CN104586610A - Walking assisting device based on hydraulic driving - Google Patents
Walking assisting device based on hydraulic driving Download PDFInfo
- Publication number
- CN104586610A CN104586610A CN201510047755.1A CN201510047755A CN104586610A CN 104586610 A CN104586610 A CN 104586610A CN 201510047755 A CN201510047755 A CN 201510047755A CN 104586610 A CN104586610 A CN 104586610A
- Authority
- CN
- China
- Prior art keywords
- hip
- hydraulic
- hydraulically powered
- backrest
- leg member
- Prior art date
- 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.)
- Granted
Links
Landscapes
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an walking assisting device based on hydraulic driving. The walking assisting device comprises a support frame, driving assemblies and angle sensors, wherein the support frame consists of a back frame, a hip horizontal rotation frame, a hip support frame, an upper leg member, a lower leg member and a foot member; the driving assembly is used for supplying power, and consists of an upper leg hydraulic device, a lower leg hydraulic device and a bilateral electromagnetic valve control device for controlling the upper leg hydraulic device and the lower leg hydraulic device; the angle sensor is used for acquiring the angle information of a hip joint and an ankle joint in the device; the angle sensor is linked with the bilateral electromagnetic valve control device; the bilateral electromagnetic valve control device acts according to the information of the angle sensor. The hydraulic driving walking assisting device has the advantages of large output power weight ratio, stable running, high wearing performance, stable structure performance, convenience in assembly and adjustment, and the like.
Description
Technical field
The present invention relates to machinery, be specifically related to a kind of based on hydraulically powered assisted walk device.
Background technology
In the society of aged tendency of population, exercise assist device is instrument conventional in actual life, especially the middle-aged and elderly people of weakness of the lower extremities or obstacle is not when having the situation of extraneous help or stair activity and inconvenience to assist in riding wheelchair section walking, this device just can play the auxiliary effect of power-assisted, helps them to realize normal walking.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of based on hydraulically powered assisted walk device, compared with traditional auxiliary device, this hydraulic-driven assisted walk device have output weight ratio large, operate steadily, wearable property is strong, structural behaviour is stablized, be convenient to the advantages such as equipment adjustment.
For achieving the above object, technical scheme of the present invention is as follows:
A kind of based on hydraulically powered assisted walk device, comprising:
One bracing frame, support frame as described above is made up of backrest, hip level rotating turret, hip supporting frame, leg member, little leg member and foot part component; Described backrest is connected with hip level rotating turret and hip supporting frame, as upper support frame; Described foot part component, little leg member and leg member connect successively, as lower support frame;
One driven unit that the power of walking is provided, described driven unit is made up of huckle hydraulic means, calf hydraulic means and the bidirectional electromagnetic valve control device that controls described huckle hydraulic means and calf hydraulic means;
Also comprise one for the angular transducer of the angle information of hip joint in acquisition device and ankle joint, this angular transducer and described bi-directional electromagnetic control valve device link, and described bi-directional electromagnetic control valve device is according to the information action of angular transducer.
In a preferred embodiment of the invention, described bi-directional electromagnetic control valve device comprises a hydraulic cylinder, one coil block being positioned at hydraulic cylinder two ends acknowledge(ment) signal, and one slides the spool be arranged in hydraulic cylinder, after the signal of described spool receiving coil assembly, spool action is to make the hydraulic means reciprocally swinging controlled by it.
In a preferred embodiment of the invention, described hydraulic cylinder side is provided with oil-in, upper oil return opening and lower oil return opening; This oil-in constitutes oil circuit path with upper oil return opening and lower oil return opening respectively.
In a preferred embodiment of the invention, the rotation of waist when described hip level rotating turret realizes walking.
In a preferred embodiment of the invention, described backrest arranges that wearable backrest tightens waistcoat, waist arranges waist fastening straps, leg arranges leg and tightens band, above-mentioned wearable backrest tightens waistcoat, and this running gear is fixedly connected with user by waist fastening straps and waist fastening straps.
In a preferred embodiment of the invention, described foot part component, to be done with bolt by sliding bearing between little leg member and leg member and is connected, realize the coordination exercise between component.
In a preferred embodiment of the invention, described thigh rod member lower end is provided with height regulating rod, and this height regulating rod needs free adjustment according to user.
By technique scheme, the invention has the beneficial effects as follows:
The present invention obtains action and angle information by sensor-based system, control system process information is given an order and is made electromagnetic valve Ore-controlling Role according to the motion of order hydraulic control cylinder, the component of power assisting device is driven to produce motion, component drives human body lower limbs motion by fastening straps, angular transducer feeds back to control system, thus makes corresponding adjustment, realizes according to the track of human body lower limbs motion and moves, alleviate people largely to walk the strength that limb at present sends, reach the effect that power-assisted is auxiliary.Can be used for middle-aged and elderly people and disabled's walking and move.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is structural representation of the present invention.
