CN113041107A - Rehabilitation walking-aid robot - Google Patents
Rehabilitation walking-aid robot Download PDFInfo
- Publication number
- CN113041107A CN113041107A CN201911377162.6A CN201911377162A CN113041107A CN 113041107 A CN113041107 A CN 113041107A CN 201911377162 A CN201911377162 A CN 201911377162A CN 113041107 A CN113041107 A CN 113041107A
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- vehicle body
- body bottom
- rehabilitation walker
- adjusting
- robot according
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- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims abstract description 18
- 230000000903 blocking effect Effects 0.000 claims abstract description 10
- 229910052757 nitrogen Inorganic materials 0.000 claims abstract description 9
- 239000012528 membrane Substances 0.000 claims description 8
- 239000000725 suspension Substances 0.000 claims description 7
- 238000000034 method Methods 0.000 description 5
- 206010063659 Aversion Diseases 0.000 description 4
- 230000000474 nursing effect Effects 0.000 description 4
- 230000032683 aging Effects 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000001012 protector Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- 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
-
- 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
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
-
- 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
- A61G5/10—Parts, details or accessories
- A61G5/14—Standing-up or sitting-down aids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/006—Appliances for aiding patients or disabled persons to walk about with forearm rests, i.e. for non-used arms
-
- 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
- A61H2003/046—Wheeled walking aids for patients or disabled persons with braking means
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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
The application relates to the technical field of robots, and provides a rehabilitation walking-aid robot which comprises a U-shaped vehicle body bottom structure, wherein two vertical 7-shaped supporting rods are symmetrically arranged on the U-shaped vehicle body bottom structure, and the 7-shaped supporting rods are movably connected with the vehicle body bottom structure; the other end of the nitrogen spring is connected with the armrest structure and used for adjusting the position of the armrest structure, and the other end of the rotary cylinder is connected to the vehicle body bottom structure and used for adjusting the angular position relationship between the support rod and the vehicle body bottom structure; a lifting electric cylinder adjusting device is arranged between the two vertical supporting rods in parallel and is used for adjusting the height of the handrail structure; an intermediate connecting structure is transversely arranged between the two vertical supporting rods, and a leg blocking structure which can move to different positions is arranged below the intermediate connecting structure.
Description
Technical Field
The application relates to the technical field of robots, in particular to a rehabilitation walking-aid robot.
Background
In recent years, as the aging progress of the world population is increasing, the number of aging population is increasing rapidly, so that the problem of aging becomes a hot spot of social attention. However, due to the serious shortage of the traditional family endowment concept and the number of social public welfare endowment homes, the supporting facilities of the private endowment homes are good, but the admission price is high, so that most families still choose to mainly nourish the old at home at present. In view of the current situation, young people use more main energy for work, and family old people only care for the old people or engage nursing staff, so that the workload of the nursing staff is increased, meanwhile, the nursing staff cannot obtain certain rehabilitation training, and as a result, the physical function is gradually reduced, and the health state is deteriorated. Once the caretaker is over-weighted, the risk of user injury during the care process increases. Therefore, it will become a necessary trend to develop and produce a robot system that can assist the elderly in walking training and moving and shifting. At present, devices for improving the walking training and moving of the old mainly comprise pure moving devices, wheeled walking aids, electromechanical integrated walking aids and the like, and although the walking aids have certain walking training aids and moving functions, the walking aids have single functions and higher cost, so that the walking aids have certain limitations.
Disclosure of Invention
In view of this, the embodiment of the present application provides a rehabilitation walking-aid robot, so as to solve the problems of single function, high cost and large limitation of the rehabilitation robot in the prior art.
The utility model provides a recovered walking aid robot that helps is provided of this application embodiment includes: the U-shaped bottom structure of the vehicle body is symmetrically provided with two vertical support rods, and the support rods are movably connected with the bottom structure of the vehicle body; the front ends of four corners of the bottom of the structure at the bottom of the vehicle body are provided with two universal wheels, the rear ends of the four corners of the bottom of the vehicle body are provided with two suspension wheels, and the middle of the two suspension wheels is provided with a pedal;
the middle part of the supporting rod is provided with a connecting piece for connecting a nitrogen spring and a rotary cylinder, the other end of the nitrogen spring is connected with the armrest structure and used for adjusting the position of the armrest structure, and the other end of the rotary cylinder is connected to the vehicle body bottom structure and used for adjusting the angular position relation between the supporting rod and the vehicle body bottom structure;
a lifting electric cylinder adjusting device is arranged between the two vertical supporting rods in parallel and is used for adjusting the height of the handrail structure;
an intermediate connecting structure is transversely arranged between the two vertical supporting rods, and a leg blocking structure which can move to different positions is arranged below the intermediate connecting structure.
