WO2018128233A1

WO2018128233A1 - Crutch having length adjustment function

Info

Publication number: WO2018128233A1
Application number: PCT/KR2017/007614
Authority: WO
Inventors: 오주영
Original assignee: 엑소아틀레트아시아 주식회사
Priority date: 2017-01-04
Filing date: 2017-07-14
Publication date: 2018-07-12
Also published as: KR101730980B1

Abstract

A crutch according to the present invention comprises: a body (1); an extendible/contractible pipe support (2) coupled to the lower portion of the body; an air cylinder (25) mounted inside the extendible/contractible pipe support; a piston (27) and a piston rod (28) that are provided inside the air cylinder; a forearm support (6) provided on the upper portion of the body; a handle support (7) provided on the upper portion of the extendible/contractible pipe support; an aggregate pump portion (14) and a control device (8) that endow the extendible/contractible pipe support with extending and contracting motions; a manual driver installed on the handle support so as to provide the aggregate pump portion with driving force; and an energy source (31) for supplying the aggregate pump portion (14) with driving energy. The control device (8) is installed on the handle support (7), and the aggregate pump portion (14) is installed on the body (1).

Description

Crutches with adjustable length

The present invention relates to a crutch used in a rehabilitation robot device, and more particularly, to a crutch that a user wearing a rehabilitation robot device can adjust the length of the crutches to fit his or her body.

Recently, rehabilitation assistance devices have been developed with the development of robot technology. In particular, the walking aid device among the devices to help rehabilitation is not an exception, various devices are being developed. Rehabilitation robot devices reduce the strain on the muscles when the user walks, sits or stands up, and reduces muscle strength.

Crutches used with conventionally known rehabilitation robotic devices must be manually operated by the user for length adjustment. Considering the human body parameters such as the length and size of the human body elements, the manual support elements can be adjusted to suit the user's body.

It is an object of the present invention to provide a crutch which allows a user to adjust the length automatically and / or manually to suit his or her body.

The problem to be solved of the present invention is not limited to the aforementioned problem. Other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

The crutch according to the first embodiment of the present invention includes a main body 1, an elastic pipe support 2 coupled to a lower portion of the main body, an air cylinder 25 mounted inside the elastic pipe support, and the air. The piston 27 and the piston rod 28 provided inside the cylinder, the piston rod is coupled to the lower part of the piston, and the forearm support 6 provided on the upper body, and the upper portion of the flexible pipe support Driven by the handle support 7, the aggregg pump portion 14 and the control device 8, and the aggregg pump portion 14 which give the telescopic pipe support a telescopic movement. It comprises an energy source for supplying energy, the Aggregate pump portion 14 is installed in the main body 1, the control device 8 is installed in the handle support (7).

In addition, the control device 8 according to the first embodiment is connected to an open switch 9 operated by the open switch operation button 10, a stop valve 11 for discharging air, and a front end of the stop valve. Air flow control device 12 for adjusting the amount of air entering the cavity 26 between the air cylinder 25 and the piston 27, and third, fourth, fifth, sixth terminals, fourth, fifth, and the like. 5 and 6, the open switch 9 is provided between the third terminal 47 and the fifth terminal 49, and the fourth terminal 48 and the sixth terminal 50 are directly connected to each other. The stop valve 11 is provided between the fourth connection part 33 and the fifth connection part 34, and the air flow control device 12 is connected to the fourth connection part 33 and the sixth connection part 35. ), The sixth connector 35 is connected to the air cylinder, the fifth terminal 49 and the sixth terminal 50 are connected to the first battery 19, and the fifth connector 34 is connected to the air cylinder. Air silencer Connected with (29).

In addition, the Aggregate pump unit 14 according to the first embodiment includes a motor 16, a first pump 15 receiving the rotational force of the motor, and a first backing valve 23 to prevent backflow of air. And an air filter 22 for purifying the air entering the first pump, a first terminal 36, a second terminal 37, a first air inlet 20, and a third connection 32 And the motor 16 is connected to the first terminal 36 and the second terminal 37 to receive driving energy. When the motor rotates, the rotational force is transmitted to the first pump, and the first air The inlet part is connected to the first pump via an air filter, and the first check valve is provided between the first pump and the third connection part, and the first terminal 36 of the agregate pump part is a third terminal of the control device ( 47), the second terminal 37 of the agregate pump portion is connected to the fourth terminal 48 of the control apparatus, and the third connection portion 32 of the aggregat pump portion is the fourth terminal of the control apparatus. It is configured to be connected to the associated 33.

The crutch according to the second embodiment of the present invention includes a main body 1, an elastic pipe support 2 coupled to a lower portion of the main body, an air cylinder 25 mounted inside the elastic pipe support, and the air. A piston 27 and a piston rod 28 provided inside the cylinder, the piston rod being coupled to the lower part of the piston, a forearm support 6 provided on the upper body, and a handle provided on the upper portion of the flexible pipe support. The support 7 and the Aggregate pump portion 14 and the control device 8 to give the stretchable (stretch and shrink) motion to the flexible pipe support, and the driving force is provided on the handle support and installed in the handle support It comprises a manual driver to provide, the control device 8 is installed on the handle support 7, the Aggregate pump portion 14 is installed on the body (1).

In addition, the Aggregate pump part 14 according to the second embodiment includes a second air inlet part 21, a second pump 17, a second check valve 24, a manual driver 38, and a third connection part. (32), air entering from the second air inlet (21) flows into the second pump, and air flowing out of the second pump passes through the second check valve (24) to the third connection section (32). When the user manipulates the handle 18 of the manual driver using the strength of the hand, the second pump connected to the manual driver 38 operates to allow air to flow out.

In addition, the control device 8 according to the second embodiment includes a fourth connecting portion 33, a stop valve 11, a fifth connecting portion 34, an air flow regulator 12, and a sixth connecting portion 35. A stop valve is provided between the fourth connection part and the fifth connection part, and an air flow control device is provided between the fourth connection part and the sixth connection part, and the fourth connection part 33 of the control device 8 is ah. It is connected to the third connection portion 32 of the gregart pump portion 14, the fifth connection portion is connected to the silencer for discharging air, the third connection portion 32 of the aggregat pump portion 14 is controlled It is configured to be connected with the fourth connection portion 33 of the device 8.

The crutch according to the third embodiment of the present invention includes a main body 1, an elastic pipe support 2 coupled to a lower portion of the main body, an air cylinder 25 mounted inside the elastic pipe support, and the air. A piston 27 and a piston rod 28 provided inside the cylinder, a forearm support 6 provided in the upper part of the main body, a grip support 7 provided in an upper part of the flexible pipe support, and the flexible pipe support Aggregate pump portion 14 and control device 8 to give the stretching (stretching and shrinking) movement to the hand, a manual driver installed on the handle support and providing a driving force to the Aggregate pump portion, the Agre It comprises an energy source 31 for supplying driving energy to the gart pump 14, the control device 8 is installed in the handle support 7, the aggregg pump 14 is the main body It is installed in (1).

In addition, the control device 8 according to the third embodiment includes an open switch 9 operated by the operation button 10 of the open switch, a stop valve 11 for discharging air, and an inside of the air cylinder 25. The air flow control device 12, which adjusts the amount of air entering the cavity 26, including the third, fourth, fifth, sixth terminal, and the fourth, fifth, sixth connection portion, the open type The switch 9 is provided between the third terminal 47 and the fifth terminal 49, and the fourth terminal 48 and the sixth terminal 50 are directly connected, and the stop valve 11 4 is provided between the connecting portion 33 and the fifth connecting portion 34, the air flow control device 12 is provided between the fourth connecting portion 33 and the sixth connecting portion 35, the sixth connecting portion 35 ) Is connected to the air cylinder, the fifth terminal 49 and the sixth terminal 50 is connected to the first battery 19, the fifth connection portion 34 is a silencer (29) for discharging air ),

In addition, the Aggregate pump unit 14 according to the third embodiment is connected to the motor 16, the first pump 15 receiving the rotational force of the motor, and the first pump to prevent backflow of air. A first check valve 23, an air filter 22 for purifying air entering the first pump, a second pump 17 driven by the hand muscles of the user, and connected to the second pump and air The second check valve 24, the first terminal 36, the second terminal 37, the first air inlet 20, the second air inlet 21, and the like; It comprises a third connecting portion 32, the motor 16 is connected to the first terminal 36 and the second terminal 37 is supplied with energy, the rotational force is transmitted to the first pump when the motor rotates The first air inlet 20 is connected to the first pump via an air filter, and the first check valve is provided between the first pump and the third connection part. The air inlet 21 is connected to the second check valve via a second pump, the second check valve is connected to the third connecting part 32, and the first terminal 36 of the aggregat pump part is controlled. The third terminal 47 of the device is connected, the second terminal 37 of the aggregg pump section is connected to the fourth terminal 48 of the control device, and the third connection 32 of the aggregg pump section is controlled. The fourth connection 33 of the device.

According to the present invention, the air from the air flow regulator is configured to enter the cavity between the air cylinder and the piston and push the piston downward, thus pushing the rod under the piston downward.

The open type switch according to the present invention is in an open state in which no current flows when the switching operation is not performed, and the stop valve is in a closed state so that the flow of air is limited when the switching operation is not performed, and the air flow control device is manual. It is configured to adjust the degree of opening.

