CN104586610B - One kind is based on hydraulically powered assisted walk device - Google Patents

Abstract

The invention discloses a hydraulically driven power-assisted walking device, comprising: a support frame, the support frame is composed of a back frame, a hip horizontal rotation frame, a hip support frame, a thigh member, a calf member and a foot member; A drive assembly that provides power for walking, the drive assembly is composed of a hydraulic device for the thigh, a hydraulic device for the lower leg, and a two-way electromagnetic valve control device for controlling the hydraulic device for the thigh and the hydraulic device for the lower leg; it also includes An angle sensor for acquiring angle information of the hip joint and ankle joint in the device, the angle sensor is linked with the two-way solenoid valve control device, and the two-way solenoid valve control device acts according to the information of the angle sensor. The hydraulically driven power-assisted walking device has the advantages of large output power-to-weight ratio, stable operation, strong wearability, stable structural performance, and easy assembly and adjustment.

Description

A kind of power-assisted walking device based on hydraulic drive

technical field

The invention relates to a mechanical device, in particular to a hydraulically driven power-assisted walking device.

Background technique

In a society with an aging population, sports assistive devices are commonly used tools in real life, especially when middle-aged and elderly people with weak or handicapped lower limbs are walking up and down stairs without external assistance or when it is inconvenient to support and take a wheelchair. The device can play the role of power assist to help them realize normal walking.

Contents of the invention

The technical problem to be solved by the present invention is to provide a power-assisted walking device based on hydraulic drive. Compared with traditional power-assisted auxiliary devices, the hydraulic-driven power-assisted walking device has a large output power-to-weight ratio, stable operation, strong wearability, and structural performance. Stable and easy to assemble and adjust.

To achieve the above object, the technical scheme of the present invention is as follows:

A power-assisted walking device based on hydraulic drive, comprising:

A support frame, the support frame is composed of a back frame, a hip horizontal turret, a hip support frame, a thigh member, a calf member and a foot member; the back frame is connected with the hip horizontal rotator and the hip support frame , as an upper support frame; the foot member, calf member and thigh member are connected in sequence to serve as a lower support frame;

A driving assembly that provides power for walking, the driving assembly is composed of a hydraulic device for the thigh, a hydraulic device for the lower leg, and a two-way electromagnetic valve control device for controlling the hydraulic device for the thigh and the hydraulic device for the lower leg;

It also includes an angle sensor for acquiring angle information of the hip joint and ankle joint in the device, the angle sensor is linked with the two-way solenoid valve control device, and the two-way solenoid valve control device acts according to the information of the angle sensor.

In a preferred embodiment of the present invention, the two-way solenoid valve control device includes a hydraulic cylinder, a coil assembly located at both ends of the hydraulic cylinder to receive signals, and a spool slidingly arranged in the hydraulic cylinder, the spool After receiving the signal from the coil assembly, the spool acts to make the hydraulic device controlled by it swing back and forth.

In a preferred embodiment of the present invention, one side of the hydraulic cylinder is provided with an oil inlet, an upper oil return port and a lower oil return port; road access.

In a preferred embodiment of the present invention, the hip horizontal rotation frame realizes the rotation of the waist during walking.

In a preferred embodiment of the present invention, the back frame is provided with a wearable back frame tightening vest, the waist is provided with a waist tightening belt, and the legs are provided with leg tightening belts, and the above-mentioned wearable back frame tightens the vest, The waist tightening belt and the waist tightening belt fixedly connect the walking device with the user.

In a preferred embodiment of the present invention, the foot component, the lower leg component and the thigh component are connected by sliding bearings and bolts, so as to realize coordinated movement among the components.

In a preferred embodiment of the present invention, a height adjustment rod is provided at the lower end of the thigh rod, and the height adjustment rod can be adjusted freely according to the user's needs.

Through above-mentioned technical scheme, beneficial effect of the present invention is:

The invention obtains action and angle information through a sensing system, and the control system processes the information to issue commands to make the electromagnetic valve control system control the movement of the hydraulic cylinder according to the command, and drive the components of the booster device to move, and the components drive the lower limbs of the human body to move through the tightening belt. The sensor feeds back information to the control system, so that corresponding adjustments can be made to realize the movement according to the trajectory of the lower limbs of the human body, which greatly reduces the force emitted by the lower limbs when people walk, and achieves the role of assisting. It can be used for walking and exercising by middle-aged and elderly people and disabled people.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a structural schematic diagram of the present invention.

Fig. 2 is a structural schematic diagram of the bidirectional solenoid valve-controlled hydraulic cylinder of the present invention.

detailed description

In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific illustrations.

Referring to Fig. 1, a hydraulically driven power-assisted walking device consists of a back frame 1, a hip horizontal turret 2, a hip support frame 3, an angle sensor 4, a thigh rod 5, a calf rod 6, and a foot member 7. A wearable back frame tightening vest 8, a waist tightening belt 9, a thigh hydraulic device 10, a height adjustment rod 11, a leg tightening belt 12, and a calf hydraulic device 13.

