200916073 九、發明說明： 【發明所屬之技術領域】 一 本發明係有關-種主動式行動辅具，特別是指—種具有連 桿機構的主動式行_具，其兼具絲辅助病患行動、錢生 理機能、與能減輕病患行動上的負擔等優點。 【先前技術】 如第-圖所㈣用㈣式步行支㈣·如⑽制 〇rth〇sls，簡稱RG0)係用以協助行動不便的人行走，不論是 支樓背部或是小舰足部的膝踝«具，—般是採轉且的= 式製造，職㈣作方法軸使得錢式步行支㈣"穿性 =’部也相對提高了製作成本，且交替式步行支架 傷殘病患行動時之辅助支撐，但屬於“被動式，，的輔 Γ必需由病患本身帶動該交替式步行支架90 ;對—般下肢200916073 IX. Description of the invention: [Technical field to which the invention pertains] A invention relates to an active type of mobility aid, and more particularly to an active row device having a linkage mechanism, which also has a silk assisted patient action , the physiology of money, and the ability to reduce the burden of patient action. [Prior Art] As in the first figure (4), use (4) walking support (4) · (10) 〇rth〇sls, referred to as RG0) is used to assist people with mobility problems to walk, whether it is the back of the branch or the foot of the small ship. Knee 踝«,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, The auxiliary support of the time, but belongs to the "passive type," the auxiliary sputum must be driven by the patient itself to drive the alternate walking bracket 90;
:的病患’大多以走動(可藉由交替式步行支架9_行走） ==來達彻效果;但若病患下肢無法使力，則交 可能錢動過財反絲病患的_，並1 法幫助病患健。 』㈣並無 【發：Γ要研發新產品’以解決上述缺點及問題 .種主動式行動輔具，其可 本七明之主要目的，在於提供. 主動辅助病患行動。 本發明之次~目的 在於提供一種主動式行動輔具，其具 200916073 有促進生理機能之功能。 ^明之又—目的’在於提供—種主動式行動輔具，其能 減輕病患行動上的負擔。 本發明係提供-種主動式行動辅具，其包括·· -背架，係具有-對曲柄裝_接部、一對連桿機構樞接 部及一驅動裝置固定部； "^置雜有—傳動軸及—對傳動部；該對傳動部 =於該軸軸之兩端且細伸方⑽相差⑽度，該傳動軸 係樞设於該曲柄裝置樞接部上，· —對連桿機構，該每—連桿機構係具有： a W-大腿連桿’係至少具有—第—她部、—第二枢接 θ動#韻-㈣部餘接於該連桿機構搞接部； A [b] 一大腿擺桿，係至少具有一第三樞接部及-第四樞接 该大_桿贿_設於騎鱗料鑛動，該第三樞 :、樞接於雜動部’使該大腿擺桿作—預定角度之擺動； a [] ·ί腿連;係至少具有一第五樞接部及一第七樞接 和該第五掩接部係樞接於該第二樞接部·， ^腿擺#’係至少具有一第八樞接部及一第九樞接 乂第又拖接"陶區接於該第四枢接部，該第九樞接部係樞 接於該第七樞接部； _定於雜域置蚊部上，該驅動裝置 200916073 係用以使該曲柄裝置產生旋轉進而帶動該大腿擺桿寒動。 本發明之上述目的與優點，不難從下賴·實施例之# 細說明與附圖中，獲得深入瞭解。 砰 茲以下列只知例並配合圖式詳細說明本發明於後： 【實施方式】 如第二、第三及第四圖所示，本發明係為一種主動式行 輔具，其包括： -背架1G ’係具有_對曲柄裝馳接部u、—對連桿機 構樞接部12及-驅敏髓定部13 ; #然，也可以在該背架 10上設置一腰部輔助裝置8〇(如第八圖所示）， 木 -曲柄裝置20，係具有-傳動軸2卜—對傳動部&，$ 對傳動部22係設於該傳_ 21之兩叙其延伸方向係相差 副度’ S亥傳動轴21係樞設在該曲柄裝置樞接部u上（參考 第七圖）； " -對連桿機構30，縣-連桿機構3Q係具有： [a] -大腿連桿31，係至少具有一第一樞接部31卜一第 二樞接部312及-滑動部313，該第一插接部311係枢接於背 架10之該連桿機構樞接部12 ; 一 [b] -大腿擺桿32，係至少具有—第三抱接部32】及一 第四樞接部322，該大腿擺桿32係滑動套設於該大腿連桿31 之滑動部313且可作滑動，該A腿擺桿⑽之第三難部321 係樞接於4曲柄裝置20之傳動部22，使該大腿擺桿32作- 200916073 角度之擺動； J腿連桿33，係至少具有-第五抱接 六樞接部332及一第七樞接^丨以1弟 於該大腿連桿31 m 接部咖係枢接 連桿當然，仙也可在小腿 立弟，、樞接部332裝設一踏板部70 (形成—可活動之 踏板朴仃㈣驗合賴節的作m鹤六枢接部 332也可省略’而將該踏板部70直接連結於該小腿連桿33上， 使該踏板部70為固定結構。 當然，如第十圖所示，該對小腿連桿33亦可直接連接近 似鞋類之筒狀結構，係本發明之等效裝置。 [d]—小腿擺桿34，係至少具有—第八樞接部341及一第 九樞接部342，該第八樞接部341係樞接於該大腿擺桿32之 第四插接部322，該第九樞接部342係樞接於該小腿連桿33 之第七樞接部333 ; 一驅動裝置40，係固定於該驅動裝置固定部13上，該驅 動裝置40係用以使該曲柄裝置20產生旋轉進而帶動該大腿擺 桿32連動。 更詳細的說，如第二圖所示，該驅動裝置40係設有一驅 動部41、一主動輪42、一從動輪43及一傳動元件44，該傳 動元件44係連結該主動輪42與該從動輪43，該驅動部41傳 送動力至該主動輪42 ’再藉由該傳動元件44帶動該從動輪 200916073 43 ’該從動輪43帶動該曲柄裝置2〇的傳動部22 ;使該曲柄 裝置20帶動該大腿擺桿32。 — 參閱第五及第六圖’連桿機構_帶動峨成反方向擺 動田左腳逐漸往削擺動一預定角度^時，右腳會隨之逐漸向 後擺動’反之雜。換§之，由於該對鶴部22係設於該傳 動軸21之兩端且其延伸方向係相差⑽&，所以左腳與右腳 擺動方向相反。因此，當本發明在正常運作時，會產生如第九 圖所不之運動執跡’類似一狹長的_形，非常接近人類於行 走時的真實運動執跡。其中，該運動轨跡之上半部近似一條直 線，而下半部近似—段圓弧(如第域所示）。 另外胃較科’使財€必需配合其他找辅具⑽ 未示）’才能使雙腳_地面—敢高度Η而赴步行並達 於本案之連桿機構之伽，至少有下列二種 —/ 力 I m 酉己合曲柄裝置產生擺動：由於曲柄裝置之兩驅動部之 =係相請度，可於作動時帶動連桿機構，產生的擺 動與"’觀崎走軸彻，且她反方向縣。 —·可藉由驅動機構主動辅助：本 合人_之擺_純可藉_ ^機構之作動符 動辅助行動與帶動復健的效果喊桃置㈣動而達到主 參閱第七圖’本發明可再包括—電池14、—控制部Μ 200916073 一手控部16，該電池14係用以供該控制部i5電力，進而帶 動該驅動裝置40，而該手控部16可讓使用者方便的控制驅動 裝置40轉動/停止，也可於轉動_整其轉動速率。 綜上所述’本剌之優點及功效可歸納為： Π]主動輔助病患行動。由於本發明_之連桿機構，係 配合曲柄裝置而達到觸，能㈣患者膝蓋料，符合人類腿 型設計，再藉由驅動裝置的帶動，主動輔助病患行走。 [2]促進生理魏。由於核具有主_助及支撐病患之 功能，藉此病患可於行走期間維持站立的姿勢，從生理學上的 角度來看’站立的姿勢能夠促進好的生理機能並且防止骨質铲 鬆的發生。 ⑻減輕絲行動上㈣擔。本發日錄具支撐及主動輔助 之功能’對於行動不便的病患，身體的重量或長時間走動，對 於下肢無疑都是-種負擔，故，穩_支撐與主動性的輔助， 不僅可減姆_便的患者的貞擔，且可協助域輯患者完 成站立及走動，進而達到復健效果。 2以上詳細說明，可使熟知本項技藝者日膽本發明的確可 達成前述目的，實已符合專利法之規定，爰提出發明專利申請。 