CN210589274U - Wearable power-assisted walking device with adjustable step speed and self-adaptive step pitch - Google Patents
Wearable power-assisted walking device with adjustable step speed and self-adaptive step pitch Download PDFInfo
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- CN210589274U CN210589274U CN201921580945.XU CN201921580945U CN210589274U CN 210589274 U CN210589274 U CN 210589274U CN 201921580945 U CN201921580945 U CN 201921580945U CN 210589274 U CN210589274 U CN 210589274U
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Abstract
The utility model provides a self-adaptive wearable power-assisted walking device with adjustable pace, which comprises a mechanical component and a control component, wherein the mechanical component comprises a waistband, the two sides of the waistband are symmetrically provided with a frame, a thigh supporting plate is arranged below the frame in a matching way, the lower end of the thigh supporting plate is provided with a thigh fixing belt in a matching way, and the lower end is provided with a spring coil; the control assembly comprises a power module, a motor driver, a control module, a pace adjusting knob, a power switch, a sensor A, a sensor B, a film pressure sensor, an electromagnet A and an electromagnet B which are connected through cables, the sensor A and the sensor B are installed on the protective cover in a matched mode, and the film pressure sensor is arranged at the lower end of the spring coil. Compared with the prior art, the beneficial effects of the utility model reside in that: the walking aid solves the problem of long-time walking obstacle of the old group, and has the advantages of adjustable pace speed, automatic adaptation of pace to walking habits of people under different conditions, safety, reliability, simple structure, low cost and the like.
Description
Technical Field
The invention relates to the technical field of power-assisted walking devices, in particular to a wearable power-assisted walking device with adjustable step speed and self-adaptive step pitch.
Background
China has entered an age of long life and aging, and the aging of the population has attracted extensive attention of the whole society. The auxiliary appliance developed and designed for the old can improve the life quality of the old, help to reduce the pressure of social care and promote social harmony. The insufficiency of lower limb strength is a common problem in the elderly population, and the activity range of the elderly is seriously influenced.
At present, walking aids mainly comprise: (1) the walking stick, the walking aid frame and the like can play a role in assisting the old to walk, but do not fundamentally solve the problem that the lower limbs of the old are weak to lift legs; (2) the unpowered power-assisted walking machine, such as the Ailaiqi unpowered walking rehabilitative apparatus in the current market, adopts a spring compression energy storage design, can effectively improve walking efficiency, but the energy storage still needs human legs to do work, does not solve the problem of long-time movement of the old, and is expensive (the purchase price of RMB used for one leg is 3650 yuan, and the purchase price of double legs is 7100 yuan); (3) powered 'power-assisted walking machinery', most of the structures are complex, different continuous walking pace can be selected, on one hand, the walking mode of stopping when the old people walk is difficult to adapt to, and on the other hand, the power device is often required to be used for early-stage adaptive training. In addition, the power-assisted walking machine usually needs to be added with detection equipment with a high price, the manufacturing cost is higher, the light waist exoskeleton 'ATOUN MODEL Y' of the ATOUN of the Japan exoskeleton manufacturing company is sold at about 3.5 ten thousand RMB, the whole manufacturing cost is very high, the maintenance and the like of the equipment are also difficult, and the application range of the power-assisted walking machine is greatly limited. The equipment is mostly applied to military and scientific research, and has very few applications in civil use. In view of the above reasons, aiming at the walking mode of the lower limb strength insufficiency of the old and the frequent walking and stopping of the old, the invention provides the wearable power-assisted walking device which can adapt to the walking mode of the old, has simple structure and low cost, can adjust the walking speed and the walking pitch and is self-adaptive, so as to meet the requirements of the old on daily life and long-time walking.
Disclosure of Invention
In order to solve the problems, the invention discloses a wearable power-assisted walking device with adjustable pace speed and self-adaptive pace distance, which solves the problem of long-time walking obstacle of the old group and has the advantages of adjustable pace speed, automatic pace distance adaptation to walking habits of people under different conditions, safety, reliability, simple structure, low cost and the like.
