CN111923017A - Power-assisted walking device based on ratchet wheel-pawl mechanism and worm and gear speed reduction motor - Google Patents
Power-assisted walking device based on ratchet wheel-pawl mechanism and worm and gear speed reduction motor Download PDFInfo
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- CN111923017A CN111923017A CN202010631060.9A CN202010631060A CN111923017A CN 111923017 A CN111923017 A CN 111923017A CN 202010631060 A CN202010631060 A CN 202010631060A CN 111923017 A CN111923017 A CN 111923017A
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- 230000009467 reduction Effects 0.000 title claims description 14
- 210000000689 upper leg Anatomy 0.000 claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 230000001681 protective effect Effects 0.000 claims abstract description 14
- 210000000629 knee joint Anatomy 0.000 claims description 12
- 210000000078 claw Anatomy 0.000 claims description 8
- 230000009194 climbing Effects 0.000 claims description 8
- 239000010408 film Substances 0.000 claims 1
- 239000010409 thin film Substances 0.000 claims 1
- 210000002414 leg Anatomy 0.000 description 12
- 230000009471 action Effects 0.000 description 8
- 230000032683 aging Effects 0.000 description 7
- 210000003141 lower extremity Anatomy 0.000 description 5
- 230000006872 improvement Effects 0.000 description 4
- 238000004146 energy storage Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 241001166076 Diapheromera femorata Species 0.000 description 1
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- 230000007423 decrease Effects 0.000 description 1
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- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
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Abstract
The invention provides a power-assisted walking device based on a ratchet-pawl mechanism and a worm gear speed-reducing motor, which comprises a waistband, wherein two sides of the waistband are symmetrically provided with a rack, the outer side of the rack is provided with a protective shell, the worm gear speed-reducing motor is arranged outside the protective shell and is connected with a transmission shaft, the middle part of the transmission shaft is provided with a driving wheel, the inner side and the outer side of the driving wheel are respectively provided with a ratchet wheel A and a ratchet wheel B, the outer sides of the ratchet wheel A and the ratchet wheel B are respectively provided with a driven wheel fixing plate A and a driven wheel fixing plate B, the lower part of the driven wheel fixing plate A is provided with a thigh supporting plate through a thigh supporting plate fixing part, the lower part of the inner side of the driving wheel is. Compared with the prior art, the walking aid solves the problem that the old people are difficult to walk for a long time, and has the advantages of stopping along with walking, adjustable walking speed, safety, reliability and low cost.
Description
Technical Field
The invention relates to the technical field of walking assisting devices, in particular to an assisting walking device based on a ratchet wheel and pawl mechanism and a worm and gear speed reducing motor.
Background
China has already come into an age of the aging population. According to the prediction of the research report for predicting the aging development trend of the Chinese population, the China is in the rapid aging stage of the population in the first twenty years of the century, the aging of the population in the middle thirty years of the century is accelerated to develop, the aging of the population is stable and severe aging stage in the last fifty years of the century, and the aging of the population is accompanied with the whole century of China. The muscular strength of the elderly gradually decreases with age, and is most remarkably expressed in the attenuation of the strength of the lower limbs, so that the mobility and the quality of life of the elderly are affected. The auxiliary walking device can solve the problem of the weakness of the lower limbs of the old to lift the legs to a certain extent.
At present, the walking aid for the elderly mainly comprises: (1) walking sticks, unpowered wheelchairs, walking-aid frames and the like. Such an assistive device can help the elderly to keep the balance of movement or move instead of walk, but it is necessary to compensate for the deficiency of the strength of the lower limbs by the combined action of the strength of the upper limbs and the walking stick (such as a walking aid frame) without external power assistance. The old still can feel hard in the process of long-time walking, does not fundamentally solve the problem that the lower limbs of old person lift the leg powerless (2) unpowered helping hand walking machinery. Like the 'Ailaiqi' unpowered walking rehabilitation device, the spring compression energy storage design is adopted, the walking efficiency is improved to a certain degree, but the energy storage is still realized by the legs of the old, and the problem that the old is tired of walking for a long time is not fundamentally solved. When standing still, both legs still receive forward power, and the travelling comfort is relatively poor. And the power-assisted mode is single, and the use requirements of different old people groups are difficult to meet. (3) Powered assisted walking machines, such as Honda walking assistance in the Honda scientific and technological industry, have certain problems, although the problem of walking fatigue can be solved to a certain extent. On one hand, the structure is complex, and the fixed mode is not consistent with the walking habit of the old. On the other hand, the device is mainly used for assisting a user in walking training, and is not worn for a long time instead of walking. In addition, the power-assisted walking machine is provided with detection equipment with a high price, so that the overall cost is very high, and the equipment is difficult to maintain. Like the lightweight waist exoskeleton "ATOUN MODEL Y" from the exoskeleton manufacturing company ATOUN in Japan, which is sold at a price of about 3.5 ten thousand RMB, common consumers are hard to bear. In view of the above reasons, the invention provides the auxiliary walking device which is simple to operate, low in cost, safe and reliable, and can actively adapt to the walking habits of different old people, so that the moving range of the old people is enlarged, the strength attenuation of the lower limbs of the old people is delayed, and the requirements of the old people on daily life and long-time walking are met.
