CN110480619A - A kind of assistant robot device - Google Patents

Abstract

The invention discloses a walking aid robot device, which comprises a pair of symmetrically arranged swing arm mechanisms, a belt, and a strap, each swing arm mechanism includes a hanger, a mounting plate, a disc-shaped cam, a follower, and a mounting plate It is fixedly installed on the hanger, and the cam rotating shaft is arranged on the mounting plate. The cam is rotatably set on the mounting plate through the cam rotating shaft. Push the follower to reciprocate in a plane perpendicular to the cam shaft, and the elastic mechanism switches between compressing energy storage and stretching release; a rocker is fixed on the cam, and the rocker rotates synchronously with the cam. The invention has no motor, reducer, electric control board, battery, etc., is more portable, easy to carry, adopts mechanical assistance, makes full use of the gravity energy storage of the legs when the human body walks, does not use batteries, is green and environmentally friendly, and solves the problem caused by the complexity of the structure. The problem of high cost.

Description

A walking aid robot device

technical field

The invention belongs to the technical field of exoskeleton robots, and in particular relates to a walking aid robot device.

Background technique

At present, many trekking enthusiasts are not limited to exercising on foot. More and more of them will go to remote and difficult places to enjoy different scenery by hiking. Such hiking will cause a great burden on the human body and reduce the walking speed. Although there are many exoskeleton walking aid robots, the main structure is to use brushless motors + gears or harmonic reducers on both sides, including control circuits and various motion sensors. The waist structure contains lithium batteries that provide energy, and the overall structure is strong. ,firm. But it mainly has the following disadvantages: the overall structure is very heavy, and it is not convenient to carry; the battery capacity is small, and the battery life is poor; the cost is high, and it is mainly used in the military field. A walking-assisted means of transportation for public hikers.

Contents of the invention

In order to solve the above technical problems, the purpose of the present invention is to provide a walking aid robot device without motor, reducer, electric control board, battery, etc., which is lighter, easy to carry, uses mechanical assistance, and makes full use of the human body when walking. The remaining energy at the time compresses the spring to store energy for the next step, does not use batteries, is green and environmentally friendly, and solves the problem of high cost caused by the complexity of the structure.

The purpose of the invention is achieved in this way:

A walking aid robot device, its key lies in: including a pair of symmetrically arranged swing arm mechanisms, a waist belt connected between the two swing arm mechanisms and located at the upper part, and a strap arranged at the lower part of the swing arm mechanisms, each of the swing arm mechanisms The arm mechanisms all include a hanger, a mounting plate, a disc-shaped cam, a follower and a rocker, the hanger is fixedly connected to the belt through a belt clip, the mounting plate is fixedly installed on the hanger, and the installation A cam rotation shaft is arranged on the board, and the cam is rotatably arranged on the installation board through the cam rotation shaft, and the follower is installed on the installation board, and abuts against the edge of the cam through an elastic mechanism , the cam pushes the follower to reciprocate in a plane perpendicular to the cam shaft, and the elastic mechanism switches between compression energy storage and stretch release; the rocker is fixed on the cam, and the rocker The lower ends are all provided with the straps, and the rocking bar and the cam keep rotating synchronously.

With the above-mentioned structure, the mounting plate and the hanger are locked and fixed with the waist of the human body through the belt, and the rocker extends down to the thigh and is tied to the thigh through the strap. When you rest, the thigh naturally falls, and the rocker pushes the cam. When the cam rotates, the cam pushes the follower to move and compresses the elastic mechanism. The elastic mechanism stores energy. When the thigh is lifted, the elastic mechanism stretches and releases energy, which is released to the follower through the elastic force and assists in pushing the cam, so that the thigh is lifted upwards. Assist, reduce the force of the thigh lifting, so as to save effort.

Preferably, when the rocker is turned downward, the cam pushes the follower and compresses the elastic mechanism to store energy; when the rocker turns upward, the elastic mechanism is stretched and released to provide auxiliary power for the return of the follower. By adopting the above structure, it is more convenient to be used as a walking aid for the legs.

