CN109124999B - Pneumatic weight-reducing walking power-assisted robot - Google Patents
Pneumatic weight-reducing walking power-assisted robot Download PDFInfo
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- CN109124999B CN109124999B CN201810998784.XA CN201810998784A CN109124999B CN 109124999 B CN109124999 B CN 109124999B CN 201810998784 A CN201810998784 A CN 201810998784A CN 109124999 B CN109124999 B CN 109124999B
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- 230000007246 mechanism Effects 0.000 claims abstract description 69
- 230000002146 bilateral effect Effects 0.000 claims abstract 2
- 210000003423 ankle Anatomy 0.000 claims description 7
- 210000002414 leg Anatomy 0.000 description 23
- 210000001699 lower leg Anatomy 0.000 description 11
- 210000002683 foot Anatomy 0.000 description 7
- 210000003141 lower extremity Anatomy 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 208000016261 weight loss Diseases 0.000 description 4
- 210000001217 buttock Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 210000000629 knee joint Anatomy 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000004580 weight loss Effects 0.000 description 2
- 239000013585 weight reducing agent Substances 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 210000000653 nervous system Anatomy 0.000 description 1
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention belongs to the field of rehabilitation machinery, and provides a pneumatic weight-reducing walking assistance robot which comprises a stool mechanism I, a cylinder mechanism II, a leg mechanism III, a pneumatic balance cylinder mechanism IV and a pedal fixing mechanism V, wherein except the stool mechanism I, the four parts are in a bilateral symmetry structure. Two air cylinder mechanisms II are connected to the lower portion of the stool mechanism I, the two air cylinder mechanisms II correspond to the left leg and the right leg of a human body respectively and are used for assisting the left leg and the right leg to reduce weight, the lower portions of the two air cylinder mechanisms II are connected with self-locking devices of the leg mechanisms III respectively, the lower portions of the self-locking devices are connected with shank supporting rods (10) of the leg mechanisms III, and each leg mechanism III is connected with the pedal plate fixing mechanism V through two pneumatic balance air cylinder mechanisms IV respectively. The invention has simple structure and convenient use, can greatly reduce the stress condition of the leg of the patient and plays a role in reducing weight and assisting power; and can effectively balance the human body and reduce the falling condition of the patient.
Description
Technical Field
The invention belongs to the field of rehabilitation machinery, and relates to a robot applied to rehabilitation weight-reduction walking assistance.
Background
At present, the main research content of the rehabilitation robot focuses on a rehabilitation prosthesis, an intelligent wheelchair, a rehabilitation manipulator, a robot system for a hospital and the like. The rehabilitation robot is used by a common patient for rehabilitation training, the activity ability of the patient can be improved, the life quality of the patient is improved, the enthusiasm of the patient on life is relived, and the patient can return to a normal life state again, so that the rehabilitation robot is very important to research on the rehabilitation robot. The pneumatic weight-losing walking assisting robot can be worn on a patient body, provides assisting force for helping the patient to support the weight, helps the patient to walk and perform rehabilitation training, and is very helpful for the patient to recover the core muscle group and the nervous system of the lower limbs.
Disclosure of Invention
The invention provides a pneumatic weight-reducing walking assistance robot, which is designed aiming at specific parts of the weight-reducing walking assistance and the robot based on the relation between ergonomics, a robot mechanism and a human body lower limb joint motion mechanism.
In order to achieve the purpose, the invention adopts the technical scheme that:
a pneumatic weight-reducing walking-assisted robot is of a symmetrical structure and mainly comprises five mechanisms: a stool mechanism I, an air cylinder mechanism II, a leg mechanism III, a pneumatic balance air cylinder mechanism IV and a pedal fixing mechanism V.
The stool mechanism I comprises a stool 1, a connecting piece 2 and a hinge 3, and the assembly drawing is shown in figure 4. The center of the bottom of the stool 1 is connected with the top of the connecting piece 2 through threads, and two holes are formed in the bottom of the connecting piece 2 and fixedly assembled with the two hinges 3 through screws.