Fig. 2 is the structural representation of bi-directional electromagnetic valve control cylinder mode of the present invention.
Detailed description of the invention
The technological means realized to make the present invention, creation characteristic, reaching object and effect is easy to understand, below in conjunction with concrete diagram, setting forth the present invention further.
With reference to described in Fig. 1, a kind of based on hydraulically powered assisted walk device by backrest 1, hip level rotating turret 2, hip supporting frame 3, angular transducer 4, thigh rod member 5, shank rod member 6, foot part component 7, wearable backrest tightens waistcoat 8, waist fastening straps 9, huckle hydraulic means 10, height regulating rod 11, leg tightens band 12, calf hydraulic means 13 forms.
Described backrest 1 is connected with hip level rotating turret 2, hip level rotating turret 2 is connected with hip supporting frame 3, hip supporting frame 3 is connected with angular transducer 4, angular transducer 4 is connected with thigh rod member 5, thigh rod member 5 is connected with height regulating rod 11, height regulating rod 11 is connected with shank rod member 6, shank rod member 6 is connected with foot part component 7, huckle hydraulic means 10 is connected with hip supporting frame 3 and thigh rod member 5, calf hydraulic means 13 is connected with shank rod member 6 and foot part component 7, wearable backrest is tightened waistcoat 8 and is connected with backrest 1, waist fastening straps 9 and leg are tightened band 12 handle assembly and are fixed on back and lower limb portion, obtained and process information by sensor-based system and control system, send the change in displacement of signal Controlling solenoid valve control, thus the motion of hydraulic control cylinder, the track that driving device moves according to human body lower limbs and moving, serve power-assisted assosting effect.
With reference to described in Fig. 2, for bidirectional electromagnetic valve control hydraulic cylinder structure schematic diagram, bi-directional electromagnetic control valve device comprises a hydraulic cylinder, one coil block 14 being positioned at hydraulic cylinder two ends acknowledge(ment) signal, and one slides the spool 15 be arranged in hydraulic cylinder, after the signal of described spool 15 receiving coil assembly 14, spool action is to make the hydraulic means reciprocally swinging controlled by it.
Hydraulic cylinder side is provided with oil-in 17, upper oil return opening 16 and lower oil return opening 18; This oil-in constitutes oil circuit path with upper oil return opening and lower oil return opening respectively.
Coil block 14 is energized or power-off under signal command, "on" position lower coil assembly 14 produces gravitation and pulls spool 15 to move, hydraulic oil enters one end of valve pocket then influent cylinder pressure by oil-in 17, other end hydraulic oil is flowed back to by upper oil return opening 16 or lower oil return opening 18, thin slice 19 seals coil block 14, the reciprocally swinging of whole process implementation lower limb, reduces the power that human body self sends to a great extent, reaches the effect of power-assisted.
When people is in walking or stair activity, the sensing system being attached at human body lower limbs obtains the action message of lower limb, the angle information of hip joint and ankle joint in angular transducer 4 acquisition device, obtain and send after processing these information corresponding signal through control system to control bi-directional electromagnetic control valve device in huckle hydraulic means 10 and calf hydraulic means 13 to produce the linear relative movement of hydraulic cylinder and hydraulic stem, hydraulic system drives thigh rod member 5, shank rod member 6 and foot part component 7 produce relative motion, thus be connected by backrest 1, waist fastening straps 9 and leg are tightened band 12 and are driven human body walking and motion, realize assisted walk, angular transducer 4 constantly obtains hip joint simultaneously, the angle change information of ankle joint, these angle informations are fed back to control system, control system constantly adjusts the change in displacement of hydraulic cylinder by signal input and output, implement device and human body in concert with move.
More than show and describe ultimate principle of the present invention and principal character and advantage of the present invention.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and description just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.
Claims (7)
1., based on a hydraulically powered assisted walk device, it is characterized in that, comprising:
One bracing frame, support frame as described above is made up of backrest, hip level rotating turret, hip supporting frame, leg member, little leg member and foot part component; Described backrest is connected with hip level rotating turret and hip supporting frame, as upper support frame; Described foot part component, little leg member and leg member connect successively, as lower support frame;
One driven unit that the power of walking is provided, described driven unit is made up of huckle hydraulic means, calf hydraulic means and the bidirectional electromagnetic valve control device that controls described huckle hydraulic means and calf hydraulic means;
Also comprise one for the angular transducer of the angle information of hip joint in acquisition device and ankle joint, this angular transducer and described bi-directional electromagnetic control valve device link, and described bi-directional electromagnetic control valve device is according to the information action of angular transducer.
