CN104856838B - A kind of walking booster - Google Patents

Abstract

The present invention relates to a kind of walking booster, structure is as follows: the both sides of a ring-type fixing belt respectively rivet a connecting piece, and respectively it being sequentially connected with hinge block, electronic joint, leg support by two connection sheets, power-supply battery, motor drive, single-chip microcomputer is sequentially connected and is fixed on the fixing belt back side；Electronic joint includes decelerator door, decelerator gland, harmonic speed reducer, electric baseboard and the motor being sequentially connected, spiral type output chip top in leg support is connected on electric diarthrodial decelerator door, leg is fixed one end of belt and is connected to the end of spiral type output chip, and the other end is fixed in the middle part of spiral transferring slice；3-axis acceleration gyroscope is adhered to spiral transferring slice top and is connected with single-chip microcomputer by wire, and two infrared distance sensor are connected on single-chip microcomputer also by wire, and electric diarthrodial motor is connected with motor driving by wire.The structure of the present invention is designed according to simulation of human body principle, is effectively improved its serviceability.

Description

a walking aid

technical field

The invention relates to a walking booster, in particular to a walking booster designed for the elderly, the disabled and other people with handicapped legs and feet, which can assist the legs when walking and achieve the purpose of saving energy when walking.

Background technique

For those who have difficulty walking due to various leg problems, there are some walking boosters on the domestic and foreign markets. At present, the main walking assist devices include: (1) a hand-held booster suitable for heavier patients. It realizes the movement of the human body through the displacement of the hand-held movable bracket. Its main function is stability, and it is easy to carry and use. Convenience, small scope of application, and few users; (2) Pressure pulley series suitable for exercise and fitness, there is no fully mature product at present, and the requirements for health status, traffic conditions, etc. are relatively high, and it is not very helpful for walking disadvantaged groups (3) flexible and convenient crutches, whose main effect is stability, does not fundamentally solve the problem of inability to lift legs in walking. What is important is that some of the above-mentioned various walking modes ignore the potential energy of movement that their own weight can produce, and some ignore the disadvantaged groups with walking inconvenience.

Contents of the invention

In order to improve and enhance the application range and practicability of the existing walking assist device, the present invention provides a walking assist device with a wide application range and strong learning ability. The user only needs to wear the booster, and the sensor system of the booster will automatically sense the user's movement trend, feed back the movement data to the control system, and realize the movement of the electric joints through the drive system, simulating the movement of the legs when walking. The motion state of the hip joint can realize the function of assisting.

The present invention is achieved through the following technical solutions:

A walking booster, characterized in that the booster includes: a ring-shaped fixed belt, a connecting piece is riveted on both sides of the belt, and the hinge block, the electric joint, and the leg support are connected in sequence through the two connecting pieces , the control device is fixed on the back of the fixed belt, and two three-axis acceleration gyroscopes and two infrared distance sensors are connected to the control device;

The control device includes: a power supply battery connected to a motor drive, and the motor drive is connected to a single-chip microcomputer;

The hinge block includes an inner hinge piece and an outer hinge piece connected by a mandrel;

The electric joint includes a reducer cover, a reducer gland, a harmonic reducer, a motor bottom plate and a motor connected in sequence, and the reducer cover covered with the reducer gland is connected to the harmonic reducer. The reducer is embedded in the front groove of the motor base plate, the motor is fixed on the back of the motor base plate and connected with the harmonic reducer through a flat key, and the reducer gland is also fixed on the motor base plate;

The leg bracket includes: one end of the leg fixing belt is connected to the end of the spiral output piece, and the other end is fixed to the middle of the spiral output piece, and the fixed position can be adjusted up and down;

The outer hinge is connected to the motor bottom plate of the electric joint, the top of the spiral output piece is connected to the reducer cover of the electric joint, and the two three-axis acceleration gyroscopes are respectively attached to the top of the spiral output piece on both sides and passed through The wire is connected with the single-chip microcomputer, and the two infrared distance sensors are also connected with the single-chip microcomputer through the wire, and the motor of the electric joint is connected with the motor driver through the wire.

A hook is arranged on the other end of the above-mentioned leg fixing belt and is fixed in the positioning hole of the spiral output piece through a positioning bolt.

The above-mentioned power supply battery adopts a lithium-ion battery of 15V/12AH.

The infrared distance sensor mentioned above is an infrared barrier module using an LM393 comparator, and the three-axis acceleration gyroscope is a GY-521MPU-6050 module.

Beneficial effect:

The present invention is suitable for elderly people who are unable to lift their legs and walk heavily, and can make them walk lightly and improve the quality of life. It can also be used for assisting the disabled when walking or going up and down stairs, saving physical strength and reducing the trouble of using crutches and wheelchairs . The structure of the booster is designed according to the principle of human bionics, which effectively improves its performance.

