CN207101483U - A kind of novel and multifunctional limbs power assisting device - Google Patents

Abstract

The utility model discloses a novel multifunctional limb power-assisting device, which comprises a frame, a rolling wheel, a motor, an upper limb support mechanism, a buttock support mechanism and a connecting rod mechanism. The connecting rod mechanisms are a pair of symmetrically arranged on the left and right sides of the frame. side; the connecting rod structure is an eight-bar mechanism composed of connecting rod I, output rod I, crank I, transmission rod crank II, output rod II, connecting rod II and frame; upper limb support mechanism, buttock support mechanism Connect with output rod I and output rod II respectively. The motor is installed on the frame, and its output shaft is connected with the crank I/II. The assisting device can realize the functions of assisting standing/sitting and walking at the same time, has the advantages of small mass, high reliability, and low cost, and has great application prospects.

Description

A new type of multifunctional limb assisting device

technical field

The utility model belongs to the technical field of medical devices, in particular to a multifunctional limb assisting device.

Background technique

For users with lower limb dysfunction, common auxiliary and rehabilitation products often only have one item to assist users to stand up/sit down or lower limb rehabilitation training, but cannot combine the two well, so they have great limitations in use . Moreover, most of the current products still need the assistance of others to operate, which has the defects of poor portability, low efficiency, short service life, high quality, high cost, and poor comfort. It is very necessary to have a power assist device that is integrated and can be operated completely independently by the user.

Utility model content

The purpose of this utility model is to solve the above problems and provide a new portable and easy-to-carry multi-functional limb assisting device. The assisting device integrates the functions of standing/sitting and walking, and the user can operate completely independently.

In order to solve the above-mentioned technical problems, the technical proposal of the present utility model is: a novel multi-functional limb assisting device, including a frame, a scroll wheel, a motor, an upper limb support mechanism, a buttock support mechanism and a link mechanism, and the scroll wheel is arranged on At the bottom of the frame, the linkage mechanism is a pair, symmetrically arranged on the left and right sides of the frame;

The connecting rod structure includes connecting rod I, output rod I, crank I, transmission rod crank II, output rod II, and connecting rod II; one end of the connecting rod I and connecting rod II is hinged behind the frame The same point on the side, one end of the crank I and crank II are respectively hinged at the upper and lower points on the front side of the frame relative to the horizontal position of the hinge point of the connecting frame rod I/II, and the other ends of the crank I and crank II are respectively hinged on The middle part of the output rod I and the output rod II, the two ends of the output rod I are hinged to the other end of the connecting rod I and the upper limb support mechanism is fixedly connected, and the two ends of the output rod II are respectively connected to the other end of the connecting rod II The hinge is fixedly connected with the buttock support mechanism, and the two ends of the transmission rod are respectively hinged with crank I and crank II;

The number of the motors is two, which are arranged on the frame, respectively located under the crank I and the crank II, and the output shafts thereof are respectively connected with the crank I and the crank II.

Preferably, the hip support mechanism includes two sets of hip support assemblies, the hip support assembly includes a connecting plate, a seat frame, a connecting shaft and a seat plate, and the connecting plate is installed on the outer surface of the seat frame and connected to the output rod II The connecting shaft is installed on the shaft sleeve inside the seat plate frame, and a connecting card is sleeved on it, and the seat plate is connected with the connecting card.

Preferably, coil spring 1 and coil spring 2 are respectively installed on the inner sleeve of the connecting plate and the connecting shaft, which are respectively used to realize the reset action of the forward tilting rotation of the seat plate and the folding and stowing action in the direction perpendicular to the connecting shaft .

Preferably, the connection plate includes a left connection plate and a right connection plate that are connected to each other and are respectively connected to the output rod II and the seat frame, and the coil spring is installed on the inner bushings of the left connection plate and the right output plate , the left connecting plate is also provided with a limit pin for limiting the relative rotation angle of the connecting plate.

Preferably, the upper limb support mechanism includes two sets of upper limb support assemblies, the upper limb support assembly includes a connection rotation shaft, a support connection sleeve, and a support piece connected sequentially from bottom to top, and the connection rotation shaft is connected to one end of the output rod I connected.