2. one according to claim 1 is based on hydraulically powered assisted walk device, it is characterized in that, described bi-directional electromagnetic control valve device comprises a hydraulic cylinder, one coil block being positioned at hydraulic cylinder two ends acknowledge(ment) signal, and one slides the spool be arranged in hydraulic cylinder, after the signal of described spool receiving coil assembly, spool action is to make the hydraulic means reciprocally swinging controlled by it.
3. one according to claim 2 is based on hydraulically powered assisted walk device, it is characterized in that, described hydraulic cylinder side is provided with oil-in, upper oil return opening and lower oil return opening; This oil-in constitutes oil circuit path with upper oil return opening and lower oil return opening respectively.
4. one according to claim 1 is based on hydraulically powered assisted walk device, it is characterized in that, the rotation of waist when described hip level rotating turret realizes walking.
5. one according to claim 1 is based on hydraulically powered assisted walk device, it is characterized in that, described backrest arranges that wearable backrest tightens waistcoat, waist arranges waist fastening straps, leg arranges leg and tightens band, above-mentioned wearable backrest tightens waistcoat, and this running gear is fixedly connected with user by waist fastening straps and waist fastening straps.
6. one according to claim 1 is based on hydraulically powered assisted walk device, it is characterized in that, described foot part component, to be done and is connected, realize the coordination exercise between component between little leg member and leg member by sliding bearing with bolt.
7. one according to claim 1 is based on hydraulically powered assisted walk device, it is characterized in that, described thigh rod member lower end is provided with height regulating rod, and this height regulating rod needs free adjustment according to user.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510047755.1A CN104586610B (en) | 2015-01-30 | 2015-01-30 | One kind is based on hydraulically powered assisted walk device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510047755.1A CN104586610B (en) | 2015-01-30 | 2015-01-30 | One kind is based on hydraulically powered assisted walk device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104586610A true CN104586610A (en) | 2015-05-06 |
| CN104586610B CN104586610B (en) | 2017-03-15 |
Family
ID=53112893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510047755.1A Active CN104586610B (en) | 2015-01-30 | 2015-01-30 | One kind is based on hydraulically powered assisted walk device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104586610B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105193534A (en) * | 2015-08-14 | 2015-12-30 | 上海申磬产业有限公司 | Control method of wearable power-assisted exoskeleton lower limb mechanism |
| CN106678113A (en) * | 2017-01-11 | 2017-05-17 | 王经伦 | Booster for movement |
| CN107414789A (en) * | 2017-05-24 | 2017-12-01 | 同济大学 | A kind of wearable leg power assisting device of closed hydraulic pressure transmission |
| CN109009877A (en) * | 2018-08-21 | 2018-12-18 | 尹明凤 | A kind of remedial exercise auxiliary tool |
| CN109077897A (en) * | 2018-07-27 | 2018-12-25 | 北京机械设备研究所 | A kind of ankle-joint power assisting device of hydraulic-driven |
| CN109176475A (en) * | 2018-10-29 | 2019-01-11 | 北京机械设备研究所 | A kind of hydraulic passive power assisting device of knee joint |
| CN110481671A (en) * | 2019-09-09 | 2019-11-22 | 五邑大学 | A kind of robot wheel foot conversion equipment |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU206505U1 (en) * | 2020-04-20 | 2021-09-14 | Публичное акционерное общество "ГМК "Норильский никель" | DEVICE FOR INCREASING SAFETY WHEN LIFTING LOADS |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2730338Y (en) * | 2004-08-10 | 2005-10-05 | 浙江大学 | Wearable lower limb dermoskeleton for walking use |
| WO2012138203A2 (en) * | 2011-04-08 | 2012-10-11 | 연세대학교 산학협력단 | Active robotic gait-training system and method |
| US20130006159A1 (en) * | 2010-06-21 | 2013-01-03 | Toyota Jidosha Kabushiki Kaihsa | Leg assist device |
| CN104013514A (en) * | 2014-06-19 | 2014-09-03 | 中国北方车辆研究所 | Hydraulically-driven wearable human body assisting walking robot |
-
2015
