CN115252380B - A kind of allosteric behavior-assisting robot - Google Patents
A kind of allosteric behavior-assisting robot Download PDFInfo
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- CN115252380B CN115252380B CN202210960506.1A CN202210960506A CN115252380B CN 115252380 B CN115252380 B CN 115252380B CN 202210960506 A CN202210960506 A CN 202210960506A CN 115252380 B CN115252380 B CN 115252380B
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
- A61G5/045—Rear wheel drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61G5/08—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable
-
- 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
-
- 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
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
- A61G5/127—Rests specially adapted therefor, e.g. for the head or the feet for lower legs
-
- 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
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
- A61G5/128—Rests specially adapted therefor, e.g. for the head or the feet for feet
-
- 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
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- 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
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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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 invention relates to the field of behavior-assisted robots, in particular to an allosteric behavior-assisted robot. The wheelchair comprises a waist, thighs, lower legs and feet which are sequentially connected, wherein the waist is provided with a control box, the rear sides of the thighs and the lower legs are provided with an allosteric support mechanism, the allosteric support mechanism comprises a thighs support module, a lower leg support module and a wheel type travel module, the thighs support module is arranged on the thighs, the lower leg support module is arranged on the lower legs, the upper end of the wheel type travel module is hinged with the thighs support module, the rear sides of the lower leg support module and the upper end of the thighs support module are hinged with the lower end of the lower leg support module, and the control box controls the allosteric support mechanism to switch between a standing mode and a wheelchair mode. The robot exoskeleton robot has the advantages that the robot exoskeleton state, the support state and the wheelchair state are mutually converted through mechanism deformation and recombination, and the auxiliary walking function, the auxiliary sitting function and the wheel type riding instead function are integrated.
Description
Technical Field
The invention relates to the technical field of behavior-assisted robots, in particular to an allosteric behavior-assisted robot.
Background
Patients with dyskinesia, especially lower limb dyskinesia, caused by aging, diseases, accidental injury, etc., can not only influence the daily walking function, but also cause complications such as viscera hypofunction, muscular atrophy, bedsore, constipation, etc. after long-term braking. Clinical medicine shows that if people with disabled lower limbs or weak energy can timely stand and even walk simply, the people can promote the neural tissue function to compensate or reorganize, coordinate joint muscle groups, improve the exercise capacity and improve and even restore the walking function. And proper amount of exercise can greatly improve physical and mental health, effectively reduce depression, pessimism and other phenomena, and improve sleep quality. Therefore, how to assist a patient in restoring standing walking ability is an important content of clinical rehabilitation.
Currently, lower limb rehabilitation robots are widely studied at home and abroad, wherein the wearable lower limb exoskeleton robots are most widely applied at present and mainly aim at realizing the functions of assisting walking and rehabilitation training. However, in view of the daily life requirement of the user, the user needs to provide a movement function under a sitting posture, and meanwhile, the human body needs to support the lower limb strength in the sitting process, so that the patient with lower limb movement dysfunction is difficult to achieve, additional assistance is needed, and the auxiliary sitting function and the wheel-type riding instead function are also very important for the user. Therefore, it is urgent to develop a wearable multifunctional behavior-assisting robot capable of carrying a user to move out, support to stand, assist in walking, and reducing its own weight as much as possible through mechanism deformation and reorganization.
Disclosure of Invention
Aiming at the problems, the invention aims to provide an allosteric behavior auxiliary robot for patients with lower limb dyskinesia, solve the problem that the lower limb rehabilitation robot and wheel type substitution equipment are relatively independent in the existing rehabilitation training mode, and integrate the auxiliary walking function, the auxiliary sitting function and the wheel type substitution function into a whole.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
The invention provides an allosteric behavior auxiliary robot which comprises a waist, thighs, calves and feet which are connected in sequence, wherein a control box is arranged at the rear side of the waist, an allosteric support mechanism is arranged at the rear side of the thighs and the calves, and the control box controls the allosteric support mechanism to switch between a standing mode and a wheelchair mode.
