CN116270055A - Leg fixing device and intelligent walking robot - Google Patents
Leg fixing device and intelligent walking robot Download PDFInfo
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- CN116270055A CN116270055A CN202310256343.3A CN202310256343A CN116270055A CN 116270055 A CN116270055 A CN 116270055A CN 202310256343 A CN202310256343 A CN 202310256343A CN 116270055 A CN116270055 A CN 116270055A
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- 230000001681 protective effect Effects 0.000 description 2
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/37—Restraining devices for the body or for body parts, e.g. slings; Restraining shirts
- A61F5/3769—Restraining devices for the body or for body parts, e.g. slings; Restraining shirts for attaching the body to beds, wheel-chairs or the like
- A61F5/3776—Restraining devices for the body or for body parts, e.g. slings; Restraining shirts for attaching the body to beds, wheel-chairs or the like by means of a blanket or belts
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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
-
- 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
- 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
- A61G5/127—Rests specially adapted therefor, e.g. for the head or the feet for lower legs
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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
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
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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
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
- A61G2203/72—General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention
- A61G2203/723—Impact absorbing means, e.g. bumpers or airbags
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nursing (AREA)
- Orthopedic Medicine & Surgery (AREA)
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Abstract
The application discloses shank fixing device and intelligent walking robot, this shank fixing device is applied to intelligent walking robot, intelligent walking robot includes the frame, shank fixing device installs in the frame, this shank fixing device includes leg pole subassembly and protection pad, leg pole subassembly includes the leg pole, moving part and elastic component, the leg pole is used for with frame connection, the leg pole has the faying surface that is used for with user's shank contact when wearing the gesture, the faying surface is equipped with the recess, the part of moving part stretches into the recess and with leg pole sliding connection, the one end of elastic component and the tank bottom wall fixed connection of recess, the other end and the moving part fixed connection of elastic component, the protection pad is located one side that the moving part deviates from the faying surface, and the protection pad is connected with the moving part. The design can effectively prevent the feet of the user from being separated from the pedal plate in the motion process of the intelligent walking robot.
Description
Technical Field
The application relates to the technical field of intelligent walking robots, in particular to a leg fixing device and an intelligent walking robot.
Background
The intelligent walking robot comprises a frame, wheels, a seat and pedals, wherein the wheels are rotationally connected with the frame, the seat is arranged on the frame and used for a user to sit, and the pedals are arranged on the frame and used for the user to pedal with feet.
However, in the movement process of the intelligent walking robot, wheels of the intelligent walking robot roll, so that a frame connected with the intelligent walking robot vibrates, and a pedal connected with the intelligent walking robot vibrates due to the vibration of the frame. Therefore, how to effectively solve the problem that the feet of the user are separated from the pedal plate in the movement process of the intelligent walking robot is urgent to be solved.
Disclosure of Invention
The embodiment of the application provides a shank fixing device and intelligent walking robot, can solve the problem that the both feet of user break away from the running-board in the intelligent walking robot motion process among the correlation technique.
In a first aspect, embodiments of the present application provide a leg fixation device; this shank fixing device is applied to intelligent walking robot, intelligent walking robot includes the frame, shank fixing device installs in the frame, this shank fixing device includes leg pole subassembly and protection pad, leg pole subassembly includes the leg pole, moving part and elastic component, the leg pole is used for with frame connection, the leg pole has the faying surface that is used for with user's shank contact when wearing the gesture, the faying surface is equipped with the recess, the part of moving part stretches into the recess and with leg pole sliding connection, the one end and the tank bottom wall fixed connection of recess of elastic component, the other end and the moving part fixed connection of elastic component, the protection pad is located one side that the moving part deviates from the faying surface, and protection pad is connected with the moving part.
Based on the leg fixing device, the leg rod is designed to provide support for the legs of a user sitting on the seat of the intelligent walking robot, so that the user can be effectively prevented from separating feet from the foot pedals; the elastic piece is suitable for generating elastic deformation in the direction perpendicular to the joint surface, when the leg of a user leans against the movable piece, the movable piece extrudes the elastic piece and moves towards the joint surface, so that a proper space is provided for the leg of the user to adapt to leg circumferences of different users, in addition, the elastic piece can play a role in buffering and damping, and the elastic piece can effectively reduce leg rod resonance caused by vibration of a frame of the intelligent walking robot in the movement process; through the design protection pad, can play a guard action to user's shank.
