CN113558886B - A wheelchair-type walking aid - Google Patents
A wheelchair-type walking aid Download PDFInfo
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- CN113558886B CN113558886B CN202111042701.8A CN202111042701A CN113558886B CN 113558886 B CN113558886 B CN 113558886B CN 202111042701 A CN202111042701 A CN 202111042701A CN 113558886 B CN113558886 B CN 113558886B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1043—Cushions specially adapted for wheelchairs
- A61G5/1045—Cushions specially adapted for wheelchairs for the seat portion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1043—Cushions specially adapted for wheelchairs
- A61G5/1048—Cushions specially adapted for wheelchairs for the back-rest
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
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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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/42—General characteristics of devices characterised by sensor means for inclination
-
- 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
-
- 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
- A61H2201/50—Control means thereof
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
本发明涉及一种轮椅式步行辅助器，属于康复医疗器械领域。该轮椅式步行辅助器包括轮椅、外骨骼结构、下肢步行机构和站坐机构，采用单个驱动源和耦合传动机构控制外骨骼大小腿运动，可以拟合人体行走步态，且该动力源相较于现有的步行辅助器在体积、重量、医护依赖度和自主控制难度等方面的要求都大大降低，因此该结构设计也将大大减少该步行辅助器的开发成本。通过控制控制器完成使步行辅助器实现轮椅、站立和行走多种形态的轻松切换。将控制器、驱动源和电池设置在底架上，减轻了本应加载在使用者穿戴外骨骼上的重量，提高了穿戴的舒适性。
The present invention relates to a wheelchair-type walking aid, which belongs to the field of rehabilitation medical equipment. The wheelchair-type walking aid comprises a wheelchair, an exoskeleton structure, a lower limb walking mechanism and a standing and sitting mechanism. A single driving source and a coupling transmission mechanism are used to control the movement of the exoskeleton's upper and lower legs, which can fit the walking gait of the human body. Compared with the existing walking aids, the power source has greatly reduced requirements in terms of volume, weight, medical care dependence, and autonomous control difficulty. Therefore, the structural design will also greatly reduce the development cost of the walking aid. The walking aid can be easily switched between wheelchair, standing and walking by controlling the controller. The controller, driving source and battery are arranged on the chassis, which reduces the weight that should be loaded on the exoskeleton worn by the user and improves the wearing comfort.
Description
Technical Field
The invention belongs to the field of rehabilitation medical appliances, and particularly relates to a wheelchair type walking aid.
Background
In recent years, the problem of global population aging is increasingly serious, the physiological function decline phenomenon can occur after the old reaches a certain age, and most of the old has the limb flexibility reduced, and especially the lower limb walking ability is greatly weakened. Meanwhile, some old people lose the healthy and normal lower limb walking ability due to cardiovascular diseases such as stroke, so that the daily life is greatly influenced, other people are required to take care of the daily life, and in addition, in recent years, patients suffering from lower limb movement dysfunction due to central nervous diseases such as stroke and spinal injury are rapidly increasing. Patients with lower limb dyskinesia have inconvenient movements, are difficult to independently live, easily generate negative emotion, bring heavy burden to families, and live towards normal people.
Most of the existing auxiliary motion aids for lower limbs on the market adopt a plurality of independent miniature driving sources to drive the lower limbs to move, the lower limbs are required to move through a complex control algorithm, the size and weight of the power sources are limited, and therefore the auxiliary motion aids are high in cost.
Disclosure of Invention
In view of the above, an object of an embodiment of the present invention is to provide a wheelchair-type walking aid that uses a single driving source to achieve simultaneous movement of both the upper and lower legs.
Embodiments of the present invention are implemented as follows:
The embodiment of the invention provides a wheelchair type walking aid, which has a standing state and a sitting state, and comprises a wheelchair, an exoskeleton structure and a lower limb walking mechanism;
the exoskeleton structure is arranged on the wheelchair, the exoskeleton structure comprises two lower limb exoskeleton components, the lower limb exoskeleton components comprise thigh rods, shank rods and foot plates, the thigh rods and the shank rods are hinged through knee joint structures, and the shank rods and the foot plates are hinged through ankle joint structures;
The lower limb walking mechanism comprises two driving assemblies for driving the lower limb exoskeleton assemblies, the driving assemblies are respectively hinged with the knee joint structure and the ankle joint structure, and the driving assemblies simultaneously drive the thigh rods to swing and the shank rods to swing relative to the thigh rods by adopting a single power source.
