CN109381327A - A kind of artificial intelligence motion's ancillary equipment - Google Patents
A kind of artificial intelligence motion's ancillary equipment Download PDFInfo
- Publication number
- CN109381327A CN109381327A CN201811120408.7A CN201811120408A CN109381327A CN 109381327 A CN109381327 A CN 109381327A CN 201811120408 A CN201811120408 A CN 201811120408A CN 109381327 A CN109381327 A CN 109381327A
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- Prior art keywords
- plate
- foot supports
- knee
- artificial intelligence
- support plate
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of artificial intelligence motion's ancillary equipments, belong to artificial intelligence motion's equipment technical field, it solves existing for assisting the robot of walking that can not meet human body driving wish operation in the market, the problem of movement effects difference, it is characterized in that: including knee joint rotating connector, it further include hip joint protective plate, thigh support plate, shin support panel and foot supports plate, sensor module is installed on foot supports plate, convenient for adjusting entire length, it is used suitable for people of different heights group, it is good to dress stability, the distribution of force of sensor module detection foot supports plate, by the rotation for adjusting knee joint rotating connector, realize the adjusting of bending angle between above-knee expansion plate and shin support panel, exercise aid device is set to keep centre of body weight balance while meeting human body driving wish operation, it is auxiliary moving It helps under the auxiliary of equipment and moves, it is time saving and energy saving, conducive to the walking movement of limbs.
Description
Technical field
The present invention relates to artificial intelligence motion's apparatus fields, are specifically related to a kind of artificial intelligence motion's ancillary equipment.
Background technique
With medical treatment assist in the treatment of aspect robot using more and more extensive, for for assist hemiplegia patient,
The assistant robot of polio victim and the spinal cord injury patient between L1-L5 grades also have begun application, pass through
Synchronous " following " human motion, auxiliary or replaces human bearing and motor-driven, breaks through the human body physical agility limit, increases substantially human body
Ability to act, using motor driven or hydraulic-driven movement assist ectoskeleton equipment, can assist paralysis, hemiplegia, fracture, always
The people of the lower extremity movements inconvenience such as year osteoarticular retrograde affection patient moves.
Chinese patent CN105213155B discloses a kind of artificial intelligence motion's ancillary equipment, including structural support system,
Sensor and sensor circuit, signal processing system (mobile computing platform), driving executive device, power-supply system and walking stick, though
It can so realize that driving mechanism provides movement required energy to human body lower limbs, be finally reached the intelligence and mechanical forces phase of people
Mutually supplement, the effect of interaction, but structure is complicated, at high cost so that general family is difficult afford to consume, especially its
Cooperation for kneed adjusting and foot induction is insufficient, causes to keep body while cannot meeting human body driving wish operation
Body gravity balance is unfavorable for the walking movement of limbs, therefore we provide a kind of artificial intelligence motion's ancillary equipment, it is intended to solve
The above problem.
Summary of the invention
In view of the deficiencies of the prior art, the present invention intends to provide a kind of artificial intelligence motion's ancillary equipment,
To solve the problems in above-mentioned background technique.
To achieve the above object, the invention provides the following technical scheme:
A kind of knee joint rotating connector, including drive shaft, driving gear, driven shaft, driven gear, gear ring and limiting card
Ring, the gear ring are set in limited location snap ring, and limited location snap ring upper end is connected with above-knee expansion plate, gear ring bottom side and leg support
Plate connection, gear ring inner are equipped with driven gear, and middle part is equipped with drive shaft in gear ring, are equipped with driving gear in drive shaft, from
Moving gear is meshed with driving gear, gear ring.
As a further solution of the present invention, the limited location snap ring bottom side offers the rotation for shin support panel rotation
Notch.
As a further solution of the present invention, the driven shaft of the driven gear is rotatably arranged on the housing of limited location snap ring
On.
As a further solution of the present invention, described drive shaft one end is rotatably arranged on the housing of limited location snap ring, driving
The housing that the axis other end is pierced by limited location snap ring is connected with driving motor, and the casing of driving motor is mounted on the housing of limited location snap ring
Outside.