In some of these embodiments, the leg bar includes a connecting bar extending in a direction perpendicular to the horizontal plane, and a support bar having an end distal from the horizontal plane for connection with the frame; the support bar has the faying surface, and the support bar extends along the direction that is on a parallel with the horizontal plane, and the support bar is close to the one end fixed connection of horizontal plane with the connecting rod, and the support bar is crooked dorsad user's shank, movable part and support bar sliding connection.
Based on the above-mentioned embodiment, through designing the connecting rod, the leg pole passes through the connecting rod realization and is connected between the frame, through designing the bracing piece, the leg pole passes through the bracing piece realization to the support of user's shank, through designing the bracing piece to crooked towards user's shank dorsad, makes the bracing piece be the arc and be used for with user's shank looks adaptation, when user's shank leans on the bracing piece, can effectively increase the area of contact between bracing piece and the user's shank to make the bracing piece play good supporting role to user's shank.
In some embodiments, the joint surface is further provided with a chute, the groove is arranged around the chute, and the axis of the groove coincides with the axis of the chute; the movable piece comprises a movable plate and a sliding block, the movable plate is bent back to the leg of the user, the sliding block is fixedly connected to one side of the movable plate facing the bonding surface, and the sliding block is in sliding connection with the sliding groove.
Based on the above embodiment, the movable plate is slidably connected with the sliding groove through the sliding block, so that the movable plate can move along the extending direction of the sliding groove, and the position between the movable piece and the supporting rod can be relatively changed, so that the movable plate is suitable for supporting users with different leg circumferences.
In some embodiments, the elastic member comprises a spring, one end of the spring is fixedly connected with the bottom wall of the groove, and the other end of the spring is fixedly connected with one side of the movable plate facing the joint surface.
Based on the above embodiment, through designing the spring, the tank bottom wall and the fly leaf fixed connection of spring and recess, the spring is applicable to and produces perpendicular to the elastic deformation on the faying surface direction, and when user's shank was born and is leaned on the fly leaf, the fly leaf extrusion spring and towards the faying surface motion to provide suitable space for user's shank, in order to adapt to different user's leg circumference. It is worth mentioning that the fly leaf passes through the spring to be connected with the bracing piece, and the spring can also slow down the resonance that intelligent walking robot motion in-process brought because of the frame vibrations at the in-process that produces elastic deformation. The support rod positioned in the spring can also have a good guiding effect on the spring, so that elastic deformation of the spring in the extending direction deviating from the groove is avoided under the action of the movable plate, and the stability of the movable plate relative to the support rod is ensured.
In some of these embodiments, the connecting rod is integrally formed with the support rod; and/or the connecting rod is provided with a plurality of through holes.
Based on the above-mentioned embodiment, through design bracing piece and connecting rod integrated into one piece, on the one hand can effectively strengthen the connection stability between bracing piece and the connecting rod, on the other hand can also effectively reduce the holistic processing degree of difficulty of leg pole. The through holes are equivalent to weight reducing holes on one hand, so that the purpose of saving the leg rod cost can be achieved while the structural strength of the connecting rod is ensured; the through holes are equivalent to the reinforcing bodies formed on the connecting rods on the other hand, the through holes are different in shape, so that the leg rod resonance caused by the vibration of the frame in the movement process of the intelligent walking robot can be effectively reduced, all the through holes are distributed on the connecting rods at unequal intervals, and the leg rod resonance caused by the vibration of the frame in the movement process of the intelligent walking robot can be effectively reduced.
In some of these embodiments, the leg fixation device further includes a connection assembly via which the pad is removably connected to the moveable member.
Based on the above embodiment, the connecting component is used as an intermediate connecting structure between the protection pad and the movable piece, and the protection pad is detachably connected with the movable piece through the connecting component, so that a user can conveniently replace the protection pad in time when the protection pad is dirty or damaged.
