9 are fixed on human body right thigh front side, the 3rd accelerometer 3 and the 3rd gyroscope 10 are fixed on human body left thigh front side, the 4th accelerometer 4 and the 4th gyroscope 11 are fixed on human body right leg front side, and slender acanthopanax velometer 5 and the 5th gyroscope 12 are fixed on human body left leg front side, crutch module comprises: fuselage, large support bar, X-axis swing mechanism and Y-axis swing mechanism, fuselage comprises: the 6th accelerometer 6, the 6th gyroscope 13, main stand 15, crutch support 16, upper multi-axis force transducer 20, large universal hinge 22, the little universal hinge 23 of Y-axis, the little universal hinge 24 of X-axis, crutch supports 16 and is fixed on main stand 15, crutch supports 16 upper edges and is fixed with multi-axis force transducer 20, is fixed with and on the 6th accelerometer 6 and the 6th gyroscope 13, main stand 15, is hinged with large universal hinge 22, the little universal hinge of X-axis and the little universal hinge of Y-axis on main stand 15, large support bar comprises the 7th accelerometer 7, the 7th gyroscope 14, Z axis motor 17, large support bar shell 21, the first belt wheel 25, the second belt wheel 26, ramuscule strut 31, lower multi-axis force transducer 40, large support bar bottom end cover 41, Universal sleeve 42, large post upper lid 43, large support bar leading screw 44, support spring 45, large support bar piston 46, large support bar slide block 47, large support bar shell 21 is cylinder type, and large support bar shell 21 two ends are fixed with respectively large post upper lid 43 and large support bar bottom end cover 41, and large support bar shell 21 outsides are fixed with Universal sleeve 42, in large support bar shell 8, be provided with in turn from top to bottom large support bar leading screw 44, large support bar piston 46, support spring 45, ramuscule strut 31, large support bar slide block 47 outsides are fixed with the first belt wheel 25, large support bar slide block 47 inner sides coordinate with large support bar leading screw 44, ramuscule strut 31 is by passing and stretch out large support bar shell 21 in large support bar bottom end cover 41 centre bores, on large post upper lid 43, be coaxially connected with large support bar slide block 47, the first belt wheel 25 is connected with the second belt wheel 26 by belt, the first belt wheel 25 is parallel with the turning cylinder of the second belt wheel 26, the second belt wheel 26 is fixedly connected with the axle of Z axis motor 17, on ramuscule strut 31, be fixed with the 7th accelerometer 7 and the 7th gyroscope 14, ramuscule strut 31 lower ends are fixed with lower multi-axis force transducer 40, large support bar shell 21 is outer to be connected with the main stand 15 of fuselage by large universal hinge 22, under Y-axis under X-axis in X swing mechanism in universal hinge 38 and Y swing mechanism, on the Universal sleeve 42 of universal hinge 39 in large support bar, alternate 90 degree are arranged.
Described X-axis swing mechanism comprises: X-axis motor 18, the 3rd belt wheel 27, four-tape wheel 28, X-axis leading screw 32, X-axis slide block 34, X-axis swing universal hinge 38 under connector 37, X-axis; X swings on connector 37 and is connected with X-axis slide block 34, X-axis slide block 34 outsides are fixed with four-tape wheel 28, X-axis slide block 34 inner sides coordinate with X-axis leading screw 32, four-tape wheel 28 is connected with the 3rd belt wheel 27 by belt, the turning cylinder keeping parallelism of four-tape wheel 28 and the 3rd belt wheel 27, the 3rd belt wheel 27 is fixedly connected with the axle of X-axis motor 18, and under X-axis leading screw 32 one end and X-axis, universal hinge 38 is hinged, and under X-axis, universal hinge 38 is hinged with the Universal sleeve 42 of large support bar.
Described Y-axis swing mechanism comprises: y-axis motor 19, multicolored vaginal discharge wheel 29, the 6th belt wheel 30, Y-axis leading screw 33, Y-axis slide block 35, Y-axis swing universal hinge 39 under connector 36, Y-axis; Y swings on connector 36 and is connected with Y-axis slide block 35, Y-axis slide block 35 outsides are fixed with the 6th belt wheel 30, Y-axis slide block 35 inner sides coordinate with Y-axis leading screw 33, the 6th belt wheel 30 is connected with multicolored vaginal discharge wheel 29 by belt, the turning cylinder keeping parallelism of the 6th belt wheel 30 and multicolored vaginal discharge wheel 29, multicolored vaginal discharge wheel 29 is fixedly connected with the axle of y-axis motor 19, and under Y-axis leading screw 33 one end and Y-axis, universal hinge 39 is hinged, and under Y-axis, universal hinge 39 is hinged with the Universal sleeve 42 of large support bar.
