CN108309593A - 一种轮足同构变形式轮椅外骨骼机器人 - Google Patents

一种轮足同构变形式轮椅外骨骼机器人 Download PDF

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Publication number
CN108309593A
CN108309593A CN201810154134.7A CN201810154134A CN108309593A CN 108309593 A CN108309593 A CN 108309593A CN 201810154134 A CN201810154134 A CN 201810154134A CN 108309593 A CN108309593 A CN 108309593A
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China
Prior art keywords
wheelchair
hip joint
wheel
shank
knee joint
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CN201810154134.7A
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CN108309593B (zh
Inventor
朱延河
滑宇翔
张国安
李莫
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Harbin Institute of Technology
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Harbin Institute of Technology
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Priority to CN201810154134.7A priority Critical patent/CN108309593B/zh
Publication of CN108309593A publication Critical patent/CN108309593A/zh
Priority to PCT/CN2018/114321 priority patent/WO2019161681A1/zh
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Abstract

一种轮足同构变形式轮椅外骨骼机器人，它涉及一种轮椅外骨骼机器人，以解决现有轮足式医疗康复下肢外骨骼机器人在轮椅移动模式结构和外骨骼康复训练模式结构的变形过程中，因各部分相对独立而造成的机构冗余，轮椅结构变形前后无法进行同构展开与收纳，轻型化、便携化程度低，使用者难以独立完成结构变形的问题，它包括腰部、可折叠轮椅架、两个大腿和两个小腿；腰部包括腰背组件和轮椅座，轮椅座安装在腰背组件上，且轮椅座能相对腰背组件转动；大腿通过髋关节与腰背连接；大腿通过膝关节与小腿连接；可折叠轮椅架与髋关节转动连接，可折叠轮椅架与小腿转动连接。本发明用于患者康复训练。

Description

一种轮足同构变形式轮椅外骨骼机器人
技术领域
本发明涉及一种轮椅外骨骼机器人，具体涉及一种轮足同构变形式轮椅外骨骼机器人。
背景技术
