CN112618293A - Coordination platform for maintaining balance and movable movement of exoskeleton robot - Google Patents

Coordination platform for maintaining balance and movable movement of exoskeleton robot Download PDF

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Publication number
CN112618293A
CN112618293A CN202011320884.0A CN202011320884A CN112618293A CN 112618293 A CN112618293 A CN 112618293A CN 202011320884 A CN202011320884 A CN 202011320884A CN 112618293 A CN112618293 A CN 112618293A
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China
Prior art keywords
steering
platform
steering handle
rotating shaft
front wheel
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CN202011320884.0A
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CN112618293B (en
Inventor
龙亿
彭亚军
吴洪德
陈金坤
吴俊锋
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Guangdong Wobeite Intelligent Medical Equipment Co.,Ltd.
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Zhongshan Wabet Intelligent Medical Devices Co ltd
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Priority to CN202011320884.0A priority Critical patent/CN112618293B/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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • 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
    • A61H2201/1207—Driving means with electric or magnetic 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5097—Control means thereof wireless

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)
  • Invalid Beds And Related Equipment (AREA)

Abstract

The invention discloses a platform for maintaining balance and movable movement coordination of an exoskeleton robot, which comprises: moving the support; holding the bracket; a lifting mechanism; a steering mechanism. The invention provides a coordination platform for maintaining balance of an exoskeleton robot and moving, wherein a patient can use a holding support to borrow force in the process of changing sitting posture into standing posture, and then the holding support is driven to ascend through a lifting mechanism so as to assist in standing. When the exoskeleton is used for replacing a crutch to stand, the holding bracket and the moving bracket can ensure balance and safety around a patient after the hands are released. But also can adjust the moving direction of the moving support through a steering mechanism arranged on the moving support, so that the patient does not need to push the moving support to steer by extra effort, and the effect of steering easily is achieved.

Description

Coordination platform for maintaining balance and movable movement of exoskeleton robot
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of medical instruments, in particular to a coordination platform for maintaining balance and movable motion of an exoskeleton robot.
[ background of the invention ]
At present, when a patient with inconvenient legs uses an exoskeleton, a crutch and the like are often used as supports to assist the human body to change from a sitting posture to a standing posture, but the crutch has poor stability and is difficult to keep balance and ensure safety in the process of using the exoskeleton. Later, stand-assisting supports were developed that could replace the crutches in conventional exoskeletons, releasing both hands, but the supports are often large, heavy to improve stability, making it difficult for the patient to turn around or turn around.
[ summary of the invention ]
The coordination platform for maintaining the balance of the exoskeleton robot and the movable motion solves the technical problems that a patient is difficult to change from a sitting posture to a standing posture, the balance is difficult to ensure and the safety is difficult to guarantee when an exoskeleton is used, and the steering or turning around is difficult to carry out when a bracket is used.
The invention is realized by the following technical scheme:
a coordinated motion platform for maintaining exoskeleton robot balance and movement, comprising:
the bottom of the movable support is provided with a wheel set for the movable support to move;
the holding bracket is used for holding the hand of a human body;
the lifting mechanism is arranged between the movable support and the holding support and is used for driving the holding support to ascend or descend along the vertical direction relative to the movable support;
and the steering mechanism is arranged on the movable support and is used for adjusting the moving direction of the movable support.
The wheel set comprises a power wheel set, wherein the power wheel set comprises a left driving wheel and a right driving wheel which are respectively arranged at the left side and the right side of the middle part of the movable support;
steering mechanism is including locating on the movable support and make left action wheel pivoted left-handed rotation motor, and make right action wheel pivoted right-handed rotation motor, left-handed rotation motor with promote when right-handed rotation motor rotational speed is the same the movable support rectilinear movement, left-handed rotation motor with the not simultaneous promotion of right-handed rotation motor rotational speed the movable support reality differential turns to.
A method for maintaining an exoskeleton robot balanced and moveable motion coordination platform as described above, the steering mechanism further comprising:
the remote control unit is used for receiving a user start-stop, left-turn or right-turn instruction;
and the control unit is electrically connected with the left rotating motor and the right rotating motor and is used for controlling the rotating speed and the rotating direction of the left driving wheel and the right driving wheel according to the start-stop, left-turning or right-turning instruction received by the remote control unit.
