CN106344355B - A kind of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function - Google Patents

A kind of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function Download PDF

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Publication number
CN106344355B
CN106344355B CN201610968423.1A CN201610968423A CN106344355B CN 106344355 B CN106344355 B CN 106344355B CN 201610968423 A CN201610968423 A CN 201610968423A CN 106344355 B CN106344355 B CN 106344355B
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center
gravity
support
lower limb
row movement
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CN106344355A (en
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刘美君
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Liu Meijun
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Guangzhou Starter Technology Co Ltd
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Priority to CN201610968423.1A priority Critical patent/CN106344355B/en
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Priority to PCT/CN2017/108216 priority patent/WO2018077256A1/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • A61H2201/1269—Passive exercise driven by movement of healthy limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5084—Acceleration sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Epidemiology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Engineering & Computer Science (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
  • Orthopedics, Nursing, And Contraception (AREA)

Abstract

The present invention relates to a kind of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function, including base, hip support, small leg support, foot's fixed plate and driver, base is hinged with waist rotation seat；Gravity adjusting device is provided with waist rotation seat, gravity adjusting device includes support block, the first motor, leading screw, weight slide block and buffer spring；The upper end of hip support is hinged by the lower surface of the second ball pivot and base；The lower end of hip support is hinged with shank pedestal upper end, and shank pedestal lower end is and foot's fixed plate interconnection.A kind of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function of the present invention, its is rational in infrastructure, have the advantages that simple in construction, easy to use, intelligence degree is high, effectively solve the problem of existing lower limb secondary row movement machine bone can not stablize gravity center of human body well.

Description

A kind of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function
Technical field
It is auxiliary more particularly, to a kind of lower limb with center of gravity self-adjusting balance function the present invention relates to ectoskeleton mechanical field Walk help movement machine bone.
Background technology
Mechanical exoskeleton, also known as " ectoskeleton is armoring " or " ectoskeleton machine first ", its insectival ectoskeleton of structural principle class, By being worn on the person, give people to provide extra power enhancing function of human body and protection is provided.Existing lower limb auxiliary walking Ectoskeleton machinery can give people to provide extra power substantially, but itself be connected with human body, when machinery does not catch up with human motion Rhythm when be easily caused crank, but current lower limb auxiliary walking ectoskeleton machinery is mostly self-regulated machine without center Structure, it is easy to fall down, it is therefore necessary to invent a kind of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function.
The content of the invention
The technical problem to be solved in the present invention is：In order to overcome it is above-mentioned present in problem there is provided one kind have center of gravity The lower limb secondary row movement machine bone of self-adjusting balance function, its is rational in infrastructure, with simple in construction, easy to use, intellectuality The advantages of degree is high, effectively solves the problem of existing lower limb secondary row movement machine bone can not stablize gravity center of human body well.