- 2015-01-30 CN CN201510047755.1A patent/CN104586610B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2730338Y (en) * | 2004-08-10 | 2005-10-05 | 浙江大学 | Wearable lower limb dermoskeleton for walking use |
| US20130006159A1 (en) * | 2010-06-21 | 2013-01-03 | Toyota Jidosha Kabushiki Kaihsa | Leg assist device |
| WO2012138203A2 (en) * | 2011-04-08 | 2012-10-11 | 연세대학교 산학협력단 | Active robotic gait-training system and method |
| CN104013514A (en) * | 2014-06-19 | 2014-09-03 | 中国北方车辆研究所 | Hydraulically-driven wearable human body assisting walking robot |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105193534A (en) * | 2015-08-14 | 2015-12-30 | 上海申磬产业有限公司 | Control method of wearable power-assisted exoskeleton lower limb mechanism |
| CN105193534B (en) * | 2015-08-14 | 2017-05-10 | 安徽三联机器人科技有限公司 | Control method of wearable power-assisted exoskeleton lower limb mechanism |
| CN106678113A (en) * | 2017-01-11 | 2017-05-17 | 王经伦 | Booster for movement |
| CN107414789A (en) * | 2017-05-24 | 2017-12-01 | 同济大学 | A kind of wearable leg power assisting device of closed hydraulic pressure transmission |
| CN107414789B (en) * | 2017-05-24 | 2020-03-24 | 同济大学 | Closed hydraulic transmission wearable leg power assisting device |
| CN109077897A (en) * | 2018-07-27 | 2018-12-25 | 北京机械设备研究所 | A kind of ankle-joint power assisting device of hydraulic-driven |
| CN109077897B (en) * | 2018-07-27 | 2021-01-01 | 北京机械设备研究所 | Hydraulic drive's ankle joint booster unit |
| CN109009877A (en) * | 2018-08-21 | 2018-12-18 | 尹明凤 | A kind of remedial exercise auxiliary tool |
| CN109009877B (en) * | 2018-08-21 | 2020-07-24 | 嘉兴美年大健康管理有限公司 | Medical exercise auxiliary tool |
| CN109176475A (en) * | 2018-10-29 | 2019-01-11 | 北京机械设备研究所 | A kind of hydraulic passive power assisting device of knee joint |
| CN109176475B (en) * | 2018-10-29 | 2020-11-06 | 北京机械设备研究所 | Hydraulic passive power assisting device for knee joint |
| CN110481671A (en) * | 2019-09-09 | 2019-11-22 | 五邑大学 | A kind of robot wheel foot conversion equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104586610B (en) | 2017-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104586610A (en) | Walking assisting device based on hydraulic driving | |
| CN103735386B (en) | Wearable lower limb exoskeleton rehabilitation robot | |
| CN104013514B (en) | Hydraulically-driven wearable human body assisting walking robot | |
| CN105662780B (en) | A kind of lower limb power-assisted KAFO | |
| CN105686930B (en) | A kind of link joint integrated hydraulic driving ectoskeleton | |
| CN101862256B (en) | Vehicle-mounted movable type walk-assisting exoskeleton rehabilitation robot | |
| CN108161905A (en) | A kind of stiffness variable lower limb exoskeleton power-assisting robot | |
| CN109009891A (en) | Wearable electricity drives assistance exoskeleton lower limb mechanism | |
| CN209316409U (en) | A kind of wearable electricity drive assistance exoskeleton lower limb mechanism | |
| CN204169957U (en) | One can wear formula mechanical exoskeleton | |
| CN107115191A (en) | A kind of leg device with interaction measurement of force suitable for lower limb rehabilitation exoskeleton robot | |
| CN204033704U (en) | Lower limbs rehabilitation training robot | |
| CN105832496A (en) | Novel lower extremity exoskeleton rehabilitation training device and training method | |
| CN103892989A (en) | Lower limb rehabilitation training robot and training method thereof | |
| CA2869694A1 (en) | Motorized exoskeleton unit | |
| JP6152523B2 (en) | Prosthesis-mounted motion assist device | |
| CN105030485A (en) | Leg mechanism for lower limb rehabilitation training | |
| CN105943312A (en) | Hip joint recovery assisting device based on sensing and driving integration | |
| CN107320283A (en) | A kind of flexible end traction recovering robot | |
| CN205612707U (en) | Connecting rod joint integration hydraulic drive ectoskeleton | |
| CN113070866A (en) | Hip exoskeleton walking-aid robot driven by flexible joints | |
| CN107157716A (en) | With the electronic paraplegia rehabilitation brace from walking function | |
| CN214511821U (en) | Rope-pulling type flexible lower limb exoskeleton power-assisted robot | |
| CN105362045B (en) | Double leval jib assisted walk device | |
| CN108175642A (en) | One kind is used for lower limb exoskeleton man-machine system closed-loop control sensor-based system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |