CN102670382A - Walking-assistant intelligent crutch system - Google Patents
Walking-assistant intelligent crutch system Download PDFInfo
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- CN102670382A CN102670382A CN2012100988318A CN201210098831A CN102670382A CN 102670382 A CN102670382 A CN 102670382A CN 2012100988318 A CN2012100988318 A CN 2012100988318A CN 201210098831 A CN201210098831 A CN 201210098831A CN 102670382 A CN102670382 A CN 102670382A
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Abstract
The invention discloses a walking-assistant intelligent crutch system. The walking-assistant intelligent crutch system comprises a human body gesture measuring module and a crutch module, wherein the crutch module comprises a body, a big support rod, an X-axis swinging mechanism and a Y-axis swinging mechanism; the body comprises a crutch support and a main body frame; the crutch support which is fixed on the main body frame is provided with an upper multi-axis force sensor in a fixing manner; the main body frame is provided with a sixth accelerometer and a sixth gyroscope in a fixing manner; the big support rod is connected with the main body frame through a big universal hinge; the X-axis swinging mechanism is connected with the main body frame through a small X-axis universal hinge; and the Y-axis swinging mechanism is connected with a main body frame through a small Y-axis universal hinge. The walking-assistant intelligent crutch system, disclosed by the invention, can realize the purpose of adjusting the gesture of the crutch module to actively assist in walking by using a computer to judge information acquired by sensors in both the human body gesture measuring module and the crutch module and control rotation of a motor in the system.
Description
Technical field
The present invention relates to intelligent crutch system, relate in particular to a kind of intelligent crutch system of auxiliary walking.
Background technology
Along with the continuous development of society, disabled's quality of life receives increasing concern.Present stage, the intelligent crutch developed of each business research mechanism all was to think that blind man navigation is a main purpose, the intelligent crutch system that a cover has the temporary transient or permanent disability crowd walking of auxiliary single lower limb of autonomous dynamic also do not occur.
People have the history in year surplus in the of 40 to lower limb formula hopping robot Research on dynamic performance; In practical application; The limitation of relative wheeled robot and caterpillar type robot; The lower limb formula hopping robot move with point-supported mode, and the ability of flexible motion in irregular and uneven terrain environment is arranged, and is more suitable in fast moving in natural road conditions environment.
Native system promptly is devoted to intelligent crutch notion is combined with the single-leg jumping robot technology, can be through detecting the purpose that information real-time adjustment jump gaits such as user health pose speed reach auxiliary walking thereby develop a cover.The tradition crutch needs user to lift, move forward from chief commander's crutch, and this cover system can let crutch independently jump forward along with user moves forward.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art, a kind of intelligent crutch system of auxiliary walking is provided.The present invention adopts following technical scheme:
The intelligent crutch system of auxiliary walking comprises human body attitude measurement module and crutch module; The human body attitude measurement module comprises: first accelerometer, second accelerometer, the 3rd accelerometer, the 4th accelerometer, slender acanthopanax velometer, first gyroscope, second gyroscope, the 3rd gyroscope, the 4th gyroscope, the 5th gyroscope; First accelerometer and first gyroscope are fixed on the human body front; Second accelerometer and second gyroscope are fixed on human body right thigh front side; The 3rd accelerometer and the 3rd gyroscope are fixed on human body left thigh front side; The 4th accelerometer and the 4th gyroscope are fixed on human body right leg front side, and slender acanthopanax velometer and the 5th gyroscope are fixed on human body left leg front side; The crutch module comprises: fuselage, big support bar, X axle swing mechanism and Y axle swing mechanism; Fuselage comprises: the 6th accelerometer, the 6th gyroscope, main stand, crutch support, go up multi-axis force transducer, big universal hinge, the little universal hinge of Y axle, the little universal hinge of X axle; Crutch is supported and fixed on the main stand, and crutch