CN205307337U - Bionical sufficient formula of taking drive control helps outfit for a journey to put - Google Patents
Bionical sufficient formula of taking drive control helps outfit for a journey to put Download PDFInfo
- Publication number
- CN205307337U CN205307337U CN201620017305.8U CN201620017305U CN205307337U CN 205307337 U CN205307337 U CN 205307337U CN 201620017305 U CN201620017305 U CN 201620017305U CN 205307337 U CN205307337 U CN 205307337U
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- support leg
- leg
- group
- control unit
- drive unit
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Abstract
The utility model discloses a bionical sufficient formula of taking drive control helps outfit for a journey to put, organize, drive the left side pendulum leg drive arrangement of left supporting leg group and drive the right pendulum leg drive arrangement that right supporting leg was organized including main part support, the control unit, left supporting leg group, right supporting leg, left side supporting leg group and right supporting leg group are all including alternative first supporting leg of wobbling in front and back and second supporting leg, a left side is put leg drive arrangement and is put leg drive arrangement all including fixing the casing and setting power device by the control unit control in the casing on the main part support with the right side. The utility model discloses a first supporting leg in the supporting leg group and second supporting leg can swings in turn around the control unit, pendulum leg drive arrangement's etc. Control down, realize that anthropomorphic dummy both legs front and back is alternative to swing the antedisplacement for helping capable ware independently to move along, and having that better obstacle is strideed across and the performance is strideed across to the ladder, uses more comfortablely, laborsaving, and it is good to berth stability, the safety in utilization height.
Description
Technical field
The utility model relates to a kind of walking aid device, in particular to the walking aid device of the autonomous walk help of a kind of energy.
Background technology
Existing walker device is mainly divided into wheeled walker and foot formula walk helper. Generally speaking, existing walk helper not band drive units, can not realize autonomous walk help, it is necessary to user applies power could realize walk help function. For foot formula walk helper, existing sufficient formula walk helper can only be firmly could slowly be moved forward by artificial, a kind of staged walk helper as disclosed in Chinese patent ZL201520337282.4, it does not have the function of simulation people's walking, moving forward of walk helper needs user self firmly to move, it may also be useful to get up comparatively hard; And for wheeled walker, such as Chinese patent ZL201520410545.X, it can not cross over ladder, it may also be useful to limit by landform, and wheel can not stablize stop, therefore there is bigger security risk.
Practical novel content
In view of this, the utility model provides the bionical sufficient formula walking aid device of a kind of band drived control, and it solves existing walk helper can not independently walk help, it may also be useful to effort, it may also be useful to the technical problems such as security is lower.
The bionical sufficient formula walking aid device of the utility model band drived control, comprise main body rack, control unit, left support leg group, right support leg group, drive the left swing leg drive unit of left support leg group, and drive the right swinging kick drive unit of right support leg group, described control unit is arranged on main body rack, described left support leg group and right support leg group include the first support leg and the 2nd support leg of front and back alternatively swinging, the power set that described left swing leg drive unit and right swinging kick drive unit are controlled by control unit in including the housing being fixed on main body rack and being arranged on housing,
The power output shaft of described power set is provided with the first pivoted arm and the 2nd pivoted arm, described first pivoted arm is by axle and the first support leg pivot joint, described 2nd pivoted arm is by axle and the 2nd support leg pivot joint, described first support leg and the 2nd support leg are provided with the guide path extended along leg length direction, also being fixedly installed, in described housing or power set, the guiding axle being slidably matched with guide path, described guiding axle is positioned at the surface of power output shaft.
Further, described power set is motor.
Further, the left and right sides of described main body rack is respectively arranged with handrail.
Further, the lower end of described first support leg and the 2nd support leg is provided with anti-skidding foot.
Further, when the lower end of the first support leg and the 2nd support leg contacts to earth simultaneously, the angle size of the first support leg and the 2nd support leg is between 5 degree and 60 degree.