Native system is by the first accelerometer 1 passing through in human body attitude measurement module, the second accelerometer 2, the 3rd accelerometer 3, the 4th accelerometer 4, slender acanthopanax velometer 5, the first gyroscope 8, the second gyroscope 9, the 3rd gyroscope 10, the 4th gyroscope 11 and the 5th gyroscope 12 gather body motion information, by the 6th accelerometer 6 in crutch module, the 7th accelerometer 7, the 6th gyroscope 13 and the 7th gyroscope 14 gather the movable information of crutch module, by the upper multi-dimension force sensor 20 in crutch module and lower multi-dimension force sensor 40, gather the force information that is subject to of crutch module, these information exchanges are crossed capture card and are sent into computer, after comprehensive above-mentioned information, computer will send control signal, control Z axis motor 17, X-axis motor 18 and y-axis motor 19 rotate, by the transmission of screw slider, the X-direction of the large support bar of X-axis swing mechanism control swings, the Y-direction of the large support bar of Y-axis swing mechanism control swings, screw mandrel slide block in large support bar will be controlled the flexible of little support bar, make crutch module automatically along with user walking, user walking is not hindered.
Claims (3)
1. an Intelligent crutch system for auxiliary walking, is characterized in that comprising human body attitude measurement module and crutch module, human body attitude measurement module comprises: the first accelerometer (1), the second accelerometer (2), the 3rd accelerometer (3), the 4th accelerometer (4), slender acanthopanax velometer (5), the first gyroscope (8), the second gyroscope (9), the 3rd gyroscope (10), the 4th gyroscope (11), the 5th gyroscope (12), the first accelerometer (1) and the first gyroscope (8) are fixed on human body front, the second accelerometer (2) and the second gyroscope (9) are fixed on human body right thigh front side, the 3rd accelerometer (3) and the 3rd gyroscope (10) are fixed on human body left thigh front side, the 4th accelerometer (4) and the 4th gyroscope (11) are fixed on human body right leg front side, and slender acanthopanax velometer (5) and the 5th gyroscope (12) are fixed on human body left leg front side, crutch module comprises: fuselage, large support bar, X-axis swing mechanism and Y-axis swing mechanism, fuselage comprises: the 6th accelerometer (6), the 6th gyroscope (13), main stand (15), crutch support (16), upper multi-axis force transducer (20), large universal hinge (22), the little universal hinge of Y-axis (23), the little universal hinge of X-axis (24), crutch supports (16) and is fixed on main stand (15), crutch supports (16) upper edge and is fixed with multi-axis force transducer (20), is fixed with on the 6th accelerometer (6) and the 6th gyroscope (13), main stand (15) and is hinged with large universal hinge (22), the little universal hinge of X-axis (24) and the little universal hinge of Y-axis (23) on main stand (15), large support bar comprises the 7th accelerometer (7), the 7th gyroscope (14), Z axis motor (17), large support bar shell (21), the first belt wheel (25), the second belt wheel (26), little support bar (31), lower multi-axis force transducer (40), large support bar bottom end cover (41), Universal sleeve (42), large post upper lid (43), large support bar leading screw (44), support spring (45), large support bar piston (46), large support bar slide block (47), large support bar shell (21) is cylinder type, and large support bar shell (21) two ends are fixed with respectively large post upper lid (43) and large support bar bottom end cover (41), and large support bar shell (21) outside is fixed with Universal sleeve (42), in large support bar shell (8), be provided with in turn from top to bottom large support bar leading screw (44), large support bar piston (46), support spring (45), little support bar (31), large support bar slide block (47) outside is fixed with the first belt wheel (25), large support bar slide block (47) inner side coordinates with large support bar leading screw (44), little support bar (31) is by passing and stretch out large support bar shell (21) in large support bar bottom end cover (41) centre bore, on large post upper lid (43), be coaxially connected with large support bar slide block (47), the first belt wheel (25) is connected with the second belt wheel (26) by belt, the first belt wheel (25) is parallel with the turning cylinder of the second belt wheel (26), the second belt wheel (26) is fixedly connected with the axle of Z axis motor (17), on little support bar (31), be fixed with the 7th accelerometer (7) and the 7th gyroscope (14), little support bar (31) lower end is fixed with lower multi-axis force transducer (40), large support bar shell (21) is outer to be connected with the main stand (15) of fuselage by large universal hinge (22), under Y-axis under X-axis in X-axis swing mechanism in universal hinge (38) and Y-axis swing mechanism, upper alternate 90 degree of the Universal sleeve (42) of universal hinge (39) in large support bar are arranged.
