CN107669450A - A kind of chassis for helping robot - Google Patents
A kind of chassis for helping robot Download PDFInfo
- Publication number
- CN107669450A CN107669450A CN201711100206.1A CN201711100206A CN107669450A CN 107669450 A CN107669450 A CN 107669450A CN 201711100206 A CN201711100206 A CN 201711100206A CN 107669450 A CN107669450 A CN 107669450A
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- CN
- China
- Prior art keywords
- plate
- fixed
- sole
- chassis
- foots
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000002683 foot Anatomy 0.000 claims abstract description 16
- 210000005069 ears Anatomy 0.000 claims description 2
- 239000000203 mixture Substances 0.000 description 6
- 239000002360 explosive Substances 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- 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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Chemical & Material Sciences (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of chassis for helping robot, it is related to a kind of robot, and the present invention is single to solve conventional walk-aid equipment function, the problem of being jolted when movement is dumb and travels.Side is each provided with two Mecanum wheels before and after sole of the present invention, and the bottom of sole is hinged with pole, and one end and the damper of pole are hinged, and damper is hinged with sole, and Mecanum wheel is arranged on pole；Footstep mechanism includes bearing plate, support is fixed by two pairs of foots and two hanging plates, two hanging plates are fixed on bearing plate and are hooked together with sole, and two pairs of foots fix support and are fixed in side by side on bearing plate.The present invention turns to flexibly, steady in the road traveling of injustice.The present invention is applied to walking aid rehabilitation equipment.
Description
Technical field
The present invention relates to a kind of chassis, and in particular to a kind of chassis for helping robot.
Background technology
The walking aid rehabilitation equipment occurred on the market at present, function is single, can only carry out daily life or rehabilitation training, mobile
Dumb, immovable in small space, road conditions are bad during traveling there is also situation about jolting.
The content of the invention
The present invention asks in order to occur jolting when solving single conventional walk-aid equipment function, mobile dumb and traveling
Topic, and a kind of chassis for helping robot is provided.
The present invention adopts the technical scheme that to solve above-mentioned technical problem：
It includes sole and footstep mechanism, and side is each provided with two Mecanum wheels, the bottom of sole before and after sole
Portion is hinged with pole, and one end and the damper of pole are hinged, and damper is hinged with sole, and Mecanum wheel is arranged on pole
On；Footstep mechanism includes bearing plate, support and two hanging plates are fixed by two pairs of foots, and two hanging plates are fixed on bearing plate and and chassis
Frame is hooked together, and two pairs of foots fix support and are fixed in side by side on bearing plate.
The present invention has the advantages that compared with prior art：
First, the present invention using Mecanum wheel realize from all directions to freely walk and original place is turn-taked, convenient use person exists
Unopen small spatial operation walking.
2nd, set up damper make car the road surface of out-of-flatness move ahead do not have larger vibrations, add user relax
Appropriateness, while also increase adaptability of the Mecanum wheel to roughness pavement.
3rd, footstep mechanism is detachable, and when footstep mechanism is installed, both legs are placed on bearing plate, and chassis band people walks, and solves
The daily walk problem of user, when footstep mechanism is dismantled, user's both legs land, and can carry out rehabilitation training, and it is daily to reach training
Neglect neither.
4th, present invention can apply in other walking aid rehabilitation equipment.
Brief description of the drawings
Fig. 1 is the overall structure figure of the present invention；
Fig. 2 is the front view of the present invention；
Fig. 3 is Fig. 2 top view；
Fig. 4 is Fig. 2 left view；
Fig. 5 is the explosive view of the present invention.
Embodiment
Embodiment one：Illustrate present embodiment with reference to Fig. 1~Fig. 5, present embodiment includes sole 1 and pin
Mechanism 2 is stepped on,
The front and rear sides of sole 1 are each provided with two Mecanum wheels 7, and the bottom of sole 1 is hinged with pole 3, pole 3
One end and damper 4 it is be hinged, damper 4 is be hinged with sole 1, and Mecanum wheel 7 is arranged on pole 3；
Footstep mechanism 2 includes bearing plate 2-1,2-2 and two hanging plate 2-3 of support fixes in two pairs of foots,
Two hanging plate 2-3 are fixed on bearing plate 2-1 and are hooked together with sole 1, and support 2-2 fixes simultaneously in two pairs of foots
Row are fixed in bearing plate 2-1 upper base surface.