The technical solution adopted for the present invention to solve the technical problems is：It is a kind of to have under center of gravity self-adjusting balance function Limb secondary row movement machine bone, including base, hip support, small leg support, foot's fixed plate and driver, the base Upper surface is hinged with waist rotation seat by the first ball pivot；
Gravity adjusting device, center of gravity regulation dress are also respectively provided with left and right, rear three directions of the waist rotation seat Put including two pieces of support blocks being fixedly installed on waist rotation seat, the first motor being fixedly installed on waist rotation seat, silk Thick stick, weight slide block and buffer spring；The rotating shaft of first motor is mutually connected with one end of leading screw, leading screw it is another One end is mutually to rotate to be connected respectively with two pieces of supporting plates；Described buffer spring be arranged with leading screw and with two pieces of support block phases Mutually it is fixedly connected, described weight slide block is to be connected and mutually abutted with buffer spring with lead screw transmission；
The upper end of the hip support is hinged by the lower surface of the second ball pivot and base, the appearance of second ball pivot Face is installed with gravity sensor；Hydraulic cylinder is provided between described hip support and base, the upper end of hydraulic cylinder is logical Cross the 3rd ball pivot to be connected with base, the lower end of hydraulic cylinder is connected with hip lifting seat by the 4th ball pivot；
The outer surface upper end of the hip support is provided with driver hinged seat, and the lower surface of the hip support is closed provided with knee Section connection projection, the lower end of the hip support is mutual by knee joint connection projection, connecting groove and shank pedestal upper end It is hinged；
The hip internal stent is provided with cavity, and is vertically arranged with support wall in groove, cavity and is provided with pressure Contracting gas cylinder, magnetic valve, and the cover plate being provided with air bag, groove for protecting safety airbag is provided with the inside of groove；
The outer surface of the small leg support is installed with acceleration transducer and offers annular link slot, the ring It is provided with shape link slot in connection ring, connection ring and is provided with contiguous block；The upper end of the driver is and driver hinged seat It is hinged, the lower end of driver is hinged with contiguous block；
Described driver includes being symmetrically arranged with chute on a U-shaped shell, U-shaped shell；U-shaped shell it is interior Portion is installed with the second motor, and the rotating shaft transmission of second motor is connected with leading screw, and the threads of lead screw is connected with leading screw Nut, the lower surface of the feed screw nut, which is fixedly connected with to be provided with mobile bar, described feed screw nut, is slidably connected to cunning The guide post of groove.
Further, knapsack is fixedly installed on the waist rotation seat, the outer surface of the knapsack is described provided with switch The inside of knapsack is installed with battery, master controller and processor；The lower surface of the base is installed with gyroscope.
Further, the fixed peace in the outer surface of the waist rotation seat, hip support, small leg support and foot's fixed seat Equipped with elastic restraining.
Further, the lower end of the small leg support is to be hinged with foot's fixed plate by the 5th ball pivot；The pin The lower surface of portion's fixed plate is installed with some pressure sensors.
Further, the gyroscope, gravity sensor, acceleration transducer, magnetic valve, the second motor, the first motor Master controller is connected to by circuit with pressure sensor.
Further, the hip support, small leg support and foot's fixed seat are provided with two.
Further, the model of the master controller can install model according to actual scene needs from setting AtmegalCAN128 single-chip microcomputers.
Further, the model of the processor can install model according to actual scene needs from setting Intel- Duos-i7-6700K.
Further, described pressure sensor is the position of four direction all around for being separately positioned on foot's fixed plate Put.
The beneficial effects of the invention are as follows：A kind of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function, Including base, hip support, small leg support, foot's fixed plate and driver, base therein and hip support, shank branch Frame, foot's fixed plate are connected by ball pivot, and machine can be reduced when lower limb secondary row movement machine bone does not catch up with human motion rhythm Limitation of the tool to physical activity, itself center of gravity is stablized beneficial to human body；Gravity adjusting device is provided with base, when gyroscope inspection Center of gravity can be adjusted when measuring crank in time, it is to avoid fall down；Its is rational in infrastructure, with simple in construction, easy to use, intellectuality The advantages of degree is high, effectively solves the problem of existing lower limb secondary row movement machine bone can not stablize gravity center of human body well.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is a kind of entirety of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function of the present invention Structural representation；
Fig. 2 is a kind of base of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function of the present invention Structural representation；
Fig. 3 is a kind of center of gravity of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function of the present invention Adjusting means structural representation；
Fig. 4 is a kind of base of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function of the present invention With hip support connection structure schematic diagram；
Fig. 5 is a kind of shank of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function of the present invention Support and foot's fixed plate attachment structure schematic diagram；
Fig. 6 is a kind of hip of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function of the present invention Support and shank support connection structure schematic diagram；
Fig. 7 is a kind of hip of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function of the present invention Support cross-sectional view；
Fig. 8 is a kind of connection of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function of the present invention Ring structure schematic diagram；
Fig. 9 is a kind of driving of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function of the present invention Device main structure diagram；
Figure 10 is a kind of drive of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function of the present invention Dynamic device side structure schematic view；
Figure 11 is a kind of electricity of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function of the present invention Subcomponent attachment structure schematic diagram.
