CN207101483U - A kind of novel and multifunctional limbs power assisting device - Google Patents
A kind of novel and multifunctional limbs power assisting device Download PDFInfo
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- CN207101483U CN207101483U CN201720092750.5U CN201720092750U CN207101483U CN 207101483 U CN207101483 U CN 207101483U CN 201720092750 U CN201720092750 U CN 201720092750U CN 207101483 U CN207101483 U CN 207101483U
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Abstract
The utility model discloses a kind of novel and multifunctional limbs power assisting device, including frame, scroll wheel, motor, upper limb support mechanism, buttocks supporting mechanism and linkage, linkage is a pair of left and right sides for being symmetricly set in frame；The bar linkage structure is the eight-linkage mechanism being made up of side link I, take-off lever I, crank I, transmission pole crank II, take-off lever II, side link II and frame；Upper limb support mechanism, buttocks supporting mechanism are connected with take-off lever I and take-off lever II respectively.Motor is installed in frame, and its output shaft is connected with crank I/II.The power assisting device can be realized simultaneously have been helped/has sat and walking function, has the advantages of quality is small, reliability is high, cost is low, great application prospect.
Description
Technical field
The utility model belongs to technical field of medical instruments, and in particular to a kind of multifunctional limb power assisting device.
Background technology
For the user of lower limb disorder, common auxiliary and rehabilitation product often only possess auxiliary user and stand/sit
Lower or lower limb rehabilitation training a certain item, and well can not combine both, thus there is very big use limitation.And
And present most products still need other people and aid in being operated, it is present, and Portability is poor, efficiency is low, service life is short, quality
Greatly, the defects of cost is high, comfortableness difference, therefore, design is a to integrate that helped/sat can be complete with walking function and user
The power assisting device of independent operation is very necessary.
Utility model content
The purpose of this utility model is to solve the above problems, there is provided a kind of light novel and multifunctional limbs being easy to carry about with one help
Power apparatus, the power assisting device, integrate and helped/sat and walking function, user can be completely independent and be operated.
In order to solve the above technical problems, the technical solution of the utility model is：A kind of novel and multifunctional limbs power assisting device,
Including frame, scroll wheel, motor, upper limb support mechanism, buttocks supporting mechanism and linkage, the scroll wheel is arranged at machine
Frame bottom, the linkage are a pair, are symmetricly set in the left and right sides of frame；
The bar linkage structure includes side link I, take-off lever I, crank I, transmission pole crank II, take-off lever II, side link II；
One end of the side link I and side link II is articulated with the same point on rear side of frame, one end difference of the crank I and crank II
Be articulated with front side of frame relative to the pin joint horizontal level of side link I/II up and down at 2 points, crank I and crank II it is another
End is hingedly connected to the middle part of take-off lever I and take-off lever II, and the both ends of the take-off lever I are hinged with the other end of side link I respectively
Mechanism is fixedly connected with upper limb support, and the both ends of the take-off lever II are hinged respectively with the other end of side link II and buttocks support machine
Structure is fixedly connected, and the both ends of the drive link are be hinged with crank I and crank II respectively；
The number of motors is two, is arranged in frame, respectively positioned at the lower section of crank I and crank II and its output shaft
It is connected respectively with crank I and crank II.
Preferably, the buttocks supporting mechanism includes two groups of buttocks support components, and the buttocks support component includes connection
Disk, seat board frame, connecting shaft and seat board, the terminal pad are installed on seat board frame lateral surface and are connected with one end of take-off lever II,
The connecting shaft is installed on the axle sleeve on the inside of seat board frame, and is arranged with connection card thereon, and the seat board is connected with connection card.
Preferably, disc spring one and disc spring two are separately installed with the internal axle sleeve of the terminal pad and connecting shaft, be respectively used to
Realize seat board lean forward rotation homing action and fold the action packed up along perpendicular to the direction of connecting shaft.
Preferably, the terminal pad includes the left terminal pad for being connected with each other and being connected respectively with take-off lever II and seat board frame again
With right terminal pad, the disc spring one is installed on the internal axle sleeve of left terminal pad and right output panel, and the left terminal pad is additionally provided with limit
Position pin, for limiting the relative rotation angle of terminal pad.
Preferably, the upper limb support mechanism includes two groups of upper limb support components, and the upper limb support component is included under
The connection rotary shaft that is sequentially connected on and, support adapter sleeve, support member, the connection rotary shaft are connected with one end of take-off lever I
Connect.
Preferably, the support member is arcuate structure.