Further, when the lower end of the first support leg and the 2nd support leg contacts to earth simultaneously, the angle of described first support leg and the 2nd support leg is 30 degree.
The invention also discloses the bionical sufficient formula walking aid device of a kind of band drived control, comprise main body rack, control unit, left support leg group, right support leg group, drive the left swing leg drive unit of left support leg group, and drive the right swinging kick drive unit of right support leg group, described control unit is arranged on main body rack, described left support leg group and right support leg group include the first support leg and the 2nd support leg of front and back alternatively swinging, the power set that described left swing leg drive unit and right swinging kick drive unit are controlled by control unit in including the housing being fixed on main body rack and being arranged on housing,
The lower leg that described first support leg and the 2nd support leg are included leg, the electronic rotation joint controlled by control unit and be connected with upper leg by electronic rotation joint, the upper leg of described first support leg and the 2nd support leg is fixedly installed on the power output shaft of power set and the shell of power set respectively.
Further, described power set is motor.
Further, described electronic rotation joint is the motor that electric machine casing is fixed on leg, rotor axis of electric is fixedly connected with lower leg.
Further, the left and right sides of described main body rack is respectively arranged with handrail.
Further, the lower end of described first support leg and the 2nd support leg is provided with anti-skidding foot.
Further, when the lower end of the first support leg and the 2nd support leg contacts to earth simultaneously, the angle size of the first support leg and the 2nd support leg is between 5 degree and 60 degree.
Further, when the lower end of the first support leg and the 2nd support leg contacts to earth simultaneously, the angle of described first support leg and the 2nd support leg is 30 degree.
The invention also discloses the bionical sufficient formula walking aid device of a kind of band drived control, comprise main body rack, control unit, left support leg group, right support leg group, drive the left swing leg drive unit of left support leg group, and drive the right swinging kick drive unit of right support leg group, described control unit is arranged on main body rack, described left support leg group and right support leg group include the first support leg and the 2nd support leg of front and back alternatively swinging, the power set that described left swing leg drive unit and right swinging kick drive unit are controlled by control unit in including the housing being fixed on main body rack and being arranged on housing,
Described first support leg and the 2nd support leg include leg, lower leg and connect upper leg and lower leg and the electric expansion device that controls by control unit, and the upper leg of described first support leg and the 2nd support leg is fixedly installed on the power output shaft of power set and the shell of power set respectively.
Further, described power set is motor.
Further, described electric expansion device is electric pushrod.
Further, the left and right sides of described main body rack is respectively arranged with handrail.
Further, the lower end of described first support leg and the 2nd support leg is provided with anti-skidding foot.
Further, when the lower end of the first support leg and the 2nd support leg contacts to earth simultaneously, the angle size of the first support leg and the 2nd support leg is between 5 degree and 60 degree.
Further, when the lower end of the first support leg and the 2nd support leg contacts to earth simultaneously, the angle of described first support leg and the 2nd support leg is 30 degree.
The beneficial effects of the utility model:
The bionical sufficient formula walking aid device of the utility model a kind of band drived control, its support the support leg of first in leg group and the 2nd support leg can under the control of control unit, swinging kick drive unit etc. before and after alternatively swinging, realize alternatively swinging reach before and after simulation people's both legs, walk helper can independently be moved forward, and there is good obstacle and cross over and ladder leap performance, use more comfortable, laborsaving, and stop good stability, it may also be useful to security height.
Accompanying drawing explanation
Fig. 1 is the perspective view of the bionical sufficient formula walking aid device of band drived control in embodiment one;
Fig. 2 is the main TV structure schematic diagram of the bionical sufficient formula walking aid device of band drived control in embodiment one;
Fig. 3 is the exploded perspective view of swinging kick drive unit in embodiment one;
Fig. 4 is the combination perspective view supporting leg and power set in embodiment one;
Fig. 5 is the main TV structure schematic diagram of the bionical sufficient formula walking aid device of band drived control in embodiment two;
Fig. 6 is the blast structural representation supporting leg in embodiment two;
Fig. 7 is the exploded perspective view of swinging kick drive unit in embodiment two and embodiment three;
Fig. 8 is the main TV structure schematic diagram of the bionical sufficient formula walking aid device of band drived control in embodiment three.