The variable-structure supporting mechanism comprises a thigh supporting module, a shank supporting module and a wheel-type substitution module which are sequentially hinged end to end, wherein the thigh supporting module is arranged on the rear side of the thigh, the shank supporting module is arranged on the rear side of the shank, the upper end of the shank supporting module is hinged with the thigh supporting module, and the wheel-type substitution module is arranged on the rear side of the thigh supporting module and the shank supporting module and is hinged with the upper end of the thigh supporting module and the lower end of the shank supporting module.
The thigh support module comprises a thigh support connecting rod, a thigh support rod and a linear push rod motor I, wherein one end of the thigh support connecting rod is hinged with the upper end of the thigh, and the other end of the thigh support connecting rod is provided with a waist-shaped groove along the length direction, and the waist-shaped groove is in sliding connection with the upper end of the thigh support rod;
The lower leg supporting module comprises a lower leg baffle, a lower leg supporting rod and a linear push rod motor II, wherein the lower leg supporting rod is connected with the lower leg through the lower leg baffle, and the upper end of the lower leg supporting rod is hinged with the lower end of the thigh supporting rod;
The tail part of the linear push rod motor I is hinged on the lower leg supporting rod, and the output end of the linear push rod motor I is hinged with the thigh supporting rod;
the wheel type riding instead of walk module comprises a telescopic supporting rod, a wheel rod, a front universal wheel and a rear driving wheel, wherein one end of the telescopic supporting rod is hinged to the upper end of the thigh supporting rod, the other end of the telescopic supporting rod is hinged to one end of the wheel rod, the other end of the wheel rod is hinged to the lower end of the shank supporting rod, and the front universal wheel 27 and the rear driving wheel 28 are mounted on the wheel rod;
the tail part of the linear push rod motor II is hinged on the shank support rod, and the output end is hinged with the wheel rod.
The thigh support rod comprises a thigh support bottom rod, a slide block guide rail, a slide block, a screw rod and an adjusting nut, wherein the slide block guide rail is arranged on the thigh support bottom rod, the slide block is in sliding connection with the slide block guide rail, a notch is arranged on the side surface of the thigh support bottom rod, the screw rod is accommodated in the notch and connected with the slide block, and the adjusting nut is in threaded connection with the screw rod and is used for locking the screw rod;
the output end of the linear push rod motor I is hinged with the sliding block.
The waist comprises a back plate, a hip joint connecting plate and a waist binding belt, wherein the hip joint connecting plate is arranged on the front side of the back plate, the waist binding belt is arranged on the front side of the hip joint connecting plate, and the control box is arranged on the rear side of the back plate.
The thigh comprises a hip joint, a thigh rod, a knee joint and thigh binding bands, wherein the upper end and the lower end of the thigh rod are respectively connected with the hip joint and the knee joint, the hip joint is connected with the hip joint connecting plate, the length of the thigh rod is adjustable, and one or two groups of thigh binding bands are arranged on the front side of the thigh rod.
The hip joint comprises a hip joint motor fixing shell, a hip joint motor, a hip joint harmonic reducer and a hip joint multi-turn absolute encoder, wherein the hip joint motor fixing shell is fixed on the hip joint connecting plate, the hip joint harmonic reducer is arranged on the hip joint motor fixing shell, the input end of the hip joint harmonic reducer is connected with the hip joint motor, and the hip joint multi-turn absolute encoder is arranged on the hip joint motor;
The thigh rod comprises a connecting rod adapter, a connecting rod compressing connecting piece, a sliding bush, a thigh outer connecting rod, a thigh inner connecting rod, a locking ring and a quick fastening handle, wherein the connecting rod adapter is connected with the output end of the hip joint harmonic reducer, the upper part of the connecting rod compressing connecting piece is arranged on a shell of the hip joint motor through the sliding bush, the connecting rod adapter and the connecting rod compressing connecting piece compress the upper end of the thigh outer connecting rod and are fixed, the upper end of the thigh inner connecting rod is spliced and matched with the lower end of the thigh outer connecting rod in a sliding mode, the locking ring is sleeved at the lower end of the thigh outer connecting rod and is used for locking the thigh outer connecting rod and the thigh inner connecting rod, and the locking ring is provided with the quick fastening handle.
