CN207286289U - A kind of mechanical device for aiding in human body lower limbs walking - Google Patents
A kind of mechanical device for aiding in human body lower limbs walking Download PDFInfo
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- CN207286289U CN207286289U CN201720293882.4U CN201720293882U CN207286289U CN 207286289 U CN207286289 U CN 207286289U CN 201720293882 U CN201720293882 U CN 201720293882U CN 207286289 U CN207286289 U CN 207286289U
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- microprocessor
- human body
- adjustable link
- joint
- servomotor
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Abstract
The utility model discloses a kind of mechanical device for aiding in human body lower limbs walking, solves in the prior art the problem of human body lower limbs auxiliary machinery is complicated, inconvenient, expensive.The utility model includes flexible waistband, the microprocessor case and power supply box being fixedly connected respectively with flexible waistband both ends, the first walking mechanism and the second walking mechanism of auxiliary lower limb walking are connected to microprocessor case and power supply box respectively, the microprocessor for being used for controlling first walking mechanism and the second walking mechanism to run is equipped with microprocessor case, the driving power being electrically connected respectively with microprocessor, first walking mechanism and the second walking mechanism is equipped with power supply box.Design is scientific and reasonable for the utility model, simple in structure, light, meets organization of human body feature, and wearing comfort is easy to operate, and control is flexible, using the teaching of the invention it is possible to provide good walking power-assisted.
Description
Technical field
The utility model belongs to the field of medical instrument technology, and in particular to a kind of machinery dress for aiding in human body lower limbs walking
Put.
Background technology
The crowds such as the elderly, the slight deformity of lower limb have certain locomotor activity there are the problem of inconvenient walking again.
The problem of providing walking power-assisted for this kind of crowd, reduce its inconvenient walking, can mitigate the family that aging and lower limb disability are brought
Front yard and social pressures.
Substantial amounts of work has been made in the research both at home and abroad to human body lower limbs auxiliary machinery at present, especially American-European-Japanese etc.
Developed country carries out this research relatively early, but the device of its research is mostly there are complicated, expensive, complicated etc.
Problem.It is more so that complicated and inconvenient along with the diversity that covets to purposes aspect.
Therefore a kind of mechanical device for aiding in human body lower limbs walking, simple in structure, light, wearing comfort, operation letter are provided
Single, control is flexible, using the teaching of the invention it is possible to provide good walking power-assisted, becomes those skilled in the art's urgent problem to be solved.
Utility model content
The technical problems to be solved in the utility model is：A kind of mechanical device for aiding in human body lower limbs walking is provided, is solved
Human body lower limbs auxiliary machinery is complicated in the prior art, inconvenient, it is expensive the problem of.
To achieve the above object, the technical solution adopted in the utility model is as follows：
A kind of mechanical device for aiding in human body lower limbs walking, including flexible waistband, fix with flexible waistband both ends connect respectively
The microprocessor case and power supply box connect, is connected to the first walking of auxiliary lower limb walking with microprocessor case and power supply box respectively
Mechanism and the second walking mechanism, be equipped with microprocessor case be used to controlling first walking mechanism and the second walking mechanism run it is micro-
Processor, power supply box is interior to be equipped with the driving power being electrically connected respectively with microprocessor, first walking mechanism and the second walking mechanism.
Further, first walking mechanism includes the first thigh adjustable link, the first shank adjustable link, the first pressure
Power footwear, connect microprocessor case and the first hip joint of the first thigh adjustable link upper end, and the first thigh of connection adjusts company
Bar lower end and the first knee joint of the first shank adjustable link upper end, connect the first shank adjustable link lower end and the first pressure
First ankle-joint of power footwear, be equipped with the outside of the first hip joint be used to driving the operation of the first hip joint and respectively with microprocessor and drive
First servomotor of dynamic power electric connection, be equipped with the outside of the first knee joint be used to driving the operation of the first knee joint and respectively with it is micro-
The second servomotor that processor and driving power are electrically connected, the first Ankle lateral, which is equipped with, to be used to drive the operation of the first ankle-joint
And the 3rd servomotor being electrically connected respectively with microprocessor and driving power, top on the inside of the first thigh adjustable link and
Lower part and the first shank adjustable link lower inside are equipped with for first walking mechanism to be fixed on human body lower limbs
First fixes band.
