CN109512644A - It can be deformed into the multi-functional exoskeleton robot of wheelchair - Google Patents
It can be deformed into the multi-functional exoskeleton robot of wheelchair Download PDFInfo
- Publication number
- CN109512644A CN109512644A CN201811342630.1A CN201811342630A CN109512644A CN 109512644 A CN109512644 A CN 109512644A CN 201811342630 A CN201811342630 A CN 201811342630A CN 109512644 A CN109512644 A CN 109512644A
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- Prior art keywords
- wheel
- thigh
- shank
- connecting shaft
- deformed
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Classifications
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/02—Crutches
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
- A61G5/045—Rear wheel drive
-
- 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
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Rehabilitation Tools (AREA)
Abstract
可变形为轮椅的多功能外骨骼机器人，它涉及一种外骨骼，它包括左腿、右腿、足部和支撑架；左腿和右腿分别包括大腿和小腿，大腿的上部安装有髋关节驱动电机，髋关节驱动电机的输出轴连接支撑架；小腿的上部安装有膝关节电机，膝关节电机的输出轴连接大腿的下部，小腿的底部安装有足部，大腿上还设置有可拆卸的手杆，手杆设置在大腿上后相对大腿旋转，手杆的端部固装有带有驱动电机的后轮，带有驱动电机的后轮位于小腿的后方，小腿底部后侧安装有能上下翻转助力轮具，助力轮具上安装有万向轮。本发明结构紧凑，穿戴方便，变形灵活。
A multifunctional exoskeleton robot that can be transformed into a wheelchair, which involves an exoskeleton, which includes a left leg, a right leg, a foot and a support frame; the left leg and the right leg include a thigh and a calf respectively, and a hip joint is installed on the upper part of the thigh The drive motor, the output shaft of the hip joint drive motor is connected to the support frame; the upper part of the calf is equipped with a knee joint motor, the output shaft of the knee joint motor is connected to the lower part of the thigh, the bottom of the calf is equipped with a foot, and the thigh is also provided with a detachable The hand lever is set on the thigh and then rotates relative to the thigh. The end of the hand lever is fixed with a rear wheel with a drive motor. The rear wheel with the drive motor is located behind the calf. The power-assisted wheel is turned over, and the universal wheel is installed on the power-assisted wheel. The invention has the advantages of compact structure, convenient wearing and flexible deformation.
Description
Technical field
The present invention relates to a kind of ectoskeletons, and in particular to a kind of multi-functional exoskeleton robot that can be deformed into wheelchair.
Background technique
Currently, it is more single to the wearable ectoskeleton structure of human body, and in rehabilitation medical field, it can not accomplish flexibly to tear open
It unloads and Deformation control, there are no the exoskeleton robots of deformable wheel chair type in rehabilitation ectoskeleton, to some handicapped
People's wearing and walking cause certain difficulty.
Summary of the invention
The present invention in order to overcome the deficiencies of the prior art, provides a kind of compact-sized, the easy to wear wheelchair that can be deformed into
Multi-functional exoskeleton robot.
The technical solution adopted by the present invention to solve the above problem is as follows:
It can be deformed into the multi-functional exoskeleton robot of wheelchair, it includes left leg, right leg, foot and support frame；Left leg and
Right leg respectively includes thigh and shank, and the top of thigh is equipped with hip joint driving motor, the output shaft of hip joint driving motor
Connect support frame；The top of shank is equipped with knee joint motor, the lower part of the output axis connection thigh of knee joint motor, shank
Bottom is equipped with foot, and dismountable hand lever is additionally provided on thigh, and hand lever rotates after being arranged on thigh relative to thigh, hand lever
End be fixed with the rear-wheel with driving motor, the rear-wheel with driving motor is located at the rear of shank, shank bottom rear
Power-assisted wheel tool can be spun upside down by being equipped with, and be equipped with universal wheel on power-assisted wheel tool.
