技术领域technical field
本发明涉及辅助行走领域，提供一种可利用电动机驱动、液压传动的爬楼辅助装置。The invention relates to the field of auxiliary walking, and provides an auxiliary device for climbing stairs that can be driven by an electric motor and driven by hydraulic pressure.
背景技术Background technique
老年人由于身体机能的退化，在爬楼或登高时往往因乏力而倍感困难。另外，一些行动不便者，也存在行走和攀登的困难。现有的行走辅助装置，往往结构复杂、价格昂贵，不能得到广泛的普及应用。Due to the degradation of physical functions, the elderly often feel difficult due to fatigue when climbing stairs or heights. In addition, some people with limited mobility also have difficulty walking and climbing. Existing walking aids are often complex in structure and expensive, and cannot be widely used.
发明内容Contents of the invention
本发明旨在至少在一定程度上解决上述技术问题。为此，本发明提供了一种爬楼辅助装置，利用千斤顶原理，在较小的输入动力下获得较大的推力。通过采用较小动力的驱动设备，减小驱动设备体积、减轻驱动设备重量，并降低成本。The present invention aims to solve the above-mentioned technical problems at least to a certain extent. Therefore, the present invention provides an auxiliary device for climbing stairs, which utilizes the principle of a jack to obtain greater thrust with less input power. By adopting a driving device with a smaller power, the volume of the driving device is reduced, the weight of the driving device is reduced, and the cost is reduced.
本发明解决其技术问题所采用的技术方案是：包括腿部固定板、支撑油缸、支撑杆、鞋底支撑板；所述支撑杆头部有活塞嵌套在支撑油缸内，由支撑油缸内的压力油推动支撑杆伸出；所述支撑油缸顶部铰接在腿部固定板上，通过电动机经传动杆带动推杆往复运动，从油箱中吸油出来并压入支撑油缸。The technical scheme adopted by the present invention to solve its technical problems is: comprising leg fixing plate, support oil cylinder, support rod, sole support plate; Said support rod head has a piston nested in the support oil cylinder, by the pressure in the support oil cylinder The oil pushes the support rod out; the top of the support cylinder is hinged on the leg fixing plate, the motor drives the push rod to reciprocate through the transmission rod, sucks oil from the oil tank and presses it into the support cylinder.
进一步，支撑油缸内的上下通道采用不等截面设计，上通道截面积小，下通道截面积大，支撑杆的活塞位于下通道中；利用千斤顶原理，使支撑杆获得较大的推力。Further, the upper and lower passages in the support cylinder adopt unequal cross-sectional design, the cross-sectional area of the upper passage is small, and the cross-sectional area of the lower passage is large, and the piston of the support rod is located in the lower passage; the support rod obtains a greater thrust by using the jack principle.
进一步，油箱与进油管相连处设置有油箱单向阀，保证液压油只能从油箱单向流入进油管；支撑油缸的上通道中设置有油缸进油单向阀，使得压力油只能从进油管单向进入油缸上通道，以避免压力油对推杆和进油管的影响。Further, a fuel tank check valve is provided at the connection between the oil tank and the oil inlet pipe to ensure that the hydraulic oil can only flow into the oil inlet pipe in one direction from the fuel tank; the upper channel of the supporting oil cylinder is provided with a cylinder oil inlet check valve so that the pressure oil can only flow from the inlet The oil pipe enters the upper channel of the oil cylinder in one direction to avoid the influence of the pressure oil on the push rod and the oil inlet pipe.
进一步，支撑杆底端固接在支撑座转轴上，支撑座转轴安装在支撑座内并可以相对支撑座转动。Further, the bottom end of the support rod is fixedly connected to the rotating shaft of the supporting base, and the rotating shaft of the supporting base is installed in the supporting base and can rotate relative to the supporting base.
进一步，腿部固定板两侧有腿部系带，用于将腿部固定板绑在腿上；鞋底支撑板两侧有脚部系带，用于将鞋底支撑板绑在脚上或鞋上。Further, there are leg straps on both sides of the leg fixing plate, which are used to tie the leg fixing plate to the legs; there are foot straps on both sides of the sole support plate, which are used to tie the sole support plate to the feet or shoes .
