CN206687881U - Pedipulator - Google Patents
Pedipulator Download PDFInfo
- Publication number
- CN206687881U CN206687881U CN201621113885.7U CN201621113885U CN206687881U CN 206687881 U CN206687881 U CN 206687881U CN 201621113885 U CN201621113885 U CN 201621113885U CN 206687881 U CN206687881 U CN 206687881U
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- steering wheel
- pedipulator
- waist
- thigh
- support frame
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Abstract
The utility model provides a kind of pedipulator, including waist bracket and waist fixing device, thigh support frame and thigh holding device, small leg support and shank holding device, foot stand and foot fixing device, crutch, also include steering wheel, steering wheel attachment means, servos control plate and controller, the steering wheel and steering wheel attachment means are at the hip joint that the waist bracket is connected with thigh support frame and at knee joint that the thigh support frame is connected with small leg support, the servos control plate electrically connects with the steering wheel, the controller electrically connects with the servos control plate.Using the technical scheme, the component such as the steering wheel for being usually used in manufacture machine people and servos control plate is combined with the pedipulator of auxiliary walking, the characteristic of rotation direction, speed and angle can be accurately controlled using steering wheel, so that the manipulation of the utility model pedipulator is more accurate, more intelligent, joint activity more freely, it is achieved thereby that more stable, safer convenience, more practical technique effect.
Description
Technical field
Medical rehabilitation fixture fields are the utility model is related to, especially a kind of pedipulator for aiding in walking.
Background technology
Modern society, because lower limb paralysis caused by a variety of causes such as wound, disease or lower limb disability patient are innumerable,
Patient's poor life quality also involves its whole family simultaneously and worries about labour for it, therefore, either patient or its household,
All urgently patient as early as possible rehabilitation or as far as possible recover patient ability to act.Therefore, this kind of crowd can be promoted by how developing
Rehabilitation aids in its rehabilitation device normally taken action to turn into the problem that those skilled in the art pay close attention to.
Chinese invention patent application (application number 201010620170.1) discloses a kind of Intelligent mechanical leg, and it is in basin bone branch
On the hip joint bearing of the left and right sides of frame, left and right femoral brace is loaded onto respectively；On knee joint bearing, tibial bracket is loaded onto；
On Guo oscillating bearings, the Shang Guo joints steering motors of Zhuan, then sole support is loaded onto thereon.Basin bone support and femoral brace it
Between, load onto hip joint hydraulic package；Between femoral brace and tibial bracket, knee joint hydraulic package is loaded onto；In tibial bracket
Between sole support, the Shang Guo joint hydraulics components of Zhuan.Hydraulic pump is driven using battery, then each liquid is controlled by electromagnetic hydraulic valve
Pressure joint assembly makees flexor.Pre-set programs, the trigger signal sent according to sensor, send the program singal of different mode
To electromagnetic hydraulic valve, flow direction, flow and the time of the hydraulic oil in each hydraulic knuckle component are controlled, makes each mechanical joint in phase
Bend and stretch.
In addition, Chinese invention patent application (application number 201511025679.0) discloses a kind of wearable bionic exoskeleton
Pedipulator convalescence device, mainly include trunk support, thigh support frame, small leg support, hip motor, knee motor, trunk inclination angle
Sensor and control module etc.；Trunk support is bundled in user's upper body；Thigh support frame is bundled on user's thigh, and small leg support is tied up
It is scheduled on user's shank；Foot supporting board is arranged on user's sole；Trunk support passes through hip motor connection with thigh support frame；Greatly
Leg support is separately fixed on the stator and rotor of knee motor with small leg support；Small leg support connects with foot supporting board activity
Connect；Control module is connected with watch, trunk inclination sensor, hip motor, knee motor etc. respectively.
Although prior art can recover the ability to act of lower limb disability personage to a certain extent, its is complicated,
Stability is unknown, in addition, it aids in the function of patient's walking to be more likely to active control, can be brought much not for actual use
Just with it is dangerous.
