CN212789088U

CN212789088U - Auxiliary upstairs going device and control system thereof

Info

Publication number: CN212789088U
Application number: CN202020318047.3U
Authority: CN
Inventors: 李冰林; 陈嘉淏; 高峰; 李钰隽
Original assignee: Nanjing Forestry University
Current assignee: Nanjing Forestry University
Priority date: 2020-03-13
Filing date: 2020-03-13
Publication date: 2021-03-26
Anticipated expiration: 2030-03-13

Abstract

The utility model relates to an auxiliary upstairs device control system and utilize the auxiliary upstairs device of this system, control system includes transmission control system, detecting system and step motor, transmission control system includes motor controller, left and right legs lift drive circuit and left and right legs swing drive circuit, motor controller is signal connection left and right legs lift drive circuit and left and right legs swing drive circuit respectively, step motor includes lift step motor and swing step motor, left and right legs lift drive circuit electricity is connected lift step motor, left and right legs swing drive circuit electricity is connected swing step motor; the detection system is a left pedal position detection device and a right pedal position detection device which are connected with the motor controller through electric signals. The auxiliary upstairs going device and the control system thereof provided in the technical scheme can effectively solve the problems of complex structure, heavy weight, easy increase of gravity borne by a user, fatigue on a body and damage to a knee joint of the existing booster.

Description

Auxiliary upstairs going device and control system thereof

Technical Field

The utility model relates to a booster unit technical field, concretely relates to supplementary device of going upstairs and control system thereof.

Background

At present, with the aging degree of the population being higher and higher, the number of the living old people in the city is also higher and higher, and the old people face the problem of difficult going upstairs and moving due to the decline of the body functions of the old people or the trouble of some special diseases and the old community without an elevator, in particular to some Parkinson patients who have difficulty in lifting legs. Research and research show that the problem faced by many old people is not that of walking on flat ground, but that the old people often have insufficient capacity to overcome self weight to step up one step when going upstairs.

In order to solve the problems, a method for solving the problems existing at home and abroad is mainly a wearable knee joint booster, but the problem of the solution is not the problem faced by the old or the people with leg and foot inconvenience to go upstairs, but the solution only aims at an auxiliary measure when the old walks on the flat ground, so that the old still needs to walk upstairs by the wearer, and the wearing of a complex transmission device can aggravate the load born by the old and cause the fatigue of the body.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a supplementary device of going upstairs and control system thereof, it can effectively solve the structure complicacy that current booster exists, weight is big, easily increase the gravity that the user bore, cause tired out and the damage problem of knee joint department on the organism.

In order to solve the technical problem, the utility model discloses a following technical scheme:

a control system of an auxiliary upstairs going device comprises a transmission control system, a detection system and a stepping motor, wherein the transmission control system comprises a motor controller, a left leg lifting driving circuit, a right leg lifting driving circuit, a left leg swinging driving circuit and a right leg swinging driving circuit; the detection system is a left pedal position detection device and a right pedal position detection device, and the left pedal position detection device and the right pedal position detection device are connected with the motor controller through electric signals.

The auxiliary mechanism comprises a hand-held support cross frame, a support plate, a thigh fixing plate and a transmission mechanism, a main control plate and a swing stepping motor are arranged on the hand-held support cross frame, the main control plate is connected with a power supply and a motor controller, the support plate is rotatably arranged at two ends of the hand-held support cross frame, a rotary gear is further arranged on one side, close to the hand-held support cross frame, of the support plate and meshed with an output gear of the swing stepping motor, the thigh fixing plate is arranged at the lower end of the support plate, the transmission mechanism is arranged on the thigh fixing plate and comprises a lifting stepping motor, an upper screw rod sleeve, a screw rod and a lower screw rod sleeve, an output shaft of the lifting stepping motor is fixed with the screw rod, and the screw rod is inserted into the upper screw rod sleeve, And the screw rod is movably arranged along the rod length direction of the upper screw rod sleeve, the lower screw rod sleeve is arranged at the lower end of the screw rod, one end of the lower screw rod sleeve, which is far away from the screw rod, is rotatably provided with a foot pedal, and binding pieces are arranged on the foot pedal and the thigh fixing plate.

The foot pedal is provided with a plurality of contact sensors on the contact surface with the ground, the side contact sensors are arranged on the periphery of the advancing direction of the foot pedal, and the bottom contact sensors are arranged on the periphery of the bottom.