supports the upper edge and is fixed with multi-axis force transducer, is fixed with on the main stand and is hinged with big universal hinge, the little universal hinge of X axle and the little universal hinge of Y axle on the 6th accelerometer and the 6th gyroscope, the main stand; Big support bar comprises the 7th accelerometer, the 7th gyroscope, Z spindle motor, big support bar shell, first belt wheel, second belt wheel, little support bar, multi-axis force transducer, big support bar bottom end cover, universal sleeve, big post upper lid, big support bar leading screw, support spring, big support bar piston, big support bar slide block down; Big support bar shell is a cylinder type, and big support bar shell two ends are fixed with big post upper lid and big support bar bottom end cover respectively, and the big support bar shell outside is fixed with universal sleeve; Be provided with big support bar leading screw, big support bar piston, support spring, little support bar in the big support bar shell from top to bottom in order; The big support bar slide block outside is fixed with first belt wheel; Inboard and the big support bar leading screw of big support bar slide block cooperates; Little support bar stretches out big support bar shell through passing in the big support bar bottom end cover centre bore, and big post upper covers the coaxial big support bar slide block that is connected with, and first belt wheel is connected with second belt wheel through belt; First belt wheel is parallel with the turning cylinder of second belt wheel; Second belt wheel is fixedly connected with the axle of Z spindle motor, is fixed with the 7th accelerometer and the 7th gyroscope on the little support bar, and ramuscule strut lower end is fixed with down multi-axis force transducer; Big support bar shell links to each other with the main stand of fuselage through big universal hinge outward; Alternate 90 degree layouts on the universal sleeve of universal hinge in big support bar under the Y axle under the X axle in the X swing mechanism in universal hinge and the Y swing mechanism.
Described X axle swing mechanism comprises: universal hinge under X spindle motor, the 3rd belt wheel, four-tape wheel, X axial filament thick stick, X axle slide block, X axle swing connector, the X axle; Be connected with X axle slide block on the X swing connector; The X axle slide block outside is fixed with four-tape wheel, and X axle slide block is inboard to be cooperated with X axial filament thick stick, and four-tape wheel is connected with the 3rd belt wheel through belt; The turning cylinder keeping parallelism of four-tape wheel and the 3rd belt wheel; The 3rd belt wheel is fixedly connected with the axle of X spindle motor, and universal hinge is hinged under X axial filament thick stick one end and the X axle, and universal hinge is hinged with the universal sleeve of big support bar under the X axle.
Described Y axle swing mechanism comprises: universal hinge under y-axis motor, multicolored vaginal discharge wheel, the 6th belt wheel, Y axial filament thick stick, Y axle slide block, Y axle swing connector, the Y axle; Be connected with Y axle slide block on the Y swing connector; The Y axle slide block outside is fixed with the 6th belt wheel, and Y axle slide block is inboard to be cooperated with Y axial filament thick stick, and the 6th belt wheel is connected with the multicolored vaginal discharge wheel through belt; The turning cylinder keeping parallelism of the 6th belt wheel and multicolored vaginal discharge wheel; The multicolored vaginal discharge wheel is fixedly connected with the axle of y-axis motor, and universal hinge is hinged under Y axial filament thick stick one end and the Y axle, and universal hinge is hinged with the universal sleeve of big support bar under the Y axle.
The present invention gathers body motion information through the human body attitude measurement module; Gather the movable information of crutch module through accelerometer in the crutch module and gyroscope, gather the force information that receives of crutch module through the multi-dimension force sensor in the crutch module, after the comprehensive above-mentioned information; Computer will send control signal; The control motor rotates, and makes the crutch module automatically along with the user walking, makes the user walking lighter.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the present invention is done further detailed explanation:
Fig. 1 is said system schematic;
Fig. 2 is said crutch module upward view;
Fig. 3 is the front view (big support bar has removed big support bar shell) of said big support bar and said Y axle swing mechanism.