In some embodiments, the connecting assembly comprises a female velcro patch and a male velcro patch that are attachable to each other, the female velcro patch being fixedly connected to one of the pad and the moveable member, and the male velcro patch being fixedly connected to the other of the pad and the moveable member.
Based on the above-mentioned embodiment, through design female subsides of magic subsides and the public subsides realization protection pad of magic subsides and the detachable connection between the moving part, the user of being convenient for dismantles dirty or damaged protection pad from the moving part, also the user of being convenient for install clean or new protection pad again on the moving part, the installation and the dismantlement of protection pad of being convenient for.
In some embodiments, the leg fixing device further comprises a binding band, the binding band comprises a first band body and a second band body which are oppositely arranged, the first end of the first band body is fixedly connected with the leg rod, and the first end of the second band body is fixedly connected with the leg rod; the strap has a rolled-up state in which the second end of the first strap body is connected to the second end of the second strap body such that the strap is looped.
Based on the above embodiment, through designing first area body and second area body, first area body and second area body can cooperate the leg pole to enclose and establish at user's shank periphery to play the bundling fixed action to user's shank, thereby reduce the possibility of the running-board of user's shank landing intelligent walking robot, strengthen the stability that the user sits on intelligent walking robot's seat.
In some of these embodiments, the second end of the first strap is connected to the second end of the second strap by at least one of adhesive and snap fit.
Based on the above embodiment, the second end of the first belt body and the second end of the second belt body are connected in an adhesive or clamping manner, so that the user can conveniently switch the binding belt between the rolled state and the unrolled state, and the binding and unbinding of the legs of the user are realized.
In a second aspect, an embodiment of the present application provides an intelligent walking robot, which includes a frame and the leg fixing device, where the leg fixing device is installed on the frame.
Based on the intelligent walking robot provided by the embodiment of the application, the intelligent walking robot with the leg fixing device can provide support for the legs of a user sitting on the seat of the intelligent walking robot, so that the user can be effectively prevented from separating from the pedals by the legs; the elastic piece is suitable for generating elastic deformation in the direction perpendicular to the joint surface, when the legs of a user bear on the movable piece, the movable piece extrudes the elastic piece and moves towards the joint surface, so that a proper space is provided for the legs of the user to adapt to leg circumferences of different users; the protection pad can protect the legs of the user.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a leg fixing device according to an embodiment of the present application;
FIG. 2 is a schematic exploded view of a leg fixation device in one embodiment of the present application;
FIG. 3 is a schematic partial cross-sectional view of a leg fixation device in one embodiment of the present application;
FIG. 4 is an enlarged schematic view of FIG. 3 at A;
fig. 5 is a schematic structural diagram of an intelligent walking robot in an embodiment of the present application.
Reference numerals: 1. leg fixing means; 11. a leg bar assembly; 111. a leg bar; 1111. a connecting rod; 1112. a support rod; 1113. a through hole; 1114. a bonding surface; 1115. a groove; 1116. a chute; 112. a movable member; 1121. a movable plate; 1122. a slide block; 113. an elastic member; 1131. a spring; 12. a protective pad; 13. a connection assembly; 131. female magic tape; 132. a magic tape male patch; 14. a strap; 141. a first belt body; 141a, a first end of the first strap; 141b, a second end of the first strap; 142. a second belt body; 142a, a first end of the second belt body; 142b, a second end of the second belt body; 2. an intelligent walking robot; 21. and a frame.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
Referring to fig. 1-4, a first aspect of the present application proposes a leg fixing device 1, which can effectively prevent the feet of a user from being separated from the foot rest during the movement process of an intelligent walking robot 2.
The leg fixing device 1 is applied to an intelligent walking robot 2 (as shown in fig. 5), the intelligent walking robot 2 comprises a frame 21, the leg fixing device 1 is mounted on the frame 21, the leg fixing device 1 comprises a leg rod 111 assembly 11 and a protection pad 12, the leg rod 111 assembly 11 comprises a leg rod 111, a movable piece 112 and an elastic piece 113, the leg rod 111 is used for being connected with the frame 21, the leg rod 111 is provided with an attaching face 1114 for being contacted with a user's leg when in a wearing posture, the attaching face 1114 is provided with a groove 1115, a part of the movable piece 112 stretches into the groove 1115 and is in sliding connection with the leg rod 111, one end of the elastic piece 113 is fixedly connected with the bottom wall of the groove 1115, the other end of the elastic piece 113 is fixedly connected with the movable piece 112, the protection pad 12 is positioned on one side of the movable piece 112, which is away from the attaching face 1114, and the protection pad 12 is connected with the movable piece 112.