目前，轮椅外骨骼机器人因其独特的人机结合方式以及辅助增强作用效果，受到了各界资深研究人员的密切关注。特别是对于下肢行走面临严峻障碍的患者而言，其辅助增强功能能够帮助其完成一系列的康复训练动作。但是对于目前已有的轮足式医疗下肢康复外骨骼机器人，其外骨骼部分和轮椅部分独立存在并完成各自对应的功能，通过特定的接口进行连接从而进行组合使用。这种方式会影响结构的紧凑性和轻型化，并且各部分结构相对独立，在连接分离使用过程中需要特定人员进行辅助安装调节，不便于患者独立进行轮椅移动模式和外骨骼康复训练模式的灵活切换，增加了患者使用的困难性以及轮足式外骨骼结构的复杂性。
发明内容
本发明是为解决现有轮足式医疗康复下肢外骨骼机器人在轮椅移动模式结构和外骨骼康复训练模式结构的变形过程中，因各部分相对独立而造成的机构冗余，轮椅结构变形前后无法进行同构展开与收纳，轻型化、便携化程度低，使用者难以独立完成结构变形的问题，从而提出一种轮足同构变形式轮椅外骨骼机器人。
本发明的技术方案是：
一种轮足同构变形式轮椅外骨骼机器人包括腰部、可折叠轮椅架、两个大腿和两个小腿；
腰部包括腰背组件和轮椅座，轮椅座安装在腰背组件上，且轮椅座能相对腰背组件转动；大腿通过髋关节与腰背连接，且髋关节能带动腰背转动；
大腿通过膝关节与小腿连接，且膝关节能带动小腿转动；
可折叠轮椅架与髋关节转动连接，可折叠轮椅架与小腿转动连接，轮椅模式下，大腿、小腿和可折叠轮椅架构成四边形结构；行走模式下，可折叠轮椅架、大腿和小腿构成外骨骼结构。
进一步地，可折叠轮椅架包括轮椅大腿、轮椅小腿、限位弹簧旋钮组件和内置伺服电机的移动驱动轮；轮椅小腿的一端与小腿转动连接，轮椅小腿的另一端通过过渡连接件与内置伺服电机的移动驱动轮连接，髋关节轮椅连接件与轮椅大腿的一端转动连接，轮椅大腿的另一端与过渡连接件转动连接且二者通过安装在过渡连接件上的限位弹簧旋钮组件限位。
更进一步地，限位弹簧旋钮组件包括旋钮、弹簧和限位销轴；
旋钮包括旋钮柄和旋钮杆；旋钮杆滑动设置在所述轮椅轴的中空腔内，旋钮柄和旋钮杆分别具有一个限位凸台，弹簧套在旋钮杆上并顶靠在两个限位凸台上，旋钮柄通过插装在旋钮柄上并旋拧于旋钮杆一端内的螺钉与旋钮杆连接，旋钮杆的另一端伸出轮椅轴的中空腔。
更进一步地，膝关节还包括膝关节轮椅限位端盖，膝关节轮椅限位端盖固装在膝关节外壳上，膝关节轮椅限位端盖上设置有定位孔，行走模式下，旋钮杆的自由端插装在定位孔内。
更进一步地，转动杆为[形杆，转动杆的一端与立杆转动连接，转动杆的另一端与轮椅座转动连接，两个大腿、两个小腿、轮椅大腿、轮椅小腿、腰背支撑架和转动杆均为碳纤维管。
本发明相比现有技术的有益效果是：一、在轮椅模式向外骨骼模式的切换过程中，轮椅部分结构依靠其独特的轮足同构变形特点，通过限位拉簧旋钮组件将轮椅小腿部分及轮椅大腿部分与外骨骼结构进行融合合并，提高了轮椅外骨骼机器人结构紧凑性。
二、使用者可通过限位拉簧旋钮组件独立地完成结构变形的灵活切换，无需特定人员进行辅助安装调节，具有较好的人机协调性。
三、全身大量采用高强度碳纤维管材作为外骨骼支撑骨架，提高了外骨骼整体结构的轻量化及强韧度。
附图说明
图1为本发明轮足同构变形式轮椅外骨骼机器人轮椅模式下的整体结构图；
图2为轮椅收起状态示意图；
图3为轮椅展开状态示意图；
图4为大腿、立杆、髋关节和膝关节相互连接结构示意图；
图5为髋关节示意图；
图6为膝关节示意图；
图7为膝关节和小腿连接关系示意图；
图8为可折叠轮椅架结构示意图；
图9为限位弹簧旋钮组件结构示意图；
图10为膝关节轮椅限位端盖与限位弹簧旋钮组件的旋钮杆配合连接示意图；
图11为本发明轮足同构变形式轮椅外骨骼机器人行走模式下的整体结构图。
具体实施方式
下面结合附图和实施例对本发明的技术方案作进一步地说明。
