Walking assisting robot for old people

Abstract

The utility model discloses a walking assisting robot for old people, which belongs to the technical field of human body walking assisting equipment, and comprises a waist protector, thigh protectors and a walking assisting mechanism, the walking assisting mechanism comprises a servo motor, the servo motor is fixed on a motor fixing frame, the lower end of the motor fixing frame is provided with a driving assembly, and the driving assembly is connected with the motor fixing frame. The driving assembly is connected with the torque sensor; the torque sensor is connected with the first thigh driving plate, and the lower end of the first thigh driving plate is fixedly connected with one side of the thigh protector fixing plate. The end, away from the torque sensor, of the driving assembly is connected with a second thigh driving plate, and the second thigh driving plate is fixedly connected with the other side of the thigh protector fixing plate. And the lower part of the thigh protector fixing plate is fixedly connected with a thigh protector. The walking assisting robot for the old people can automatically adjust the assisting torque according to the requirements of a user, and is suitable for being used by various old people.

Description

Technical Field

[0001] The utility model relates to the technical field of human walking assistance equipment, in particular to a walking assistance robot for the elderly. Background Art

[0002] Currently, my country's population is aging rapidly, with significant signs of aging, and the number of elderly and disabled people continues to rise. According to China's population statistics, by the end of 2021, the total number of people aged 65 and over in my country had exceeded 200 million, and the elderly dependency ratio reached 20.2%, a 5.2% increase from 2016. This continued increase in the elderly population has had a significant impact on my country's pension system and social development.

[0003] Surveys show that walking is the most common form of activity for seniors in their later years. Daily walking also allows them to maintain social interactions and is an important way to maintain a good mental state. As they age, conditions such as osteoporosis and muscle atrophy can make walking difficult, impacting their normal lives. Therefore, walking aids have become an essential walking aid. Developing a well-developed walking aid not only helps expand the elderly's living radius but also promotes physical and mental health, possessing significant practical significance and application value. For many years, scholars from various countries have conducted research on walking aids, developing a variety of types, each with distinct structural and control features.

[0004] Chinese patent CN 112891151 A discloses an intelligent walking assist device with multi-sensor information fusion. A first connecting rod is fixedly connected to each of the waist-worn mechanism and two thigh-worn mechanisms via a fourth bolt. The bottom ends of the first connecting rods, fixedly mounted on either side of the waist-worn mechanism, are fixedly connected to a second connecting rod via a third bolt. The top ends of the first connecting rods, fixedly mounted on the two thigh-worn mechanisms, are fixedly connected to a third connecting rod via a third bolt. One side of the third connecting rod is fixedly mounted to the fixed housing of a servo motor via a second bolt. One side of the second connecting rod is fixedly mounted to the output shaft of the servo motor via a first bolt. Two limit switches are fixedly mounted on the inside of the servo motor housing. Two limit protrusions, compatible with the limit switches, are fixedly mounted on the surface of the third connecting rod near the servo motor. When the protrusions on the third connecting rod abut the limit switches, indicating that the relative angle between the second and third connecting rods has reached the maximum phase angle, a controller controls the servo motor to stop, ending assistance and protecting the user. However, different users have different requirements for the limit angle, and the limit angle of the above patent is fixed, so it is not suitable for use by all patients. Utility Model Content

[0005] The technical problem to be solved by the utility model is to design a new type of walking assistance robot for the elderly, which can automatically adjust the torque of the assistance according to the needs of the user and is suitable for use by all kinds of people.

[0006] In order to solve the above technical problems, the utility model adopts the following technical solutions: a walking assistance robot for the elderly, comprising a waist protector and a thigh protector, and also comprising a walking assistance mechanism, wherein the walking assistance mechanism is relatively arranged at two ends of the waist protector, the upper end of the walking assistance mechanism is fixedly connected to the waist protector, and the lower end is fixedly connected to the thigh protector;

[0007] Each of the walking assistance mechanisms includes a servo motor, which is fixed to a motor mounting bracket. A drive assembly is provided at the lower end of the motor mounting bracket, and the drive assembly is connected to a torque sensor. The torque sensor and the servo motor are respectively connected to a controller.