The specific embodiment
Shown in Fig. 1-3, the intelligent crutch system of auxiliary walking comprises human body attitude measurement module and crutch module; The human body attitude measurement module comprises: first accelerometer 1, second accelerometer 2, the 3rd accelerometer 3, the 4th accelerometer 4, slender acanthopanax velometer 5, first gyroscope 8, second gyroscope 9, the 3rd gyroscope 10, the 4th gyroscope 11, the 5th gyroscope 12; First accelerometer 1 and first gyroscope 8 are fixed on the human body front; Second accelerometer 2 and second gyroscope 9 are fixed on human body right thigh front side; The 3rd accelerometer 3 and the 3rd gyroscope 10 are fixed on human body left thigh front side; The 4th accelerometer 4 and the 4th gyroscope 11 are fixed on human body right leg front side, and slender acanthopanax velometer 5 and the 5th gyroscope 12 are fixed on human body left leg front side; The crutch module comprises: fuselage, big support bar, X axle swing mechanism and Y axle swing mechanism; Fuselage comprises: the 6th accelerometer 6, the 6th gyroscope 13, main stand 15, crutch support 16, go up multi-axis force transducer 20, the little universal hinge of big universal hinge 22, Y axle 23, the little universal hinge 24 of X axle; Crutch supports 16 and is fixed on the main stand 15; Crutch supports 16 upper edges and is fixed with multi-axis force transducer 20, is fixed with on the main stand 15 and is hinged with big universal hinge 22, the little universal hinge of X axle and the little universal hinge of Y axle on the 6th accelerometer 6 and the 6th gyroscope 13, the main stand 15; Big support bar comprises the 7th accelerometer 7, the 7th gyroscope 14, Z spindle motor 17, big support bar shell 21, first belt wheel 25, second belt wheel 26, ramuscule strut 31, multi-axis force transducer 40, big support bar bottom end cover 41, universal sleeve 42, big post upper lid 43, big support bar leading screw 44, support spring 45, big support bar piston 46, big support bar slide block 47 down; Big support bar shell 21 is a cylinder type, and big support bar shell 21 two ends are fixed with big post upper lid 43 and big support bar bottom end cover 41 respectively, and big support bar shell 21 outsides are fixed with universal sleeve 42; Be provided with big support bar leading screw 44, big support bar piston 46, support spring 45, ramuscule strut 31 in the big support bar shell 8 from top to bottom in order; Big support bar slide block 47 outsides are fixed with first belt wheel 25; Big support bar slide block 47 inboard and big support bar leading screws 44 cooperate; Ramuscule strut 31 stretches out big support bar shell 21 through passing in big support bar bottom end cover 41 centre bores, coaxially on the big post upper lid 43 is connected with big support bar slide block 47, the first belt wheels 25 and is connected with second belt wheel 26 through belt; First belt wheel 25 is parallel with the turning cylinder of second belt wheel 26; Second belt wheel 26 is fixedly connected with the axle of Z spindle motor 17, is fixed with the 7th accelerometer 7 and the 7th gyroscope 14 on the ramuscule strut 31, and ramuscule strut 31 lower ends are fixed with down multi-axis force transducer 40; Link to each other with the main stand 15 of fuselage through big universal hinge 22 outside the big support bar shell 21; Alternate 90 degree layouts on the universal sleeve 42 of universal hinge 39 in big support bar under the Y axle under the X axle in the X swing mechanism in universal hinge 38 and the Y swing mechanism.
Described X axle swing mechanism comprises: universal hinge 38 under X spindle motor 18, the 3rd belt wheel 27, four-tape wheel 28, X axial filament thick stick 32, X axle slide block 34, X axle swing connector 37, the X axle; Be connected with X axle slide block 34 on the X swing connector 37; X axle slide block 34 outsides are fixed with four-tape wheel 28, and X axle slide block 34 inboards cooperate with X axial filament thick stick 32, and four-tape wheel 28 is connected with the 3rd belt wheel 27 through belt; The turning cylinder keeping parallelism of four-tape wheel the 28 and the 3rd belt wheel 27; The axle of the 3rd belt wheel 27 and X spindle motor 18 is fixedly connected, and universal hinge 38 is hinged under X axial filament thick stick 32 1 ends and the X axle, universal the hinge 38 and universal sleeve 42 of support bar is hinged greatly under the X axle.