Preferably, damper is from bicycle damper on the market, the product that 300 pounds of model No. 10.
Embodiment two：Illustrate present embodiment with reference to Fig. 1 and Fig. 5, present embodiment sole 1 includes two
Stock 1-1 and two crossbeam 1-2,
Two crossbeam 1-2 both ends are connected with two stock 1-1 being arranged side by side, and each stock 1-1 one end bottom is consolidated
Connecting plate is connected to, Mecanum wheel 7 is connected by screw with the connecting plate, and each stock 1-1 other end bottom is hinged with
One pole 3.Each stock 1-1 is provided with the connecting hole for being available for secondary development.
Control supporting plate 5 is provided with below two crossbeam 1-2, set-up of control system is on control supporting plate 5, two crossbeam 1-
2 are provided with bearing 6.
Preferably, bearing 6 is hinged seat.
Preferably, bearing 6 includes bottom plate 6-2 and two symmetrical connecting plate 6-1, and two symmetrical connecting plate 6-1 are affixed
On bottom plate 6-2.
Present embodiment functionally carries out secondary development after being easy to, and adequately and reasonably utilization space, compact-sized.Its
It forms identical with embodiment one with annexation.
Embodiment three：Illustrate present embodiment with reference to Fig. 1 and Fig. 5, present embodiment control supporting plate 5 includes groove
Shape plate 5-1, baffle plate 5-3 and two fix bars 5-2, two fixed plate 5-2 are respectively and fixedly connected to trough plate 5-1 both sides and sole
1 crossbeam 1-2 bottom, baffle plate 5-3 is the plate that end is provided with two seat ears, and baffle plate 5-3 is fixed in two admittedly by seat ear
On fixed pole 5-2.
Control system and battery are arranged on trough plate 5-1.
Other compositions and annexation are identical with embodiment two.
Embodiment four：Illustrate present embodiment with reference to Fig. 1 and Fig. 5, the quantity of present embodiment pole 3 is 2
Or 4.Present embodiment can be different according to the situation on road surface, set up the damper 4 of varying number to improve the shake of sole 1
It is dynamic.Other compositions and annexation are identical with embodiment three.
Embodiment five：Illustrate present embodiment with reference to Fig. 5, the inside of present embodiment Mecanum wheel 7 is set
There is hub-type motor.Present embodiment can save the space on chassis 1/3, make chassis A structures compacter.Other compositions and company
It is identical with embodiment three to connect relation.
Embodiment six：Illustrate present embodiment with reference to Fig. 1, present embodiment two is fixed to foot in support 2-2
Adjacent Liang Ge foots fix support 2-2 and are fixed together by T-shaped plate 2-4, and T-shaped plate 2-4 is provided with elongated hole, and T-shaped plate 2-4 is by wearing
The screw for crossing elongated hole is fixed on bearing plate 2-1 and can moved forward and backward.Present embodiment adapts to the size of different people pin.Other groups
Into identical with embodiment four with annexation.
Embodiment seven：Illustrate present embodiment with reference to Fig. 1, present embodiment two fixes support 2-2 to foot and is
Circular arc plate.Other compositions and annexation are identical with embodiment five.
Embodiment eight：Illustrate present embodiment with reference to Fig. 1 and Fig. 5, present embodiment hanging plate 2-3 be flute profile or
L-type hanging plate, hanging plate 2-3 are articulated on two stock 1-1 of sole 1 and fastened by screwing device 8, and screwing device 8 sets for one end
Handled screw rod.Other compositions and annexation are identical with embodiment six.
Embodiment nine：Illustrate present embodiment, present embodiment bearing plate 2-1 section with reference to Fig. 1 and Fig. 5
For flute profile, two pairs of foots fix support 2-2 and are fixed in bearing plate 2-1 upper base surface, and two hanging plate 2-3 are fixed in bearing plate
On 2-1 side plate.Other compositions and annexation are identical with embodiment seven.