Further, the above-mentioned follower includes a swing rod and an abutment head, the swing rod is arranged along the tangential direction of the cam, one end of the swing rod is hinged to the installation plate, and the other end of the swing rod is installed with the abutment head, One side of the abutting head abuts against the edge of the cam, and the other side is connected to the elastic mechanism. With the above-mentioned structure, the abutting head is connected and swings through the swing rod, and the abutting head and the cam are pressed and abutted by the elastic mechanism, and the abutting head is always kept in abutting state with the cam.

Further, the above-mentioned elastic mechanism is a compression spring, and a guide ring is sheathed in the middle of the compression spring, and the guide ring is fixed on the mounting plate, one end of the compression spring is in contact with the abutment joint, and the other end of the compression spring One end abuts the pressure adjustment mechanism.

With the above structure, the compression spring has a long service life, is easy to replace, and has low cost. Springs with different elasticity can be selected according to different objects of use. After the compression spring is installed, the compression amount of the compression spring can be adjusted through the pressure adjustment mechanism, further Adjust the elasticity to be able to control the elasticity at any time.

Furthermore, the above-mentioned pressure adjustment mechanism includes a rotating cap with external threads and a nut with internal threads. The abutting end of the compression spring and the rotating cap is provided with a collar, and the compression spring is set in the limiting groove of the rotating cap through the collar.

With the above structure, the rotating cap and the nut rotate relative to each other, and the rotating cap pushes the compression spring inward to tighten, increasing the compression amount and increasing the elastic force, and the rotating cap pulls the compression spring outward to extend, reducing the compression amount and reducing the elastic force.

Preferably, the abutting head is a roller or a bearing, the abutting head is covered with a connection cover, and the elastic mechanism is in contact with the connection cover.

With the above structure, the roller or the bearing can rotate, reducing the frictional force between the abutment head and the cam, while the connection cover can protect the abutment head and facilitate the abutment of the elastic mechanism.

Preferably, a reinforcing frame is provided on the edge of the above-mentioned mounting plate, and the reinforcing frame is provided with a notch to allow the rocker to move within the range of rotation of the rocker, and the notch is used as a limiting area of the rocker.

With the above structure, the reinforcing frame can increase the strength of the mounting plate, thereby reducing the thickness of the mounting plate, and the notch can provide space for the swing of the rocker and limit it.

Preferably, both the above-mentioned mounting plate and the cam are provided with lightening holes. Reduce the weight of the overall swing arm mechanism and reduce the load on the human body.

Preferably, the above-mentioned installation plate is arranged on the outer surface of the hanger, and the cam, the elastic mechanism and the rocker are all arranged on the outer surface of the installation plate. With this structure, the inner side is used for wearing, and the outer side will not interfere with the movement of the limbs, and the activities will be smoother.

Beneficial effect:

1. There is no motor, reducer, electric control board, battery, etc. It is lighter and easier to carry. It uses mechanical power to make full use of the remaining energy when the human body walks and the thigh falls to compress the spring to store energy for the next step without using batteries. ,Green.

2. It is suitable for relieving leg fatigue caused by long-distance travel and travel, improving walking pleasure, reducing the walking strength of thigh muscles, and protecting knee joints.

3. Design a new simple and effective structure, light in weight and easy to carry, greatly reducing manufacturing cost and purchasing cost.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the left view of Fig. 1;

Fig. 3 is an enlarged view of the swing arm mechanism in Fig. 1;

Explanation of reference signs:

21 is a belt, 22 is a strap, 23 is a belt clip, 1 is a hanger, 2 is a mounting plate, 3 is a cam, 4 is a follower, 4a is a swing rod, 4b is an abutment joint, 5 is a cam rotation shaft, 6 is an elastic mechanism, 7 is a rocker, 8 is a guide ring, 9a is a rotating cap, 9b is a nut, 10 is a connecting cover, 11 is a reinforcing frame, 11a is a gap, and 12 is a weight reduction hole.