Crutches according to the present invention can be used in the rehabilitation robot device of the present invention patients with uncomfortable behavior such as lower body. Rehabilitation robotic devices support various effective modes, from standing mode to sitting mode or sitting mode to standing mode.

According to the present invention, in addition to the ergonomic improvement of the crutches, it is possible to reduce the muscle strength consumption of the user used when standing up, to improve the user stability, such as non-slip and increase the user convenience.

Users may use rehabilitation robots even if they are uncomfortable, paralyzed, or have minor disabilities in their upper and lower bodies. The rehabilitation robot device provides various modes. In using a rehabilitation robot device, the length can be adjusted in a moving mode such as a sitting mode to a standing mode and a standing mode to a sitting mode. You can also change the length when you are supporting your crutches,

In addition, by adding an air flow control device for adjusting the length of the crutches, the user can adjust the speed at which the length of the crutches increases or decreases.

1 shows a state in which the crutches are shortened according to the first embodiment of the present invention.

2 shows a state in which the crutches are elongated according to the first embodiment of the present invention.

3 illustrates a state in which the crutches are shortened according to the second embodiment.

4 shows a state in which the crutches are elongated according to the second embodiment.

5 shows a state in which the crutches are shortened according to the third embodiment.

6 shows a long stretched state of the crutches according to the third embodiment.

FIG. 7 shows the aggregat pump unit 14 and the control device 8 of the crutch according to the first embodiment of the present invention.

8 shows the aggregat pump unit 14 and the control device 8 of the crutch according to the second embodiment.

9 shows an aggregat pump unit 14 and a control device 8 of the crutch according to the third embodiment.

Figure 10 shows a user wearing a rehabilitation robot device while walking holding the crutches according to the present invention.

1: main body

2: flexible pipe support

3. Upper part of the flexible pipe support

4. Lower part of flexible pipe support

5: end tip

6: forearm support

7: handle support

8: crutches

9: open switch

10: operation button of open switch

11: stop valve

12: Air flow regulation

13: handle of the air flow control device

14: Aggregat Pump

15: first pump

16: motor

17: second pump

18: handle of the manual screwdriver

19: first battery

20: first air inlet

21: second air inlet

22: air filter

23: first backing pump

24: second backing pump

25: air cylinder

26: cavity of the air cylinder

27: piston

28: loading

29: silencer

30: release button of stop valve

31: energy source

32,33,34,35: 3rd, 4th, 5th, 6th connection

36, 37: first and second terminals

38: manual drive

39: rehabilitation robot machine

40: chassis

41: user body

42: leg support

43: control board

44: user interface device (UI)

45: second battery

46: crutches

47,48,49,50: 3rd, 4th, 5th, 7th terminal

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. For convenience of description, the components illustrated in the drawings may be exaggerated, omitted, or schematically represented.

1 is a view illustrating a shortened state of crutches according to a first embodiment of the present invention, and FIG. 2 illustrates a long stretched state of crutches according to the first embodiment of the present invention.

In the first embodiment, the length of the crutches is automatically adjusted using an energy source.

Crutches according to the present invention is provided with a main body 1, an elastic pipe support 2 coupled to the lower part of the main body, an air cylinder 25 mounted inside the elastic pipe support, and the inside of the air cylinder. Piston 27 and piston rod 28, the piston rod being coupled to the lower part of the piston; and a forearm support 6 provided on the upper part of the body; and a handle support 7 provided on the upper part of the flexible pipe support. And energy for supplying driving energy to the aggreatic pump unit 14 and the control device 8 and the aggregate pump unit 14 to give the stretchable pipe support a stretchable motion. It consists of a circle.

The Aggregate pump portion 14 is installed in the main body 1, the control device 8 is installed in the handle support (7). Referring to the drawings, the handle support is provided with the operation button 10 of the open switch, the open button 30 of the stop valve, and the handle 13 of the air flow control device.

The energy source supplies electrical energy to the motor of the Aggregate pump portion to intake and discharge air from the atmosphere. According to the invention the stretching operation of the crutches is made in automatic mode. The automatic mode refers to a stretching operation performed by an energy source, and the stretching operation is performed by introducing or discharging air into the cavity 26 between the air cylinder 25 and the piston 27.

The energy source may use a first battery. The first battery may supply electric energy to the motor of the aggregat pump unit 14 to adjust the length of the crutches.

7 shows a crutch control device 8 and an aggregat pump unit 14 according to a first embodiment of the present invention.