Embodiment
Below in conjunction with drawings and Examples, the utility model is further described.
Embodiment one: as shown in the figure, the bionical sufficient formula walking aid device of the utility model band drived control, comprise main body rack 1, control unit 2, left support leg group 3, right support leg group 4, drive the left swing leg drive unit 5 of left support leg group, and drive the right swinging kick drive unit 6 of right support leg group, described control unit 2 is arranged on main body rack 1, described left support leg group and right support leg group include the first support leg 7 and the 2nd support leg 8 of front and back alternatively swinging, the power set 10 that described left swing leg drive unit and right swinging kick drive unit are controlled by control unit in including the housing 9 being fixed on main body rack and being arranged on housing,
The power output shaft 11 of described power set is provided with the first pivoted arm 12 and the 2nd pivoted arm 13, described first pivoted arm is by axle and the first support leg pivot joint, described 2nd pivoted arm is by axle and the 2nd support leg pivot joint, described first support leg and the 2nd support leg are provided with the guide path 14 extended along leg length direction, also being fixedly installed, in described housing or power set, the guiding axle 15 being slidably matched with guide path, described guiding axle is positioned at the surface of power output shaft.
The bionical sufficient formula walking aid device of the present embodiment band drived control, its support the support leg of first in leg group and the 2nd support leg can under the control of control unit, swinging kick drive unit etc. before and after alternatively swinging, realize alternatively swinging reach before and after simulation people's both legs, walk helper can independently be moved forward, and there is good obstacle and cross over and ladder leap performance, use more comfortable, laborsaving, and stop good stability, it may also be useful to security height.
As the improvement to the present embodiment, described power set 10 is motor, walking control unit control machine operation, the rotor turns of motor drives the first pivoted arm and the 2nd pivoted arm to rotate, first pivoted arm and the 2nd pivoted arm rotate and drive the first support leg and the 2nd support leg to swing, and in swing process, the first pivoted arm and the 2nd pivoted arm also can upwards move the friction avoided between ground, thus there is certain obstacle and ladder span ability, it may also be useful to easy to operate.
As the improvement to the present embodiment, the left and right sides of described main body rack is respectively arranged with handrail 16, arranges handrail and makes the use of this walking aid device more convenient comfortable.
As the improvement to the present embodiment, the lower end of described first support leg and the 2nd support leg is provided with anti-skidding foot 17, can further improve the safety in utilization of walking aid device.
As the improvement to the present embodiment, in the process of walking, when contacting to earth at the lower end of the first support leg and the 2nd support leg simultaneously, the angle of described first support leg and the 2nd support leg is 30 degree to the bionical sufficient formula walking aid device of this band drived control; Certainly in concrete enforcement, the angle of described first support leg and the 2nd support leg is 30 degree of other values that also can be between 5 degree, 60 degree and 5 degree to 60 degree, the angle of described first support leg and the 2nd support leg can adjust according to different height patient, it is thus possible to well adapt to the walking paces of different height patient.
Embodiment two: the bionical sufficient formula walking aid device of the utility model band drived control, comprise main body rack 1, control unit 2, left support leg group 3, right support leg group 4, drive the left swing leg drive unit 5 of left support leg group, and drive the right swinging kick drive unit 6 of right support leg group, described control unit is arranged on main body rack, described left support leg group and right support leg group include the first support leg 7 and the 2nd support leg 8 of front and back alternatively swinging, the power set 10 that described left swing leg drive unit and right swinging kick drive unit are controlled by control unit in including the housing 9 being fixed on main body rack and being arranged on housing,
The lower leg 20 that described first support leg 7 and the 2nd support leg 8 are included leg 18, the electronic rotation joint 19 controlled by control unit and be connected with upper leg by electronic rotation joint, the upper leg of described first support leg and the 2nd support leg is fixedly installed on the power output shaft 101 of power set 10 and the shell 102 of power set respectively.