参见图1-图3说明，一种轮足同构变形式轮椅外骨骼机器人包括腰部1、可折叠轮椅架4、两个大腿2和两个小腿3；
腰部1包括腰背组件1-1和座椅1-8，座椅1-8安装在腰背组件1-1上，且座椅1-8能相对腰背组件1-1转动；
大腿2通过髋关节45与腰背1-1连接，且髋关节5能带动腰背1-1转动；
大腿2通过膝关节46与小腿3连接，且膝关节6能带动小腿3转动；
可折叠轮椅架4与髋关节45转动连接，可折叠轮椅架4与小腿3转动连接，轮椅模式下，大腿2、小腿3和可折叠轮椅架4构成四边形结构；行走模式下，可折叠轮椅架4、大腿2和小腿3构成外骨骼结构。
本实施方式中，大腿2和小腿3通过可折叠轮椅架4、髋关节45和膝关节46实现外骨骼和轮椅的轮足同构变形，完成轮椅模式和外骨骼模式下的康复训练。
参见图4所示，上述实施方案中还设置了折叠拐杖10，折叠拐杖10为分段式可拆卸折叠拐杖。折叠拐杖10通过连接件与大腿2进行连接和分离，便于安装携带，有利于行走模式下辅助康复训练。
参见图1和图5说明，髋关节45包括髋关节电机、髋关节外壳39、髋关节锥蜗杆机构、髋关节传动轴25、髋关节后背连接件28和髋关节轮椅连接件24；髋关节外壳39与大腿2连接，大腿2内置有髋关节电机，髋关节锥蜗杆机构和髋关节后背连接件28布置在髋关节外壳39内，髋关节锥蜗杆机构包括相互啮合的髋关节锥蜗齿轮26和髋关节锥蜗杆27；髋关节电机的输出端连接髋关节锥蜗杆27，髋关节锥蜗齿轮26和髋关节后背连接件28固装在髋关节传动轴25上，髋关节传动轴25通过轴承安装在髋关节外壳39上，髋关节后背连接件28与腰背组件1-1连接，髋关节轮椅连接件24通过轴承安装在髋关节传动轴25上，可折叠轮椅架4与髋关节轮椅连接件24连接。
轮足同构理解为轮足式机器人在变形过程中，结构具有同构性，即结构相似，有助于变形结构的融合，使得变形前后的结构紧凑型和便携性增强。本实施方案中髋关节锥蜗齿轮26和髋关节锥蜗杆27相互啮合实现降低转速及提高扭，髋关节传动轴25通过键连接实现对髋关节锥蜗杆27和髋关节后背连接件28的驱动。这样的布置方式既能提高传动结构的紧凑型，同时还能实现大减速比、高传动扭矩的输出要求。上述方案中还设置了髋关节霍尔电磁编码器30，利用髋关节霍尔电磁编码器30对磁场变化的物理敏感特性实现高精度、小体积的精准测量，以满足实际中髋关节后背连接件28和腰部1的精准转动，满足不同康复患者的需要。
参见图1和图6说明，膝关节46包括膝关节电机、膝关节外壳40、膝关节锥蜗杆机构、膝关节传动轴37和膝关节小腿连接件34；
膝关节外壳40与大腿2连接，大腿2内置有膝关节电机，膝关节锥蜗杆机构包括相互啮合的膝关节锥蜗齿轮36和膝关节锥蜗杆31；膝关节电机的输出端连接膝关节锥蜗杆31，膝关节锥蜗齿轮36和膝关节小腿连接件34固装在膝关节传动轴37上，膝关节传动轴37通过轴承安装在膝关节外壳40上，膝关节小腿连接件34与小腿3连接。
本实施方案中膝关节锥蜗齿轮36和膝关节锥蜗杆31相互啮合实现大减速比传动，膝关节传动轴37通过膝关节深沟球轴承32和键连接实现对膝关节锥蜗杆31和膝关节小腿连接件34的驱动。这样的布置方式既能提高传动结构的紧凑型，同时还能实现大减速比、高传动扭矩的输出要求。上述方案中还设置了膝关节霍尔电磁编码器33，利用膝关节霍尔电磁编码器33对磁场变化的物理敏感特性实现高精度、小体积的精准测量，以满足实际中膝关节小腿连接件34的精准转动，满足不同康复患者的需要。
