CN110384604B

CN110384604B - Walking booster unit with adjustable step

Info

Publication number: CN110384604B
Application number: CN201910417841.5A
Authority: CN
Inventors: 张永康; 尚同同; 李津任; 张万里
Original assignee: Suzhou Vocational University
Current assignee: Suzhou Vocational University
Priority date: 2019-05-20
Filing date: 2019-05-20
Publication date: 2021-07-02
Anticipated expiration: 2039-05-20
Also published as: CN110384604A

Abstract

The invention provides a walking assisting device with adjustable step pitch, which comprises a waist mounting rack, wherein sliding screw rods are symmetrically arranged at two ends of the waist mounting rack, a fixing plate is arranged at the lower end of each sliding screw rod, a fixing column, a convex plate and a cam are arranged on the outer side surface of each fixing plate, a rotating shaft is arranged at the lower end of each fixing plate, a waist-shaped auxiliary limiting frame is connected to the front end of each connecting rod, each convex plate is arranged above the rear end of each connecting rod, a spring is arranged between each convex plate and each connecting rod, the cam is arranged below the rear end of each connecting rod, a locking column is arranged at the lower end of each cam in a matched mode, a motor is arranged on the inner side of each fixing plate, a gear. The advantages are that: when the leg walking device can help people to finish leg walking action, the meshing distance between the pushing rack and the gear can be changed by changing the distance between the locking column on the cam and the center of the cam, so that the step distance for driving the thigh support to drive the legs of people to move away by the rotating shaft is changed, and the application range of the leg walking device is expanded.

Description

Walking booster unit with adjustable step

Technical Field

The invention relates to the technical field of walking power assisting devices, in particular to a walking power assisting device with adjustable step pitch.

Background

The health care problem of population aging becomes a social problem which must be faced and solved in China at present; the old people have a serious influence on the walking speed and the walking distance due to insufficient muscle strength, so that the living activity range and the living quality of the old people are influenced; the old people often need to walk with the help of guardians or by means of a crutch, so that the walking is inconvenient, and the living activity range of the old people is seriously influenced; the walking stick can not provide power, and the weak people can not walk continuously for a long time.

Although many human exoskeleton devices are available on the market, the existing human exoskeleton devices have the following problems:

1) the structure is complex, and a plurality of motors (at least three motors) and connecting devices thereof are needed;

2) the step pitch is fixed, so that the requirement of multiple persons cannot be met, and the application range is narrow;

3) the existence of too many joints and too many motors makes the whole device difficult to control stably;

4) a large number of sensors are required to detect the motion state of the device, which is costly and complicated to control.

Disclosure of Invention

In order to solve the problems, the invention discloses a walking assisting device with adjustable step pitch.

In order to achieve the above purpose, the invention provides the following technical scheme:

the utility model provides a walking booster unit with adjustable step, its characterized in that: comprises a horizontally arranged waist mounting frame, sliding screw rods capable of sliding up and down are symmetrically arranged at two ends of the waist mounting frame, the sliding screw rods are vertically arranged, an upper locking nut and a lower locking nut are respectively arranged at the upper end and the lower end of the sliding screw rods in a matched manner, an upper side and a lower side of the sliding screw rods are respectively arranged at the upper side and the lower side of the waist mounting frame, a vertically arranged fixed plate is arranged at the lower end of the sliding screw rods, a fixed column, a convex plate and a cam are arranged on the outer side surface of the fixed plate, a rotating shaft rotationally connected with the fixed plate is arranged at the lower end of the fixed plate, the fixed column is vertically arranged with the fixed plate, a connecting rod is rotationally connected onto the fixed column, a buckle is arranged at the outer end of the fixed column in a matched manner, a through hole matched with the fixed column, the upper portion of the rear end of connecting rod is arranged in to the flange, and be equipped with the spring between flange and the connecting rod, the upper and lower both ends of spring are connected with the rear end of flange and connecting rod respectively, the rear end below of connecting rod is arranged in to the cam, the lower extreme cooperation of cam is installed and is connected with cam looks vertically locking post, the inboard of fixed plate is equipped with the motor, the motor passes through worm gear group and is connected with cam drive, the outer end cover of rotation axis is equipped with the gear, and the supplementary spacing frame of waist type is arranged in between gear and fixed plate, it is connected with the push rod to rotate on the locking post, the rear end and the locking post of push rod rotate and be connected, the anterior segment bottom is equipped with the propulsion rack with gear looks adaptation, the outer end of rotation axis still is equipped with the thigh support, the upper end of thigh support and the outer end fixed connection of rotation axis.