And the air cylinder mechanism II comprises an air cylinder 4 and a cylindrical pin 5. The cylinder 4 pass through cylindric lock 5 and sit hinge 3 in the bench mechanism I and be connected, simultaneously, the cylinder telescopic link of cylinder 4 and the inside 6 fixed connection of auto-lock square bar of self-lock device above the III of shank mechanism. The two cylinder mechanisms II respectively correspond to the left leg and the right leg of the human body and assist the left leg and the right leg to reduce weight; the supporting force of the cylinder to the human body is transmitted to the hip through the sitting stool 1 instead of acting on the legs of the patient, so that the stress condition of the legs of the patient is greatly reduced, and the function of weight reduction and assistance is effectively played.
The leg mechanism III comprises a self-locking device and a crus supporting rod 10 connected with the self-locking device. The self-locking device comprises a self-locking square rod 6, a self-locking chain 7, a connecting rod 8 and a self-locking cylinder 9, and the structural schematic diagram of the self-locking device is shown in fig. 5. The self-locking chain 7 is connected together similarly to a bicycle chain, a section of the self-locking chain is sleeved on the self-locking square rod 6, and the lower end of the self-locking square rod 6 is connected with the self-locking cylinder 9 through the connecting rod 8. The upper end of the shank support rod 10 is directly connected with the self-locking device, the middle part of the shank support rod is connected with an ankle connecting piece 11 of the pneumatic balance cylinder mechanism IV, the lower end of the shank support rod is connected with the pedal fixing mechanism V, the specific connection mode is that the bottom end of the shank support rod 10 is connected with a spherical hinge 14 of the pedal fixing mechanism V, and the other end of the spherical hinge 14 is connected with a pedal 15.
The pneumatic balance cylinder mechanism iv comprises an ankle connecting member 11, two pneumatic balance cylinders 12 and a pedal connecting member 13, and is assembled in the manner shown in fig. 6. The upper ends of the two pneumatic balance cylinders 12 are connected with an ankle connecting piece 11, the lower ends of the two pneumatic balance cylinders are connected with a pedal connecting piece 13 through a cylindrical pin, and the two pneumatic balance cylinders are connected with a pedal 15 of a pedal fixing mechanism V through the pedal connecting piece 13.
The pedal fixing mechanism V comprises a spherical hinge 14 and a pedal 15, and the assembly mode is shown in figure 7.
Compared with the prior art, the invention has the following beneficial effects:
(1) the pneumatic weight-reducing walking assisting robot is designed by taking the pressure of gravity on the joints of the lower limbs as a starting point when a human body walks as a point of lightening, so that the pressing force of the human body on the joints of the lower limbs when the human body walks is lightened, and the pneumatic weight-reducing walking assisting robot has a good auxiliary effect on the rehabilitation of the lower limbs of the human body.
(2) The weight-reducing power-assisted robot has no knee joint. Compared with the exoskeleton in the market which needs one knee joint, the length of the leg of different people can be automatically adapted without customizing the length of the leg according to different human bodies.
(3) The invention designs a self-locking device which can be locked at any position, and the principle of the self-locking device utilizes weight self-locking to realize mechanism self-locking of human bodies with various weights.
(4) The invention adopts a mechanism of the pneumatic balance cylinder to carry out auxiliary balance on the human body, and can reduce the falling of the patient.
Drawings
FIG. 1 is a schematic view of a human body being worn;
FIG. 2 is an isometric schematic view of a weight loss assist robot;
FIG. 3 is a front view of the weight loss assist robot;
FIG. 4 is a diagram of a bench mechanism apparatus;
FIG. 5 is a schematic view of the self-locking device;
FIG. 6 is a diagram of a pneumatic balancing cylinder mechanism;
FIG. 7 is a view of a footrest securing mechanism arrangement;
in the figure: 1, a seat cushion; 2, connecting pieces; 3, a hinge; 4 cylinders; 5, cylindrical pins; 6 self-locking square rods; 7 self-locking chain; 8 connecting rods; 9, self-locking a cylinder; 10 shank support bars; 11 ankle connecting member; 12 pneumatic balancing cylinders; 13 a footrest connector; 14, spherical hinge; 15 foot pedals.
