CN107137208B - A kind of walking aid device with slope road walk help function - Google Patents
A kind of walking aid device with slope road walk help function Download PDFInfo
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- CN107137208B CN107137208B CN201710315399.6A CN201710315399A CN107137208B CN 107137208 B CN107137208 B CN 107137208B CN 201710315399 A CN201710315399 A CN 201710315399A CN 107137208 B CN107137208 B CN 107137208B
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- damper
- bottom plate
- support
- plate
- wheel
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Classifications
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- 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
- A61H3/04—Wheeled walking aids for disabled persons
-
- 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
- A61H3/04—Wheeled walking aids for disabled persons
- A61H2003/043—Wheeled walking aids for disabled persons with a drive mechanism
-
- 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
- A61H3/04—Wheeled walking aids for disabled persons
- A61H2003/046—Wheeled walking aids for disabled persons with braking means
Abstract
The invention discloses a kind of walking aid devices with slope road walk help function, including trunk, power awareness tool, upper mounting plate, chassis and drive system；The trunk includes battery, controller, joining beam, fore-stock, adjusting knob, adjusting rod and supporting plate；The power awareness tool includes bottom plate, support shaft, upper mounted plate, force snesor and linear bearing；The upper mounting plate includes upper handrail, handrail and support plate；The chassis includes front-wheel, bottom plate, rear wheel support, damper mount and rear-wheel；The drive system includes bevel gear support, damper, worm type of reduction gearing, motor, conducting slip ring, bevel gear, bevel gear shaft, chain, sprocket wheel and drive shaft；This walking aid device is using main passive hybrid drive system, auxiliary force can be provided when slope road is walked for user, and auxiliary force is provided by damper during descending and upward slope, man-machine interface perception human-machine interactive information is not needed, is easy to carry out human-computer interaction power control.
Description
Technical field
The present invention relates to robotic technology field, specifically a kind of walking aid device with slope road walk help function.
Background technique
The normal Peoples in western region of Guangdong state of keeping fit plays a significant role, and the elderly's physical function can be enhanced in movement, prevents
Body function decline related with aging, prevents progressive deformity, reduces morbidity and mortality.Walking is the weight of the elderly's movement
Form is wanted, the demand to walking movement makes walk helper be used widely.However common walk helper is not able to satisfy in many cases
User function, in terms of demand, therefore the research of intelligent walk helper receives significant attention.Intelligence
Walk helper is usually to install power device, brake apparatus, detection system, control system etc. additional on the basis of traditional walker.It presses
Drive form is different, can be divided into active-mode intelligent walk helper and passive type intelligence walk helper.
Active-mode intelligent walk helper is usually using servo motor as executive component, using the meaning of man-machine interface perception user
To motion information, and user is followed to move, meanwhile, auxiliary force is provided, prevents from falling.The researcher of the Massachusetts Institute of Technology grinds
The intelligent walk helper of hair is four wheel constructions, and sonar array arranges front, and two handrails pass through six-dimensional force/torque sensor and chassis
Connection, using servo motor driving walk helper movement.The active assistant robot JARoW that Japan Science technical research institute develops
(JAIST active robotic walker) can provide nature, without constraint, comprehensive movement for the elderly indoors.
JARoW is by three component parts, pedestal, upper frame and connecting rod.Pedestal and upper frame are arcuate structure, under pedestal there are three installations
Omni-directional wheel.There are two laser range finders for installation on pedestal, to detect the position of user's lower limb.The length of connecting rod can
It adjusts, to be suitable for unused user.In use, user stands in arcuate structure, forearm and hand can be placed in top
On frame.Using the position of laser detector information real-time estimation user leg and body, and then adjusts JARoW and follow user
Movement.The intelligent walk helper that Taiwan Univ. develops is applied to the elderly and Parkinson's disease patients.The robot is helped by traditional four-wheel
The transformation of row device, two rear-wheels are driving wheel, and vehicle foreside is equipped with laser range finder, to avoidance, rear portion installation
There is miniature laser detector, to perceive user leg at a distance from robot, two arm rests are equipped with eight power sensings
Device determines straight trip according to force snesor information or turns to that robot is automatically stopped when detecting application thrust suddenly, prevents
It stops dropping down.