The control device according to the first embodiment is connected to an open type switch 9 operated by an open type switch operating button 10, a stop valve 11 for discharging air, a front end of the stop valve, and an air cylinder ( And an air flow control device 12 for controlling the amount of air entering the cavity 26 between the piston 25 and the piston 27.

The control device further includes third, fourth, fifth, and sixth terminals, and fourth, fifth, and sixth connection portions.

The open switch 9 is provided between the third terminal 47 and the fifth terminal 49, and the fourth terminal 48 and the sixth terminal 50 are directly connected to each other. Open switches are normally open when there is no switching action, and no current flows. In the open type switch, both terminals are electrically connected only by the pushing operation.

The stop valve 11 is provided between the fourth connection part 33 and the fifth connection part 34, and the air flow control device 12 is provided between the fourth connection part 33 and the sixth connection part 35. do. The stop valve 11 is normally closed to limit the movement of air. And the air flow control device can adjust the opening degree manually.

Meanwhile, the sixth connector 35 is connected to the air cylinder, the fifth terminal 49 and the sixth terminal 50 are connected to the first battery 19, and the fifth connector 34 is the silencer. Connected with (29). The silencer is where air is discharged.

Referring to the drawings, the inside of the air cylinder 25 is provided with a piston 27 and a piston rod 28, the piston rod is superimposed on the lower portion of the piece cylinder. A cavity 26 is formed between the air cylinder and the piston. Referring to the drawings, the air cylinder 25 is provided with a piston 27 and a piston rod 28. Air from the air flow regulator enters the cavity between the air cylinder and the piston and pushes the piston downwards. As a result, the piston rod under the piston is configured to be pushed downward.

The Aggregate pump unit 14 according to the first embodiment includes a motor 16, a first pump 15 receiving the rotational force of the motor, a first backing valve 23 to prevent backflow of air, and And an air filter 22 for purifying the air entering the first pump.

In addition, the Aggregate pump portion includes a first terminal 36, a second terminal 37, a first air inlet 20, and a third connecting portion 32.

The motor 16 is connected to the first terminal 36 and the second terminal 37, and the first terminal and the second terminal are supplied with driving energy of the motor from the controller. When the motor rotates, the rotational force is transmitted to the first pump.

The first air inlet is connected to the first pump via an air filter, and the first check valve is provided between the first pump and the third connection. Atmospheric air is introduced through the first air inlet, and then foreign matter is removed from the air filter and then enters the first pump. Air from the first pump then exits to the third connection via the first check valve.

On the other hand, the first terminal 36 of the Aggregate pump portion is connected to the third terminal 47 of the control device, the second terminal 37 of the Aggregate pump portion is connected to the fourth terminal 48 of the control device. do. In addition, the third connection part 32 of the aggregat pump part is connected to the fourth connection part 33 of the control device.

Referring to the operation of the control device and the Aggregate pump unit according to the first embodiment configured as described above are as follows.

First, when the user presses the operation button 10 of the open switch 9 of the control device, the motor 16 is rotated to drive the first pump 15. When the first pump is driven, air is introduced into the first pump through the first air inlet and the air filter, and then the air from the first pump is passed through the air flow control device 12 to the inside of the air cylinder 25. It enters the cavity 26. At this time, the inlet of the rod 28 provided in the lower portion of the piston 27 is pushed in by the inflow of air, the length of the crutches is increased. If the user releases their finger on the open switch, the motor no longer rotates. Accordingly, the lengthening operation of the crutches is stopped.

To shorten the length of the crutches, the user discharges air to the silencer using the handle 30 of the stop valve 11. Here, the air is discharged only to the silencer, because it prevents the air from flowing in the direction of the first pump by the first backing valve 23 of the agregate pump part.

On the other hand, the user can adjust the inflow rate of the air entering the cavity inside the air cylinder using the handle 13 of the air flow control device (12). By controlling the rate of inflow of air, you can control the rate at which the crutches lengthen.

In another embodiment, the strength of the crutches can be adjusted using muscle strength of the user.

3 illustrates a state in which the crutches are shortened according to the second embodiment, and FIG. 4 illustrates a state in which the crutches according to the second embodiment are elongated.

In the second embodiment, the length of the crutches is manually adjusted using the manpower of the user.

Crutches according to the second embodiment, as compared with the first embodiment described above, is mostly made of the same structure.

Referring to the drawings, the handle support 7 of the crutch according to the first embodiment is further provided with a manual drive handle 18, the handle support is not provided with an open switch operation button.