Further, the second walking mechanism includes the second thigh adjustable link, the second shank adjustable link, the second pressure
Power footwear, connect power supply box and the second hip joint of the second thigh adjustable link upper end, connect under the second thigh adjustable link
End and the second knee joint of the second shank adjustable link upper end, connect the second shank adjustable link lower end and second pressure footwear
The second ankle-joint, be equipped with the outside of the second hip joint and be used to driving the second hip joint operation and electric with microprocessor and driving respectively
The 4th servomotor that source is electrically connected, be equipped with the outside of the second knee joint be used to driving the operation of the second knee joint and respectively with microprocessor
Device and the 5th servomotor of driving power electrical connection, the second Ankle lateral, which is equipped with, to be used to drive the operation of the second ankle-joint and divides
The 6th servomotor not being electrically connected with microprocessor and driving power, top on the inside of the second thigh adjustable link and under
Portion and the second shank adjustable link lower inside be equipped with for the second walking mechanism is fixed on human body lower limbs
Two fix band.
Further, further include be separately fixed at first pressure footwear and second pressure sole part and respectively with microprocessor electricity
Two pressure sensors of connection, are respectively used to be fixed on each joint motions muscle of human body lower limbs and electric with microprocessor respectively
The myoelectric sensor and muscle pressure sensor of connection.
Further, the first thigh adjustable link, the first shank adjustable link, the second thigh adjustable link, with
And second shank adjustable link be shrinking connecting-rod.
Further, shrinking connecting-rod includes upper connecting rod, lower link and adjusting nut, and the lower part of upper connecting rod is grown along upper connecting rod
Degree offers the threaded square upper connecting rod adjustment hole in both sides on direction, and the top of lower link is opened along on lower link length direction
It is threaded equipped with both sides and be located at upper connecting rod at the same time with the matched square lower link adjustment hole of upper connecting rod adjustment hole, adjusting nut
Telescopic adjustment is carried out in adjustment hole and lower link adjustment hole and by screw thread.
Further, the first fixation band and the second fixation band are magic tape.
Further, microprocessor is 2 model B of Raspberry Pi.
Further, the first servomotor, the second servomotor, the 3rd servomotor, the 4th servomotor, the 5th servo
Motor and the 6th servomotor are DSS-M15S metal gear steering engines.
Further, it is socket arrangement to state the first hip joint and the second hip joint.
Compared with prior art, the utility model has the advantages that：
Design is scientific and reasonable for the utility model, simple in structure, light, meets organization of human body feature, wearing comfort, operation side
Just, control is flexible, using the teaching of the invention it is possible to provide good walking power-assisted.
The utility model meets organization of human body feature using biped type wearing mechanical structure, monnolithic case aspect.Under human body
Limb auxiliary wearing mechanical device installs driving device in knee joint, hip joint, ankle-joint, is more in line with human body lower limbs movement side
Formula；Hip joint is socket arrangement, meets the 3DOF in the joint；It is suitable for the exterior shape of different human body using adjustable link mechanism
State feature.
Power supply and microprocessor are fixedly connected by the utility model with flexible waistband both ends, and when use is more convenient laborsaving.
It is fixed on the pressure sensor of pressure sole part, the myoelectric sensor and muscle that are fixed on each joint motions muscle of human body lower limbs
Pressure sensor is used to detect human motion signal, and signal is passed to microprocessor, and microprocessor is believed according to human motion
Number action signal is sent, pass to the servomotor of each joint, servomotor work, so as to drive human motion, manipulates
Simply, flexibly.
Brief description of the drawings
Fig. 1 is the utility model structure diagram.
Fig. 2 is the utility model the second shank adjustable link schematic diagram.
Fig. 3 is the utility model the first hip joint schematic diagram.
Wherein, reference numeral is corresponding entitled：
1- flexibilities waistband, 2- microprocessors case, 3- power supply boxs, 4- first walking mechanisms, the second walking mechanisms of 5-, 6- first
Thigh adjustable link, the first shanks of 7- adjustable link, 8- first pressures footwear, the first hip joints of 9-, the first knee joints of 10-,
The first ankle-joints of 11-, the first servomotors of 12-, the second servomotors of 13-, the 3rd servomotors of 14-, the second thighs of 15- are adjustable
Save connecting rod, the second shanks of 16- adjustable link, 17- second pressures footwear, the second hip joints of 18-, the second knee joints of 19-, 20- the
The 4th servomotor of two ankle-joints, 21-, the 5th servomotors of 22-, the 6th servomotors of 23-, 24- first fix band, 25- the
Two fix bands, 26- pressure sensors, 27- myoelectric sensors, 28- muscle pressures sensor, 29- upper connecting rods, 30- lower links,
31- adjusting nuts.