A system for maintaining an exoskeleton robot balance and movable motion coordination platform as described above, the set of wheels comprising a front set of wheels;
the movable bracket comprises a front frame pipe, and the front wheel group is arranged on the end part of the front frame pipe;
the steering mechanism comprises a steering handle hinged with the front frame pipe and a steering transmission mechanism arranged between the steering handle and the front wheel set, and the steering transmission mechanism converts the rotating motion of the steering handle relative to the front frame pipe into the motion for steering the front wheel set.
A balance and moveable motion coordination platform for maintaining an exoskeleton robot as described above, the steering transmission mechanism comprising a rotating shaft and a connecting rope for connecting the steering handle and the rotating shaft;
the rotating shaft is arranged between the front wheel set and the end part of the front frame pipe and is used for steering the front wheel set relative to the movable support;
the two ends of the connecting rope are respectively wound on the rotating shaft and the steering handle, and the rotating shaft rotates in the direction of loosening the winding of the connecting rope when the steering handle rotates in the direction of winding the connecting rope.
A balance and movable movement coordination platform for maintaining an exoskeleton robot as described above, said front wheel set comprising a left front wheel and a right front wheel disposed on the left and right sides in front of said mobile frame, respectively;
the steering handle comprises a left steering handle and a right steering handle;
the rotating shaft comprises a left rotating shaft arranged on the left front wheel and a right rotating shaft arranged on the right front wheel;
the connecting rope comprises a left connecting rope and a right connecting rope, wherein two ends of the left connecting rope are respectively wound on the left rotating shaft and the left steering handle, and two ends of the right connecting rope are respectively wound on the right rotating shaft and the right steering handle;
the steering mechanism further comprises a synchronous steering mechanism which enables the left front wheel and the right front wheel to steer in the same direction;
synchronous steering mechanism is including being used for connecting the connecting rod of left side steering handle and right steering handle, the rope is connected on a left side the right side connect the rope with steering handle's coiling opposite direction, the rope is connected on a left side the right side connect the rope with the coiling direction of rotation axis is the same.
The coordination platform for maintaining balance and movable movement of the exoskeleton robot is characterized in that the steering handle is provided with a handle thread groove for winding the connecting rope.
According to the platform for maintaining balance of the exoskeleton robot and coordinating movement of the exoskeleton robot, the steering handle and the rotating shaft are respectively provided with a limiting rod for driving the connecting rope to wind.
A balance and movable movement coordination platform for maintaining an exoskeleton robot as described above, the steering mechanism further comprising a reset device for steering the front wheel set straight ahead;
the reset device comprises a handle reset torsion spring arranged between the steering handle and the front frame tube and a rotating shaft reset torsion spring arranged between the rotating shaft and the front frame tube;
the handle reset torsion spring is used for jacking the handle to reset to pull the front wheel set to face the right front;
the rotating shaft reset torsion spring is used for jacking and pressing the rotating shaft to reset to enable the front wheel set to face to the right front.
A platform for maintaining balance and mobility coordination of an exoskeleton robot as described above, the platform further comprising a walker mechanism, the walker mechanism comprising:
a hip assembly for securing to a human hip;
a thigh assembly for securing to a human thigh;
the hip joint driving part is arranged between the hip assembly and the thigh assembly and is used for driving the thigh assembly to swing relative to the hip assembly;
the shank component is used for being fixed on the shank of the human body;
the knee joint driving part is arranged between the thigh component and the shank component and is used for driving the shank component to swing relative to the thigh component;
and the walking aid control module is arranged at the rear side of the hip assembly, is electrically connected with the hip joint driving piece and the knee joint driving piece respectively, and is used for driving the hip joint driving piece and the knee joint driving piece according to start-stop, left-turn or right-turn instructions received by the remote control unit.
Compared with the prior art, the invention has the following advantages:
the invention provides a coordination platform for maintaining balance of an exoskeleton robot and moving, wherein a patient can use a holding support to borrow force in the process of changing sitting posture into standing posture, and then the holding support is driven to ascend through a lifting mechanism so as to assist in standing. When the exoskeleton is used for replacing a crutch to stand, the holding bracket and the moving bracket can ensure balance and safety around a patient after the hands are released. But also can adjust the moving direction of the moving support through a steering mechanism arranged on the moving support, so that the patient does not need to push the moving support to steer by extra effort, and the effect of steering easily is achieved.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a portion of the present invention;
FIG. 3 is an exploded view of FIG. 2
FIG. 4 is an enlarged view at A of FIG. 3;
FIG. 5 is an enlarged view at B of FIG. 3;
FIG. 6 is a schematic structural view of the walker mechanism of the present invention;
FIG. 7 is a system framework diagram one of the present invention;
fig. 8 is a system framework diagram two of the present invention.