Accompanying drawing acceptance of the bid note is described below：1st, base, 11, gyroscope, 12, waist rotation seat, 14, knapsack, 141, processor, 142nd, master controller, 143, battery, 15, switch, the 16, first ball pivot, 17, gravity adjusting device, 170, support block, 171, the One motor, 172, leading screw, 173, weight slide block, 174, buffer spring, 2, hip support, 21, gravity sensor, the 22, second ball Hinge, 23, knee joint connection projection, 24, driver hinged seat, 25, hip lifting seat, 26, compressed gas cylinder, 260, cavity, 27, electricity Magnet valve, 28, air bag, 29, cover plate, 290, groove, 3, small leg support, 31, groove, the 32, the 5th ball pivot, 33, acceleration passes Sensor, 34, annular link slot, 35, contiguous block, 36, connection ring, 4, foot's fixed plate, 42, pressure sensor, 5, driver, 50th, hydraulic cylinder, the 51, the 3rd ball pivot, the 52, the 4th ball pivot, 53, U-shaped shell, 531, chute, the 54, second motor, 55, leading screw, 56th, feed screw nut, 561, guide post, 57, mobile bar.
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
A kind of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function as shown in Figure 1, including base 1st, hip support 2, small leg support 3, foot's fixed plate 4 and driver 5, the upper surface of the base 1 pass through the first ball pivot 16 It is hinged with waist rotation seat 12；
As shown in Figure 2 and Figure 3, center of gravity tune is also respectively provided with left and right, rear three directions of the waist rotation seat 12 Regulating device 17, gravity adjusting device 17 include be fixedly installed on waist rotation seat 12 two pieces of support blocks 170, be fixedly installed on The first motor 171, leading screw 172, weight slide block 173 and buffer spring 174 on waist rotation seat 12；First motor 171 rotating shaft is mutually connected with one end of leading screw 172, and the other end of leading screw 172 is and two pieces of difference phases of supporting plates 170 Mutually rotate connection；Described buffer spring 174 is to be arranged and be mutually permanently connected with two pieces of support blocks 170 with leading screw 172, described Weight slide block 173 be to be connected and mutually abutted with buffer spring 174 with leading screw 172；In a kind of possible embodiment, Gravity adjusting device 17 may be arranged on hip support 2 and/or small leg support 3.
Knapsack 14 is fixedly installed on the waist rotation seat 12, the outer surface of the knapsack 14 is described provided with switch 15 The inside of knapsack 14 is installed with battery 143, master controller 142 and processor 141；The lower surface of the base 1 is fixed Gyroscope 11 is installed.
As shown in figure 4, the upper end of the hip support 2 is hinged by the lower surface of the second ball pivot 22 and base 1, it is described The outer surface of second ball pivot 22 is installed with gravity sensor 21；Hydraulic pressure is provided between described hip support 2 and base 1 Cylinder 50, the upper end of hydraulic cylinder 50 is to be connected by the 3rd ball pivot 51 with base 1, and the lower end of hydraulic cylinder 50 is by the 4th ball pivot 52 It is connected with hip lifting seat 25；
The outer surface upper end of the hip support 2 is provided with driver hinged seat 24, and the lower surface of the hip support 2 is provided with Knee joint connects projection 23.
As shown in fig. 6, the lower end of the hip support 2 is to connect projection 23, connecting groove 31 and shank by knee joint The upper end of support 3 is hinged.
As shown in Figure 6, Figure 7, the inside of the hip support 2 is provided with cavity 260, and is vertically arranged with support wall logical Compressed gas cylinder 26, magnetic valve 27 are provided with groove 290, cavity 260, and the inner side of groove 290 is provided with air bag 28, groove The cover plate 29 for protecting safety airbag 28 is provided with 290；When detecting people and falling, magnetic valve 27 is opened, air bag 28 ejection protection users of service, in one embodiment, air bag 28 may also be arranged on small leg support 3, base 1 or knapsack On 14.