Embodiment
The utility model is described in further detail with embodiment for explanation below in conjunction with the accompanying drawings, and the mode of the utility model includes
But it is not limited only to following embodiments.
Embodiment
As shown in Figure 1-Figure 3, a kind of mechanical device for aiding in human body lower limbs walking, including flexible waistband 1, respectively with it is soft
The microprocessor case 2 and power supply box 3 that property 1 both ends of waistband are fixedly connected, are connected to microprocessor case 2 and power supply box 3 respectively
4 and second walking mechanism 5 of first walking mechanism of lower limb walking is aided in, is equipped with the microprocessor case 2 and is used to control first
The microprocessor of 4 and second walking mechanism 5 of walking mechanism operation, be equipped with the power supply box 3 respectively with microprocessor, the first row
Walk the driving power that 4 and second walking mechanism 5 of mechanism is electrically connected；
The first walking mechanism 4 includes the first thigh adjustable link 6, the first shank adjustable link 7, first pressure
Footwear 8, the first hip joint 9 of 6 upper end of connection microprocessor case 2 and the first thigh adjustable link, the first thigh of connection adjust
First knee joint 10 of 7 upper end of 6 lower end of connecting rod and the first shank adjustable link, 7 lower end of the first shank adjustable link of connection
With the first ankle-joint 11 of first pressure footwear 8, the outside of first hip joint 9 be equipped be used to driving the first hip joint 9 run and
The first servomotor 12 being electrically connected respectively with microprocessor and driving power, the outside of the first knee joint 10, which is equipped with, to be used to drive
The second servomotor 13 that dynamic first knee joint 10 runs and is electrically connected respectively with microprocessor and driving power, first ankle
The outside of joint 11 is equipped be used for driving the first ankle-joint 11 to run and be electrically connected respectively with microprocessor and driving power the 3rd
Servomotor 14, in the upper and lower part of the inner side of the first thigh adjustable link 6 and the first shank adjustable link 7
Side lower part is equipped with the first fixation band 24 for being fixed on first walking mechanism 4 on human body lower limbs；
Second walking mechanism 5 includes the second thigh adjustable link 15, the second shank adjustable link 16, the second pressure
Power footwear 17, the second hip joint 18 of 3 and second thigh adjustable link of connection power supply box, 15 upper end, the second thigh of connection adjust
Second knee joint 19 of 16 upper end of 15 lower end of connecting rod and the second shank adjustable link, connects under the second shank adjustable link 16
End and the second ankle-joint 20 of second pressure footwear 17, the outside of the second hip joint 18, which is equipped with, to be used to drive the second hip joint 18 to transport
Row and the 4th servomotor 21 being electrically connected respectively with microprocessor and driving power, the outside of the second knee joint 19, which is equipped with, to be used
In driving the second knee joint 19 the 5th servomotor 22 for running and being electrically connected respectively with microprocessor and driving power, described the
The outside of two ankle-joint 20, which is equipped with, to be used to drive what the second ankle-joint 20 ran and was electrically connected with microprocessor and driving power respectively
6th servomotor 23, the upper and lower part of the inner side of the second thigh adjustable link 15 and the second shank adjust company
16 lower inside of bar is equipped with the second fixation band 25 for being fixed on the second walking mechanism 5 on human body lower limbs；First hip closes
9 and second hip joint 18 of section is socket arrangement；
17 bottom of first pressure footwear 8 and second pressure footwear has been respectively fixedly connected with two pressure sensors 26, described
Pressure sensor 26 is electrically connected with microprocessor respectively；Myoelectric sensor is fixedly connected with each joint motions muscle of human body lower limbs
27 and muscle pressure sensor 28；The myoelectric sensor 27 and muscle pressure sensor 28 are electrically connected with microprocessor；
The first thigh adjustable link 6, the first shank adjustable link 7, the second thigh adjustable link 15 and
Second shank adjustable link 16 is shrinking connecting-rod；
The shrinking connecting-rod includes upper connecting rod 29, lower link 30 and adjusting nut 31, the lower part of the upper connecting rod 29 along
The threaded square upper connecting rod adjustment hole in both sides is offered on 29 length direction of upper connecting rod, the top of the lower link 30 is under
Offered on 30 length direction of connecting rod both sides it is threaded and with the matched square lower link adjustment hole of upper connecting rod adjustment hole, it is described
Adjusting nut 31 carries out telescopic adjustment in upper connecting rod adjustment hole and lower link adjustment hole and by screw thread at the same time；
It is magic tape that the first fixation band 24 and second, which fixes band 25,；The microprocessor is 2 model B of raspberry；Institute
State the first servomotor 12, the second servomotor 13, the 3rd servomotor 14, the 4th servomotor 21, the 5th servomotor 22
It is DSS-M15S metal gear steering engines with the 6th servomotor 23.
