CN105411818B - A kind of bionical sufficient formula walking aid device with drive control - Google Patents
A kind of bionical sufficient formula walking aid device with drive control Download PDFInfo
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- CN105411818B CN105411818B CN201610011301.3A CN201610011301A CN105411818B CN 105411818 B CN105411818 B CN 105411818B CN 201610011301 A CN201610011301 A CN 201610011301A CN 105411818 B CN105411818 B CN 105411818B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention discloses a kind of bionical sufficient formula walking aid device with drive control, including main body rack, control unit, left support leg group, right support leg group, the left swing leg drive device for driving left support leg group and the right swinging kick drive device for driving right support leg group, the left support leg group and right support leg group include the first supporting leg and the second supporting leg of front and rear alternatively swinging, and the left swing leg drive device and right swinging kick drive device include the housing being fixed on main body rack and be arranged on the power set controlled in housing by control unit.The present invention supporting leg group in the first supporting leg and the second supporting leg can under the control of control unit, swinging kick drive device etc. front and rear alternatively swinging, alternatively swinging moves forward before and after realizing simulation people's both legs, walk helper is independently moved forward, and cross over performance with the leap of preferable obstacle and ladder, using more comfortable, laborsaving, it is safe to use and stop stability is good.
Description
Technical field
The present invention relates to a kind of walking aid device, the walking aid device of more particularly to a kind of autonomous walk help of energy.
Background technology
Existing walker device is broadly divided into wheeled walker and sufficient formula walk helper.Generally speaking, existing walk helper
All without drive device, it is impossible to realize autonomous walk help, it is necessary to which user, which applies power, could realize walk help function.Helped for sufficient formula
For row device, existing sufficient formula walk helper can only slowly could firmly be moved forward by artificial, such as Chinese patent
A kind of staged walk helper disclosed in ZL201520337282.4, its without simulation people walking function, walk helper to
The preceding movement person of needing to use itself firmly moves, and uses more hard；And for wheeled walker, such as Chinese patent
ZL201520410545.X, it is limited using by landform not across ladder, and wheel can not be stablized and stop, thus exist compared with
Big security risk.
The content of the invention
In view of this, the present invention provides a kind of bionical sufficient formula walking aid device with drive control, and it solves existing walk helper
Can not autonomous walk help, use laborious, the more low technical problem of safety in utilization.
The bionical sufficient formula walking aid device with drive control of the invention, including main body rack, control unit, left support leg group,
Right support leg group, the left swing leg drive device for driving left support leg group and the right swinging kick drive device for driving right support leg group,
Described control unit is arranged on main body rack, and the left support leg group and right support leg group include the of front and rear alternatively swinging
One supporting leg and the second supporting leg, the left swing leg drive device and right swinging kick drive device include being fixed on main body rack
Housing and be arranged on the power set controlled by control unit in housing；
The first pivoted arm and the second pivoted arm are provided with the power output shaft of the power set, first pivoted arm passes through axle
It is pivotally connected with the first supporting leg, second pivoted arm is pivotally connected by axle and the second supporting leg, first supporting leg and the second support
The guide groove extended along leg length direction is provided with leg, is further fixedly arranged on the housing or power set and is slided with guide groove
The axis of guide of cooperation, the axis of guide are located at the surface of power output shaft.
Further, the power set are motor.
Further, it is respectively arranged with handrail at left and right sides of the main body rack.
Further, the lower end of first supporting leg and the second supporting leg is provided with anti-skidding foot.
Further, when being contacted to earth in the lower end of the first supporting leg and the second supporting leg simultaneously, the first supporting leg and the second support
The corner dimension of leg is between 5 degree and 60 degree.
Further, when being contacted to earth in the lower end of the first supporting leg and the second supporting leg simultaneously, first supporting leg and second
The angle of supporting leg is 30 degree.