[ detailed description ] embodiments
In order to make the technical solutions and the advantages of the technical problems solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
When embodiments of the present invention refer to the ordinal numbers "first", "second", etc., it should be understood that the terms are used for distinguishing only when they do express the ordinal order in context.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A coordinated motion platform for maintaining exoskeleton robot balance and movement, comprising:
the bottom of the movable bracket 1 is provided with a wheel set 11 for the movement of the movable bracket;
a holding bracket 2 for holding the hand of a human body;
the lifting mechanism 3 is arranged between the movable bracket 1 and the holding bracket 2 and is used for driving the holding bracket 2 to ascend or descend along the vertical direction relative to the movable bracket 1;
and the steering mechanism 4 is arranged on the movable support 1 and is used for adjusting the moving direction of the movable support 1.
The embodiment provides a balance and movable movement coordination platform for maintaining an exoskeleton robot, wherein a patient can use a holding support to assist in standing when changing from a sitting posture to a standing posture, and then the holding support is driven to ascend through a lifting mechanism so as to assist in standing. When the exoskeleton is used for replacing a crutch to stand, the holding bracket and the moving bracket can ensure balance and safety around a patient after the hands are released. But also can adjust the moving direction of the moving support through a steering mechanism arranged on the moving support, so that the patient does not need to push the moving support to steer by extra effort, and the effect of steering easily is achieved.
In this embodiment, the lifting mechanism includes a gear and a rack, the gear is disposed on the movable support, the rack is disposed on the holding support, and when the lifting motor drives the gear to rotate, the rack moves up or down, so that the holding support ascends or descends.
Further, as a preferred embodiment of the present invention, but not limited thereto, the wheel set 11 includes a power wheel set 12, and the power wheel set 12 includes a left driving wheel 121 and a right driving wheel 122 respectively disposed at the left and right sides of the middle portion of the moving rack 1;
steering mechanism 4, it is including locating on the moving support 1 and make left action wheel 121 pivoted left rotating electrical machines 41, and make right action wheel 122 pivoted right rotating electrical machines 42, left rotating electrical machines 41 with the same promotion of right rotating electrical machines 42 rotational speed moving support 1 rectilinear movement, left rotating electrical machines 41 with the not simultaneous promotion of right rotating electrical machines 42 rotational speed moving support 1 reality differential turns to. When the rotating speed of the left rotating motor is higher than that of the right rotating motor, a rotating speed difference is formed between the left driving wheel and the right driving wheel, so that the moving support turns to the right side, namely the direction of the right driving wheel. When the rotating speed of the right rotating motor is higher than that of the left rotating motor, a rotating speed difference is formed between the left driving wheel and the right driving wheel, so that the moving support turns to the left side, namely the left driving wheel turns to the left side. Therefore, the movable support does not need to be pushed manually to turn, and the function of dragging a user to turn can be achieved.
Further, as a preferred embodiment of the present solution, but not limited thereto, the steering mechanism 4 further includes:
a remote control unit 43 for receiving a user start-stop, left turn, or right turn instruction;
and a control unit 44 electrically connected to the left rotating motor 41 and the right rotating motor 42, and configured to control the rotation speed and the rotation direction of the left driving wheel 121 and the right driving wheel 122 according to the start-stop, left-turn or right-turn instruction received by the remote control unit 43. The remote control unit can be the remote controller, and the cell-phone APP acts as remote controller etc. is connected with the control unit through wireless signal, like bluetooth, infrared ray etc. when receiving user's turn left or turn right instruction, the control unit turns to through the differential value that predetermines. The left rotating motor and the right rotating motor can deviate from the straight direction to be suitable for turning when the difference between the rotating speeds of the left rotating motor and the right rotating motor is large, and deviate from the straight direction to be small when the difference between the rotating speeds of the left rotating motor and the right rotating motor is small, so that the left rotating motor and the right rotating motor are suitable for slight turning. When the left rotating motor and the right rotating motor rotate in the same direction, the steering mechanism can be used for turning, and when the left rotating motor and the right rotating motor rotate in opposite directions, the steering mechanism can be used for turning around.