Description of drawings

Fig. 1 is the overall structural representation of the present invention:

Among them: 1- fixed belt; 2- connecting piece; 3- hinge block; 4- electric joint; 5- spiral output piece; 6- fixed belt.

Fig. 2 is the back view of the present invention:

Among them, 1-fixed belt; 2-connecting piece; 3-hinge block; 4-electric joint; 5-spiral output piece; 6-fixed belt, 36-power battery; 37-single-chip microcomputer; - Infrared distance sensor.

Fig. 3 is a structural representation of the hinge block of the present invention:

Among them, 11-mandrel; 12-hinge inner piece; 13-hinge outer piece; 26,27-installation hole; 28,29 mandrel hole.

Fig. 4 is an exploded view of the electric joint of the present invention:

Among them, 5-spiral output piece; 8-reducer cover; 9-reducer gland; 10-harmonic reducer; 11-mandrel; 12-hinge inner piece; 13-hinge outer piece; 14 - motor bottom plate; 15 - motor; 7, 16, 18, 20, 23, 25 - bolts; 17, 19, 22, 24 - nuts; 21 - washer; 35 - three-axis acceleration gyroscope.

Fig. 5 is a side view of the electric joint of the present invention:

Among them, 35-three-axis acceleration gyroscope.

Fig. 6 is a schematic structural view of the leg support of the present invention:

Among them, 5-spiral output piece; 6-fixed belt; 30-installation hole; 31-positioning hole; 32-belt hook; 33-fixing screw.

detailed description

The present invention will be further elaborated below through the accompanying drawings and specific embodiments.

The structure of the booster is shown in Figure 1. It mainly includes a fixed belt 1, a connecting piece 2, a hinge block 3, an electric joint 4, a spiral output piece 5, and a leg fixing belt 6. The entire booster is fixed on the waist with the belt 1, the two sides of the belt and the connecting piece 2 are riveted to extend to the outside of the thigh, the other end of the connecting piece 2 is connected to the hinge block 3, the hinge block is connected to the electric joint 4, and the electric joint 4 The output of the motor is connected to the helical output piece 5, and the other end of the helical output piece extends above the knee, and this end is fixed on the leg through the leg fixing belt 6, and the control device is fixed on the back of the belt, supplemented by a three-axis acceleration gyroscope And infrared distance sensor, real-time detection of user's motion data feedback, so as to adjust the working state of the booster.

In order to ensure the output power of the booster, a high-speed motor with a larger transmission ratio harmonic reducer is selected as the power source of the booster system. The core component of the booster is the electric joint. Compared with hydraulic or pneumatic drive, the electric joint can effectively reduce the The volume and quality improve the comfort of the system.

Fig. 2 is the rear view of the booster, wherein the control system is fixed on the back of the belt, the power battery is a lithium-ion battery 36, which supplies 15V for the motor drive 38, and 5V power for the single-chip microcomputer 37 by the motor drive 38, and the motor drive 38 is connected to the electric joint through wires The motor, the infrared distance sensor 39 and the three-axis acceleration gyroscope 35 are connected with the single-chip microcomputer 37 by wires, and the walking data collected by the sensor and the gyroscope are fed back to the single-chip microcomputer 37, and the single-chip microcomputer analyzes and processes the signal, and controls it through the motor drive 38 The operation of the motors on both sides.

Figure 4 is an exploded view of the electric joint. The waist belt is fixed to the hinge inner piece 12 through the connecting piece 2. The mandrel 11 connects the hinge inner piece 12 and the hinge outer piece 13. The hinge outer piece 13 and the motor base plate 14 are connected by bolts 16. Fix the reducer 10 with the nut 17, insert the reducer 10 into the groove of the motor bottom plate 14, the reducer cover 8 is fixed to one side of the reducer 10 through the bolt 7, the other side of the reducer is fixed to the motor bottom plate 14 through the bolt, and the reducer cover 9 is covered On the reducer cover 8, it is fixed to the motor bottom plate through bolts 23 and nuts 24, the motor 15 is connected to the reducer through flat keys, and fixed to the motor bottom plate 14 through bolts 18, nuts 19, bolts 20, washers 21, and nuts 22 . The reducer cover 5 is used as the output end of the electric joint, connected to the top of the spiral output piece 5, the two are fixed by bolts 25, the top of the spiral output piece 5 is attached to the gyroscope 35, and the other end of the spiral output piece is passed through the belt. Fastened to the leg.