Passive type intelligence walk helper does not have active movement ability, moves under the active force of user, can be user
The functions such as navigation, avoidance are provided, provide auxiliary force, it can be achieved that running by track and preventing stopping dropping for user using servo brakes
The functions such as.The passive type entitled i-walker of intelligence walk helper that Japanese chevron university develops for walk help and carries out gait health
Refreshment is practiced.I-walker is taken turns from walk helper transformation by commercialization six.There are three wheel, the wheel among every side adds the every side of walk helper
Servo brakes and rotary encoder have been filled, one video camera is housed in the front i-walker.By controlling two servo systems
Dynamic device can control speed and the direction of i-walker movement, the distance and speed of operation can be calculated using encoder information,
Using the visual information that video camera obtains, desired trajectory of the i-walker on landing ground can be made to move.
Cell, park, food market, market in everyday environments etc. all build the road You Po, although the location Po Lu row
Cheng Buchang, but it is laborious to walk, and is to be easier to that the dangerous section such as tumble occurs.Current intelligent walk helper is mostly indoors or room
It is applied in the relatively flat environment in outer road surface, although descending power-assisted may be implemented in passive type intelligence walk helper, but can not be upper
The auxiliary force passive type intelligence walk helper that such as northeastern Japan university develops is provided when slope, four wheels are respectively positioned on user when use
Front, user's both hands are helped on handrail.Servo brakes is respectively arranged on two wheels next.There are two stereo calibrations for dress on car body
Video camera is detected to the posture to human body, the posture based on acquisition, and controller controls servo brakes and is in corresponding
State makes robot provide auxiliary force to user, prevents from falling.Descending and upper may be implemented in portions of active intelligence walk helper
Slope power-assisted, although the slope road value of slope variation built in living environment is smaller, provided using active-mode intelligent walk helper auxiliary
When power-assisted, there is still a need for higher real-times for control system.Omnidirectional's walk helper that the Japanese intellectual with a senior professional title college of engineering develops uses four
A omni-directional wheel, there are four force snesors for installation in preceding arm support structure, to perceive the pressure information of user's forearm, in turn
The direction of motion of user is obtained, each wheel is driven by servo motor, even if walking in flat road surface, motor is also required to hold
Continuous work, energy consumption are high；The intelligent walk helper that Harbin Institute of Technology develops, using front-wheel drive mode, two rear-wheels are steering wheel,
Driven using DC servo motor, emergency braking can be carried out, equipped with ultrasonic sensor, infrared sensor, obliquity sensor and
Pyroelectric infrared sensor.Ultrasonic sensor, infrared sensor are to avoidance, and obliquity sensor is to tilting of car body angle
It is detected, whether pyroelectric infrared sensor is to judge user at car body rear.Its control button is arranged in two and helps
On hand, it to control robot, not only needs to perceive human-computer interaction power, but also need to perceive grade information, control system
System is complicated, and hardware cost is high.
Summary of the invention
In view of the deficiencies of the prior art, the technical issues of present invention intends to solve, which is to provide one kind, has the function of the walk help of slope road
Walking aid device.This walking aid device can provide auxiliary when slope road is walked for user using main passive hybrid drive system
Power, and auxiliary force is provided by damper during descending and upward slope, man-machine interface perception human-machine interactive information is not needed, easily
In progress human-computer interaction power control.