Preferably, the frame include two symmetrically arranged frameworks, be arranged at left and right two frameworks between connection to bar
And unit is folded, the framework is included by folding framework upper body and the framework lower body that unit is connected, and the connection is to bar
Including the left connecting rod being connected by folding joint and right connecting rod.
Preferably, the folding unit includes several folding joints.
Preferably, the quantity of the drive link is two, is set in parallel between crank I and crank II.
Preferably, the scroll wheel is electric rolling wheel.
The beneficial effects of the utility model are：Novel and multifunctional limbs power assisting device provided by the utility model, can be very
Good help user realizes the action stood up/sat down, while user can be aided in walk, and truly realizes independent operation, real
Now the physical disability person of hindering takes care of oneself.By gathering movement locus of the buttocks reference point during standing up/sitting down, eight bars are utilized
Mechanism can not only be fitted human body motion track well as executing agency, user is felt more comfortable in use, and
Using multi-point support, so as to have higher stability and reliability.Further, volume is relatively small, is in a small range
It the effect such as can be achieved to flexibly turn to, to the practical of various activities environment.Generally speaking, the power assisting device have quality it is small,
The advantages of reliability is high, cost is low, has generalization and popularization, great application prospect.
Brief description of the drawings
Fig. 1 is the front view of the novel and multifunctional limbs power assisting device of the utility model；
Fig. 2 is the dimensional structure diagram of the novel and multifunctional limbs power assisting device of the utility model；
Fig. 3 is eight-linkage mechanism letter view in the utility model；
Fig. 4 is that frame folds front and rear structural representation in the utility model, wherein (a) is the structural representation before folding
Figure；It is the schematic diagram after folding to scheme (b).
Description of reference numerals：1st, frame；101st, framework upper body；102nd, framework lower body；103rd, folding joint；104th, left connection
Bar；105th, right connecting rod；2nd, side link I；3rd, take-off lever I；4th, crank I；5th, support member；6th, adapter sleeve is supported；7th, drive link；8、
Crank II；9th, seat board frame；10th, terminal pad；11st, motor；12nd, scroll wheel；13rd, take-off lever II；14th, side link II；15th, left connection
Disk；16th, right terminal pad；17th, rotary shaft is connected；18th, seat board；19th, connection card；20th, connecting shaft；21st, connection is to bar；22nd, shoulder
Movement locus；23rd, hip motion track.
Embodiment
The utility model is described further with specific embodiment below in conjunction with the accompanying drawings：
As shown in Figure 1-2, a kind of novel and multifunctional limbs power assisting device of the present utility model, including frame 1, scroll wheel
12nd, motor 11, upper limb support mechanism, buttocks supporting mechanism and linkage, the scroll wheel 12 are arranged at the bottom of frame 1,
The linkage is a pair, is symmetricly set in the left and right sides of frame 1；
In the present embodiment, as shown in Figure 1-2, frame 1 is made up of framework, connection to bar 21 and folding unit.Fold single
Member includes several folding joints 103.Framework is made up of framework upper body 101 and framework lower body 102, framework upper body 101 and framework
Lower body 102 is connected by folding joint 103, flips up framework lower body 102.Framework is overall to form one directly from side
Angle trapezium structure, its quantity are two, are symmetrical set.Framework can ensure whole frame 1 using ladder structure of right angle
Make overall structure also as far as possible compact while stability.Connection is made up of to bar left connecting rod 104 and right connecting rod 105, Zuo Lian
Extension bar 104 is connected with right connecting rod 105 by folding joint 103, allows the framework of the right and left by two lateral middle receipts
Hold together to fold.It is two to connect to the quantity of bar 21, be set in parallel in respectively between the top of two framework upper bodies and bottom it
Between.What deserves to be explained is frame 1 is mainly used for providing installation site and support strength for other mechanisms, and ensure that user exists
Turned over after will not instead being given birth in rational scope during standing or sitting down, while realize that auxiliary user carries out the work(of Walking
Energy.Thus on the basis of above-mentioned purpose and function is met, which kind of structure and tool specifically used for the entirety of frame 1 and part
The size of body, is not particularly limited, and the framework of such as left and right sides can also use isosceles trapezoid.Further, connect
Two are also not necessarily limited to the quantity of bar 21, on the basis of mechanism supports intensity is ensured, corresponding quantity can be increased or decreased.
In addition, the folding functional of frame 1 is also this implementation preferred embodiment.
Scroll wheel 12 is arranged at the bottom of the right and left framework, and quantity is four, respectively at the corner of framework.At this
In embodiment, scroll wheel 12 uses universal wheel, user is flexibly realized that small range turns in walking, rearmounted two ten thousand
Locking system is also equipped with to wheel, stable stop is provided when need not advance.Based on modular design concept, rolling
Driving wheel 12 has the functional module for being easy to carriage walking for modularized processing, it is clear that it is other to could alternatively be Mecanum wheel etc.