[0008] The other side of the torque sensor is connected to the thigh driving plate 1, and the lower end of the thigh driving plate 1 is fixedly connected to one side of the thigh protector fixing plate;

[0009] One end of the drive assembly away from the torque sensor is connected to the thigh drive plate 2, and the thigh drive plate 2 is fixedly connected to the other side of the thigh protector fixing plate;

[0010] The lower part of the thigh protector fixing plate is fixedly connected to the thigh protector.

[0011] Furthermore, a waist protector connecting plate is fixedly connected to the motor fixing frame, and an upper end of the waist protector connecting plate is fixedly connected to the waist protector.

[0012] Furthermore, the thigh driving plate 1 is arranged on the same side as the waist protector connecting plate.

[0013] Furthermore, the driving assembly includes a worm wheel and a worm, the worm is connected to the servo motor, and the worm wheel is fixedly connected to the torque sensor.

[0014] Furthermore, the torque sensor is connected to the thigh drive plate through a bearing assembly. The bearing assembly includes a bearing, a bearing column and a cylindrical roller. The bearing column is arranged between the torque sensor and the bearing. The upper end of the bearing column is fixedly connected to the motor fixing frame, and a bearing connecting hole is provided on the bearing column.

[0015] Furthermore, the outer side of the worm gear is connected to the thigh driving plate 2 through the bearing assembly 2, and the bearing assembly 2 includes an inner bearing, an outer bearing and a cylindrical roller.

[0016] Furthermore, the inner bearing is fixed in the inner hole of the worm gear, and the second thigh driving plate is located between the inner bearing and the outer bearing.

[0017] Furthermore, the outer bearing, the second thigh driving plate and the inner bearing are connected via cylindrical rollers.

[0018] Furthermore, a mounting guard plate is provided on the outer side of the outer bearing.

[0019] Furthermore, through holes are provided on the waist protector and the thigh protector, and the radial dimensions of the waist protector and the thigh protector can be adjusted by inserting bolts into the through holes. Beneficial effects

[0020] This application uses a torque sensor to sense the user's status, and uses a controller to read the data of the torque sensor and control the servo motor to drive the worm gear to rotate. The rotation of the worm gear then drives the torque sensor and the thigh drive plate to rotate. The assist torque can be automatically adjusted according to the user's needs, realizing a perception-motion flexible interactive coupling control robot for elderly people's walking assistance.

[0021] The walking assistance robot for the elderly has a simple structure and uses the human body's active motion perception to perform perception-motion flexible interactive coupling control, giving full play to the elderly's motor ability to perform collaborative flexible interactive coupling between humans and machines, and controlling the motion state of the walking assistance robot for the elderly. Such a control strategy further achieves the purpose of walking assistance, while exercising the elderly's muscle strength function and improving the elderly's confidence in life. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of the utility model of the elderly walking assistance robot.

[0023] Figure 2 This is an exploded view of the walking assistance mechanism of the present invention.

[0024] Figure 3 This is a structural diagram of the walking assist mechanism of the present utility model.

[0025] Among them, 1-waist protector, 2-servo motor, 3-torque sensor, 4-drive assembly, 41-worm gear, 42-worm, 5-thigh protector, 6-thigh drive plate 1, 7-motor fixing frame, 8-thigh protector fixing plate, 9-bearing assembly 1, 91-bearing, 92-bearing column, 93-bearing connecting hole, 10-bearing assembly 2, 101-inner bearing, 102-outer bearing, 11-mounting guard plate, 12-waist protector connecting plate, 13-thigh drive plate 2, 14-through hole. DETAILED DESCRIPTION

[0026] In order to enhance the understanding of the present invention, the present invention will be described in detail below with reference to embodiments and drawings. The embodiments are only used to explain the present invention and do not limit the scope of protection of the present invention.