In order to achieve the above purpose, the invention provides the following technical scheme:
the utility model provides a wearing formula helping hand running device of adjustable stride self-adaptation of pace which characterized in that: the mechanical component comprises a waistband, a frame is symmetrically arranged on two sides of the waistband, a cover matched with the frame is installed on the inner side of the frame in a matched mode, a thigh supporting plate is installed on the lower portion of the frame in a matched mode, a protective cover is installed on the inner side of the cover in a matched mode, a thigh fixing band is installed on the inner side of the lower end of the thigh supporting plate in a matched mode, a spring coil is arranged at the lower end of the thigh fixing band, a motor base is arranged in the frame, a motor is installed in the motor base in a matched mode, a worm is installed on the upper portion of the motor in a matched mode, a bidirectional pawl is installed on the inner side of the motor in a matched mode, a turbine is connected with the front side of the worm in a matched mode and is rotatably connected with the frame through a transmission shaft, the turbine is fixedly connected with the transmission shaft, the upper end and the lower end of the reset spring are respectively connected with the bidirectional pawl and the lower end of the inside of the rack, the driving wheel is sleeved with a bidirectional ratchet wheel sharing a central shaft with the driving wheel, the inner side of the bidirectional ratchet wheel is engaged with two driven wheels, the driven wheels are symmetrically arranged on the upper side and the lower side of the driving wheel in the circumferential direction and are engaged with the driving wheel, a driven wheel fixing plate A and a driven wheel fixing plate B are respectively arranged on the inner side and the outer side of each driven wheel, a rolling bearing is sleeved outside the inner end of the transmission shaft, and a thrust bearing is arranged; the control assembly comprises a power module, a motor driver, a control module, a pace adjusting knob, a power switch, a sensor A, a sensor B, a film pressure sensor, an electromagnet A and an electromagnet B which are connected through cables, wherein the sensor A and the sensor B are installed on a protective cover in a matched mode, and the film pressure sensor is arranged at the lower end of a spring coil.
Furthermore, the upper end of the thigh supporting plate is arranged between the cover and the protective cover in a matching mode.
Furthermore, the thigh fixing belt is fixedly connected with the thigh supporting plate through a fixing bolt.
Furthermore, an electromagnet fixing seat A and an electromagnet fixing seat B are respectively installed on the electromagnet A and the electromagnet B in a matched mode.
Further, the control assembly further comprises a power display and an alarm.
Compared with the prior art, the invention has the beneficial effects that:
1. the method can be used for multiple industries such as logistics, medical treatment, military, health care and the like, and has wide market prospect;
2. the device combines a mechanical technology and a control technology, the pace is adjustable, the pace is adaptive to the walking habit of a user, and early adaptive training is not needed;
3. two operation modes are provided, so that power can be provided for a user in different environments;
4. when a motor or an electrical element of the device breaks down, the control system is automatically powered off, and the thigh supporting plate is in a free rotation state under the condition of power failure, so that the occurrence of accidents (such as falling down of a user caused by the failure) can be effectively prevented, and the device is safe and reliable and has stronger popularization and application prices;
5. compared with the similar products in the market, the product has low price and strong practicability.
Drawings
Fig. 1 is a schematic structural diagram of a wearable power-assisted walking device with adjustable pace speed and adaptive pace distance according to the invention.
Fig. 2 is a schematic view of the left half of fig. 1 with the waistband removed.
Fig. 3 is a schematic structural diagram of fig. 2 with the protective cover, the sensor a and the sensor B removed.
Fig. 4 is a schematic structural view of fig. 3 with the cover and the thigh support removed.
Fig. 5 is a schematic structural view of fig. 4 with the frame and the driven wheel fixing plate a removed.
Fig. 6 is a schematic structural view of fig. 5 with a driven wheel fixing plate B, a bidirectional ratchet wheel a and a driven wheel removed.
Fig. 7 is a front schematic view of a wearable power-assisted walking device with adjustable pace speed and adaptive pace distance according to the invention.
Fig. 8 is a cross-sectional view a-a of fig. 7.
List of reference numerals:
1-power supply module, 11-motor driver, 12-control module, 13-step speed adjusting knob, 14-power switch, 15-electricity display, 16-sensor A, 17-sensor B, 18-alarm, 2-waistband, 3-frame, 31-protective cover, 32-cover, 4-thigh support plate, 41-thigh fixing belt, 42-fixing bolt, 43-spring coil, 44-film pressure sensor, 5-driven wheel fixing plate A, 51-driven wheel fixing plate B, 6-transmission shaft, 61-rolling bearing, 62-thrust bearing, 7-bidirectional pawl, 71-electromagnet fixing seat A, 72-electromagnet A, 73-electromagnet fixing seat B, 74-electromagnet B, 75-a reset tension spring, 8-a worm wheel, 81-a bidirectional ratchet wheel, 82-a driving wheel, 83-a driven wheel, 9-a motor base, 91-a motor and 92-a worm.