The technical solution that the present invention solves the technical problem is to provide a kind of walk help dress with slope road walk help function
It sets, it is characterised in that the walking aid device includes trunk, power awareness tool, upper mounting plate, chassis and drive system；The trunk includes
Battery, controller, joining beam, fore-stock, adjusting knob, adjusting rod and supporting plate；The power awareness tool includes bottom plate, support
Axis, upper mounted plate, force snesor and linear bearing；The upper mounting plate includes upper handrail, handrail and support plate；The chassis includes
Front-wheel, bottom plate, rear wheel support, damper mount and rear-wheel；The drive system includes bevel gear support, damper, worm gear snail
Bar retarder, motor, conducting slip ring, bevel gear, bevel gear shaft, chain, sprocket wheel and drive shaft；The damper includes right end
Lid support, right end cap, damper input shaft, oil nozzle, stator, sleeve, left end cap, damper output shaft, permanent-magnet sealing device, T
Shape rotor, magnetorheological fluid, inductance coil, shell and connecting terminal；
The battery and controller are mounted on joining beam；The controller is connect with battery；The joining beam is mounted on bottom plate
On；The upper end of the fore-stock is connect by adjusting knob with adjusting rod；The lower end of fore-stock is connect with bottom plate；The one of the supporting plate
End is connect with fore-stock, and the other end is connect with bottom plate；
The upper surface of fixed plate is connect with support plate, and lower surface has circumferential supporting leg and middle part supporting leg；The power
The inner wall of sensor one end and bottom plate is connected, and the middle part supporting leg of the other end and upper mounted plate is connected, force snesor and control
Device connection；The support shaft passes through bottom plate and is installed on it；The linear bearing is placed in support shaft；The week of upper mounted plate
It is mounted on linear bearing to supporting leg；
The upper handrail and handrail installation are on the supporting plate；
The front-wheel is installed on bottom plate；The rear-wheel is installed on bottom plate by rear wheel support and drive shaft；It is described
Damper mount is installed on bottom plate；
The conducting slip ring is connect by connecting terminal thereon with controller；The output end and worm and gear of the motor
Retarder connection, worm type of reduction gearing are mounted on bottom plate；The damper is mounted on damper mount；The bevel gear
Bracket is installed on bottom plate；The bevel gear is mounted in bevel gear support by bevel gear shaft；The bevel gear shaft and driving
It is mounted on sprocket wheel on wheel shaft, is connected between sprocket wheel by chain；The right end lid support is fixed on bottom plate；The right end cap
It is connect with right end lid support；Damper input shaft is fixedly connected with the inner wall of right end cap, and damper input shaft subtracts with worm and gear
Fast device connection；The inner ring of the conducting slip ring and the outer wall of right end cap connect, and outer ring is fixed on right end lid support；The stator
It is fixedly connected respectively with left end cap, right end cap and shell；Oil nozzle is provided on the shell；The damper output shaft and T shape turn
Son is fixedly connected；The output end of damper output shaft passes through left end cap, is equipped with gear thereon, engages with bevel gear；The magnetic
Rheology liquid is distributed in the gap between T shape rotor and stator, T shape rotor and shell；The permanent-magnet sealing device passes through sleeve
It positions and exports axis connection with damper；Inductance coil is wound on the stator；The connecting terminal and conducting slip ring of inductance coil
Connection.
Compared with prior art, the beneficial effects of the invention are that:
1, the walking aid device can provide auxiliary force, the direction and user advance side of auxiliary force in descending for user
To opposite；Auxiliary force is provided for user when going up a slope, the direction of auxiliary force is identical as user's direction of advance.Ascents and descents
Required auxiliary force is provided by the passive hybrid drive system of master, easily controllable auxiliary force size, and control method is simple.
2, the passive hybrid drive system of the master is by MR damper in conjunction with motor, and motor passes through worm gear snail when upward slope
Bar retarder drives the rotation of MR damper shell, and according to the grade information that obliquity sensor real-time detection arrives, controller is defeated
Signal, the damper torque of control damper output, to provide auxiliary force identical with user's direction of advance, power are controlled out
The force information feedback that sensor measures is compared to controller and with the auxiliary force information of damper output, further to auxiliary
Power is adjusted, to obtain accurate auxiliary force.When descending, motor no power, using the self-locking function of worm type of reduction gearing,
Rotate shell not, control signal output control signal of the controller according to obliquity sensor, control damper output
Damper torque provides the auxiliary force opposite with user's direction of advance, guarantees safe descending at a slow speed.When flat road surface is walked,
Damper output shaft is in and state is freely rotated, and without power supply, low energy consumption.