The bionical sufficient formula walking aid device of the present embodiment band drived control, its support the support leg of first in leg group and the 2nd support leg can under the control in control unit, swinging kick drive unit, electronic rotation joint etc. before and after alternatively swinging, realize alternatively swinging reach before and after simulation people's both legs, walk helper can independently be moved forward, and there is good obstacle and cross over and ladder leap performance, use more comfortable, laborsaving, and stop good stability, it may also be useful to security height.
As the improvement to the present embodiment, described power set 10 is motor, walking control unit control machine operation, by relatively rotating of the rotor spindle of motor and motor housing, driving the alternatively swinging of the first support leg and the 2nd support leg to advance, in swing process, under electronic rotation joint drive, leg is bending to avoid the friction between ground, after lower leg is bending, there is certain obstacle and ladder span ability, it may also be useful to easy to operate.
As the improvement to the present embodiment, described electronic rotation joint is the motor that electric machine casing is fixed on leg, rotor axis of electric is fixedly connected with lower leg, swinging kick process controls electric machine rotation by control unit, the lower leg of support leg is bent, lower friction between leg and ground in swing process can be avoided, in swing process, lower angle α between leg and upper leg preferably controls between 120 degree to 180 degree, when angle is 180 degree, lower leg contacts with ground, electronic rotation joint self-locking, walking security is good.
As the improvement to the present embodiment, the left and right sides of described main body rack is respectively arranged with handrail 16, arranges handrail and makes the use of this walking aid device more convenient comfortable.
As the improvement to the present embodiment, the lower end of described first support leg and the 2nd support leg is provided with anti-skidding foot 17, can further improve the safety in utilization of walking aid device.
As the improvement to the present embodiment, in the process of walking, when contacting to earth at the lower end of the first support leg and the 2nd support leg simultaneously, the angle of described first support leg and the 2nd support leg is 30 degree to the bionical sufficient formula walking aid device of this band drived control; Certainly in concrete enforcement, the angle of described first support leg and the 2nd support leg is 30 degree of other values that also can be between 5 degree, 60 degree and 5 degree to 60 degree, the angle of described first support leg and the 2nd support leg can adjust according to different height patient, it is thus possible to well adapt to the walking paces of different height patient.
Embodiment three: the bionical sufficient formula walking aid device of the utility model band drived control, comprise main body rack 1, control unit 2, left support leg group 3, right support leg group 4, drive the left swing leg drive unit 5 of left support leg group, and drive the right swinging kick drive unit 6 of right support leg group, described control unit is arranged on main body rack, described left support leg group and right support leg group include the first support leg 7 and the 2nd support leg 8 of front and back alternatively swinging, the power set 10 that described left swing leg drive unit and right swinging kick drive unit are controlled by control unit in including the housing 9 being fixed on main body rack and being arranged on housing,
Described first support leg and the 2nd support leg include leg 18, lower leg 20 and connect upper leg and lower leg and the electric expansion device 21 that controls by control unit, and the upper leg of described first support leg and the 2nd support leg is fixedly installed on the power output shaft of power set and the shell of power set respectively.
The bionical sufficient formula walking aid device of the present embodiment band drived control, its support the support leg of first in leg group and the 2nd support leg can under the control in control unit, swinging kick drive unit, electronic rotation joint etc. before and after alternatively swinging, realize alternatively swinging reach before and after simulation people's both legs, walk helper can independently be moved forward, and there is good obstacle and cross over and ladder leap performance, use more comfortable, laborsaving, and stop good stability, it may also be useful to security height.