Therefore, those skilled in the art is directed to developing a kind of more intelligent, more stable, safer convenient pedipulator.
Utility model content
In view of the drawbacks described above of prior art, technical problem to be solved in the utility model, which is to provide one kind, to be aided in
Lower limb paralysis or lower limb disability personage recover leg function, are engaged in more intelligent, more stable, the safer convenience of daily life action
Pedipulator.
To achieve the above object, the utility model provides a kind of pedipulator, it is characterised in that：Including waist bracket and waist
Dress is fixed by portion's fixing device, thigh support frame and thigh holding device, small leg support and shank holding device, foot stand and foot
Put, crutch, in addition to steering wheel, steering wheel attachment means, servos control plate and controller, steering wheel and the steering wheel attachment means are located at
At the hip joint that the waist bracket is connected with thigh support frame and knee that the thigh support frame is connected with small leg support closes
At section, the servos control plate electrically connects with the steering wheel, and the controller electrically connects with the servos control plate.
Using the technical scheme, the components such as steering wheel and the servos control plate of manufacture machine people and auxiliary walking will be usually used in
Pedipulator is combined, and the characteristic of rotation direction, speed and angle can be accurately controlled using steering wheel so that the utility model pedipulator
Manipulation it is more accurate, more intelligent, the activity in joint more freely, it is achieved thereby that more stable, safer convenience, more practical technology
Effect.
Preferably, in addition to battery and mainframe box, the battery and the servos control plate are located at the mainframe box
It is interior；The waist bracket rear waist, which is widened, to be increased, and the mainframe box, which is fixed on to widen, increases place.
Further, the mainframe box is arranged to knapsack shape, and is provided with two braces.Because waist bracket is widened
High design can preferably support user the small of the back, along with the setting of brace, make it that the technical scheme realizes both attractive in appearance big
Side and the technique effect of safety and stability.
Preferably, the waist bracket is U-bracket, and the waist fixing device is waistband.Using the technical scheme, U
Shape support is more bonded parcel human body waist, plus the fixation of waistband so that the upper part of the body fixation of pedipulator and user, can
Effectively avoid accidents.
Preferably, the thigh holding device and/or shank holding device and/or foot fixing device are bandage.
Preferably, the ankle that the step support is connected with the small leg support is provided with ankle-joint bearing and ankle
Restoring spring.Using the technical scheme, Making programme is on the one hand simplified, on the other hand, using spring tiptoe can be kept to lean on bullet
Power return, prevent big-eared vertical kick of tiptoe from stumbling.
It is highly preferred that the step support also is provided with the steering wheel and rudder with the ankle that the small leg support is connected
Machine attachment means.Using the technical scheme so that ankle-joint also realizes the technology effect of accurate, nimble ground adjustment direction and angle
Fruit.
Preferably, the controller is control button, and the control button is located at outside or big before the waist bracket
On the outside of leg support.
Preferably, the steering wheel is self-locking steering wheel.Using the technical scheme, due to being locked automatically by modiolus inside steering wheel
Dead or energization is locked, to ensure the without movement of standing of limbs joint or the support of some angle, so as to protect the peace of user
Entirely, steadiness is added.
In addition, the steering wheel includes output shaft, the steering wheel attachment means include steering wheel, and the steering wheel is fixed on described big
The both ends of leg support, the steering wheel are fixed on the waist bracket and small leg support one end and are connected with the output shaft of the steering wheel
Connect.
Design, concrete structure and caused technique effect of the present utility model are made furtherly below with reference to accompanying drawing
It is bright, to be fully understood from the purpose of this utility model, feature and effect.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the reference view of steering wheel；
Wherein,
101 waist brackets
102 waistband connecting holes
201 thigh support frames
202 thigh holding devices
301 small leg supports
302 shank holding devices
401 foot stands
402 ankle-joint bearings
403 ankle restoring springs
500 crutch
The steering wheels of 601a first
The steering wheels of 601b second
The steering wheels of 602a first
The steering wheels of 602a second
603 control circuits
604 output shafts
605 motors
606 fixtures
701 mainframe boxes
702 braces
800 control buttons
Embodiment
As shown in figure 1, the utility model pedipulator includes waist bracket 101 and waist fixing device, the and of thigh support frame 201
Thigh holding device 202, small leg support 301 and shank holding device 302, foot stand 401 and foot fixing device, crutch
500, in addition to steering wheel, steering wheel attachment means, servos control plate and controller.