3, make the sealing effect of the magnetorheological fluid in damper more preferable using permanent-magnet sealing device.
Detailed description of the invention
Fig. 1 is that there is the present invention a kind of overall structure of embodiment of walking aid device of slope road walk help function to use schematic diagram；
Fig. 2 is a kind of overall structure diagram of embodiment of walking aid device that the present invention has slope road walk help function；
Fig. 3 is the partial enlargement diagram for walking aid device Fig. 2 that the present invention has slope road walk help function；
Fig. 4 is the schematic cross-sectional view for the damper that the present invention has in walking aid device Fig. 3 of slope road walk help function；
Fig. 5 is that there is the present invention a kind of power awareness tool overall structure of embodiment of walking aid device of slope road walk help function to show
It is intended to；
Fig. 6 is that there is the present invention a kind of power awareness tool internal structure of embodiment of walking aid device of slope road walk help function to show
It is intended to；(in figure: 1, trunk；2, power awareness tool；3, upper mounting plate；4, chassis；5, drive system；11, battery；12, controller；
13, joining beam；14, fore-stock；15, adjusting knob；16, adjusting rod；17, supporting plate；21, bottom plate；22, support shaft；23, upper fixation
Plate；24, force snesor；25, linear bearing；31, upper handrail；32, handrail；33, support plate；41, front-wheel；42, bottom plate；43, after
Wheel support；44, damper mount；45, rear-wheel；50, bevel gear support；51, damper；52, worm type of reduction gearing；53, electric
Machine；54, conducting slip ring；55, bevel gear；56, bevel gear shaft；57, chain；58, sprocket wheel；59, drive shaft；5101, right end cap
Bracket；5102, positioning screw；5103, right end cap；5104, damper input shaft；5105, bearing；5106, oil nozzle；5107, fixed
Son；5108, sleeve；5109, left end cap；5110, damper output shaft；5111, permanent-magnet sealing device；5112, T shape rotor；
5113, magnetorheological fluid；5114, inductance coil；5115, shell；5116, damper connecting terminal；5401, connecting terminal)
Specific embodiment
Specific embodiments of the present invention are given below.Specific embodiment is only used for that present invention be described in more detail, unlimited
The protection scope of the claim of this application processed.
The present invention provides a kind of walking aid device (referring to Fig. 1-6, abbreviation walking aid device) with slope road walk help function,
It is characterized in that the walking aid device includes trunk 1, power awareness tool 2, upper mounting plate 3, chassis 4 and drive system 5；The trunk 1 wraps
Include battery 11, controller 12, joining beam 13, fore-stock 14, adjusting knob 15, adjusting rod 16 and supporting plate 17；The power awareness tool 2 wraps
Include bottom plate 21, support shaft 22, upper mounted plate 23, force snesor 24 and linear bearing 25；The upper mounting plate 3 includes upper handrail
31, handrail 32 and support plate 33；The chassis 4 includes front-wheel 41, bottom plate 42, rear wheel support 43, damper mount 44 and rear-wheel
45；The drive system 5 include bevel gear support 50, damper 51, worm type of reduction gearing 52, motor 53, conducting slip ring 54,
Bevel gear 55, bevel gear shaft 56, chain 57, sprocket wheel 58 and drive shaft 59；The damper 51 include right end lid support 5101,
Positioning screw 5102, right end cap 5103, damper input shaft 5104, bearing 5105, oil nozzle 5106, stator 5107, sleeve 5108,
Left end cap 5109, damper output shaft 5110, permanent-magnet sealing device 5111, T shape rotor 5112, magnetorheological fluid 5113, inductor wire
Circle 5114, shell 5115 and connecting terminal 5116；
The battery 11 and controller 12 are mounted on joining beam 13；The controller 12 is connect with battery 11；The joining beam
13 are mounted on bottom plate 42；The upper end of the fore-stock 14 is connect by adjusting knob 15 with adjusting rod 16, is changed by adjusting knob 15
Modify tone pole 16 height to adapt to the users of different heights；The lower end of fore-stock 14 is connect with bottom plate 42, composition walk help dress