As an alternative technical scheme of the above embodiment, the wheelchair includes a chassis, a back frame, armrests, electric driving wheels and universal wheels, the back frame is movably disposed on the chassis and can lift and move transversely relative to the chassis, two armrests are disposed on two sides of the wheelchair, two electric driving wheels are disposed on the rear side of the bottom of the chassis, and two universal wheels are disposed on the front side of the bottom of the chassis.
As an alternative technical solution of the foregoing embodiment, the driving assembly includes a driving source and a coupling transmission mechanism, where the driving source is disposed on the chassis, the coupling transmission mechanism includes a crank, a thigh link and a shank link, the crank includes a first rod portion and a second rod portion that are fixedly connected to each other and are not collinear, a first end of the first rod portion is in transmission connection with the driving source and a second end of the first rod portion is connected with a first end of the second rod portion, a second end of the second rod portion is hinged to one end of the shank link, a first end of the thigh link is hinged to a junction of the first rod portion and the second rod portion, and a second end of the shank link is hinged to the knee joint structure, and a second end of the shank link is hinged to the ankle joint structure.
As an optional technical scheme of the above embodiment, the wheelchair walking aid further includes a standing and sitting mechanism, the standing and sitting mechanism includes a telescopic power source and a plurality of connecting rods, two ends of the telescopic power source are respectively hinged with the underframe and the back frame, two ends of the connecting rods are respectively hinged with the underframe and the back frame, and the telescopic power source is crossed with the connecting rods.
As an optional solution of the foregoing embodiment, the wheelchair walking aid further includes a control system, where the control system includes a battery and a controller, and the battery and the controller are mounted to the chassis.
As an optional technical solution of the foregoing embodiment, the exoskeleton structure further includes two binding assemblies for lower limb exoskeleton assemblies, the two binding assemblies are in one-to-one correspondence with the two lower limb exoskeleton assemblies, and the binding assemblies include thigh binding disposed on the thigh rod and shank binding disposed on the shank rod.
As an alternative technical scheme of the embodiment, the standing and sitting mechanism comprises the telescopic power source and four connecting rods, the four connecting rods are symmetrically arranged on two sides of the telescopic power source and form two connecting assemblies, and the two connecting rods on the connecting assemblies, the back frame and the bottom frame form a parallelogram mechanism together.
As an alternative to the foregoing embodiment, the exoskeleton structure further includes a waist structure and two hip joint structures, the waist structure is disposed on the back frame, and the two lower limb exoskeleton components are respectively connected to the waist structure through the two hip joint structures.
As an alternative solution of the foregoing embodiment, the telescopic power source is an electric putter.
As an alternative solution of the foregoing embodiment, the driving source is a dc servo motor.
The beneficial effects of the invention are as follows:
The wheelchair type walking aid provided by the invention can be used for fitting the human gait mode by adopting the single driving source and the coupling transmission mechanism, and can control the simultaneous movement of the big leg and the small leg, and compared with the existing walking aid, the power source has greatly reduced requirements on the aspects of volume, weight, control difficulty and the like, so that the development cost of the walking aid is greatly reduced by adopting the structural design.
The standing and sitting mechanism of the wheelchair type walking aid provided by the invention can keep the wheelchair in a following state with a user by arranging the electric push rod and the connecting rod on the back frame and the bottom frame in a crossing way, and the easy switching of standing and sitting postures is completed.
According to the wheelchair type walking aid, the controller, the driving source and the battery are arranged on the underframe, and the existing equipment battery, the controller and the driving source are arranged on the exoskeleton structure, so that the weight of the wheelchair type walking aid, which is loaded on a user, is reduced, and the wearing comfort is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. The above and other objects, features and advantages of the present invention will become more apparent from the accompanying drawings. Like reference numerals refer to like parts throughout the several views of the drawings. The drawings are not intended to be drawn to scale, with emphasis instead being placed upon illustrating the principles of the invention.
FIG. 1 is a schematic view showing a standing state of a wheelchair-type walking aid according to an embodiment of the present invention;
FIG. 2 is a schematic view of a wheelchair-type walking aid in a sitting position;
FIG. 3 is a schematic view of a coupling transmission structure provided by the wheelchair-type walking aid according to an embodiment of the present invention;
Fig. 4 is a schematic structural view of a standing and sitting mechanism provided by the wheelchair-type walking aid according to an embodiment of the present invention.