The specific structure of the leg fixing device 1 will be described in detail with reference to fig. 1 to 4.
As shown in fig. 1-4, the leg fixation device 1 includes a leg bar 111 assembly 11 and a pad 12.
The leg bar 111 assembly 11 serves as a support for supporting the legs of the user in the leg fixing means 1.
The leg bar 111 assembly 11 includes a leg bar 111, a movable member 112, and an elastic member 113.
The leg bar 111 serves as a structural member in the leg bar 111 assembly 11 that provides support for the user's leg, and the specific structure of the leg bar 111 will be described below. The specific material of the leg bar 111 is not limited, and a designer may select a material having a high rigidity according to actual needs, for example, the material of the leg bar 111 may include, but not limited to, aluminum alloy.
The leg rod 111 is connected with the frame 21 (as shown in fig. 5), the leg rod 111 can be detachably connected with the frame 21 or can be non-detachably connected with the frame 21, when the leg rod 111 is detachably connected with the frame 21, the leg rod 111 can be connected with the bracket in a locking screw manner, and the leg rod 111 can also be connected with the frame 21 through a certain middle clamping structure; when the leg rod 111 is connected with the bracket in a non-detachable manner, the leg rod 111 can be connected with the frame 21 in a welding manner, and the leg rod 111 can also form an integral structure with the frame 21 in an injection molding or 3D printing manner.
The leg lever 111 has an abutment surface 1114 for contact with the user's leg when in the worn position, wherein the abutment surface 1114 may be planar, curved, or a combination of planar and curved.
The attaching surface 1114 of the leg lever 111 is provided with a groove 1115, and the specific manner in which the groove 1115 is formed on the leg lever 111 is not limited herein, for example, the groove 1115 may be formed on the attaching surface 1114 of the leg lever 111 by cutting or polishing, the groove 1115 may also be formed on the attaching surface 1114 of the leg lever 111 by injection molding, and the groove 1115 may also be formed on the attaching surface 1114 of the leg lever 111 by 3D printing.
As shown in fig. 1-4, the movable member 112 serves as another structural member of the leg bar 111 assembly 11 that provides support for the user's leg, and the specific structure of the movable member 112 will be described below.
A portion of the movable member 112 extends into the recess 1115 and is slidably coupled to the leg 111, that is, the movable member 112 is movable relative to the leg 111 in the direction of extension of the recess 1115.
As shown in fig. 1-4, the resilient member 113 serves as a structural member in the leg bar 111 assembly 11 that provides cushioning to the user's leg, and the specific structure of the resilient member 113 will be described below. The elastic member 113 is adapted to generate elastic deformation along a direction perpendicular to the bonding surface 1114 under the action of an external force, and the elastic member 113 can recover the elastic deformation by itself after the external force is removed.
One end of the elastic member 113 is fixedly connected with the bottom wall of the groove 1115, and the other end of the elastic member 113 is fixedly connected with the movable member 112. The specific fixing manner between the elastic member 113 and the bottom wall of the groove 1115 and the movable member 112 is not limited, and a designer can reasonably design according to actual needs, and it can be understood that the specific fixing manner between the elastic member 113 and the bottom wall of the groove 1115 and the movable member 112 are different for the elastic members 113 with different expression forms.
As shown in fig. 1-4, the pad 12 serves as a structural member for protecting the user's leg in the leg fixing device 1. The specific material of the pad 12 is not limited, and a designer may select appropriately according to practical needs, for example, the material of the pad 12 may be, but not limited to, a material with good elastic properties such as sponge, silica gel, rubber or resin. Of course, the specific shape of the pad 12 is not limited, and a designer may reasonably design according to actual needs, for example, the designer may design the shape of the pad 12 to a shape adapted to the leg characteristics of the user according to ergonomics.
