Technical background
With the arrival of aging society, how to help to be short of physical strength, inconvenient walking, resistance to hypodynamic the elderly effectivelyIt is socially reintegrated and has had been to be concerned by more and more people.The elderly for researching and developing a kind of suitable lower extremity injury especially muscular strength degeneration is outgoingPower-assisted equipment, them can not only be helped to expand scope of activities, improve the quality of living, restore life confidence, and certainAging bring social pressures and family's pressure can also be alleviated in degree.Although there are many different structure and functions in the marketWheelchair is available, but the inadequate natural endowment as existing for China's infrastructure design and construction aspect, in stair activity or certainPublic arena and Condom, the passage of wheeled equipment more or less will receive certain limitation, simultaneously because under userLimb cannot effectively be taken exercise, so being also unfavorable for the treatment and rehabilitation of lower-limb ailments.In recent years, for the elderly's difficulty in walkingAnd the various power assisting devices invented are also very much, it is that it is common scarce that structure is complicated heavy, expensive, general family is unbearablePoint, and majority is not detached from the design concept based on two lower limb of mechanical exoskeleton that personalize, and popularization gets up to have sizableIt is difficult.In fact, needing to wear the elderly of power assisting device, it is not only due to lower limb muscles atrophy and spinal cord injury bring actionIt is slow, and many people are also accompanied by the cardiovascular diseases such as cerebral apoplexy, hemiplegia, often because leaving different degrees of dysfunctionAnd it can not restore and accurately grasp balance technical ability when walking movement technical ability is especially walked.The object of the invention is to mentionPower-assisted mechanical exoskeleton equipment technologies simple, reliable and stable for a kind of structure, with auxiliary lower limb, to solve the elderly's walkingWhen stability of equilibrium and power assisting device use reliability problem.
Summary of the invention
A kind of assisted walk device of band auxiliary lower limb of the present invention is mainly by back bracket, active lower limb, auxiliaryLower limb, driving motor and power-supply system, sensor-based system and control system are formed.
The back bracket includes the components such as back backplate, oxter backplate, waist backplate, cross harness.
The active lower limb include the components such as big leg joint, calf joint and foot stand.The big leg joint andCalf joint includes the components such as length adjustment mechanism, leg band, the locking device of regulation pipe and adjusting rod composition；The footPortion's bracket includes the components such as pedal bottom plate, foot's band, connecting bracket.
The auxiliary lower limb include the components such as length adjustment mechanism, the locking device of regulation pipe and adjusting rod composition.
The driving motor is mainly used for big leg joint in active lower limb, calf joint and the driving for assisting lower limb.
The power-supply system is mainly that driving motor and sensor-based system, control system provide power.
The main applying pressure sensor of the sensor-based system extracts the action signal of two lower extremity movements.
The control system mainly is used to carry out driving motor according to the manual ringing of sensor signal or userManipulation.
Specific embodiment
Below with reference to marginal data detailed implementing method of the invention.
One embodiment of the assisted walk device of band of the present invention auxiliary lower limb as shown in Figure 1, back bracket 1.Positioned at the top of running gear, 2. 3. link together with two auxiliary lower limb with two active lower limb respectively.
1. the back bracket is made of back backplate 11, oxter backplate 12, waist backplate 13, cross harness 14.ItsThe horizontal distance between horizontal distance and waist backplate 13 between middle oxter backplate 12 can according to the bust of user andWaistline is adjusted；It is connected between waist backplate 13 and back backplate 11 using hinges, i.e. waist backplate 13 can be aroundIts end part rotating shaft has the freedom degree of a rotation in the plane locating for back backplate 11.