Disclosure of Invention
In order to solve the problems, the invention discloses a power-assisted walking device based on a ratchet wheel and pawl mechanism and a worm and gear speed reduction motor, which solves the problem that the old people are difficult to walk for a long time and has the advantages of stopping along with walking, adjustable step speed, safety, reliability and low cost.
The specific scheme is as follows:
helping hand running gear based on ratchet pawl mechanism and worm gear reduction motor, its characterized in that: the waistband comprises a waistband, wherein the left side and the right side of the waistband are symmetrically provided with a rack, the outer side of the rack is provided with a protective shell matched with the rack, a cavity is formed between the rack and the protective shell, a worm gear speed reducing motor is arranged outside the protective shell, the output end of the worm gear speed reducing motor is matched and connected with a transmission shaft horizontally arranged in the cavity, the middle part of the transmission shaft is fixedly provided with a driving wheel, the inner side and the outer side of the driving wheel are respectively provided with a ratchet wheel A and a ratchet wheel B, the ratchets of the ratchet wheel A and the ratchet wheel B are opposite, the outer sides of the ratchet wheel A and the ratchet wheel B are respectively fixedly provided with a driven wheel fixing plate A and a driven wheel fixing plate B, the driven wheel fixing plate A and the driven wheel fixing plate B are connected through fixing rods, the lower part of the driven wheel fixing plate A is provided with a thigh supporting plate through a thigh supporting plate fixing part, the lower part of the inner side of the driving wheel is rotatably connected with a pawl A through a fixing part A, the rear end of the pawl A is rotatably connected with the fixing part A, the front end of the pawl A is a pawl head and is matched with the ratchet of the ratchet wheel A, the upper part of the front end pawl head of the pawl A is provided with an electromagnet A in a matching way, the middle part of the electromagnet A is provided with a push rod A which is electrified and slides downwards in a matching way, the lower end of the push rod A is contacted with the upper part of the front end pawl head of the pawl A, a spring fixing part A is further arranged above the front section of the pawl A, the front section of the pawl A is connected with the spring fixing part A through a spring A, the electromagnet A and the spring fixing part A are both fixedly arranged on the inner side, the front end is a claw head and is matched with a ratchet of a ratchet wheel B, an electromagnet B is installed on the upper portion of the front end claw head of a pawl B in a matched mode, a push rod B which is electrified and slides downwards is installed in the middle of the electromagnet B in a matched mode, the lower end of the push rod B is in contact with the upper portion of the front end claw head of the pawl B, a spring fixing piece B is further arranged above the front section of the pawl B, the front section of the pawl B is connected with the spring fixing piece B through the spring B, the electromagnet B and the spring fixing piece B are both fixedly installed on the outer side of a driving wheel, and a thigh fixing band is arranged on the inner side.
As a further improvement of the invention, two knee joint sensors which are arranged up and down are arranged below the thigh fixing belt, and a film pressure sensor is arranged below the knee joint sensors.
As a further improvement of the invention, the lower part of the inner side of the frame is provided with a sensor A and a sensor B which are arranged in the front and at the back.
As a further improvement of the invention, the rear side of the waistband is also provided with a power supply module and a control module, and the control module is in signal connection with a sensor A, a sensor B, a worm gear speed reducing motor, a knee joint sensor, a film pressure sensor, an electromagnet A and an electromagnet B.
As a further improvement of the invention, the control module is connected with a control panel, and the control panel is provided with an electric quantity display screen, a power switch, a pace speed adjusting button, an alarm, a daily walking mode button and a stair climbing mode button.