The knee joint comprises a knee joint motor fixing shell, a knee joint motor, a knee joint harmonic reducer and a knee joint multi-turn absolute encoder, wherein the knee joint motor fixing shell is connected with the thigh inner connecting rod, the knee joint harmonic reducer is arranged on the knee joint motor fixing shell, the input end of the knee joint harmonic reducer is connected with the knee joint motor, and the knee joint multi-turn absolute encoder is arranged on the knee joint motor;
The output end of the knee joint harmonic reducer is connected with the lower leg.
The shank comprises a shank rod and an ankle joint, wherein the upper end of the shank rod is connected with the knee joint, and the lower end of the shank rod is connected with the ankle joint.
The foot comprises a pedal adapter, a pedal and foot binding bands, wherein the pedal adapter is fixed on the pedal and is connected with the ankle joint, and one or two groups of foot binding bands are arranged on the upper surface of the pedal.
The invention has the advantages and positive effects that:
1. The invention realizes the transformation of the configuration through the deformation and the recombination of the allosteric support mechanism, and is used as a wearable device for assisting a user to complete walking, sitting up and quick travel, thereby meeting the daily use requirements of patients with lower limb dyskinesia.
2. The thigh and shank support module is positioned on the sagittal center plane of the leg, can provide a reliable support function to assist a user to complete sitting-standing conversion, and the linear motor I can support the sliding end of the shank support rod and the shank of the user to a certain height after the user completes standing posture conversion to sitting posture, so that the foot pedal is separated from the ground, and wheeled movement is facilitated.
3. The waist part of the robot is designed with adjustable width, the leg parts are designed with adjustable rod length, and the robot can be conveniently and quickly adjusted for users with different heights and weights so as to adapt to the waist width, the thigh and the leg length of different users, and the center of each joint of the robot corresponds to the leg joint of a human body.
4. The invention has novel structure and reasonable design, and the whole body is mostly made of aluminum alloy, so that the whole weight of the robot can be reduced.
Drawings
FIG. 1 is a schematic illustration of the structure of the present invention in an exoskeleton state;
FIG. 2 is a schematic view of the structure of the present invention in a stand-up state;
FIG. 3 is a schematic view of the wheelchair of the present invention;
FIG. 4 is a schematic view of the thigh in the present invention;
FIG. 5 is a schematic view showing the structure of the thigh support bar according to the present invention;
In the figure: 1 is waist, 2 is control box, 3 is thigh, 4 is shank, 5 is thigh supporting module, 6 is shank supporting module, 7 is wheeled substitution module, 8 is foot, 9 is backplate, 10 is hip joint connecting plate, 11 is waist bandage, 12 is hip joint, 12-1 is hip joint motor fixing shell, 12-2 is hip joint motor, 12-3 is hip joint harmonic reducer, 12-4 is hip joint multi-ring absolute value encoder, 12-5 is hip joint shell, 13 is thigh pole, 13-1 is connecting rod adapter, 13-2 is connecting rod compressing connector, 13-3 is sliding bush, 13-4 is thigh outer connecting rod, 13-5 is thigh inner connecting rod, 13-6 is locking ring, 13-7 is quick fastening handle, 14 is knee joint, 14-1 is knee joint motor fixing shell, 14-2 is knee joint motor, 14-3 is knee joint harmonic reducer, 14-4 is knee joint multiturn absolute value encoder, 14-5 is knee joint shell, 15 is thigh bandage, 16 is shank pole, 17 is ankle joint, 18 is shank bandage, 19 is thigh support connecting rod, 20 is thigh bracing piece, 20-1 is thigh support sill bar, 20-2 is slider guide rail, 20-3 is slider, 20-4 is the screw rod, 20-5 is adjusting nut, 21 is linear push rod motor I,22 is shank baffle, 23 is shank bracing piece, 24 is linear push rod motor II,25 is scalable bracing piece, 26 is wheel pole, 27 is front universal wheel, 28 is the rear drive wheel, 29 is pedal connecting piece, 30 is pedal, 31 is foot bandage.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the allosteric behavior auxiliary robot provided by the invention comprises a waist 1, thighs 3, calves 4 and feet 8 which are sequentially connected, wherein a control box 2 is arranged at the rear side of the waist 1, an allosteric support mechanism is arranged at the rear sides of the thighs 3 and the calves 4, and the control box 2 controls the allosteric support mechanism to switch between a standing mode and a wheelchair mode.