The crutch according to the second embodiment includes a main body 1, an elastic pipe support 2 coupled to a lower portion of the main body, an air cylinder 25 mounted inside the elastic pipe support, and an interior of the air cylinder. The piston 27 and the piston rod 28 provided in the piston rod-the piston rod is coupled to the lower portion of the piston; and the forearm support 6 provided on the upper body, and the handle support 7 provided on the upper portion of the flexible pipe support ), An Aggregate pump portion 14 and a control device 8 for providing a stretch (stretch and shrink) motion to the flexible pipe support, and the driving support provided on the handle support to provide driving force to the Aggregate pump portion. This is done by including a manual driver.

The control device 8 is installed on the handle support 7, the Aggregate pump portion 14 is installed on the main body 1. Referring to the drawings, the handle support is provided with an open button 30 of the stop valve, the handle 13 of the air flow control device, and the handle 18 of the manual driver.

Aggregate pump 14 of the crutch according to the second embodiment of the present invention is the second air inlet 21, the second pump 17, the second check valve 24, the manual driver 38, And a third connection portion 32.

Referring to the drawings, the air coming from the second air inlet 21 is introduced into the second pump.

When the user manipulates the handle 18 of the manual driver using the strength of the hand, the second pump connected with the manual driver 38 is operated. Accordingly, the air introduced from the second air inlet 21 is pressurized by the operation of the second pump and flows out. The outflowing air exits to the third connection portion 32 via the second check valve 24.

The control device 8 according to the second embodiment of the present invention includes a fourth connection part 33, a stop valve 11, a fifth connection part 34, an air flow control device 12, and a sixth connection part 35. Is done.

A stop valve is provided between the fourth connection part and the fifth connection part. In addition, the air flow control device is provided between the fourth connection portion and the sixth connection portion. In other words, the fourth connection part is branched and connected to the stop valve and the air flow control device.

On the other hand, the fourth connecting portion 33 of the control device 8 is connected to the third connecting portion 32 of the Aggregate pump portion 14. The fifth connector is connected to the silencer, and the sixth connector is connected to the air cylinder. The silencer 29 discharges air.

Referring to the operation of the crutch control device and the Aggregate pump unit according to the second embodiment configured as described above are as follows.

First, when the user repeats the grip 18 of the manual driver 38 and grasps (holds and unfolds) the air from the second pump. The air then exits the air cylinder 25 via the air flow control device 12 of the control device 8. As a result, air is introduced into the cavity inside the air cylinder, thereby increasing the length of the crutches.

If the user wants to shorten the length of the crutches by using the open button 30 of the stop valve 11 to discharge the air in the cavity 26 of the air cylinder 25 to the silencer (29). At this time, the discharged air only goes to the silencer and does not go out in the direction of the second pump. This is because the second check valve 24 prevents outflow of air to the second pump.

On the other hand, the user can adjust the speed of the length of the crutches by adjusting the inflow rate of air. The user may adjust the inflow rate of air entering the cavity 26 of the air cylinder 25 by adjusting the handle 13 of the air flow control device 12.

In another embodiment, the length of the crutches can be adjusted using an energy source or using the user's muscle strength.

5 shows a shortened state of the crutches according to the third embodiment, and FIG. 6 shows a long stretched state of the crutches according to the third embodiment.

In the third embodiment, the length of the crutches is adjusted manually and / or automatically using the user's attraction and energy source.

The crutch according to the third embodiment has a structure combining the first and second embodiments described above.

The crutch 46 according to the third embodiment includes a main body 1, an elastic pipe support 2 coupled to a lower portion of the main body, an air cylinder 25 mounted inside the elastic pipe support, and the air. A piston 27 and a piston rod 28 provided inside the cylinder, a forearm support 6 provided in the upper part of the main body, a grip support 7 provided in an upper part of the flexible pipe support, and the flexible pipe support Aggregate pump portion 14 and control device 8 to give the stretching (stretching and shrinking) movement to the hand, a manual driver installed on the handle support and providing a driving force to the Aggregate pump portion, the Agre And an energy source 31 for supplying driving energy to the gart pump 14.

The control device 8 is installed on the handle support 7, the Aggregate pump portion 14 is installed on the main body 1. Referring to the drawings, the handle support is provided with the operation button 10 of the open switch, the release button 30 of the stop valve, the handle 13 of the air flow control device, and the handle 18 of the manual driver. .

The energy source 31 provides energy to the Aggregate pump portion for intake and discharge of air from the atmosphere. According to the present invention, the stretching operation of the crutches may be performed in the automatic mode or the manual mode, and the air may be introduced into or discharged from the cavity 26 between the air cylinder 25 and the piston 27 through the automatic mode or the manual mode. Can be.

The energy source 31 may use a first battery 19. The first battery 19 provides electric energy to the motor of the aggregat pump unit 14 to adjust the length of the crutches.

9 shows a control device 8 and an aggregat pump unit 14 of the crutch according to the third embodiment.