2. the Intelligent crutch system of a kind of auxiliary walking according to claim 1, is characterized in that described X-axis swing mechanism comprises: X-axis motor (18), the 3rd belt wheel (27), four-tape wheel (28), X-axis leading screw (32), X-axis slide block (34), X-axis swing universal hinge (38) under connector (37), X-axis; X-axis swings on connector (37) and is connected with X-axis slide block (34), X-axis slide block (34) outside is fixed with four-tape wheel (28), X-axis slide block (34) inner side coordinates with X-axis leading screw (32), four-tape wheel (28) is connected with the 3rd belt wheel (27) by belt, the turning cylinder keeping parallelism of four-tape wheel (28) and the 3rd belt wheel (27), the 3rd belt wheel (27) is fixedly connected with the axle of X-axis motor (18), under X-axis leading screw (32) one end and X-axis, universal hinge (38) is hinged, and under X-axis, universal hinge (38) is hinged with the Universal sleeve (42) of large support bar.
3. the Intelligent crutch system of a kind of auxiliary walking according to claim 1, is characterized in that described Y-axis swing mechanism comprises: y-axis motor (19), multicolored vaginal discharge wheel (29), the 6th belt wheel (30), Y-axis leading screw (33), Y-axis slide block (35), Y-axis swing universal hinge (39) under connector (36), Y-axis; Y-axis swings on connector (36) and is connected with Y-axis slide block (35), Y-axis slide block (35) outside is fixed with the 6th belt wheel (30), Y-axis slide block (35) inner side coordinates with Y-axis leading screw (33), the 6th belt wheel (30) is connected with multicolored vaginal discharge wheel (29) by belt, the turning cylinder keeping parallelism of the 6th belt wheel (30) and multicolored vaginal discharge wheel (29), multicolored vaginal discharge wheel (29) is fixedly connected with the axle of y-axis motor (19), under Y-axis leading screw (33) one end and Y-axis, universal hinge (39) is hinged, and under Y-axis, universal hinge (39) is hinged with the Universal sleeve (42) of large support bar.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210098831.8A CN102670382B (en) | 2012-04-06 | 2012-04-06 | Walking-assistant intelligent crutch system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210098831.8A CN102670382B (en) | 2012-04-06 | 2012-04-06 | Walking-assistant intelligent crutch system |
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| Publication Number | Publication Date |
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| CN102670382A CN102670382A (en) | 2012-09-19 |
| CN102670382B true CN102670382B (en) | 2014-04-16 |
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| CN201210098831.8A Expired - Fee Related CN102670382B (en) | 2012-04-06 | 2012-04-06 | Walking-assistant intelligent crutch system |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102895096B (en) * | 2012-11-13 | 2014-06-11 | 苏州工业园区职业技术学院 | Voice-prompt way-exploring walking stick for blind person |
| CN107485540B (en) * | 2017-07-18 | 2019-12-13 | 浙江大学城市学院 | Energy injection system for intelligent walking stick |
| CN108230588A (en) * | 2018-03-14 | 2018-06-29 | 南京青图信息技术有限公司 | A kind of blind person leads object suggestion device |
| CN111685462A (en) * | 2020-08-06 | 2020-09-22 | 联想(北京)有限公司 | Intelligent walking stick and control method thereof |
| CN111959635B (en) * | 2020-08-29 | 2022-11-11 | 王微静 | Single-leg jumping robot with all-dimensional jumping function |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101829002A (en) * | 2010-05-06 | 2010-09-15 | 沈湧 | Human body self traction device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009268655A (en) * | 2008-05-07 | 2009-11-19 | Koichi Inoue | Walking stick with tiltable forearm supporting tool |
| JP5294196B2 (en) * | 2008-05-13 | 2013-09-18 | 国立大学法人東京工業大学 | Crutch walking support machine |
| JP5386282B2 (en) * | 2009-09-18 | 2014-01-15 | 本田技研工業株式会社 | Walking assist device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101829002A (en) * | 2010-05-06 | 2010-09-15 | 沈湧 | Human body self traction device |
Non-Patent Citations (2)
| Title |
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| JP特开2009-268655A 2009.11.19 |
| JP特开2009-273565A 2009.11.26 |
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