Based on the leg fixing device 1 in the embodiment of the application, the leg rod 111 is designed to provide support for the legs of a user sitting on the seat of the intelligent walking robot 2 so as to effectively avoid the feet of the user from being separated from the foot rest; the elastic piece 113 is suitable for generating elastic deformation in the direction perpendicular to the attaching surface 1114, when the leg of a user is supported on the movable piece 112, the movable piece 112 presses the elastic piece 113 and moves towards the attaching surface 1114, so that a proper space is provided for the leg of the user to adapt to leg circumferences of different users, in addition, the elastic piece 113 can play a role in buffering and damping, and the elastic piece 113 can effectively reduce the resonance of the leg rod 111 caused by the vibration of the frame 21 in the movement process of the intelligent walking robot 2; by designing the pad 12, a protective effect can be provided to the user's legs.
Further, as shown in fig. 1-4, in some embodiments, the leg bar 111 includes a connecting rod 1111 and a support bar 1112; the connecting rod 1111 extends in a direction perpendicular to the horizontal plane, and an end of the connecting rod 1111 away from the horizontal plane is used for connecting with the frame 21; the supporting rod 1112 has an attaching surface 1114, the supporting rod 1112 is fixedly connected with one end of the connecting rod 1111 near the horizontal plane along the direction parallel to the horizontal plane, the supporting rod 1112 is bent back to the leg of the user, and the movable member 112 is slidably connected with the supporting rod 1112. That is, the supporting rod 1112 is bent and connected to one end of the connecting rod 1111 near the horizontal plane, and an angle between the extending direction of the supporting rod 1112 and the extending direction of the connecting rod 1111 is 90 degrees, so that the leg rod 111 is shaped like an "L" as a whole. In this design, through designing the connecting rod 1111, leg pole 111 passes through connecting rod 1111 realization and is connected between the frame 21, through designing bracing piece 1112, leg pole 111 realizes the support to the user's shank through bracing piece 1112, through designing bracing piece 1112 to crooked towards the user's shank dorsad, make bracing piece 1112 be the arc and be used for with user's shank looks adaptation, when user's shank leans on bracing piece 1112, can effectively increase the area of contact between bracing piece 1112 and the user's shank to make bracing piece 1112 play good supporting role to user's shank.
Specifically, as shown in fig. 1-4, in some embodiments, the support rods 1112 are integrally formed with the connecting rod 1111. The supporting rod 1112 may be formed into an integral structure with the connecting rod 1111 by injection molding or 3D printing. In this design, through design bracing piece 1112 and connecting rod 1111 integrated into one piece, on the one hand can effectively strengthen the connection stability between bracing piece 1112 and the connecting rod 1111, on the other hand can also effectively reduce the holistic processing degree of difficulty of leg pole 111.
Further, as shown in fig. 1-4, in some embodiments, the connecting rod 1111 is further provided with a plurality of through holes 1113, and the plurality of through holes 1113 are arranged at intervals along the length direction of the connecting rod 1111. The shapes of the plurality of through holes 1113 are not the same, and the pitches between the center points of any adjacent two of the through holes 1113 are also not the same. Through the design, the through hole 1113 is equivalent to a weight reducing hole, so that the structural strength of the connecting rod 1111 is ensured, and the purpose of saving the cost of the leg rod 111 is achieved; the through holes 1113 on the other hand are equivalent to the reinforcement bodies formed on the connecting rods 1111, and the through holes 1113 have different shapes, so that the resonance of the leg rods 111 caused by the vibration of the frame 21 in the movement process of the intelligent walking robot 2 can be effectively reduced, all the through holes 1113 are arranged on the connecting rods 1111 at unequal intervals, and the resonance of the leg rods 111 caused by the vibration of the frame 21 in the movement process of the intelligent walking robot 2 can be effectively reduced.