The control device 8 according to the third embodiment includes an open switch 9 operated by an operation button 10 of an open switch, a stop valve 11 for discharging air, and a cavity inside the air cylinder 25. And an air flow regulating device 12 for adjusting the amount of air entering 26.

The open switch 9 is provided between the third terminal 47 and the fifth terminal 49, and the fourth terminal 48 and the sixth terminal 50 are directly connected to each other.

The stop valve 11 is provided between the fourth connecting portion 33 and the fifth connecting portion 34, and the air flow control device 12 is provided between the fourth connecting portion 33 and the sixth connecting portion 35. do. In other words, the fourth connection part is branched and connected to the stop valve and the air flow control device.

Meanwhile, the fifth terminal 49 and the sixth terminal 50 are connected to the first battery 19, the sixth connection part 35 is connected to the air cylinder, and the fifth connection part 34 is the silencer 29. ). The silencer is where air is discharged.

Referring to the drawings, the inside of the air cylinder 25 is provided with a piston 27 and a piston rod 28, the cavity 26 is formed between the air cylinder and the piston.

The Aggregate pump unit 14 according to the third embodiment includes a motor 16, a first pump 15 receiving the rotational force of the motor, and a first pump connected to the first pump and preventing backflow of air. A check valve 23, an air filter 22 for purifying the air entering the first pump, a second pump 17 driven by the hand muscles of the user, and a back flow of air connected to the second pump It includes a second check valve 24 to prevent the.

In addition, the aggregat pump unit includes a first terminal 36, a second terminal 37, a first air inlet 20, a second air inlet 21, and a third connector 32. do.

The motor 16 is connected to the first terminal 36 and the second terminal 37 to receive energy. When the motor rotates, the rotational force is transmitted to the first pump.

The first air inlet 20 is connected to the first pump via an air filter, and the first check valve is provided between the first pump and the third connection.

Atmospheric air is introduced through the first air inlet 20, and then foreign matter is removed from the air filter 22 and then enters the first pump 15. The air coming out by the driving of the first pump then goes out to the third connecting portion 32 via the first check valve 23.

In addition, the second air inlet 21 is connected to the second check valve via a second pump. The second check valve is connected to the third connection part 32.

Referring to the operation of the control device and the Aggregate pump unit according to the third embodiment configured as described above are as follows.

The operation of the control device and the aggregat pump unit according to the third embodiment can be selected from the automatic mode and the manual mode.

First, when the automatic mode is selected, when the user presses the operation button 10 of the open switch 9 of the control device, the motor 16 rotates to drive the first pump 15. When the first pump is driven, air from the first pump is introduced into the cavity 26 of the air cylinder 25 via the air flow control device 12. As the inflow of air pushes the rod 28 provided under the piston 27, the length of the crutches is increased. If the user releases their finger on the open switch, the motor no longer rotates. Accordingly, the lengthening operation of the crutches is stopped.

To shorten the length of the crutches, the user presses the handle 30 of the stop valve 11 to discharge the air to the silencer. Here, the air is discharged only to the silencer, because it prevents the air from flowing in the direction of the first pump by the first backing valve 23 of the agregate pump part.

On the other hand, the user can use the air flow control device to adjust the inflow rate of air entering the cavity inside the air cylinder. The rate of air inlet can control the rate at which the crutches stretch.

On the contrary, when the manual mode is selected, when the user repeatedly grabs and grasps the handle 18 of the manual driver 38 (holding and unfolding the hand), the air is pressurized from the second pump. The air then exits the air cylinder 25 via the air flow control device 12 of the control device 8. As a result, air is introduced into the cavity inside the air cylinder, thereby increasing the length of the crutches.

If the user wants to shorten the length of the crutches by using the open button 30 of the stop valve 11 to discharge the air in the cavity 26 inside the air cylinder 25 to the silencer (29). At this time, the discharged air goes only to the silencer and does not go out in the direction of the first pump and the second pump. This is because the first check valve 23 and the second check valve 24 prevent air from going out of the first pump and the second pump.

10 shows that the crutches according to the present invention are applied to a rehabilitation robot device.

Referring to the drawings, a person wears a rehabilitation robot device, and stands with a neck on both arms and hands.

The rehabilitation robot equipment set has the movement mode, the upward movement mode, the downward movement mode, the upward movement mode, the inclined downward movement mode, the obstacle skipping mode, the sitting mode, the standing motion mode, the straightening mode in the standing state on the horizontal surface, Various modes of operation are available, such as sitting on a stand.

In the rehabilitation robot device, an upper portion of the chassis 40 is coupled to the second battery 45 and a control board 43, and a foot support 42 is coupled to the lower portion of the chassis. The foot support consists of three joints.