The overall construction set；One end of the supporting plate 17 is connect with fore-stock 14, and the other end is connect with bottom plate 42, is used to support fore-stock
14, guarantee stability, the safety and reliability of walking aid device entirety；
The upper surface of fixed plate 23 is connect with support plate 33, and lower surface has circumferential supporting leg and middle part supporting leg；Institute
The inner wall for stating 24 one end of force snesor and bottom plate 21 is connected, and the middle part supporting leg of the other end and upper mounted plate 23 is connected, and power passes
Sensor 24 is connected to by cable with controller 12, realizes that human body to the pressure detecting of upper mounting plate 3, feeds back to controller 12, with control
The power output of the detection of device 12 control processed compares, and improves control；The support shaft 22 passes through bottom plate 21 and is installed on it；
The linear bearing 25 is placed in support shaft 22, can be moved along support shaft 22；The circumferential supporting leg of upper mounted plate 23 is mounted on straight line
On bearing 25；
The upper handrail 31 and handrail 32 are mounted in support plate 33；Arm is put in support plate 33 to user when in use
On, both hands are held on handrail 32 or upper handrail 31；User's arm acts on support plate 33 power and both hands effect in the front-back direction
In handrail 32 or upper handrail 31, power passes to force snesor 24 by upper mounted plate 23 in the front-back direction, passes through upper mounted plate 23
The movement for driving 24 one end of force snesor is moved forward and backward on linear bearing 25, so that force sensor is to human body active force
Perception；
The front-wheel 41 is installed on bottom plate 42, is intended to move ahead according to user using universal wheel is convenient；The rear-wheel 45
It is installed on bottom plate 42 by rear wheel support 43 and drive shaft 59；The damper mount 44 is installed on bottom plate 42, selects L plate
For installing damper 51；
The conducting slip ring 54 is connect by connecting terminal 5401 thereon with controller 12；The output end of the motor 53
It is connect with worm type of reduction gearing 52, worm type of reduction gearing 52 is mounted on bottom plate 42 by L plate；The damper 51 is installed
On damper mount 44；The bevel gear support 50 is installed on bottom plate 42；The bevel gear 55 is pacified by bevel gear shaft 56
In bevel gear support 50；It is mounted on sprocket wheel 58 on the bevel gear shaft 56 and drive shaft 59, passes through between sprocket wheel 58
Chain 57 connects and transmits power；The right end lid support 5101 is fixed on bottom plate 42；The right end cap 5103 passes through bearing
5105 connect with right end lid support 5101；Damper input shaft 5104 is fixedly connected by key with the inner wall of right end cap 5103, resistance
Buddhist nun's device input shaft 5104 connect with worm type of reduction gearing 52 and transmits power；The inner ring and right end cap of the conducting slip ring 54
5103 outer wall connection, outer ring is fixed on right end lid support 5101 by positioning screw 5102；The stator 5107 passes through spiral shell
Nail is fixedly connected with left end cap 5109, right end cap 5103 and shell 5115 respectively；It is provided with oil nozzle 5106 on the shell 5115, uses
In the importing of magnetorheological fluid 5113；The damper output shaft 5110 is fixedly connected by key with T shape rotor 5112；Damper is defeated
The output end of shaft 5110 passes through left end cap 5109, is equipped with gear thereon, and cooperation transmitting power is engaged with bevel gear 55；It is described
Magnetorheological fluid 5113 is distributed in the gap between T shape rotor 5112 and stator 5107, T shape rotor 5112 and shell 5115；Institute
It states permanent-magnet sealing device 5111 to position and connect with damper output shaft 5110 by sleeve 5108, for preventing magnetorheological fluid
5113 outflows；It is wound with inductance coil 5114 on the stator 5107, for generating magnetic induction line after being powered；Inductance coil 5114 connects
Line terminals 5116 are connect with conducting slip ring 54, realize real-time control.
