CN211584125U

CN211584125U - Walking-assisted robot leg and walking-assisted robot composed of same

Info

Publication number: CN211584125U
Application number: CN201922090099.XU
Authority: CN
Inventors: 闫阳阳; 孙伟; 代晨龙; 谢望高; 谭红霞
Original assignee: Wuhan University of Science and Engineering WUSE
Current assignee: Wuhan University of Science and Engineering WUSE
Priority date: 2019-11-28
Filing date: 2019-11-28
Publication date: 2020-09-29
Anticipated expiration: 2029-11-28

Abstract

The utility model discloses a robot of supplementary walking of machine leg of supplementary walking and constitution, the machine leg of supplementary walking includes thigh joint bar, shank joint bar and sole, thigh joint bar and the equal vertical setting of shank joint bar, and thigh joint bar is located the top of shank joint bar, and the one end that thigh joint bar and shank joint bar are close to each other is swung around through first driving piece and is changeed and connect, and the rear end of one side of sole is passed through the vertical pendulum of lower extreme of second driving piece and shank joint bar and is changeed and be connected, and thigh joint bar detachable ties up on the thigh of people or thigh joint bar and shank joint bar tie up respectively on the thigh and the shank of same low limbs of people. Therefore, the shank joint rod swings backwards or forwards in a reciprocating way relative to the thigh joint rod to reset so as to simulate the walking of the thigh and the shank of a human, and the foot plate swings forwards and backwards relative to the shank joint rod so as to simulate the foot sole to step on the ground, so that the simulation is strong, and the performance is excellent.

Description

Walking-assisted robot leg and walking-assisted robot composed of same

Technical Field

The utility model belongs to the robot field especially relates to a robot of supplementary walking of machine leg of supplementary walking and constitution.

Background

For the elderly or the disabled, the walking is inconvenient, the walking is strenuous, the walking speed is slow, and usually an auxiliary tool such as a crutch is needed during walking, but the walking ability is poor, the energy consumption is large, and the endurance is poor, so that the single-walking distance is limited.

SUMMERY OF THE UTILITY MODEL

In order to solve the above technical problem, an object of the present invention is to provide a walking-assisted robot leg with convenient use, strong applicability and a leg structure imitating a human body.

In order to achieve the above purpose, the technical solution of the present invention is as follows: the utility model provides a machine leg of supplementary walking, includes thigh joint bar, shank joint bar and sole, thigh joint bar and the equal vertical setting of shank joint bar, just thigh joint bar is located the top of shank joint bar, the one end that thigh joint bar and shank joint bar are close to each other is swung around through first driving piece and is changeed the connection, the rear end of one side of sole pass through the second driving piece with the vertical swing of lower extreme of shank joint bar is changeed the connection, thigh joint bar detachable tie up on people's thigh or thigh joint bar and shank joint bar tie up respectively on the thigh of same low limbs of people and shank.

The beneficial effects of the above technical scheme are that: the thigh joint rod is detachably bound on a thigh of a person or the thigh joint rod and the shank joint rod are respectively bound on the thigh and the shank of the same lower limb of the person, so that the shank joint rod can swing backwards or forwards to reset relative to the thigh joint rod in a backward reciprocating manner to simulate walking of the thigh and the shank of the person, and the foot plate swings forwards and backwards relative to the shank joint rod to simulate a sole to step on the ground, so that the simulation performance is strong, and the performance is superior.

The leg joint rod and the shank joint rod are respectively provided with a plurality of first flexible binding pieces at even intervals from top to bottom, and the first flexible binding pieces are used for binding the leg joint rod and the shank joint rod on the legs of a person.

The beneficial effects of the above technical scheme are that: it has good binding effect.

In the technical scheme, the first flexible binding piece comprises two binding bands and a safety insert button, one end of each binding band is fixedly connected with the thigh joint rod or the shank joint rod, and a male button and a female button of each safety insert button are respectively arranged at the other end of each binding band.

The beneficial effects of the above technical scheme are that: so that the binding and the disassembly are very simple and convenient, and the old and the disabled can finish the binding and the disassembly by themselves.

The second purpose of the utility model is to provide a robot that is adaptive and can satisfy the basic walking requirement of the disabled people with lower limbs.

In order to achieve the above purpose, the technical solution of the present invention is as follows: the utility model provides a robot of supplementary walking, includes backplate, third driving piece and as above supplementary walking robot leg, the backplate is used for tying up in people's waist back department, the left and right sides of backplate extends to side waist department respectively forward, supplementary walking robot leg sets up one side of backplate, the upper end of thigh articulated arm with the extension of one side of backplate is passed through the third driving piece and is swung the commentaries on classics and be connected around.

The beneficial effects of the above technical scheme are that: the back plate is tied at the waist and back, and the thigh joint rods and the back plate are driven by the third driving piece to simulate hip joint swing.