Detailed ways

The present invention will be further described below in conjunction with the embodiments and accompanying drawings.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only In order to facilitate the description of the present invention and simplify the description, it does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Example

As shown in Figures 1 and 2: a walking aid robot device, consisting of a pair of symmetrically arranged swing arm mechanisms, a waist belt 21 connected between the two swing arm mechanisms and located on the upper part, and a strap 22 located at the bottom of the swing arm mechanism Composition, as shown in Figures 1 and 2 and 3: each of the swing arm mechanisms is composed of a hanger 1, a mounting plate 2, a disc-shaped cam 3, a follower 4 and a rocker 7, and the hanger 1 The belt clip 23 is fixedly connected with the belt 21, the mounting plate 2 is arranged on the outer side of the hanger 1, the mounting plate 2 is fixedly mounted on the hanger 1, and a cam is arranged on the mounting plate 2 A rotating shaft 5 , the cam 3 is rotatably arranged on the mounting plate 2 through the cam rotating shaft 5 . Both the mounting plate 2 and the cam 3 are provided with lightening holes 12 .

As shown in Figures 1 and 3: the follower 4 is installed on the mounting plate 2, and abuts against the edge of the cam 3 through the elastic mechanism 6, and the follower 4 is formed by the swing rod 4a and the abutment The swing rod 4a is arranged along the tangential direction of the cam 3, one end of the swing rod 4a is hinged with the installation plate 2, and the other end of the swing rod 4a is installed with the abutment head 4b, the abutment head 4b One side is in contact with the edge of the cam 3, and the other side is in contact with the elastic mechanism 6 through the connecting cover. The cam 3 pushes the follower 4 to reciprocate in a plane perpendicular to the rotation axis of the cam 3, and the elastic mechanism 6 switches between compressing energy storage and stretching release. The elastic mechanism 6 is a compression spring, and the middle part of the compression spring is covered with a guide ring 8, which is fixed on the mounting plate 2, and one end of the compression spring is in contact with the abutment joint 4b. The other end of the spring abuts against the pressure adjustment mechanism. The pressure adjustment mechanism is composed of a rotating cap 9a provided with external threads and a nut 9b provided with internal threads. The rotating cap 9a is threadedly connected with the nut 9b, and the rotating cap 9a is rotated to extend out of the nut 9b Afterwards, it abuts against the compression spring, and a collar is provided at the abutment end of the compression spring and the rotating cap 9a, and the compression spring is sleeved in the limiting groove of the rotating cap 9a through the collar.

As shown in Figures 1, 2 and 3: the rocking bar 7 is fixedly arranged on the cam 3, and the straps 22 are arranged at the lower ends of the rocking bar 7, and the rocking bar 7 and the cam 3 keep rotating synchronously. The edge of the mounting plate 2 is provided with a reinforcement frame 11 , and the reinforcement frame 11 is provided with a notch 11 a to get away from the rocker 7 within the rotation range of the rocker 7 , and the notch 11 a is used as a limiting area of the rocker 7 . When the rocker 7 rotates downward, the cam 3 pushes the follower 4 and compresses the elastic mechanism 6 to store energy; Auxiliary power is provided on the return trip. The cam 3 , the elastic mechanism 6 and the rocker 7 are all arranged on the outer surface of the mounting plate 2 .

working principle:

The mounting plate together with the hanger is locked and fixed with the waist of the human body through the belt 21, and the rocker extends downward to the thigh and is bound on the thigh by the strap 22. When the thigh falls down naturally, the rocker pushes the cam to rotate. The cam pushes the follower to move and compresses the elastic mechanism. The elastic mechanism stores energy. When the thigh is lifted, the elastic mechanism stretches and releases the energy, which is released to the follower through the elastic force and assists in pushing the cam, so that the thigh is lifted upwards. Reduce the force of lifting the thigh, so as to save effort.

