CN210301649U - A composite exoskeleton robot - Google Patents
A composite exoskeleton robot Download PDFInfo
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- CN210301649U CN210301649U CN201920466957.3U CN201920466957U CN210301649U CN 210301649 U CN210301649 U CN 210301649U CN 201920466957 U CN201920466957 U CN 201920466957U CN 210301649 U CN210301649 U CN 210301649U
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- wheelchair
- thigh
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- bracket
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- 239000002131 composite material Substances 0.000 title claims abstract description 5
- 210000000689 upper leg Anatomy 0.000 claims abstract description 70
- 244000309466 calf Species 0.000 claims abstract description 26
- 210000001624 hip Anatomy 0.000 claims description 35
- 210000001699 lower leg Anatomy 0.000 claims description 32
- 210000001217 buttock Anatomy 0.000 claims description 8
- 238000000926 separation method Methods 0.000 claims description 4
- 150000001875 compounds Chemical class 0.000 claims 6
- 230000010354 integration Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 abstract description 2
- 230000008521 reorganization Effects 0.000 abstract 1
- 210000002683 foot Anatomy 0.000 description 22
- 210000002414 leg Anatomy 0.000 description 10
- 210000000544 articulatio talocruralis Anatomy 0.000 description 7
- 210000004394 hip joint Anatomy 0.000 description 7
- 210000000629 knee joint Anatomy 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 6
- 210000003141 lower extremity Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 230000006798 recombination Effects 0.000 description 1
- 238000005215 recombination Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Abstract
本实用新型公开了一种复合式外骨骼机器人，包括腰部平衡架、背部支撑板、肩部绑带、臀部支撑带、左部和右部；背部支撑板固定在腰部平衡架上；肩部绑带固定在背部支撑板上；臀部支撑带的两端固定在腰部平衡架上；左部和右部结构相同，对称地安装在腰部平衡架下部；左部包括大腿模块、小腿模块、轮椅模块、脚部模块、插销、短轴、可伸缩式轮椅支撑杆、第一液压缸和第二液压缸；轮椅模块包括轮椅支架、后轮传动轴、轮椅后轮和轮椅前轮。本机器人通过机构变形和重组，将穿戴在人体上的可爬楼梯和完成日常简单动作的辅助行走和康复外骨骼变型为实现快速前进的轮椅，实现了辅助行走与轮椅的一体化，满足了行动不便者的使用需求。
The utility model discloses a composite exoskeleton robot, comprising a waist balance frame, a back support plate, a shoulder strap, a hip support strap, a left part and a right part; the back support plate is fixed on the waist balance frame; The belt is fixed on the back support plate; the two ends of the hip support belt are fixed on the waist gimbal; the left part and the right part have the same structure and are symmetrically installed on the lower part of the waist gimbal; the left part includes the thigh module, calf module, wheelchair module, Foot module, latch, short shaft, retractable wheelchair support rod, first hydraulic cylinder and second hydraulic cylinder; wheelchair module includes wheelchair bracket, rear wheel drive shaft, wheelchair rear wheel and wheelchair front wheel. Through the deformation and reorganization of the mechanism, the robot transforms the stair-climbing and assisted walking and rehabilitation exoskeleton worn on the human body into a wheelchair that realizes rapid progress, realizing the integration of assisted walking and wheelchair, and satisfying the needs of the movement. The needs of the handicapped.
Description
Technical Field
The utility model relates to a recovered robot field specifically is a combined type ectoskeleton robot.
Background
With the development and popularization of exoskeleton technology, exoskeleton becomes an option for more and more people to walk or rehabilitate. The exoskeleton robot is used as auxiliary equipment for the old, the person with difficulty in lower limb movement and other persons with mobility disabilities, and not only can assist the movement of the human body, but also can assist the rehabilitation of the human body. For patients with lower limbs needing rehabilitation, the patients cannot stand for a long time during rehabilitation exercise. Moreover, the exoskeleton is difficult to put on and take off, and the exoskeleton cannot be quickly taken off to move in a wheelchair under the condition that the exoskeleton needs to be quickly moved. This problem is also present for the elderly. Therefore, it is imperative to design an exoskeleton with both walking assisting function and wheelchair function.