Further, as shown in fig. 1-4, in some embodiments, the abutment surface 1114 is further provided with a runner 1116, the groove 1115 is disposed around the runner 1116, and the axis of the groove 1115 coincides with the axis of the runner 1116; the movable member 112 includes a movable plate 1121 and a slider 1122, wherein the movable plate 1121 is bent away from the leg of the user, the slider 1122 is fixedly connected to the side of the movable plate 1121 facing the abutment surface 1114, and the slider 1122 is slidably connected to the slide groove 1116. The slider 1122 may be integrally formed with the movable plate 1121 by injection molding or 3D printing. In this design, the movable plate 1121 is slidably connected to the sliding groove 1116 through the slider 1122, so that the movable plate 1121 can move along the extending direction of the sliding groove 1116, and thus the position between the movable member 112 and the supporting rod 1112 can be relatively changed, so as to be suitable for supporting users with different leg circumferences.
Further, as shown in fig. 1-4, in some embodiments, the elastic member 113 includes a spring 1131, one end of the spring 1131 is fixedly connected to the bottom wall of the groove 1115, and the other end of the spring 1131 is fixedly connected to the side of the movable plate 1121 facing the abutment surface 1114. The spring 1131 may be adhered to the bottom wall of the groove 1115 and the movable plate 1121 by using glue. In this design, through designing spring 1131, spring 1131 and the tank bottom wall of recess 1115 and fly leaf 1121 fixed connection, spring 1131 is applicable to and produces perpendicular to the elastic deformation in the laminating face 1114 direction, and when the user's leg was born on fly leaf 1121, fly leaf 1121 extruded spring 1131 and towards laminating face 1114 motion to provide suitable space for the user's shank, in order to adapt to different user's leg circumference. It should be noted that the movable plate 1121 is connected to the supporting rod 1112 through a spring 1131, and the spring 1131 can also slow down the resonance caused by the vibration of the frame 21 during the movement of the intelligent walking robot 2 during the elastic deformation process. The support rod 1112 positioned inside the spring 1131 can also perform a good guiding function on the spring 1131, so as to avoid the spring 1131 from generating elastic deformation in the extending direction deviating from the groove 1115 under the action of the movable plate 1121, thereby ensuring the stability of the movement of the movable plate 1121 relative to the support rod 1112.
Of course, in other embodiments, the elastic member 113 may also include an elastic tube, which is similar to a bellows structure, but has better elastic performance than the bellows, and one end of the elastic tube is fixedly connected to the bottom wall of the groove 1115, and the other end of the elastic tube is fixedly connected to the movable plate 1121.
Further, as shown in fig. 1-4, in some embodiments, the leg fixation device 1 further includes a connection assembly 13, and the pad 12 is detachably connected to the movable member 112 via the connection assembly 13. In the design, the connecting component 13 is used as an intermediate connecting structure between the protection pad 12 and the movable piece 112, and the protection pad 12 is detachably connected with the movable piece 112 through the connecting component 13, so that a user can conveniently replace the protection pad 12 in time when the protection pad 12 is dirty or damaged.
Further, as shown in fig. 1-4, in some embodiments, the connection assembly 13 includes a female velcro patch 131 and a male velcro patch 132, the female velcro patch 131 and the male velcro patch 132 are adhered to each other, the female velcro patch 131 is fixedly connected with one of the pad 12 and the movable member 112, and the male velcro patch 132 is fixedly connected with the other of the pad 12 and the movable member 112. Specifically, in the embodiment of the present application, the magic tape is connected to the movable member 112, and the female magic tape 131 is fixedly connected to the movable member 112 through double-sided adhesive; the male velcro patch 132 is connected with the protection pad 12, and the male velcro patch 132 is fixedly connected with the protection pad 12 through glue. In this design, through the design female subsides 131 of magic subsides and the public subsides 132 of magic subsides realize the dismantlement connection between protection pad 12 and the movable part 112, the user of being convenient for dismantles dirty or damaged protection pad 12 from the movable part 112, also the user of being convenient for install and dismantles protection pad 12 with clean or new protection pad 12 again on movable part 112.