Further, the left and right pedal position detecting means is disposed at a front side of the foot pedal, and the left and right pedal position detecting means is a CJM18M-8N1 capacitive touch sensor.

According to the auxiliary upstairs going device and the control system thereof provided by the technical scheme, the left pedal and right pedal position detection device is added on the basis of the auxiliary exercise equipment, and the control system is different from the mode that the conventional auxiliary exercise equipment needs personal subjective consciousness to judge various distances required by self movement and the like and then carries out complete movement through the assistance of the booster, the control system of the auxiliary upstairs going device is a command center of the whole set of system, and the height of a user needing to raise legs when climbing stairs is judged fully automatically through a series of devices such as a sensor and the like, so that the control system is more intelligent and more convenient for some people with poor judgment capability;

different with current transmission system, current transmission system directly dresses on one's body, easily causes tired out and the damage of knee joint on the organism, has solved current system simultaneously and has only neglected the problem of going upstairs to the walking of flat ground, sets up lift step motor and swing step motor and realizes lifting and moving down to the leg to alleviate the burden that the user went upstairs, satisfy the demand of going upstairs difficult person. In addition, the auxiliary upstairs going device of the utility model can be used as an instrument for rehabilitation training in special occasions.

Drawings

Fig. 1 is a structural diagram of a control system of an auxiliary upstairs going device of the present invention;

fig. 2 is a schematic structural view of the auxiliary upstairs going device of the present invention;

fig. 3 is a schematic view of a connection structure of the swing stepping motor and the rotary gear of the present invention;

FIG. 4 is a schematic view of the foot pedal of the present invention;

FIG. 5 is a diagram of CJM18M-8N1 capacitive proximity sensors wiring;

fig. 6 is a complete flowchart of the single-side upstairs process provided in this embodiment.

In the figure: 1. a hand support cross frame; 11. fixing the rod; 2. a main control board; 21. a power source; 22. a motor controller; 3. a support plate; 31. a rotating gear; 4. a swing stepping motor; 41. an output gear; 5. a lifting stepping motor; 6. an upper screw rod sleeve; 7. a thigh fixing plate; 8. a screw; 9. a lower screw rod sleeve; 10. a foot pedal; 101. a hinge mechanism; 102. a capacitive proximity sensor; 103. a touch sensor.

Detailed Description

In order to make the objects and advantages of the present invention more apparent, the present invention will be described in detail with reference to the following embodiments. It is to be understood that the following text is only intended to describe one or several particular embodiments of the invention, and does not strictly limit the scope of the claims specifically claimed.

The technical scheme of the utility model is as shown in fig. 1-5, a supplementary device control system that upstairs, including transmission control system, detecting system and step motor, transmission control system includes motor controller 22, left and right leg lift drive circuit and left and right leg swing drive circuit, motor controller 22 signal connection left and right leg lift drive circuit and left and right leg swing drive circuit respectively, motor controller 22 receives from what of each position lifting height in real time or the size of left and right leg swing angle; calculating an error value between parameter information and real-time data required by the step of ascending through feedback data of the height and angle information, and judging the further lifting height required by the system; the stepping motor comprises a lifting stepping motor 5 and a swinging stepping motor 4, a left leg lifting driving circuit and a right leg lifting driving circuit are electrically connected with the lifting stepping motor 5, and the left leg swinging driving circuit and the right leg swinging driving circuit are electrically connected with the swinging stepping motor 4; the detection system is a left pedal position detection device and a right pedal position detection device which are connected with the motor controller 22 through electric signals; and provides an auxiliary upstairs going device using the control system of the auxiliary upstairs going device, which also comprises an auxiliary mechanism, wherein the auxiliary mechanism comprises a hand-held support cross frame 1, a support plate 3, a thigh fixing plate 7 and a transmission mechanism, a main control plate 2 and a swing stepping motor 4 are arranged on the hand-held support cross frame 1, the main control plate 2 is connected with a power supply 21 and a motor controller 22, the main control plate 2 is controlled by an embedded chip, the embedded chip is the prior art and can be purchased in the market, and technicians in the field can program the embedded chip according to actual requirements to realize corresponding control, or, the main control board 2 can also be controlled by a PLC, which is available in the prior art and available in the market, and technicians in the field can program the PLC according to actual requirements to realize corresponding control, the main control board 2 is mainly used for controlling the movement of the whole device, and the power supply 21 provides required electric energy for the device.