Further, as a preferred embodiment of the present solution, but not limiting thereto, said wheel set 11, which comprises a front wheel set 13;
the movable bracket 1 comprises a front frame tube 14, and the front wheel set 13 is arranged on the end part of the front frame tube 14; the front frame pipe is U-shaped, and the opening part is arranged towards the ground.
The steering mechanism 4 comprises a steering handle 45 hinged to the front frame tube 14 and a steering transmission mechanism 46 arranged between the steering handle 45 and the front wheel set 13, and the steering transmission mechanism 46 converts the rotation motion of the steering handle 45 relative to the front frame tube 14 into the motion for steering the front wheel set 13. The steering handle is controlled to rotate so as to pull the front wheel set to swing to the left side or swing to the right side, so that the effects of steering and traction directions are achieved when the movable support is pushed.
Further, as a preferred embodiment of the present invention, but not limited thereto, the steering transmission mechanism 46 includes a rotating shaft 461, and a connecting rope 462 for connecting the steering handle 45 and the rotating shaft 461;
the rotating shaft 461 is disposed between the front wheel set 13 and the end of the front frame tube 14, and is used for the front wheel set 13 to rotate relative to the movable bracket 1;
both ends of the connection cord 462 are wound around the rotation shaft 461 and the steering handle 45, respectively, and when the steering handle 45 rotates in a direction to wind the connection cord 462, the rotation shaft 461 rotates in a direction to unwind the connection cord 462. When the front wheel group is in the forward direction, the two ends of the connecting rope are respectively wound on the steering handle and the rotating shaft, the two tail ends of the connecting rope are respectively fixed on the steering handle and the rotating shaft, and when the steering handle is rotated, the connecting rope on the steering handle is more wound on the connecting rope, so that the rotating shaft is pulled to rotate in the direction of loosening the wound connecting rope, and the steering effect is realized.
Further, as a preferred embodiment of the present invention, but not limited thereto, the front wheel group 13 includes a left front wheel 131 and a right front wheel 132 respectively disposed at the left and right sides in front of the moving bracket 1;
the steering handle 45 includes a left steering handle 451 and a right steering handle 452;
the rotary shaft 461 includes a left rotary shaft 4611 provided on the left front wheel 131, and a right rotary shaft 4612 provided on the right front wheel 132;
the connection rope 462 includes a left connection rope 4621 having both ends wound around the left rotation shaft 4611 and the left steering handle 451, respectively, and a right connection rope 4622 having both ends wound around the right rotation shaft 4612 and the right steering handle 452, respectively;
the steering mechanism 4 further includes a synchronous steering mechanism 5 for steering the left front wheel 131 and the right front wheel 132 in the same direction;
the synchronous steering mechanism 5 includes a connection rod 51 for connecting the left and right steering handles 451, 452, the left and right connection ropes 4621, 4622 are wound in the opposite direction to the steering handle 45, and the left and right connection ropes 4621, 4622 are wound in the same direction as the rotation shaft 461. The connecting rod connects the left steering handle and the right steering handle so that the left steering handle and the right steering handle rotate together. The left side is connected the winding direction setting of rope and right side connection rope for when turning to the handle in a left side and turning to the handle syntropy rotatory, connect the rope with the right side in a left side and connect the synchronous winding of rope, realize the effect that the preceding wheelset turned to same direction.
Further, as a preferred embodiment of the present invention, but not limited thereto, the steering handle 45 is provided with a handle thread groove 453 for winding the connection cord 462. The handle thread groove is used for winding the connecting rope on the handle thread groove, so that when the connecting rope is prevented from deviating, the steering handle rotates at the same angle, the steering angle for pulling the front wheel set is the same, and the inconsistent winding length caused by the change of the winding radius is reduced.
Further, as a preferred embodiment of the present invention, but not limited thereto, a limiting rod 454 for driving the connecting rope 462 to wind is respectively disposed on the steering handle 45 and the rotating shaft 461. The limiting rod is used for driving the connecting rope to wind or loosen and wind along with the rotation of the steering handle.