Flexible waistband 1 is fixed on waist when the utility model is used, biped respectively with first pressure footwear 8, second pressure
Footwear 17 connect, and double lower limb fixes the fixation band 25 of band 24, second by first respectively and the first thigh adjustable link 6, first is small
Leg adjustable link 7, the second thigh adjustable link 15 and the second shank adjustable link 16 connect, and by adjusting spiral shell
Mother 31 carries out telescopic adjustment, it is more met height.
Two pressures for being separately fixed at first pressure footwear 8 and 17 bottom of second pressure footwear and being electrically connected respectively with microprocessor
Force snesor 26, is separately fixed at the myoelectricity sensing being electrically connected respectively on each joint motions muscle of human body lower limbs and with microprocessor
Device 27 and muscle pressure sensor 28, microprocessor is passed to for detecting human motion signal, and by signal.Microprocessor root
Action signal is sent according to human motion signal, passes to the servomotor of each joint, servomotor work, so that with moving
Body moves.
Above-described embodiment is only one of preferred embodiment of the utility model, should not be taken to limit the utility model
Protection domain, as long as the utility model body design thought and that mentally makes have no the change of essential meaning or profit
Color, the technical problem that it is solved is still consistent with the utility model, should be included in the scope of protection of the utility model
Within.
Claims (10)
- A kind of 1. mechanical device for aiding in human body lower limbs walking, it is characterised in that：Including flexible waistband (1), respectively with flexible waist The microprocessor case (2) and power supply box (3) that band (1) both ends are fixedly connected, respectively with microprocessor case (2) and power supply box (3) even The first walking mechanism (4) and the second walking mechanism (5) for aiding in lower limb to walk are connect, is equipped with the microprocessor case (2) For the microprocessor for controlling first walking mechanism (4) and the second walking mechanism (5) to run, it is equipped with and divides in the power supply box (3) The driving power not being electrically connected with microprocessor, first walking mechanism (4) and the second walking mechanism (5).
- A kind of 2. mechanical device for aiding in human body lower limbs walking according to claim 1, it is characterised in that：The first row Walking mechanism (4) includes the first thigh adjustable link (6), and the first shank adjustable link (7), first pressure footwear (8), connect micro- Processor case (2) and first hip joint (9) of first thigh adjustable link (6) upper end, connect the first thigh adjustable link (6) first knee joint (10) of lower end and first shank adjustable link (7) upper end, connects the first shank adjustable link (7) Lower end and the first ankle-joint (11) of first pressure footwear (8), the first hip joint (9) outside, which is equipped with, to be used to drive the first hip to close Section (9) operation and the first servomotor (12) being electrically connected respectively with microprocessor and driving power, first knee joint (10) outside is equipped be used for driving the first knee joint (10) operation and be electrically connected respectively with microprocessor and driving power second Servomotor (13), be equipped with the outside of first ankle-joint (11) be used to driving the first ankle-joint (11) operation and respectively with micro- place Manage the 3rd servomotor (14) that device and driving power are electrically connected, top on the inside of the first thigh adjustable link (6) and Lower part and first shank adjustable link (7) lower inside are equipped with for first walking mechanism (4) to be fixed under human body First on limb fixes band (24).
- A kind of 3. mechanical device for aiding in human body lower limbs walking according to claim 2, it is characterised in that：Second row Walking mechanism (5) includes the second thigh adjustable link (15), and the second shank adjustable link (16), second pressure footwear (17), connect Power supply box (3) and second hip joint (18) of second thigh adjustable link (15) upper end are connect, the second thigh of connection adjusts company Bar (15) lower end and second knee joint (19) of second shank adjustable link (16) upper end, connect the second shank adjustable link (16) the second ankle-joint (20) of lower end and second pressure footwear (17), is equipped with the outside of second hip joint (18) and is used to driving the The 4th servomotor (21) that two hip joints (18) run and are electrically connected respectively with microprocessor and driving power, second knee It is equipped with the outside of joint (19) and is used for what is driven the second knee joint (19) operation and be electrically connected respectively with microprocessor and driving power 5th servomotor (22), be equipped with the outside of second ankle-joint (20) be used to driving the second ankle-joint (20) operation and respectively with The 6th servomotor (23) that microprocessor and driving power are electrically connected, it is upper on the inside of the second thigh adjustable link (15) Portion and lower part and second shank adjustable link (16) lower inside are equipped with for the second walking mechanism (5) to be fixed on Second on human body lower limbs fixes band (25).