Claims (9)
- A kind of 1. chassis for helping robot, it is characterised in that：It includes sole (1) and footstep mechanism (2),Side is each provided with two Mecanum wheels (7) before and after sole (1), and the bottom of sole (1) is hinged with pole (3), branch The one end of bar (3) is be hinged with damper (4), and damper (4) is be hinged with sole (1), and Mecanum wheel (7) is arranged on pole (3) on；Footstep mechanism (2) includes bearing plate (2-1), support (2-2) and two hanging plates (2-3) are fixed by two pairs of foots,Two hanging plates (2-3) are fixed on bearing plate (2-1) and are hooked together with sole (1), and support (2- fixes in two pairs of foots 2) it is fixed in side by side on bearing plate (2-1).
- A kind of 2. chassis for helping robot according to claim 1, it is characterised in that：Sole (1) includes two Individual stock (1-1) and two crossbeams (1-2),The both ends of two crossbeams (1-2) are connected with two stocks (1-1) being arranged side by side, one end bottom of each stock (1-1) Connecting plate is connected with, Mecanum wheel (7) is connected by screw with the connecting plate, the other end bottom of each stock (1-1) A pole (3) is hinged with,Bearing (6) is connected with above two crossbeams (1-2), bearing (6) includes bottom plate (6-2) and two symmetrical connecting plates (6-1), two symmetrical connecting plates (6-1) are fixed on bottom plate (6-2),Control supporting plate (5) is connected with below two crossbeams (1-2).
- A kind of 3. chassis for helping robot according to claim 2, it is characterised in that：Control supporting plate (5) includes Trough plate (5-1), baffle plate (5-3) and two fix bars (5-2), two fixed plates (5-2) are respectively and fixedly connected to trough plate (5-1) The bottom of the crossbeam (1-2) of both sides and sole (1), baffle plate (5-3) are provided with the plate of two seat ears, and baffle plate (5-3) for end It is fixed in by seat ear on two fix bars (5-2).
- A kind of 4. chassis for helping robot according to claim 3, it is characterised in that：The quantity of pole (3) is 2 Or 4.
- A kind of 5. chassis for helping robot according to claim 4, it is characterised in that：In Mecanum wheel (7) Portion is provided with wheel hub motor.
- A kind of 6. chassis for helping robot according to claim 5, it is characterised in that：Support is fixed by two pairs of foots Adjacent Liang Ge foots fix support (2-2) and are fixed together by T-shaped plate (2-4) in (2-2), and T-shaped plate (2-4) is provided with elongated hole, T Template (2-4) is by being fixed on bearing plate (2-1) and can move forward and backward through the screw of elongated hole.
- A kind of 7. chassis for helping robot according to claim 6, it is characterised in that：Support is fixed by two pairs of foots (2-2) is circular arc plate.
- A kind of 8. chassis for helping robot according to claim 7, it is characterised in that：Hanging plate (2-3) is flute profile Or L-type hanging plate, hanging plate (2-3) are articulated on two stocks (1-1) of sole (1) and fastened by screwing device (8), screwing device (8) handled screw rod is set for one end.
- A kind of 9. chassis for helping robot according to claim 8, it is characterised in that：Bearing plate (2-1) is cut Face is flute profile, and two pairs of foots fix support (2-2) and are fixed in bearing plate (2-1) upper base surface, and two hanging plates (2-3) are affixed On bearing plate (2-1) side plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711100206.1A CN107669450A (en) | 2017-11-09 | 2017-11-09 | A kind of chassis for helping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711100206.1A CN107669450A (en) | 2017-11-09 | 2017-11-09 | A kind of chassis for helping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107669450A true CN107669450A (en) | 2018-02-09 |
Family
ID=61146281