Preferably, the support member is an arc structure.

Preferably, the frame includes two symmetrically arranged frames, a pair of connecting rods and a folding unit arranged between the left and right frames, the frame includes an upper frame body and a lower frame body connected by the folding unit, and the connection The pair of rods includes a left connecting rod and a right connecting rod connected by a folding joint.

Preferably, the folding unit includes several folding joints.

Preferably, there are two transmission rods, which are arranged in parallel between crank I and crank II.

Preferably, the scroll wheel is an electric scroll wheel.

The beneficial effects of the utility model are: the new multifunctional limb assisting device provided by the utility model can not only help the user to stand up/sit down, but also assist the user to walk, realize independent operation in a true sense, and realize lower limb Disabled people take care of themselves. By collecting the movement trajectory of the buttock reference point in the process of standing up/sitting down, and using the eight-bar mechanism as the actuator, it can not only fit the human body movement trajectory well, but also make the user feel more comfortable during use, and adopts multi-point support , which has higher stability and reliability. Furthermore, the volume is relatively small, and functions such as flexible steering can be realized in a small range, and it has strong practicability for various activity environments. On the whole, the booster device has the advantages of small mass, high reliability, and low cost, and is popular and popular, with great application prospects.

Description of drawings

Fig. 1 is the front view of the utility model's new multifunctional limb assisting device;

Fig. 2 is a three-dimensional structural schematic diagram of the utility model's new multi-function limb assisting device;

Fig. 3 is a simplified view of the eight-bar mechanism in the utility model;

Fig. 4 is the structure schematic diagram before and after folding of frame among the utility model, and wherein (a) is the structure schematic diagram before folding; Figure (b) is the schematic diagram after folding.

Explanation of reference signs: 1, frame; 101, upper body of frame; 102, lower body of frame; 103, folding joint; 104, left connecting rod; 105, right connecting rod; 2, connecting rod I; 3, output rod I ;4, crank Ⅰ; 5, support piece; 6, support connecting sleeve; 7, transmission rod; 8, crank Ⅱ; Rod Ⅱ; 14. Connecting rod Ⅱ; 15. Left connecting plate; 16. Right connecting plate; 17. Connecting the rotating shaft; 18. Seat plate; 19. Connecting card; 20. Connecting shaft; , Movement trajectory of the shoulder; 23, Movement trajectory of the hip.

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment the utility model is described further:

As shown in Fig. 1-2, a kind of novel multi-function limb assisting device of the present utility model comprises frame 1, scroll wheel 12, motor 11, upper limb support mechanism, buttock support mechanism and link mechanism, and described scroll wheel 12 It is arranged at the bottom of the frame 1, and the linkage mechanism is a pair, which are symmetrically arranged on the left and right sides of the frame 1;

In this embodiment, as shown in FIGS. 1-2 , the frame 1 is composed of a frame, a pair of connecting rods 21 and a folding unit. The folding unit includes several folding joints 103 . The frame is composed of an upper frame body 101 and a lower frame body 102. The upper frame body 101 and the lower frame body 102 are connected by a folding joint 103, so that the lower frame body 102 can be folded upward. The frame as a whole forms a right-angled trapezoidal structure from the side, and its number is two, which are arranged symmetrically on the left and right. The frame adopts a right-angled trapezoidal structure, which can make the overall structure as compact as possible while ensuring the stability of the entire rack 1 . The pair of connecting rods is composed of a left connecting rod 104 and a right connecting rod 105, and the left connecting rod 104 and the right connecting rod 105 are connected by a folding joint 103, so that the frames on the left and right sides can be folded from both sides to the middle. There are two connecting pairs of rods 21, which are respectively arranged in parallel between the upper parts and the lower parts of the upper bodies of the two frames. It is worth noting that the rack 1 is mainly used to provide installation positions and support strength for other mechanisms, and to ensure that the user will not turn backwards within a reasonable range during the process of standing up or sitting down, and at the same time assist the user Function for walking training. Therefore, on the basis of satisfying the above purpose and functions, there is no special restriction on the specific structure and specific size of the frame 1 as a whole and in part. Further, the number of connecting rods 21 is not limited to two, and the corresponding number can be increased or decreased on the basis of ensuring the supporting strength of the mechanism. In addition, the foldable function of the rack 1 is only a preferred mode of this implementation.