Detailed Description
The present invention will be further illustrated with reference to the accompanying drawings and specific embodiments, which are to be understood as merely illustrative of the invention and not as limiting the scope of the invention. It should be noted that the terms "front", "rear", "left" and "right" used in the following description refer to directions toward the lower right, upper left, lower left and upper right in the drawings, respectively, and the terms "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.
As shown in the figure, the self-adaptive wearable power-assisted walking device with adjustable step pitch comprises a mechanical assembly and a control assembly, wherein the mechanical assembly comprises a waistband 2, the two sides of the waistband 2 are symmetrically provided with a frame 3, the inner side of the frame 3 is provided with a cover 32 matched with the frame 3 in a matching way, the lower part of the frame 3 is provided with a thigh supporting plate 4 in a matching way, the inner side of the cover 32 is provided with a protective cover 31 in a matching way, the inner side of the lower end of the thigh supporting plate 4 is provided with a thigh fixing band 41 in a matching way, the lower end of the thigh fixing band is provided with a spring coil 43, a motor base 9 is arranged in the frame 3, a motor 91 is arranged in the motor base 9 in a matching way, a worm 92 is arranged above the motor 91 in a matching way, the inner side of the worm is provided with a bidirectional pawl 7 in a matching way, an electromagnet A72 and an electromagnet B74 are symmetrically arranged below the bidirectional pawl 7, a reset spring 75 is arranged between an electromagnet A72 and an electromagnet B74, the upper end and the lower end of the reset spring 75 are respectively connected with the bidirectional pawl 7 and the lower end of the interior of the rack 3, a bidirectional ratchet 81 sharing a central shaft with the drive wheel 82 is sleeved outside the drive wheel 82, two driven wheels 83 are meshed inside the bidirectional ratchet 81, the driven wheels 83 are symmetrically arranged on the upper side and the lower side of the drive wheel 82 in the circumferential direction and meshed with the drive wheel 82, a driven wheel fixing plate A5 and a driven wheel fixing plate B51 are respectively arranged on the inner side and the outer side of each driven wheel 83, a rolling bearing 61 is sleeved outside the inner end of the transmission shaft 6, and a thrust; the control assembly comprises a power supply module 1, a motor driver 11, a control module 12, a pace speed adjusting knob 13, a power supply switch 14, a sensor A16, a sensor B17, a film pressure sensor 44, an electromagnet A72 and an electromagnet B74, wherein the sensor A16 and the sensor B17 are installed on the protective cover 31 in a matching mode, and the film pressure sensor 44 is arranged at the lower end of the spring coil 43.
In the present embodiment, the upper end of the thigh rest 4 is fitted between the cover 32 and the protective cover 31.
In the present embodiment, the thigh fixing strap 41 is fixedly connected to the thigh rest 4 by a fixing bolt 42.
In this embodiment, the electromagnet a72 and the electromagnet B74 are respectively fitted with an electromagnet fixing seat a71 and an electromagnet fixing seat B73.
In this embodiment, the control unit further includes a power display 15 and an alarm 18.
