CN102078228A - Intelligent mechanical leg - Google Patents
Intelligent mechanical leg Download PDFInfo
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- CN102078228A CN102078228A CN2010106201701A CN201010620170A CN102078228A CN 102078228 A CN102078228 A CN 102078228A CN 2010106201701 A CN2010106201701 A CN 2010106201701A CN 201010620170 A CN201010620170 A CN 201010620170A CN 102078228 A CN102078228 A CN 102078228A
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Abstract
The invention discloses a mechanical leg for assisting the disabled person who has handicapped lower limbers, which is used as an auxiliary tool when the disabled person walks or steps up/down steps. The intelligent mechanical leg is an intelligent crutch with power. The intelligent mechanical leg mainly consists of two parts including an electronic program processor and a hydraulic machine. The program processor is in charge of collecting and storing signals, outputting program signals and controlling each joint to act in order organically. The mechanical hydraulic part is provided with a seat and is locked on a waist/buttocks position. Each leg is provided with a hip joint, a knee joint and an ankle joint; a storage cell powers each joint; and a signal processor uniformly controls the organic movement of each joint according to the different operation modes. A sensor is arranged on each joint for recording the flow direction, the flow quantity and the time of hydraulic oil in each hydraulic joint and is used as an action recorder; and moreover, the intelligent mechanical leg can be also used for training and correcting actions of dance and martial art.
Description
Technical field
The present invention relates to a kind of device of walking aid, relate in particular to a kind of intelligent lower limb of drive, it both can help the physically disabled to recover most leg function.Also can be used as action collection of illustrative plates recorder, be used for the training and the correction of dancing, wushu movement.
Background technology
Along with the continuous progress of human civilization, the anergy personage can get more and more, and on the one hand is to increase constantly because of number that accidents such as war, traffic, industry disable; Then be the today of stepping into aging at population on the other hand, the problem that a lot of old peoples at first face is that legs and feet are more and more not agile, and more some suffers from the patient of other diseases such as apoplexy, even has lost most of function of shank.The probability that these weak energy, anergy personage cure rehabilitation is very little.Their available assistive devices have also just had only crutch and wheelchair, in addition just have only bed, but this just means that from then on they lose and " freedom of action ".And common crutch and wheelchair, too many limitation is arranged again, the help that gives them is few really, with regard to by crutch, from the structure to the mode of operation, all with several thousand before, our ancestors at will cut the root crotch and are leaning on, there are not the difference and the improvement of essence, very unbecoming with the space science and technology epoch now; Wheelchair as run into unevenness such as step or narrow space just powerless, the old man who much lives upstairs, substantially just lose the freedom of going out, because general aging blocks will install the vertical lift elevator additional, really be extremely difficult, main is bankroll problem, secondly is the coordination problem of each floor, maintains problem besides.Can successfully install elevator additional at aging blocks, be phoenix feathers and unicorn horns really.Develop a kind of drive and be subjected to programme controlledly, can simulate walking, sit squat, stand, the legs and feet auxiliary implement of basic acts such as up/down steps, extremely urgent.
Summary of the invention
The objective of the invention is to provides a kind of by providing power, the pedipulator of multiple behavioral pattern such as can carrying out away, stand, sit, squat, stand up according to distinct program to disabled people scholar.
The present invention is achieved through the following technical solutions:
A kind of auxiliary device that recovers leg function is made up of prop, power joint, signal processing three parts.Prop: form by basin bone support, femur support, tibial bracket, sole support.Can choose the support of corresponding site according to different disable areas.
Basin bone support: the main weight that is mainly used in the carrying health, its profile such as brief, crotch portion is passed under the hip to support the weight of health, upwards be fixed in waist, the weight of whole like this health, will disperse stressedly, increase the lifting surface area of skin widely, avoid the damage of stressed skin even fester in waist, buttocks and crotch portion.Life-time service does not have sense of discomfort yet.
Femur support: connect hip joint bearing (6) on it, connect knee joint bearing (7) down, be fixed on the thigh with a tightening buckle (3), mainly play the effect of supporting thigh at the middle part.
Tibial bracket: connect knee joint bearing (7) on it, connect Guo oscillating bearing (8) down, also use a tightening buckle (5) to be fixed on the shank at the middle part, mainly play the effect of supporting shank.
Sole support: the junction of its Shang Lian Guo oscillating bearing (8) (Guo joint and sole, one motor (12) also is housed, make the sole can the along continuous straight runs rotating certain angle, just can realize the purpose of turning round), sole support (13) with the form pad of shoe pad under sole, put on shoes outward, the weight of whole like this health just can be passed through shoes, falls on the ground.The power joint: the power joint comprises accumulator, hydraulic pump, hydraulic pressure cylinder assembly, electromagnetic hydraulic valve.