The invention has the beneficial effects that:
1. the device combines a mechanical technology and a control technology, has adjustable step speed, and can better adapt to the walking habit of the old people when walking and stopping;
2. early adaptive training is not required;
3. when a worm and gear speed reducing motor or an electrical element in the device breaks down, the control module can automatically cut off power, and the thigh supporting plate is in a free rotation state under the condition of power failure, so that the occurrence of an accident situation can be effectively prevented;
4. two operation modes are provided, so that power can be provided for a user in different walking environments;
5. compared with the similar products in the market, the product has low price and strong practicability.
Drawings
Fig. 1 is a schematic structural diagram of a power-assisted walking device based on a ratchet-pawl mechanism and a worm and gear speed reduction motor.
Fig. 2 is a schematic view of the structure of fig. 1 with the mounting bracket and the waistband removed.
Fig. 3 is a schematic view of the left side part of fig. 2.
Fig. 4 is a front view of fig. 3 with a frame and the like removed and a rear view of the worm gear reduction motor and the protective case removed.
Fig. 5 is a schematic structural view of fig. 4 with a driven wheel fixing plate removed.
Fig. 6 is a partially enlarged view of a in fig. 5.
Fig. 7 is a schematic structural view of fig. 6 without the motor, the thigh support plate, the protective shell, and the like.
Fig. 8 is a partial enlarged view of B in fig. 5.
Fig. 9 is a schematic view of the structure of fig. 8 with the frame, the bearings, the thigh support plates, the motor shaft and the fixing rods removed.
FIG. 10 is a schematic view of a control panel
List of reference numerals:
1-a power supply module, 11-a control module, 12-a waistband, 13-a sensor A, 14-a sensor B, 2-a worm gear motor, 21-a transmission shaft, 22-a transmission bearing A, 23-a transmission bearing B, 3-a protective shell, 31-a frame, 32-a driven wheel fixing plate A, 33-a fixing rod, 34-a driven wheel fixing plate B, 4-a thigh supporting plate, 41-a thigh fixing belt, 42-a thigh supporting plate fixing part, 5-a knee joint sensor, 6-a film pressure sensor, 7-a control panel, 71-a power display screen, 72-a power switch, 73-a step speed adjusting button, 74-an alarm, 75-a daily walking mode button and 76-a stair climbing mode button, 8-ratchet wheel A, 81-pawl A, 82-fixed part A, 83-spring A, 84-spring fixed part A, 85-electromagnet A, 86-driving wheel, 9-ratchet wheel B, 91-pawl B, 92-fixed part B, 93-spring B, 94-spring fixed part B and 95-electromagnet B.
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 figures, the power-assisted walking device based on the ratchet-pawl mechanism and the worm-gear speed-reducing motor comprises a waist-binding belt 12, racks 31 are symmetrically arranged on the left side and the right side of the waist-binding belt 12, protective housings 3 matched with the racks 31 are arranged on the outer sides of the racks 31, cavities are formed in the front of the racks 31 and the front of the protective housings 3, worm-gear speed-reducing motors 2 are arranged outside the protective housings 3, output ends of the worm-gear speed-reducing motors 2 are connected with transmission shafts 21 horizontally arranged in the cavities in a matched mode, driving wheels 86 are fixedly arranged in the middle of the transmission shafts 21, ratchets A8 and ratchet B9 are arranged on the inner sides and the outer sides of the driving wheels 86 respectively, ratchets A8 and ratchet B9 are opposite, driven wheel fixing plates A32 and driven wheel fixing plates B34 are fixedly arranged on the outer sides of the ratchets A8 and ratchet B9 respectively, driven wheel fixing plates A32 and driven wheel fixing plates B34 The lower part of a driven wheel fixing plate A32 is provided with a thigh supporting plate 4 through a thigh supporting plate fixing piece 42, the lower part of the inner side of a driving wheel 86 is rotatably connected with a pawl A81 through a fixing piece A82, the rear end of the pawl A81 is rotatably connected with a fixing piece A82, the front end is a pawl head and is matched with the ratchet teeth of a ratchet wheel A8, the upper part of the front end pawl head of the pawl A81 is matched and provided with an electromagnet A85, the middle part of the electromagnet A85 is matched and provided with a push rod A which is electrified and slides downwards, the lower end of the push rod A is contacted with the upper part of the front end pawl head of the pawl A81, a spring fixing piece A84 is further arranged above the front section of the pawl A81, the front section of the pawl A81 is connected with a spring fixing piece A84 through a spring A83, the electromagnet A85 and the ratchet teeth of the spring fixing piece A84 are fixedly arranged on the inner side of the driving wheel 86, the lower part of the outer side of the driving wheel 86 is rotatably connected, an electromagnet B95 is installed on the upper portion of a front end claw head of the pawl B91 in a matched mode, a push rod B which is electrified and slides downwards is installed in the middle of the electromagnet B95 in a matched mode, the lower end of the push rod B is in contact with the upper portion of the front end claw head of the pawl B91, a spring fixing piece B94 is further arranged above the front section of the pawl B91, the front section of the pawl B91 is connected with the spring fixing piece B94 through a spring B93, the electromagnet B95 and the spring fixing piece B94 are fixedly installed on the outer side of the driving wheel 86, and a thigh fixing belt 41 is arranged on the inner side.