The detailed using method of the invention is as follows:
1. the power switch 14 is pressed, the device is powered on, and the bidirectional pawl 7 and the bidirectional ratchet 81 are in a separated state under the tension of the reset tension spring 75;
2. a normal mode and a climbing mode are arranged on the control panel, and the climbing mode is selected;
3. the step speed adjusting knob 13 is adjusted to change the rotating speed of the motor 91, so that the step speed adjustment is realized;
4. the left leg and the right leg move forwards, when the thigh supporting plate 4 rotates in the vertical direction, the sensor B17 is pressed to send a signal to the control module 12, the motor 91 transmits the signal forwards, the worm 92 drives the worm wheel 8 to rotate clockwise, the bidirectional ratchet 81 tends to rotate anticlockwise, meanwhile, the electromagnet A72 is electrified for a short time to attract the bidirectional pawl 7 to lock the bidirectional ratchet 81 in the anticlockwise direction, the worm wheel 8 drives the driven wheel fixing plate A5 to rotate clockwise through the driving wheel 82 and the driven wheel 83, so that the thigh supporting plate 4 is driven to rotate forwards, the leg lifting action is realized, the bidirectional pawl 7 cannot be restored under the pressure of the bidirectional ratchet 81, and the ratchet pawl is in a locking state;
5. a film pressure sensor 44 is arranged under the foot (the film pressure sensor 44 is in a strip shape, and can send out signals after the sole or the heel of the foot touches the ground). When the left foot and the right foot touch the ground, the film pressure sensor 44 is pressed to send a signal to the control module 12, the motor 91 rotates reversely, the bidirectional pawl 7 is separated from the bidirectional ratchet 81 under the tension of the reset tension spring 75, the worm 92 drives the worm wheel 8 to rotate anticlockwise, the bidirectional ratchet 81 has a trend of rotating clockwise, meanwhile, the electromagnet B17 is electrified for a short time to attract the bidirectional pawl 7 to lock the bidirectional ratchet 81 clockwise, the worm wheel 8 drives the driven wheel fixing plate A5 to rotate anticlockwise through the driving wheel 8 and the driven wheel (83), so that the thigh supporting plate 4 is driven to rotate backwards to realize leg collection, the bidirectional pawl 7 cannot be restored under the pressure of the bidirectional ratchet 81, and the ratchet pawl is in a locking state;
6. when the thigh supporting plate 4 rotates backwards in the vertical direction, the sensor B17 is pressed to send a signal to the control module 12, the motor 91 stops rotating, the left leg and the right leg move backwards, the bidirectional pawl 7 is separated from the bidirectional ratchet 81 under the pulling force of the reset tension spring 75, only the driven wheel 83 and the bidirectional ratchet 81 rotate around the driving wheel 82 at the moment, and almost no additional load exists;
7. 3, 4, 5 and 6 steps are repeated on the right leg and the left leg to realize the walking assistance;
8. when the normal mode is selected, the film pressure sensor 44 is pressed to send a signal to the control module 12 after the foot of the person touches the ground in the step 4, the motor 91 stops after rotating for a circle, so that the bidirectional pawl 7 is separated from the bidirectional ratchet 81 under the pulling force of the reset tension spring 75 conveniently, the driven wheel 83 and the bidirectional ratchet 81 rotate around the driving wheel 82, the leg folding action is realized under the action of forward movement of the gravity center of the human body, the operation time of the motor 91 is reduced, and the energy consumption is reduced. Other steps are the same as the climbing mode;
9. when the power switch 14 is pressed down, the device is powered off and stops working, and the thigh supporting plate 4 is in a free rotation state;
10. when the thigh supporting plate 4 moves to the sensor A16, the angle between the leg of the person and the vertical direction is adjustable to the maximum degree, the motor 91 stops rotating, and the safety of the user is guaranteed;
11. the user can know the residual capacity of the power supply module 1 from the capacity display screen 15, and when the capacity is lower than 10%, the alarm 18 gives an alarm;
12. when the motor 91 fails or the electric appliance element fails, the alarm gives an alarm, and the control system automatically cuts off the power supply. The left and right legs move to drive the bidirectional ratchet 81 to rotate, the bidirectional pawl 7 is separated from the bidirectional ratchet 81 under the tension of the reset tension spring 75, and at the moment, the user can walk normally almost without extra load.
The technical means disclosed in the invention scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.