As the improvement to the present embodiment, described power set 10 is motor, walking control unit control machine operation, by relatively rotating of the rotor spindle of motor and motor housing, driving the alternatively swinging of the first support leg and the 2nd support leg to advance, in swing process, electric expansion device 21 drives lower leg to shrink to avoid the friction between ground, lower leg has certain obstacle and ladder span ability after shrinking, it may also be useful to easy to operate.
As the improvement to the present embodiment, described electric expansion device 21 is electric pushrod, is convenient to automatic control.
As the improvement to the present embodiment, the left and right sides of described main body rack is respectively arranged with handrail 16, arranges handrail and makes the use of this walking aid device more convenient comfortable.
As the improvement to the present embodiment, the lower end of described first support leg and the 2nd support leg is provided with anti-skidding foot 17, can further improve the safety in utilization of walking aid device.
As the improvement to the present embodiment, in the process of walking, when contacting to earth at the lower end of the first support leg and the 2nd support leg simultaneously, the angle of described first support leg and the 2nd support leg is 30 degree to the bionical sufficient formula walking aid device of this band drived control; Certainly in concrete enforcement, the angle of described first support leg and the 2nd support leg is 30 degree of other values that also can be between 5 degree, 60 degree and 5 degree to 60 degree, the angle of described first support leg and the 2nd support leg can adjust according to different height patient, it is thus possible to well adapt to the walking paces of different height patient.
What finally illustrate is, above embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although the utility model being described in detail with reference to better embodiment, it will be understood by those within the art that, the technical solution of the utility model can be modified or equivalent replacement, and not departing from objective and the scope of technical solutions of the utility model, it all should be encompassed in the middle of right of the present utility model.
Claims (10)
1. the bionical sufficient formula walking aid device of a band drived control, it is characterized in that: comprise main body rack, control unit, left support leg group, right support leg group, drive the left swing leg drive unit of left support leg group, and drive the right swinging kick drive unit of right support leg group, described control unit is arranged on main body rack, described left support leg group and right support leg group include the first support leg and the 2nd support leg of front and back alternatively swinging, the power set that described left swing leg drive unit and right swinging kick drive unit are controlled by control unit in including the housing being fixed on main body rack and being arranged on housing,
The power output shaft of described power set is provided with the first pivoted arm and the 2nd pivoted arm, described first pivoted arm is by axle and the first support leg pivot joint, described 2nd pivoted arm is by axle and the 2nd support leg pivot joint, described first support leg and the 2nd support leg are provided with the guide path extended along leg length direction, also being fixedly installed, in described housing or power set, the guiding axle being slidably matched with guide path, described guiding axle is positioned at the surface of power output shaft.
2. the bionical sufficient formula walking aid device of a band drived control, it is characterized in that: comprise main body rack, control unit, left support leg group, right support leg group, drive the left swing leg drive unit of left support leg group, and drive the right swinging kick drive unit of right support leg group, described control unit is arranged on main body rack, described left support leg group and right support leg group include the first support leg and the 2nd support leg of front and back alternatively swinging, the power set that described left swing leg drive unit and right swinging kick drive unit are controlled by control unit in including the housing being fixed on main body rack and being arranged on housing,
The lower leg that described first support leg and the 2nd support leg are included leg, the electronic rotation joint controlled by control unit and be connected with upper leg by electronic rotation joint, the upper leg of described first support leg and the 2nd support leg is fixedly installed on the power output shaft of power set and the shell of power set respectively.
3. the bionical sufficient formula walking aid device of band drived control according to claim 2, it is characterised in that: described electronic rotation joint is the motor that electric machine casing is fixed on leg, rotor axis of electric is fixedly connected with lower leg.