The icons are 101-universal wheels, 102-underframe, 103-driving wheel, 104-shell component, 105-left armrest, 106-back rest, 107-back cushion, 108-right armrest, 109-cushion, 201-waist structure, 202-waist cushion, 203-right hip structure, 204-right thigh rod, 205-right thigh binding, 206-right knee structure, 207-right shank binding, 208-right shank rod, 209-right ankle structure, 210-right foot plate structure, 211-left foot plate structure, 212-left ankle structure, 213-left shank rod, 214-left shank binding, 215-left knee structure, 216-left thigh rod, 217-left thigh rod, 218-left hip structure, 301-left driving motor, 302-left coupling transmission mechanism, 303-right driving motor, 304-right coupling transmission mechanism, 401-electric push rod, 402-connecting rod, 501-manipulator, 502-controller, 503-battery, 5-crank, 51-first rod portion, 52-second rod portion, 6-thigh rod portion, 7-thigh rod portion.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Examples
Referring to fig. 1-2, an embodiment of the present invention provides a wheelchair-type walking aid, which is mainly used for rehabilitation of patients with lower limb dyskinesia.
The wheelchair type walking aid mainly comprises a wheelchair, an exoskeleton structure, a lower limb walking mechanism, a standing and sitting mechanism and a control system.
The wheelchair comprises a bottom frame 102, a back frame 106, a housing assembly 104, a driving wheel 103, a universal wheel 101, a back cushion 107, a seat cushion 109, a left armrest 105 and a right armrest 108.
The back cushion 107 supports and the seat cushion 109 supports the back and buttocks of the human body, respectively, improving user comfort.
The chassis 102 is used as a base of the wheelchair type walking aid, the chassis 102 is positioned at the bottom of the wheelchair, the chassis 102 is formed by welding profiles, and the strength and the stability are high.
The left arm rest 105 and the right arm rest 108 are respectively arranged at two sides of the wheelchair.
The left and right sides of the front part of the chassis 102 are respectively provided with a universal wheel 101, and the left and right sides of the rear part of the chassis 102 are respectively provided with a driving wheel 103. Universal wheels 101 symmetrically arranged on the left and right sides of the front part of the underframe 102 are matched with driving wheels 103 symmetrically arranged on the left and right sides of the rear part of the underframe 102 to realize the functions of wheel type advancing, retreating, turning and the like of the wheelchair type walking aid.
The exoskeleton structure comprises two lower limb exoskeleton assemblies, namely a left lower limb exoskeleton assembly and a right lower limb exoskeleton assembly.
Wherein the left lower extremity exoskeleton assembly comprises a left thigh bar 216, a left calf bar 213 and a left foot plate structure 211. The left thigh bar 216 and the left calf bar 213 are articulated by a left knee joint structure 215. The left foot plate structure 211 is hinged to the left calf shank 213 by a left ankle joint structure 212.
Wherein the right lower extremity exoskeleton assembly right thigh bar 204, right calf bar 208 and right foot plate structure 210. The right thigh bar 204 and the right calf bar 208 are articulated by the right knee joint structure 206. The right foot plate structure 210 is hinged to the right calf shank 208 by a right ankle joint structure 209.
In addition, the exoskeleton structure further comprises two binding assemblies for the lower limb exoskeleton assembly, wherein the two binding assemblies comprise a right binding assembly and a left binding assembly.
Wherein the right binding assembly comprises a right thigh binding 205 and a right shank binding 207 arranged on a right thigh bar 204 and a right shank bar 208, respectively. The left binding assembly comprises a left thigh binding 217 and a left shank binding 214 arranged on a left thigh bar 216 and a left shank bar 213, respectively. The binding component can adopt structures such as buckles, magic tapes and the like, so that the binding component is convenient for a user to wear.
The exoskeleton structure further includes a lumbar structure 201, a lumbar pad 202, a left hip structure 218, and a right hip structure 203. The back of the waist structure 201 is fixedly connected to the back frame 106, and a waist cushion 202 is arranged on the top of the waist structure 201 for supporting the waist of a human body.
In addition, the right and left thigh bars 204, 216 are connected to the waist structure 201 by a right and left hip joint structure 203, 218, respectively.
The control system includes a controller 501, a battery 503, a controller 502, and sensors distributed across the various mechanisms of the accessory. The controller 501, the battery 503, the controller 502, and the sensor are electrically connected to each other.