进一步，传动杆上开有斜槽，此斜槽是首尾相连的回型槽；推杆的端部固接有滚轮，滚轮卡在传动杆的斜槽内；电动机的电动机转轴与传动杆连接在一起，电动机带动传动杆旋转时，滚轮在传动杆的斜槽内作往返运动，从而带动推杆完成吸油和压油动作。Further, there is a chute on the transmission rod, which is a back-to-back groove; the end of the push rod is fixedly connected with a roller, and the roller is stuck in the chute of the transmission rod; the motor shaft of the motor is connected to the transmission rod. At the same time, when the motor drives the transmission rod to rotate, the rollers move back and forth in the chute of the transmission rod, thereby driving the push rod to complete the oil suction and oil pressure actions.
进一步，支撑油缸内底部安装有行程开关，当支撑杆完全推出时，撑杆头部的活塞触发行程开关发出信号，使得电动机停止旋转，压力油不再进入支撑油缸，系统压力保持，提供对腿部的稳定支撑。Furthermore, a travel switch is installed at the inner bottom of the support cylinder. When the support rod is fully pushed out, the piston at the head of the support rod triggers the travel switch to send a signal, so that the motor stops rotating, the pressure oil no longer enters the support cylinder, and the system pressure is maintained, providing support for the legs. stable support.
进一步，鞋底支撑板上安装有压力开关，当足部抬起时，压力开关失去压力使得电控单向阀打开，压力油经电控单向阀回油箱，液压系统卸荷；当足底对压力开关产生一定压力时，触发压力开关发出电信号，使得电控单向阀关闭，同时电动机开始旋转，进入下一次腿部抬升辅助过程。Further, a pressure switch is installed on the sole support plate. When the foot is lifted, the pressure switch loses pressure to open the electronically controlled one-way valve, and the pressure oil returns to the oil tank through the electronically controlled one-way valve, and the hydraulic system unloads; When the pressure switch generates a certain pressure, the pressure switch is triggered to send an electric signal, so that the electronically controlled one-way valve is closed, and the motor starts to rotate at the same time, and enters the next assisting process of leg lifting.
本发明的有益效果是：本发明中支撑油缸内的压力油顶推支撑杆，可以在爬楼和登高过程中形成对腿部有效的支撑和抬升，减轻使用者在爬楼和登高时的用力，能很好地帮助老人和行动不便者。本发明中利用千斤顶原理，在较小的输入动力下获得较大的推力，减小了驱动设备体积、减轻驱动设备重量、降低了成本。本发明结构简单、功能完善，有利于实现装置的轻量化和低价化。同时，将脚部系带松开后，将鞋底支撑板后移，可以作为临时座椅使用，能在使用者疲劳时能提供有效的休息方式。The beneficial effects of the present invention are: in the present invention, the pressure oil in the support cylinder pushes the support rod, which can effectively support and lift the legs during the process of climbing stairs and heights, and reduce the user's effort when climbing stairs and heights , can help the elderly and people with limited mobility very well. The present invention utilizes the principle of a jack to obtain a relatively large thrust under relatively small input power, thereby reducing the volume and weight of the driving device and reducing the cost. The invention has simple structure and perfect function, and is beneficial to realize the light weight and low price of the device. At the same time, after the foot straps are loosened, the sole support plate can be moved backward, which can be used as a temporary seat, and can provide an effective way of resting when the user is tired.
附图说明Description of drawings
下面结合附图和实施例对本发明进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
图1是本发明安装结构示意图；Fig. 1 is a schematic diagram of the installation structure of the present invention;
图2是本发明传动系统示意图；Fig. 2 is a schematic diagram of the transmission system of the present invention;
图3是本发明的液压系统原理图。Fig. 3 is a schematic diagram of the hydraulic system of the present invention.
具体实施方式Detailed ways
下面结合附图和实施例对本发明进行详细说明。The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.
参照图1至图3，本发明的一种爬楼辅助装置，包括腿部固定板1、支撑油缸2、支撑杆3、压力开关4、鞋底支撑板5、脚部系带6、支撑座转轴7、支撑座8、腿部系带9、油箱10、进油管11、油管接头12、活塞套筒13、推杆14、滚轮15、电动机16、传动杆17、电动机转轴18、回油管19、油箱单向阀20、油缸进油单向阀21、电控单向阀22。Referring to Fig. 1 to Fig. 3, a stair climbing auxiliary device of the present invention includes a leg fixing plate 1, a supporting oil cylinder 2, a supporting rod 3, a pressure switch 4, a shoe sole supporting plate 5, a foot strap 6, and a supporting seat rotating shaft 7. Support seat 8, leg tie 9, fuel tank 10, oil inlet pipe 11, oil pipe joint 12, piston sleeve 13, push rod 14, roller 15, motor 16, transmission rod 17, motor shaft 18, oil return pipe 19, Fuel tank one-way valve 20, oil cylinder oil inlet one-way valve 21, electric control one-way valve 22.