The invention also discloses a kind of bionical sufficient formula walking aid device with drive control, including main body rack, control unit,
Left support leg group, right support leg group, the left swing leg drive device for driving left support leg group and the right pendulum for driving right support leg group
Leg drive device, described control unit are arranged on main body rack, and the left support leg group and right support leg group are including front and rear
The first supporting leg and the second supporting leg of alternatively swinging, the left swing leg drive device and right swinging kick drive device include fixing
Housing on main body rack and it is arranged on the power set controlled in housing by control unit；
First supporting leg and the second supporting leg include upper leg, by control unit control electronic rotation joint, with
And the lower leg being connected by electronic rotation joint with upper leg, fixation is set the upper leg of first supporting leg and the second supporting leg respectively
Put on the power output shaft of power set and the shell of power set.
Further, the power set are motor.
Further, the electronic rotation joint is that electric machine casing is fixed on leg, rotor axis of electric is fixed with lower leg and connected
The motor connect.
Further, it is respectively arranged with handrail at left and right sides of the main body rack.
Further, the lower end of first supporting leg and the second supporting leg is provided with anti-skidding foot.
Further, when being contacted to earth in the lower end of the first supporting leg and the second supporting leg simultaneously, the first supporting leg and the second support
The corner dimension of leg is between 5 degree and 60 degree.
Further, when being contacted to earth in the lower end of the first supporting leg and the second supporting leg simultaneously, first supporting leg and second
The angle of supporting leg is 30 degree.
The invention also discloses a kind of bionical sufficient formula walking aid device with drive control, including main body rack, control unit,
Left support leg group, right support leg group, the left swing leg drive device for driving left support leg group and the right pendulum for driving right support leg group
Leg drive device, described control unit are arranged on main body rack, and the left support leg group and right support leg group are including front and rear
The first supporting leg and the second supporting leg of alternatively swinging, the left swing leg drive device and right swinging kick drive device include fixing
Housing on main body rack and it is arranged on the power set controlled in housing by control unit；
First supporting leg and the second supporting leg include upper leg, lower leg and the upper leg of connection and lower leg and by controlling
The electric expansion device of unit control, the upper leg of first supporting leg and the second supporting leg are respectively fixedly disposed at power set
On the shell of power output shaft and power set.
Further, the power set are motor.
Further, the electric expansion device is electric pushrod.
Further, it is respectively arranged with handrail at left and right sides of the main body rack.
Further, the lower end of first supporting leg and the second supporting leg is provided with anti-skidding foot.
Further, when being contacted to earth in the lower end of the first supporting leg and the second supporting leg simultaneously, the first supporting leg and the second support
The corner dimension of leg is between 5 degree and 60 degree.
Further, when being contacted to earth in the lower end of the first supporting leg and the second supporting leg simultaneously, first supporting leg and second
The angle of supporting leg is 30 degree.
Beneficial effects of the present invention：
A kind of bionical sufficient formula walking aid device with drive control of the present invention, the first supporting leg and second in its supporting leg group
Supporting leg front and rear alternatively swinging, realization can simulate the front and rear alternating of people's both legs under the control of control unit, swinging kick drive device etc.