The sensors are arranged on the exoskeleton structure, the lower limb walking mechanism, the wheelchair and the standing and sitting mechanism. The back frame and the base are provided with the gesture sensors, so that the wheelchair can be detected to be in a state, the inclination angle and the like in a standing state, and the risk of overturning caused by the fact that the gravity center exceeds a safety domain when a user uses a walking function in a large-gradient environment can be effectively prevented. The absolute angle encoders are arranged on the hip joint and the knee joint of each leg, the angles of the thigh and the shank can be fed back in real time, gait recognition and leg gesture detection are realized, and the pressure sensors are arranged in thigh binding and shank binding, so that the spasticity detection and man-machine control effect improvement in the walking process of a patient can be realized.
Wherein, the manipulator 501 is mounted on the left armrest 105 or the right armrest 108 to facilitate the two-hand manipulation of the user, and the manipulator 501 is used for the user to control the auxiliary device to perform standing, sitting and walking actions.
The controller 502 performs calculation processing on signals from the sensors and commands from the controller 501.
In addition, the battery 503 and the controller 502 are mounted to the chassis 102, reducing the weight of the user of the assist (conventional assist mounts the battery 503, controller 502 to the exoskeleton structure).
The lower limb walking mechanism comprises two driving assemblies. The drive assembly includes a drive source and a coupling transmission, the drive source being mounted to the chassis 102 to reduce user weight (conventional aids mount the drive source to the exoskeleton structure).
The driving source may be a motor capable of rotating forward and backward, or may be a structure capable of achieving swinging motion, such as a swinging guide rod mechanism, and in this embodiment, the driving source is a dc servo motor.
Referring to fig. 3, the coupling transmission mechanism includes a crank 5, a thigh link 6, and a shank link 7. The crank 5 comprises a first rod portion 51 and a second rod portion 52 which are mutually fixedly connected and not collinear.
One end of the first rod portion 51 is in transmission connection with the output end of the driving source at point a, the other end of the first rod portion 51 is fixedly connected with one end of the second rod portion 52, the other end of the second rod portion 52 is hinged with one end of the lower leg connecting rod 7, the other end of the lower leg connecting rod 7 is hinged with the left ankle joint structure 212 at point C, one end of the thigh connecting rod 6 is hinged with the connection part of the first rod portion 51 and the second rod portion 52, and the other end of the thigh connecting rod 6 is hinged with the left knee joint structure 215 at point B.
Referring to fig. 3, when the driving source drives the crank 5 to rotate clockwise, the lower limbs of the human body perform upward leg lifting action under the action of the thigh connecting rod 6 and the shank connecting rod 7, and when the driving source drives the crank 5 to rotate anticlockwise, the lower limbs of the human body perform downward leg folding action. When the driving source continuously performs forward rotation and reverse rotation, the user of the auxiliary device can complete the walking motion.
Referring to fig. 4, the back frame 106 is movably disposed on the chassis 102, and the back frame 106 can move up and down and laterally relative to the chassis 102, for example, the back frame 106 and the chassis 102 are connected by a plate member or a rod member, and in this embodiment, the back frame 106 and the chassis 102 are connected by a connecting rod 402.
Referring to fig. 4, the standing mechanism includes a telescopic power source and a plurality of connecting rods 402. The connecting rod 402 is hinged to the underframe 102 at one end and is hinged to the back frame 106 at the other end, the telescopic power source and the connecting rod 402 are arranged in a crossed mode, and the crossed mode means that the telescopic power source and the connecting rod 402 are respectively seen as a straight line, and the two straight lines are different-face straight lines.
The telescopic power source can adopt a mechanism such as an electric push rod 401 and a hydraulic push rod, in this embodiment, the telescopic power source is the electric push rod 401, the lower end of the electric push rod 401 is hinged with the bottom frame 102, and the upper end is hinged with the back frame 106.
The effect of connecting rod 402 is mainly to connect spacingly, adopts four connecting rods 402 in this embodiment, and four connecting rods 402 are two coupling assembling, and two coupling assembling set up in the both sides of flexible power supply respectively symmetrically, and a coupling assembling includes two connecting rods 402, and two connecting rods 402 on every coupling assembling of group constitute parallelogram mechanism jointly with back frame 106 and chassis 102, can make every connecting rod 402 atress the same like this, improved the stability of connecting rod 402 effectively.