As shown in Figure 5, Figure 6, the outer surface of the small leg support 3 is installed with acceleration transducer 33 and offered It is provided with annular link slot 34, the annular link slot 34 in connection ring 36, connection ring 36 and is provided with contiguous block 35；It is described to drive The upper end of dynamic device 5 is hinged with driver hinged seat 24, and the lower end of driver 5 is hinged with contiguous block 35, connection The presence of ring 36 make it that the rotation of shank by a small margin can not be limited, certainly in a kind of possible embodiment, connection ring 36 Also it can be replaced by ball pivot.
As shown in Figure 9, Figure 10, described driver 5 includes being symmetrical arranged on a U-shaped shell 53, U-shaped shell 53 There is chute 531；The inside of U-shaped shell 53 is installed with the second motor 54, the rotating shaft transmission connection of second motor 54 There is leading screw 55, the leading screw 55 is threaded with feed screw nut 56, and the lower surface of the feed screw nut 56 is fixedly connected with movement The guide post 561 for being slidably connected to chute 531 is provided with bar 57, described feed screw nut 56.The effect of driver be for Power is provided at knee joint.
In one embodiment, the waist rotation seat 12, hip support 2, small leg support 3 and foot's fixed seat 4 is outer Surface, which is installed with elastic restraining, to be used to be connected with the body of people, can be used in alternatively possible embodiment certainly The snap ring of annular is connected with human body.
In one embodiment, the lower end of the small leg support 3 is to pass through the 5th ball pivot 32 mutually hinge with foot fixed plate 4 Connect；The lower surface of foot's fixed plate 4 is installed with some pressure sensors 42, and pressure sensor 42 is used to detect sole Stressing conditions, secondary gyroscope detects the drift condition of center of gravity.
The gyroscope 11, gravity sensor 21, acceleration transducer 33, magnetic valve 27, the second motor 54, the first motor 171 and pressure sensor 42 master controller 142 is connected to by circuit.
In one embodiment, the hip support 2, small leg support 3 and foot's fixed seat 4 are provided with two, they It is symmetricly set on former and later two directions of the human body left and right sides or individually sets on human body again.
In one embodiment, the model AtmegalCAN128 single-chip microcomputers of the master controller 142.
In one embodiment, the model intel- Duos-i7-6700K of the processor 141.
In one embodiment, described pressure sensor 42 is be separately positioned on foot's fixed plate 4 all around four Individual direction position, or front and rear sides arrangement, it is every to detect sole stressing conditions.
A kind of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function of the present invention, including bottom Seat, hip support, small leg support, foot's fixed plate and driver, base therein and hip support, small leg support, foot Fixed plate is connected by ball pivot, and machinery can be reduced when lower limb secondary row movement machine bone does not catch up with human motion rhythm to human body The limitation of activity, itself center of gravity is stablized beneficial to human body；Gravity adjusting device is provided with base, when gyroscope detects center of gravity Center of gravity can be adjusted when unstable in time, it is to avoid fall down；Its is rational in infrastructure, high etc. with simple in construction, easy to use, intelligence degree Advantage, effectively solves the problem of existing lower limb secondary row movement machine bone can not stablize gravity center of human body well.
Using the above-mentioned desirable embodiment according to the present invention as enlightenment, by above-mentioned description, relevant staff is complete Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention Property scope is not limited to the content on specification, it is necessary to its technical scope is determined according to right.