Swing reach so that walk helper can be moved forward independently, and cross over performance with the leap of preferable obstacle and ladder, using more
Comfortably, it is laborsaving, and stop stability is good, it is safe to use.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the bionical sufficient formula walking aid device with drive control in embodiment one；
Fig. 2 is the main structure diagram of the bionical sufficient formula walking aid device with drive control in embodiment one；
Fig. 3 is the exploded perspective view of swinging kick drive device in embodiment one；
Fig. 4 is the combination dimensional structure diagram of supporting leg and power set in embodiment one；
Fig. 5 is the main structure diagram of the bionical sufficient formula walking aid device with drive control in embodiment two；
Fig. 6 is the configuration schematic diagram of supporting leg in embodiment two；
Fig. 7 is the exploded perspective view of swinging kick drive device in embodiment two and embodiment three；
Fig. 8 is the main structure diagram of the bionical sufficient formula walking aid device with drive control in embodiment three.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Embodiment one：As illustrated, the bionical sufficient formula walking aid device of the invention with drive control, including main body rack 1, control
Unit 2, left support leg group 3, right support leg group 4, the left swing leg drive device 5 for driving left support leg group and the right branch of driving processed
The right swinging kick drive device 6 of support leg group, described control unit 2 are arranged on main body rack 1, the left support leg group and right support
Leg group includes the first supporting leg 7 and the second supporting leg 8 of front and rear alternatively swinging, and the left swing leg drive device and right swinging kick are driven
Dynamic device includes the housing 9 being fixed on main body rack and is arranged on the power set 10 controlled in housing by control unit；
The first pivoted arm 12 and the second pivoted arm 13, first pivoted arm are provided with the power output shaft 11 of the power set
It is pivotally connected by axle and the first supporting leg, second pivoted arm is by axle and the pivot joint of the second supporting leg, first supporting leg and the
The guide groove 14 extended along leg length direction is provided with two supporting legs, is further fixedly arranged on and leads on the housing or power set
The axis of guide 15 being slidably matched to groove, the axis of guide are located at the surface of power output shaft.
Bionical sufficient formula walking aid device of the present embodiment with drive control, the first supporting leg in its supporting leg group and second
Support leg front and rear alternatively swinging, the front and rear alternating of realization simulation people both legs can be put under the control of control unit, swinging kick drive device etc.
Dynamic reach so that walk helper can be moved forward independently, and cross over performance with the leap of preferable obstacle and ladder, and use is more relaxed
It is suitable, laborsaving, and stop stability is good, it is safe to use.
As the improvement to the present embodiment, the power set 10 are motor, control unit controlled motor work during walking,
The rotor of motor, which rotates, drives the first pivoted arm and the second pivoted arm to rotate, and the first pivoted arm and the second pivoted arm rotate and drive the first supporting leg
Swung with the second supporting leg, in swing process, the first pivoted arm and the second pivoted arm can also move to avoid between ground upwards
Friction, so as to certain obstacle and ladder span ability, use it is easy to operate.
As the improvement to the present embodiment, handrail 16 is respectively arranged with left and right sides of the main body rack, handrail is set
Make the use of this walking aid device more convenient comfortable.
As the improvement to the present embodiment, the lower end of first supporting leg and the second supporting leg is provided with anti-skidding foot
17, it can further improve the safety in utilization of walking aid device.
As the improvement to the present embodiment, this bionical sufficient formula walking aid device with drive control in the process of walking, when
The lower end of first supporting leg and the second supporting leg is contacted to earth simultaneously when, the angle of first supporting leg and the second supporting leg is 30
Degree；Certainly in specific implementation, the angle of first supporting leg and the second supporting leg be 30 degree can also be 5 degree, 60 degree and
Other values between 5 degree to 60 degree, the angle of first supporting leg and the second supporting leg can be carried out according to different height patients
Adjustment, so as to well adapt to the walking paces of different height patients.
Embodiment two：The bionical sufficient formula walking aid device with drive control of the invention, including main body rack 1, control unit 2,
Left support leg group 3, right support leg group 4, the left swing leg drive device 5 for driving left support leg group and driving right support leg group
Right swinging kick drive device 6, described control unit is arranged on main body rack, and left support leg group and right support the leg group includes
The first supporting leg 7 and the second supporting leg 8 of front and rear alternatively swinging, the left swing leg drive device and right swinging kick drive device are wrapped
Include the housing 9 being fixed on main body rack and be arranged in housing by the power set 10 of control unit control；
The supporting leg 8 of first supporting leg 7 and second includes upper leg 18, the electronic rotation joint controlled by control unit
19 and the lower leg 20 that is connected by electronic rotation joint with upper leg, the upper leg point of first supporting leg and the second supporting leg
It is not fixedly installed on the power output shaft 101 of power set 10 and the shell 102 of power set.