Further, the power-assisted wheel tool includes shank connector, wheel sub- connecting member and locking member；The installation of shank connector
In shank bottom rear, takes turns sub- connecting member and be packed in connecting shaft, connecting shaft is rotatably installed on shank connector, connecting shaft two
End middle part is blind hole, and two locking members are plugged in the blind hole of connecting shaft both ends respectively and are fixed on shank connector, universal wheel
It is mounted on wheel sub- connecting member.
Further, the shank connector is with reeded connector, and connecting shaft is arranged in groove, connecting shaft two
End is respectively placed in the axis hole on two wall of groove, and connecting shaft can rotate in axis hole, and locking member includes closure plate, locking post and two
Positioning column；One plate face of closure plate is connected with locking post, is connected with positioning column positioned at locking post two sides, two wall of groove is respectively arranged with
One locking member, locking post are plugged in the blind hole of connecting shaft, and the key having in locking post is inserted on the keyway on blind hole inner wall,
Positioning column is inserted into the through-hole in groove walls.
The beneficial effect of the present invention compared with prior art is
1, the deformable ectoskeleton of the present invention facilitates patient's wearing and helps its standing, and patient is in donning process, wheelchair
When mode, patient can meet body biomechanics model, make it by hand lever, left leg and right leg collective effect, process with strength
Power complete independently wearing and upright state can be borrowed, reduces the workload of medical staff, has also tempered the coordinated manipulation of patient
Ability achievees the purpose that rehabilitation training.
2, fixed bracket is added on thigh, fixed bracket connects hand lever, and hand lever connects rear-wheel, foot rear shank bottom
It is provided with universal wheel, in deformation process, universal wheel and rear-wheel are remained in the same plane, and ectoskeleton is made to be deformed into wheel
Can be with flexible motion after chair mode, and there is good stability.In upright state, hand lever can be disassembled, as
Force-saving walking stick uses, and enriches the function of rehabilitation exoskeleton robot.
3, foot rear shank bottom is provided with power-assisted wheel tool, when deforming wheelchair, passes through the variation of gravity center of human body, hand
It is dynamic to pop up universal wheel, so that universal wheel and rear-wheel is in same plane, completes deformation process, structure is simple, convenient.Driving motor
It is respectively arranged in hip joint, knee joint and rear-wheel, constituting a kind of crank link mechanism keeps overall structure more compact, smaller
Space realize big power output, to realize the heavy duty power-assisted effect of lightness.
Detailed description of the invention
Fig. 1 is the overall structure diagram under ectoskeleton upright mode of the present invention；
Fig. 2 is the overall structure diagram under wheelchair mode of the present invention；
Fig. 3 is the main view of Fig. 2；
Fig. 4 is hand lever and rear-wheel connection relationship diagram；
Fig. 5 is the structural schematic diagram of positioning column；
Fig. 6 is the structural schematic diagram of shank connector；
Fig. 7 is wheel sub- connecting member and connecting shaft interconnected relationship schematic diagram；
Fig. 8 is operation principle schematic diagram of the present invention.
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
Illustrate referring to figures 1-4, the multi-functional exoskeleton robot that can be deformed into wheelchair of present embodiment, it includes a left side
Leg, right leg, foot 3 and support frame 4；
Left leg and right leg respectively include thigh 1 and shank 2, and the top of thigh 1 is equipped with hip joint driving motor, hip joint
The output axis connection support frame 4 of driving motor；The top of shank 2 is equipped with knee joint motor, and the output shaft of knee joint motor connects
The lower part of thigh 1 is connect, the bottom of shank 2 is equipped with foot 3, and dismountable hand lever 5 is additionally provided on thigh 1, and the setting of hand lever 5 exists
It is rotated after on thigh 1 relative to thigh 1, the end of hand lever 5 is fixed with the rear-wheel 6 with driving motor, after driving motor
Wheel 6 is located at the rear of shank 2, and 2 bottom rear of shank, which is equipped with, can spin upside down power-assisted wheel tool 7, is equipped with ten thousand on power-assisted wheel tool 7
To wheel 8.Thigh 1 is connect by revolute pair with support frame 4, shank 2, guarantees the stability of its transmission.Thigh 1 and foot 3 are equal
It ties up golden fixation and wearer bundles, to issue motor message by human body, ectoskeleton provides power-assisted effect, auxiliary disease
People does rehabilitation training.