所述腿部固定板1两侧有腿部系带9，用于将腿部固定板1绑在腿上；所述鞋底支撑板5两侧有脚部系带6，用于将鞋底支撑板5绑在脚上或鞋上。There are leg straps 9 on both sides of the leg fixing plate 1 for binding the leg fixing plate 1 to the legs; there are foot straps 6 on both sides of the sole supporting plate 5 for binding the sole supporting plate 5 strapped on the feet or shoes.
所述支撑杆3头部有活塞嵌套在支撑油缸2内，由支撑油缸2内的压力油推动支撑杆3伸出；所述支撑杆3底端固接在支撑座转轴7上，支撑座转轴7安装在支撑座8内并可以相对支撑座8转动。The head of the support rod 3 has a piston nested in the support cylinder 2, and the pressure oil in the support cylinder 2 pushes the support rod 3 out; The rotating shaft 7 is installed in the support base 8 and can rotate relative to the support base 8 .
所述支撑油缸2顶部铰接在腿部固定板1上，通过电动机16经传动杆17带动推杆14往复运动，从油箱10中吸油出来并压入支撑油缸2；所述支撑油缸2内的上下通道采用不等截面设计，上通道截面积小，下通道截面积大，支撑杆3的活塞位于下通道中。The top of the support cylinder 2 is hinged on the leg fixing plate 1, and the motor 16 drives the push rod 14 to reciprocate through the transmission rod 17, sucks oil from the oil tank 10 and presses it into the support cylinder 2; The channel adopts unequal section design, the upper channel has a small cross-sectional area, and the lower channel has a larger cross-sectional area, and the piston of the support rod 3 is located in the lower channel.
所述油箱10与进油管11相连处设置有油箱单向阀20，保证液压油只能从油箱单向流入进油管11；支撑油缸2的上通道中设置有油缸进油单向阀21，使得压力油只能从进油管单向进入油缸2上通道，以避免压力油对推杆14和进油管11的影响。A fuel tank check valve 20 is provided at the connection between the fuel tank 10 and the oil inlet pipe 11 to ensure that the hydraulic oil can only flow into the oil inlet pipe 11 in one direction from the fuel tank; an oil cylinder oil inlet check valve 21 is arranged in the upper channel of the supporting oil cylinder 2, so that The pressure oil can only enter the upper channel of the oil cylinder 2 from the oil inlet pipe in one direction, so as to avoid the influence of the pressure oil on the push rod 14 and the oil inlet pipe 11.
所述传动杆17上开有斜槽，此斜槽是首尾相连的回型槽；推杆14的端部固接有滚轮15，滚轮15卡在传动杆17的斜槽内；电动机16的电动机转轴18与传动杆17连接在一起，电动机16带动传动杆17旋转时，滚轮15在传动杆17的斜槽内作往返运动，从而带动推杆完成吸油和压油动作。There is a chute on the transmission rod 17, which is a back-to-back groove connected end to end; the end of the push rod 14 is fixedly connected with a roller 15, and the roller 15 is stuck in the chute of the transmission rod 17; the motor of the motor 16 The rotating shaft 18 is connected with the transmission rod 17. When the motor 16 drives the transmission rod 17 to rotate, the roller 15 moves back and forth in the chute of the transmission rod 17, thereby driving the push rod to complete the oil suction and oil pressure actions.
所述支撑油缸2内底部安装有行程开关，当支撑杆3完全推出时，撑杆3头部的活塞触发行程开关发出信号，使得电动机16停止旋转，压力油不再进入支撑油缸2，系统压力保持，提供对腿部的稳定支撑。The bottom of the support cylinder 2 is equipped with a travel switch. When the support rod 3 is fully pushed out, the piston at the head of the support rod 3 triggers the travel switch to send a signal, so that the motor 16 stops rotating, and the pressure oil no longer enters the support cylinder 2, and the system pressure Hold, providing stable support for the leg.