The supporting plate 3 is rotatably arranged at two ends of the hand-held supporting cross frame 1 (specifically, the supporting plate 3 is provided with jacks, the end part of the hand-held supporting cross frame 1 is provided with a hemispherical structure matched and rotated with the jacks, so that the two ends of the hand-held supporting cross frame 1 are rotatably connected with the supporting plate 3), one side of the supporting plate 3, which is close to the hand-held supporting cross frame 1, is also provided with a rotating gear 31, the rotating gear 31 is meshed with an output gear 41 of the swing stepping motor 4 (as shown in fig. 3), the rotation of the swing legs is driven through the high-pair transmission effect of the gears, the structure is simple, the transmission efficiency is high, the control is convenient, the mechanical structure is not prone to failure, and the safety and stability of a user in the use process. A thigh fixing plate 7 is arranged at the lower end of the supporting plate 3, a transmission mechanism is arranged on the thigh fixing plate 7, the transmission mechanism comprises a lifting stepping motor 5, an upper screw sleeve 6, a screw 8 and a lower screw sleeve 9, an output shaft of the lifting stepping motor 5 is fixed with the screw 8, the screw 8 is inserted into the upper screw sleeve 6, the screw 8 is movably arranged along the rod length direction of the upper screw sleeve 6, the lower screw sleeve 9 is arranged at the lower end of the screw 8, a foot pedal 10 is arranged at one end, far away from the screw 8, of the lower screw sleeve 9 through a hinge mechanism 101, binding pieces (not shown in the figure, the binding pieces are flexible structures, magic binding bands or tying belts can be used, one end is fixed on the movable foot pedal 10 of the thigh fixing plate 7, and the other end is a free end); the rod length direction of the upper screw rod sleeve 6 is consistent with the rod length direction of the thigh fixing plate 7, and the upper screw rod sleeve 6 is fixedly arranged on the outer side of the thigh fixing plate 7 through a connecting rod; an internal thread matched with the external thread of the screw 8 is arranged in the upper screw sleeve 6, a round rod is arranged at the lower end of the screw 8 in a forward extending manner, the lower screw sleeve 9 is fixedly sleeved on the outer side of the round rod, and the outer diameter of the lower screw sleeve 9 is smaller than the inner diameter of the upper screw sleeve 6; the embodiment has the advantages that the screw is used for transmission, the power output is stable, the stress of the screw is large, and the power assisting effect is good.

The contact surface of foot pedal 10 and ground is provided with each contact sensor 103, each contact sensor 103 sets up the periphery at foot pedal 10 respectively, contact sensor 103 is arranged respectively on four angles of foot pedal 10 and ground contact surface, when the mechanism operation descends the process later stage, only when four contact sensors 103 all with ground contact back drive circuit just can send termination signal in order to finish descending stroke, guaranteed like this that the system can not produce some invisible excessive atress to parts such as motor and backup pad 3 because excessive decline, and then lead to mechanical mechanism's life-span to reduce, guaranteed the permanent stability of use.

The left pedal position detection device and the right pedal position detection device are arranged on the sides of the foot pedal 10, the left pedal position detection device and the right pedal position detection device are CJM18M-8N1 capacitive proximity sensors 102 (in the prior art), the CJM18M-8N1 capacitive proximity sensors comprise copper shell sensor bodies, wiring jacks and fastening nuts, as shown in the figure 5, the CJM18M-8N1 capacitive proximity sensors 102 connect the positive electrode of a power supply 21 with a brown line on a wiring terminal when wiring, the blue line is connected with the negative electrode of the power supply 21, and the black line is connected with a load and is connected with the positive electrode of; before the upstairs process begins, the swing stepping motor rotates to the stair direction by a certain angle to ensure that the capacitive proximity sensor is contacted with the side surface of the stair. When the capacitive proximity sensor contacts the side face of the stair, the capacitive proximity sensor sends a signal that the sensor has contacted the side face of the stair, and simultaneously sends a rising signal to the motor drive control system; when the lifting height meets the height required by going upstairs, the capacitive proximity sensor 102 stops working because the capacitive proximity sensor is not in contact with the side face of the stair any more, and simultaneously sends a stop signal to the motor drive control system, the leg support rod stepping motor stops rotating, the whole mechanism stops rising, and the leg swinging process is started; then when the swing legs swing to enable the capacitive proximity sensors to contact the side face of the previous layer of stairs in the swinging process, the capacitive proximity sensors send out contacted electric signals again, and the leg swinging process is finished; the left pedal and right pedal position detection device ensures that the legs of a user cannot be excessively lifted in the lifting process and ensures that the swing legs cannot excessively swing in the swinging process, so that the safety of the user is ensured, and adverse effects such as unbalanced rollover caused by excessive lifting or burning out of a stepping motor caused by excessive swinging are avoided. Meanwhile, the CJM18M-8N1 capacitive proximity sensor 102 has the advantages of being strong in waterproofness, rapid in response speed and long in service life.