Described Y axle swing mechanism comprises: universal hinge 39 under y-axis motor 19, multicolored vaginal discharge wheel the 29, the 6th belt wheel 30, Y axial filament thick stick 33, Y axle slide block 35, Y axle swing connector 36, the Y axle; Be connected with Y axle slide block 35 on the Y swing connector 36; Y axle slide block 35 outsides are fixed with the 6th belt wheel 30, and Y axle slide block 35 inboards cooperate with Y axial filament thick stick 33, and the 6th belt wheel 30 is connected through belt and multicolored vaginal discharge wheel 29; The turning cylinder keeping parallelism of the 6th belt wheel 30 and multicolored vaginal discharge wheel 29; Multicolored vaginal discharge wheel 29 is fixedly connected with the axle of y-axis motor 19, and universal hinge 39 is hinged under Y axial filament thick stick 33 1 ends and the Y axle, universal the hinge 39 and universal sleeve 42 of support bar is hinged greatly under the Y axle.
Native system will be gathered body motion information through first accelerometer 1 in the human body attitude measurement module, second accelerometer 2, the 3rd accelerometer 3, the 4th accelerometer 4, slender acanthopanax velometer 5, first gyroscope 8, second gyroscope 9, the 3rd gyroscope 10, the 4th gyroscope 11 and the 5th gyroscope 12; Gather the movable information of crutch modules through the 6th accelerometer 6 in the crutch module, the 7th accelerometer 7, the 6th gyroscope 13 and the 7th gyroscope 14; Gather the force information that receives of crutch module through last multi-dimension force sensor in the crutch module 20 and following multi-dimension force sensor 40; These information are sent into computer through capture card; After the comprehensive above-mentioned information, computer will send control signal, and control Z spindle motor 17, X spindle motor 18 and y-axis motor 19 rotate; Transmission through the leading screw slide block; X axle swing mechanism is controlled the X-direction swing of big support bar, and Y axle swing mechanism is controlled the Y direction swing of big support bar, and the screw mandrel slide block in the big support bar will be controlled the flexible of little support bar; Make the crutch module automatically along with the user walking, the user walking is not hindered.
Claims (3)
1. the intelligent crutch system of an auxiliary walking is characterized in that comprising human body attitude measurement module and crutch module; The human body attitude measurement module comprises: first accelerometer (1), second accelerometer (2), the 3rd accelerometer (3), the 4th accelerometer (4), slender acanthopanax velometer (5), first gyroscope (8), second gyroscope (9), the 3rd gyroscope (10), the 4th gyroscope (11), the 5th gyroscope (12); First accelerometer (1) and first gyroscope (8) are fixed on the human body front; Second accelerometer (2) and second gyroscope (9) are fixed on human body right thigh front side; The 3rd accelerometer (3) and the 3rd gyroscope (10) are fixed on human body left thigh front side; The 4th accelerometer (4) and the 4th gyroscope (11) are fixed on human body right leg front side, and slender acanthopanax velometer (5) and the 5th gyroscope (12) are fixed on human body left leg front side; The crutch module comprises: fuselage, big support bar, X axle swing mechanism and Y axle swing mechanism; Fuselage comprises: the 6th accelerometer (6), the 6th gyroscope (13), main stand (15), crutch support (16), go up multi-axis force transducer (20), big universal hinge (22), the little universal hinge