Claims (7)

1. a kind of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function, including base (1), hip support (2), small leg support (3), foot's fixed plate (4) and driver (5), the upper surface of the base (1) passes through the first ball pivot (16) it is hinged with waist rotation seat (12), it is characterised in that：
Gravity adjusting device (17) is also respectively provided with left and right, rear three directions of the waist rotation seat (12), center of gravity is adjusted Regulating device (17) include be fixedly installed on waist rotation seat (12) two pieces of support blocks (170), be fixedly installed on waist rotation The first motor (171), leading screw (172), weight slide block (173) and buffer spring (174) on seat (12)；First motor (171) rotating shaft is mutually connected with one end of leading screw (172), and the other end of leading screw (172) is and two pieces of supporting plates (170) connection is mutually rotated respectively；Described buffer spring (174) be arranged with leading screw (172) and with two pieces of support blocks (170) It is mutually permanently connected, described weight slide block (173) is to be connected and mutually supported with buffer spring (174) with leading screw (172) Connect；
The upper end of the hip support (2) is hinged by the lower surface of the second ball pivot (22) and base (1), second ball pivot (22) outer surface is installed with gravity sensor (21)；Hydraulic pressure is provided between described hip support (2) and base (1) Cylinder (50), the upper end of hydraulic cylinder (50) is to be connected by the 3rd ball pivot (51) with base (1), and the lower end of hydraulic cylinder (50) is to pass through 4th ball pivot (52) is connected with hip lifting seat (25)；
The outer surface upper end of the hip support (2) is provided with driver hinged seat (24), and the lower surface of the hip support (2) is set There is knee joint to connect projection (23), the lower end of the hip support (2) is to connect projection (23), connecting groove by knee joint (31) it is hinged with small leg support (3) upper end；
Cavity (260) is provided with inside the hip support (2), and is vertically arranged with support wall groove (290), cavity (260) compressed gas cylinder (26), magnetic valve (27) are provided with, and air bag (28), groove are provided with the inside of groove (290) (290) cover plate (29) for protecting safety airbag (28) is provided with；
The outer surface of the small leg support (3) is installed with acceleration transducer (33) and offers annular link slot (34), it is provided with the annular link slot (34) in connection ring (36), connection ring (36) and is provided with contiguous block (35)；It is described to drive The upper end of dynamic device (5) is hinged with driver hinged seat (24), and the lower end of driver (5) is mutually cut with scissors with contiguous block (35) Connect；
Described driver (5) includes being symmetrically arranged with chute (531) on a U-shaped shell (53), U-shaped shell (53)；U The inside of font shell (53) is installed with the second motor (54), and the rotating shaft transmission of second motor (54) is connected with leading screw (55), the leading screw (55) is threaded with feed screw nut (56), and the lower surface of the feed screw nut (56) is fixedly connected with shifting The guide post (561) for being slidably connected to chute (531) is provided with lever (57), described feed screw nut (56).
2. a kind of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function according to claim 1, its It is characterised by：Knapsack (14) is fixedly installed on the waist rotation seat (12), the outer surface of the knapsack (14) is provided with switch (15), the inside of the knapsack (14) is installed with battery (143), master controller (142) and processor (141)；It is described The lower surface of base (1) is installed with gyroscope (11).
3. a kind of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function according to claim 1, its It is characterised by：The waist rotation seat (12), hip support (2), small leg support (3) and foot's fixed seat (4) outer surface it is equal It is installed with elastic restraining.
4. a kind of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function according to claim 2, its It is characterised by：The lower end of the small leg support (3) is to be hinged with foot's fixed plate (4) by the 5th ball pivot (32)；It is described The lower surface of foot's fixed plate (4) is installed with some pressure sensors (42).
5. a kind of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function according to claim 4, its It is characterised by：The gyroscope (11), gravity sensor (21), acceleration transducer (33), magnetic valve (27), the second motor (54), the first motor (171) and pressure sensor (42) are connected to master controller (142) by circuit.
6. a kind of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function according to claim 1, its It is characterised by：The hip support (2), small leg support (3) and foot's fixed seat (4) are provided with two.
7. a kind of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function according to claim 5, its It is characterised by：Described pressure sensor (42) is the four direction position all around for being separately positioned on foot's fixed plate (4).
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