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711100206.1A Pending CN107669450A (en) | 2017-11-09 | 2017-11-09 | A kind of chassis for helping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107669450A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108749482A (en) * | 2018-06-12 | 2018-11-06 | 杭州程天科技发展有限公司 | Mecanum wheel, chassis and helping robot |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0773009A2 (en) * | 1995-11-10 | 1997-05-14 | Wolf, Elisabeth Maria | Transportable walking aid |
| WO1999022689A1 (en) * | 1997-11-04 | 1999-05-14 | Rainer Lankinen | Support device |
| DE102007062406A1 (en) * | 2007-12-20 | 2009-07-16 | Herbert Burdich | Walking aid or wheelchair for assisting or displacing disabled person, has chassis, wheels, hand grips and drive module positioned at chassis between drive position and resting position |
| CN101803988A (en) * | 2010-04-14 | 2010-08-18 | 华中科技大学 | Multifunctional intelligent rehabilitation robot for assisting stand and walk |
| CN104097706A (en) * | 2014-04-14 | 2014-10-15 | 上海大学 | Mecanum-wheel-driven type spherical mobile robot |
| CN205507544U (en) * | 2016-04-13 | 2016-08-24 | 京东方科技集团股份有限公司 | Bering device |
| CN106427387A (en) * | 2016-10-13 | 2017-02-22 | 旗瀚科技有限公司 | Integrated mecanum wheel driven by wheel-hub motor |
| CN106691788A (en) * | 2016-11-23 | 2017-05-24 | 甄华伟 | Shifting machine lower bearing frame with pedal |
| CN106726373A (en) * | 2017-01-09 | 2017-05-31 | 中州大学 | A kind of interim walking auxiliary robot |
| CN107019602A (en) * | 2017-06-06 | 2017-08-08 | 明光市朗威医疗器械科技有限公司 | A kind of spinal cord patients ' recovery intelligent wheel chair |
| DE202017004591U1 (en) * | 2017-09-02 | 2017-09-06 | Aissa Zouhri | Electrically operated mobile walker |
| CN206526195U (en) * | 2016-08-24 | 2017-09-29 | 上海邦邦机器人有限公司 | A kind of standing rehabilitation wheelchair car |
| CN206526242U (en) * | 2016-09-28 | 2017-09-29 | 上海邦邦机器人有限公司 | A kind of multipurpose squatting up training aids |
| CN208511462U (en) * | 2017-11-09 | 2019-02-19 | 杭州程天科技发展有限公司 | A kind of chassis for helping robot |
-
2017
- 2017-11-09 CN CN201711100206.1A patent/CN107669450A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0773009A2 (en) * | 1995-11-10 | 1997-05-14 | Wolf, Elisabeth Maria | Transportable walking aid |
| WO1999022689A1 (en) * | 1997-11-04 | 1999-05-14 | Rainer Lankinen | Support device |
| DE102007062406A1 (en) * | 2007-12-20 | 2009-07-16 | Herbert Burdich | Walking aid or wheelchair for assisting or displacing disabled person, has chassis, wheels, hand grips and drive module positioned at chassis between drive position and resting position |
| CN101803988A (en) * | 2010-04-14 | 2010-08-18 | 华中科技大学 | Multifunctional intelligent rehabilitation robot for assisting stand and walk |
| CN104097706A (en) * | 2014-04-14 | 2014-10-15 | 上海大学 | Mecanum-wheel-driven type spherical mobile robot |
| CN205507544U (en) * | 2016-04-13 | 2016-08-24 | 京东方科技集团股份有限公司 | Bering device |
| CN206526195U (en) * | 2016-08-24 | 2017-09-29 | 上海邦邦机器人有限公司 | A kind of standing rehabilitation wheelchair car |
| CN206526242U (en) * | 2016-09-28 | 2017-09-29 | 上海邦邦机器人有限公司 | A kind of multipurpose squatting up training aids |
| CN106427387A (en) * | 2016-10-13 | 2017-02-22 | 旗瀚科技有限公司 | Integrated mecanum wheel driven by wheel-hub motor |
| CN106691788A (en) * | 2016-11-23 | 2017-05-24 | 甄华伟 | Shifting machine lower bearing frame with pedal |
| CN106726373A (en) * | 2017-01-09 | 2017-05-31 | 中州大学 | A kind of interim walking auxiliary robot |
| CN107019602A (en) * | 2017-06-06 | 2017-08-08 | 明光市朗威医疗器械科技有限公司 | A kind of spinal cord patients ' recovery intelligent wheel chair |
| DE202017004591U1 (en) * | 2017-09-02 | 2017-09-06 | Aissa Zouhri | Electrically operated mobile walker |
| CN208511462U (en) * | 2017-11-09 | 2019-02-19 | 杭州程天科技发展有限公司 | A kind of chassis for helping robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108749482A (en) * | 2018-06-12 | 2018-11-06 | 杭州程天科技发展有限公司 | Mecanum wheel, chassis and helping robot |
| CN108749482B (en) * | 2018-06-12 | 2024-02-20 | 杭州程天科技发展有限公司 | Mecanum wheel, chassis and assisting robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180209 |
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| RJ01 | Rejection of invention patent application after publication |