Walking assisting robot with intelligent obstacle avoidance induction function for disabled people

Abstract

The invention relates to the technical field of auxiliary walking robots, in particular to an auxiliary walking robot with intelligent obstacle avoidance induction for disabled people, which comprises an auxiliary walking robot consisting of a waist frame, a first crank, a second crank and a foot frame, the two first cranks are fixedly arranged on the two sides of the waist frame respectively, the second cranks are movably arranged at the bottom ends of the first cranks, the first cranks and the second cranks are attached to the crotch and the outer side of the leg respectively, the foot frame is movably arranged at the bottom end of the second cranks, and the foot frame is used for feet to tread. The infrared obstacle avoidance sensors and the air bags are arranged in different directions of the foot frame respectively, when the infrared obstacle avoidance sensors in different positions sense obstacles from the corresponding directions, the correspondingly-connected micro air pumps are started to pump air into the air bags communicated with the micro air pumps, the air bags expand to be attached to the portions of the feet to extrude, and the feet are driven to move. Therefore, the effect of reminding the direction of the obstacle is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of walking assistance robots, and in particular to a walking assistance robot for disabled persons with intelligent obstacle avoidance sensing. Background Art

[0002] Assistive walking robots are generally used by people with disabilities, elderly people with mobility problems, or patients with leg injuries who are receiving rehabilitation training. People with stroke or eye diseases also use assistive robots to assist in walking exercises. The assistive walking robots are worn around the waist and legs, and then driven by a driving mechanism such as a motor-driven gear to move the crank attached to the leg, thereby assisting the legs in walking.

[0003] Since the assisted walking robot is driven by electric control and can only stop after the motor is turned off, it is flexible and convenient to use, but it has certain defects, such as the lack of obstacle sensing reminder function during normal driving and walking. Especially for users with eye diseases, once there is an obstacle under their feet and it is not discovered in time, they are very likely to fall, and the risk factor is relatively high. Therefore, a disabled assisted walking robot with intelligent obstacle avoidance sensing is proposed. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the deficiencies in the prior art, the present invention provides a walking assistance robot for the disabled with intelligent obstacle avoidance sensing, which solves the problem that some walking assistance robots in the prior art do not have obstacle avoidance sensing function or the obstacle avoidance reminder effect is not obvious.

[0006] (II) Technical solution

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an assisted walking robot for disabled persons with intelligent obstacle avoidance sensing, comprising an assisted walking robot composed of a waist frame, a first crank, a second crank and a foot frame, wherein the waist frame is fitted to the rear of the waist and is provided with a waist belt, the number of the first cranks is two and they are respectively fixedly arranged on both sides of the waist frame, the second crank is movably arranged at the bottom end of the first crank, the first crank and the second crank are respectively fitted to the hip and the outside of the leg, the foot frame is movably arranged at the bottom end of the second crank, and the foot frame is used for stepping on the foot;

[0008] The foot frame includes a T-shaped frame located below the second crank, short rods are movably connected to the two sides of the T-shaped frame, the bottom ends of the two short rods are movably connected to the same calf support plate, the front surface of the calf support plate is provided with a first air bag that fits the back of the calf, the bottom end of the calf support plate is fixedly connected to the rear foot frame, the inner wall of one side of the rear foot frame is provided with a second air bag that fits the outer side of the foot, the front side of the rear foot frame is movably provided with a front foot frame, and the inner side of the front foot frame is provided with a third air bag that fits the front toe;

[0009] The rear side surface and the outer side surface of the rear foot frame and the front side surface of the front foot frame are all provided with infrared obstacle avoidance sensors for sensing obstacles in front, on the sides and at the rear.

[0010] Preferably, the first crank and the second crank are connected via an axis, and the inner surface of the second crank is provided with a thigh strap and a knee strap from top to bottom, respectively.

[0011] Preferably, the knee strap is connected to the second crank via an axis, and a driving mechanism is provided at one end of the axis between the two, and a driving mechanism is also provided at one end of the connecting axis between the first crank and the second crank.