Detailed Description
The following further describes the specific embodiments of the present invention with reference to the drawings and technical solutions.
The lower limb power-assisted weight-reducing robot is worn according to the posture shown in fig. 1, the power-assisted weight-reducing robot is of a symmetrical structure, and the two structures are consistent. The lower part of the seat stool mechanism I is connected with two air cylinder mechanisms II, the two air cylinder mechanisms II respectively correspond to the left leg and the right leg of a human body and respectively assist the left leg and the right leg to reduce weight, the lower parts of the two air cylinder mechanisms II are respectively connected with a self-locking device of the leg mechanism III, the lower parts of the self-locking devices are connected with a shank supporting rod 10 of the leg mechanism III, and each leg mechanism III is connected with a pedal fixing mechanism V through two pneumatic balance air cylinder mechanisms IV.
During the use, people's buttock is located sits bench 1 top, sits bench 1 and mainly plays the human body supporting role to have certain travelling comfort, in this device, the cylinder is also mainly through sitting bench 1 transmission give people's buttock to human, rather than acting on patient's shank, has greatly alleviateed the atress condition of patient's shank, the effectual effect that subtracts the weight helping hand that plays.
In this device, cylinder 4 in the cylinder mechanism II is connected and is sat between bench mechanism I and the self-lock device, and certain stable atmospheric pressure value that provides through cylinder 4 can transmit the pressure value for sitting bench 1, and then provides an ascending holding power through people's buttock, plays the effect that subtracts heavy helping hand to the human body.
In the device, a self-locking device is also added in a leg device III, the lower end of the leg device III is mainly connected with a self-locking cylinder 9 through a connecting rod 8, when a person walks and the foot of one leg steps on the ground, the self-locking cylinder 9 is retracted through the sensing of a pressure sensor, at the moment, the connecting rod 8 is not in contact with the self-locking chain 7, the self-locking chain 7 is in a gravity free falling state, and the mechanism self-locking is realized because the friction angle between the self-locking chain 7 and the self-locking square rod 6 is larger than the pressure angle; at the moment, the foot of the other movable leg is in a lifted state, when the self-locking cylinder 9 extends out through the sensing of the pressure sensor, the connecting rod 8 props against the self-locking chain 7, the friction angle is smaller than the pressure angle, the mechanism is unlocked, and the leg of the human body can move freely. The designed self-locking device can effectively meet the requirement of free switching of human legs during movement and standing, and the acting force generated by the cylinder passes through the shank supporting rod and the pedal plate and is finally transmitted to the ground to support the weight of the body.
The pneumatic balance cylinder mechanism IV of foot comprises two main pneumatic balance cylinders 12, and through adding two pneumatic balance cylinders 12 in the outside of foot, has shared helping hand cylinder 4's work load to can prevent when the human focus is not in helping hand cylinder 4 top, the condition of falling easily, can effectually balance the human body, and can reduce the condition that the patient fell.
During the use, people's foot is stepped on running-board 15 in running-board fixed establishment V to bind foot and running-board 15 through the bandage, also can install pressure sensor on running-board 15, the numerical value change that obtains through pressure sensor realizes the control to helping hand cylinder 4 and pneumatic balance cylinder 12, and then realizes losing weight's effect to human helping hand.
The above-mentioned embodiments only express the embodiments of the present invention, but not should be understood as the limitation of the scope of the invention patent, it should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the concept of the present invention, and these all fall into the protection scope of the present invention.
