A four-link power-assisted walking mechanism

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

Active Publication Date: 2020-08-18
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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  • A four-link power-assisted walking mechanism
  • A four-link power-assisted walking mechanism
  • A four-link power-assisted walking mechanism

Examples

Experimental program
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Embodiment Construction

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

[0022] The invention provides a four-link power-assisted walking mechanism, which includes a motor 1, a fixed beam 2, a crank 3, a connecting rod 4, a rocker 5, a 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 to one end of the fixed beam 2, the output shaft of the motor 2 is fixed to one end of the crank 3, which can drive the crank 3 to rotate, and the other end of the crank 3 is connected to one end of the connecting rod 4 to form a Rotary pair, the middle part of connecting rod 4 is connected with one end of rocking bar 5 to form a rotating pair, and the other end of rocking bar 5 is connected with the other end of fixed beam 2 to form a rotating pair, and the angle of rocking bar 5 is measured by angle sensor 9. The fixed beam 2, the cran...

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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 stepping into the aging process. Among the elderly population, there are a large number of patients with cerebrovascular diseases or nervous system diseases. Most of these patients are accompanied by hemiplegia or paraplegia symptoms, resulting in movement disorders of lower limbs; mostly. A device that can assist the human body to walk can meet the needs of this group of people, and the assisting walking mechanism is a key part of this type of device. [0003] When a normal person walks on foot, one heel strikes the ground until the heel of the same side touches the ground again, which is a walking cycle. A walking cycle is further divided int...

Claims

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Application Information

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Patent Type & Authority Patents(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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