of Y axle (23), the little universal hinge of X axle (24); Crutch supports (16) and is fixed on the main stand (15); Crutch supports (16) upper edge and is fixed with multi-axis force transducer (20), is fixed with on the main stand (15) and is hinged with big universal hinge (22), the little universal hinge of X axle (24) and the little universal hinge of Y axle (23) on the 6th accelerometer (6) and the 6th gyroscope (13), the main stand (15); Support bar comprises the 7th accelerometer (7), the 7th gyroscope (14), Z spindle motor (17), big support bar shell (21), first belt wheel (25), second belt wheel (26), little support bar (31) greatly, multi-axis force transducer (40), big support bar bottom end cover (41), universal sleeve (42), big post upper cover (43), big support bar leading screw (44), support spring (45), big support bar piston (46), big support bar slide block (47) down; Big support bar shell (21) is a cylinder type, and big support bar shell (21) two ends are fixed with big post upper lid (43) and big support bar bottom end cover (41) respectively, and big support bar shell (21) outside is fixed with universal sleeve (42); Be provided with big support bar leading screw (44), big support bar piston (46), support spring (45), little support bar (31) in the big support bar shell (8) from top to bottom in order; Big support bar slide block (47) outside is fixed with first belt wheel (25); Inboard and the big support bar leading screw (44) of big support bar slide block (47) cooperates; Little support bar (31) stretches out big support bar shell (21) through passing in big support bar bottom end cover (41) centre bore; Big post upper lid (43) is gone up the coaxial big support bar slide block (47) that is connected with; First belt wheel (25) is connected with second belt wheel (26) through belt, and first belt wheel (25) is parallel with the turning cylinder of second belt wheel (26), and second belt wheel (26) is fixedly connected with the axle of Z spindle motor (17); Be fixed with the 7th accelerometer (7) and the 7th gyroscope (14) on the little support bar (31), little support bar (31) lower end is fixed with down multi-axis force transducer (40); Big support bar shell (21) is outer to link to each other with the main stand (15) of fuselage through big universal hinge (22); The universal sleeve (42) of universal hinge (39) in big support bar gone up alternate 90 degree layouts under the Y axle under the X axle in the X swing mechanism in universal hinge (38) and the Y swing mechanism.
2. the intelligent crutch system of a kind of auxiliary walking according to claim 1 is characterized in that described X axle swing mechanism comprises: universal hinge (38) under X spindle motor (18), the 3rd belt wheel (27), four-tape wheel (28), X axial filament thick stick (32), X axle slide block (34), X axle swing connector (37), the X axle; Be connected with X axle slide block (34) on the X swing connector (37); X axle slide block (34) outside is fixed with four-tape wheel (28); X axle slide block (34) is inboard to be cooperated with X axial filament thick stick (32); Four-tape wheel (28) is connected with the 3rd belt wheel (27) through belt, the turning cylinder keeping parallelism of four-tape wheel (28) and the 3rd belt wheel (27), and the 3rd belt wheel (27) is fixedly connected with the axle of X spindle motor (18); Universal hinge (38) is hinged under X axial filament thick stick (32) one ends and the X axle, and universal hinge (38) is hinged with the universal sleeve (42) of big support bar under the X axle.