参见图7和图8说明，可折叠轮椅架4包括轮椅大腿19、轮椅小腿20、限位弹簧旋钮组件21和内置伺服电机的移动驱动轮22；轮椅小腿20的一端与小腿3转动连接，轮椅小腿20的另一端通过过渡连接件41与内置伺服电机的移动驱动轮22连接，髋关节轮椅连接件24与轮椅大腿19的一端转动连接，轮椅大腿19的另一端与过渡连接件41转动连接且二者通过安装在过渡连接件41上的限位弹簧旋钮组件21限位。
本实施方式中，轮椅小腿20的一端转动安装在布置于小腿3上的小腿铰接件17，实现轮椅小腿20与小腿3相对转动，完成轮椅模式向行走模式下的转换，鞋靴脚部固定器18可放置在患者鞋靴内部，实现外骨骼与使用者踝关节的良好固定。上述方案轮椅大腿19与过渡连接件41相对转动，实现轮椅模式与行走模式相互转换，限位弹簧旋钮组件21实现轮椅模式下轮椅大腿19的固定以及行走模式下过渡连接件41与大腿2的相对固定，
作为优选的方案，参见图8和图9所示，过渡连接件41包括双弧形板41-1、U形插件41-2和轮椅轴41-3；双弧形板41-1与轮椅小腿20固接，内置伺服电机的移动驱动轮22安装在U形插件41-2上，轮椅大腿19的另一端连接有单插口插接件43，插口插接件43插装在双弧形板41-1的一个弧形板上，U形插件41-2插装在双弧形板41-1上，单插口插接件43与双弧形板41-1通过插装于二者上的轮椅轴41-3相对转动，插口插接件43通过安装在轮椅轴41-3上的限位弹簧旋钮组件21限位。该实施方案中双弧形板41-1与插口插接件43的配合设置，利用轮椅轴41-3实现轮椅大腿19和轮椅小腿20的相对转动，完成轮椅模式和外骨骼行走模式的转换，U形插件41-2的设置是便于与内置伺服电机的移动驱动轮22连接，也便于限位弹簧旋钮组件21的拆装。轮椅轴41-3可通过轴承端盖及螺栓固定在U形插件41-2中。限位弹簧旋钮组件21包括旋钮21-1、弹簧21-2和限位销轴21-3；
旋钮包括旋钮柄21-11和旋钮杆21-12；旋钮杆21-12滑动设置在所述轮椅轴42的中空腔内，旋钮柄21-11和旋钮杆21-12分别具有一个限位凸台，弹簧21-2套在旋钮杆21-12上并顶靠在两个限位凸台上，旋钮柄21-11通过插装在旋钮柄21-11上并旋拧于旋钮杆21-12一端内的螺钉与旋钮杆21-12连接，旋钮杆21-12的另一端伸出轮椅轴41-3的中空腔。
该实施方案中弹簧21-2的作用主要是向旋钮杆21-12提供顶压力，具体为：转变为轮椅模式时，弹簧21-2为拉伸状态，在弹簧21-2压力作用下旋钮杆21-12完全伸出轮椅轴42的中空腔，调整好轮椅大腿19、轮椅小腿20、大腿2和小腿3各自姿态构建成四边形结构，实现了在轮椅模式下的康复训练。外骨骼处于轮椅模式下，在移动驱动轮22及轮椅小腿20上小支撑轮47的支撑作用下保证了四边形结构趋于稳定，实现对使用者的平稳支撑。移动驱动轮22内置的伺服电机实现轮椅模式下的位置移动以及重力方向的支撑。
参见图6、图8-图10说明，膝关节6还包括膝关节轮椅限位端盖35，膝关节轮椅限位端盖35固装在膝关节外壳40上，膝关节轮椅限位端盖35上设置有定位孔35-1，行走模式下，旋钮杆21-12的自由端插装在定位孔35-1内。该实施方案在向外骨骼行走模式转变时，先向外拉动旋钮柄21-11和旋钮杆21-12，弹簧21-2为压缩状态，旋钮杆21-12的另一端缩回至轮椅轴41-3的中空腔内，调整轮椅大腿19、轮椅小腿20、大腿2和小腿3各自的姿态，具体为：轮椅大腿19带动髋关节轮椅连接件24绕髋关节传动轴25转动，髋关节45带动腰背组件1-1转动，膝关节46带动小腿3转动，轮椅小腿20绕小腿铰接件17转动，轮椅大腿19和轮椅小腿20相对转动，构建成外骨骼结构，此时，轮椅大腿19、轮椅小腿20、大腿2和小腿3相互平行，旋钮杆21-12对准定位孔35-1，释放旋钮柄21-11，在弹簧21-2压力作用下，旋钮杆21-12的另一端完全伸出轮椅轴41-3的中空腔并伸入定位孔35-1内，此时，轮椅大腿19和轮椅小腿20在摆动方向上被限位无法摆动，实现了在外骨骼行走模式下进行康复训练。当外骨骼轮椅准备从轮椅模式变换到行走模式时，此时使用者可利用折叠拐杖10进行支撑站立。