It should be noted that when the telescopic power source is in the fully contracted state, the connecting rod 402 is just in the horizontal state, and the corresponding auxiliary device user is in the sitting state, and when the telescopic power source is in the fully extended state, the connecting rod 402 is just in the vertical state, and the corresponding auxiliary device user is in the standing state.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A wheelchair-type walking aid, characterized in that the wheelchair-type walking aid has a standing state and a sitting state, the wheelchair-type walking aid comprising a wheelchair, an exoskeleton structure and a lower limb walking mechanism;
the exoskeleton structure is arranged on the wheelchair, the exoskeleton structure comprises two lower limb exoskeleton components, the lower limb exoskeleton components comprise thigh rods, shank rods and foot plates, the thigh rods and the shank rods are hinged through knee joint structures, and the shank rods and the foot plates are hinged through ankle joint structures;
The lower limb walking mechanism comprises two driving assemblies for driving the lower limb exoskeleton assembly, the driving assemblies are respectively hinged with the knee joint structure and the ankle joint structure, and the driving assemblies simultaneously drive the thigh rod to swing and the shank rod to swing relative to the thigh rod by adopting a single power source;
The wheelchair comprises a bottom frame, a back frame, armrests, electric driving wheels and universal wheels, wherein the back frame is movably arranged on the bottom frame and can move up and down and transversely relative to the bottom frame, one of the armrests is respectively arranged on two sides of the wheelchair, two electric driving wheels are arranged on the rear side of the bottom frame, and two universal wheels are arranged on the front side of the bottom frame;
The drive assembly comprises a drive source and a coupling transmission mechanism, wherein the drive source is a direct-current servo motor, the drive source is arranged on the underframe, the coupling transmission mechanism comprises a crank, a thigh connecting rod and a shank connecting rod, the crank comprises a first rod portion and a second rod portion which are fixedly connected with each other and are not collinear, a first end of the first rod portion is in transmission connection with the drive source, a second end of the first rod portion is connected with a first end of the second rod portion, a second end of the second rod portion is hinged to one end of the shank connecting rod, a first end of the thigh connecting rod is hinged to a joint of the first rod portion and the second rod portion, a second end of the shank connecting rod is hinged to the knee joint structure.
2. The wheelchair type walking aid according to claim 1, further comprising a standing and sitting mechanism comprising a telescopic power source and a plurality of connecting rods, wherein two ends of the telescopic power source are hinged to the underframe and the back frame respectively, two ends of the connecting rods are hinged to the underframe and the back frame respectively, and the telescopic power source is arranged to cross the connecting rods.
3. The wheelchair type walking aid of claim 1 further comprising a control system comprising a battery, a controller, the battery and the controller mounted to the chassis.
4. The wheelchair type walking aid of claim 1 wherein the exoskeleton structure further comprises two binding assemblies for lower limb exoskeleton assemblies, two of the binding assemblies being in one-to-one correspondence with two of the lower limb exoskeleton assemblies, the binding assemblies comprising thigh bindings disposed on the thigh bar and calf bindings disposed on the calf bar.
5. The wheelchair type walking aid according to claim 2, wherein the standing and sitting mechanism comprises the telescopic power source and four connecting rods, the four connecting rods are symmetrically arranged on two sides of the telescopic power source and form two connecting assemblies, and the two connecting rods, the back frame and the bottom frame on the connecting assemblies form a parallelogram mechanism together.
6. The wheelchair type walking aid of claim 1 wherein the exoskeleton structure further comprises a lumbar structure and two hip joint structures, the lumbar structure being disposed on the back frame, the two lower limb exoskeleton assemblies being connected to the lumbar structure by the two hip joint structures, respectively.
7. The wheelchair type walking aid of claim 2, wherein the telescopic power source is an electric push rod.
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| CN202111042701.8A CN113558886B (en) | 2021-09-07 | 2021-09-07 | A wheelchair-type walking aid |
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| CN113208868B (en) * | 2021-03-25 | 2022-03-25 | 中国科学院深圳先进技术研究院 | Lower limb exoskeleton based on transverse walking |
| CN116158948B (en) * | 2023-02-16 | 2024-08-09 | 杭州程天科技发展有限公司 | Single-drive lower limb exoskeleton walker |
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Denomination of invention: A wheelchair style walking aid Granted publication date: 20250128 Pledgee: Chengdu Rural Commercial Bank Co.,Ltd. Jinniu Branch Pledgor: BUFFALO ROBOT TECHNOLOGY (CHENGDU) Co.,Ltd. Registration number: Y2025980006380 |
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