3. the intelligent crutch system of a kind of auxiliary walking according to claim 1 is characterized in that described Y axle swing mechanism comprises: universal hinge (39) under y-axis motor (19), multicolored vaginal discharge wheel (29), the 6th belt wheel (30), Y axial filament thick stick (33), Y axle slide block (35), Y axle swing connector (36), the Y axle; Be connected with Y axle slide block (35) on the Y swing connector (36); Y axle slide block (35) outside is fixed with the 6th belt wheel (30); Y axle slide block (35) is inboard to be cooperated with Y axial filament thick stick (33); The 6th belt wheel (30) is connected with multicolored vaginal discharge wheel (29) through belt, the turning cylinder keeping parallelism of the 6th belt wheel (30) and multicolored vaginal discharge wheel (29), and multicolored vaginal discharge wheel (29) is fixedly connected with the axle of y-axis motor (19); Universal hinge (39) is hinged under Y axial filament thick stick (33) one ends and the Y axle, and universal hinge (39) is hinged with the universal sleeve (42) of big support bar under the Y axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210098831.8A CN102670382B (en) | 2012-04-06 | 2012-04-06 | Walking-assistant intelligent crutch system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210098831.8A CN102670382B (en) | 2012-04-06 | 2012-04-06 | Walking-assistant intelligent crutch system |
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| Publication Number | Publication Date |
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| CN102670382A true CN102670382A (en) | 2012-09-19 |
| CN102670382B CN102670382B (en) | 2014-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210098831.8A Expired - Fee Related CN102670382B (en) | 2012-04-06 | 2012-04-06 | Walking-assistant intelligent crutch system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102895096A (en) * | 2012-11-13 | 2013-01-30 | 苏州工业园区职业技术学院 | Voice-prompt way-exploring walking stick for blind person |
| CN107485540A (en) * | 2017-07-18 | 2017-12-19 | 浙江大学城市学院 | A kind of intelligence that is used for assists the energy injection system for walking walking stick |
| CN108230588A (en) * | 2018-03-14 | 2018-06-29 | 南京青图信息技术有限公司 | A kind of blind person leads object suggestion device |
| CN111685462A (en) * | 2020-08-06 | 2020-09-22 | 联想(北京)有限公司 | Intelligent walking stick and control method thereof |
| CN111959635A (en) * | 2020-08-29 | 2020-11-20 | 刘会英 | Single-leg jumping robot with all-dimensional jumping function |
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| JP2009268655A (en) * | 2008-05-07 | 2009-11-19 | Koichi Inoue | Walking stick with tiltable forearm supporting tool |
| JP2009273565A (en) * | 2008-05-13 | 2009-11-26 | Tokyo Institute Of Technology | Crutch-type walking supporting machine |
| CN101829002A (en) * | 2010-05-06 | 2010-09-15 | 沈湧 | Human body self traction device |
| US20110071752A1 (en) * | 2009-09-18 | 2011-03-24 | Honda Motor Co., Ltd. | Inverted pendulum type moving body |
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- 2012-04-06 CN CN201210098831.8A patent/CN102670382B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2009268655A (en) * | 2008-05-07 | 2009-11-19 | Koichi Inoue | Walking stick with tiltable forearm supporting tool |
| JP2009273565A (en) * | 2008-05-13 | 2009-11-26 | Tokyo Institute Of Technology | Crutch-type walking supporting machine |
| US20110071752A1 (en) * | 2009-09-18 | 2011-03-24 | Honda Motor Co., Ltd. | Inverted pendulum type moving body |
| CN101829002A (en) * | 2010-05-06 | 2010-09-15 | 沈湧 | Human body self traction device |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102895096A (en) * | 2012-11-13 | 2013-01-30 | 苏州工业园区职业技术学院 | Voice-prompt way-exploring walking stick for blind person |
| CN102895096B (en) * | 2012-11-13 | 2014-06-11 | 苏州工业园区职业技术学院 | Voice-prompt way-exploring walking stick for blind person |
| CN107485540A (en) * | 2017-07-18 | 2017-12-19 | 浙江大学城市学院 | A kind of intelligence that is used for assists the energy injection system for walking walking stick |
| CN107485540B (en) * | 2017-07-18 | 2019-12-13 | 浙江大学城市学院 | Energy injection system for intelligent walking stick |
| CN108230588A (en) * | 2018-03-14 | 2018-06-29 | 南京青图信息技术有限公司 | A kind of blind person leads object suggestion device |
| CN111685462A (en) * | 2020-08-06 | 2020-09-22 | 联想(北京)有限公司 | Intelligent walking stick and control method thereof |
| CN111959635A (en) * | 2020-08-29 | 2020-11-20 | 刘会英 | Single-leg jumping robot with all-dimensional jumping function |
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| CN102670382B (en) | 2014-04-16 |
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