Preferably, when the rehabilitation walking aid robot is used for walking training, the pedals are hung on the hooks of the middle connecting structure; the leg shield structure is retracted to an extreme position.
Preferably, the middle portion of the armrest structure is further provided with a display panel for driving the rotary cylinder.
Preferably, one end of the lifting electric cylinder adjusting device close to the handrail structure is provided with a control handle for driving the lifting electric cylinder.
Preferably, when the rehabilitation walking aid robot is used for walking training, the pedals are hung on the bottom structure of the vehicle body and used for being stepped by feet of a user, and the leg blocking structure extends to the limit position and blocks the legs of the user.
Preferably, the rehabilitation walking aid robot further comprises a rear wheel angle adjusting structure for adjusting the angle of the wheels when the rehabilitation walking aid robot encounters an obstacle during walking so as to reduce the turning radius.
Preferably, the rehabilitation walking aid robot further comprises suspension wheels for ensuring that the rear power output wheels can maintain a grounding state when the cross-region shallow pit.
Preferably, the inter-connecting structure is provided with a controller for performing control functions of all electrical components of the robot.
Preferably, the display panel is composed of a toggle switch, an emergency stop switch, a display screen, a panel shell and a membrane key.
Preferably, the membrane key is used for controlling the lifting of the rotary cylinder.
The application provides a but recovered automobile body height and handrail angle of helping hand robot, the user can set up the recovered help of walking parameter and the equipment of aversion according to self situation simultaneously, not only can help the user quick convenient excessively to upright walking gesture from sitting the gesture, but also possess the aversion function, can remove the user from a position and move to another position, the user also can be according to the condition of self simultaneously, set up helping hand in the walking, resistance and velocity value, better help user walking training, help the user to obtain good recovered effect on the at utmost.
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 embodiments or the prior art descriptions will be briefly described 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 inventive exercise.
FIG. 1 is an overall block diagram of a rehabilitation walker robot provided by the present application;
FIG. 2 is a side view of the rehabilitation walker robot according to the present application;
FIG. 3 is a schematic diagram of a user standing up during walking training according to an embodiment of the present application;
FIG. 4 is a schematic view of a user standing up while the rehabilitation walker robot is being moved according to an embodiment of the present application;
fig. 5 is a schematic view of an overall structure of a display panel according to an embodiment of the present application.
The device comprises a handrail structure 1, a nitrogen spring 2, a middle connecting structure 3, a leg blocking structure 4, a rotary electric cylinder 5, a vehicle body bottom structure 6, a rear wheel angle adjusting 7, a suspended wheel 8, a universal wheel 9, a pedal structure 10, a lifting electric cylinder 11, a handle 12, a main controller 13, a control handle 14, a display panel 15, a toggle switch 16, an emergency stop switch 17, a display screen 18, a panel shell 19 and a membrane key 20.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
As shown in fig. 1-5, the present application provides a rehabilitation walker robot comprising: the U-shaped vehicle body bottom structure 6 is symmetrically provided with two vertical 7-shaped support rods, and the 7-shaped support rods are movably connected with the vehicle body bottom structure 6; the handrail structure 1 with two handles 12 is transversely arranged on the supporting rod, two universal wheels 9 are arranged at the front ends of four corners of the bottom of the vehicle body bottom structure 6, two suspension wheels 8 are arranged at the rear ends of the four corners of the bottom of the vehicle body bottom structure, and a pedal 10 is arranged in the middle of the bottom of the vehicle body bottom structure; the middle part of the supporting rod is provided with a connecting piece for connecting the nitrogen spring 2 and the rotary cylinder 5, the other end of the nitrogen spring 2 is connected with the armrest structure 1 and used for adjusting the position of the armrest structure 1, and the other end of the rotary cylinder 5 is connected to the vehicle body bottom structure 6 and used for adjusting the angular position relation between the supporting rod and the vehicle body bottom structure 6; a lifting electric cylinder adjusting device 11 is arranged between the two vertical supporting rods in parallel and used for adjusting the height of the handrail structure 1; an intermediate connecting structure 3 is transversely arranged between the two vertical supporting rods, and a leg blocking structure 4 which can move to different positions is arranged below the intermediate connecting structure 3.