Claims (1)
1. A pneumatic weight-reducing walking assistance robot is characterized by comprising a stool mechanism I, a cylinder mechanism II, a leg mechanism III, a pneumatic balance cylinder mechanism IV and a pedal fixing mechanism V, wherein except the stool mechanism I, the four parts are in a bilateral symmetry structure;
the stool mechanism I comprises a stool (1), a connecting piece (2) and a hinge (3); the center of the bottom of the stool (1) is connected with the top of the connecting piece (2) through threads, and the bottom of the connecting piece (2) is connected with the two hinges (3) through screws;
the air cylinder mechanism II comprises an air cylinder (4) and a cylindrical pin (5); the cylinder (4) is connected with the hinge (3) through a cylindrical pin (5), and a cylinder telescopic rod of the cylinder (4) is fixedly connected with a self-locking square rod (6) in a self-locking device of the leg mechanism III; the two cylinder mechanisms II respectively correspond to the left leg and the right leg of a human body and assist the left leg and the right leg to reduce weight, and the supporting force of the cylinders on the human body is transmitted to the hip through the sitting stool (1);
the leg mechanism III sequentially comprises a self-locking device and a shank supporting rod (10) from top to bottom, and the self-locking device comprises a self-locking square rod (6), a self-locking chain (7), a connecting rod (8) and a self-locking cylinder (9); the self-locking chain (7) is sleeved on the self-locking square rod (6), and the lower end of the self-locking square rod (6) is connected with the self-locking cylinder (9) through a connecting rod (8);
the upper end of the shank support rod (10) is connected with a self-locking device, the middle part of the shank support rod is connected with one end of an ankle connecting piece (11) of a pneumatic balance cylinder mechanism IV, the lower end of the shank support rod is connected with a spherical hinge (14) of a pedal fixing mechanism V, and the other end of the spherical hinge (14) is connected with one end of a pedal (15);
the pneumatic balance cylinder mechanism IV comprises an ankle connecting piece (11), two pneumatic balance cylinders (12) and a pedal connecting piece (13); the upper ends of the two pneumatic balance cylinders (12) are connected with the other end of the ankle connecting piece (11), the lower ends of the two pneumatic balance cylinders are connected with the pedal connecting piece (13), and the two pneumatic balance cylinders are connected with the other end of the pedal (15) through the pedal connecting piece (13);
the pedal fixing mechanism V comprises a spherical hinge (14) and a pedal (15);
and a pressure sensor is arranged on the pedal plate (15), and the control of the cylinder (4) and the pneumatic balance cylinder (12) is realized through the numerical value change obtained by the pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810998784.XA CN109124999B (en) | 2018-08-30 | 2018-08-30 | Pneumatic weight-reducing walking power-assisted robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810998784.XA CN109124999B (en) | 2018-08-30 | 2018-08-30 | Pneumatic weight-reducing walking power-assisted robot |
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| Publication Number | Publication Date |
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| CN109124999A CN109124999A (en) | 2019-01-04 |
| CN109124999B true CN109124999B (en) | 2020-06-16 |
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| CN201810998784.XA Active CN109124999B (en) | 2018-08-30 | 2018-08-30 | Pneumatic weight-reducing walking power-assisted robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111956457B (en) * | 2020-09-04 | 2023-03-31 | 郑州第四极机电科技有限公司 | Electric walking aid |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004261622A (en) * | 2004-06-30 | 2004-09-24 | Akira Shimizu | Independent walking supporting machine |
| KR100856844B1 (en) * | 2005-05-27 | 2008-09-05 | 혼다 기켄 고교 가부시키가이샤 | Walking assisting device |
| CN200960258Y (en) * | 2006-10-13 | 2007-10-17 | 华南理工大学 | Combined stick |
| CN201052247Y (en) * | 2007-07-13 | 2008-04-30 | 杨佳慧 | Multifunctional equilibration device for helping disabled person |
| CN201823008U (en) * | 2010-10-26 | 2011-05-11 | 刘晓东 | Human body strengthener |
| CN106420280B (en) * | 2016-12-02 | 2019-09-03 | 华中科技大学 | A kind of exoskeleton device mitigating joint of lower extremity load and measurement support force |
| CN106983638B (en) * | 2017-05-12 | 2023-08-25 | 华中科技大学 | Passive weight-supporting exoskeleton device based on gait phase self-unlocking |
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