A kind of artificial intelligence motion's ancillary equipment, including knee joint rotating connector further include hip joint protective plate, thigh
Support plate, shin support panel and foot supports plate, the thigh support plate are welded on hip joint protective plate bottom side, thigh support plate
Interior sliding is provided with above-knee expansion plate, and above-knee expansion plate bottom connects knee joint rotating connector, knee joint rotating connector bottom
Portion is connected with shin support panel, and sliding is provided with expansion plate at one's knees in shin support panel, and expansion plate bottom end connects naked joint at one's knees
Rotating ball, naked articulation ball are embedded in and are rotatably arranged in ball-joint fixing seat, and ball-joint fixing seat bottom and outside of foot weld
It connects block to be connected, outside of foot welding block is welded on the outside of foot supports plate, is equipped with sensor module on foot supports plate.
As a further solution of the present invention, hip joint protective plate two sides are connected with the left bandage of hip joint and hip joint
Right bandage is equipped with adhesive surface on the left bandage of hip joint on one side, is equipped with fishing without hook face on one side on the right bandage of hip joint.
As a further solution of the present invention, thigh support plate two sides are connected with left bandage and right bandage, left bandage
It is nylon strap with right bandage, shin support panel two sides are connected with left fixing belt and right fixing belt, left fixing belt and right fixing belt
For nylon strap.
As a further solution of the present invention, instep fixing belt, foot supports are connected on the upside of the foot supports prelaminar part
Flexible pad is bonded on plate.
As a further solution of the present invention, the sensor module is distributed in the front and rear of foot supports plate, passes
Sensor component includes sensor, sensing plate and support plate, support plate be mounted in the groove of foot supports plate upper surface and with foot
Portion's upper end face of support plate is concordant, and sensing plate is equipped in support plate, senses and is equipped with sensor between plate and support plate.
As a further solution of the present invention, the sensor and driving motor are connected with control system hardware, control
System hardware and supplying cell processed are installed on the outside of thigh support plate, and the end of driving motor is connected with encoder, thigh branch
Between fagging and above-knee expansion plate and shin support panel and at one's knees between expansion plate pass through screw locking adjust.
In conclusion compared with the prior art, the invention has the following beneficial effects:
Artificial intelligence motion's ancillary equipment of the invention, it is simple and reliable, convenient for adjusting entire length, it is suitable for different heights
Crowd use, wearing stability it is good, sensor module detect foot supports plate distribution of force, pass through adjust knee joint rotation
The adjusting of bending angle between above-knee expansion plate and shin support panel is realized in the rotation of connector, is according with exercise aid device
Centre of body weight balance is kept while closing human body driving wish operation, is moved under the auxiliary of exercise aid device, it is time saving and energy saving,
Conducive to the walking movement of limbs.
In order to explain the structural features and functions of the invention more clearly, come with reference to the accompanying drawing with specific embodiment to this hair
It is bright to be described in detail.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of artificial intelligence motion's ancillary equipment.
Fig. 2 is the structural schematic diagram of knee joint rotating connector in artificial intelligence motion's ancillary equipment.
Fig. 3 is the structural schematic diagram of sensor module in artificial intelligence motion's ancillary equipment.
Appended drawing reference: 1- hip joint protective plate, the left bandage of 2- hip joint, 3- adhesive surface, the right bandage of 4- hip joint, 5- fishing without hook
Face, 6- thigh support plate, the left bandage of 7-, the right bandage of 8-, the above-knee expansion plate of 9-, 10- knee joint rotating connector, 11- driving electricity
Machine, 12- shin support panel, the left fixing belt of 13-, the right fixing belt of 14-, the 15- naked articulation ball of expansion plate, 16-, 17- ball at one's knees
Arthrodesis seat, 18- outside of foot welding block, 19- foot supports plate, 20- instep fixing belt, 21- flexible pad, 22- drive shaft,
23- drive gear, 24- driven shaft, 25- driven gear, 26- gear ring, 27- limited location snap ring, 28- rotation notch, 29- sensor,
30- senses plate, 31- support plate.
Specific embodiment
The following further describes the technical solution of the present invention in the following with reference to the drawings and specific embodiments.
Embodiment 1
Referring to FIG. 1 to FIG. 3, in the embodiment of the present invention 1, a kind of artificial intelligence motion's ancillary equipment, including hip joint protection
Plate 1, thigh support plate 6, knee joint rotating connector 10, shin support panel 12 and foot supports plate 19, the thigh support plate 6
It is welded on 1 bottom side of hip joint protective plate, sliding is provided with above-knee expansion plate 9 in thigh support plate 6, and above-knee 9 bottom of expansion plate connects
Connect knee joint rotating connector 10,10 bottom of knee joint rotating connector is connected with shin support panel 12, in shin support panel 12
Sliding is provided with expansion plate 15 at one's knees, and 15 bottom end of expansion plate connects naked articulation ball 16 at one's knees, and naked articulation ball 16 is embedded in
And be rotatably arranged in ball-joint fixing seat 17,17 bottom of ball-joint fixing seat is connected with outside of foot welding block 18, outside of foot
Welding block 18 is welded on 19 outside of foot supports plate.