200916073 f圖式簡單說明】 第-圖係習用交替式步行支架的示意圖 〜 第二圖係本發明之主動式行動輔具的外觀圖 第二圖係本發明之主動式行動辅具的正視圖 第四圖係本發明之主動式行動辅具的側視圖 第五圖係本㈣之絲翁_具的獅雜—之示意圖 第六圖係本發明之主動式行動辅具的獅過程二之示意圖 第七圖係本發日狀絲式行動無的背縣置之示意圖 第八圖係本發明之絲式行動的腰部輔職置之示意圖 第九圖係本發明之主動式行賴具的軸細之*意圖Θ 第十圖係本㈣之絲式行輔具連餘騎構之實施例圖 200916073 【主要元件符號說明】 10背架 12連桿機構樞接部 14電池 16手控部 21傳動軸 30連桿機構 311第一樞接部 313滑動部 321第三樞接部 33小腿連桿 332第六樞接部 34小腿擺桿 342第九樞接部 41驅動部 43從動輪 70踏板部 90交替式步行支架 Θ擺動角度 11曲柄裝置樞接部 13驅動裝置固定部 15控制部 20曲柄裝置 22傳動部 31大腿連桿 312第二樞接部 32大腿擺桿 322第四樞接部 331第五樞接部 333第七柜接部 341第八枢接部 40驅動裝置 42主動輪 44傳動元件 80腰部輔助裝置 Η預定高度: The patient's mostly move around (can be walked by alternate walking support 9_) == to achieve the effect of the Dachao; but if the patient's lower limbs can not force, then the money may be passed over the yin, And 1 method to help patients with health. (4) There is no [Development: To develop new products] to solve the above shortcomings and problems. The main purpose of this type of active mobility aids is to provide active support for patient actions. The second object of the present invention is to provide an active motion aid having a function of promoting physiological functions in 200916073. The purpose of the clarification is to provide an active mobility aid that can reduce the burden of patient action. The invention provides an active type of mobile assistive device, which comprises: a back frame, which has a pair of crank mounting brackets, a pair of link mechanism pivoting portions and a driving device fixing portion; There is a transmission shaft and a pair of transmission parts; the pair of transmission parts are at the two ends of the shaft shaft and the thin extensions (10) are different (10) degrees, and the transmission shaft is pivotally disposed on the pivotal portion of the crank device, The rod mechanism, the per-link mechanism has: a W-thigh linkage ' has at least - the first part, the second pivotal θ movement # rhyme - (four) part is connected to the linkage mechanism ; A [b] The one-legged swinging pole has at least a third pivoting portion and - the fourth pivotal connection is the big _ _ bribe _ set in the riding scales mining, the third pivot:, pivoted to the jog The 'make the thigh swinging rod as a predetermined angle swing; a [] · ί leg joint; at least having a fifth pivoting portion and a seventh pivoting joint and the fifth covering portion pivoting to the first The second pivoting portion, the ^ leg pendulum #' has at least an eighth pivoting portion and a ninth pivoting port, and the second docking portion is connected to the fourth pivoting portion, the ninth pivoting portion System pivotally connected to the seventh pivotal connection ; _ Set on opposing mosquito domain heteroaryl portion, the driving means for causing the crank 200,916,073 train generating means so as to drive the rotation of the pendulum cold leg movement. The above objects and advantages of the present invention are not limited by the detailed description of the embodiments and the accompanying drawings. The present invention will be described in detail below with reference to the following drawings: [Embodiment] As shown in the second, third and fourth figures, the present invention is an active auxiliary device comprising: The back frame 1G' has a pair of crank mounting portions u, a pair of link mechanism pivoting portions 12, and a drive-sensitive portion 13; #然, a waist auxiliary device 8 may also be disposed on the back frame 10. 