[0027] like Figure 1 The figure shows a walking assistance robot for the elderly, which includes a waist protector 1 and two thigh protectors 5, as well as two walking assistance mechanisms connecting the waist protector 1 and the thigh protectors 5. The two walking assistance mechanisms are relatively arranged at the outer ends of the waist protector 1, with their upper ends fixedly connected to the two sides of the waist protector 1, and their lower ends fixedly connected to the thigh protectors 5.

[0028] The walking assistance mechanism includes a servo motor 2, which is fixed to a motor mounting bracket 7. A drive assembly 4 and a torque sensor 3 are fixedly connected at the lower end of the motor mounting bracket 7. Drive assembly 4 includes a worm gear 41 and a worm 42. Worm 42 is connected to servo motor 2, and worm gear 41 is connected to torque sensor 3. The servo motor 2 drives worm 42, which in turn drives worm gear 41. The rotation of worm gear 41 in turn drives torque sensor 3.

[0029] The torque sensor 3 is connected to the thigh drive plate 6 via a bearing assembly 9. The thigh drive plate 6 is positioned close to the body, and a circular hole is provided at the connection with the bearing assembly 9 to facilitate the passage of the cylindrical roller of the bearing. The lower end of the thigh drive plate 6 is fixedly connected to one side of the thigh brace fixing plate 8, which is in turn connected to the thigh brace 5. Therefore, the rotation of the torque sensor 3 drives the movement of the thigh drive plate 6, the thigh brace fixing plate 8, and the thigh brace 5.

[0030] The specific structure of the bearing assembly 9 is as follows Figure 2 As shown, it includes a bearing 91, a bearing column 92 and a cylindrical roller. The bearing column 92 is arranged between the torque sensor 3 and the bearing 91. The upper end of the bearing column 92 is fixedly connected to the motor fixing frame 7. A bearing connecting hole 93 is provided on the bearing column 92. The bearing 91 is fixed in the bearing connecting hole 93. The cylindrical roller passes through the bearing 91 to connect the thigh driving plate 6 and the torque sensor 3.

[0031] The outer end of the worm gear 41 is provided with an idler bearing assembly 10, as shown in FIG. Figure 2 As shown, the second bearing assembly 10 comprises an inner bearing 101, an outer bearing 102, and cylindrical rollers. A second thigh drive plate 13 is positioned between the inner and outer bearings 101, 102. A circular hole is provided in the second thigh drive plate 13 to facilitate the securing of the outer bearing 102. The inner bearing 101 is secured within the inner hole of the worm gear 41. The cylindrical rollers pass through the inner and outer bearings to loosely fit the second thigh drive plate 13 onto the worm gear 41. Rotation of the worm gear 41 does not cause the second thigh drive plate 13 to move. The lower end of the second thigh drive plate 13 is fixedly connected to the other side of the thigh brace fixing plate 8. The second thigh drive plate 13 does not provide a driving function, but rather serves to enhance the rigidity and stability of the thigh brace fixing plate 8.

[0032] The outer side of the outer bearing 102 is connected to the mounting guard plate 11 through a cylindrical roller, which facilitates the installation of the bearing and makes the appearance of the equipment more beautiful.

[0033] The walking assist mechanism looks like this after installation Figure 3 As shown, a waist protector connecting plate 12 is fixedly connected to the inner side of the motor fixing frame 7, and the upper end of the waist protector connecting plate 12 is fixedly connected to the waist protector 1. Therefore, the waist protector connecting plate 12 is also arranged on a side close to the body.

[0034] The torque sensor 3 and servo motor 2 are each connected to a controller. The control strategy of the elderly walking assistance robot is as follows: when the elderly person is unable to walk and their muscle strength is completely lost, the thigh brace is driven entirely by the motor to drive the elderly person's thigh to walk. When the elderly person regains a certain amount of muscle strength, their active movement perception causes their thigh to actively move around the hip joint, causing the thigh brace to instantly reduce the torque on the torque sensor. The torque sensor then transmits a signal to the controller, which immediately controls the servo motor to reduce the output torque. When the elderly person becomes fatigued and lacks muscle strength, the thigh brace increases the torque on the torque sensor. The torque sensor then transmits a signal to the controller, which immediately controls the servo motor to increase the output torque.