In the present embodiment, in order to further increase the firmness that hip joint protective plate 1 is connect with human body, in the hip
1 two sides of joint protecting plate are connected with the left bandage 2 of hip joint and the right bandage 4 of hip joint, are equipped with and paste on one side on the left bandage 2 of hip joint
Face 3 is equipped with fishing without hook face 5 on the right bandage 4 of hip joint on one side, carries out fixed with hip joint, uses the left bandage 2 of hip joint and hip pass
It saves right bandage 4 to be bundled on hip joint and be mutually bonded fixation with adhesive surface 3 and fishing without hook face 5, improves hip joint protective plate 1 and people
Show consideration for the stability closed.
In order to further increase the stability that thigh support plate 6 is bonded with thigh, connect in 6 two sides of thigh support plate
It is connected to left bandage 7 and right bandage 8, left bandage 7 and right bandage 8 are nylon strap, tie up to thigh using left bandage 7 and right bandage 8
On thigh support plate 6 is connected with the thigh position of human body.
In order to further increase the stability that shin support panel 12 is bonded with shank, in 12 two sides of shin support panel
It is connected with left fixing belt 13 and right fixing belt 14, left fixing belt 13 and right fixing belt 14 are nylon strap, using left fixing belt 13
It is tied up on shank with right fixing belt 14 and shin support panel 12 is connected with the shank position of human body.
In order to improve the effect that foot is bonded with foot supports plate 19, instep is connected on the upside of 19 front of foot supports plate and is fixed
Band 20 is bonded with flexible pad 21 to improve the comfort of foot on foot supports plate 19.
The knee joint rotating connector 10 includes drive shaft 22, driving gear 23, driven shaft 24, driven gear 25, tooth
Circle 26 and limited location snap ring 27, the gear ring 26 are set in limited location snap ring 27, and 27 upper end of limited location snap ring is connected with above-knee expansion plate 9
It connects, 26 bottom side of gear ring is connect with shin support panel 12, and 27 bottom side of limited location snap ring is offered to be turned for what shin support panel 12 rotated
Notch 28 is moved, driven gear 25 is installed inside the gear ring 26, the driven shaft 24 of driven gear 25 is rotatably arranged on limiting card
On the housing of ring 27, middle part is equipped with drive shaft 22 in gear ring 26, and driving gear 23,22 one end of drive shaft are equipped in drive shaft 22
It is rotatably arranged on the housing of limited location snap ring 27,22 other end of drive shaft is pierced by the housing and 11 phase of driving motor of limited location snap ring 27
Connection, the casing of driving motor 11 are mounted on the outside of the housing of limited location snap ring 27, the driven gear 25 and driving gear 23, tooth
Circle 26 is meshed, and for being driven, after driving motor 11 starts, drive shaft 22 drives driving gear 23 to rotate, by driven
Gear 25 drives gear ring 26 to rotate, to realize the relative rotation between gear ring 26 and limited location snap ring 27, and then realizes above-knee stretch
The adjusting of bending angle between contracting plate 9 and shin support panel 12.
Sensor module is installed, sensor module is distributed in the front of foot supports plate 19 on the foot supports plate 19
And rear portion, for detecting foot to application pressure different on foot supports plate 19, the sensor module include sensor 29,
Sense plate 30 and support plate 31, support plate 31 be mounted in the groove of 19 upper surface of foot supports plate and on foot supports plate 19
End face is concordant, and sensing plate 30 is equipped in support plate 31, senses and is equipped with sensor 29, sensor between plate 30 and support plate 31
29 be pressure sensor.
The sensor 29 and driving motor 11 are connected with control system hardware, control system hardware and supplying cell
It is installed in 6 outside of thigh support plate, in order to improve the accuracy and reliability of the operating of driving motor 11, the end of driving motor 11
Portion is connected with encoder, can the accuracy of effective guarantee motor operating and reliable after encoder is connected with control system hardware
Property, sensor module detects the distribution of force of foot supports plate 19, by adjusting the rotation of knee joint rotating connector 10, makes to transport
Dynamic auxiliary equipment keeps centre of body weight balance while meeting human body driving wish operation, under the auxiliary of exercise aid device
Movement, it is time saving and energy saving, conducive to the walking movement of limbs.