In the embodiment of the invention, the allosteric support mechanism comprises a thigh support module 5, a shank support module 6 and a wheel type substitution module 7 which are hinged end to end in sequence, wherein the thigh support module 5 is arranged at the rear side of the thigh 3, the shank support module 6 is arranged at the rear side of the shank 4, the upper end of the shank support module is hinged with the thigh support module 5, and the wheel type substitution module 7 is arranged at the rear sides of the thigh support module 5 and the shank support module 6 and is hinged with the upper end of the thigh support module 5 and the lower end of the shank support module 6. The lower leg support module 6 is used for realizing lower limb support in a robot support state and a wheelchair state.
As shown in fig. 2, in the embodiment of the present invention, the waist portion 1 includes a back plate 9, a hip joint connection plate 10 and a waist strap 11, wherein the hip joint connection plate 10 is disposed at the front side of the back plate 9, the waist strap 11 is disposed at the front side of the hip joint connection plate 10, and the control box 2 is disposed at the rear side of the back plate 9.
Further, both sides of the hip joint connection plate 10 are provided with adjustment grooves in the front-rear direction so as to adjust the connection position with the thigh 3 to accommodate patients with different waist widths.
In the embodiment of the present invention, the thigh 3 includes a hip joint 12, a thigh bar 13, a knee joint 14, and thigh straps 15, wherein upper and lower ends of the thigh bar 13 are connected with the hip joint 12 and the knee joint 14, respectively, the hip joint 12 is connected with the hip joint connection board 10, the length of the thigh bar 13 is adjustable, and one or two sets of thigh straps 15 are provided at the front side of the thigh bar 13. The hip joint 12 is connected with the hip joint connecting plate 10 and the thigh rod 13 and is used for realizing the flexion and extension of the hip joint of the leg of the robot auxiliary user and the relative rotation between the hip joint and the waist, and the knee joint 14 is connected with the thigh 3 and the shank 4 and is used for realizing the flexion and extension of the knee joint of the leg of the robot auxiliary user.
In the embodiment of the present invention, the lower leg 4 includes a lower leg bar 16 and an ankle joint 17, wherein the upper end of the lower leg bar 16 is connected to the knee joint 14, and the lower end of the lower leg bar 16 is connected to the ankle joint 17. Preferably, the shank 16 is adjustable in length.
In the embodiment of the present invention, the foot 8 includes a pedal adapter 29, a pedal 30, and a foot strap 31, wherein the pedal adapter 29 is fixed to the pedal 30, and the pedal adapter 29 is connected to the ankle joint 17, and the upper surface of the pedal 30 is provided with one or two sets of foot straps 31.
As shown in fig. 4, in the embodiment of the present invention, the hip joint 12 includes a hip joint motor fixing case 12-1, a hip joint motor 12-2, a hip joint harmonic reducer 12-3 and a hip joint multi-turn absolute encoder 12-4, wherein the hip joint motor fixing case 12-1 is fixed on the hip joint connection board 10, the hip joint harmonic reducer 12-3 is disposed on the hip joint motor fixing case 12-1, and the input end is connected with the hip joint motor 12-2, and the hip joint multi-turn absolute encoder 12-4 is disposed on the hip joint motor 12-2;
In the embodiment of the invention, the thigh rod 13 comprises a connecting rod adapter 13-1, a connecting rod compressing connecting piece 13-2, a sliding bushing 13-3, a thigh outer connecting rod 13-4, a thigh inner connecting rod 13-5, a locking ring 13-6 and a quick fastening handle 13-7, wherein the connecting rod adapter 13-1 is connected with the output end of the hip joint harmonic reducer 12-3, the upper part of the connecting rod compressing connecting piece 13-2 is arranged on the shell of the hip joint motor 12-2 through the sliding bushing 13-3, the connecting rod adapter 13-1 and the connecting rod compressing connecting piece 13-2 compress the upper end of the thigh outer connecting rod 13-4 and are fixed, the upper end of the thigh inner connecting rod 13-5 is spliced and matched with the lower end of the thigh outer connecting rod 13-4 in a sliding mode, the locking ring 13-6 is sleeved on the lower end of the thigh outer connecting rod 13-4 and used for locking the thigh outer connecting rod 13-4 and the thigh inner connecting rod 13-5, and the quick fastening handle 13-7 is arranged on the locking ring 13-6.