参见图2和图3说明，腰背组件1-1包括腰部支撑板5、肩部捆绑板6、调节板7和腰背支撑架9；腰背支撑架9与两个髋关节后背连接件28连接，调节板7安装在座椅支撑架9上，肩部捆绑板6安装在调节板7上，腰部支撑板5安装在肩部捆绑板6上，且腰部支撑板5能沿肩部捆绑板6滑动，轮椅座1-8通过转动杆43与腰背支撑架9转动连接，髋关节轮椅连接件24通过限位连接件14与轮椅大腿19连接，轮椅模式下，轮椅座1-8通过插接在髋关节轮椅连接件14上的插板及异性磁铁组件47支撑限位。
图2为轮椅座1-8收起状态，轮椅座1-8与腰部支撑架9通过卡扣9-4进行限位固定，
图3为轮椅座1-8展开状态，在支撑过程中轮椅座1-8与轮椅大腿19上的髋关节轮椅连接件14通过插板及异性磁铁组件47进行限位固定。插板固定在轮椅座1-8上，插板上和髋关节轮椅连接件14的对接板上镶嵌有异性磁铁，当插板插接在髋关节轮椅连接件14上时，两个异性磁铁相互吸引完成定位。插板47-1和对接板14-1实现对轮椅座1-8的支撑。
参见图3说明，腰背支撑架9为管状支撑架结构，腰背支撑架9包括水平杆9-1、两个弯折杆9-2和两个立杆9-3；两个弯折杆9-2之间布置有与二者连接的水平杆9-1，弯折杆9-2与立杆9-3连接，立杆9-3与髋关节后背连接件28连接，调节板7安装在水平杆9-1上。
该实施方案中水平杆9-1与两个弯折杆9-2通过卡扣9-4可拆卸连接，这样在轮椅座1-8转动变为收起状态时通过卡扣9-4进行限位固定。
参见图2和图3说明，优选地，转动杆43为[形杆，转动杆43的一端与立杆9-3转动连接，转动杆43的另一端与轮椅座1-8转动连接，两个大腿2、两个小腿3、轮椅大腿19、轮椅小腿20、腰背支撑架9和转动杆43均为碳纤维管。
该实施方案中轮椅座1-8上安装有铰链，转动杆43的另一端安装在该铰链上实现转动杆43与轮椅座1-8相对转动。大量采用高强度碳纤维管作为外骨骼支撑骨架，提高了外骨骼整体结构的轻量化及强韧度。总重量能做到不超过10Kg。
工作原理
当轮椅外骨骼机器人工作在外骨骼康复训练模式下，此时，可折叠轮椅架4中轮椅大腿19，轮椅小腿20通过限位弹簧旋钮组件21固定在大腿2及小腿3结构上，并跟随患者同步摆动。使用者通过腰部1、大腿2、小腿3结构中的捆绑连接件与轮椅外骨骼进行固定，通过鞋靴脚部固定器18将脚部与小腿3末端进行固定，使用折叠拐杖10与地面进行支撑，并在髋关节45及膝关节46的辅助下完成康复训练运动。
当轮椅外骨骼机器人工作在轮椅移动模式，此时使用者可手动拉动膝关节限位端盖35处的限位弹簧旋钮组件21使轮椅结构与外骨骼结构脱开分离，并在折叠拐杖10的辅助支撑下缓慢下蹲，直到移动驱动轮22与地面接触，完成轮椅模式结构的完全变形。
本发明已以较佳实施案例揭示如上，然而并非用以限定本发明，任何熟悉本专业的技术人员，在不脱离本发明技术方案范围内，依据本发明的技术实质对以上实施案例所做的任何简单修改、等同变化与修饰，均仍属本发明技术方案范围。

Claims (10)

1.一种轮足同构变形式轮椅外骨骼机器人，其特征在于：它包括腰部(1)、可折叠轮椅架(4)、两个大腿(2)和两个小腿(3)；
腰部(1)包括腰背组件(1-1)和轮椅座(1-8)，轮椅座(1-8)安装在腰背组件(1-1)上，且座椅(1-8)能相对腰背组件(1-1)转动；