In the technical scheme, the auxiliary walking machine legs and the third driving piece are respectively provided with two auxiliary walking machine legs which are respectively arranged at two sides of the back plate, and the upper ends of the two thigh joint rods are respectively connected with the extending parts at two sides of the back plate in a front-back swinging mode through the third driving piece.

The beneficial effects of the above technical scheme are that: therefore, the walking stick can assist the disabled with both lower limbs to walk, and can assist the disabled with both lower limbs to walk in a standing way.

In the technical scheme, the first driving piece, the second driving piece and the third driving piece are all braking motors.

The beneficial effects of the above technical scheme are that: when the first driving piece, the second driving piece and the third driving piece stop swinging, the driving ends of the first driving piece, the second driving piece and the third driving piece can be kept locked, and therefore the robot is prevented from losing the supporting performance.

Still include battery and controller among the above-mentioned technical scheme, the battery is installed on the backplate, the controller sets up the extension of backplate, just battery, first driving piece, second driving piece and third driving piece respectively with the controller electricity is connected.

The beneficial effects of the above technical scheme are that: the controller controls the first driving part, the second driving part and the third driving part to operate, so that the intelligent degree is high, and the stability is good.

Still include pressure sensor among the above-mentioned technical scheme, a pressure sensor is installed respectively to the lower extreme of sole, and pressure sensor all with the controller electricity is connected.

The beneficial effects of the above technical scheme are that: the controller controls the operation of the first driving part, the second driving part and the third driving part through signals sensed by the pressure sensor, so that the gait of the walking robot is more flexible.

Drawings

FIG. 1 is a schematic structural view of a walking-assisting robot leg according to embodiment 1 of the present invention;

fig. 2 is a schematic structural diagram of a walking-assisted robot according to embodiment 2 of the present invention.

In the figure: 1 auxiliary walking machine leg, 11 thigh joint rods, 12 shank joint rods, 13 foot plates, 14 first driving parts, 15 second driving parts, 16 first flexible binding parts, 2 back plates, 3 third driving parts and 4 storage batteries.

Detailed Description

The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.

Example 1

As shown in fig. 1, the present embodiment provides a walking-assisting robot leg, including thigh joint bar 11, shank joint bar 12 and foot board 13, thigh joint bar 11 and shank joint bar 12 are all vertically arranged, just thigh joint bar 11 is located the top of shank joint bar 12, thigh joint bar 11 and shank joint bar 12 are close to each other one end through first driving piece 14 and are swung and rotated and connected from front to back, the rear end of one side of foot board 13 pass through second driving piece 15 with the lower extreme of shank joint bar 12 is swung and rotated and connected from front to back, thigh joint bar 11 detachable ties up on people's thigh or thigh joint bar 11 and shank joint bar 12 tie up respectively on the thigh and the shank of same low limbs of people. The thigh joint rod 11 is detachably bound on a thigh of a person or the thigh joint rod 11 and the shank joint rod 12 are respectively bound on the thigh and the shank of the same lower limb of the person, so that the shank joint rod can swing backwards or forwards to reset relative to the thigh joint rod in a backward reciprocating manner to simulate walking of the thigh and the shank of the person, and the foot plate can swing forwards and backwards relative to the shank joint rod to simulate a sole to step on the ground, so that the simulation performance is strong, and the performance is superior.

The technical scheme is that the leg joint device further comprises a first flexible binding piece 16, a plurality of first flexible binding pieces 16 are uniformly arranged on the thigh joint rod 11 and the shank joint rod 12 at intervals up and down respectively, the first flexible binding pieces 16 are used for binding the thigh joint rod 11 and the shank joint rod 12 on a human leg, and the binding effect is good.

In the above technical solution, the first flexible binding piece 16 includes two binding bands and a safety buckle, one end of each of the two binding bands is fixedly connected to the thigh joint bar 11 or the shank joint bar 12, and the male buckle and the female buckle of the safety buckle are respectively installed at the other end of each of the two binding bands, so that the binding and the detachment are both simple and convenient, and the binding and the detachment can be completed by the elderly and the disabled. Wherein the safety jack is similar to a safety buckle on a hat band on a safety helmet.

Example 2

As shown in fig. 2, the present embodiment provides a walking-assisted robot, which includes a back plate 2, a third driving member 3 and a walking-assisted robot leg 1 as described in fig. 1, wherein the back plate 2 is used for being tied to the back of the human waist, the left and right sides of the back plate 2 respectively extend forward to the side waist, the walking-assisted robot leg 1 is disposed on one side of the back plate 2, the upper end of the thigh joint rod 11 is connected with the extending portion on one side of the back plate 2 by swinging back and forth through the third driving member 3, the back plate is tied to the back of the waist, and the third driving member drives the thigh joint rod and the back plate to simulate hip joint swinging.