4. the bionical sufficient formula walking aid device of a band drived control, it is characterized in that: comprise main body rack, control unit, left support leg group, right support leg group, drive the left swing leg drive unit of left support leg group, and drive the right swinging kick drive unit of right support leg group, described control unit is arranged on main body rack, described left support leg group and right support leg group include the first support leg and the 2nd support leg of front and back alternatively swinging, the power set that described left swing leg drive unit and right swinging kick drive unit are controlled by control unit in including the housing being fixed on main body rack and being arranged on housing,
Described first support leg and the 2nd support leg include leg, lower leg and connect upper leg and lower leg and the electric expansion device that controls by control unit, and the upper leg of described first support leg and the 2nd support leg is fixedly installed on the power output shaft of power set and the shell of power set respectively.
5. according to the bionical sufficient formula walking aid device of the band drived control described in claim 4, it is characterised in that: described electric expansion device is electric pushrod.
6. according to the bionical sufficient formula walking aid device of described band drived control arbitrary in claim 1,2,4, it is characterised in that: described power set is motor.
7. according to the bionical sufficient formula walking aid device of described band drived control arbitrary in claim 1,2,4, it is characterised in that: the left and right sides of described main body rack is respectively arranged with handrail.
8. according to the bionical sufficient formula walking aid device of described band drived control arbitrary in claim 1,2,4, it is characterised in that: the lower end of described first support leg and the 2nd support leg is provided with anti-skidding foot.
9. according to the bionical sufficient formula walking aid device of described band drived control arbitrary in claim 1,2,4, it is characterized in that: when the lower end of the first support leg and the 2nd support leg contacts to earth simultaneously, the angle size of the first support leg and the 2nd support leg is between 5 degree and 60 degree.
10. according to the bionical sufficient formula walking aid device of the band drived control described in claim 9, it is characterised in that: when the lower end of the first support leg and the 2nd support leg contacts to earth simultaneously, the angle of described first support leg and the 2nd support leg is 30 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620017305.8U CN205307337U (en) | 2016-01-08 | 2016-01-08 | Bionical sufficient formula of taking drive control helps outfit for a journey to put |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620017305.8U CN205307337U (en) | 2016-01-08 | 2016-01-08 | Bionical sufficient formula of taking drive control helps outfit for a journey to put |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205307337U true CN205307337U (en) | 2016-06-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620017305.8U Withdrawn - After Issue CN205307337U (en) | 2016-01-08 | 2016-01-08 | Bionical sufficient formula of taking drive control helps outfit for a journey to put |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205307337U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105411818A (en) * | 2016-01-08 | 2016-03-23 | 重庆足步科技有限公司 | Bionic foot type walking aid with driving control |
| CN111035539A (en) * | 2019-12-31 | 2020-04-21 | 吉林大学 | Walking-aid parallel robot |
-
2016
- 2016-01-08 CN CN201620017305.8U patent/CN205307337U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105411818A (en) * | 2016-01-08 | 2016-03-23 | 重庆足步科技有限公司 | Bionic foot type walking aid with driving control |
| WO2017117886A1 (en) * | 2016-01-08 | 2017-07-13 | 重庆足步科技有限公司 | Bionic foot walking aid with drive control |
| CN105411818B (en) * | 2016-01-08 | 2018-03-09 | 广州足步医疗科技有限公司 | A kind of bionical sufficient formula walking aid device with drive control |
| CN111035539A (en) * | 2019-12-31 | 2020-04-21 | 吉林大学 | Walking-aid parallel robot |
| CN111035539B (en) * | 2019-12-31 | 2021-05-18 | 吉林大学 | A walking assistance parallel robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20171026 Address after: Luohu District bamboo street of Shenzhen city in Guangdong province 518000 Taining floor of Luohu science and Technology Building No. 85 room 610 Patentee after: Shenzhen Walker Robot Technology Co., Ltd. Address before: 400065 Chongwen Road, Nan'an District, Chongqing, No. 2 Patentee before: CHONGQING ZUBU TECHNOLOGY CO., LTD. |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160615 Effective date of abandoning: 20180108 |