Walking wheel, or the bull wheel of other outdoor abilities of enhancing, crawler belt etc..Further, scroll wheel 12 can also use electric rolling wheel,
Such as increase the switch of a motor and high status rotating speed in the proparea of frame 1, the automatic traveling of realization device, low level rotating speed can be with
Aid in user to carry out lower limb to recover to take exercise, high-order rotating speed can realize function of riding instead of walk when user is tired.Obviously, it is electronic
The specific design of scroll wheel can use the embodiment of other any conventional electric rolling wheels in this area.
As Figure 1-3, the present apparatus employs simulation human body motion track according to the track of human buttock/head movement
Executing agency of the eight-linkage mechanism as the present apparatus.As figure-it is shown, linkage quantity be a pair, be symmetricly set in frame 1
Left and right sides, it is by side link I 2, take-off lever I 3, crank I 4, drive link 7, crank II 8, take-off lever II 13, side link II 14
And the eight-linkage mechanism that frame 1 forms.It is on the lower side that one end of side link I 2 and side link II 14 is articulated with middle part on rear side of framework upper body
Same point.One end of crank I 4 and crank II 8 is hingedly connected to framework upper body and the front side of framework lower body, crank I/II (4,
8) side link I/II (2,14) relative with the pin joint of frame 1 and the horizontal level of the pin joint of frame 1 are symmetrical above and below.Crank I 4
The middle part of take-off lever I 3 and take-off lever II 13 is hingedly connected to the other end of crank II 8.The both ends of take-off lever I 3 are respectively with connecting
The other end of hack lever I 2 is be hinged to be fixedly connected with upper limb support mechanism, the both ends of the take-off lever II 13 respectively with side link II
14 other end is be hinged to be fixedly connected with buttocks supporting mechanism.The both ends of drive link 7 are be hinged with crank I 4 and crank II 8 respectively.
In the present embodiment, the quantity of drive link 7 is two, is set in parallel between crank I 4 and crank II 8, is mainly used in enhancing machine
The rigidity of structure and reliable transmission.The quantity of motor 11 is two, is arranged in frame 1, respectively positioned at crank I 4 and crank II 8
Lower section and its output shaft be connected respectively with crank I 4 and crank II 8.Motor 11 mainly selects linear electric motors, can also use rotation
Rotating motor.
Transported by gathering head movement track 22 and buttocks of two reference points in oxter and buttocks during standing up/sitting down
Dynamic rail mark 23, human body motion track can not only be fitted well using eight-linkage mechanism, user is felt more easypro in use
Clothes, and cause mechanism that there is higher stability and reliability in operation process using using multi-point support.
As shown in Figure 1-2, buttocks supporting mechanism includes two groups of buttocks support components, respectively with being symmetricly set in the left side of frame 1
The linkage of right two sides is connected.Buttocks support component is made up of terminal pad 10, seat board frame 9, connecting shaft 20 and seat board 18.
Terminal pad 10 is threadedly attached on the lateral surface of seat board frame 9, and is connected with one end of take-off lever II 13.Connect in this embodiment
Disk 10 is connect to be made up of the left terminal pad 15 and right terminal pad 16 being threadedly coupled.Left terminal pad 15 and right terminal pad 16 respectively with output
Bar II 13 and seat board frame 9 are threadedly coupled.Further to improve security performance, spacer pin is additionally provided with left terminal pad 15, for limiting
The relative rotation angle (can only lean forward, it is impossible to swing back) of terminal pad 10 processed.Connecting shaft 20 is installed on the axle sleeve of the inner side of seat board frame 9
On, and connection card 19 is arranged with thereon, seat board 18 is threadingly attached to and connection card 19.In addition, left/right terminal pad (15,
16) internal axle sleeve is provided with disc spring one, for realizing that seat board 18 leans forward the homing action of rotation, under nature, and connecting shaft 20
It is horizontal.Disc spring two is installed in connecting shaft 20, for realize seat board 18 along perpendicular to the direction of connecting shaft 20 from trend two
Side folds the action packed up, and under natural mode, seat board 18 is in fold to pack up shape to both sides.