In the present embodiment, two knee joint sensors 5 are disposed vertically below the thigh fixing straps 41, and a film pressure sensor 6 is disposed below the knee joint sensors 5.
In the present embodiment, the lower part of the inner side of the frame 31 is provided with a sensor a13 and a sensor B14 arranged in the front and rear.
In the embodiment, the power module 1 and the control module 11 are further disposed on the rear side of the waistband 12, and the control module 11 is in signal connection with the sensor a13, the sensor B14, the worm gear speed reduction motor 2, the knee joint sensor 5, the film pressure sensor 6, the electromagnet a85 and the electromagnet B95.
In this embodiment, the control module 11 is connected to a control panel 7, and the control panel 7 is provided with a power display 71, a power switch 72, a pace adjusting button 73, an alarm 74, a daily walking mode button 75, and a stair climbing mode button 76.
The working principle and the using steps of the invention are as follows:
1. when the power switch 72 is pressed down, the device is electrified, and the electromagnet A85 and the electromagnet B95 are not electrified, so that the pawl A81 and the ratchet wheel A8 and the pawl B91 and the ratchet wheel B9 are in a separated state under the action of the spring A83 and the spring B93.
2. A daily walking mode button 75 and a climbing mode button 76 are provided on the control panel 7, and the climbing mode is selected.
3. The step speed adjusting button 73 is adjusted to change the rotating speed of the worm gear speed reducing motor 2, so that the step speed adjustment is realized.
4. The left (right) leg moves forward, when the thigh supporting plate 4 rotates in the vertical direction, the sensor B14 is pressed to send a signal to the control module 11, the worm gear speed-reducing motor 2 rotates positively to drive the driving wheel 86 to rotate clockwise, meanwhile, the electromagnet A85 is electrified and attracted (the electromagnet is reversely arranged), the pawl A81 is pushed to rotate anticlockwise, the pawl A81 and the ratchet A8 are locked, finally, the worm gear speed-reducing motor 2 drives the thigh supporting plate 4 to rotate clockwise through the driving wheel 86, the pawl A81, the ratchet A8 and the thigh supporting plate fixing piece 42, and the leg lifting action is achieved. In the process of lifting the legs, the knee joint sensor 5 detects the angle between the thigh and the shank, and judges whether the swing assistance is finished (when the thigh is in a vertical state, the knee joint sensor 5 is pressed to send a signal to the control module 11).
5. The film pressure sensor 6 is arranged on the sole (the film pressure sensor 6 is long-strip-shaped, and can ensure that a signal is sent out after the sole or heel of a person touches the ground), when the left foot (right foot) touches the ground, the film pressure sensor 6 is pressed to send out a signal to the control module 11, the worm gear speed reducing motor 2 rotates reversely to drive the driving wheel 86 to rotate anticlockwise, meanwhile, the electromagnet B95 is electrified and attracted, the electromagnet A85 is de-electrified, the pawl A81 is separated from the ratchet wheel A8 under the action of the pulling force of the spring A83, the electromagnet B95 pushes the pawl B91 to rotate clockwise, so that the pawl B91 is locked with the ratchet wheel 493B 9, and finally, the worm gear speed reducing motor 2 drives the thigh supporting plate 4 to rotate anticlockwise through the driving wheel 86, the pawl B91, the.