Further, the upper and lower two sections of cam are far point segmental arc and near point segmental arc respectively, and pass through the fillet transition between far point segmental arc and the near point segmental arc, are equipped with waist type adjustment tank between cam center and the near point segmental arc, and waist type adjustment tank inboard is equipped with tooth limit, and the waist type adjustment tank is arranged in to the inner of locking post, and the inner of locking post is equipped with the cooperation and installs hexagon nut, hexagon nut and tooth limit looks adaptation.

Furthermore, a balancing weight is arranged on the edge of the cam, which is close to the far-point arc section.

Furthermore, a horizontally arranged strip-shaped sliding groove is arranged above the front end of the push rod.

Further, the outside of the waist-shaped auxiliary limiting frame is provided with a convex column, a lifting rod is rotatably connected onto the convex column, a sliding column matched with the strip-shaped sliding groove is arranged in the lower end of the lifting rod, and the sliding column is slidably arranged in the strip-shaped sliding groove.

Further, the waistband is installed in the front side cooperation of waist mounting bracket, and the quad slit has been seted up at the middle part of waist mounting bracket, is equipped with the group battery in the quad slit, and the top of waist mounting bracket is equipped with the control button rather than being connected.

Furthermore, the inner side surface and the outer side surface of the fixed plate are symmetrically provided with protective covers.

Compared with the prior art, the invention has the beneficial effects that:

1. the far point arc section and the near point arc section on the cam are respectively matched with the connecting rod and drive the pushing rack on the push rod to intermittently engage with the gear on the rotating shaft to move, so that people can finish the walking action of legs, and the leg walking device is ingenious in design and simple to operate;

2. the meshing distance between the pushing rack and the gear is changed by changing the distance between the locking column on the cam and the center of the cam, so that the step distance for driving the thigh support to drive the legs to move away by the rotating shaft is changed, the use is convenient, and the application range of the device is expanded.

Drawings

Fig. 1 is a schematic structural view of a walking assisting device with adjustable step pitch according to the present invention.

Fig. 2 is a schematic structural view of the step-adjustable walking assisting device of the present invention with the protective cover and the fixing plate on one side removed.

Fig. 3 is a partially enlarged view of a in fig. 2.

Fig. 4 is a partially enlarged view of B in fig. 2.

Fig. 5 is a partially enlarged view of C in fig. 4.

Fig. 6 is a schematic structural view of the walking assisting device with adjustable step size, with the protective cover removed.

Fig. 7 is a partial enlarged view of D in fig. 4.

List of reference numerals:

1-waist mounting rack, 12-battery pack, 13-waistband and 14-control button; 2-sliding screw, 21-upper locking nut, 22-lower locking nut; 3-thigh support, 31-knee joint support plate, 32-tightening belt, 33-arc support plate, 34-rotating shaft and 35-gear; 4-connecting rod, 41-fixing column, 42-fastener; 5-cam, 51-far point arc section, 52-near point arc section, 53-waist-shaped adjusting groove, 54-balancing weight and 55-tooth flank; 6-locking column, 61-hexagonal nut; 7-motor, 71-worm gear group; 8-push rod, 81-push rack, 82-strip chute; 9-waist type auxiliary limit frame, 91-convex column, 92-lifting rod, 93-sliding column; 101-a fixed plate; 102-a convex plate; 103-a spring; 104-protective cover.

Detailed Description

The present invention will be further illustrated with reference to the accompanying drawings and specific embodiments, which are to be understood as merely illustrative of the invention and not as limiting the scope of the invention. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.

As shown in the figure, the walking assisting device with the adjustable step pitch comprises a horizontally arranged waist mounting frame 1, sliding screw rods 2 capable of sliding up and down are symmetrically arranged at two ends of the waist mounting frame 1, the sliding screw rods 2 are vertically arranged, an upper locking nut 21 and a lower locking nut 22 are respectively installed at the upper end and the lower end of each sliding screw rod 2 in a matched mode, the upper locking nut 21 and the lower locking nut 22 are respectively arranged at the upper side and the lower side of the waist mounting frame 1, a vertically arranged fixing plate 101 is arranged at the lower end of each sliding screw rod 2, a fixing column 41, a convex plate 102 and a cam 5 are arranged on the outer side face of each fixing plate 101, a rotating shaft 34 rotatably connected with the fixing plate 101 is arranged at the lower end of each fixing plate 101, a connecting rod 4 is rotatably connected onto each fixing column 41, a buckle 42 is installed at the outer end of each fixing column 41 in a matched mode, the connecting rod 4 is limited between the fixing plate 101 and the buckle 42 by the buckle 42, the waist-shaped auxiliary limiting frame 9 is sleeved on the rotating shaft 34, the convex plate 102 is arranged above the rear end of the connecting rod 4, the spring 103 is arranged between the convex plate 102 and the connecting rod 4, the upper end and the lower end of the spring 103 are respectively connected with the convex plate 102 and the rear end of the connecting rod 4, the cam 5 is arranged below the rear end of the connecting rod 4, the lower end of the cam 5 is provided with the locking column 6 which is vertical to the cam 5 in a matching way, the inner side of the fixing plate 101 is provided with the motor 7, the motor 7 is in transmission connection with the cam 5 through the worm and gear set 71, the outer end of the rotating shaft 34 is sleeved with the gear 35, the waist-shaped auxiliary limiting frame 9 is arranged between the gear 35 and the fixing plate 101, the locking column 6 is rotatably connected with the push rod 8, the rear end of the push rod 8 is rotatably connected with the locking column, the upper end of the thigh support 3 is fixedly connected with the outer end of the rotating shaft 34, the knee joint supporting plate 31 is arranged on the front side of the lower end, the arc supporting plate 33 is arranged on the inner side, and the tightening belt 32 is arranged on the knee joint supporting plate 31 in a matching way.