During standing up, disc spring one carries out rotation of leaning forward in the presence of human bady gravitational so that uphill process it is soft
Property it is higher, also make it that people leaves the station of seat board 18 process on the ground and becomes more convenient, can be with hand when user needs
It is dynamic to put down seat board 18, when unwanted when that is, leaving seat board 18 as user, effect of the seat board 18 in disc spring two
Lower auto-folder collapses, the problem of enabling effectively to avoid interference with.Buttocks supporting mechanism is combined with foregoing executing agency,
Realize the movement locus of buttocks.
As figure-it is shown, upper limb support mechanism includes two groups of upper limb support components, respectively at the output shaft of a pair of bindiny mechanisms
I is fixedly connected.Upper limb support component is by connection rotary shaft 17, support adapter sleeve 6, support member 5.Connector passes through bolt and framework
It is connected at the top of upper body.Connection one end of rotary shaft 17 is rotatably connected with take-off lever I 3, one end of the other end and support adapter sleeve 6
It is fixedly connected, the other end of support adapter sleeve 6 is slidably connected with connector.Stopper slot is additionally provided with support adapter sleeve 6, can adjust
Support the relative altitude of adapter sleeve 6 and connector.According to ergonomic supports' part 5 preferably using the arc of fitting human body contour outline
Structure.Flexible outsourcing material can be also further installed on support member 5, improve usage comfort.Rotary shaft 17 is connected simultaneously also
Handrail can be used as, soft outsourcing material is equally wrapped up outside it.
The course of work of the present utility model is described further below, further to show work of the present utility model
Principle and advantage：
Preparatory stage：User is sitting on other chairs, and seat board 18 is placed in the both sides of user, and user first leans to one side to put down wherein
The seat board 18 of side, corresponding side buttocks is moved to above, then puts down opposite side seat board 18, now completes completely to be sitting in the present apparatus
The action in face.
Stand the stage：User opens motor 11 and switched, and motor 11 works, and motor 11 drives crank II 8 to be rotated, and passes through
Eight-linkage mechanism drive buttocks supporting mechanism and upper limb support mechanism according to human body motion track stand up upwards move to it is default
Terminal, motor 11 are shut down, and the action that stands is completed.
Walking phase：Seat board 18 is packed up, and provides space for buttocks rear, user is helped by upper limb support component and both hands
Framework upper body and ensure stabilization of standing, pushing meanss are walked.When user's walking is tired out, seat board 18 is put down, can be stopped
Breath.
Sit down the stage：Before user's row to chair, back to chair, the reverser of motor 11 is opened, mechanism is fallen after rise to chair,
Motor 11 is shut down, and user packs up seat board 18, and action of sitting down is completed.
Novel and multifunctional limbs power assisting device provided by the utility model, its feature are that the work(for having helped/having sat can be realized
Can, while and can supplemental training is walked, and truly to realize independent operation, realizes user's self-care in life.It is performed
The movement locus of the motion fitting human body of mechanism, comfortableness are good；The bar linkage structure of Purely mechanical, device reliability are relatively higher；
Multi output only is realized using one group of motor, quality is small, and cost is low.Overall volume is relatively small, is easy to the environment in narrow space
Middle realization flexibly turns to, and frame 1 also can be folded, and be easy to carry, and all has very strong practicality to various activities environment.
One of ordinary skill in the art will be appreciated that embodiment described here is to aid in reader and understands this reality
With new principle, it should be understood that the scope of protection of the utility model is not limited to such especially statement and embodiment.
One of ordinary skill in the art can these technical inspirations according to disclosed in the utility model make and various do not depart from this practicality
New substantive other various specific deformations and combination, these deformations and combination are still in the scope of protection of the utility model.
Claims (10)
- A kind of 1. novel and multifunctional limbs power assisting device, it is characterised in that：Including frame (1), scroll wheel (12), motor (11), Upper limb support mechanism, buttocks supporting mechanism and linkage, the scroll wheel (12) are arranged at frame (1) bottom, the company Linkage is a pair, is symmetricly set in the left and right sides of frame (1)；The bar linkage structure includes side link I (2), take-off lever I (3), crank I (4), drive link (7), crank II (8), take-off lever II (13), side link II (14)；One end of the side link I (2) and side link II (14) is articulated with same on rear side of frame (1) One end of point, the crank I (4) and crank II (8) is hingedly connected to be hinged relative to side link I (2)/II on front side of frame (1) Up and down at 2 points of point horizontal level, the other end of crank I (4) and crank II (8) are hingedly connected to take-off lever I (3) and exported The middle part of bar II (13), the both ends of the take-off lever I (3) are hinged respectively with side link I (2) other end and upper limb support mechanism consolidates Fixed connection, the both ends of the take-off lever II (13) are hinged respectively with side link II (14) other end and buttocks supporting mechanism is fixed and connected Connect, the both ends of the drive link (7) are be hinged with crank I (4) and crank II (8) respectively；Motor (11) quantity is two, is arranged in frame (1), respectively positioned at the lower section of crank I (4) and crank II (8) And its output shaft is connected with crank I (4) and crank II (8) respectively.