Further, as a preferred embodiment of the present invention, but not limited thereto, the steering mechanism 4 further includes a return device 6 for turning the front wheel set 13 straight ahead;
the return device 6 comprises a handle return torsion spring 61 arranged between the steering handle 45 and the front frame tube 14, and a rotating shaft return torsion spring 62 arranged between the rotating shaft 461 and the front frame tube 14;
the handle return torsion spring 61 is used for jacking the handle 45 and returning to pull the front wheel set 13 to face the right front;
the rotating shaft return torsion spring 62 is used for pressing the rotating shaft 461 to return to make the front wheel set 13 face to the right front. In this embodiment, when steering handle is terminal when rotating toward being close to user's direction, connect rope one end and convolute more on steering handle, the other end then is reduced the coiling to the rotation axis by the pulling, the front wheel group turns to the right side this moment, rotation axis reset torsion spring is distorted, loosen steering handle, rotation axis reset torsion spring kick-backs, make the rotation axis increase to the coiling of connecting the rope, thereby the pulling steering handle is terminal toward keeping away from user's direction gyration, steering handle reduces the coiling to connecting the rope this moment, until steering handle supports and presses on handle reset torsion spring, hinder pivot reset torsion spring continuation kick-back this moment, the front wheel group is towards the dead ahead this moment.
When steering handle end is rotatory toward keeping away from user's direction, handle reset torsion spring is distorted, it reduces to convolute on steering handle to connect rope one end, rotation axis reset torsion spring continues to kick-back, make the rotation axis increase the coiling to connecting the rope other end, preceding wheelset turns to toward the left side this moment, loosen steering handle, handle reset torsion spring is kick-backed, steering handle end is toward being close to user's direction gyration, make steering handle increase the coiling to connecting the rope, rotation axis reset torsion spring is distorted, the rotation axis reduces the coiling to connecting the rope this moment, until preceding wheelset orientation dead ahead.
In the process, the rotating shaft reset torsion spring always keeps pressing the front wheel set towards the left steering direction, when the steering handle is pressed on the handle reset torsion spring, the front wheel set is in a balanced state, and at the moment, the front wheel set faces the dead ahead.
Further, as a preferred embodiment of the present invention, but not limited thereto, the balance and movable movement coordination platform for the exoskeleton robot further comprises a walking aid mechanism 7, wherein the walking aid mechanism 7 comprises:
a hip assembly 71 for securing to a human hip;
a thigh assembly 72 for securing to a human thigh;
a hip joint driving member 73 provided between the hip assembly 71 and the thigh assembly 72 for driving the thigh assembly 72 to swing with respect to the hip assembly 71;
a lower leg assembly 75 for securing to a human lower leg;
a knee joint driving member 75 provided between the thigh assembly 72 and the lower leg assembly 75 for driving the lower leg assembly 75 to swing relative to the thigh assembly 72;
and the walking aid control module 70 is arranged at the rear side of the hip assembly 71, is electrically connected with the hip joint driving piece 73 and the knee joint driving piece 75 respectively, and is used for driving the hip joint driving piece 73 and the knee joint driving piece 75 according to the start-stop, left-turn or right-turn instruction received by the remote control unit 43. When the left turn is performed, the motion frequency of the hip joint driving piece and the knee joint driving piece on the right side is higher than that of the hip joint driving piece and the knee joint driving piece on the left side, so that the left turn is realized. When the left-hand side rotates, the motion frequency of the hip joint driving piece and the knee joint driving piece on the left side is lower than that of the hip joint driving piece and the knee joint driving piece on the right side, and therefore left-hand rotation is achieved.
The working principle of the embodiment is as follows:
the embodiment provides a balance and movable movement coordination platform for maintaining an exoskeleton robot, wherein a patient can use a holding support to assist in standing when changing from a sitting posture to a standing posture, and then the holding support is driven to ascend through a lifting mechanism so as to assist in standing. When the exoskeleton is used for replacing a crutch to stand, the holding bracket and the moving bracket can ensure balance and safety around a patient after the hands are released. But also can adjust the moving direction of the moving support through a steering mechanism arranged on the moving support, so that the patient does not need to push the moving support to steer by extra effort, and the effect of steering easily is achieved.
The foregoing is illustrative of embodiments provided in connection with the detailed description and is not intended to limit the disclosure to the particular forms set forth herein. Similar to the structure of the method, or several technical deductions or substitutions made on the premise of the conception of the present application, should be regarded as the protection scope of the present application.