It is used in order to enable above-knee expansion plate 9 and the at one's knees extension elongation of expansion plate 15 are suitable for people of different heights group,
And guarantee wearing stability, between the thigh support plate 6 and above-knee expansion plate 9 and shin support panel 12 with stretch at one's knees
Locked by screw between plate 15 and is adjusted, it is simple and reliable.
Embodiment 2
Please refer to FIG. 1 to FIG. 3, in the embodiment of the present invention 2, a kind of artificial intelligence motion's ancillary equipment, the sensor
29 be piezoelectric transducer, remaining structure division of embodiment 2 is same as Example 1.
Artificial intelligence motion's ancillary equipment of the invention, it is simple and reliable, convenient for adjusting entire length, it is suitable for different heights
Crowd use, wearing stability it is good, sensor module detect foot supports plate distribution of force, pass through adjust knee joint rotation
The rotation of connector 10 realizes the adjusting of bending angle between above-knee expansion plate 9 and shin support panel 12, makes exercise aid device
Centre of body weight balance is kept while meeting human body driving wish operation, is moved under the auxiliary of exercise aid device, it is time saving
It is laborsaving, conducive to the walking movement of limbs.
The technical principle of the invention is described above in combination with a specific embodiment, is only the preferred embodiment of the present invention.This
The protection scope of invention is not limited merely to above-described embodiment, and all technical solutions belonged under thinking of the present invention belong to the present invention
Protection scope.Those skilled in the art, which does not need to pay for creative labor, can associate other specific realities of the invention
Mode is applied, these modes will fall within the scope of protection of the present invention.
Claims (10)
1. a kind of knee joint rotating connector, including drive shaft (22), driving gear (23), driven shaft (24), driven gear
(25), gear ring (26) and limited location snap ring (27), the gear ring (26) are set in limited location snap ring (27), limited location snap ring (27) upper end
It is connected with above-knee expansion plate (9), gear ring (26) bottom side is connect with shin support panel (12), which is characterized in that in gear ring (26)
Portion is equipped with driven gear (25), and middle part is equipped with drive shaft (22) in gear ring (26), and drive shaft is equipped with driving gear on (22)
(23), driven gear (25) is meshed with driving gear (23), gear ring (26).
2. a kind of knee joint rotating connector according to claim 1, which is characterized in that limited location snap ring (27) bottom side
Offer the rotation notch (28) for shin support panel (12) rotation.
3. a kind of knee joint rotating connector according to claim 2, which is characterized in that the driven gear (25) from
Moving axis (24) is rotatably arranged on the housing of limited location snap ring (27).
4. a kind of knee joint rotating connector according to claim 3, which is characterized in that described drive shaft (22) one end turns
Dynamic to be arranged on the housing of limited location snap ring (27), drive shaft (22) other end is pierced by the housing and driving motor of limited location snap ring (27)
(11) it is connected, the casing of driving motor (11) is mounted on the outside of the housing of limited location snap ring (27).
5. a kind of artificial intelligence motion's ancillary equipment further includes including the knee joint rotating connector as described in claim 1-4
Hip joint protective plate (1), thigh support plate (6), shin support panel (12) and foot supports plate (19), the thigh support plate
(6) it is welded on hip joint protective plate (1) bottom side, sliding is provided with above-knee expansion plate (9) in thigh support plate (6), above-knee flexible
Plate (9) bottom connects knee joint rotating connector (10), and knee joint rotating connector (10) bottom is connected with shin support panel
(12), sliding is provided with expansion plate (15) at one's knees in shin support panel (12), and expansion plate (15) bottom end connects naked joint and turns at one's knees
Dynamic ball (16), naked articulation ball (16) are embedded in and are rotatably arranged in ball-joint fixing seat (17), ball-joint fixing seat (17)
Bottom is connected with outside of foot welding block (18), and outside of foot welding block (18) is welded on the outside of foot supports plate (19), feature
It is, foot supports plate is equipped with sensor module on (19).
6. a kind of artificial intelligence motion's ancillary equipment according to claim 5, which is characterized in that described to state hip joint protection
Plate (1) two sides are connected with the left bandage of hip joint (2) and the right bandage of hip joint (4), are equipped with and paste on one side on the left bandage of hip joint (2)
Face (3) is equipped with fishing without hook face (5) on one side on the right bandage of hip joint (4).