Claims (5)
1. The utility model provides a wearing formula helping hand running device of adjustable stride self-adaptation of pace which characterized in that: including mechanical components and control assembly, mechanical components includes beam waist area (2), the bilateral symmetry of beam waist area (2) is equipped with frame (3), the inboard cooperation of frame (3) is installed and is covered (32) rather than the looks adaptation, thigh layer board (4) are installed in the below cooperation of frame (3), visor (31) are installed in the inboard cooperation of cover (32), thigh fixed band (41) are installed in the lower extreme inboard cooperation of thigh layer board (4), and the lower extreme is equipped with spring coil (43), be equipped with motor cabinet (9) in frame (3), cooperate in motor cabinet (9) to install motor (91), worm (92) are installed in the top cooperation of motor (91), and two-way pawl (7) are installed in the inboard cooperation, worm (92) front side cooperation is connected with turbine (8), turbine (8) are rotated through transmission shaft (6) and are connected with frame (3), the turbine (8) is fixedly connected with the transmission shaft (6), a driving wheel (82) is further sleeved on the inner end of the transmission shaft, an electromagnet A (72) and an electromagnet B (74) are symmetrically arranged below the bidirectional pawl (7), a reset spring (75) is arranged between the electromagnet A (72) and the electromagnet B (74), the upper end and the lower end of the reset spring (75) are respectively connected with the bidirectional pawl (7) and the inner lower end of the rack (3), a bidirectional ratchet wheel (81) sharing a central shaft with the driving wheel (82) is sleeved outside the driving wheel (82), two driven wheels (83) are meshed on the inner side of the bidirectional ratchet wheel (81), the driven wheels (83) are symmetrically arranged on the upper side and the lower side of the driving wheel (82) in the circumferential direction and meshed with the driving wheel (82), a driven wheel fixing plate A (5) and a driven wheel fixing plate B (51) are respectively arranged on the inner side and the outer, a rolling bearing (61) is sleeved outside the inner end of the transmission shaft (6), and a thrust bearing (62) is arranged in the middle of the outer side of the driven wheel fixing plate A (5); the control assembly comprises a power module (1), a motor driver (11), a control module (12), a pace speed adjusting knob (13), a power switch (14), a sensor A (16), a sensor B (17), a film pressure sensor (44), an electromagnet A (72) and an electromagnet B (74), wherein the power module, the motor driver and the control module are connected through cables, the sensor A (16) and the sensor B (17) are installed on a protective cover (31) in a matched mode, and the film pressure sensor (44) is arranged at the lower end of a spring coil (43).
2. The wearable power-assisted walking device with adjustable pace speed and adaptive pace distance according to claim 1, characterized in that: the upper end of the thigh supporting plate (4) is arranged between the cover (32) and the protective cover (31) in a matching way.
3. The wearable power-assisted walking device with adjustable pace speed and adaptive pace distance according to claim 1, characterized in that: the thigh fixing belt (41) is fixedly connected with the thigh supporting plate (4) through a fixing bolt (42).
4. The wearable power-assisted walking device with adjustable pace speed and adaptive pace distance according to claim 1, characterized in that: and an electromagnet fixing seat A (71) and an electromagnet fixing seat B (73) are respectively installed on the electromagnet A (72) and the electromagnet B (74) in a matched manner.
5. The wearable power-assisted walking device with adjustable pace speed and adaptive pace distance according to claim 1, characterized in that: the control assembly also comprises a power display (15) and an alarm (18).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921580945.XU CN210589274U (en) | 2019-09-23 | 2019-09-23 | Wearable power-assisted walking device with adjustable step speed and self-adaptive step pitch |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921580945.XU CN210589274U (en) | 2019-09-23 | 2019-09-23 | Wearable power-assisted walking device with adjustable step speed and self-adaptive step pitch |
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| CN210589274U true CN210589274U (en) | 2020-05-22 |
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| CN201921580945.XU Active CN210589274U (en) | 2019-09-23 | 2019-09-23 | Wearable power-assisted walking device with adjustable step speed and self-adaptive step pitch |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110480621A (en) * | 2019-09-23 | 2019-11-22 | 苏州市职业大学 | A kind of wearable assisted walk device that the adjustable step pitch of leg speed is adaptive |
| CN112451318A (en) * | 2020-11-19 | 2021-03-09 | 苏州市职业大学 | Power-assisted walking device based on slide block transmission |
-
2019
- 2019-09-23 CN CN201921580945.XU patent/CN210589274U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110480621A (en) * | 2019-09-23 | 2019-11-22 | 苏州市职业大学 | A kind of wearable assisted walk device that the adjustable step pitch of leg speed is adaptive |
| CN110480621B (en) * | 2019-09-23 | 2024-03-19 | 苏州市职业大学 | Self-adaptive wearable power-assisted walking device with adjustable pace |
| CN112451318A (en) * | 2020-11-19 | 2021-03-09 | 苏州市职业大学 | Power-assisted walking device based on slide block transmission |
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