6. When the thigh planker 4 rotates backwards in the vertical direction, the sensor B14 is pressed to send a signal to the control module 11, the worm gear speed reducing motor 2 stops rotating, and the electromagnet B95 is powered off. The left (right) leg then moves rearward and the pawl B91 disengages from the ratchet B8 under the tension of the spring B93. At this time, the pawl a81, the pawl B91, the ratchet A8 and the ratchet B9 are all in a separated state, and the thigh plate 4 rotates with almost no extra load.
7. And (4) repeating the steps 3, 4, 5 and 6 on the right (left) leg to realize the walking assistance.
8. When the daily walking mode is selected, in the step 5, after the foot touches the ground, the film pressure sensor 6 is pressed to send a signal to the control module 11, the worm gear speed reducing motor 2 stops after rotating for one circle, so that the pawl A81 is conveniently separated from the ratchet wheel A8 under the action of the pulling force of the spring A83 (the pawl B91 and the ratchet wheel B9 are in a separated state before), the leg folding action is realized under the action of forward movement of the center of a human body, the running time speed reducing energy consumption of the worm gear speed reducing motor 2 is reduced, and other steps are the same as the stair climbing mode.
9. The device can realize two operation modes: in the first mode, the daily walking mode only has swinging assistance; and the second mode is a stair climbing mode, and provides swing assistance and support assistance.
10. The device stops working when the power switch 72 is pressed, and the thigh support plate 4 is in a freely rotatable state.
11. When the thigh moves to the sensor A13, the human leg reaches the maximum angle with the vertical direction, and the worm gear reduction motor 2 stops rotating, thereby ensuring the safety of the user.
12. The user can know the remaining power of the power module 1 from the power display screen 71 on the control panel 7, and the alarm 74 gives an alarm when the power is lower than 10%.
13. When the worm gear speed reducing motor 2 fails or an electrical element fails, the alarm 74 gives an alarm, and the control module 11 automatically cuts off the power supply. The left (right) leg moves to drive the driven wheel fixing plate 32 to rotate, the pawl A81 and the ratchet wheel A8 are separated from the pawl B91 and the ratchet wheel B9 under the action of the pulling force of the spring A83 and the spring B93, and no additional load is generated when the wearer normally walks.
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.
Claims (5)
1. Helping hand running gear based on ratchet pawl mechanism and worm gear reduction motor, its characterized in that: the waistband comprises a waistband (12), wherein racks (31) are symmetrically arranged on the left side and the right side of the waistband (12), a protective shell (3) matched with the racks (31) is arranged on the outer side of the racks (31), a cavity is formed between the racks (31) and the protective shell (3), a worm gear speed reducing motor (2) is arranged outside the protective shell (3), the output end of the worm gear speed reducing motor (2) is matched and connected with a transmission shaft (21) horizontally arranged in the cavity, a driving wheel (86) is fixedly arranged in the middle of the transmission shaft (21), a ratchet wheel A (8) and a ratchet wheel B (9) are respectively arranged on the inner side and the outer side of the driving wheel (86), the ratchet wheels of the ratchet wheel A (8) and the ratchet wheel B (9) are opposite, and a driven wheel fixing plate A (32) and a driven wheel fixing plate B (34) are respectively and fixedly arranged, the driven wheel fixing plate A (32) and the driven wheel fixing plate B (34) are connected through a fixing rod (33), the middle parts of the driven wheel fixing plate A (32) and the driven wheel fixing plate B (34) are respectively in rotary connection with a transmission shaft (21) through a transmission bearing A (22) and a transmission bearing B (23), a thigh supporting plate (4) is installed on the lower part of the driven wheel fixing plate A (32) through a thigh supporting plate fixing part (42), a pawl A (81) is rotatably connected to the lower part of the inner side of a driving wheel (86) through a fixing part A (82), the rear end of the pawl A (81) is rotatably connected with the fixing part A (82), the front end of the pawl A is a pawl head and is matched with a ratchet of a ratchet wheel A (8), an electromagnet A (85) is installed on the upper part of the pawl head of the front end of the pawl A (81) in a matched mode, a push rod A, the lower end of the push rod A is in contact with the upper portion of a front end claw head of a pawl A (81), a spring fixing piece A (84) is further arranged above the front section of the pawl A (81), the front section of the pawl A (81) is connected with the spring fixing piece A (84) through a spring A (83), an electromagnet A (85) and the spring fixing piece A (84) are fixedly installed on the inner side of a driving wheel (86), the lower portion of the outer side of the driving wheel (86) is rotatably connected with a pawl B (91) through a fixing piece B (92), the rear end of the pawl B (91) is rotatably connected with the fixing piece B (92), the front end is a claw head and is matched with a ratchet of a ratchet B (9), an electromagnet B (95) is installed on the upper portion of the front end claw head of the pawl B (91) in a matched mode, a push rod B which is electrified to slide downwards is installed in the matched with the middle portion of the electromagnet B (95), and the lower end of the push rod B is in contact with, spring fixing parts B (94) are further arranged above the front sections of the pawls B (91), the front sections of the pawls B (91) are connected with the spring fixing parts B (94) through springs B (93), the electromagnets B (95) and the spring fixing parts B (94) are fixedly mounted on the outer side of the driving wheel (86), and thigh fixing belts (41) are arranged on the inner sides of the lower ends of the thigh supporting plates (4).