Accumulator: be the power resources of whole pedipulator, make, be wrapped in the outside of thigh and shank with the Li-ion rechargeable pond.For controller and hydraulic pump provide electric power.
Hydraulic pump:,, make and respectively close the instruction of energy-conservation follow procedure and bend and stretch the limbs freely for each hydraulic knuckle system provides enough power by storage battery power supply.
Hydraulic pressure cylinder assembly: being made up of hydraulic cylinder and piston rod, is to promote the execution unit that flexion and extension is done in the joint.
Electromagnetic hydraulic valve: be the critical piece that the signal of telecommunication is transformed into mechanical action.The signal that it sends according to signal processor, the flow and the flow direction of control hydraulic oil, thus do flexion and extension with controlling mechanical joint coordination.
Signal processing: export three parts by signals collecting, program storage and signal and form.
Signals collecting: be to gather the signal that each pick off sends on the one hand, send corresponding instruction according to these signals again, make each mechanical joint make corresponding action.Be information such as the flow direction of the hydraulic oil in each joint, flow and time to be uploaded to reservoir store on the other hand, give the pedipulator memory function, the action of doing before learning.
Program is stored: be exactly that the program groups that flexion and extension is done in each joint of control is stored in advance, according to the triggering signal that pick off sends, carry out corresponding program groups, do the motion of different mode with the control pedipulator.
Signal output: be exactly that the program singal of various mode of operations is amplified, make it that enough big electric current be arranged, remove to drive electromagnetic hydraulic valve, make each hydraulic knuckle make the flexor of coordination.
In sum, the present invention has following advantage:
1. self-powered.It all is drawback from user self physical ability that the present invention has changed energy on existing crutch, the artificial limb.Concerning healthy person, even physical ability can tackle a period of time, but for people with disability or old user, they are short of muscle power the most exactly.Have only self-powered, just can be real offer help for the vast handicapped.This pedipulator provides electric energy by accumulator, drives hydraulic pump, makes each hydraulic knuckle all have enough energy to do the action of bending and stretching.These energy provide requisite motivational guarantee on foot for the paralytic stands up again.
2. control is intelligent.Most paralysed patient and senile disease patient are because certain reason goes wrong nervous system, cause the control signal of brain can not be transferred to limbs, cause limbs to cannot move.This intelligent lower limb substitutes the brain control signal with default computer program, directly controls the action that the different motion pattern of various coordinations is made in each joint.Pick off that also can be by each joint, during each joint motions the flow direction, flow and the time sheet of hydraulic oil in reservoir, the collection of illustrative plates that this has just write down action, make this intelligent machine lower limb become can study bionic leg.
Description of drawings
Fig. 1 is structure chart of the present invention (side view)
Description of reference numerals
0-basin bone support; 1-basin bone support button; 2-femur support; 3-femur support button; The 4-tibial bracket; 5-tibial bracket button; 6-hip joint bearing; 7-knee joint bearing; 8-Guo oscillating bearing; 9-hip joint hydraulic package; 10-knee joint hydraulic package; 11-Guo joint hydraulic assembly; 12-Guo joint steer motor; 13-sole support; The 14-accumulator; 15-center of gravity pick off; The 16-obstacle sensor; The 17-signal processor
Specific embodiments
A kind of auxiliary device that can recover leg function on the hip joint bearing (6) of the left and right sides of basin bone support (0), is loaded onto left and right sides femur support (2) respectively; On knee joint bearing (7), load onto tibial bracket (4); On the Zai Guo oscillating bearing (8), the Shang Guo of Zhuan joint steer motor (12) is loaded onto sole support (13) more thereon.Between basin bone support (1) and femur support (2), load onto hip joint hydraulic package (9); Between femur support (2) and tibial bracket (4), load onto knee joint hydraulic package (10); Between tibial bracket (4) and sole support (13), the Shang Guo joint hydraulic of Zhuan assembly (11).Like this, pedipulator just can support the both legs of paralysis substantially.But this only can play static supporting role.Pedipulator is moved, drive hydraulic pump, control each hydraulic knuckle assembly by hydraulic valve again and make flexor with regard to handy accumulator.Pedipulator has just moved like this.But want pedipulator to have intellectuality, just must be by default program, triggering signal according to pick off, the control signal of sending different mode is to electromagnetic hydraulic valve, control the flow direction, flow and the time of the hydraulic oil in each hydraulic knuckle assembly, each mechanical joint is bent and stretched in phase, is the bionic intelligence lower limb of real meaning.