[0012] Preferably, the driving mechanism includes a driving motor mounted on the outer surface of the second crank, a pinion gear and a large gear fixedly connected to the shaft between the knee strap and the second crank, the central axis of the pinion gear is connected to the output shaft of the driving motor through a belt, and the large gear is meshed with the pinion gear.

[0013] Preferably, a cavity is provided on the side of the calf support plate, in which a micro air pump with an output end connected to the first airbag is installed, a micro air pump with an output end connected to the second airbag is also installed on the outer surface of the rear foot frame, and a micro air pump with an output end connected to the third airbag is also installed on the front surface of the front foot frame. Each micro air pump is electrically connected to an infrared obstacle avoidance sensor at a corresponding position.

[0014] Preferably, the inner bottom surface of the rear foot frame is consistent in height with the inner bottom surface of the front foot frame, and the outer surfaces of the rear foot frame and the front foot frame are provided with front and rear corresponding ear plates, and an axle rod is fixedly connected to the outer ear plate of the rear foot frame, and the axle rod movably passes through the outer ear plate of the front foot frame.

[0015] Preferably, a limiting bolt is threadedly passed through the shaft rod, one end face of the limiting bolt is opposite to the outer surface of the front foot frame, and a row of limiting holes is provided on the outer surface of the front foot frame.

[0016] Preferably, a row of the limiting holes is parallel to and corresponds to the shaft rod, there are a number of limiting holes in a row, and the spacing between every two adjacent limiting holes is equal. The limiting holes are threaded structures and are adaptably connected to the limiting bolts.

[0017] (III) Beneficial effects

[0018] Compared with the prior art, the present invention provides a disabled person's auxiliary walking robot with intelligent obstacle avoidance sensing, which has the following beneficial effects:

[0019] By respectively arranging infrared obstacle avoidance sensors and airbags at different positions of the foot frame, when the infrared obstacle avoidance sensors at different positions sense obstacles from the corresponding positions, the correspondingly connected micro air pumps are activated to pump gas into the airbags connected thereto, such as the first airbag, the second airbag or the third airbag, and the airbags expand to squeeze the part of the foot that is in contact with the foot, thereby achieving the effect of reminding the position of the obstacle;

[0020] By setting infrared obstacle avoidance sensors at the rear, sides and front to sense obstacles from the rear, sides and front, the first airbag is attached to the back of the calf, the second airbag is attached to the outside of the foot and the third airbag is attached to the front toe to warn of obstacles from the rear, sides and front. The sensing range is more comprehensive, so the safety factor is higher.

[0021] The infrared obstacle avoidance sensors at different positions are all set close to the ground, which makes it easier to monitor obstacles on the ground that are smaller in size, making the use process safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0023] Figure 1 This is the overall structural diagram of the auxiliary walking robot of the present invention;

[0024] Figure 2 This is a schematic diagram of the foot frame structure of the auxiliary walking robot of the present invention;

[0025] Figure 3 It is a front view of the auxiliary walking robot of the present invention;

[0026] Figure 4 For the present invention Figure 2 Enlarged view of part a;

[0027] Figure 5 A top view of the auxiliary walking robot of the present invention;

[0028] Figure 6 This is a schematic diagram of the foot frame of the auxiliary walking robot of the present invention from an oblique rear side perspective.

[0029] Description of reference numerals:

[0030] 1. Waist frame; 11. Waist belt; 12. Driving mechanism; 121. Driving motor; 122. Small gear; 123. Large gear

[0031] 2. First crank;

[0032] 3. Second crank; 31. Thigh strap; 32. Knee strap;

[0033] 4. foot frame; 41. T-bar; 42. short bar; 43. calf support plate; 431. first air bag; 432. cavity; 44. rear foot frame; 441. second air bag; 45. front foot frame; 451. third air bag; 452. limiting hole; 453. shaft rod; 454. limiting bolt;

[0034] 5. Infrared obstacle avoidance sensor; 51. Micro air pump. DETAILED DESCRIPTION

