CN113576844A - Auxiliary hanging bracket of exoskeleton robot - Google Patents

Auxiliary hanging bracket of exoskeleton robot Download PDF

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Publication number
CN113576844A
CN113576844A CN202110877771.9A CN202110877771A CN113576844A CN 113576844 A CN113576844 A CN 113576844A CN 202110877771 A CN202110877771 A CN 202110877771A CN 113576844 A CN113576844 A CN 113576844A
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telescopic
fixed
square tube
exoskeleton robot
hollow square
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王依兴
叶秀芬
陈尚泽
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Harbin Engineering University
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Harbin Engineering University
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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
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses

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  • Health & Medical Sciences (AREA)
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  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
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Abstract

本发明公开了一种外骨骼机器人辅助吊架，包括第一U型支撑架、伸缩立柱、伸缩支撑座、第二U型支撑架和两个第一扶手；第一U型支撑架包括两个支撑腿和矩形横梁；矩形横梁固定在两个相对应的支撑腿后端；每个支撑腿的底部均安装有多个沿其长度方向排布的轮子；伸缩立柱竖直固定在矩形横梁顶部中央；伸缩支撑座固定在伸缩立柱靠近顶端的前侧面上；第二U型支撑架固定在伸缩支撑座靠近底平面的前侧面上；两个第一扶手分别竖直固定在第二U型支撑架的两个延伸端部的顶平面上。本发明结构简单，便于使用，辅助吊架能够为不同身高的使用者提供行走支撑。

Figure 202110877771

The invention discloses an exoskeleton robot auxiliary hanger, comprising a first U-shaped support frame, a telescopic column, a telescopic support seat, a second U-shaped support frame and two first handrails; the first U-shaped support frame includes two Support legs and rectangular beams; the rectangular beams are fixed at the rear ends of the two corresponding support legs; the bottom of each support leg is installed with a plurality of wheels arranged along its length; the telescopic column is vertically fixed on the top center of the rectangular beam ; The telescopic support base is fixed on the front side of the telescopic column close to the top; the second U-shaped support frame is fixed on the front side of the telescopic support base close to the bottom plane; the two first handrails are respectively vertically fixed on the second U-shaped support frame on the top plane of the two extended ends. The present invention has a simple structure and is easy to use, and the auxiliary hanger can provide walking support for users of different heights.