There are two types of deformation patterns for present embodiment:
During wheelchair deformation, since gravity center of human body moves back, the tool for helping on 3 rear shank of foot can be manually rotated
7, control universal wheel 8 supports ground, and hip joint driving motor and knee joint driving motor drive support frame 4 and thigh 1 at this time, makes
Its rotation moves downward, and hand lever 5 rotates after being arranged on thigh 1 relative to thigh 1, meanwhile, the driving motor on rear-wheel 6 makes rear-wheel
6 move horizontally to the direction far from human body, during which guarantee that the universal wheel 8 on rear-wheel 6 and foot 3 is constantly in same plane,
Keep it reliable and stable in deformation process, ultimately becomes wheelchair mode.
During outer textured bone, gravity center of human body moves forward at this time, can be manually rotated the power-assisted work on 3 rear shank of foot
Tool 7, control universal wheel 8 are flipped up fixation, and patient is closed by 5 collective effect of left leg, right leg and hand lever, hip joint motor and knee
Section motor drives support frame 4 and the rotation of thigh 1 to move upwards, and the driving motor on rear-wheel 6 makes rear-wheel 6 to the direction close to human body
It moves horizontally, patient borrows power to dress and stand, and in the process, rear-wheel 6 contacts ground and foot 3 in same level always
On face, ectoskeleton mode is ultimately become.
Preferably, the power-assisted wheel tool 7 includes shank connector 71, wheel 72 and of sub- connecting member as shown in Fig. 2, Fig. 5-Fig. 7
Locking member 73；Shank connector 71 is mounted on 2 bottom rear of shank, and wheel sub- connecting member 72 is packed in connecting shaft 74, connecting shaft
74 are rotatably installed on shank connector 71, are blind hole 741 in the middle part of 74 both ends of connecting shaft, two locking members 73 company of being plugged on respectively
It in 74 both ends blind hole 741 of spindle and is fixed on shank connector 71, universal wheel 8 is mounted on wheel sub- connecting member 72.
Preferably, the shank connector 71 is the connector with fluted 710, connection as shown in Fig. 5, Fig. 6 and Fig. 7
Axis 74 is arranged in groove 710, and 74 both ends of connecting shaft are respectively placed in the axis hole 711 on 710 liang of walls of groove, and connecting shaft 74 can be
Rotation in axis hole 711；
Locking member 73 includes closure plate 731, locking post 732 and two positioning columns 733；One plate face of closure plate 731 is connected with lock
Tight column 732, is connected with positioning column 733 positioned at 732 two sides of locking post, and two wall of groove is respectively arranged with a locking member 73, locking
Column 732 is plugged in the blind hole 741 of connecting shaft 74, and the key having in locking post 732 is inserted on the keyway on 741 inner wall of blind hole,
Positioning column 733 is inserted into the through-hole 712 in groove walls.
Preferably, as shown in fig. 7, wheel 72 two sides of sub- connecting member connecting shaft 74 on be respectively and fixedly connected with a gag lever post 75,
When universal wheel 8 supports ground under wheelchair mode, gag lever post 75 is in horizontally disposed.
Preferably, being machined with mounting hole on thigh 1, strut 51 is connected on hand lever 5, strut 51 is inserted into mounting hole,
Hand lever 5 is rotated relative to thigh 1.So set, in wheelchair mode and ectoskeleton mode transition procedure, hand lever 5 under wheelchair mode
And its rear-wheel 6 of connection supports ground with universal wheel 8 together, realizes the movement under wheelchair.When being deformed into ectoskeleton mode, hand
Bar 5 and its rear-wheel 6 of connection are detachable, use separately as Force-saving walking stick.