[0035] The following will describe the implementation methods of the present application in detail with the help of accompanying drawings and examples, so that the implementation process of how the present application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0036] like Figure 1-6 The figure shows an embodiment of the present invention. To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an auxiliary walking robot for disabled persons with intelligent obstacle avoidance sensing, comprising an auxiliary walking robot composed of a waist frame 1, a first crank 2, a second crank 3 and a foot frame 4. The waist frame 1 is fitted to the back of the waist and is provided with a waist belt 11. There are two first cranks 2 and they are fixedly arranged on both sides of the waist frame 1. The second crank 3 is movably arranged at the bottom end of the first crank 2. The first crank 2 and the second crank 3 are fitted to the hip and the outside of the leg respectively. The foot frame 4 is movably arranged at the bottom end of the second crank 3, and the foot frame 4 is used for stepping on the foot.

[0037] The first crank 2 and the second crank 3 are connected by an axis, and the inner surface of the second crank 3 is respectively provided with a thigh strap 31 and a knee strap 32 from top to bottom. The thigh strap 31 is used to fix the thigh, and the knee strap 32 is used to fix the knee. The knee strap 32 and the second crank 3 are connected by an axis, and a driving mechanism 12 is provided at one end of the axis between the two. The driving mechanism 12 is also provided at one end of the connecting axis of the first crank 2 and the second crank 3. The driving mechanism 12 is provided to provide a power source for walking and activities between the thigh and the calf, such as Figure 1As shown, the driving mechanism 12 located at the second crank 3 and the knee strap 32 includes a driving motor 121 installed on the outer surface of the second crank 3, a pinion 122 and a large gear 123 fixedly connected to the shaft between the knee strap 32 and the second crank 3. The driving motor 121 and the pinion 122 in the driving mechanism 12 located on the connecting shaft of the first crank 2 and the second crank 3 are installed on the first crank 2, and the large gear 123 is fixedly connected to the shaft between the first crank 2 and the second crank 3. The central axis of the pinion 122 is connected to the output shaft of the driving motor 121 through a belt, and the large gear 123 is meshed with the pinion 122. According to the walking characteristics, it can be known that the driving motor 121 is a forward and reverse motor. When moving, by starting the driving motor 121, the pinion 122 is driven to rotate forward and reverse in a cycle, and then the large gear 123 is driven to rotate forward and reverse in a cycle, so that the large gear 123 located at different positions drives the second crank 3 and the foot frame 4 to move respectively. The movement principle of the driving mechanism 12 belongs to the existing public technology and will not be described in detail here.

[0038] Further, such as Figure 2 and Figure 6 As shown, the foot frame 4 includes a T-shaped frame 41 located below the second crank 3, and short rods 42 are movably connected to the two sides of the T-shaped frame 41 respectively, and the bottom ends of the two short rods 42 are movably connected to the same calf support plate 43, and the front surface of the calf support plate 43 is provided with a first air bag 431 that fits the back side of the calf, and the bottom end of the calf support plate 43 is fixedly connected to the rear foot frame 44, and the inner wall of one side of the rear foot frame 44 is provided with a second air bag 441 that fits the outer side of the foot, and the front side of the rear foot frame 44 is movably provided with a front foot frame 45, and the inner side of the front foot frame 45 is provided with a third air bag 451 that fits the front toe, and the rear side and outer side of the rear foot frame 44 and the front side of the front foot frame 45 are all provided with infrared obstacle avoidance sensors 5 for sensing obstacles in front, side and rear. As can be seen from the figure, the infrared obstacle avoidance sensors 5 at different positions are all arranged close to the ground, which is convenient for monitoring obstacles that are located on the ground and are smaller in size, and the use process is safer;

[0039] Among them, a cavity 432 is opened on the side of the calf support plate 43, and a micro air pump 51 with an output end connected to the first air bag 431 is installed in the cavity 432. A micro air pump 51 with an output end connected to the second air bag 441 is also installed on the outer surface of the rear foot frame 44. A micro air pump 51 with an output end connected to the third air bag 451 is also installed on the front side surface of the front foot frame 45. Each micro air pump 51 is electrically connected to the infrared obstacle avoidance sensor 5 at a corresponding position. When the infrared obstacle avoidance sensor 5 at different positions senses an obstacle from the corresponding position, the infrared obstacle avoidance sensor 5 at that position controls the start of the micro air pump 51 electrically connected to it, and the micro air pump 51 pumps gas into the air bag connected to it, such as the first air bag 431, the second air bag 441 or the third air bag 451. At this time, the air bag at that position expands and squeezes the part of the foot that is in contact with it, thereby achieving the effect of reminding the position of the obstacle.