所述鞋底支撑板5上安装有压力开关4，当足部抬起时，压力开关4失去压力使得电控单向阀22打开，压力油经电控单向阀22回油箱，液压系统卸荷；当足底对压力开关4产生一定压力时，触发压力开关4发出电信号，使得电控单向阀22关闭，同时电动机16开始旋转，进入下一次腿部抬升辅助过程。A pressure switch 4 is installed on the sole support plate 5. When the foot is lifted, the pressure switch 4 loses pressure so that the electronically controlled one-way valve 22 opens, and the pressure oil returns to the oil tank through the electronically controlled one-way valve 22, and the hydraulic system is unloaded. When the sole of the foot produces a certain pressure on the pressure switch 4, the trigger pressure switch 4 sends an electrical signal, so that the electronic control check valve 22 is closed, and the motor 16 starts to rotate simultaneously, and enters the next leg lifting auxiliary process.
本装置工作原理如下：The working principle of this device is as follows:
电动机16经电动机转轴18转轴带动传动杆17旋转，传动杆17内的斜槽推动滚轮15作往返运动，滚轮15带动推杆14完成吸油和压油动作。在推杆14的作用下油箱10中的油液经过油箱单向阀20进入进油管11，随后流经油缸进油单向阀21进入支撑油缸2的上通道。支撑油缸2中的上下通道采用不等截面设计，上通道截面积小，下通道截面积大。支撑杆3的活塞位于下通道中，由于液压传动中作用力等于压强乘以作用面积，这样利用千斤顶原理，可以通过较小的压强获得较大的压力。Motor 16 drives transmission rod 17 to rotate through motor rotating shaft 18 rotating shafts, and the chute in the transmission rod 17 promotes roller 15 to do reciprocating motion, and roller 15 drives push rod 14 to complete oil suction and oil pressure action. Under the action of the push rod 14 , the oil in the oil tank 10 enters the oil inlet pipe 11 through the oil tank check valve 20 , and then flows through the oil cylinder oil inlet check valve 21 into the upper passage of the supporting oil cylinder 2 . The upper and lower passages in the support cylinder 2 adopt unequal cross-sectional design, the upper passage has a small cross-sectional area, and the lower passage has a large cross-sectional area. The piston of the support rod 3 is located in the lower channel. Since the force in the hydraulic transmission is equal to the pressure multiplied by the action area, the principle of the jack can be used to obtain a larger pressure with a smaller pressure.
压力经压力油传递至支撑杆3，支撑杆3向前推出，作用力传递给鞋底支撑板5。鞋底支撑板5在地面无法向下移动，其反作用力使得支撑油缸2被顶升。支撑油缸2顶部铰接在腿部固定板1的底面上，支撑油缸2被顶升带动腿部固定板1的油缸铰接点上移。由于腿部固定板1使用时是绑在腿部的，腿部固定板1的油缸铰接点上移使得腿部抬升，同时腿部的曲伸使得腿部固定板绕油缸铰接点发生一定角度的旋转。当支撑杆3完全推出时，撑杆3头部的活塞触发行程开关发出信号，使得电动机16停止旋转，压力油不再进入支撑油缸2，系统压力保持，提供对腿部的稳定支撑。The pressure is transmitted to the support rod 3 through the pressure oil, and the support rod 3 is pushed forward, and the active force is transmitted to the sole support plate 5 . The sole support plate 5 cannot move downwards on the ground, and its reaction force makes the support cylinder 2 lifted. The top of the supporting oil cylinder 2 is hinged on the bottom surface of the leg fixing plate 1, and the supporting oil cylinder 2 is lifted to drive the oil cylinder hinge point of the leg fixing plate 1 to move upward. Because the leg fixing plate 1 is tied to the leg when in use, the oil cylinder hinge point of the leg fixing plate 1 moves up to make the leg lift, and the bending and extension of the leg makes the leg fixing plate rotate around the oil cylinder hinge point at a certain angle. rotate. When the support rod 3 is fully pushed out, the piston at the head of the support rod 3 triggers the limit switch to send a signal, so that the motor 16 stops rotating, the pressure oil no longer enters the support cylinder 2, and the system pressure is maintained to provide stable support for the legs.