The scroll wheels 12 are arranged at the bottom of the left and right sides of the frame, and there are four in number, which are respectively located at the four corners of the frame. In this embodiment, the scroll wheel 12 adopts a universal wheel, so that the user can flexibly realize a small range of steering during walking, and the two rear universal wheels are also equipped with a locking device to provide stability when not traveling. dock. Based on the modular design concept, the rolling wheels 12 are modularized and have functional modules that are convenient for the trolley to walk. Obviously, they can be replaced with other walking wheels such as mecanum wheels, or other large wheels and crawlers that enhance outdoor capabilities. Further, the scroll wheel 12 can also use an electric scroll wheel, such as adding a motor and a high-speed switch in the front area of the frame 1 to realize the automatic advancement of the device. When the user is tired, the function of transportation is realized. Obviously, the specific design of the electric scroll wheel can adopt any other conventional electric scroll wheel implementation in the field.

As shown in Figure 1-3, this device adopts an eight-bar mechanism that simulates the motion trajectory of the human body as the actuator of the device according to the trajectory of the human hip/shoulder movement. As shown in the figure -, the number of connecting rod mechanisms is a pair, which are symmetrically arranged on the left and right sides of the frame 1. It is composed of connecting frame rod Ⅰ2, output rod Ⅰ3, crank Ⅰ4, transmission rod 7, crank Ⅱ8, output rod Ⅱ13 , connecting frame rod II14 and the eight-bar mechanism composed of frame 1. One end of the connecting rod I2 and the connecting rod II14 is hinged at the same point lower than the middle part of the rear side of the upper body of the frame. One end of crank I4 and crank II8 are respectively hinged to the front side of the frame upper body and frame lower body, the hinge point of crank I/II (4, 8) and frame 1 is opposite to the connecting frame rod I/II (2, 14) and machine frame The horizontal position of the hinge point of the frame 1 is symmetrical up and down. The other ends of the crank I4 and the crank II8 are hinged to the middle parts of the output rod I3 and the output rod II13 respectively. The two ends of the output rod I3 are respectively hingedly connected with the other end of the link rod I2 and the upper limb support mechanism, and the two ends of the output rod II13 are respectively hinged with the other end of the link rod II14 and fixedly connected with the hip support mechanism. The two ends of the transmission rod 7 are respectively hinged with the crank I4 and the crank II8. In this embodiment, there are two transmission rods 7, which are arranged in parallel between crank I4 and crank II8, and are mainly used to enhance the rigidity and transmission reliability of the mechanism. Motor 11 quantity is two, is arranged on the frame 1, is respectively positioned at the below of crank I4 and crank II8 and its output shaft is connected with crank I4 and crank II8 respectively. The motor 11 is mainly a linear motor, and a rotary motor can also be used.

By collecting the shoulder movement trajectory 22 and the hip movement trajectory 23 of the two reference points of the armpit and the buttocks during the process of standing/sitting down, the eight-bar mechanism can not only fit the human body movement trajectory well, but also enable the user to Feel more comfortable, and the use of multi-point support makes the mechanism have higher stability and reliability during operation.

As shown in Figure 1-2, the buttock support mechanism includes two sets of buttock support assemblies, which are respectively connected to the link mechanisms arranged symmetrically on the left and right sides of the frame 1 . The buttocks support assembly is made up of connecting plate 10, seat board frame 9, connecting shaft 20 and seat board 18. The connection plate 10 is screwed to the outer surface of the seat frame 9 and connected to one end of the output rod II13. In this embodiment, the connecting disc 10 is composed of a left connecting disc 15 and a right connecting disc 16 which are screwed together. The left connection plate 15 and the right connection plate 16 are threadedly connected with the output rod II 13 and the seat frame 9 respectively. In order to further improve the safety performance, a limit pin is also provided on the left connection plate 15, which is used to limit the relative rotation angle of the connection plate 10 (only forward tilt, not backward). The connecting shaft 20 is installed on the shaft sleeve inside the seat plate frame 9, and the connecting card 19 is sleeved thereon, and the seat plate 18 is connected to the connecting card 19 by threads. In addition, the inner shaft sleeve of the left/right connecting plate (15, 16) is equipped with a coil spring 1, which is used to realize the reset action of the forward tilting rotation of the seat plate 18. In the natural state, the connecting shaft 20 is horizontal. Coil spring two is installed on the connecting shaft 20, is used for realizing the action that seat board 18 folds to both sides automatically along the direction perpendicular to connecting shaft 20, and under the natural state, seat board 18 is the shape that folds and packs to both sides.