Waist bracket 101 is the upper part of the body for support user and so that pedipulator is brought into close contact with user, enhancing
Stability when user stands or when using, prevents pedipulator from departing from from user, causes serious consequence.In this example
Using U-bracket, U-shaped opening is consistent with user's face orientation.The user side of leaning to one side can be better protected from using U-bracket
To pedipulator is departed from, stability can also be increased., can be with cushion supportings such as cotton pad or silicagel pads in order to improve the comfort level of user
Back up rear portion.Waist fixing device can use waistband, abdominal belt etc..In this example, the opening of U-bracket can be fettered with waistband fixes.
As illustrated, the opening both ends of U-bracket are respectively provided with waistband connecting hole 102, for loading waistband.In addition to U-bracket, also
It can use and wrap up barrel-shaped support entirely, this kind of support can be arranged to two retractable modes of semicircle, can also be arranged to portion
Divide openable mode, the mode for being easy to user to dress is applicable.This kind of support is because waist size is according to user's
Waistline size is customized, and encapsulation is good, therefore stability is stronger during use.In addition it is also possible to this kind of support is arranged to
Scalable and fixed support, in order to adjust appropriate waist size according to different users.In addition, other are existing
Known waist bracket may be applicable to the utility model in technology, and such as most basic scheme ties up to rear waist and sets one
Frame, waist of mode regular user etc. is fettered using abdominal belt etc..
Thigh support frame 201 and small leg support 301 support the thigh and shank of user, the He of thigh holding device 202 respectively
Shank holding device 302 is used to fix the leg of support and user, and in this example, leg restraint is all using adjustable pine
Tight bandage.In addition, leg restraint can also use full parcel to design, special leg is customized according to the leg type of user
Support, it may be such that the utility model is more attractive, it is safer, firm.
The first steering wheel 601a, thigh support frame 201 are provided with the hip joint that waist bracket 101 is connected with thigh support frame 201
The second steering wheel 601b is provided with the knee joint being connected with small leg support 301.Steering wheel in the utility model uses high pulling torque rudder
Machine, because body weight is heavier, load is larger, therefore uses high pulling torque steering wheel more stable.Steering wheel preferably uses self-locking steering wheel, with
Ensure arthrodesis when user stands or kept a certain action or position.The published similar steering wheel of prior art is applicable
In the utility model.The steering wheel used in this example is generally 300Kg/cm-1000Kg/cm according to the height and weight of different users
Moment of torsion, speed general range be 0.22 second/60 ° -1.33 seconds/60 °.Steering wheel attachment means include being connected with the first steering wheel 601a
The the first steering wheel 602a connect and the second steering wheel 602b being connected with the second steering wheel 601b, in addition to shaft coupling.Fig. 2 shows rudder
The reference view of machine, as illustrated, steering wheel includes control circuit 603, output shaft 604, motor 605, gear train, fixture
606 grade parts, control circuit 603 are provided with the modules such as electric source line interface, pwm signal line interface, and output shaft 604 is used to connect rudder
Disk, fixture 606 are used to steering wheel being fixed on leg support frame.In this example, the first steering wheel 601a and the second steering wheel 601b difference
The both ends of thigh support frame 201 are fixed on, the first steering wheel 601a output shaft concatenates waist bracket 101 and thigh support frame 201 simultaneously
It is connected to form turning joint with shaft coupling and the first steering wheel 602a, the first steering wheel 602a is fixed in waist bracket 101；Second
Thigh support frame 201 is concatenated and is connected with shaft coupling and the second steering wheel 602b by steering wheel 601b output shaft with small leg support 301
Turning joint is formed, the second steering wheel 602b is fixed on small leg support.It can also take other embodiment, such as by the first steering wheel
601a is fixed in waist bracket 101, then the first steering wheel 602a is fixed on thigh support frame 201 etc..