Figure 202110877771

Description

Auxiliary hanging bracket of exoskeleton robot
Technical Field
The invention relates to the technical field of rehabilitation equipment, in particular to an auxiliary hanging bracket of an exoskeleton robot.
Background
The exoskeleton robot is used as a robot for rehabilitation or walking of the disabled with the lower limbs, and is often matched with an auxiliary hanging bracket for use in the early stage of use.
However, the conventional exoskeleton robot auxiliary hanger mainly has the following problems:
1) the structure is complex, the operation is complicated, the applicability is poor, and the popularization and the use are not facilitated;
2) the function is single, can not satisfy the demand that the walker sat.
Therefore, it is an urgent need to solve the problem of providing an exoskeleton robot auxiliary hanger convenient to use.
Disclosure of Invention
In view of the above, the invention provides an auxiliary hanging bracket for an exoskeleton robot, which is simple in structure and convenient to use, and can provide walking support for users with different heights.
In order to achieve the purpose, the invention adopts the following technical scheme:
an exoskeleton robot auxiliary hanger comprising:
the first U-shaped support frame comprises two support legs and a rectangular cross beam; the rectangular cross beam is fixed at the rear ends of the two corresponding supporting legs; the bottom of each supporting leg is provided with a plurality of wheels which are arranged along the length direction of the supporting leg;
the telescopic upright post is vertically fixed in the center of the top of the rectangular cross beam;
the telescopic supporting seat is fixed on the front side surface of the telescopic upright column close to the top end;
the second U-shaped support frame is fixed on the front side surface, close to the bottom plane, of the telescopic support seat;
the two first handrails are vertically fixed on the top planes of the two extending end parts of the second U-shaped supporting frame respectively.
By adopting the scheme, the invention has the beneficial effects that:
1) the user holds the first handrail, the second U-shaped support frame provides support for the user, auxiliary walking is realized under the action of the wheels at the bottom of the first U-shaped support frame, the whole structure is stable and reliable, and meanwhile, the handrail is greatly simplified, convenient to use and beneficial to popularization;
2) the distance between second U type support frame and the first U type support frame can be adjusted to flexible stand to be applicable to the user of different heights.
Furthermore, the telescopic upright post comprises a first hollow square tube, a second hollow square tube and an electric push rod;
the bottom end of the first hollow square tube is fixed in the center of the top of the rectangular cross beam; the second hollow square tube is sleeved on the first hollow square tube;
by power drive electric putter's shell is fixed first cavity side intraduct is close to its bottom position, electric putter's telescopic link extends the tip and fixes second cavity side pipe is close to on the inner wall on its top.
The electric push rod drives the telescopic rod to move the second hollow square tube up and down on the first hollow square tube under the telescopic action, so that the distance between the second U-shaped support frame and the first U-shaped support frame can be adjusted; meanwhile, the electric push rod is arranged inside the first hollow square tube and the second hollow square tube, so that the occupied size is reduced, and the appearance is attractive.
Furthermore, the telescopic supporting seat comprises a seat body and a telescopic plate;
the seat body is horizontally fixed on the front side surface of the second hollow square tube; the cuboid seat body is hollow inside and is provided with an opening at the front side; arc-shaped guide rails are arranged on the two corresponding side surfaces of the seat body, which are close to the top plane of the seat body;
the telescopic plate comprises a seat plate and a connecting baffle plate, and the seat plate and the connecting baffle plate are connected into a whole and have a height difference; two sides of the connecting baffle are respectively installed in the two arc-shaped guide rails through the embedding of the spherical sliding blocks.
Adopt the beneficial effect that above-mentioned further technical scheme produced to be, when the user need sit, manage down the second cavity side, take out the expansion plate in the seat, the seat slides and rotates certain angle in arc guide rail through link baffle and spheroid slider, forms the bench structure of sitting promptly, convenient to use.
Further, the height difference is equal to the thickness of the top plane of the seat body.
Further, the arc-shaped guide rail comprises a straight section and a bent section; the straight line section and the bending section are connected into a whole, and the extending end of the bending section extends to the bottom wall of the front side of the top plane of the seat body.
Adopt the beneficial effect that above-mentioned further technical scheme produced to do, adopt the beneficial effect that above-mentioned further technical scheme produced to do for the seat of taking out and the top plane parallel and level of pedestal increase and sit immediately the travelling comfort.
Furthermore, a soft cushion is laid on the top plane of the seat body.
The beneficial effect that adopts above-mentioned further technical scheme to produce is, increases the travelling comfort of sitting and standing.
Further, the first handrail is cylindrical; the outer surface of the first handrail is sleeved with a rubber sleeve.
The beneficial effect who adopts above-mentioned further technical scheme to produce does, increases frictional force, prevents the hand slip phenomenon.
Further, still include the second handrail, the second handrail is fixed in the rear side of flexible supporting seat and is extended to the rear side of flexible stand.
The beneficial effect who adopts above-mentioned further technical scheme to produce does, does benefit to other people and assists the promotion.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram illustrating a walking state of an auxiliary hanger of an exoskeleton robot according to the present invention;
fig. 2 is a schematic structural view of an auxiliary hanger of an exoskeleton robot in a sitting state, provided by the invention;
FIG. 3 is a schematic structural view of a telescopic column according to the present invention;
fig. 4 is a schematic structural view of the telescopic support seat provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-4, the embodiment of the invention discloses an exoskeleton robot auxiliary hanger, which comprises:
the first U-shaped support frame 1 is characterized in that the first U-shaped support frame 1 comprises two support legs 11 and a rectangular cross beam 12; the rectangular cross beam 12 is fixed at the rear ends of the two corresponding supporting legs 11; the bottom of each supporting leg 11 is provided with a plurality of wheels 13 which are arranged along the length direction of the supporting leg; the wheels 13 can be locked;
the telescopic upright post 2 is vertically fixed in the center of the top of the rectangular cross beam 12;
the telescopic supporting seat 3 is fixed on the front side surface of the telescopic upright post 2 close to the top end;
the second U-shaped support frame 4 is fixed on the front side surface, close to the bottom plane, of the telescopic support seat 3;
and the two first handrails 5 are respectively and vertically fixed on the top planes of the two extending end parts of the second U-shaped supporting frame 4.
When the walking assisting device is used, a user holds the first handrail 5, the second U-shaped support frame 4 provides support for the user, and walking assistance is realized under the action of the wheels 13 at the bottom of the first U-shaped support frame 1, so that the whole structure is stable and reliable, and meanwhile, the walking assisting device is greatly simplified, is convenient to use and is beneficial to popularization; and the distance between the second U-shaped support frame 4 and the first U-shaped support frame 1 can be adjusted by the telescopic upright post 2, so that the telescopic upright post is suitable for users with different heights.
Specifically, the telescopic upright post 2 comprises a first hollow square tube 21, a second hollow square tube 22 and an electric push rod 23;
the bottom end of the first hollow square tube 21 is fixed in the center of the top of the rectangular cross beam 12; the second hollow square tube 22 is sleeved on the first hollow square tube 21;
the outer shell of the electric push rod 23 driven by the power supply is fixed inside the first hollow square tube 21 near the bottom end thereof, and the extension end of the electric push rod 23 is fixed on the inner wall of the second hollow square tube 22 near the top end thereof.
Specifically, the telescopic supporting seat 3 comprises a seat body 31 and a telescopic plate 32;
the seat body 31 is horizontally fixed on the front side surface of the second hollow square tube 22; the rectangular seat body 31 is hollow and has an opening at the front side; the two corresponding side surfaces of the seat body 31 close to the top plane are provided with arc-shaped guide rails 311;
the expansion plate 32 comprises a seat plate 321 and a connecting baffle 322, wherein the seat plate 321 and the connecting baffle 322 are connected into a whole and have height difference; both sides of the connection baffle 322 are respectively installed in the two arc guide rails 311 through the ball slider 323 in an embedded manner.
Specifically, the height difference is equal to the thickness of the top plane of the seat body 31.
Specifically, the arc-shaped guide rail 311 comprises a straight section and a curved section; the straight line section and the bending section are connected into a whole, and the extending end of the bending section extends to the bottom wall of the front side of the top plane of the seat body 31.
Specifically, a cushion is laid on the top plane of the seat body 31.
Specifically, the first handrail 5 is cylindrical; the outer surface of the first handrail 5 is sleeved with a rubber sleeve 6.
Specifically, the telescopic upright post further comprises a second handrail 7, wherein the second handrail 7 is fixed on the rear side of the telescopic support base 3 and extends to the rear side of the telescopic upright post 2.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (8)