[0040] Further, such as Figure 2 and Figure 4 As shown, the inner bottom surface of the rear foot frame 44 is consistent in height with the inner bottom surface of the front foot frame 45, and the outer surfaces of the rear foot frame 44 and the front foot frame 45 are both provided with front and rear corresponding ear plates, and a shaft rod 453 is fixedly connected to the outer ear plate of the rear foot frame 44, and the shaft rod 453 movably penetrates the outer ear plate of the front foot frame 45, and a limit bolt 454 is threadedly penetrated on the shaft rod 453, and one end surface of the limit bolt 454 is opposite to the outer surface of the front foot frame 45, and the distance between the rear foot frame 44 and the front foot frame 45 can be adjusted to be larger or smaller, which is convenient for stepping on feet of different sizes, thereby improving the versatility of the auxiliary walking robot;

[0041] Among them, a row of limiting holes 452 is provided on the outer surface of the front foot frame 45, and the row of limiting holes 452 is parallel to and corresponds to the shaft rod 453. There are a number of limiting holes 452 in a row, and the spacing between each two adjacent limiting holes 452 is equal. The number of limiting holes 452 is large and the spacing is small, so the adjustment of the spacing between the front foot frame 45 and the rear foot frame 44 is more precise. The limiting hole 452 is a threaded structure and is adaptively connected with the limiting bolt 454. Since the position of the rear foot frame 44 is fixed, it is necessary to move the position of the front foot frame 45 when adjusting the spacing between the front foot frame 45 and the rear foot frame 44. Therefore, when adjusting the front foot frame 45, first rotate the limiting bolt 454 to disengage it from the limiting hole 452. After adjusting the spacing between the front foot frame 45 and the rear foot frame 44, re-insert the limiting bolt 454 into the limiting hole 452 to complete the position fixation.

[0042] According to the above embodiment, when the auxiliary walking robot is used, the waist frame 1 is placed right behind the waist and the waist belt 11 is tied to the waist, the two first cranks 2 are respectively fitted to the hips on both sides, the second crank 3 is fitted to the outer sides of the thighs, the knee belt 32 is placed at the knee position, the thigh belt 31 is tied to the thigh, and the feet are stepped on the cavities of the rear foot frame 44 and the front foot frame 45. Before the feet are stepped in, the limiting bolt 454 is first rotated to disengage it from the limiting hole 452, and the front foot frame 45 can move forward and backward at this time. After adjusting the distance between the front foot frame 45 and the rear foot frame 44 and the feet are stepped on the inside of the two, the limiting bolt 454 is re-entered into the limiting hole 452 to complete the position fixation;

