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Four-connecting-rod power-assisted walking mechanism

A technology of a four-bar linkage mechanism and a walking mechanism, applied in passive exercise equipment, physical therapy, etc., can solve the problems of multiple driving devices, high cost, and bulky volume, and achieve increased comfort, easy self-adaptive adjustment, and low cost Effect

Active Publication Date: 2018-11-23
BEIJING INST OF SPACECRAFT SYST ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage of this type of technology is that there are many driving devices, bulky, complex control technology and high cost

Method used

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  • Four-connecting-rod power-assisted walking mechanism
  • Four-connecting-rod power-assisted walking mechanism
  • Four-connecting-rod power-assisted walking mechanism

Examples

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Embodiment Construction

[0021] The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0022] The present invention provides a four-link power-assisted walking mechanism. The four-link power-assisted walking mechanism includes a motor 1, a fixed beam 2, a crank 3, a connecting rod 4, a rocker 5, a foot pedal 7, a rotating shaft 8, a spring 6 and angle sensor 9, such as figure 1 shown.

[0023] The fixed beam 2 can be fixed, the housing of the motor 1 is fixed with one end of the fixed beam 2, the output shaft of the motor 2 is fixed with one end of the crank 3, and the crank 3 can be driven to rotate, and the other end of the crank 3 is connected with one end of the connecting rod 4 to form For the rotating pair, the middle part of the connecting rod 4 is connected with one end of the rocker 5 to form a rotating pair, and the other end of the rocker 5 is connected with the other end of the fixed beam 2 to form a rotating pair, and the an...

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Abstract

The invention discloses a four-connecting-rod power-assisted walking mechanism. The mechanism comprises a motor, a fixed beam, a crank, a connecting rod, a rocker, a pedal, a rotating shaft and an angle sensor; the motor is fixed to one end of the fixed beam, and an output shaft of the motor is fixed to one end of the crank through the fixed beam; the other end of the crank is connected with one end of the connecting rod to form a rotating pair, and the middle of the connecting rod is connected with one end of the rocker to form a rotating pair; the other end of the rocker is connected with the other end of the fixed beam to form a rotating pair, and the fixed beam, the crank, the connecting rod and the rocker form a four-connecting-rod mechanism; the other end of the connecting rod is fixedly connected with the rotating shaft, and the axis direction of the rotating shaft is perpendicular to the plane formed by the four-connecting-rod mechanism; the pedal for restraining feet is arranged on the rotating shaft, and the angle sensor is arranged on the output shaft of the motor and the rocker; the motor controls the motion angle and speed of the four-connecting-rod mechanism accordingto measured values of the angle sensor; when the motor drives the crank to rotate, the four-connecting-rod mechanism drives the feet to move according to a motion trail and a speed track of a naturalgait of the human body, and is simple, reliable and low in cost.

Description

technical field [0001] The invention relates to the technical field of mechanical structures, in particular to a four-link power-assisted walking mechanism. Background technique [0002] With the advancement of science and technology and the improvement of people's living standards, our country, like many countries in the world, is entering an aging population. There are a large number of patients with cerebrovascular diseases or neurological diseases in the elderly population. These patients are often accompanied by hemiplegia or paraplegia symptoms, resulting in lower limb movement disorders; Mostly. A device that can assist human walking can meet the needs of this part of the population, and the assisting walking mechanism is a key part of this type of device. [0003] When a normal person walks, it is a walking cycle from the heel of one side to the heel of the same side to the ground again. A walking cycle is further divided into two periods, the support period and t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02
CPCA61H1/0262A61H2201/1207
Inventor 王康杨旭林云成唐自新刘鑫张沛李德伦张运许哲
Owner BEIJING INST OF SPACECRAFT SYST ENG
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