Foot stand 401 can be footrest, and for the sole of support user, foot fixing device can use bandage etc.
Constraint mode.In the present embodiment, foot stand 401 is flexibly connected with small leg support 301 by the phase of ankle-joint bearing 402, and
Ankle restoring spring 403 is set between ankle-joint bearing 402 and foot stand 401, to keep tiptoe elastic force to playback.The technical side
Case can simplify the manufacture of pedipulator, cost-effective, while nor affect on the realization of technique effect；In addition, can be by foot stand 401
Sole is recessed into " D " shape slightly downward, and convex surface is downward, is walked while lifting sole with profit.In another embodiment, small leg support
Steering wheel and steering wheel attachment means are also provided between 301 and foot stand 401, steering wheel is fixed on small leg support 301, steering wheel
Small leg support 301 is concatenated and is connected to form turning joint with steering wheel with shaft coupling by output shaft with foot stand 401, and steering wheel is solid
Due in foot stand 401.
Leg support frame can use adjustable mode of stretching, to adapt to the user of different heights.
Crutch 500 can play upper limbs effect and keep one's balance, and can also share the load that gravity reduces steering wheel.
The utility model can also include mainframe box 701, battery and power switch.Supported or opposed at the low back of waist bracket 101
Heightening design is widened in direction in portion, and mainframe box 701, which is fixed on this, to be widened and increase place, and battery and servos control plate are located at mainframe box
Inside 701.Mainframe box 701 may be designed to knapsack shape, and be provided with two braces 702, on the one hand more attractive, on the other hand make
The wearing for obtaining pedipulator is more firm.Battery preferably uses lithium battery, and electricity display screen can be set.Controller and servos control plate electricity
Connection, controller can be line traffic control or remote control mode, depending on the mode of servos control plate transmission signal, be controlled in the utility model
Device processed is control button 800.Control button 800 may be disposed at preceding outside or the outside of thigh support frame 201 of waist bracket 101,
As long as the position that user can be easy to use is settable, control button 800 can use piano type button or other existing skills
Button known to art, can be set the button of conventional action control, such as jerk, stands, squats down.Power switch may be provided at
The side of mainframe box 701 or top, it can also be arranged at control button 800 at one.If using the rudder of wireless transmission method
If machine, user can be by being remotely controlled such as mobile phone, tablet personal computer come control action.It is more simple using control button 800
Singly, directly, conveniently.
Servos control plate is used to control whole steering wheels.Battery is that servos control plate and steering wheel are powered.Steering wheel and servos control
Pwm signal line is connected between plate and carries out signal transmission.Servos control plate is provided with single-chip microcomputer, and operator is acted by host computer formation
Group, is then transmit to servos control plate, and action group instruction is stored in single-chip microcomputer.User triggers control button 800 on demand
To issue action command, servos control plate starts to each steering wheel sending action signal, each steering wheel and completes to stand, walk, sit down
Etc. corresponding actions.
Service condition of the present utility model is exemplified below：After user dresses pedipulator, by being remotely controlled or pressing control
The button of " standing " on button 800, while double upper limbs lean on crutch 500 and stand up to stand, and coordinate the branch of balance by crutch 500
Put and stand firm.During walking, when turning right parallel with biped, turn left forward, turn left, left foot and turn right and to form gusseted face,
Now, due to having preset walking motion group in servos control plate, right crus of diaphragm can aid in lifting stepping a step forward by pedipulator.
After stepping, turn left parallel with right crus of diaphragm, turn right and form new gusseted face forward, then default walking motion group instruction machinery
Leg steps left foot, and and so on, pedipulator can auxiliary user normally walks.
Preferably, sensor can be increased in sole, knee joint, ankle-joint, hip joint etc. to increase steering wheel
Balance adjustment performance.