In addition, the crutch consists of a body (1), forearm support (6), a handle support (7) with a control device (8), an elastic pipe support (2), a reference tip (5). The user's wrist wears the user interface device 44.

Additionally, a rehabilitation robot device may be controlled according to a program through a user interface device (UI) using a touch screen. In addition, the user interface of the rehabilitation robot device may be composed of color and sound display elements. The control board of the rehabilitation robot device may be provided with a wireless communication device to exchange information with each other through a user interface device (UI).

In the first to third embodiments described above, a pressure sensor may be additionally installed in the cavity of the air cylinder of the crutch. The pressure of the cavity detected by the pressure sensor may be informed by visual or audio means so that the user can recognize it.

As mentioned above, although this invention was demonstrated in detail through the specific Example, this invention is not limited to the said Example, A various deformation | transformation is possible for a person with ordinary knowledge within the scope of the technical idea of this invention.

Claims

A main body 1, an elastic pipe support 2 coupled to a lower part of the main body, an air cylinder 25 mounted inside the elastic pipe support, a piston 27 provided inside the air cylinder, and Piston rod 28-the piston rod is coupled to the lower part of the piston; and, a forearm support 6 provided on the upper part of the body, a grip support 7 provided on the upper part of the flexible pipe support, and the flexible pipe support. Aggregate pump unit 14 and the control device 8 to give a stretching and contracting operation to the aggrept, and an energy source for supplying driving energy to the Aggregate pump unit 14 ,

The Aggregate pump portion 14 is installed on the main body (1), the control device (8) is crutches with a length adjustment function, characterized in that installed on the handle support (7).
The method according to claim 1,

The Aggregate pump unit further includes a motor that rotates by an energy source and a first pump that receives the rotational force of the motor,

When the first pump is driven, crutches having a length adjusting function, characterized in that the air is injected into the cavity between the air cylinder and the piston to push the Liston rod downward.
The method according to claim 1,

The control device 8 is an open type switch 9 operated by an open type switch operating button 10, a stop valve 11 for discharging air, and an air cylinder 25 connected to a front end of the stop valve. Air flow control device 12 for adjusting the amount of air entering the cavity 26 between the piston and the piston 27, the third, fourth, fifth and sixth terminals, and the fourth, fifth and sixth connection portions. Done,

The open switch 9 is provided between the third terminal 47 and the fifth terminal 49, and the fourth terminal 48 and the sixth terminal 50 are directly connected, and the stop valve 11 ) Is provided between the fourth connecting portion 33 and the fifth connecting portion 34, the air flow control device 12 is provided between the fourth connecting portion 33 and the sixth connecting portion 35, the sixth connecting portion 35 is connected to the air cylinder, the fifth terminal 49 and the sixth terminal 50 is connected to the first battery 19, the fifth connection portion 34 is a silencer 29 through which air is discharged Connected to the

The Aggregate pump unit 14 includes a motor 16, a first pump 15 receiving the rotational force of the motor, a first backing valve 23 to prevent backflow of air, and the first pump. It consists of an air filter 22, a first terminal 36, a second terminal 37, a first air inlet 20, and a third connecting portion 32 for purifying the air entering the

The motor 16 is connected to the first terminal 36 and the second terminal 37 to receive driving energy. When the motor rotates, the rotational force is transmitted to the first pump.

The first air inlet is connected to the first pump via an air filter, the first check valve is provided between the first pump and the third connection,

The first terminal 36 of the agregate pump portion is connected to the third terminal 47 of the control device, the second terminal 37 of the agregate pump portion is connected to the fourth terminal 48 of the control device, The third connection portion 32 of the Aggregate pump portion is crutches having a length adjusting function, characterized in that configured to be connected to the fourth connection portion 33 of the control device.
A main body 1, an elastic pipe support 2 coupled to a lower part of the main body, an air cylinder 25 mounted inside the elastic pipe support, a piston 27 provided inside the air cylinder, and Piston rod 28-the piston rod is coupled to the lower part of the piston; and the forearm support 6 provided on the upper body, the handle support 7 provided on the upper side of the flexible pipe support, and the flexible pipe support Aggregate pump unit 14 and control device 8 to give a stretch (stretch and shrink) operation, and a manual driver installed on the handle support and providing a driving force to the Aggregate pump unit,

The control device (8) is installed on the handle support (7), the Aggregate pump unit 14 is crutches with a length adjustment function, characterized in that installed in the main body (1).
The method according to claim 4,

The Aggregate pump unit further includes a second pump driven by a manual driver,

When the second pump is driven, the air of the atmosphere is injected into the cavity between the air cylinder and the piston, the crutches having a length adjusting function, characterized in that configured to push the Liston rod downwards.
The method according to claim 4,

The Aggregate pump part 14 is composed of a second air inlet 21, a second pump 17, a second check valve 24, a manual driver 38, and a third connection 32. ,

Air entering from the second air inlet 21 is introduced into the second pump, the air flowing out of the second pump is configured to exit to the third connecting portion 32 via the second check valve 24, the user When the handle 18 of the manual driver is operated using the muscle strength of the hand, a second pump connected to the manual driver 38 is operated to configure the air to flow out.