〇 (as shown in the eighth figure), the wood-crank device 20 has a transmission shaft 2 - the transmission portion &, the transmission portion 22 is coupled to the transmission _ 21 The sub-degree 'S Hai drive shaft 21 is pivotally disposed on the crank device pivoting portion u (refer to the seventh figure); " - the pair of link mechanism 30, the county-link mechanism 3Q system has: [a] - thigh The connecting rod 31 has at least a first pivoting portion 31, a second pivoting portion 312, and a sliding portion 313. The first plugging portion 311 is pivotally connected to the pivoting portion of the link mechanism of the back frame 10. 12; a [b]-thigh swinging rod 32 having at least a third holding portion 32 and a fourth pivoting portion 322, the thigh swinging rod 32 being slidably sleeved on the sliding portion of the thigh link 31 313 And the sliding portion, the third difficult portion 321 of the A leg swinging rod (10) is pivotally connected to the transmission portion 22 of the 4 crank device 20, so that the thigh swinging rod 32 is -200916073 angle swing; J leg connecting rod 33, is At least having a - fifth holding six pivoting portion 332 and a seventh pivoting joint to a brother in the thigh link 31 m connecting the coffee system pivot link, of course, can also be in the lower leg, brother, pivot The connecting portion 332 is provided with a pedal portion 70 (formed as a movable pedal, the pedal is replaced by a movable bridge), and the pedal portion 70 is directly coupled to the lower leg link 33. In the above, the pedal portion 70 is fixed. Of course, as shown in the tenth figure, the pair of shank links 33 can also be directly connected to the tubular structure of the approximate footwear, which is an equivalent device of the present invention. [d]- The shank swinging lever 34 has at least an eighth pivoting portion 341 and a ninth pivoting portion 342. The eighth pivoting portion 341 is pivotally connected to the fourth plugging portion 322 of the thigh swinging lever 32. The nine pivoting portion 342 is pivotally connected to the seventh pivoting portion 333 of the shank link 33. A driving device 40 is fixed to the driving device fixing portion 13, and the driving device 40 is The driving device 40 is provided with a driving portion 41, a driving wheel 42, a driven wheel 43 and a rotating portion 32. a transmission member 44, the transmission member 44 is coupled to the driving wheel 42 and the driven wheel 43, the driving portion 41 transmits power to the driving wheel 42' and then drives the driven wheel 200916073 43 'the driven wheel by the transmission member 44 43 drives the transmission portion 22 of the crank device 2; the crank device 20 drives the thigh swing rod 32. — Refer to the fifth and sixth figures' linkage mechanism _ to drive the sway in the opposite direction. When the left foot of the field is gradually swayed by a predetermined angle ^, the right foot will gradually swing backwards. In other words, since the pair of cranes 22 are provided at both ends of the transmission shaft 21 and the extending directions thereof are different (10) & the left foot and the right foot swing in opposite directions. Therefore, when the present invention is in normal operation, it will produce a motion-deformation as shown in the ninth figure, which is similar to a long and narrow _ shape, which is very close to the real movement of the human being when walking. Wherein, the upper half of the motion trajectory approximates a straight line, and the lower half approximates a segment arc (as shown in the first field). In addition, the stomach is more suitable for the department to make the money necessary to cooperate with other auxiliary aids (10) (not shown), in order to make the feet _ ground - dare to go high and walk to the link of the case, at least the following two - / The force I m 酉 own crank device produces a swing: due to the phase of the two drive parts of the crank