Finally, it should be noted that the above description is only a preferred embodiment of the present invention, and those of ordinary skill in the art can make a variety of similar implementations under the inspiration of the present invention without violating the purpose and claims of the present invention. It means that such transformations all fall within the protection scope of the present invention.

Claims (9)

1. a walking-assisting robot device is characterized in that: comprise a pair of swing arm mechanisms that are symmetrically arranged, be connected between two swing arm mechanisms and be positioned at the waist belt (21) of top, be located at the binding belt ( 22), each of the swing arm mechanisms includes a hanger (1), a mounting plate (2), a disc-shaped cam (3), a follower (4) and a rocker (7), and the hanger ( 1) The belt clip (23) is fixedly connected to the belt (21), the mounting plate (2) is fixedly mounted on the hanger (1), and the mounting plate (2) is provided with a cam rotation shaft (5 ), the cam (3) is rotatably set on the mounting plate (2) through the cam rotating shaft (5), the follower (4) is mounted on the mounting plate (2), and is elastically The mechanism (6) abuts against the edge of the cam (3), and the cam (3) pushes the follower (4) to reciprocate in a plane perpendicular to the rotation axis of the cam (3), and the elastic mechanism (6 ) switch between compression energy storage and stretch release; the rocker (7) is fixed on the cam (3), the lower end of the rocker (7) is provided with the straps (22), the rocker (7) keeps rotating synchronously with cam (3). 2. The walker robot device according to claim 1, characterized in that: when the rocker (7) turns downward, the cam (3) pushes the follower (4) and compresses the elastic mechanism (6) Energy storage is carried out; when the rocker (7) turns upward, the elastic mechanism (6) is stretched and released to provide auxiliary power for the return of the follower (4). 3. The walker robot device according to claim 1 or 2, characterized in that: the follower (4) includes a swing rod (4a) and an abutment head (4b), and the swing rod (4a) The tangential direction of the cam (3) is set, one end of the swing rod (4a) is hinged with the installation plate (2), the other end of the swing rod (4a) is installed with the abutment head (4b), the abutment head (4b ) one side abuts against the edge of the cam (3), and the other side is connected to the elastic mechanism (6). 4. The walker robot device according to claim 3, characterized in that: the elastic mechanism (6) is a compression spring, the middle part of the compression spring is provided with a guide ring (8), and the guide ring (8) is fixed It is arranged on the mounting plate (2), one end of the compression spring is in contact with the abutment joint (4b), and the other end of the compression spring is in contact with the pressure adjustment mechanism. 5. The walking-assisting robot device according to claim 4, characterized in that: said pressure adjustment mechanism comprises a rotating cap (9a) provided with external threads, a nut (9b) provided with internal threads, said rotating cap ( 9a) is threadedly connected with the nut (9b), and the turning cap (9a) is rotated out of the nut (9b) and abuts against the pressure spring, and the resistance of the pressure spring and the turning cap (9a) The connecting end is provided with a collar, and the compression spring is set in the limiting groove of the rotating cap (9a) through the collar. 6. The walker robot device according to claim 3, characterized in that: the abutment head (4b) is a roller or a bearing, and the abutment head (4b) is partially covered with a connection cover (10), and the elastic mechanism ( 6) Make contact with the connection cover (10). 7. The walker robot device according to claim 3, characterized in that: the edge of the mounting plate (2) is provided with a reinforcement frame (11), and the reinforcement frame (11) is within the range of rotation of the rocker (7). There is a notch (11a) to let go of the rocker (7) inside, and the notch (11a) serves as a limiting area for the rocker (7). 8. The walking aid robot device according to claim 1 or 2, characterized in that: the mounting plate (2) and the cam (3) are both provided with weight-reducing holes (12). 9. The walker robot device according to claim 1 or 2, characterized in that: the mounting plate (2) is arranged on the outer surface of the hanger (1), and the cam (3), elastic mechanism ( 6) and the rocking bar (7) are all located on the outer surface of the mounting plate (2).