SUMMERY OF THE UTILITY MODEL
To the deficiency of the prior art, the utility model aims to solve the technical problem that a combined type ectoskeleton robot is provided.
The technical solution of the present invention is to provide a composite exoskeleton robot, which is characterized in that the robot comprises a waist balancing stand, a back support plate, a shoulder strap, a hip support belt, a left part and a right part; the back supporting plate is fixed on the waist balancing stand; the shoulder binding band is fixed on the back support plate; the two ends of the hip supporting belt are fixed on the waist balancing stand; the left part and the right part have the same structure and are symmetrically arranged at the lower part of the waist balancing stand;
the left part comprises a thigh module, a shank module, a wheelchair module, a foot module, a bolt, a short shaft, a telescopic wheelchair supporting rod, a first hydraulic cylinder and a second hydraulic cylinder; the wheelchair module comprises a wheelchair bracket, a rear wheel transmission shaft, a wheelchair rear wheel and a wheelchair front wheel;
one end of the thigh module is connected with the waist balance frame through a revolute pair, and the other end of the thigh module is connected with one end of the shank module through a revolute pair; the other end of the shank module is connected with the foot module through a revolute pair; one end of the second hydraulic cylinder is connected with the waist balance frame through a revolute pair, and the other end of the second hydraulic cylinder is connected with the thigh module through a revolute pair; one end of the second hydraulic cylinder is connected with the thigh module through a revolute pair, and the other end of the second hydraulic cylinder is connected with the shank module through a revolute pair; one end of the short shaft is connected with the foot module through a revolute pair, and the other end of the short shaft is connected with the wheelchair bracket through a revolute pair; the wheelchair bracket is connected with the front wheel of the wheelchair through a revolute pair; one end of the rear wheel transmission shaft is connected with the wheelchair bracket through a revolute pair, and the other end of the rear wheel transmission shaft is fixedly connected with the rear wheel of the wheelchair; the shell of the bolt is fixed on the thigh module, and the bolt tongue stretches to realize contact and separation with the wheelchair bracket; one end of the telescopic wheelchair supporting rod is fixedly arranged on the waist balancing stand, and the other end of the telescopic wheelchair supporting rod is fixed in the wheelchair bracket in the wheelchair state.
Compared with the prior art, the utility model discloses beneficial effect lies in:
(1) the robot changes the auxiliary walking and rehabilitation exoskeleton which can climb stairs and complete daily simple actions and is worn on a human body into a wheelchair capable of rapidly advancing through mechanism deformation and recombination, realizes the integration of auxiliary walking and the wheelchair, and meets the use requirements of people with mobility inconvenience.
(2) The leg of the robot adopts a telescopic design, can be adjusted and is simple and convenient to adjust for users with different heights so as to adapt to the lengths of thighs and shanks of different users, the hip joint of the robot corresponds to the hip joint of a human body, the knee joint of the robot corresponds to the knee joint of the human body, and the ankle joint of the robot corresponds to the ankle joint of the human body.
(3) Shoulder bandage, buttock support area, thigh fixed band, shank fixed band and foot fixed band all adopt elastic material and install the buckle on it, can adjust suitable elasticity according to different users, realize the laminating.
(4) The robot has reasonable and compact design, can not interfere and influence each other between parts in the deformation process, can not influence each other when realizing the auxiliary walking function and the wheelchair function, fully utilizes the limited space, and has more compact whole body and high space utilization rate.
(5) The robot has the advantages of simple structure, stable operation, economy, practicality, safety and reliability. The robot is mostly made of aluminum alloy materials, and the weight of the whole equipment is greatly reduced.