Claims (10)

1.一种用于维护外骨骼机器人平衡与可移动运动协调平台，其特征在于，包括：1. a platform for maintaining the balance of an exoskeleton robot and a movable motion coordination platform, is characterized in that, comprising: 移动支架(1)，其底部设有用于供其移动的轮组(11)；A moving bracket (1), the bottom of which is provided with a wheel group (11) for its movement; 握持支架(2)，其用于供人体手部握持着力；a holding bracket (2), which is used for the human hand to hold the force; 升降机构(3)，其设于所述移动支架(1)与所述握持支架(2)之间，并用于驱动所述握持支架(2)相对所述移动支架(1)沿竖直方向上升或下降；A lifting mechanism (3), which is arranged between the moving bracket (1) and the holding bracket (2), and is used to drive the holding bracket (2) to move vertically relative to the moving bracket (1) direction up or down; 转向机构(4)，其设于所述移动支架(1)上，并用于调节所述移动支架(1)的移动方向。A steering mechanism (4) is provided on the moving bracket (1) and used to adjust the moving direction of the moving bracket (1). 2.根据权利要求1所述的一种用于维护外骨骼机器人平衡与可移动运动协调平台，其特征在于：2. a kind of platform for maintaining balance of exoskeleton robot and movable motion coordination platform according to claim 1, is characterized in that: 所述轮组(11)包括动力轮组(12)，所述动力轮组(12)包括分别设置在所述移动支架(1)中部左右两侧的左主动轮(121)和右主动轮(122)；The wheel set (11) includes a power wheel set (12), and the power wheel set (12) includes a left driving wheel (121) and a right driving wheel (121) and a right driving wheel ( 122); 所述转向机构(4)包括设于所述移动支架(1)上并使所述左主动轮(121)转动的左旋转电机(41)，以及使所述右主动轮(122)转动的右旋转电机(42)，所述左旋转电机(41)与所述右旋转电机(42)转速相同时推动所述移动支架(1)直线移动，所述左旋转电机(41)与所述右旋转电机(42)转速不同时推动所述移动支架(1)现实差速转向。The steering mechanism (4) includes a left rotation motor (41) arranged on the moving bracket (1) and rotating the left driving wheel (121), and a right driving wheel (122) rotating the right driving wheel. A rotating motor (42), the left rotating motor (41) and the right rotating motor (42) push the moving bracket (1) to move linearly when the rotational speed is the same, and the left rotating motor (41) and the right rotating motor (41) Different rotation speeds of the motor (42) push the moving bracket (1) to realize differential steering. 3.根据权利要求2所述的一种用于维护外骨骼机器人平衡与可移动运动协调平台，其特征在于，所述转向机构(4)还包括：3. A kind of platform for maintaining balance of exoskeleton robot and movable motion coordination platform according to claim 2, characterized in that, the steering mechanism (4) further comprises: 遥控单元(43)，其用于接收用户启停、左转或右转指令；A remote control unit (43), which is used for receiving a user's start-stop, left-turn or right-turn instruction; 控制单元(44)，其与所述左旋转电机(41)和所述右旋转电机(42)电连接，并用于根据所述遥控单元(43)接收的启停、左转或右转指令从而控制所述左主动轮(121)和所述右主动轮(122)的转速和转向。a control unit (44), which is electrically connected to the left-rotating motor (41) and the right-rotating motor (42), and is used for starting/stopping, turning left or turning right according to the command received by the remote control unit (43) The rotational speed and steering of the left driving wheel (121) and the right driving wheel (122) are controlled. 4.根据权利要求1所述的一种用于维护外骨骼机器人平衡与可移动运动协调平台，其特征在于：4. a kind of platform for maintaining balance of exoskeleton robot and movable motion coordination platform according to claim 1, is characterized in that: 所述轮组(11)包括前轮组(13)；The wheel set (11) includes a front wheel set (13); 所述移动支架(1)包括前架管(14)，所述前轮组(13)设置在所述前架管(14)的端部上；The moving bracket (1) comprises a front frame tube (14), and the front wheel group (13) is arranged on the end of the front frame tube (14); 所述转向机构(4)包括与所述前架管(14)铰接的转向手柄(45)，以及设于所述转向手柄(45)与所述前轮组(13)之间的转向传动机构(46)，所述转向传动机构(46)将所述转向手柄(45)相对所述前架管(14)的旋转运动转化为使所述前轮组(13)转向的运动。