Bionical sufficient formula walking aid device of the present embodiment with drive control, the first supporting leg in its supporting leg group and second
Support leg front and rear alternatively swinging, realization can simulate people couple under the control in control unit, swinging kick drive device, electronic rotation joint etc.
Alternatively swinging is moved forward before and after leg so that walk helper can be moved forward independently, and cross over property with the leap of preferable obstacle and ladder
Can, use is more comfortable, laborsaving, and stop stability is good, safe to use.
As the improvement to the present embodiment, the power set 10 are motor, control unit controlled motor work during walking,
By the relative rotation of the armature spindle and motor housing of motor, before the alternatively swinging for driving the first supporting leg and the second supporting leg
Enter, in swing process, leg is bent to avoid the friction between ground under electronic rotation joint drive, is had after lower leg bending
Certain obstacle and ladder span ability, use is easy to operate.
As the improvement to the present embodiment, the electronic rotation joint is fixed on leg for electric machine casing, rotor
The motor that axle is fixedly connected with lower leg, is rotated during swinging kick by control unit controlled motor, makes the lower leg of supporting leg curved
Song, lower friction between leg and ground in swing process can be avoided, lower angle α between leg and upper leg preferably controls in swing process
At 120 degree between 180 degree, when angle is 180 degree, lower leg contacts with ground, the self-locking of electronic rotation joint, security of walking
It is good.
As the improvement to the present embodiment, handrail 16 is respectively arranged with left and right sides of the main body rack, handrail is set
Make the use of this walking aid device more convenient comfortable.
As the improvement to the present embodiment, the lower end of first supporting leg and the second supporting leg is provided with anti-skidding foot
17, it can further improve the safety in utilization of walking aid device.
As the improvement to the present embodiment, this bionical sufficient formula walking aid device with drive control in the process of walking, when
The lower end of first supporting leg and the second supporting leg is contacted to earth simultaneously when, the angle of first supporting leg and the second supporting leg is 30
Degree；Certainly in specific implementation, the angle of first supporting leg and the second supporting leg be 30 degree can also be 5 degree, 60 degree and
Other values between 5 degree to 60 degree, the angle of first supporting leg and the second supporting leg can be carried out according to different height patients
Adjustment, so as to well adapt to the walking paces of different height patients.
Embodiment three：The bionical sufficient formula walking aid device with drive control of the invention, including main body rack 1, control unit 2,
Left support leg group 3, right support leg group 4, the left swing leg drive device 5 for driving left support leg group and driving right support leg group
Right swinging kick drive device 6, described control unit is arranged on main body rack, and left support leg group and right support the leg group includes
The first supporting leg 7 and the second supporting leg 8 of front and rear alternatively swinging, the left swing leg drive device and right swinging kick drive device are wrapped
Include the housing 9 being fixed on main body rack and be arranged in housing by the power set 10 of control unit control；
First supporting leg and the second supporting leg include upper leg 18, lower leg 20 and the upper leg of connection and lower leg and by
The electric expansion device 21 of control unit control, the upper leg of first supporting leg and the second supporting leg are respectively fixedly disposed at power
On the power output shaft of device and the shell of power set.
Bionical sufficient formula walking aid device of the present embodiment with drive control, the first supporting leg in its supporting leg group and second
Support leg front and rear alternatively swinging, realization can simulate people couple under the control in control unit, swinging kick drive device, electronic rotation joint etc.
Alternatively swinging is moved forward before and after leg so that walk helper can be moved forward independently, and cross over property with the leap of preferable obstacle and ladder
Can, use is more comfortable, laborsaving, and stop stability is good, safe to use.
As the improvement to the present embodiment, the power set 10 are motor, control unit controlled motor work during walking,
By the relative rotation of the armature spindle and motor housing of motor, before the alternatively swinging for driving the first supporting leg and the second supporting leg
Enter, in swing process, the lower leg of the driving of electric expansion device 21 is shunk to avoid the friction between ground, lower leg from having after shrinking
Certain obstacle and ladder span ability, use is easy to operate.