In this embodiment, the upper and lower two sections of cam 5 are far point arc 51 and near point arc 52 respectively, and pass through the fillet transition between far point arc 51 and the near point arc 52, are equipped with waist type adjustment tank 53 between cam 5 center and the near point arc 52, and waist type adjustment tank 53 inboard is equipped with tooth limit 55, and waist type adjustment tank 53 is arranged in to the inner of locking post 6, and the inner of locking post 6 is equipped with the cooperation and installs hexagon nut 61, hexagon nut 61 and tooth limit 55 looks adaptation.

In this embodiment, a weight 54 is provided on the cam 5 near the edge of the far arc 52.

In the present embodiment, a horizontally disposed strip-shaped chute 82 is provided above the front end of the push rod 8.

In this embodiment, the outside of the waist-shaped auxiliary limiting frame 9 is provided with a convex column 91, the convex column 91 is rotatably connected with a lifting rod 92, the lower end of the lifting rod 92 is provided with a sliding column 93 matched with the strip-shaped sliding groove 82, and the sliding column 93 is slidably arranged in the strip-shaped sliding groove 82.

In this embodiment, the waistband 13 is installed in the cooperation of the front side of waist mounting bracket 1, and the quad slit has been seted up at the middle part of waist mounting bracket 1, is equipped with group battery 12 in the quad slit, and the top of waist mounting bracket 1 is equipped with control button 14 rather than being connected.

In this embodiment, the protection covers 104 are symmetrically disposed on the inner and outer sides of the fixing plate 101.

When the invention is used, the waistband 13 is firstly tightened at the waist position, the waist mounting rack 1 is tightened on the waist, the sliding screw 2 is adjusted to ensure that the center of the fixing plate 101 is positioned at the femoral greater trochanter of the human body, and then the sliding screw 2 is locked on the waist mounting rack 1 through the upper locking nut 21 and the lower locking nut 22; then the knee joint splint 31 is clamped at the inner bending part of the knee joint and is bound by a binding belt 32; when the walking assistance is needed, the right leg motor 7 is electrified through the control button 14, the motor 7 enables the cam 5 to rotate anticlockwise through the worm gear set 71, and at the moment, the cam 5 starts to rotate from the initial position at the joint of the near point arc section 52 of the connecting rod 4 to the joint of the far point arc section 51 and the connecting rod 4; when the arc section 51 of the upper far point of the cam 5 is jointed with the connecting rod 4, the other end of the connecting rod 4 drives the waist-shaped auxiliary limiting frame 9 to press down on the rotating shaft 34, at the moment, the lifting rod 92 enables the pushing rack 81 to be meshed with the gear 35 through the strip-shaped sliding groove 82, meanwhile, in the rotating process of the cam 5, the push rod 8 drives the pushing rack 81 to move backwards, and at the moment, the thigh support 3 at the lower end of the rotating column drives the thigh to move forwards by a small step; when the left leg motor 7 is powered on to move forwards, the arc section 52 close to the point of the cam 5 on the right leg fixing plate 101 is attached to the connecting rod 4, the waist-shaped auxiliary limiting frame 9 at the other end of the connecting rod 4 drives the pushing rack 81 on the push rod 8 to be separated from the gear 35 through the lifting rod 92, the right leg moves to the back of the body through gravity inertia, when the right leg moves forwards, the pushing rack 81 on the left leg can be separated from the gear 35 to move to the back of the body, and the leg assisting walking is realized in the process.