Working principle
As shown in figure 8, circle represents revolute pair in figure, when being deformed into wheelchair form, hand lever 5 and rear-wheel 6 are assemblied in greatly
On leg 1, knee joint, hip joint and rear-wheel are driven by respective driving motor respectively, knee joint, thigh between thigh and shank with
Hip joint between support frame makes rotating motion counterclockwise, while rear-wheel 6 does horizontal rectilinear motion backward, and hand lever 5 passes through at this time
Mounting hole of the strut 51 on thigh 1 rotates counterclockwise, and in order to guarantee during deforming wheelchair, entire ectoskeleton will not be because
For center of gravity moves back and the problems such as turn on one's side, 5 lower end rear-wheel 6 of hand lever should be made in the same plane, that is, to need to meet: L with foot 3It is fixed+LShank
=LHand lever(LIt is fixedFor strut to kneed distance, LShankFor shank and the sum of foot, universal wheel radius length, LHand leverIt is long for hand lever
The sum of degree and rear-wheel radius).
When being deformed into ectoskeleton form, knee joint, hip joint and rear-wheel are driven by respective driving motor respectively, thigh 1
Knee joint, thigh 1 between shank 2 and the hip joint between support frame 4 make rotating motion clockwise, and rear-wheel 6 does forward water
Flat line movement, hand lever 5 is rotated clockwise around thigh 1 at this time, and until moving vertical state, this process equally meets LIt is fixed+
LShank=LHand lever, finally deformation finishes.
The present invention is disclosed as above with preferable case study on implementation, and however, it is not intended to limit the invention, any to be familiar with this profession
Technical staff, without departing from the scope of the present invention, when the structure and technology contents that can use the disclosure above are done
A little change or it is modified to the equivalence enforcement case of equivalent variations out, but it is all without departing from technical solution of the present invention
Hold, any simple modification, equivalent change and modification done according to the technical essence of the invention to the above case study on implementation still belong to
Technical solution of the present invention range.
Claims (5)
1. can be deformed into the multi-functional exoskeleton robot of wheelchair, it is characterised in that: it include left leg and right leg, foot (3) and
Support frame (4)；
Left leg and right leg respectively include thigh (1) and shank (2), and the top of thigh (1) is equipped with hip joint driving motor, and hip closes
Save the output axis connection support frame (4) of driving motor；The top of shank (2) is equipped with knee joint motor, knee joint motor it is defeated
The lower part of axis connection thigh (1) out, the bottom of shank (2) are equipped with foot (3), and thigh is additionally provided with dismountable hand on (1)
Bar (5), hand lever (5) rotate after being arranged on thigh (1) relative to thigh (1), and the end of hand lever (5) is fixed with driving motor
Rear-wheel (6), the rear-wheel (6) with driving motor is located at the rear of shank (2), and shank (2) bottom rear is equipped with can be up and down
Power-assisted wheel tool (7) is overturn, universal wheel (8) are installed on power-assisted wheel tool (7).
2. can be deformed into the multi-functional exoskeleton robot of wheelchair according to claim 1, it is characterised in that: the power-assisted wheel
Tool (7) includes shank connector (71), wheel sub- connecting member (72) and locking member (73)；
Shank connector (71) is mounted on shank (2) bottom rear, and wheel sub- connecting member (72) is packed on connecting shaft (74), connects
Axis (74) is rotatably installed on shank connector (71), is blind hole (741), two locking members (73) in the middle part of connecting shaft (74) both ends
It is plugged in connecting shaft (74) both ends blind hole (741) and is fixed on shank connector (71) respectively, universal wheel (8) is mounted on wheel
On sub- connecting member (72).