Specifically, as shown in fig. 1, the overall structure of the present invention mainly comprises an armrest structure 1, a nitrogen spring 2, an intermediate connection structure 3, a leg blocking structure 4, a rotary electric cylinder 5, a vehicle underbody structure 6, a rear wheel angle adjustment 7, a suspended wheel 8, a universal wheel 9, a pedal structure 10, a lifting electric cylinder 11, a handle 12, a main controller 13, a control handle 14, and a display panel 15. The working principle is as follows: as shown in fig. 3, during walking training, the pedal structure 10 needs to be retracted to be hooked on the hook of the intermediate connecting structure 3, and the leg-blocking structure 4 is retracted to a minimum position. Before walking training, a user generally sits on a bedside or a wheelchair, the device is pushed over at the moment, the rotary electric cylinder 5 is operated to adjust the armrest angle to a proper position, the lifting electric cylinder 11 is operated to a proper height, the user wears protective equipment, the user holds the handle 12 with both hands at the moment, the user can operate keys on the display panel 15 or operate the control handle 14 by a nursing staff to respectively drive the rotary electric cylinder 5 and the lifting electric cylinder 11 to assist the user to a standing state and a proper height, the opening and closing angles of the left panel and the right panel of the armrest structure 1 can be adjusted according to the body shape of the user, the user can reach a comfortable state, and the user can hold the handle 12 with both hands at the same time to perform walking rehabilitation training. In the walking process, the vehicle body can provide certain assistance for a user according to parameter values set by the user, the fatigue feeling during walking is reduced, and meanwhile, when the walking speed of the user exceeds the currently set speed, the vehicle body can provide certain resistance, so that the vehicle body is prevented from being too fast, and unsafe risks are increased.
As shown in fig. 4, when the user moves, the pedal structure 10 needs to be hung on the underbody structure 6, the leg blocking structure 4 extends to the maximum position and just blocks the leg of the user, the user operates the rotary electric cylinder 5 to assist the user from the sitting state to the standing state after wearing the protector, the armrest is adjusted to a height comfortable for the user by operating the lifting electric cylinder 11, and the caregiver pushes the device to another place to move the user. In the moving process, the angle adjustment 7 of the rear wheel of the equipment can rotate by 90 degrees left and right after colliding with an obstacle, so that the turning radius of the equipment is reduced, and the equipment is more beneficial to being used in a narrow space. Meanwhile, for a part of users lying in bed for a long time, the device can keep a standing state after the users are assisted to the standing state from a sitting state, so that muscular tissues of the body are prevented from being atrophied, and timely standing is beneficial to rehabilitation of body functions, so that the device has the function of assisting standing.
As shown in fig. 5, the display panel 15 is composed of a toggle switch 16, an emergency stop switch 17, a display screen 18, a panel housing 19, a membrane key 20, and the like. When a user needs to set walking parameters, the user needs to first push the toggle switch 16 to the parking position, then operate the keys on the membrane keys 20, press the menu to switch the speed, the power and the resistance on the display screen 18, and then operate the increase and decrease keys to adjust the parameter values. Meanwhile, a user can operate the 'ascending and descending' key on the membrane key 20 to drive the rotary electric cylinder 5 and operate the 'ascending and descending' key to drive the ascending and descending electric cylinder 11, and in an emergency state, the user can press the emergency stop switch 17 to emergently stop the equipment.