Drawings
Fig. 1 is an axial view of an overall structure of the auxiliary walking device in an embodiment of the present invention when standing;
FIG. 2 is a schematic axial view of the whole structure of a wheelchair when front and rear wheels contact the ground in the process of transition from a standing state to a wheelchair state according to an embodiment of the present invention;
fig. 3 is a schematic front view of fig. 2 according to the present invention;
fig. 4 is a left side view of fig. 2 according to the present invention;
FIG. 5 is a schematic view of the axle of the whole structure of the wheelchair according to an embodiment of the present invention;
in the figure, 1, shoulder strap; 2. a bevel gear; 3. a rear wheel drive shaft; 4. a hip support belt; 5. thigh fixing straps; 6. inner thigh panels; 7. a motor; 8. a wheelchair frame; 9. a shank fixing band; 10. a front wheel support frame; 11. a lower leg medial plate; 12. a waist balancing stand; 13. a hip joint; 14. a balance support plate; 15. thigh external support; 16. a bolt; 17. a knee joint; 18. a shank external support; 19. a minor axis; 20. an ankle joint; 21. a back support plate; 22. a telescopic wheelchair supporting rod; 23. a wheelchair rear wheel; 24. a first hydraulic cylinder; 25. a wheelchair front wheel; 26. a second hydraulic cylinder; 27. a foot support; 28. foot fixing straps.
Detailed Description
Specific embodiments of the present invention are given below. The specific embodiments are only used for further elaboration of the invention, and do not limit the scope of protection of the claims of the present application.
The utility model provides a combined exoskeleton robot (see figures 1-5, for short, robot), which is characterized in that the robot comprises a waist balance frame 12, a back support plate 21, a shoulder binding band 1, a hip support band 4, a left part and a right part; the back support plate 21 is fixed on the upper surface of the waist balance frame 12; the shoulder bandage 1 is fixed on the back support plate 21, and the shoulder bandage 1 is provided with a buckle for fixing the shoulder of a human body; both ends of the hip supporting belt 4 are fixed on the waist balancing stand 12, and the hip supporting belt 4 is provided with a buckle for supporting the hip of a human body; the left part and the right part are completely the same and are symmetrically arranged at the lower part of the waist balancing stand 12;
the left part comprises a thigh module, a shank module, a wheelchair module, a foot module, a bolt 16, a short shaft 19, a telescopic wheelchair supporting rod 22, a first hydraulic cylinder 24 and a second hydraulic cylinder 26; the wheelchair module comprises a wheelchair bracket 8, a rear wheel transmission shaft 3, a wheelchair rear wheel 23 and a wheelchair front wheel 25;
one end of the thigh module is connected with the waist balance frame 12 in a revolute pair mode to form a hip joint 13, and the other end of the thigh module is connected with one end of the shank module in a revolute pair mode to form a knee joint 17; the other end of the shank module is connected with the foot module in a revolute pair mode to form an ankle joint 20; one end of the second hydraulic cylinder 26 is connected with the waist balance frame 12 through a revolute pair (hinge), and the other end is connected with the thigh module through a revolute pair (hinge); one end of the second hydraulic cylinder 24 is connected with the thigh module through a revolute pair (hinge), and the other end is connected with the shank module through a revolute pair (hinge); one end of the short shaft 19 is connected with the foot module through a revolute pair, and the other end of the short shaft is connected with the wheelchair support 8 through a revolute pair; the wheelchair bracket 8 is connected with a wheelchair front wheel 25 through a revolute pair; one end of the rear wheel transmission shaft 3 is connected with the wheelchair bracket 8 through a revolute pair, and the other end is fixedly connected with the center of the wheelchair rear wheel 23 through a taper pin; the shell of the bolt 16 is fixed on the thigh module, and the bolt tongue stretches to realize the contact and separation with the wheelchair bracket 8; one end of the telescopic wheelchair supporting rod 22 is fixedly arranged on the waist balancing stand 12, and the other end of the telescopic wheelchair supporting rod is fixed in a groove or a hole of the wheelchair support 8 in the wheelchair state, so that the stability of the wheelchair structure is ensured, and the length of the telescopic wheelchair supporting rod 22 after being contracted does not influence the swing of lower limbs of a human body in the auxiliary walking state.