The control process of going upstairs on the left and right sides is similar, fig. 6 is a flowchart illustrating the process of going upstairs on one side in this embodiment, when a user presses an upstairs-going auxiliary measure starting button on a certain side of the control panel, the control panel sends a starting signal to the motor drive control system, if the capacitive proximity sensor does not send a signal contacting with the side surface of the stair at this time, the swing stepping motor rotates a certain angle to make the head of the capacitive proximity sensor contact with the side surface of the stair, and then the lift stepping motor performs lifting operation; if the capacitive proximity sensor sends a signal of contacting with the side surface of the stair, the lifting stepping motor directly carries out lifting operation. When the single-side leg rises to the position where the capacitive proximity sensor sends out a non-contact signal, the single-side leg can be considered to be lifted to a position higher than the height of the stair, namely the lifting process of the single-side leg is finished, and a lifting end signal is sent out. And after the motor drive control system receives the lifting end signal, a swinging start signal is sent to the single-side swinging stepping motor, the swinging stepping motor starts to operate, and the operation is carried out until the capacitive proximity sensor sends a contact signal. At this time, the single-side leg can be considered to swing above the upper stair, namely the swing process of the single-side leg is considered to be finished, and a swing process finishing signal is sent. When the motor drive control system receives the swing end signal, a descending signal is sent to the lifting stepping motor to ensure that the pedal contacts the step surface. The lifting stepping motor starts to operate after receiving the signal, and operates until the four contact signals on the bottom surface of the foot support all send out the contact signal, at the moment, the foot on one side stably descends to the surface of the upper-layer stair, and the whole process of going upstairs on one side is finished. At the same time the other device will start to operate with the same flow as the above steps.

The above detailed description of the embodiments of the present invention has been provided with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and those skilled in the art can make several equivalent transformations and substitutions without departing from the principles of the present invention after learning the contents of the present invention.

Claims

1. A supplementary device control system that upstairs which characterized in that: the device comprises a transmission control system, a detection system and a stepping motor, wherein the transmission control system comprises a motor controller, a left leg lifting driving circuit, a right leg lifting driving circuit, a left leg swinging driving circuit and a right leg swinging driving circuit; the detection system is a left pedal position detection device and a right pedal position detection device, and the left pedal position detection device and the right pedal position detection device are connected with the motor controller through electric signals.

2. An auxiliary upstairs device using the auxiliary upstairs device control system of claim 1, wherein: the auxiliary mechanism comprises a hand-held support cross frame, a support plate, a thigh fixing plate and a transmission mechanism, wherein a main control plate and a swing stepping motor are arranged on the hand-held support cross frame, the main control plate is connected with a power supply and a motor controller, the support plate is rotatably arranged at two ends of the hand-held support cross frame, a rotary gear is further arranged on one side, close to the hand-held support cross frame, of the support plate and meshed with an output gear of the swing stepping motor, the thigh fixing plate is arranged at the lower end of the support plate, the transmission mechanism is arranged on the thigh fixing plate and comprises a lifting stepping motor, an upper screw rod sleeve, a screw rod and a lower screw rod sleeve, an output shaft of the lifting stepping motor is fixed with the screw rod, the screw rod is inserted into the upper screw rod sleeve and is movably arranged along the rod length direction of the upper screw rod sleeve, the lower screw rod sleeve is arranged at the lower end of the screw rod, a foot pedal is rotatably arranged at one end, far away from the screw rod, of the lower screw rod sleeve, and binding pieces are arranged on the foot pedal and the thigh fixing plate.

3. An auxiliary upstairs going device as claimed in claim 2, wherein: the foot pedal is provided with contact sensors, and the contact sensors are respectively arranged on the periphery of the advancing direction of the foot pedal.

4. An auxiliary upstairs going device as claimed in claim 2, wherein: the left and right pedal position detection device is arranged at the front side of the foot pedal, and the left and right pedal position detection device is a CJM18M-8N1 capacitive touch sensor.