The active lower limb are 2. mainly by big leg joint 21, calf joint 22, foot stand 23 and 24 groups of leg bandAt.The big leg joint 21 is made of regulation pipe 211, adjusting rod 212, locking device 213；The calf joint 22 is by adjustingPipe 221, adjusting rod 222, locking device 233 is saved to form；The foot stand 23 by pedal bottom plate 231, foot's band 232,Connecting bracket 233 forms.Wherein regulation pipe 211 and adjusting rod 212 and regulation pipe 221 and adjusting rod 222 separately constitute lengthRegulating mechanism；The upper end of regulation pipe 211 in big leg joint 22 by connecting shaft and back bracket 1. in waist backplate 13 itBetween link together, the lower end of the adjusting rod 212 of big leg joint 21 passes through the regulation pipe 221 in connecting shaft and calf joint 22Upper end links together；The lower end of adjusting rod 222 is connected to one in connecting bracket 233 and calf joint 22 in foot stand 23It rises.
3. the auxiliary lower limb are made of adjusting rod 31, regulation pipe 32, locking device 33 and foot's support 34, whereinAdjusting rod 31 and regulation pipe 32 form adjustable-length supporting mechanism；The upper end of regulation pipe 32 by connecting shaft and back bracket 1. onOxter backplate 12 be connected.
The driving motor be 4. separately mounted to back bracket 1. in waist backplate 13 and big leg joint 21 in tuneSave pipe 211, the adjusting rod 212 of big leg joint 21 and the regulation pipe of regulation pipe 221 and auxiliary lower limb 3. in calf joint 2231 in the connecting shaft of the oxter backplate 12 of back bracket 1..When driving motor works 4., 13 He of waist backplate can be realized respectivelyThe relative motion of big leg joint 22, big leg joint 21 and calf joint 22 and oxter backplate 12 and auxiliary lower limb 3..
The power-supply system 5. hang over back bracket 1. on, be running gear in driving motor 4., sensor-based system 6.Power is 7. provided with control system.
The sensor-based system is 6. by several pressures on pedal bottom plate 231, foot's band 232 and leg band 24Force snesor composition obtains sole, heel and foot's band 232 upwards and the forward pressure signal of leg band 22 respectively.
7. the control system containing the processor of ready-made program, is mounted on the waist backplate 14 of back bracket 1.The upper position of interior or auxiliary lower limb side regulation pipe 31.After 6. signal processing that sensor-based system is transmitted, respectively to eachDriving motor issues action command.
In use, both feet are placed on the pedal bottom plate 231 of active lower limb 2., big leg joint 21 and calf joint are adjusted respectivelyRelative position between regulation pipe 211 on 22 and adjusting rod 212 and regulation pipe 221 and adjusting rod 222, make it suitable for usingThe height and leg of person is long, fixes it using locking device 213 and 223, successively tightens foot's band in foot stand 23232, active lower limb 2. on leg band 22 and cross harness 13, then adjust passive lower limb 3. on adjusting rod 31 and adjustRelative position between pipe 32, the active lower limb for making it suitable for having mixed up fix it using locking device 33.
After preparation, opening control 7. in power switch, the assisted walk device enters workState.When user wants walking, it is mounted on the active lower limb that will be stepped 2. upper leg band 22 and foot's band 232Sensor and the active lower limb not stepped 2. on two sensors of pedal bottom plate 231 pressure letter will be 7. issued to control systemNumber, after the logic calculation of control system 7., action command is successively issued to each driving motor respectively, and according to each sensingThe variation of device signal adjusts the order and revolving speed of each driving motor rotation, to drive two active lower limb and two auxiliary lower limbSuccessively walk by turns advance according to the logical order of setting.
Another specific embodiment of the assisted walk device of band of the present invention auxiliary lower limb as shown in Fig. 2, itAuxiliary lower limb 3. with back bracket 1. on waist backplate 13 be connected.
The auxiliary lower limb another specific embodiment 3. as shown in figure 3, it possess it is adjustable as active lower limbThe big leg joint 31a and calf joint 32a of length are saved, and big leg joint 31a and calf joint 32a is driven by driving motorIt is dynamic.