3. can be deformed into the multi-functional exoskeleton robot of wheelchair according to claim 2, it is characterised in that: the shank connects
Fitting (71) is the connector with fluted (710), and connecting shaft (74) is arranged in groove (710), connecting shaft (74) both ends point
It is not placed in the axis hole (711) on (710) two wall of groove Nei, connecting shaft (74) can rotate in axis hole (711), locking member (73) packet
Include closure plate (731), locking post (732) and two positioning columns (733)；One plate face of closure plate (731) is connected with locking post (732),
It is connected with positioning column (733) positioned at locking post (732) two sides, two wall of groove is respectively arranged with a locking member (73), locking post
(732) it is plugged in the blind hole (741) of connecting shaft (74), the key having in locking post (732) is inserted on blind hole (741) inner wall
On keyway, positioning column (733) is inserted into the through-hole (712) in groove walls.
4. can be deformed into the multi-functional exoskeleton robot of wheelchair according to claim 3, it is characterised in that: wheel sub- connecting member
(72) gag lever post (75) has been respectively and fixedly connected in the connecting shaft (74) of two sides, when universal wheel (8) supports ground under wheelchair mode,
Gag lever post (75) is in horizontally disposed.
5. can be deformed into the multi-functional exoskeleton robot of wheelchair according to claim 4, it is characterised in that: on thigh (1)
It is machined with mounting hole, is connected on hand lever (5) strut (51), strut (51) is inserted into mounting hole (11), and hand lever (5) is relatively large
Leg (1) rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811342630.1A CN109512644A (en) | 2018-11-12 | 2018-11-12 | It can be deformed into the multi-functional exoskeleton robot of wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811342630.1A CN109512644A (en) | 2018-11-12 | 2018-11-12 | It can be deformed into the multi-functional exoskeleton robot of wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109512644A true CN109512644A (en) | 2019-03-26 |
Family
ID=65776110
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811342630.1A Pending CN109512644A (en) | 2018-11-12 | 2018-11-12 | It can be deformed into the multi-functional exoskeleton robot of wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109512644A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111329721A (en) * | 2020-02-29 | 2020-06-26 | 同济大学 | Lower limb assistance exoskeleton device with spring energy storage and rapid unloading |
| CN111329720A (en) * | 2020-02-29 | 2020-06-26 | 同济大学 | Air-supported passive lower limb assistance exoskeleton device |
| WO2021047680A1 (en) * | 2020-03-27 | 2021-03-18 | 之江实验室 | Reconfigurable foot-type robot having two-foot, four-wheel and four-foot movement modes |
| CN112535616A (en) * | 2020-11-25 | 2021-03-23 | 哈尔滨工业大学 | Stair climbing type walking-aid robot |
| CN112716756A (en) * | 2020-10-28 | 2021-04-30 | 浙江大学台州研究院 | Multifunctional rehabilitation robot |
| US11786425B2 (en) | 2020-06-30 | 2023-10-17 | Toyota Motor North America, Inc. | Systems incorporating a wheelchair with an exoskeleton assembly and methods of controlling the same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111329721A (en) * | 2020-02-29 | 2020-06-26 | 同济大学 | Lower limb assistance exoskeleton device with spring energy storage and rapid unloading |
| CN111329720A (en) * | 2020-02-29 | 2020-06-26 | 同济大学 | Air-supported passive lower limb assistance exoskeleton device |
| WO2021047680A1 (en) * | 2020-03-27 | 2021-03-18 | 之江实验室 | Reconfigurable foot-type robot having two-foot, four-wheel and four-foot movement modes |
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| CN112535616A (en) * | 2020-11-25 | 2021-03-23 | 哈尔滨工业大学 | Stair climbing type walking-aid robot |
| CN112535616B (en) * | 2020-11-25 | 2022-10-14 | 哈尔滨工业大学 | Stair-climbing type walking-assisting robot |
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Inventor after: Zhu Yanhe Inventor after: Zhang Guoan Inventor after: Li Mo Inventor after: A vast sky Inventor after: Zhao Jie Inventor before: Zhu Yanhe Inventor before: Zhang Guoan Inventor before: Li Mo Inventor before: A vast sky |
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Application publication date: 20190326 |
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