The back frame 1 is connected to the hip horizontal rotating frame 2, the hip horizontal rotating frame 2 is connected to the hip supporting frame 3, the hip supporting frame 3 is connected to the angle sensor 4, the angle sensor 4 is connected to the thigh bar 5, The thigh bar 5 is connected to the height adjustment rod 11, the height adjustment rod 11 is connected to the calf bar 6, the calf bar 6 is connected to the foot member 7, the thigh hydraulic device 10 is connected to the hip support frame 3 and the thigh bar 5 Connected, the calf hydraulic device 13 is connected with the calf bar 6 and the foot member 7, the wearable back frame tightening vest 8 is connected with the back frame 1, the waist tightening belt 9 and the leg tightening belt 12 fix the device In the back and legs, the information is obtained and processed through the sensor system and the control system, and the signal is sent to control the displacement change of the electromagnetic valve control, thereby controlling the movement of the hydraulic cylinder, and the driving device moves according to the trajectory of the lower limbs of the human body, which plays a role in power assistance. effect.

Referring to Figure 2, it is a structural schematic diagram of a two-way solenoid valve-controlled hydraulic cylinder. The two-way solenoid valve control device includes a hydraulic cylinder, a coil assembly 14 located at both ends of the hydraulic cylinder to receive signals, and a spool slidingly arranged in the hydraulic cylinder 15. After the spool 15 receives the signal from the coil assembly 14, the spool acts to make the hydraulic device controlled by it swing back and forth.

One side of the hydraulic cylinder is provided with an oil inlet 17, an upper oil return port 16 and a lower oil return port 18; the oil inlet and the upper oil return port and the lower oil return port constitute an oil passage respectively.

The coil assembly 14 is energized or de-energized under the command of the signal. In the energized state, the coil assembly 14 generates gravitational force to pull the valve core 15 to move. The hydraulic oil enters the valve chamber through the oil inlet 17 and then flows into one end of the hydraulic cylinder, and the hydraulic oil at the other end passes through the upper circuit. The oil port 16 or the lower return oil port 18 flows back, and the thin film 19 seals the coil assembly 14. The whole process realizes the reciprocating swing of the lower limbs, greatly reducing the force emitted by the human body itself, and achieving the effect of assisting.

When a person is walking or going up and down stairs, the sensor system attached to the lower limbs of the human body obtains the movement information of the lower limbs, and the angle sensor 4 obtains the angle information of the hip joint and ankle joint in the device, and the control system obtains and processes these information and sends out corresponding The signal is used to control the two-way solenoid valve control device in the thigh hydraulic device 10 and the calf hydraulic device 13 to produce the relative linear motion of the hydraulic cylinder and the hydraulic rod, and the hydraulic system drives the thigh rod 5, the calf rod 6 and the foot The components 7 generate relative motion, so that the back frame 1 is connected, the waist tightening belt 9 and the leg tightening belt 12 drive the human body to walk and move, and assist walking is realized. At the same time, the angle sensor 4 continuously obtains the angle changes of the hip joints and ankle joints The angle information is fed back to the control system, and the control system continuously adjusts the displacement change of the hydraulic cylinder through signal input and output, so as to realize the coordinated movement of the device and the human body.

The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments, and what described in the above-mentioned embodiments and the description only illustrates the principles of the present invention, and the present invention will also have other functions without departing from the spirit and scope of the present invention. Variations and improvements all fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (5)

1. A power-assisted walking device based on hydraulic drive, characterized in that, comprising: A support frame, the support frame is composed of a back frame, a hip horizontal turret, a hip support frame, a thigh member, a calf member and a foot member; the back frame is connected with the hip horizontal rotator and the hip support frame , as an upper support frame; the foot member, calf member and thigh member are connected in sequence to serve as a lower support frame; A driving assembly that provides power for walking, the driving assembly is composed of a hydraulic device for the thigh, a hydraulic device for the lower leg, and a two-way electromagnetic valve control device for controlling the hydraulic device for the thigh and the hydraulic device for the lower leg; It also includes an angle sensor for acquiring angle information of the hip joint and ankle joint in the device, the angle sensor is linked with the two-way solenoid valve control device, and the two-way solenoid valve control device acts according to the information of the angle sensor; the two-way solenoid valve control device acts according to the information of the angle sensor; The solenoid valve control device includes a hydraulic cylinder, a coil assembly located at both ends of the hydraulic cylinder to receive signals, and a spool slidingly arranged in the hydraulic cylinder. After the spool receives the signal from the coil assembly, the spool acts to make the The hydraulic device controlled by it swings back and forth; one side of the hydraulic cylinder is provided with an oil inlet, an upper oil return port and a lower oil return port; the oil inlet and the upper oil return port and the lower oil return port respectively constitute an oil passageway . 2 . The hydraulically driven power-assisted walking device according to claim 1 , wherein the hip horizontal turret realizes the rotation of the waist during walking. 3 . 3. A hydraulically driven power-assisted walking device according to claim 1, wherein the back frame is provided with a wearable back frame tightening waistcoat, the waist is provided with a waist tightening belt, and the legs are provided with leg stretchers. The tight belt, the above-mentioned wearable back frame tightens the vest, the waist tightening belt and the waist tightening belt fix the walking device to the user. 4. The power-assisted walking device based on hydraulic drive according to claim 1, characterized in that, the foot member, the calf member and the thigh member are connected by sliding bearings and bolts to realize the coordination between the members sports. 5 . The power-assisted walking device based on hydraulic drive according to claim 1 , wherein a height adjustment rod is provided at the lower end of the thigh member, and the height adjustment rod can be adjusted freely according to user's needs. 6 .