Further, as shown in fig. 1-4, in some embodiments, leg fixation device 1 further includes a strap 14, and strap 14 includes a first strap 141 and a second strap 142 disposed opposite to each other, first end 141a of the first strap being fixedly coupled to leg 111, and first end 142a of the second strap being fixedly coupled to leg 111; strap 14 has a rolled state in which second end 141b of the first strap body is connected to second end 142b of the second strap body such that strap 14 is looped. The first belt 141 and the second belt 142 are suitable for elastic deformation under the action of force, and the materials used for preparing the first belt 141 and the second belt 142 may be, but not limited to, elastic rubber or elastic silica gel. One end of the first strap 141 close to the leg 111 is a first end 141a of the first strap, and one end of the first strap 141 far from the leg 111 is a second end 141b of the first strap; the end of the second belt 142 close to the leg 111 is a first end 142a of the second belt, and the end of the second belt 142 far from the leg 111 is a second end 142b of the second belt. The binding band 14 has a rolled state in which the second end 141b of the first band body is connected with the second end 142b of the second band body to fit the leg bar 111 around the periphery of the user's leg, thereby binding and fixing the user's leg; in the unfolded state, the second end 141b of the first band is separated from the second end 142b of the second band, and the first band 141 and the second band 142 do not play a binding and fixing role on the legs of the user. In this design, through design first area body 141 and second area body 142, first area body 141 and second area body 142 can cooperate leg pole 111 to enclose to establish at user's shank periphery to play the binding fixed action to user's shank, thereby reduce the possibility of the running-board of user's shank landing intelligent walking robot 2, strengthen the stability that the user sits on the seat of intelligent walking robot 2.
Further, as shown in fig. 1-4, in some embodiments, the second end 141b of the first strap is connected to the second end 142b of the second strap by at least one of adhesive bonding or clamping. When the second end 141b of the first belt body is connected to the second end 142b of the second belt body by means of bonding, for example, the second end 141b of the first belt body is provided with another velcro male patch (not shown in the figure), and the second end of the second belt body 142 is provided with another velcro female patch (not shown in the figure), and the other velcro male patch is bonded to the other velcro female patch so that the second end 141b of the first belt body is bonded and fixed to the second end 142b of the second belt body. When the second end 141b of the first belt body is connected to the second end 142b of the second belt body by means of a locking connection, for example, the second end 141b of the first belt body is provided with a male buckle (not shown in the figure), the second end 142b of the second belt body is provided with a female buckle (not shown in the figure), and the male buckle is locked and connected with the female buckle so as to fix the second end 141b of the first belt body and the second end 142b of the second belt body by means of a locking connection. In this design, the second end 141b of the first strap body is connected to the second end 142b of the second strap body by means of bonding or clamping, so that the user can conveniently switch the strap 14 between the rolled state and the unrolled state, and the user can bind and unbind the legs of the user.
Referring to fig. 5, a second aspect of the present application proposes an intelligent walking robot 2, where the intelligent walking robot 2 includes a frame 21 and the leg fixing device 1, and the leg fixing device 1 is mounted on the frame 21. It should be noted that, in the embodiment of the present application, the leg fixing device 1 is detachably connected with the frame 21, and a plurality of mounting blocks (not shown in the drawing) for mounting the leg fixing device 1 are provided on the frame 21, the mounting blocks are provided with mounting holes, one end of the connecting rod 1111, which is far away from the supporting rod 1112, is provided with a screw, and the whole leg fixing device 1 is in threaded connection with the mounting holes through the screw, so as to realize the relative fixing of the position between the leg fixing device 1 and the frame 21. In the design, the intelligent walking robot 2 with the leg fixing device 1 can provide support for the legs of a user sitting on the seat of the intelligent walking robot 2 by the leg rod 111 so as to effectively prevent the feet of the user from being separated from the foot pedals; the elastic member 113 is adapted to elastically deform in a direction perpendicular to the attaching surface 1114, and when the leg of the user is supported against the movable member 112, the movable member 112 presses the elastic member 113 and moves toward the attaching surface 1114, thereby providing a proper space for the leg of the user to accommodate leg circumferences of different users; pad 12 provides protection to the user's legs.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present application, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the azimuth or positional relationship shown in the drawings, this is for convenience of description and simplification of the description, but does not indicate or imply that the apparatus or element to be referred must have a specific azimuth, be constructed and operated in a specific azimuth, and thus terms describing the positional relationship in the drawings are merely used for illustration and are not to be construed as limitations of the present patent, and that the specific meaning of the terms described above may be understood by those of ordinary skill in the art according to the specific circumstances.