Claims (9)
1. auxiliary device that can recover leg function can not only provide enough power for the paralysis patient, and they are walked still farther, and more can artificial intelligence walks, sits down, squats down, stands up, basic acts such as stair activity.Thoroughly solve the inconvenience of paralysis patient daily life.On the hip joint bearing (6) of the left and right sides of basin bone support (0), load onto left and right sides femur support (2) respectively; On knee joint bearing (7), load onto tibial bracket (4); On the Zai Guo oscillating bearing (8), the Shang Guo of Zhuan joint steer motor (12) is loaded onto sole support (13) more thereon.Between basin bone support (1) and femur support (2), load onto hip joint hydraulic package (9); Between femur support (2) and tibial bracket (4), load onto knee joint hydraulic package (10); Between tibial bracket (4) and sole support (13), the Shang Guo joint hydraulic of Zhuan assembly (11).Like this, pedipulator just can support the both legs of paralysis substantially.But this only can play static supporting role.Pedipulator is moved, drive hydraulic pump, control each hydraulic knuckle assembly by electromagnetic hydraulic valve again and make flexor with regard to handy accumulator.Pedipulator has just actively got up like this.But want pedipulator to have intellectuality, just must be by default program, the triggering signal of sending according to pick off, the program singal that sends different mode is to electromagnetic hydraulic valve, control the flow direction, flow and the time of the hydraulic oil in each hydraulic knuckle assembly, each mechanical joint is bent and stretched in phase, is the bionic leg of real meaning.
2. intelligent machine lower limb according to claim 1, it is characterized in that: described basin bone support, its profile such as brief, crotch portion is passed under the hip to support the weight of health, upwards be fixed in waist, the weight of whole like this health will be disperseed stressed in waist, buttocks and crotch portion, increased the lifting surface area of skin widely, avoided the damage of stressed skin (as the oxter) even fester.Life-time service does not have sense of discomfort yet.
3. intelligent machine lower limb according to claim 1, it is characterized in that: described pedipulator is made up of for (13) three sections femur support (2), tibial bracket (4), sole support, and their port all is equipped with bearing, makes pedipulator work more smooth suitable, more durable.
4. pedipulator according to claim 1, it is characterized in that: described hip joint, knee joint, Guo pipe joint drive by hydraulic package, make pedipulator have enough power to finish exercises.
5. pedipulator according to claim 1 is characterized in that: between described tibial bracket and the sole support motor is housed, sole support along continuous straight runs is rotated, reach the purpose of turning round freely.
6. pedipulator according to claim 1 is characterized in that: described each electromagnetic hydraulic valve, all control jointly by the signal of electronic process controller and each sensor feedback, and make each joint can both coordination.
7. as pedipulator as described in the claim 6, it is characterized in that: described pick off (15) is the center of gravity pick off, guarantees that whole pedipulator is operated in the centre-of-gravity range, avoids falling down.Help more that pedipulator is gone on, the downhill path.Pick off (16) be side apart from pick off, before detecting shoes and or sole and ground distance have differently, will send triggering signal, make pedipulator be transformed into upper and lower step pattern.
8. pedipulator according to claim 1, it is characterized in that: described battery is a chargeable battery.Cause lamellar to wrap in the thigh and calf outside.