device, the linkage mechanism can be driven during the actuation, and Direction County. -· can be actively assisted by the driving mechanism: the _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Further, the battery 14 and the control unit Μ 200916073 are provided with a control unit 16 for supplying power to the control unit i5, thereby driving the driving device 40, and the manual control unit 16 allows the user to conveniently control The driving device 40 is rotated/stopped, and can also be rotated to adjust its rotation rate. In summary, the advantages and effects of 剌Ben can be summarized as follows: Π] Actively assist patient action. Since the link mechanism of the present invention is matched with the crank device to reach the touch, the patient can be (b) the knee material of the patient, conforms to the human leg design, and is driven by the driving device to actively assist the patient to walk. [2] Promote physiological Wei. Since the nucleus has the function of assisting and supporting the patient, the patient can maintain a standing posture during walking, and from a physiological point of view, the standing posture can promote good physiology and prevent bone shovel. occur. (8) Lightening the action on the silk (four). The function of support and active assistance on the date of the birth is 'for patients with limited mobility, the weight of the body or walking for a long time is undoubtedly a kind of burden for the lower limbs. Therefore, the support of stability and support is not only reduced. M _ the patient's burden, and can help the patients in the domain to complete standing and walking, and thus achieve rehabilitation. 2 In the above detailed description, it can be made that the person skilled in the art can achieve the above-mentioned purpose, and has already complied with the provisions of the patent law, and has filed an invention patent application. 200916073 f Brief description of the diagram] The first diagram is a schematic diagram of the alternate walking bracket of the present invention. The second diagram is the appearance of the active mobility aid of the present invention. The second diagram is the front view of the active mobility aid of the present invention. 4 is a side view of the active mobility aid of the present invention. The fifth diagram is a schematic diagram of the lion process of the invention. The sixth diagram is the schematic diagram of the lion process 2 of the active mobility aid of the present invention. The seventh figure is a schematic diagram of the back of the county. The eighth figure is the schematic diagram of the waist auxiliary position of the wire action of the present invention. The ninth figure is the axis of the active type of the present invention. *Intention Θ The tenth figure is the embodiment of the silk-type auxiliary equipment of the present (4). Figure 16116073 [Description of main components] 10 back frame 12 linkage mechanism pivoting part 14 battery 16 manual control part 21 transmission shaft 30 Linkage mechanism 311 first pivoting portion 313 sliding portion 321 third pivoting portion 33 shank link 332 sixth pivoting portion 34 shank swinging lever 342 ninth pivoting portion 41 driving portion 43 driven wheel 70 pedal portion 90 alternate Walking bracket Θ swing angle 11 crank device pivoting portion 13 driving Fixing portion 15 control portion 20 crank device 22 transmission portion 31 thigh link 312 second pivot portion 32 thigh swing rod 322 fourth pivot portion 331 fifth pivot portion 333 seventh cabinet portion 341 eighth pivot portion 40 drive unit 42 drive wheel 44 transmission element 80 waist auxiliary device Η predetermined height