As the improvement to the present embodiment, the electric expansion device 21 is electric pushrod, is easy to automatically control.
As the improvement to the present embodiment, handrail 16 is respectively arranged with left and right sides of the main body rack, handrail is set
Make the use of this walking aid device more convenient comfortable.
As the improvement to the present embodiment, the lower end of first supporting leg and the second supporting leg is provided with anti-skidding foot
17, it can further improve the safety in utilization of walking aid device.
As the improvement to the present embodiment, this bionical sufficient formula walking aid device with drive control in the process of walking, when
The lower end of first supporting leg and the second supporting leg is contacted to earth simultaneously when, the angle of first supporting leg and the second supporting leg is 30
Degree；Certainly in specific implementation, the angle of first supporting leg and the second supporting leg be 30 degree can also be 5 degree, 60 degree and
Other values between 5 degree to 60 degree, the angle of first supporting leg and the second supporting leg can be carried out according to different height patients
Adjustment, so as to well adapt to the walking paces of different height patients.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to the skill of the present invention
Art scheme is modified or equivalent substitution, and without departing from the objective and scope of technical solution of the present invention, it all should cover at this
Among the right of invention.
Claims (6)
- A kind of 1. bionical sufficient formula walking aid device with drive control, it is characterised in that：Including main body rack, control unit, left branch Support leg group, right support leg group, the left swing leg drive device for driving left support leg group and the right swinging kick drive for driving right support leg group Dynamic device, described control unit are arranged on main body rack, and the left support leg group and right support leg group include front and rear alternating The first supporting leg and the second supporting leg swung, the left swing leg drive device and right swinging kick drive device include being fixed on master Housing on body support frame and it is arranged on the power set controlled in housing by control unit；The first pivoted arm and the second pivoted arm are provided with the power output shaft of the power set, first pivoted arm passes through axle and One supporting leg is pivotally connected, and second pivoted arm is pivotally connected by axle and the second supporting leg, on first supporting leg and the second supporting leg The guide groove extended along leg length direction is provided with, is further fixedly arranged on the housing or power set and is slidably matched with guide groove The axis of guide, the axis of guide is located at the surface of power output shaft.
- 2. the bionical sufficient formula walking aid device according to claim 1 with drive control, it is characterised in that：The power set For motor.
- 3. the bionical sufficient formula walking aid device according to claim 1 with drive control, it is characterised in that：The main body rack The left and right sides be respectively arranged with handrail.
- 4. the bionical sufficient formula walking aid device according to claim 1 with drive control, it is characterised in that：First support The lower end of leg and the second supporting leg is provided with anti-skidding foot.
- 5. the bionical sufficient formula walking aid device according to claim 1 with drive control, it is characterised in that：In the first supporting leg When being contacted to earth with the lower end of the second supporting leg simultaneously, the corner dimension of the first supporting leg and the second supporting leg is between 5 degree and 60 degree.