The wheelchair module also comprises a motor 7, a bevel gear 2 and a front wheel support frame 10; the front wheel support frame 10 is fixed on the wheelchair support frame 8, and the wheelchair front wheel 25 is connected with the front wheel support frame 10 through a revolute pair; the motor 7 is fixed on the wheelchair bracket 8, and the output end of the motor is fixedly provided with the bevel gear 2; the bevel gear 2 is meshed with a bevel gear on the rear wheel transmission shaft 3.
The thigh module comprises a thigh outer support 15, a thigh inner side plate 6 and a thigh fixing belt 5; the calf module comprises a calf outer bracket 18, a calf inner side plate 11 and a calf fixing band 9; the foot module comprises a foot support 27 and a foot securing strap 28; the end of the thigh outer support 15 is connected with the waist balance frame 12 through a revolute pair to form a hip joint 13 (the revolute pair is that a shaft is matched with a rolling bearing, specifically, one end of the thigh outer support 15 is fixed with the shaft which is fixedly connected with the inner ring of the rolling bearing in an interference fit manner, and the outer ring of the bearing is fixedly connected with the waist balance frame 12 to realize rotation); the thigh outer support 15 is connected with the thigh inner plate 6 in a form of a moving pair, and the moving pair is fixedly connected with the thigh inner plate 6 through threads (bolts or screws) after moving to a proper length to adapt to the length of the thigh of a user (specifically, the moving pair is characterized in that a groove track or a convex track is arranged inside the thigh outer support 15, a protrusion or a groove is arranged on the outer side of the thigh inner plate 6, and the protrusion or the groove of the thigh inner plate 6 is matched with the groove track or the protrusion track of the thigh outer support 15 to realize the relative sliding of the thigh inner plate 6 and the thigh outer support 15); the end part of the thigh inner side plate 6 is connected with the shank outer bracket 18 through a revolute pair to form a knee joint 17; the outer calf support 18 is connected with the inner calf plate 11 through a sliding pair, and the relative movement is carried out to a proper length so as to adapt to the calf length of a user and then is fixedly connected through threads (bolts or screws) (the sliding pair is specifically that a groove track or a convex track is arranged inside the outer calf support 18, a protrusion or a groove is arranged outside the inner calf plate 11, and the protrusion or the groove of the inner calf plate 11 is matched with the groove track or the convex track of the outer calf support 18, so that the relative sliding of the inner calf plate 11 and the outer calf support 18 is realized); the end part of the lower leg inner side plate 11 is connected with the foot supporting frame 27 in a revolute pair mode to form an ankle joint 20; one end of the second hydraulic cylinder 26 is connected with the waist balance frame 12 through a revolute pair, and the other end is connected with the thigh outer support 15 through a revolute pair; the thigh fixing belt 5 is fixed on the thigh outer support 15, and a buckle is arranged on the thigh fixing belt 5 and used for fixing the thigh of the human body; one end of the second hydraulic cylinder 24 is connected with the thigh outer support 15 through a revolute pair, and the other end is connected with the shank outer support 18 through a revolute pair; the shank fixing strap 9 is fixed on the shank outer bracket 18, and the shank fixing strap 9 is provided with a buckle for fixing the shank of the human body; one end of the short shaft 19 is connected with the foot supporting frame 27 through a revolute pair; the foot fixing belt 28 is fixed on the foot supporting frame 27, and the foot fixing belt 28 is provided with a buckle for fixing the feet of the human body.
The left portion also includes a balance support plate 14; the balance support plate 14 is fixedly connected with the thigh outer support 15 to play a role of intermediate connection, and the wheelchair support 8 swings together with the legs in an auxiliary walking state to reduce the swing amplitude of the wheelchair support 8; the shell of the bolt 16 is fixed on the balance support plate 14, and the bolt tongue extends and contracts to realize the contact and separation with the wheelchair support 8.
The front wheel 25 of the wheelchair adopts an omnidirectional wheel, so that the wheelchair can go forward conveniently.
The retractable wheelchair support rod 22 has a structure which is the same as the rod portion retractable structure principle of the foldable umbrella, has a plurality of fixed positions, and is fixed by pins after being adjusted to a proper length.