- 2. novel and multifunctional limbs power assisting device according to claim 1, it is characterised in that：The buttocks supporting mechanism bag Two groups of buttocks support components are included, the buttocks support component includes terminal pad (10), seat board frame (9), connecting shaft (20) and seat board (18), the terminal pad (10) is installed on seat board frame (9) lateral surface and is connected with one end of take-off lever II (13), the connection Axle (20) is installed on the axle sleeve on the inside of seat board frame (9), and is arranged with connection card (19) thereon, the seat board (18) and connection card (19) it is connected.
- 3. novel and multifunctional limbs power assisting device according to claim 2, it is characterised in that：The terminal pad (10) it is interior Disc spring one and disc spring two are separately installed with axle sleeve and connecting shaft (20), is respectively used to realize that seat board (18) leans forward the reset of rotation Action and the action packed up along being folded perpendicular to the direction of connecting shaft (20).
- 4. novel and multifunctional limbs power assisting device according to claim 3, it is characterised in that：The terminal pad (10) includes The left terminal pad (15) and right terminal pad (16) for being connected with each other and being connected respectively with take-off lever II (13) and seat board frame (9) again, institute State disc spring one to be installed on the internal axle sleeve of left terminal pad (15) and right terminal pad (16), the left terminal pad (15) is additionally provided with spacing Pin, for limiting the relative rotation angle of terminal pad (10).
- 5. novel and multifunctional limbs power assisting device according to claim 1, it is characterised in that：Upper limb support mechanism bag Include two groups of upper limb support components, the upper limb support component include by it is lower and on be sequentially connected connection rotary shaft (17), support Adapter sleeve (6), support member (5), the connection rotary shaft (17) are connected with one end of take-off lever I (3).
- 6. novel and multifunctional limbs power assisting device according to claim 5, it is characterised in that：The support member (5) is arc Shape structure.
- 7. novel and multifunctional limbs power assisting device according to claim 1, it is characterised in that：The frame (1) includes two Individual symmetrically arranged framework, connection being arranged between two frameworks in left and right to bar (21) and folds unit, the framework includes By folding framework upper body (101) and the framework lower body (102) that unit is connected, the connection includes passing through folding to bar (21) The left connecting rod (104) and right connecting rod (105) that joint is connected.
- 8. novel and multifunctional limbs power assisting device according to claim 7, it is characterised in that：If the folding unit includes Dry folding joint (103).
- 9. according to any described novel and multifunctional limbs power assisting devices of claim 1-8, it is characterised in that：The drive link (7) quantity is two, is set in parallel between crank I (4) and crank II (8).
- 10. according to any described novel and multifunctional limbs power assisting devices of claim 1-8, it is characterised in that：The scroll wheel (12) it is electric rolling wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720092750.5U CN207101483U (en) | 2017-01-24 | 2017-01-24 | A kind of novel and multifunctional limbs power assisting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720092750.5U CN207101483U (en) | 2017-01-24 | 2017-01-24 | A kind of novel and multifunctional limbs power assisting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207101483U true CN207101483U (en) | 2018-03-16 |
Family
ID=61594746
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720092750.5U Expired - Fee Related CN207101483U (en) | 2017-01-24 | 2017-01-24 | A kind of novel and multifunctional limbs power assisting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207101483U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106726374A (en) * | 2017-01-24 | 2017-05-31 | 西南交通大学 | A kind of Multifunction limbs power assisting device |
| CN112535616A (en) * | 2020-11-25 | 2021-03-23 | 哈尔滨工业大学 | Stair climbing type walking-aid robot |
-
2017
- 2017-01-24 CN CN201720092750.5U patent/CN207101483U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106726374A (en) * | 2017-01-24 | 2017-05-31 | 西南交通大学 | A kind of Multifunction limbs power assisting device |
| CN106726374B (en) * | 2017-01-24 | 2022-12-06 | 西南交通大学 | Novel multi-functional limbs helping hand device |
| CN112535616A (en) * | 2020-11-25 | 2021-03-23 | 哈尔滨工业大学 | Stair climbing type walking-aid robot |
| CN112535616B (en) * | 2020-11-25 | 2022-10-14 | 哈尔滨工业大学 | Stair-climbing type walking-assisting robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180316 Termination date: 20210124 |
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| CF01 | Termination of patent right due to non-payment of annual fee |