- 6. according to the bionical sufficient formula walking aid device with drive control described in claim 1, it is characterised in that：In the first support The lower end of leg and the second supporting leg is contacted to earth simultaneously when, the angle of first supporting leg and the second supporting leg is 30 degree.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610011301.3A CN105411818B (en) | 2016-01-08 | 2016-01-08 | A kind of bionical sufficient formula walking aid device with drive control |
| PCT/CN2016/079096 WO2017117886A1 (en) | 2016-01-08 | 2016-04-12 | Bionic foot walking aid with drive control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610011301.3A CN105411818B (en) | 2016-01-08 | 2016-01-08 | A kind of bionical sufficient formula walking aid device with drive control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105411818A CN105411818A (en) | 2016-03-23 |
| CN105411818B true CN105411818B (en) | 2018-03-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610011301.3A Active CN105411818B (en) | 2016-01-08 | 2016-01-08 | A kind of bionical sufficient formula walking aid device with drive control |
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| Country | Link |
|---|---|
| CN (1) | CN105411818B (en) |
| WO (1) | WO2017117886A1 (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105411818B (en) * | 2016-01-08 | 2018-03-09 | 广州足步医疗科技有限公司 | A kind of bionical sufficient formula walking aid device with drive control |
| CN105774942B (en) * | 2016-05-11 | 2019-09-24 | 深圳市行者机器人技术有限公司 | Semi-passive biped running gear based on link mechanism |
| CN108433955A (en) * | 2018-04-10 | 2018-08-24 | 广州足步医疗科技有限公司 | A kind of assistant robot |
| CN109248049A (en) * | 2018-07-16 | 2019-01-22 | 郑喜勋 | Falling-resistant follows structure |
| CN109625116B (en) * | 2018-12-18 | 2020-12-15 | 江汉大学 | Semi-passive walking robot capable of doing knee bending movement and control method |
| CN110497980B (en) * | 2019-09-18 | 2024-04-12 | 苏州市职业大学 | Mechanical foot type walking device |
| CN110755238A (en) * | 2019-10-29 | 2020-02-07 | 河海大学常州校区 | Walking-aid robot |
| CN110816705B (en) * | 2019-11-11 | 2020-10-09 | 北京理工大学 | Bionic pneumatic driven semi-passive walking robot and control method thereof |
| CN112829848A (en) * | 2019-11-25 | 2021-05-25 | 深圳市优必选科技股份有限公司 | Robot motion control method and device and robot |
| CN114563973B (en) * | 2022-03-07 | 2023-12-15 | 广东工业大学 | Bionic water strider robot |
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| CN205307337U (en) * | 2016-01-08 | 2016-06-15 | 重庆足步科技有限公司 | Bionical sufficient formula of taking drive control helps outfit for a journey to put |
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| CN2197971Y (en) * | 1994-05-31 | 1995-05-24 | 霍满焕 | Force aid stick for a person sitting |
| US8820338B1 (en) * | 2010-12-15 | 2014-09-02 | Thomas Catricala | Walker for improved stairway mobility |
| US8667976B2 (en) * | 2011-09-13 | 2014-03-11 | Junbiao Huang | Height self-adjusting walking aid |
| CN204010492U (en) * | 2014-05-23 | 2014-12-10 | 天津商业大学 | The four-footed walking robot of multi-connecting-rod mechanism composition |
| CN204124229U (en) * | 2014-08-28 | 2015-01-28 | 郑州大学 | Walking robot |
| CN104742997B (en) * | 2015-03-26 | 2017-04-12 | 重庆邮电大学 | Double-twisted rocker type passive walking device |
| CN104828172A (en) * | 2015-04-29 | 2015-08-12 | 东华大学 | Stair height and depth detection device and stair height and depth detection method used for stair-climbing robot |
| CN104986244B (en) * | 2015-07-21 | 2018-03-16 | 广州足步医疗科技有限公司 | Drive lacking running gear and its control method |
| CN104973163B (en) * | 2015-07-21 | 2017-03-22 | 重庆邮电大学 | All-landform walking device and control method thereof |
| CN105128976B (en) * | 2015-07-21 | 2017-06-16 | 重庆邮电大学 | A kind of drive lacking running gear and its Servo Control method |
| CN105015643A (en) * | 2015-07-21 | 2015-11-04 | 重庆邮电大学 | Semi-passive walker driven by single motor and walking control method thereof |
| CN105411818B (en) * | 2016-01-08 | 2018-03-09 | 广州足步医疗科技有限公司 | A kind of bionical sufficient formula walking aid device with drive control |
-
2016
- 2016-01-08 CN CN201610011301.3A patent/CN105411818B/en active Active
- 2016-04-12 WO PCT/CN2016/079096 patent/WO2017117886A1/en active Application Filing
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205307337U (en) * | 2016-01-08 | 2016-06-15 | 重庆足步科技有限公司 | Bionical sufficient formula of taking drive control helps outfit for a journey to put |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017117886A1 (en) | 2017-07-13 |
| CN105411818A (en) | 2016-03-23 |
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