The latch 16 may be a spring latch, which is a commercially available product.
The utility model discloses a theory of operation and work flow are:
when the robot is needed to assist walking, the relative positions of the thigh outer support 15 and the thigh inner side plate 6 are adjusted to be matched with the thigh length of a user; adjusting the relative position of the outer crus support 18 and the inner crus plate 11 to match with the length of the crus of the user; the sole of the user is placed on the foot supporting frame 27, and the foot fixing belt 28 is fixed with the foot of the user; the thigh fixing bands 5 are fixed with thighs of a user, the shank fixing bands 8 are fixed with shanks of the user, the shoulder binding bands 1 are arranged on the backs of the shoulders of the user, the hip joints 13 of the robot correspond to hip joints of the human body, the knee joints 17 of the robot correspond to knee joints of the human body, the ankle joints 20 of the robot correspond to ankle joints of the human body, and therefore the correct position of the exoskeleton relative to the human body is guaranteed.
After the user wears the thigh support, the user starts to assist walking, taking the left leg as an example (the left leg is a swing leg, and the right leg is a support leg), the second hydraulic cylinder 26 at the left part is attracted to drive the thigh outer support 15, and the first hydraulic cylinder 24 at the left part is attracted to drive the shank outer support 18, so that the left leg of the user is lifted. Then, the first hydraulic cylinder 24 at the left part is released, the second hydraulic cylinder 26 at the left part is released, and the left foot is grounded, so that the left leg is stepped forwards. The right leg is the same, and the whole exoskeleton robot drives the human body to move forwards.
When it is desired to convert to a wheelchair, the bolt tongue of the bolt 16 is retracted, the wheelchair frame 8 is removed from the bolt 16, and the front and rear wheelchair wheels 25 and 23 contact the ground. Then the four hydraulic cylinders of the first hydraulic cylinder 24 and the second hydraulic cylinder 26 at the left part and the right part are simultaneously sucked, the buttocks of a user are seated on the buttocks supporting band 4 (the angle between the thigh outer support 15 and the shank outer support 18 is 100-120 degrees in the embodiment), and then the length of the telescopic wheelchair supporting rod 22 is fixed after the telescopic wheelchair supporting rod 22 is extended to be matched and fixed with the groove or the hole on the wheelchair support 8, thereby ensuring the stability of the wheelchair structure. Thereby completing the wheelchair transformation. The wheel type advancing is realized by pushing the wheelchair to advance by a person or driving a rear wheel 23 of the wheelchair by a motor 7.
When the wheelchair is required to be transformed into the walking assisting state again, the retractable wheelchair supporting rod 22 is shortened to be separated from the wheelchair frame 8, and then the four hydraulic cylinders of the first hydraulic cylinder 24 and the second hydraulic cylinder 26 of the left and right parts are simultaneously released, and the buttocks of the user are separated from the buttocks supporting belt 4. Then the bolt tongue of the bolt 16 extends out to hang the wheelchair support 8 on the bolt 16, and the length of the telescopic wheelchair support rod 22 is fixed to be in a standing state for assisting walking.
The utility model discloses the nothing is mentioned the part and is applicable to prior art.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920466957.3U CN210301649U (en) | 2019-04-09 | 2019-04-09 | A composite exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920466957.3U CN210301649U (en) | 2019-04-09 | 2019-04-09 | A composite exoskeleton robot |
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| Publication Number | Publication Date |
|---|---|
| CN210301649U true CN210301649U (en) | 2020-04-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920466957.3U Expired - Fee Related CN210301649U (en) | 2019-04-09 | 2019-04-09 | A composite exoskeleton robot |
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| Country | Link |
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| CN (1) | CN210301649U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109846682A (en) * | 2019-04-09 | 2019-06-07 | 河北工业大学 | A composite exoskeleton robot |
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2019
- 2019-04-09 CN CN201920466957.3U patent/CN210301649U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109846682A (en) * | 2019-04-09 | 2019-06-07 | 河北工业大学 | A composite exoskeleton robot |
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Granted publication date: 20200414 |