7. a kind of artificial intelligence motion's ancillary equipment according to claim 6, which is characterized in that the thigh support plate
(6) two sides are connected with left bandage (7) and right bandage (8), and left bandage (7) and right bandage (8) are nylon strap, shin support panel
(12) two sides are connected with left fixing belt (13) and right fixing belt (14), and left fixing belt (13) and right fixing belt (14) are nylon cloth
Band.
8. a kind of artificial intelligence motion's ancillary equipment according to claim 7, which is characterized in that the foot supports plate
(19) instep fixing belt (20) are connected on the upside of front, is bonded with flexible pad (21) on foot supports plate (19).
9. a kind of artificial intelligence motion's ancillary equipment according to claim 8, which is characterized in that the sensor module point
It is distributed in the front and rear of foot supports plate (19), sensor module includes sensor (29), sensing plate (30) and support plate
(31), support plate (31) is mounted in the groove of foot supports plate (19) upper surface and puts down with foot supports plate (19) upper surface
Together, sensing plate (30) is installed in support plate (31), senses and sensor (29) is installed between plate (30) and support plate (31).
10. a kind of artificial intelligence motion's ancillary equipment according to claim 9, which is characterized in that the sensor (29)
It is connected with control system hardware with driving motor (11), control system hardware and supplying cell are installed in thigh support plate
(6) outside, the end of driving motor (11) is connected with encoder, between thigh support plate (6) and above-knee expansion plate (9) and small
Locked by screw between leg support plate (12) and at one's knees expansion plate (15) and is adjusted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811120408.7A CN109381327A (en) | 2018-09-26 | 2018-09-26 | A kind of artificial intelligence motion's ancillary equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811120408.7A CN109381327A (en) | 2018-09-26 | 2018-09-26 | A kind of artificial intelligence motion's ancillary equipment |
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| Publication Number | Publication Date |
|---|---|
| CN109381327A true CN109381327A (en) | 2019-02-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811120408.7A Pending CN109381327A (en) | 2018-09-26 | 2018-09-26 | A kind of artificial intelligence motion's ancillary equipment |
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| CN (1) | CN109381327A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109875857A (en) * | 2019-03-18 | 2019-06-14 | 华东交通大学 | A kind of ankle damage person auxiliary walking device |
| CN111529319A (en) * | 2020-05-26 | 2020-08-14 | 江西电力职业技术学院 | Step climbing booster, control device and control method |
| CN113967149A (en) * | 2020-07-23 | 2022-01-25 | 和也健康科技有限公司 | Outer skeleton for foot rehabilitation |
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| CN105362041A (en) * | 2014-08-07 | 2016-03-02 | 三星电子株式会社 | Driving module, and motion assistance apparatus including the driving module |
| CN106491312A (en) * | 2016-10-10 | 2017-03-15 | 清华大学 | Simulation of human body knee joint, hip joint transmission system |
| CN207286289U (en) * | 2017-03-24 | 2018-05-01 | 四川理工学院 | A kind of mechanical device for aiding in human body lower limbs walking |
| CN207605118U (en) * | 2017-05-18 | 2018-07-13 | 浙江机电职业技术学院 | A kind of elbow knee joint rehabilitation device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20150057587A1 (en) * | 2012-01-11 | 2015-02-26 | Alliance Design And Development Group, Inc. | VRB Cantilever-Based Unloader Brace Assembly |
| CN105362041A (en) * | 2014-08-07 | 2016-03-02 | 三星电子株式会社 | Driving module, and motion assistance apparatus including the driving module |
| CN106491312A (en) * | 2016-10-10 | 2017-03-15 | 清华大学 | Simulation of human body knee joint, hip joint transmission system |
| CN207286289U (en) * | 2017-03-24 | 2018-05-01 | 四川理工学院 | A kind of mechanical device for aiding in human body lower limbs walking |
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| CN109875857A (en) * | 2019-03-18 | 2019-06-14 | 华东交通大学 | A kind of ankle damage person auxiliary walking device |
| CN109875857B (en) * | 2019-03-18 | 2024-01-16 | 华东交通大学 | Ankle injury person auxiliary walking device |
| CN111529319A (en) * | 2020-05-26 | 2020-08-14 | 江西电力职业技术学院 | Step climbing booster, control device and control method |
| CN113967149A (en) * | 2020-07-23 | 2022-01-25 | 和也健康科技有限公司 | Outer skeleton for foot rehabilitation |
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Application publication date: 20190226 |