The utility model such as sensor etc., is protected without complicated balanced controls with user's upper limbs by crutch branch
Maintain an equal level weighing apparatus.In the case of using pedipulator, deliberate action is completed by remote control or control button control machine leg, lower limb can be made
Disabled patient is completed to stand by crutches alone, walking, flat sit, squats up, turning and action, the raising lower limb such as up/down steps are residual
Disease patient and its quality of life of family members.Compared with prior art, the utility model is more stable, more convenient, more intelligent.
Preferred embodiment of the present utility model described in detail above.It should be appreciated that the ordinary skill of this area without
Creative work can is needed to make many modifications and variations according to design of the present utility model.Therefore, it is all in the art
Technical staff on the basis of existing technology can by logical analysis, reasoning, or a limited experiment according to design of the present utility model
, all should be in the protection domain being defined in the patent claims with obtained technical scheme.
Claims (10)
1. pedipulator, it is characterised in that：Consolidate including waist bracket (101) and waist fixing device, thigh support frame (201) and thigh
Determine device (202), small leg support (301) and shank holding device (302), foot stand (401) and foot fixing device, crutch
(500), in addition to steering wheel, steering wheel attachment means, servos control plate and controller, steering wheel and the steering wheel attachment means are located at institute
State at the hip joint that waist bracket (101) is connected with thigh support frame (201) and the thigh support frame (201) and small leg support
(301) at the knee joint being connected, the servos control plate electrically connects with the steering wheel, the controller and the servos control
Plate electrically connects.
2. pedipulator according to claim 1, it is characterised in that：Also include battery and mainframe box (701), the battery
With the servos control plate in the mainframe box (701)；Waist bracket (101) rear waist, which is widened, to be increased, described
Mainframe box (701), which is fixed on to widen, increases place.
3. pedipulator according to claim 2, it is characterised in that：The mainframe box (701) is arranged to knapsack shape, and
Provided with two braces (702).
4. pedipulator according to claim 1, it is characterised in that：The waist bracket (101) is U-bracket, the waist
Portion's fixing device is waistband.
5. pedipulator according to claim 1, it is characterised in that：The thigh holding device (202) and/or shank are fixed
Device (302) and/or foot fixing device are bandage.
6. according to any described pedipulators of claim 1-5, it is characterised in that：The foot stand (401) and the shank
The ankle that support (301) is connected is provided with ankle-joint bearing (402) and ankle restoring spring (403).
7. according to any described pedipulators of claim 1-5, it is characterised in that：The foot stand (401) and the shank
The ankle that support (301) is connected is provided with the steering wheel and steering wheel attachment means.
8. pedipulator according to claim 1, it is characterised in that：The controller is control button (800), the control
Button (800) is located at outside or thigh support frame (201) outside before the waist bracket (101).
9. pedipulator according to claim 1, it is characterised in that：The steering wheel is self-locking steering wheel.
10. according to any described pedipulator in claim 1,2,3,4,5,8 or 9, it is characterised in that：The steering wheel includes output
Axle (604), the steering wheel attachment means include steering wheel, and the steering wheel is fixed on the both ends of the thigh support frame (201), the rudder
Disk is fixed on the waist bracket (101) and small leg support (301) one end and is connected with the output shaft (604) of the steering wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621113885.7U CN206687881U (en) | 2016-10-11 | 2016-10-11 | Pedipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621113885.7U CN206687881U (en) | 2016-10-11 | 2016-10-11 | Pedipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206687881U true CN206687881U (en) | 2017-12-01 |
Family
ID=60438864
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621113885.7U Active CN206687881U (en) | 2016-10-11 | 2016-10-11 | Pedipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206687881U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109846669A (en) * | 2019-02-01 | 2019-06-07 | 山东科技大学 | A kind of leg training recovery device |
-
2016
- 2016-10-11 CN CN201621113885.7U patent/CN206687881U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109846669A (en) * | 2019-02-01 | 2019-06-07 | 山东科技大学 | A kind of leg training recovery device |
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