1.一种外骨骼机器人辅助吊架，其特征在于，包括：1. an exoskeleton robot auxiliary hanger, is characterized in that, comprises: 第一U型支撑架，所述第一U型支撑架包括两个支撑腿和矩形横梁；所述矩形横梁固定在两个相对应的所述支撑腿后端；每个所述支撑腿的底部均安装有多个沿其长度方向排布的轮子；a first U-shaped support frame, the first U-shaped support frame includes two support legs and a rectangular beam; the rectangular beam is fixed at the rear ends of the two corresponding support legs; the bottom of each of the support legs Each is equipped with a plurality of wheels arranged along its length; 伸缩立柱，所述伸缩立柱竖直固定在所述矩形横梁顶部中央；a telescopic column, which is vertically fixed in the center of the top of the rectangular beam; 伸缩支撑座，所述伸缩支撑座固定在所述伸缩立柱靠近顶端的前侧面上；a telescopic support seat, the telescopic support seat is fixed on the front side of the telescopic column close to the top; 第二U型支撑架，所述第二U型支撑架固定在所述伸缩支撑座靠近底平面的前侧面上；a second U-shaped support frame, the second U-shaped support frame is fixed on the front side surface of the telescopic support base close to the bottom plane; 两个第一扶手，两个所述第一扶手分别竖直固定在所述第二U型支撑架的两个延伸端部的顶平面上。Two first handrails, the two first handrails are respectively vertically fixed on the top planes of the two extending ends of the second U-shaped support frame. 2.根据权利要求1所述的一种外骨骼机器人辅助吊架，其特征在于，所述伸缩立柱包括第一中空方管、第二中空方管和电动推杆；2. The exoskeleton robot auxiliary hanger according to claim 1, wherein the telescopic column comprises a first hollow square tube, a second hollow square tube and an electric push rod; 所述第一中空方管底端固定在所述矩形横梁顶部中央；所述第二中空方管套合于所述第一中空方管；The bottom end of the first hollow square tube is fixed at the center of the top of the rectangular beam; the second hollow square tube is sleeved on the first hollow square tube; 由电源驱动的所述电动推杆的外壳固定在所述第一中空方管内部靠近其底端位置，所述电动推杆的伸缩杆延伸端部固定在所述第二中空方管靠近其顶端的内壁上。The casing of the electric push rod driven by the power supply is fixed inside the first hollow square tube near its bottom end, and the extension end of the telescopic rod of the electric push rod is fixed on the second hollow square tube near its top end on the inner wall. 3.根据权利要求2所述的一种外骨骼机器人辅助吊架，其特征在于，所述伸缩支撑座包括座体和伸缩板；3. The exoskeleton robot auxiliary hanger according to claim 2, wherein the telescopic support base comprises a base body and a telescopic plate; 所述座体水平固定在所述第二中空方管的前侧面上；呈长方体状的所述座体内部中空且前侧具有开口；所述座体内部靠近其顶平面的相对应的两侧面均具有弧形导轨；The seat body is horizontally fixed on the front side of the second hollow square tube; the seat body in the shape of a cuboid is hollow inside and has an opening on the front side; the inside of the seat body is close to the corresponding two sides of its top plane All have curved guide rails; 所述伸缩板包括坐板和连接挡板，所述坐板和所述连接挡板连接为一体且具有高度差；所述连接挡板的两侧分别通过球体滑块嵌合安装在两个所述弧形导轨内。The telescopic plate includes a seat plate and a connection baffle, the seat plate and the connection baffle are connected as a whole and have a height difference; inside the arc guide. 4.根据权利要求3所述的一种外骨骼机器人辅助吊架，其特征在于，所述高度差与所述座体的顶平面厚度相等。4 . The auxiliary hanger for an exoskeleton robot according to claim 3 , wherein the height difference is equal to the thickness of the top plane of the base. 5 . 5.根据权利要求3所述的一种外骨骼机器人辅助吊架，其特征在于，所述弧形导轨包括直线段和弯曲段；所述直线段和所述弯曲段衔接为一体，并且所述弯曲段延伸端延伸至所述座体的顶平面前侧的底壁上。5 . The auxiliary hanger for an exoskeleton robot according to claim 3 , wherein the arc guide rail comprises a straight section and a curved section; the straight section and the curved section are integrated into one, and the The extension end of the curved section extends to the bottom wall of the front side of the top plane of the base body. 6.根据权利要求3所述的一种外骨骼机器人辅助吊架，其特征在于，所述座体的顶平面铺设有软垫。6 . The auxiliary hanger for an exoskeleton robot according to claim 3 , wherein the top plane of the base body is covered with a soft pad. 7 . 7.根据权利要求1-6任一项所述的一种外骨骼机器人辅助吊架，其特征在于，所述第一扶手呈圆柱状；所述第一扶手的外表面套合有橡胶套。7 . The auxiliary hanger for an exoskeleton robot according to claim 1 , wherein the first handrail is cylindrical, and a rubber sleeve is sleeved on the outer surface of the first handrail. 8 . 8.根据权利要求1所述的一种外骨骼机器人辅助吊架，其特征在于，还包括第二扶手，所述第二扶手固定在所述伸缩支撑座的后侧且延伸至所述伸缩立柱的后侧。8 . The auxiliary hanger for an exoskeleton robot according to claim 1 , further comprising a second handrail, the second handrail is fixed on the rear side of the telescopic support base and extends to the telescopic column. 9 . rear side.
CN202110877771.9A 2021-08-01 2021-08-01 Auxiliary hanging bracket of exoskeleton robot Pending CN113576844A (en)