The application provides a but recovered automobile body height and handrail angle of helping hand robot, the user can set up the recovered help of walking parameter and the equipment of aversion according to self situation simultaneously, not only can help the user quick convenient excessively to upright walking gesture from sitting the gesture, but also possess the aversion function, can remove the user from a position and move to another position, the user also can be according to the condition of self simultaneously, set up helping hand in the walking, resistance and velocity value, better help user walking training, help the user to obtain good recovered effect on the at utmost.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A rehabilitation walker robot, comprising: the U-shaped vehicle body bottom structure (6) is symmetrically provided with two vertical 7-shaped supporting rods, and the 7-shaped supporting rods are movably connected with the vehicle body bottom structure (6); the handrail structure (1) with two handles (12) is transversely arranged on the supporting rod, two universal wheels (9) are arranged at the front ends of four corners of the bottom of the vehicle body bottom structure (6), two suspension wheels (8) are arranged at the rear ends of the four corners of the bottom of the vehicle body bottom structure, and a pedal (10) is arranged in the middle of the two suspension wheels;
the middle part of the supporting rod is provided with a connecting piece for connecting the nitrogen spring (2) and the rotary cylinder (5), the other end of the nitrogen spring (2) is connected with the handrail structure (1) and used for adjusting the position of the handrail structure (1), and the other end of the rotary cylinder (5) is connected to the vehicle body bottom structure (6) and used for adjusting the angle position relation between the supporting rod and the vehicle body bottom structure (6);
a lifting electric cylinder adjusting device (11) is arranged between the two vertical supporting rods in parallel and is used for adjusting the height of the handrail structure (1);
an intermediate connecting structure (3) is transversely arranged between the two vertical supporting rods, and a leg blocking structure (4) which can move to different positions is arranged below the intermediate connecting structure (3).
2. A rehabilitation walker robot according to claim 1, characterized in that the pedals (10) are hooked on the hooks of the intermediate connection structure (3) when the rehabilitation walker robot is used for walking training; the leg blocking structure (4) is retracted to the extreme position.
3. A rehabilitation walker robot according to claim 2, characterised in that the middle part of the handrail structure (1) is also provided with a display panel (15) for driving the rotary cylinder (5).
4. A rehabilitation walker robot according to claim 3, characterised in that the end of the electric cylinder adjustment device (11) close to the armrest structure (1) is provided with a control handle (14) for driving the electric cylinder.
5. The rehabilitation walker robot according to claim 1, wherein the pedals (10) are hung on the underbody structure (6) for the user to step on with both feet, the leg blocking structure (4) being extended to the extreme position to block the user's legs when the rehabilitation walker robot is used for walking training.
6. A rehabilitation walker robot according to claim 1, further comprising a rear wheel angle adjustment structure (7) for adjusting the angle of the wheels to reduce the turning radius when the rehabilitation walker robot encounters an obstacle during walking.
7. A rehabilitation walker robot according to claim 1, further comprising suspension wheels (8) for ensuring that the rear power take-off wheels are able to maintain ground contact when the cross-country shallow pit.
8. A rehabilitation walker robot according to claim 1, characterised in that the intermediate connection structure (3) is provided with a controller (13) for performing the control functions of all the electrical components of the robot.
9. A rehabilitation walker robot according to claim 3, characterized in that the display panel (15) consists of toggle switches (16), emergency stop switches (17), a display screen (18), a panel housing (19) and membrane keys (20).
10. A rehabilitation walker robot according to claim 9, characterized in that the membrane keys (20) are used to control the elevation of the rotary cylinder (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911377162.6A CN113041107A (en) | 2019-12-27 | 2019-12-27 | Rehabilitation walking-aid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911377162.6A CN113041107A (en) | 2019-12-27 | 2019-12-27 | Rehabilitation walking-aid robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113041107A true CN113041107A (en) | 2021-06-29 |
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ID=76506309
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911377162.6A Pending CN113041107A (en) | 2019-12-27 | 2019-12-27 | Rehabilitation walking-aid robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113041107A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101803988A (en) * | 2010-04-14 | 2010-08-18 | 华中科技大学 | Multifunctional intelligent rehabilitation robot for assisting stand and walk |
| CN104146852A (en) * | 2014-08-22 | 2014-11-19 | 刘聪 | Automatic-assisting walking aiding vehicle device |
| CN109984923A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | A kind of walk supporting device |
| CN109984892A (en) * | 2019-05-06 | 2019-07-09 | 天津科技大学 | Tip-up seat in multifunctional room |
-
2019
- 2019-12-27 CN CN201911377162.6A patent/CN113041107A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101803988A (en) * | 2010-04-14 | 2010-08-18 | 华中科技大学 | Multifunctional intelligent rehabilitation robot for assisting stand and walk |
| CN104146852A (en) * | 2014-08-22 | 2014-11-19 | 刘聪 | Automatic-assisting walking aiding vehicle device |
| CN109984923A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | A kind of walk supporting device |
| CN109984892A (en) * | 2019-05-06 | 2019-07-09 | 天津科技大学 | Tip-up seat in multifunctional room |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210629 |
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| RJ01 | Rejection of invention patent application after publication |