The control device 8 is composed of a fourth connecting portion 33, the stop valve 11, the fifth connecting portion 34, the air flow control device 12, the sixth connecting portion 35,

A stop valve is provided between the fourth connection part and the fifth connection part, and an air flow control device is provided between the fourth connection part and the sixth connection part.

The fourth connecting portion 33 of the control device 8 is connected to the third connecting portion 32 of the Aggregate pump portion 14, the fifth connecting portion is connected to the silencer for discharging air, the Agre Crutches having a length adjustment function, characterized in that the third connection portion 32 of the gart pump portion 14 is configured to be connected to the fourth connection portion 33 of the control device (8).
A main body 1, an elastic pipe support 2 coupled to a lower part of the main body, an air cylinder 25 mounted inside the elastic pipe support, a piston 27 provided inside the air cylinder, and The piston rod 28, the forearm support 6 provided in the upper part of the main body, the grip support 7 provided in the upper part of the flexible pipe support, and the elastic pipe (extension and contraction) movements to the flexible pipe support. Supplying driving energy to the Gregg pump portion 14 and the control device 8, a manual driver installed on the handle support and providing a driving force to the Aggregate pump portion, and the Aggregate pump portion 14 Including the energy source 31 to be made,

The control device (8) is installed on the handle support (7), the Aggregate pump unit (14) is crutches with a length adjustment function, characterized in that installed in the main body (1).
The method according to claim 7,

The Aggregate pump unit further comprises a first pump driven by a motor and a second pump driven by a manual driver,

When the first pump and / or the second pump is driven, the crutch having a length adjustment function, characterized in that the air is injected into the cavity between the air cylinder and the piston to push the Liston rod downwards .
The method according to claim 7,

The control device 8 enters into the open switch 9 operated by the operation button 10 of the open switch, the stop valve 11 for discharging air, and the cavity 26 inside the air cylinder 25. It comprises an air flow control device 12 for adjusting the air volume, the third, fourth, fifth, sixth terminal, and the fourth, fifth, sixth connection portion,

The open switch 9 is provided between the third terminal 47 and the fifth terminal 49, and the fourth terminal 48 and the sixth terminal 50 are directly connected, and the stop valve 11 Is provided between the fourth connecting portion 33 and the fifth connecting portion 34, the air flow control device 12 is provided between the fourth connecting portion 33 and the sixth connecting portion 35, the sixth connecting portion 35 is connected to the air cylinder, the fifth terminal 49 and the sixth terminal 50 is connected to the first battery 19, the fifth connector 34 is a silencer for discharging air Connected with 29,

The Aggregate pump unit 14 is connected to the motor 16, the first pump 15 receives the rotational force of the motor, and the first check valve 23 is connected to the first pump to prevent the back flow of air ), An air filter 22 for purifying the air entering the first pump, a second pump 17 driven by the hand muscles of the user, and an agent connected with the second pump to prevent backflow of air. 2 check valve 24, first terminal 36, second terminal 37, first air inlet 20, second air inlet 21, third connection 32 It is made, including

The motor 16 is connected to the first terminal 36 and the second terminal 37 to receive energy, the rotational force is configured to be transmitted to the first pump when the motor rotates,

The first air inlet 20 is connected to the first pump via an air filter, the first check valve is provided between the first pump and the third connection,

The second air inlet 21 is connected to a second check valve via a second pump, and the second check valve is connected to a third connecting part 32.

The first terminal 36 of the Aggregate pump portion is connected to the third terminal 47 of the control device, the second terminal 37 of the Aggregate pump portion is connected to the fourth terminal 48 of the control device The crutch having a length adjusting function, characterized in that the third connecting portion 32 of the Aggregate pump portion is connected to the fourth connecting portion 33 of the control device.
The method according to any one of claims 1 to 9,

Air from the air flow control device enters the cavity between the air cylinder and the piston to push the piston downwards, and thus the crutches having a length adjusting function, characterized in that configured to be pushed downward.
The method according to any one of claims 1 to 9,

The open type switch is an open state in which no current flows when the switching operation is not performed, and the stop valve is closed to restrict the flow of air when the switching operation is not performed, and the air flow controller is manually opened. Crutches with adjustable length, characterized in that configured to adjust.