The steering mechanism (4) comprises a steering handle (45) hinged with the front frame tube (14), and a steering transmission mechanism arranged between the steering handle (45) and the front wheel set (13) (46), the steering transmission mechanism (46) converts the rotational motion of the steering handle (45) relative to the front frame tube (14) into a motion for steering the front wheel set (13). 5.根据权利要求4所述的一种用于维护外骨骼机器人平衡与可移动运动协调平台，其特征在于：5. a kind of platform for maintaining balance of exoskeleton robot and movable motion coordination platform according to claim 4, is characterized in that: 所述转向传动机构(46)包括旋转轴(461)，以及用于连接所述转向手柄(45)和所述旋转轴(461)的连接绳(462)；The steering transmission mechanism (46) includes a rotating shaft (461), and a connecting rope (462) for connecting the steering handle (45) and the rotating shaft (461); 所述旋转轴(461)设于所述前轮组(13)与所述前架管(14)端部之间，并供所述前轮组(13)相对所述移动支架(1)转向；The rotating shaft (461) is arranged between the front wheel set (13) and the end of the front frame tube (14), and is used for turning the front wheel set (13) relative to the moving bracket (1). ; 所述连接绳(462)两端分别卷绕在所述旋转轴(461)和所述转向手柄(45)上，在所述转向手柄(45)往卷绕所述连接绳(462)方向旋转时所述旋转轴(461)往松开所述连接绳(462)卷绕的方向旋转。Both ends of the connecting rope (462) are respectively wound on the rotating shaft (461) and the steering handle (45), and the steering handle (45) rotates in the direction of winding the connecting rope (462). At this time, the rotating shaft (461) rotates in the direction of loosening the winding of the connecting rope (462). 6.根据权利要求5所述的一种用于维护外骨骼机器人平衡与可移动运动协调平台，其特征在于：6. a kind of platform for maintaining balance and movable motion coordination of exoskeleton robot according to claim 5, is characterized in that: 所述前轮组(13)包括分别设置在所述移动支架(1)前方左右两侧的左前轮(131)和右前轮(132)；The front wheel set (13) includes a left front wheel (131) and a right front wheel (132) respectively disposed on the left and right sides in front of the moving bracket (1); 所述转向手柄(45)包括左转向手柄(451)和右转向手柄(452)；The steering handle (45) includes a left steering handle (451) and a right steering handle (452); 所述旋转轴(461)包括设置在所述左前轮(131)上的左旋转轴(4611)，以及设置在所述右前轮(132)上的右旋转轴(4612)；The rotating shaft (461) includes a left rotating shaft (4611) disposed on the left front wheel (131), and a right rotating shaft (4612) disposed on the right front wheel (132); 所述连接绳(462)包括两端分别卷绕在所述左旋转轴(4611)和所述左转向手柄(451)上的左连接绳(4621)，以及两端分别卷绕在所述右旋转轴(4612)和所述右转向手柄(452)上的右连接绳(4622)；The connecting rope (462) includes a left connecting rope (4621) whose two ends are respectively wound on the left rotation shaft (4611) and the left steering handle (451), and the two ends are respectively wound on the right rotation the rotating shaft (4612) and the right connecting rope (4622) on the right steering handle (452); 所述转向机构(4)还包括使所述左前轮(131)和所述右前轮(132)往同一方向转向的同步转向机构(5)；The steering mechanism (4) further comprises a synchronous steering mechanism (5) for steering the left front wheel (131) and the right front wheel (132) in the same direction; 所述同步转向机构(5)包括用于连接所述左转向手柄(451)和右转向手柄(452)的连接杆(51)，所述左连接绳(4621)、所述右连接绳(4622)与所述转向手柄(45)的卷绕方向相反，所述左连接绳(4621)、所述右连接绳(4622)与所述旋转轴(461)的卷绕方向相同。The synchronous steering mechanism (5) includes a connecting rod (51) for connecting the left steering handle (451) and the right steering handle (452), the left connecting rope (4621), the right connecting rope (4622) ) is opposite to the winding direction of the steering handle (45), the left connecting rope (4621), the right connecting rope (4622) and the rotating shaft (461) are wound in the same direction. 7.根据权利要求5所述的一种用于维护外骨骼机器人平衡与可移动运动协调平台，其特征在于：所述转向手柄(45)上设有用于供所述连接绳(462)卷绕的手柄螺纹凹槽(453)。