The present invention has the working principle of the walking aid device of slope road walk help function and workflow is: user when in use
Arm be put in support plate 33, both hands are held on handrail 32 or upper handrail 31.Trunk 1 can be adjusted according to the height of user
The height of walking aid device.Power awareness tool 2 is used to measure between user and walking aid device interaction force in the front-back direction, will
The result measured is transmitted to controller 12, and the size of the power on walking aid device is applied to by user, in conjunction in controller 12
Obliquity sensor data measured corresponding to the size of power be compared, if both comparisons data exceed some range,
Controller 12 need to carry out appropriate adjustment at this time, to realize whole control.When upward slope, motor 53 leads under the control of controller 12
Kinetic energy is output to damper 51 by worm type of reduction gearing 52 by motor 53, the obliquity sensor inspection in controller 12 by electricity
It surveys grade information and transfers data to controller 12, output voltage size is controlled by controller 12, and be output to damper 51,
Auxiliary force size is exported to control damper 51, carries out power-assisted.When descending, 53 output shaft of motor (that is: damper input shaft)
It does not rotate, controller 12 is controlled by the voltage that the data of obliquity sensor apply damper 51, to control damping
5110 output power of device output shaft, bevel gear 55 exports the power transmitted by damper 51, and is transmitted to sprocket wheel by chain 57
58, to control the rotation of the rear-wheel 45 on drive shaft 59.
The present invention does not address place and is suitable for the prior art.
Claims (2)
1. a kind of walking aid device with slope road walk help function, including trunk, power awareness tool, upper mounting plate, chassis and driving system
System；The trunk includes battery and controller；It is characterized in that the trunk further includes joining beam, fore-stock, adjusting knob, adjusting rod
And supporting plate；The power awareness tool includes bottom plate, support shaft, upper mounted plate, force snesor and linear bearing；It is described flat
Platform includes upper handrail, handrail and support plate；The chassis includes front-wheel, bottom plate, rear wheel support, damper mount and rear-wheel；Institute
State drive system include bevel gear support, damper, worm type of reduction gearing, motor, conducting slip ring, bevel gear, bevel gear shaft,
Chain, sprocket wheel and drive shaft；The damper includes right end lid support, right end cap, damper input shaft, oil nozzle, stator, set
Cylinder, left end cap, damper output shaft, permanent-magnet sealing device, T shape rotor, magnetorheological fluid, inductance coil, shell and connecting terminal；
The battery and controller are mounted on joining beam；The controller is connect with battery；The joining beam is mounted on bottom plate；Institute
The upper end for stating fore-stock is connect by adjusting knob with adjusting rod；The lower end of fore-stock is connect with bottom plate；One end of the supporting plate with
Fore-stock connection, the other end are connect with bottom plate；
The upper surface of fixed plate is connect with support plate, and lower surface has circumferential supporting leg and middle part supporting leg；The power sensing
The inner wall of device one end and bottom plate is connected, and the middle part supporting leg of the other end and upper mounted plate is connected, and force snesor and controller connect
It is logical；The support shaft passes through bottom plate and is installed on it；The linear bearing is placed in support shaft；The circumferential branch of upper mounted plate
Leg is mounted on linear bearing；
The upper handrail and handrail installation are on the supporting plate；
The front-wheel is installed on bottom plate；The rear-wheel is installed on bottom plate by rear wheel support and drive shaft；The damping
Device bracket is installed on bottom plate；