In the process of standing up, the coil spring 1 rotates forward under the action of human body gravity, which makes the rising process more flexible, and also makes it more convenient for people to leave the seat plate 18 and stand on the ground. Sometimes, the seat plate 18 can be put down manually. When not needed, that is, when the user leaves the seat plate 18, the seat plate 18 is automatically folded under the action of the coil spring 2, so that the problem of interference can be effectively avoided. The buttock support mechanism is combined with the aforementioned actuator to realize the movement track of the buttocks.

As shown in the figure -, the upper limb supporting mechanism includes two sets of upper limb supporting components, which are respectively fixedly connected to the output shaft I of a pair of connecting mechanisms. The upper limb support assembly is connected with the rotating shaft 17, the support connecting sleeve 6, and the support member 5. The connecting piece is connected with the top of the frame upper body through bolts. One end of the connecting rotating shaft 17 is rotatably connected to the output rod I3, the other end is fixedly connected to one end of the supporting connecting sleeve 6, and the other end of the supporting connecting sleeve 6 is slidably connected to the connecting piece. The support connection sleeve 6 is also provided with a limit groove, which can adjust the relative height of the support connection sleeve 6 and the connecting piece. According to ergonomics, the support member 5 preferably adopts an arc-shaped structure that fits the outline of the human body. A flexible outer material can be further installed on the support member 5 to improve the comfort of use. Simultaneously connecting the rotating shaft 17 can also be used as a handrail, which is also wrapped with a soft outer material outside it.

The working process of the present utility model is further described below, to further demonstrate the working principle and advantages of the present utility model:

Preparation stage: the user sits on other chairs and places the seat board 18 on both sides of the user. The user first puts down the seat board 18 on one side sideways, moves the corresponding buttocks to the top, and then puts down the seat board 18 on the other side. Now complete the action of sitting on the device completely.

Standing stage: the user turns on the switch of the motor 11, the motor 11 works, the motor 11 drives the crank Ⅱ 8 to rotate, and the eight-bar mechanism drives the buttock support mechanism and the upper limb support mechanism to move up to the preset end point according to the human body movement track, and the motor 11 stops , the stand up action is completed.

Walking stage: the seat board 18 is retracted to provide space for the rear of the buttocks. The user uses the upper limb support assembly and the upper body of the frame with both hands to ensure stable standing, and pushes the device to walk. When the user is tired from walking, he can put down the seat board 18 and take a rest.

Sit down stage: the user walks to the chair, turns his back to the chair, turns on the reverse switch of the motor 11, the mechanism falls back on the chair, the motor 11 stops, the user puts away the seat board 18, and the sitting action is completed.

The utility model provides a novel multi-functional limb assisting device, which is characterized in that it can not only realize the function of helping to sit up/sitting, but also assist in training walking, realize independent operation in a true sense, and realize the self-care of the user in life. The motion of its actuator fits the motion trajectory of the human body, and it has good comfort; the purely mechanical connecting rod structure has relatively higher reliability of the device; only one set of motors is used to achieve multiple outputs, with small mass and low cost. The overall volume is relatively small, which is convenient for flexible steering in a narrow space environment. The frame 1 can also be folded, which is easy to carry and has strong practicability for various activity environments.

Those skilled in the art will appreciate that the embodiments described here are to help readers understand the principle of the utility model, and it should be understood that the protection scope of the utility model is not limited to such specific statements and examples. Those skilled in the art can make various other specific modifications and combinations based on the technical revelations disclosed in the utility model without departing from the essence of the utility model, and these variations and combinations are still within the protection scope of the utility model.