7. A platform for maintaining the balance and movable motion coordination of an exoskeleton robot according to claim 5, characterized in that: the steering handle (45) is provided with a device for winding the connecting rope (462) Handle thread groove (453). 8.根据权利要求5所述的一种用于维护外骨骼机器人平衡与可移动运动协调平台，其特征在于：所述转向手柄(45)和所述旋转轴(461)上各设有用于带动所述连接绳(462)卷绕的限位杆(454)。8. A platform for maintaining the balance and movable motion coordination of an exoskeleton robot according to claim 5, characterized in that: the steering handle (45) and the rotating shaft (461) are each provided with a device for driving A limit rod (454) around which the connecting rope (462) is wound. 9.根据权利要求5所述的一种用于维护外骨骼机器人平衡与可移动运动协调平台，其特征在于：所述转向机构(4)还包括用于使所述前轮组(13)往正前方转向的复位装置(6)；9. A platform for maintaining balance and movable motion coordination of an exoskeleton robot according to claim 5, characterized in that: the steering mechanism (4) further comprises a platform for causing the front wheel group (13) to move toward The reset device (6) for the front steering; 所述复位装置(6)包括设于所述转向手柄(45)与所述前架管(14)之间的手柄复位扭簧(61)，以及设于所述旋转轴(461)和所述前架管(14)之间的旋转轴复位扭簧(62)；The reset device (6) includes a handle reset torsion spring (61) provided between the steering handle (45) and the front frame tube (14), and a handle reset torsion spring (61) provided between the rotation shaft (461) and the front frame tube (14) a torsion spring (62) between the rotating shaft between the front frame tubes (14); 所述手柄复位扭簧(61)用于顶压所述手柄(45)复位至拉动所述前轮组(13)朝向正前方；The handle reset torsion spring (61) is used for pressing the handle (45) to reset to pull the front wheel group (13) toward the front; 旋转轴复位扭簧(62)用于顶压所述旋转轴(461)复位至使所述前轮组(13)朝向正前方。The rotating shaft return torsion spring (62) is used for pressing the rotating shaft (461) to return to make the front wheel group (13) face straight ahead. 10.根据权利要求3所述的一种用于维护外骨骼机器人平衡与可移动运动协调平台，其特征在于，所述的一种用于维护外骨骼机器人平衡与可移动运动协调平台还包括助行机构(7)，所述助行机构(7)包括：10. A platform for maintaining the balance and movable motion coordination of an exoskeleton robot according to claim 3, characterized in that the platform for maintaining the balance and movable motion coordination of an exoskeleton robot further comprises an assistant. A walking mechanism (7), the walking assistance mechanism (7) includes: 髋部组件(71)，其用于固定在人体髋部；a hip assembly (71), which is used to be fixed on the hip of a human body; 大腿组件(72)，其用于固定在人体大腿；a thigh assembly (72), which is used to be fixed on a human thigh; 髋关节驱动件(73)，其设于所述髋部组件(71)和所述大腿组件(72)之间，用于驱动所述大腿组件(72)相对所述髋部组件(71)摆动；A hip joint driving member (73) is provided between the hip assembly (71) and the thigh assembly (72), and is used for driving the thigh assembly (72) to swing relative to the hip assembly (71) ; 小腿组件(75)，其用于固定在人体小腿；A calf assembly (75), which is used to be fixed on a human calf; 膝关节驱动件(75)，其设于所述大腿组件(72)和所述小腿组件(75)之间，用于驱动所述小腿组件(75)相对所述大腿组件(72)摆动；A knee joint driving member (75), which is arranged between the thigh assembly (72) and the lower leg assembly (75), and is used for driving the lower leg assembly (75) to swing relative to the thigh assembly (72); 助行控制模组(70)，其设于所述髋部组件(71)后侧，并分别与所述髋关节驱动件(73)和所述膝关节驱动件(75)电连接，用于根据所述遥控单元(43)接收的启停、左转或右转指令从而驱动所述髋关节驱动件(73)和所述膝关节驱动件(75)。A walking assistance control module (70), which is arranged on the rear side of the hip assembly (71) and is electrically connected to the hip joint driving member (73) and the knee joint driving member (75), respectively, for use in The hip joint driving member (73) and the knee joint driving member (75) are driven according to the start-stop, left turn or right turn command received by the remote control unit (43).
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