Specifically, the thigh outer connecting rod 13-4 is provided with a notch for the thigh inner connecting rod 13-5 to directionally slide in the thigh outer connecting rod 13-4 and provide limit, and the locking ring 13-6 and the quick fastening handle 13-7 form a thigh connecting rod length locking device for changing the thigh connecting rod length so as to adapt to patients with different leg lengths.
In the embodiment of the invention, the knee joint 14 comprises a knee joint motor fixing shell 14-1, a knee joint motor 14-2, a knee joint harmonic reducer 14-3 and a knee joint multi-turn absolute encoder 14-4, wherein the knee joint motor fixing shell 14-1 is connected with a thigh inner connecting rod 13-5, the knee joint harmonic reducer 14-3 is arranged on the knee joint motor fixing shell 14-1, the input end is connected with the knee joint motor 14-2, the knee joint multi-turn absolute encoder 14-4 is arranged on the knee joint motor 14-2, and the output end of the knee joint harmonic reducer 14-3 is connected with the shank 4.
As shown in fig. 2 to 3, in the embodiment of the present invention, the thigh support module 5 includes a thigh support link 19, a thigh support bar 20, and a linear push rod motor I21, wherein one end of the thigh support link 19 is hinged to an upper end of the thigh 3, the other end of the thigh support link 19 is provided with a kidney-shaped groove in a length direction, which is slidably connected to an upper end of the thigh support bar 20, the thigh support module 6 includes a thigh baffle 22, a thigh support bar 23, and a linear push rod motor II24, wherein the thigh support bar 23 is connected to the thigh 4 through the thigh baffle 22, an upper end of the thigh support bar 23 is hinged to a lower end of the thigh support bar 20, and a tail of the linear push rod motor I21 is hinged to the thigh support bar 23, and an output end is hinged to the thigh support bar 20.
In the embodiment of the invention, the wheel type travel module 7 comprises a telescopic supporting rod 25, a wheel rod 26, a front universal wheel 27 and a rear driving wheel 28, wherein one end of the telescopic supporting rod 25 is hinged to the upper end of a thigh supporting rod 20, the other end of the telescopic supporting rod is hinged to one end of the wheel rod 26, the other end of the wheel rod 26 is hinged to the lower end of a shank supporting rod 23, the front universal wheel 27 and the rear driving wheel 28 are arranged on the wheel rod 26 and used for realizing the wheelchair-like rapid movement of the robot, the tail of a linear push rod motor II24 is hinged to the shank supporting rod 23, and the output end of the linear push rod motor II is hinged to the wheel rod 26.
As shown in FIG. 5, in the embodiment of the present invention, the thigh support bar 20 comprises a thigh support bottom bar 20-1, a slider guide 20-2, a slider 20-3, a screw 20-4 and an adjusting nut 20-5, wherein the slider guide 20-2 is disposed on the thigh support bottom bar 20-1, the slider 20-3 is slidably connected with the slider guide 20-2, a notch is disposed on a side surface of the thigh support bottom bar 20-1, the screw 20-4 is accommodated in the notch and is connected with the slider 20-3, the adjusting nut 20-5 is in threaded connection with the screw 20-4 for locking the screw 20-4, and an output end of the linear push rod motor I21 is hinged with the slider 20-3.
Specifically, the thigh support bottom rod 20-1 is used for providing a fitting supporting surface for a user, a notch arranged on the side surface is used for providing maximum limit, minimum limit and a fixed limit for the adjusting nut 20-5, the slide block guide rail 20-2 is fixed on the thigh support bottom rod 20-1 through a screw, the slide block 20-3 slides along the slide block, the screw rod 20-4 is fixed on the slide block 20-3 through the screw, the slide block 20-3 is provided with a hinged lug seat, the hinged lug seat is hinged with the output end of the linear push rod motor I21, the adjusting nut 20-5 is in threaded connection with the screw rod 20-4, and the slide block 20-3 is fixed and limited by changing the screwing depth of the adjusting nut 20-5. The linear push rod motor I21 can support the lower end of the lower leg support rod 23 and the lower leg of the user to a certain height after the user finishes the standing posture conversion to the sitting posture, so that the pedal 30 is separated from the ground, and the wheeled movement is facilitated.