2. The power-assisted walking device based on the ratchet-pawl mechanism and the worm-gear speed reduction motor as claimed in claim 1, wherein: the knee joint sensor (5) is arranged below the thigh fixing belt (41) in an up-and-down mode, and the thin film pressure sensor (6) is arranged below the knee joint sensor (5).
3. The power-assisted walking device based on the ratchet-pawl mechanism and the worm-gear speed reduction motor as claimed in claim 2, wherein: and the lower part of the inner side of the frame (31) is provided with a sensor A (13) and a sensor B (14) which are arranged in front and at the back.
4. The power-assisted walking device based on the ratchet-pawl mechanism and the worm-gear speed reduction motor as claimed in claim 3, wherein: the rear side of the waistband (12) is also provided with a power module (1) and a control module (11), and the control module (11) is in signal connection with a sensor A (13), a sensor B (14), a worm gear and worm speed reduction motor (2), a knee joint sensor (5), a film pressure sensor (6), an electromagnet A (85) and an electromagnet B (95).
5. The power-assisted walking device based on the ratchet-pawl mechanism and the worm-gear speed reduction motor as claimed in claim 4, wherein: the control module (11) is connected with a control panel (7), and an electric quantity display screen (71), a power switch (72), a pace speed adjusting button (73), an alarm (74), a daily walking mode key (75) and a stair climbing mode key (76) are arranged on the control panel (7).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010631060.9A CN111923017A (en) | 2020-07-03 | 2020-07-03 | Power-assisted walking device based on ratchet wheel-pawl mechanism and worm and gear speed reduction motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010631060.9A CN111923017A (en) | 2020-07-03 | 2020-07-03 | Power-assisted walking device based on ratchet wheel-pawl mechanism and worm and gear speed reduction motor |
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| CN111923017A true CN111923017A (en) | 2020-11-13 |
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| CN202010631060.9A Pending CN111923017A (en) | 2020-07-03 | 2020-07-03 | Power-assisted walking device based on ratchet wheel-pawl mechanism and worm and gear speed reduction motor |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112451318A (en) * | 2020-11-19 | 2021-03-09 | 苏州市职业大学 | Power-assisted walking device based on slide block transmission |
| CN113829327A (en) * | 2021-08-09 | 2021-12-24 | 西安理工大学 | Knee joint energy collecting and assisting device |
| CN117863160A (en) * | 2024-03-13 | 2024-04-12 | 四川省公路规划勘察设计研究院有限公司 | Auxiliary supporting structure for tunnel lining detection |
| CN117863160B (en) * | 2024-03-13 | 2024-05-31 | 四川省公路规划勘察设计研究院有限公司 | Auxiliary supporting structure for tunnel lining detection |
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| CN113829327A (en) * | 2021-08-09 | 2021-12-24 | 西安理工大学 | Knee joint energy collecting and assisting device |
| CN113829327B (en) * | 2021-08-09 | 2023-06-30 | 西安理工大学 | Knee joint energy-saving collecting and power assisting device |
| CN117863160A (en) * | 2024-03-13 | 2024-04-12 | 四川省公路规划勘察设计研究院有限公司 | Auxiliary supporting structure for tunnel lining detection |
| CN117863160B (en) * | 2024-03-13 | 2024-05-31 | 四川省公路规划勘察设计研究院有限公司 | Auxiliary supporting structure for tunnel lining detection |
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