鞋底支撑板5上安装有压力开关4，当足部抬起时，压力开关4失去压力使得电控单向阀22打开，压力油经电控单向阀22回油箱，液压系统卸荷，随着足部和小腿的抬起，支撑杆3缩回支撑油缸2内部；鞋底支撑板5再次与地面接触时，当足底对压力开关4产生一定压力时，触发压力开关4发出电信号，使得电控单向阀22关闭，同时电动机16开始旋转，进入下一次腿部抬升辅助过程。A pressure switch 4 is installed on the sole support plate 5. When the foot is lifted, the pressure switch 4 loses pressure so that the electronic control check valve 22 is opened, and the pressure oil is returned to the fuel tank through the electronic control check valve 22, and the hydraulic system is unloaded. When the foot and calf are lifted, the support rod 3 retracts to support the inside of the oil cylinder 2; when the sole support plate 5 is in contact with the ground again, when the sole of the foot generates a certain pressure on the pressure switch 4, the pressure switch 4 is triggered to send an electrical signal, so that The electronically controlled one-way valve 22 is closed, and the electric motor 16 starts to rotate simultaneously, and enters the next assisting process of raising the legs.
支撑杆3完全推出时，腿部固定板1的板面和鞋底支撑板5的板面接近垂直；支撑杆3完全缩回时，腿部固定板1的板面和鞋底支撑板5的板面接近平行。When the support bar 3 is fully released, the plate surface of the leg fixing plate 1 and the plate surface of the sole support plate 5 are close to vertical; close to parallel.
脚部系带6松开后，将鞋底支撑板5后移，可以作为临时座椅使用，为使用者在疲劳时提供有效的休息方式。此时，压力开关4失去压力使得电控单向阀22打开，液压系统卸荷。使用者在坐下的过程中，支撑杆3缩回支撑油缸2内部，直到支撑杆3的活塞顶面完全封住支撑油缸2的回油口，支撑杆3顶着支撑油缸2通过腿部固定板1对人体提供支撑。After the foot strap 6 is unclamped, the sole support plate 5 is moved backward, which can be used as a temporary seat and provides an effective way for the user to rest when tired. At this time, the pressure switch 4 loses pressure so that the electronically controlled one-way valve 22 is opened, and the hydraulic system is unloaded. When the user sits down, the support rod 3 retracts into the support cylinder 2 until the top surface of the piston of the support rod 3 completely seals the oil return port of the support cylinder 2, and the support rod 3 is fixed against the support cylinder 2 through the legs Board 1 provides support to the human body.
本实施例中，油箱和电动机都固接在腿部固定板的底面上，电动机的动力由电池提供。为减轻腿部负重，也可将油箱和电动机放置在背包或腰部缚带等其他位置。In this embodiment, both the oil tank and the motor are fixedly connected to the bottom surface of the leg fixing plate, and the power of the motor is provided by the battery. To reduce the load on the legs, the fuel tank and motor can also be placed in other locations such as backpacks or waist straps.
以上实施例仅用以说明本发明的技术方案而并非对其进行限制，凡未脱离本发明精神和范围的任何修改或者等同替换，其均应涵盖在本发明技术方案的范围内。The above embodiments are only used to illustrate the technical solution of the present invention and not to limit it. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention shall fall within the scope of the technical solution of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910454490.5ACN110217717A (en) | 2019-05-29 | 2019-05-29 | Stair climbing auxiliary device |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910454490.5ACN110217717A (en) | 2019-05-29 | 2019-05-29 | Stair climbing auxiliary device |
| Publication Number | Publication Date |
|---|---|
| CN110217717Atrue CN110217717A (en) | 2019-09-10 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910454490.5APendingCN110217717A (en) | 2019-05-29 | 2019-05-29 | Stair climbing auxiliary device |
| Country | Link |
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| CN (1) | CN110217717A (en) |
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| CN107252210A (en)* | 2017-05-12 | 2017-10-17 | 武汉理工大学 | A kind of wearable seat automatically controlled and application method |
| CN206827586U (en)* | 2017-05-16 | 2018-01-02 | 广州风燊包装科技有限公司 | A Combined Cylindrical Cam Mechanism |
| CN206855436U (en)* | 2017-05-25 | 2018-01-09 | 福州大学 | Multi freedom degree mechanical exoskeleton device |
| CN109384166A (en)* | 2017-08-08 | 2019-02-26 | 广东合即得能源科技有限公司 | Electric hydraulic jack |
| CN108185444A (en)* | 2018-01-25 | 2018-06-22 | 包头轻工职业技术学院 | Hawthorn seed remover |
| CN108355346A (en)* | 2018-04-25 | 2018-08-03 | 袁午 | A kind of VR equipment |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20190910 |