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CN110916988A (en) * 2019-12-10 2020-03-27 山东建筑大学 Electric walking aid
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CN212090164U (en) * 2019-12-05 2020-12-08 上海普协医疗科技有限公司 Rehabilitation department is with supplementary running gear
CN112315752A (en) * 2020-11-11 2021-02-05 杭州程天科技发展有限公司 Multifunctional passive following hanging bracket
CN112494287A (en) * 2021-02-03 2021-03-16 杭州程天科技发展有限公司 Follow-up hanging bracket

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5320122A (en) * 1991-07-03 1994-06-14 II Julius H. Jacobson Combined walker and wheelchair
US20020121755A1 (en) * 1995-12-14 2002-09-05 Ultimate Support Systems, Inc. Omni- directional weight-bearing support assistive device
CN202459981U (en) * 2012-02-28 2012-10-03 国家康复辅具研究中心 Body weight support device for lower limb gait training
US20150297439A1 (en) * 2013-08-08 2015-10-22 Robert J. Karlovich Mobility Assistance Device
CN103622794A (en) * 2013-12-17 2014-03-12 哈尔滨工程大学 Supporting seat type waist rehabilitation trainer
GB201509098D0 (en) * 2015-05-28 2015-07-08 Meiban Int Pte Ltd Smart elderly walker
CN206641620U (en) * 2016-12-22 2017-11-17 咸阳师范学院 A kind of office chair of adjustable seat plate
CN209203968U (en) * 2018-02-05 2019-08-06 鲍欢 A kind of medical multifunctional walk helper
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CN111437154A (en) * 2020-05-06 2020-07-24 合肥辩日医疗科技有限公司 A weight loss walking device
CN112315752A (en) * 2020-11-11 2021-02-05 杭州程天科技发展有限公司 Multifunctional passive following hanging bracket
CN112494287A (en) * 2021-02-03 2021-03-16 杭州程天科技发展有限公司 Follow-up hanging bracket

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Application publication date: 20211102