In the technical scheme, the auxiliary walking machine legs 1 and the third driving piece 3 are respectively provided with two auxiliary walking machine legs 1 which are respectively arranged on two sides of the back plate 2 and two upper ends of the thigh joint rods 11 are respectively connected with the extending parts on two sides of the back plate 2 in a swinging and rotating mode through the third driving piece 3, so that walking of people with double lower limbs disabilities can be assisted, and meanwhile, walking sticks can be assisted, so that the people with double lower limbs disabilities can realize standing and walking.

In the technical scheme, the first driving part 14, the second driving part 15 and the third driving part 3 are all braking motors, so that the driving ends of the first driving part 14, the second driving part 15 and the third driving part 3 can be kept locked when the swing of the first driving part, the second driving part and the third driving part is stopped, and the robot is prevented from losing the supporting performance.

The first driving piece is horizontally arranged at the lower end of the thigh joint rod, the driving end of the first driving piece penetrates through the thigh joint rod and is fixedly connected with the upper end of the shank joint rod, similarly, the second driving piece is horizontally arranged at the lower end of the shank joint rod, the driving end of the second driving piece penetrates through the lower end of the shank joint rod and is fixedly connected with the foot plate, the third driving piece is horizontally arranged at the back plate extending part, and the driving end of the third driving piece penetrates through the back plate extending part and is fixedly connected with the upper end of the thigh joint rod.

Still include battery 4 and controller among the above-mentioned technical scheme, battery 4 installs on backplate 2, the controller sets up the extension of backplate 2, just battery 4, first driving piece 14, second driving piece 15 and third driving piece 3 respectively with the controller electricity is connected. The controller controls the first driving part, the second driving part and the third driving part to operate, so that the intelligent degree is high, and the stability is good.

Still include pressure sensor among the above-mentioned technical scheme, a pressure sensor is installed respectively to the lower extreme of sole 13, and pressure sensor all with the controller electricity is connected. The controller controls the operation of the first driving member 14, the second driving member 15 and the third driving member 3 through the signals sensed by the pressure sensors, so that the gait is more flexible, wherein the controller can adopt a single chip microcomputer.

The foot plate, the shank joint rod, the thigh joint rod and the backrest are all made of aluminum alloy materials, and the chair is characterized by light weight.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. The utility model provides a machine leg of supplementary walking, its characterized in that, includes thigh articulated rod (11), shank articulated rod (12) and sole (13), thigh articulated rod (11) and the equal vertical setting of shank articulated rod (12), just thigh articulated rod (11) are located the top of shank articulated rod (12), thigh articulated rod (11) and shank articulated rod (12) one end that is close to each other swing the commentaries on classics through first driving piece (14) front and back and connect, the rear end of one side of sole (13) pass through second driving piece (15) with the vertical swing of lower extreme of shank articulated rod (12) is changeed and is connected, thigh articulated rod (11) detachable tie up on people's thigh or thigh articulated rod (11) and shank articulated rod (12) are tied up respectively on the same thigh of people's lower limbs and shank.

2. Walking aid machine leg according to claim 1, characterized in that it further comprises a first flexible binding (16), said thigh joint bar (11) and said calf joint bar (12) being provided with a plurality of first flexible binding (16) respectively, spaced up and down uniformly, said first flexible binding (16) being adapted to bind said thigh joint bar (11) and said calf joint bar (12) to a person's leg.

3. Walking aid robotic leg according to claim 2, characterized in that said first flexible tie-up (16) comprises two straps, one end of each of which is connected and fixed to said thigh joint bar (11) or calf joint bar (12), and a safety catch, the male and female of which are mounted on the other end of each of said straps.

4. A walking-assisted robot, characterized by comprising a back plate (2), a third driving member (3) and the walking-assisted robot leg (1) as claimed in any one of claims 1 to 3, wherein the back plate (2) is used for being tied up at the waist and back of a person, the left and right sides of the back plate (2) respectively extend forwards to the side waist, the walking-assisted robot leg (1) is arranged at one side of the back plate (2), and the upper end of a thigh joint rod (11) is connected with the extension part at one side of the back plate (2) in a swinging and rotating manner through the third driving member (3).

5. The walking-assisted robot according to claim 4, wherein there are two walking-assisted robot legs (1) and two third driving members (3), the two walking-assisted robot legs (1) are respectively disposed on two sides of the back plate (2), and the upper ends of the two thigh joint rods (11) are respectively connected with the extending portions on two sides of the back plate (2) in a swinging and rotating manner through the third driving members (3).

6. Walking assisted robot according to claim 5, characterized in that the first (14), second (15) and third (3) drive elements are brake motors.

7. Walking assisted robot according to any of claims 4-6, characterized by further comprising a battery (4) and a controller, wherein the battery (4) is mounted on the back plate (2), the controller is arranged in an extension of the back plate (2), and the battery (4), the first driving member (14), the second driving member (15) and the third driving member (3) are electrically connected to the controller, respectively.

8. The walking-assisted robot according to claim 7, further comprising pressure sensors, wherein one pressure sensor is respectively mounted at the lower ends of the foot plates (13), and the pressure sensors are electrically connected with the controller.