The conducting slip ring is connect by connecting terminal thereon with controller；The output end and worm and gear of the motor slow down
Device connection, worm type of reduction gearing are mounted on bottom plate；The damper is mounted on damper mount；The bevel gear support
It is installed on bottom plate；The bevel gear is mounted in bevel gear support by bevel gear shaft；The bevel gear shaft and drive shaft
On be mounted on sprocket wheel, pass through chain between sprocket wheel and connect；The right end lid support is fixed on bottom plate；The right end cap and the right side
End cover bracket connection；Damper input shaft is fixedly connected with the inner wall of right end cap, damper input shaft and worm type of reduction gearing
Connection；The inner ring of the conducting slip ring and the outer wall of right end cap connect, and outer ring is fixed on right end lid support；The stator difference
It is fixedly connected with left end cap, right end cap and shell；Oil nozzle is provided on the shell；The damper output shaft and T shape rotor are solid
Fixed connection；The output end of damper output shaft passes through left end cap, is equipped with gear thereon, engages with bevel gear；It is described magnetorheological
Liquid is distributed in the gap between T shape rotor and stator, T shape rotor and shell；The permanent-magnet sealing device is positioned by sleeve
And axis connection is exported with damper；Inductance coil is wound on the stator；The connecting terminal of inductance coil is connect with conducting slip ring.
2. the walking aid device according to claim 1 with slope road walk help function, it is characterised in that front-wheel uses universal wheel.
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| CN201710315399.6A CN107137208B (en) | 2017-05-08 | 2017-05-08 | A kind of walking aid device with slope road walk help function |
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| CN201710315399.6A CN107137208B (en) | 2017-05-08 | 2017-05-08 | A kind of walking aid device with slope road walk help function |
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| CN107137208B true CN107137208B (en) | 2019-06-14 |
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| CN108186296B (en) * | 2017-12-27 | 2020-06-05 | 重庆柚瓣家科技有限公司 | Auxiliary walking system of outdoor self-walking robot |
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| CN109223461B (en) * | 2018-08-28 | 2021-10-15 | 国家康复辅具研究中心 | Intelligent walking aid control system |
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|---|---|---|---|---|
| JPH08280763A (en) * | 1995-04-10 | 1996-10-29 | Isao Ueda | Motor-driven type four-wheel handcart as cane |
| JPH10211245A (en) * | 1997-01-31 | 1998-08-11 | Hitachi Chem Co Ltd | Self-walk assisting device |
| JP2000157585A (en) * | 1998-11-30 | 2000-06-13 | Asahi Chem Ind Co Ltd | Auxiliary vehicle for welfare and medical use |
| CN101590311A (en) * | 2009-07-03 | 2009-12-02 | 北京理工大学 | A kind of healing robot |
| JP2015156895A (en) * | 2014-02-21 | 2015-09-03 | 株式会社幸和製作所 | Walking aid vehicle |
| WO2016047162A1 (en) * | 2014-09-25 | 2016-03-31 | シャープ株式会社 | Walking assistance vehicle |
-
2017
- 2017-05-08 CN CN201710315399.6A patent/CN107137208B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08280763A (en) * | 1995-04-10 | 1996-10-29 | Isao Ueda | Motor-driven type four-wheel handcart as cane |
| JPH10211245A (en) * | 1997-01-31 | 1998-08-11 | Hitachi Chem Co Ltd | Self-walk assisting device |
| JP2000157585A (en) * | 1998-11-30 | 2000-06-13 | Asahi Chem Ind Co Ltd | Auxiliary vehicle for welfare and medical use |
| CN101590311A (en) * | 2009-07-03 | 2009-12-02 | 北京理工大学 | A kind of healing robot |
| JP2015156895A (en) * | 2014-02-21 | 2015-09-03 | 株式会社幸和製作所 | Walking aid vehicle |
| WO2016047162A1 (en) * | 2014-09-25 | 2016-03-31 | シャープ株式会社 | Walking assistance vehicle |
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| Publication number | Publication date |
|---|---|
| CN107137208A (en) | 2017-09-08 |
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