[0043] During walking, when the infrared obstacle avoidance sensors 5 at different positions sense obstacles from the corresponding directions, the infrared obstacle avoidance sensors 5 at that location control to start the micro air pump 51 electrically connected to it, and the micro air pump 51 pumps gas into the air bags connected to it, such as the first air bag 431, the second air bag 441 or the third air bag 451. At this time, the air bags at that location expand and squeeze the part of the foot that is in contact with it, thereby achieving the effect of reminding the location of the obstacle. The infrared obstacle avoidance sensors 5 at different locations are all set close to the ground, which makes it easy to monitor obstacles that are located on the ground and are smaller in size, and the use process is safer.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A walking assistance robot for the disabled with intelligent obstacle avoidance sensing, comprising a waist frame (1), a first crank (2), a second crank (3) and a foot frame (4), characterized in that: The waist frame (1) is fitted to the back of the waist and is provided with a waist belt (11); the number of the first cranks (2) is two and they are fixedly arranged on both sides of the waist frame (1); the second crank (3) is movably arranged at the bottom end of the first crank (2); the first crank (2) and the second crank (3) are fitted to the crotch and the outside of the leg respectively; the foot frame (4) is movably arranged at the bottom end of the second crank (3); the foot frame (4) is used for stepping on; The foot frame (4) comprises a T-shaped frame (41) located below the second crank (3), short rods (42) are movably connected to the two sides of the T-shaped frame (41), the bottom ends of the two short rods (42) are movably connected to the same calf support plate (43), the front surface of the calf support plate (43) is provided with a first air bag (431) that fits the back side of the calf, the bottom end of the calf support plate (43) is fixedly connected to a rear foot frame (44), a second air bag (441) that fits the outer side of the foot is provided on the inner wall of one side of the rear foot frame (44), a front foot frame (45) is movably provided on the front side of the rear foot frame (44), and a third air bag (451) that fits the front toe is provided on the inner side of the front foot frame (45); The rear side surface and the outer side surface of the rear foot frame (44) and the front side surface of the front foot frame (45) are all provided with infrared obstacle avoidance sensors (5) for sensing obstacles in front, on the sides and at the rear.

2. The disabled person assisting walking robot with intelligent obstacle avoidance sensing according to claim 1, characterized in that: The first crank (2) and the second crank (3) are connected via a shaft, and the inner surface of the second crank (3) is provided with a thigh strap (31) and a knee strap (32) from top to bottom, respectively.

3. The disabled person assisting walking robot with intelligent obstacle avoidance sensing according to claim 2, characterized in that: The knee strap (32) and the second crank (3) are connected via an axis, and a driving mechanism (12) is provided at one end of the axis between the two. A driving mechanism (12) is also provided at one end of the connecting axis between the first crank (2) and the second crank (3).

4. The disabled person assisting walking robot with intelligent obstacle avoidance sensing according to claim 3, characterized in that: The driving mechanism (12) comprises a driving motor (121) mounted on the outer surface of the second crank (3), a small gear (122), and a large gear (123) fixedly connected to the shaft between the knee strap (32) and the second crank (3); the central axis of the small gear (122) is connected to the output shaft of the driving motor (121) via a belt, and the large gear (123) is meshed with the small gear (122).

5. The disabled person assisting walking robot with intelligent obstacle avoidance sensing according to claim 1, characterized in that: A cavity (432) is provided on the side of the calf support plate (43), and a micro air pump (51) whose output end is connected to the first air bag (431) is installed in the cavity (432). A micro air pump (51) whose output end is connected to the second air bag (441) is also installed on the outer surface of the rear foot frame (44). A micro air pump (51) whose output end is connected to the third air bag (451) is also installed on the front surface of the front foot frame (45). Each micro air pump (51) is electrically connected to an infrared obstacle avoidance sensor (5) at a corresponding position.

6. The disabled person assisting walking robot with intelligent obstacle avoidance sensing according to claim 1, characterized in that: The inner bottom surface of the rear foot frame (44) is consistent in height with the inner bottom surface of the front foot frame (45), and the outer surfaces of the rear foot frame (44) and the front foot frame (45) are both provided with front and rear corresponding ear plates, and a shaft rod (453) is fixedly connected to the outer ear plate of the rear foot frame (44), and the shaft rod (453) movably passes through the outer ear plate of the front foot frame (45).

7. The disabled person assisting walking robot with intelligent obstacle avoidance sensing according to claim 6, characterized in that: A limiting bolt (454) is threadedly passed through the shaft rod (453), one end surface of the limiting bolt (454) is opposite to the outer surface of the front foot frame (45), and a row of limiting holes (452) is provided on the outer surface of the front foot frame (45).

8. The disabled person assisting walking robot with intelligent obstacle avoidance sensing according to claim 7, characterized in that: A row of the limiting holes (452) is parallel to and corresponds to the shaft (453), there are a number of limiting holes (452) in a row, and the spacing between each two adjacent limiting holes (452) is equal. The limiting holes (452) are threaded structures and are adaptably connected to the limiting bolts (454).

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