- A kind of 4. mechanical device for aiding in human body lower limbs walking according to claim 3, it is characterised in that：Further include difference It is fixed on first pressure footwear (8) and second pressure footwear (17) bottom and two pressure sensors being electrically connected with microprocessor (26), it is respectively used to be fixed on the myoelectric sensor being electrically connected on each joint motions muscle of human body lower limbs and with microprocessor (27) and muscle pressure sensor (28).
- A kind of 5. mechanical device for aiding in human body lower limbs walking according to claim 4, it is characterised in that：Described first is big Leg adjustable link (6), the first shank adjustable link (7), the second thigh adjustable link (15) and the second shank are adjustable It is shrinking connecting-rod to save connecting rod (16).
- A kind of 6. mechanical device for aiding in human body lower limbs walking according to claim 5, it is characterised in that：The flexible company Bar includes upper connecting rod (29), lower link (30) and adjusting nut (31), and the lower part of the upper connecting rod (29) is along upper connecting rod (29) Offer the threaded square upper connecting rod adjustment hole in both sides on length direction, the top of the lower link (30) is along lower link (30) offered on length direction both sides it is threaded and with the matched square lower link adjustment hole of upper connecting rod adjustment hole, the tune Save nut (31) while carry out telescopic adjustment in upper connecting rod adjustment hole and lower link adjustment hole and by screw thread.
- A kind of 7. mechanical device for aiding in human body lower limbs walking according to claim 6, it is characterised in that：Described first is solid Fixed band (24) and the second fixation band (25) are magic tape.
- A kind of 8. mechanical device for aiding in human body lower limbs walking according to claim 7, it is characterised in that：The microprocessor Device is 2 model B of Raspberry Pi.
- A kind of 9. mechanical device for aiding in human body lower limbs walking according to claim 8, it is characterised in that：Described first watches Take motor (12), the second servomotor (13), the 3rd servomotor (14), the 4th servomotor (21), the 5th servomotor (22) and the 6th servomotor (23) is DSS-M15S metal gear steering engines.
- A kind of 10. mechanical device for aiding in human body lower limbs walking according to claim 9, it is characterised in that：Described first Hip joint (9) and the second hip joint (18) are socket arrangement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720293882.4U CN207286289U (en) | 2017-03-24 | 2017-03-24 | A kind of mechanical device for aiding in human body lower limbs walking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720293882.4U CN207286289U (en) | 2017-03-24 | 2017-03-24 | A kind of mechanical device for aiding in human body lower limbs walking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207286289U true CN207286289U (en) | 2018-05-01 |
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ID=62270906
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720293882.4U Expired - Fee Related CN207286289U (en) | 2017-03-24 | 2017-03-24 | A kind of mechanical device for aiding in human body lower limbs walking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207286289U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109381327A (en) * | 2018-09-26 | 2019-02-26 | 北京子歌人工智能科技有限公司 | A kind of artificial intelligence motion's ancillary equipment |
| CN111991197A (en) * | 2020-09-01 | 2020-11-27 | 武汉理工大学 | Walking aid for disabled dogs with hind limb injuries |
| CN112933533A (en) * | 2021-01-26 | 2021-06-11 | 济南市中心医院 | Integrated rehabilitation device after limb burn |
-
2017
- 2017-03-24 CN CN201720293882.4U patent/CN207286289U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109381327A (en) * | 2018-09-26 | 2019-02-26 | 北京子歌人工智能科技有限公司 | A kind of artificial intelligence motion's ancillary equipment |
| CN111991197A (en) * | 2020-09-01 | 2020-11-27 | 武汉理工大学 | Walking aid for disabled dogs with hind limb injuries |
| CN112933533A (en) * | 2021-01-26 | 2021-06-11 | 济南市中心医院 | Integrated rehabilitation device after limb burn |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180501 Termination date: 20210324 |