The invention provides an allosteric behavior auxiliary robot, which has the following working principle:
When the user wears the robot in the walking assisting mode, the adjusting nut 20-4 is rotated out to be separated from the thigh support bar 20-1, and the robot is in an exoskeleton state as shown in fig. 1. The left leg and the right leg are swing legs and supporting legs, the hip joint motor and the knee joint motor of the swing legs drive the thigh 3 and the shank 4 to bend and stretch, the feet of the swing legs are converted into the supporting legs after falling to the ground, and the other leg swings, so that the robot is used for assisting a user to walk.
As shown in fig. 2, when the robot is switched from an exoskeleton state to a supporting state, a linear push rod motor I21 and a linear push rod II22 work, the top end of the linear push rod motor I21 is hinged with a slide block 20-3, the tail end of the linear push rod motor I is hinged with a shank supporting rod 23, the push rod of the linear push rod motor I21 extends upwards, the slide block 20-3 drives an adjusting nut 20-4 to move to a fixed limit of a notch on the side face of a thigh supporting bottom rod 20-1, a user screws the adjusting nut 20-5 to fix the slide block 20-3, the top end of a linear push rod motor II24 is hinged with a wheel rod 26, the tail end of the linear push rod motor II24 is hinged with the fixed end of the shank supporting rod 23, the push rod of the linear push rod motor II extends downwards to a front universal wheel 27 and a rear driving wheel 28 to be fixed on the ground, and the robot supporting mechanism is deformed. When the user needs sitting and standing posture conversion, the robot is in a supporting state, the linear motors I21 of the left leg and the right leg stretch out and draw back, the supporting height can be adjusted according to the actual requirements of the user, and the robot can assist the user in sitting.
As shown in fig. 3, when the robot is switched from the supporting state to the wheelchair state, the linear push rod motor I21 is retracted, the telescopic support rod 25 has a plurality of fixed positions, and can be fixed by pins after being adjusted to a proper seat height according to the actual requirements of a user, so that the wheelchair state mechanism of the robot is deformed. When a user needs to move quickly, the linear push rod motor I21 stretches the push rod upwards for a certain length, the push rod drives the sliding ends of the thigh support rod 20 and the shank support rod 23 to support upwards for a certain height, the robot foot 8 is separated from the ground, the robot can conveniently move in a wheel type when in a wheelchair state, and the wheel type travel function of the robot is realized.
The invention is suitable for patients with lower limb dyskinesia, has novel structure and reasonable design, is mainly made of aluminum alloy materials, and can reduce the overall weight of the robot. The robot exoskeleton type wheelchair device realizes the mutual conversion of the robot exoskeleton state, the supporting state and the wheelchair state through mechanism deformation and recombination, integrates the auxiliary walking function, the auxiliary sitting function and the wheel type riding instead function, and meets the use requirements in daily life.
The foregoing is merely an embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (6)
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| CN119142434B (en) * | 2024-10-29 | 2025-11-21 | 华中科技大学 | Wearable man-machine co-fusion wheel foot robot |
| CN120246119B (en) * | 2025-06-04 | 2025-09-12 | 杭叉集团股份有限公司 | Humanoid robot and form switching control method |
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| CN106901947B (en) * | 2015-12-22 | 2023-08-18 | 中国科学院沈阳自动化研究所 | Wearable lower limb exoskeleton assisted walking robot mechanism |
| CN206642011U (en) * | 2016-09-21 | 2017-11-17 | 北京山川钛达工贸有限公司 | A kind of Multifunctional self-help wheelchair |
| US11096847B2 (en) * | 2017-02-03 | 2021-08-24 | Toyota Motor Engineering & Manufacturing North America, Inc. | Exoskeleton wheelchair system |
| CN110327178B (en) * | 2019-05-22 | 2024-07-26 | 上海邦邦机器人有限公司 | Wearable-free auxiliary standing device |
| WO2021084579A1 (en) * | 2019-10-28 | 2021-05-06 | マコトバイオニクス株式会社 | Wheelchair that allows walking |
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| CN214285475U (en) * | 2020-12-05 | 2021-09-28 | 安徽理工大学 | Multifunctional rehabilitation wheelchair |
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