The foregoing description of the preferred embodiments of the present application is not intended to be limiting, but is intended to cover any and all modifications, equivalents, and alternatives falling within the spirit and principles of the present application.
Claims (10)
1. The utility model provides a shank fixing device, its characterized in that is applied to intelligent walking robot, intelligent walking robot includes the frame, shank fixing device install in the frame, shank fixing device includes:
the leg rod assembly comprises a leg rod, a movable piece and an elastic piece, wherein the leg rod is used for being connected with the frame, the leg rod is provided with a joint surface which is used for being in contact with the legs of a user when in a wearing posture, the joint surface is provided with a groove, part of the movable piece stretches into the groove and is in sliding connection with the leg rod, one end of the elastic piece is fixedly connected with the bottom wall of the groove, and the other end of the elastic piece is fixedly connected with the movable piece;
and the protection pad is positioned at one side of the movable piece, which is away from the joint surface, and is connected with the movable piece.
2. The leg fixation device of claim 1 wherein said leg bar comprises:
the connecting rod extends along the direction vertical to the horizontal plane, and one end of the connecting rod, which is far away from the horizontal plane, is used for being connected with the frame;
the support rod is provided with the joint surface and extends along the direction parallel to the horizontal plane, the support rod is fixedly connected with one end, close to the horizontal plane, of the connecting rod, the support rod is bent back to the legs of a user, and the movable piece is in sliding connection with the support rod.
3. The leg fixation device of claim 2 wherein said engagement surface is further provided with a chute, said groove being disposed around said chute with an axis of said groove coinciding with an axis of said chute; the movable member includes:
a movable plate bent away from the user's leg;
the sliding block is fixedly connected to one side of the movable plate, which faces the bonding surface, and is in sliding connection with the sliding groove.
4. The leg fixation device of claim 3 wherein,
the elastic piece comprises a spring, one end of the spring is fixedly connected with the bottom wall of the groove, and the other end of the spring is fixedly connected with one side of the movable plate, which faces the joint surface.
5. The leg fixation device of claim 2 wherein,
the connecting rod and the supporting rod are integrally formed; and/or
The connecting rod is provided with a plurality of through holes.
6. The leg fixation device of any one of claims 1-5 wherein,
the leg fixation device further comprises a connection assembly, and the protection pad is detachably connected with the movable piece through the connection assembly.
7. The leg fixation device of claim 6 wherein,
the connecting component comprises a female magic paste and a male magic paste, wherein the female magic paste is fixedly connected with one of the protection pad and the movable piece, and the male magic paste is fixedly connected with the other of the protection pad and the movable piece.
8. The leg fixation device of any one of claims 1-5 wherein,
the leg fixing device further comprises a binding belt, the binding belt comprises a first belt body and a second belt body which are oppositely arranged, the first end of the first belt body is fixedly connected with the leg rod, and the first end of the second belt body is fixedly connected with the leg rod; the strap has a rolled state in which the second end of the first strap body is connected to the second end of the second strap body such that the strap is looped.
9. The leg fixation device of claim 8 wherein,
the second end of the first belt body is connected with the second end of the second belt body through at least one mode of bonding and clamping.
10. An intelligent walking robot, characterized by comprising:
a frame;
a leg fixation device as claimed in any one of claims 1 to 9, the leg fixation device being mounted to the frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310256343.3A CN116270055B (en) | 2023-03-16 | 2023-03-16 | Leg fixing device and intelligent walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310256343.3A CN116270055B (en) | 2023-03-16 | 2023-03-16 | Leg fixing device and intelligent walking robot |
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| Publication Number | Publication Date |
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| CN116270055A true CN116270055A (en) | 2023-06-23 |
| CN116270055B CN116270055B (en) | 2024-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310256343.3A Active CN116270055B (en) | 2023-03-16 | 2023-03-16 | Leg fixing device and intelligent walking robot |
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|---|---|
| CN116270055B (en) | 2024-05-28 |
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