Claims (10)

1. A novel multifunctional limb power-assisting device is characterized in that: comprise frame (1), rolling wheel (12), motor (11), upper limb supporting mechanism, buttocks supporting mechanism and link mechanism, described rolling wheel ( 12) It is arranged at the bottom of the frame (1), and the linkage mechanisms are a pair, which are symmetrically arranged on the left and right sides of the frame (1); The connecting rod structure includes connecting rod I (2), output rod I (3), crank I (4), transmission rod (7), crank II (8), output rod II (13), connecting rod II (14); One end of the connecting frame rod I (2) and connecting frame rod II (14) is hinged at the same point on the rear side of the frame (1), and the crank I (4) and crank II (8) One end is respectively hinged at the upper and lower points on the front side of the frame (1) relative to the horizontal position of the hinge point I (2)/II of the connecting frame, and the other ends of the crank I (4) and crank II (8) are respectively hinged on the output The middle part of the rod I (3) and the output rod II (13), the two ends of the output rod I (3) are respectively hinged with the other end of the link rod I (2) and fixedly connected to the upper limb support mechanism, the output rod II The two ends of (13) are respectively hingedly connected with the other end of the connecting frame rod II (14) and the buttock support mechanism, and the two ends of the transmission rod (7) are respectively hinged with crank I (4) and crank II (8); The number of the motors (11) is two, which are arranged on the frame (1), respectively located under the crank I (4) and the crank II (8) and whose output shafts are respectively connected to the crank I (4) and the crank II ( 8) Connected. 2. The novel multifunctional limb assisting device according to claim 1, characterized in that: the buttock support mechanism includes two sets of buttock support assemblies, and the hip support assemblies include a connecting plate (10), a seat frame (9) , the connecting shaft (20) and the seat plate (18), the connecting plate (10) is installed on the outer surface of the seat plate frame (9) and connected with one end of the output rod II (13), the connecting shaft (20) It is installed on the axle sleeve inside the seat plate frame (9), and a connecting card (19) is sleeved thereon, and the seat plate (18) is connected with the connecting card (19). 3. The novel multifunctional limb assisting device according to claim 2, characterized in that: coil spring 1 and coil spring 2 are respectively installed on the inner bushing of the connecting disc (10) and the connecting shaft (20), respectively. It is used to realize the reset action of the seat plate (18) tilting forward and the action of folding and stowing along the direction perpendicular to the connecting shaft (20). 4. The novel multifunctional limb assisting device according to claim 3, characterized in that: the connection plate (10) includes left and right sides connected to each other and respectively connected to the output rod II (13) and the seat frame (9). Connecting disc (15) and right connecting disc (16), described coil spring one is installed on the inner axle sleeve of left connecting disc (15) and right connecting disc (16), and described left connecting disc (15) also has limit Position pins are used to limit the relative rotation angle of the connecting disc (10). 5. The novel multifunctional limb assisting device according to claim 1, characterized in that: the upper limb support mechanism includes two groups of upper limb support assemblies, and the upper limb support assemblies include connecting rotating shafts (17) sequentially connected from bottom to top. ), a supporting connecting sleeve (6), a supporting member (5), and the connecting rotating shaft (17) is connected with one end of the output rod I (3). 6. The new multifunctional limb assisting device according to claim 5, characterized in that: the support (5) is an arc-shaped structure. 7. The novel multifunctional limb assisting device according to claim 1, characterized in that: the frame (1) comprises two symmetrically arranged frames, a pair of rods (21) connected between the left and right frames and A folding unit, the frame includes a frame upper body (101) and a frame lower body (102) connected by a folding unit, and the connecting pair of rods (21) includes a left connecting rod (104) and a right connecting rod connected by a folding joint Rod (105). 8. The novel multifunctional limb assisting device according to claim 7, characterized in that: the folding unit includes several folding joints (103). 9. The novel multifunctional limb assisting device according to any one of claims 1-8, characterized in that: the number of the transmission rods (7) is two, and they are arranged in parallel on crank I (4) and crank II (8) )between. 10. The novel multifunctional limb assisting device according to any one of claims 1-8, characterized in that: the scroll wheel (12) is an electric scroll wheel.