When adjusting the step distance to different people, locking post 6 passes through hexagon nut 61 and locks the different positions on waist type adjustment tank 53, at this moment in cam 5 rotation process, the distance that advances rack 81 and gear 35 meshing on the drive push rod 8 changes with the change of cam 5 centre of circle distance that locking post 6 and the one end of push rod 8 are connected to let rotation axis 34 drive thigh support 3 lifting different height, thereby realize the change of leg walking in-process distance.

The technical means disclosed in the invention scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.

Claims

1. The utility model provides a walking booster unit with adjustable step, its characterized in that: comprises a horizontally arranged waist mounting rack (1), sliding screw rods (2) capable of sliding up and down are symmetrically arranged at two ends of the waist mounting rack (1), the sliding screw rods (2) are vertically arranged, an upper locking nut (21) and a lower locking nut (22) are respectively installed at the upper end and the lower end of each sliding screw rod (1) in a matched manner, the upper locking nut (21) and the lower locking nut (22) are respectively arranged at the upper side and the lower side of each sliding screw rod (2), a vertically arranged fixing plate (101) is arranged at the lower end of each sliding screw rod (2), a fixing column (41), a convex plate (102) and a cam (5) are arranged on the outer side surface of each fixing plate (101), a rotating shaft (34) rotatably connected with the fixing plate (101) is arranged at the lower end of each fixing plate (101), each fixing column (41) is vertically arranged with each fixing plate (101), a connecting, the middle part of the connecting rod (4) is provided with a through hole matched with the fixed column (41), the front end of the connecting rod is rotatably connected with a waist-shaped auxiliary limiting frame (9), the buckle (42) limits the connecting rod (4) between the fixed plate (101) and the buckle (42), the waist-shaped auxiliary limiting frame (9) is sleeved on the rotating shaft (34), the convex plate (102) is arranged above the rear end of the connecting rod (4), a spring (103) is arranged between the convex plate (102) and the connecting rod (4), the upper end and the lower end of the spring (103) are respectively connected with the convex plate (102) and the rear end of the connecting rod (4), the cam (5) is arranged below the rear end of the connecting rod (4), the lower end of the cam (5) is provided with a locking column (6) vertical to the cam (5) in a matching manner, the inner side of the fixed plate (101) is provided with a motor (7), the motor (7) is in transmission connection with the cam (5) through a worm gear set (71), the waist-shaped auxiliary limiting frame (9) is arranged between the gear (35) and the fixed plate (101), the locking column (6) is rotatably connected with a push rod (8), the rear end of the push rod (8) is rotatably connected with the locking column (6), the bottom of the front section is provided with a pushing rack (81) matched with the gear (35), the outer end of the rotating shaft (34) is also provided with a thigh support (3), the upper end of the thigh support (3) is fixedly connected with the outer end of the rotating shaft (34), the front side of the lower end is provided with a knee joint support plate (31), the inner side is provided with an arc section support plate (33), the knee joint support plate (31) is provided with a tightening belt (32) in a matching manner, the upper part of the front end of the push rod (8) is provided with a horizontally arranged bar-shaped sliding chute (82), the outer side of the waist-shaped auxiliary limiting frame (9) is provided with a convex column (91), the convex column (92) is rotatably connected with a lifting rod (, and the sliding column (93) is arranged in the strip-shaped sliding groove (82) in a sliding way.

2. The walking assisting device with adjustable step pitch according to claim 1, characterized in that: the upper and lower two sections of cam (5) are far point segmental arc (51) and near point segmental arc (52) respectively, and pass through the fillet transition between far point segmental arc (51) and the near point segmental arc (52), be equipped with waist type adjustment tank (53) between cam (5) center and the near point segmental arc (52), waist type adjustment tank (53) inboard is equipped with tooth limit (55), arrange waist type adjustment tank (53) in the inner of locking post (6), and the inner of locking post (6) is equipped with the cooperation and installs hexagon nut (61), hexagon nut (61) and tooth limit (55) looks adaptation.

3. The walking assisting device with adjustable step pitch according to claim 2, characterized in that: a balancing weight (54) is arranged on the edge of the cam (5) close to the far point arc section (52).

4. The walking assisting device with adjustable step pitch according to claim 1, characterized in that: waistband (13) are installed in the front side cooperation of waist mounting bracket (1), and the quad slit has been seted up at the middle part of waist mounting bracket (1), is equipped with group battery (12) in the quad slit, and the top of waist mounting bracket (1) is equipped with rather than being connected control button (14).

5. The walking assisting device with adjustable step pitch according to claim 1, characterized in that: the inner side and the outer side of the fixed plate (101) are symmetrically provided with protective covers (104).