9. pedipulator according to claim 1 is characterized in that: described sole support be form pad with shoe pad under sole, put on shoes outward, the weight of whole like this health just can be passed through sole support, shoes, falls on the ground.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010106201701A CN102078228A (en) | 2010-12-30 | 2010-12-30 | Intelligent mechanical leg |
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| CN2010106201701A CN102078228A (en) | 2010-12-30 | 2010-12-30 | Intelligent mechanical leg |
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| CN102078228A true CN102078228A (en) | 2011-06-01 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102204862A (en) * | 2011-06-07 | 2011-10-05 | 冯晓明 | Rehabilitation training robot for paraplegic patient |
| CN102494910A (en) * | 2011-11-30 | 2012-06-13 | 北京航空航天大学 | Performance testing apparatus suitable for flexible legged robot |
| CN103405293A (en) * | 2013-08-16 | 2013-11-27 | 北京中科创睿科技有限公司 | Intelligent joint assembly and intelligent artificial limb using same |
| CN104053424A (en) * | 2012-03-30 | 2014-09-17 | 国立大学法人九州大学 | Ambulatory movement assistance device |
| CN105816301A (en) * | 2015-01-28 | 2016-08-03 | 松下知识产权经营株式会社 | Assist garment, and method for controlling controller of assist garment |
| CN105902367A (en) * | 2015-02-19 | 2016-08-31 | 松下知识产权经营株式会社 | Assist wear item, control method for controller of assist wear item, and recording medium |
| CN105902363A (en) * | 2015-02-19 | 2016-08-31 | 松下知识产权经营株式会社 | Assist wear item, control method for controller of assist wear item, and recording medium |
| CN105943312A (en) * | 2016-06-15 | 2016-09-21 | 华中科技大学 | Hip joint recovery assisting device based on sensing and driving integration |
| CN108714911A (en) * | 2018-07-13 | 2018-10-30 | 长沙紫宸科技开发有限公司 | A kind of multi-joint bionic mechanical chela of the autonomous hydraulic pressure distributed power of band |
| CN110169850A (en) * | 2019-05-17 | 2019-08-27 | 上海理工大学 | The control method of the hydraulic knee joint artificial limb of passive-type |
| CN111237280A (en) * | 2020-03-25 | 2020-06-05 | 武汉科技大学 | Rigidity-adjustable corner self-servo valve control hydraulic joint |
| CN112722113A (en) * | 2021-03-02 | 2021-04-30 | 之江实验室 | Electro-hydraulic hybrid biped robot driving system |
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| CN2693195Y (en) * | 2004-04-19 | 2005-04-20 | 应泽明 | Power-assisted vertical walking device for paraplegia patients |
| CN1586434A (en) * | 2004-08-10 | 2005-03-02 | 浙江大学 | Lower limb walking external skeleton capable of being worn |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102204862A (en) * | 2011-06-07 | 2011-10-05 | 冯晓明 | Rehabilitation training robot for paraplegic patient |
| CN102204862B (en) * | 2011-06-07 | 2014-06-11 | 冯晓明 | Rehabilitation training robot for paraplegic patient |
| CN102494910A (en) * | 2011-11-30 | 2012-06-13 | 北京航空航天大学 | Performance testing apparatus suitable for flexible legged robot |
| CN102494910B (en) * | 2011-11-30 | 2013-09-11 | 北京航空航天大学 | Performance testing apparatus suitable for flexible legged robot |
| CN104053424A (en) * | 2012-03-30 | 2014-09-17 | 国立大学法人九州大学 | Ambulatory movement assistance device |
| CN104053424B (en) * | 2012-03-30 | 2016-01-20 | 国立大学法人九州大学 | Walking movement auxiliary implement |
| CN103405293A (en) * | 2013-08-16 | 2013-11-27 | 北京中科创睿科技有限公司 | Intelligent joint assembly and intelligent artificial limb using same |
| CN105816301A (en) * | 2015-01-28 | 2016-08-03 | 松下知识产权经营株式会社 | Assist garment, and method for controlling controller of assist garment |
| CN105902367A (en) * | 2015-02-19 | 2016-08-31 | 松下知识产权经营株式会社 | Assist wear item, control method for controller of assist wear item, and recording medium |
| CN105902363A (en) * | 2015-02-19 | 2016-08-31 | 松下知识产权经营株式会社 | Assist wear item, control method for controller of assist wear item, and recording medium |
| CN105943312A (en) * | 2016-06-15 | 2016-09-21 | 华中科技大学 | Hip joint recovery assisting device based on sensing and driving integration |
| WO2017215014A1 (en) * | 2016-06-15 | 2017-12-21 | 广东思谷智能技术有限公司 | Hip joint rehabilitation assisting apparatus based on sensing and driving integration |
| CN105943312B (en) * | 2016-06-15 | 2018-08-31 | 华中科技大学 | One kind driving integrated hip joint healing auxiliary device based on sensing |
| CN108714911A (en) * | 2018-07-13 | 2018-10-30 | 长沙紫宸科技开发有限公司 | A kind of multi-joint bionic mechanical chela of the autonomous hydraulic pressure distributed power of band |
| CN110169850A (en) * | 2019-05-17 | 2019-08-27 | 上海理工大学 | The control method of the hydraulic knee joint artificial limb of passive-type |
| CN110169850B (en) * | 2019-05-17 | 2020-07-17 | 上海理工大学 | Control method of passive hydraulic knee joint prosthesis |
| CN111237280A (en) * | 2020-03-25 | 2020-06-05 | 武汉科技大学 | Rigidity-adjustable corner self-servo valve control hydraulic joint |
| CN112722113A (en) * | 2021-03-02 | 2021-04-30 | 之江实验室 | Electro-hydraulic hybrid biped robot driving system |
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