[0035] According to a preferred embodiment of the present invention, through holes 14 are provided on the waist protector 1 and the thigh protector 5. Figure 1 As shown, the insertion of bolts into the through holes 14 can adjust the radial dimensions of the waist protector 1 and the thigh protector 5, thereby adjusting the size of the protectors to suit the use of people of different body shapes.

[0036] The embodiments disclosed in the present invention are preferred embodiments, but are not limited to them. Ordinary technicians in this field can easily understand the spirit of the present invention based on the above embodiments and make different extensions and changes. As long as they do not deviate from the spirit of the present invention, they are all within the scope of protection of the present invention.

Claims

1. A walking assistance robot for the elderly, comprising a waist protector (1) and a thigh protector (5), characterized in that: It also includes a walking assistance mechanism, which is relatively arranged at two ends of the waist protector (1), the upper end of the walking assistance mechanism is fixedly connected to the waist protector (1), and the lower end is fixedly connected to the thigh protector (5); Each walking assist mechanism comprises a servo motor (2), the servo motor (2) being fixed on a motor fixing frame (7), a drive assembly (4) being provided at the lower end of the motor fixing frame (7), the drive assembly (4) being connected to a torque sensor (3); the torque sensor (3) and the servo motor (2) being respectively connected to a controller; The other side of the torque sensor (3) is connected to the thigh drive plate (6), and the lower end of the thigh drive plate (6) is fixedly connected to one side of the thigh protector fixing plate (8); One end of the drive assembly (4) away from the torque sensor (3) is connected to the second thigh drive plate (13), and the second thigh drive plate (13) is fixedly connected to the other side of the thigh protector fixing plate (8); The lower portion of the thigh protector fixing plate (8) is fixedly connected to the thigh protector (5).

2. The elderly walking assistance robot according to claim 1, characterized in that: The motor fixing frame (7) is fixedly connected to a waist protector connecting plate (12), and the upper end of the waist protector connecting plate (12) is fixedly connected to the waist protector (1).

3. The elderly walking assistance robot according to claim 2, characterized in that: The thigh driving plate 1 (6) and the waist protective gear connecting plate (12) are arranged on the same side.

4. The elderly walking assistance robot according to claim 1, characterized in that: The drive assembly (4) comprises a worm wheel (41) and a worm (42), the worm (42) is connected to the servo motor (2), and the worm wheel (41) is fixedly connected to the torque sensor (3).

5. The elderly walking assistance robot according to claim 1, characterized in that: The torque sensor (3) is connected to the thigh drive plate (6) via a bearing assembly (9), wherein the bearing assembly (9) comprises a bearing (91), a bearing column (92) and a cylindrical roller, wherein the bearing column (92) is arranged between the torque sensor (3) and the bearing (91), wherein the upper end of the bearing column (92) is fixedly connected to the motor fixing frame (7), and a bearing connection hole (93) is provided on the bearing column (92).

6. The elderly walking assistance robot according to claim 4, characterized in that: The outer side of the worm wheel (41) is connected to the thigh drive plate 2 (13) through the bearing assembly 2 (10), and the bearing assembly 2 (10) includes an inner bearing (101), an outer bearing (102) and a cylindrical roller.

7. The elderly walking assistance robot according to claim 6, characterized in that: The inner bearing (101) is fixed in the inner hole of the worm gear (41), and the thigh drive plate 2 (13) is located between the inner bearing (101) and the outer bearing (102).

8. The elderly walking assistance robot according to claim 7, characterized in that: The outer bearing (102), the second thigh driving plate (13) and the inner bearing (101) are connected via cylindrical rollers.

9. The elderly walking assistance robot according to claim 7, characterized in that: A mounting guard plate (11) is provided on the outer side of the outer bearing (102).

10. The elderly walking assistance robot according to claim 1, characterized in that: Through holes (14) are provided on the waist protector (1) and the thigh protector (5), and the radial dimensions of the waist protector (1) and the thigh protector (5) can be adjusted by inserting bolts into the through holes (14).

Images