In order to improve the flexibility of the booster, a hinge block is designed between the connecting piece and the electric joint to increase the degree of freedom of the electric joint so that it can better fit the human leg and improve the wearing comfort of the booster. As shown in Figure 3, the hinge block mainly includes three parts, the hinge inner piece 12, the hinge outer piece 13 and the mandrel 11, the mandrel 11 is inserted into the hole 28 of the hinge inner piece 12 and the hinge outer piece 13 and 29, the two are connected, and it can freely rotate 180° in a plane perpendicular to the mandrel. The mounting holes 26 of the hinge inner sheet 12 are connected with the connecting sheet 2 through bolts, and the mounting holes 27 of the hinge outer sheet 13 are connected with the motor base plate 14 through bolts.

Fig. 6 is a leg bracket composed of a spiral output piece and a leg fixing belt. The mounting hole 30 is fixed to the reducer cover 8 through bolts, the fixing belt 6 is connected to the belt hook 32, and the fixing bolt 33 penetrates the positioning hole 31 to fix the belt. 6 is fixed with the spiral output piece 5, and three positioning holes are designed on the spiral output piece, and the fixing bolt can be inserted into any one of the three positioning holes, and the upper and lower positions of the fixed belt 6 are adjusted to adapt to the comfort of different groups of people. need.

The entire booster is fixed on the waist with the belt 1, the two sides of the belt and the connecting piece 2 are riveted to extend to the outside of the thigh, the other end of the connecting piece 2 is connected to the hinge block 3, the hinge block is connected to the electric joint 4, and the electric joint 4 The output end of the motor is connected to the helical output piece 5, the other end of the helical output piece extends above the knee, this end is fixed on the leg through the leg fixing belt 6, the control device is fixed on the back of the belt, and the gyroscope 35 is fixed on the helical The top of shape output sheet 6, two infrared distance sensors 39 are fixed on two heels.

When the user puts on the booster and starts to move the left leg, the infrared distance sensor at the heel of the leg will detect the distance between the user's heel and the ground before the leg is taken. When the distance between the heel and the ground is greater than the sensor setting value (about 3cm), the sensor will feed back the information to the single-chip microcomputer, thereby driving the motor on the left to rotate forward to realize the action of raising the leg, and at the same time drive the motor on the right to reverse to coordinate the walking gait. One step, when the heel is about to land, it will trigger the distance sensor on the left side, so that the motors on both sides will stop at the same time. At this time, when the right leg is stepped up, the distance sensor on the right heel will detect the distance between the right heel and the ground When the distance is greater than the set value, the right motor starts to rotate forward, and the left motor reverses to realize the cross movement between the right leg and the left leg. Through the above principles, the booster can accurately judge the user's movement trend; During the process, the gyroscope in the electric joint of the booster will automatically detect the angular velocity data of the motor of the joint of the booster when walking, and feed the data back to the single-chip microcomputer. , so as to fine-tune the rotation of the motor to keep its motion state consistent with the set value at all times, so as to better realize the coordination between the booster and the human body during use.

The booster is designed according to the leg structure of the bionic robot, conforms to the principles of ergonomics, fits the human body structure, and ensures the comfort of the booster during use. All parts of the booster are made of aluminum alloy. On the basis of ensuring the strength, the weight of the whole machine is reduced to the greatest extent, and the impact of the booster's own weight on the user is reduced.

Claims (2)

1. A walking booster, characterized in that the booster includes: a ring-shaped fixed belt, a connecting piece riveted on both sides of the belt, and the hinge block, electric joint, Leg support, the control device is fixed on the back of the fixed belt, two three-axis acceleration gyroscopes and two infrared distance sensors are connected to the control device; The control device includes: a power supply battery connected to a motor drive, and the motor drive is connected to a single-chip microcomputer; The hinge block includes an inner hinge piece and an outer hinge piece connected by a mandrel; The electric joint includes a reducer cover, a reducer gland, a harmonic reducer, a motor bottom plate and a motor connected in sequence, and the reducer cover covered with the reducer gland is connected to the harmonic reducer. The reducer is embedded in the front groove of the motor base plate, the motor is fixed on the back of the motor base plate and connected with the harmonic reducer through a flat key, and the reducer gland is also fixed on the motor base plate; The leg support includes: one end of the leg fixing belt is connected to the end of the spiral output piece, and the other end is fixed to the middle of the spiral output piece; The outer hinge sheet is connected to the motor bottom plate of the electric joint, the top of the spiral output sheet is connected to the reducer cover of the electric joint, and the three-axis acceleration gyroscope is adhered to the top of the spiral output sheet and connected to the single-chip microcomputer through a wire. The two infrared distance sensors are also connected to the single-chip microcomputer through wires, and the motor of the electric joint is connected with the motor driver through wires. 2. The walking booster according to claim 1, wherein a hook is arranged on the other end of the leg fixing belt, and is fixed in the positioning hole of the spiral output piece through a positioning bolt.