大腿(2)通过髋关节(45)与腰背(1-1)连接，且髋关节(5)能带动腰背组件(1-1)转动；
大腿(2)通过膝关节(46)与小腿(3)连接，且膝关节(6)能带动小腿(3)转动；
可折叠轮椅架(4)与髋关节(45)转动连接，可折叠轮椅架(4)与小腿(3)转动连接，轮椅模式下，大腿(2)、小腿(3)和可折叠轮椅架(4)构成四边形结构；行走模式下，可折叠轮椅架(4)、大腿(2)和小腿(3)构成外骨骼结构。
2.根据权利要求1所述一种轮足同构变形式轮椅外骨骼机器人，其特征在于：髋关节(45)包括髋关节电机、髋关节外壳(39)、髋关节锥蜗杆机构、髋关节传动轴(25)、髋关节后背连接件(28)和髋关节轮椅连接件(24)；
髋关节外壳(39)与大腿(2)连接，大腿(2)内置有髋关节电机，髋关节锥蜗杆机构和髋关节后背连接件(28)布置在髋关节外壳(39)内，髋关节锥蜗杆机构包括相互啮合的髋关节锥蜗齿轮(26)和髋关节锥蜗杆(27)；
髋关节电机的输出端连接髋关节锥蜗杆(27)，髋关节锥蜗齿轮(26)和髋关节后背连接件(28)固装在髋关节传动轴(25)上，髋关节传动轴(25)通过轴承安装在髋关节外壳(39)上，髋关节后背连接件(28)与腰背组件(1-1)连接，髋关节轮椅连接件(24)通过轴承安装在髋关节传动轴(25)上，可折叠轮椅架(4)与髋关节轮椅连接件(24)连接。
3.根据权利要求1或2所述一种轮足同构变形式轮椅外骨骼机器人，其特征在于：膝关节(46)包括膝关节电机、膝关节外壳(40)、膝关节锥蜗杆机构、膝关节传动轴(37)和膝关节小腿连接件(34)；
膝关节外壳(40)与大腿(2)连接，大腿(2)内置有膝关节电机，膝关节锥蜗杆机构包括相互啮合的膝关节锥蜗齿轮(36)和膝关节锥蜗杆(31)；膝关节电机的输出端连接膝关节锥蜗杆(31)，膝关节锥蜗齿轮(36)和膝关节小腿连接件(34)固装在膝关节传动轴(37)上，膝关节传动轴(37)通过轴承安装在膝关节外壳(40)上，膝关节小腿连接件(34)与小腿(3)连接。
4.根据权利要求3所述一种轮足同构变形式轮椅外骨骼机器人，其特征在于：可折叠轮椅架(4)包括轮椅大腿(19)、轮椅小腿(20)、限位弹簧旋钮组件(21)和内置伺服电机的移动驱动轮(22)；轮椅小腿(20)的一端与小腿(3)转动连接，轮椅小腿(20)的另一端通过过渡连接件(41)与内置伺服电机的移动驱动轮(22)连接，髋关节轮椅连接件(24)与轮椅大腿(19)的一端转动连接，轮椅大腿(19)的另一端与过渡连接件(41)转动连接且二者通过安装在过渡连接件(41)上的限位弹簧旋钮组件(21)限位。
5.根据权利要求4所述一种轮足同构变形式轮椅外骨骼机器人，其特征在于：过渡连接件(41)包括双弧形板(41-1)、U形插件(41-2)和轮椅轴(41-3)；双弧形板(41-1)与轮椅小腿(20)固接，内置伺服电机的移动驱动轮(22)安装在U形插件(41-2)上，轮椅大腿(19)的另一端连接有单插口插接件(43)，单插口插接件(43)插装在双弧形板(41-1)的一个弧形板上，U形插件(41-2)插装在双弧形板(41-1)上，单插口插接件(43)与双弧形板(41-1)通过插装于二者上的轮椅轴(41-3)相对转动，单插口插接件(43)通过安装在轮椅轴(41-3)上的限位弹簧旋钮组件(21)限位。
6.根据权利要求4或5所述一种轮足同构变形式轮椅外骨骼机器人，其特征在于：限位弹簧旋钮组件(21)包括旋钮(21-1)、弹簧(21-2)和限位销轴(21-3)；
旋钮包括旋钮柄(21-11)和旋钮杆(21-12)；旋钮杆(21-12)滑动设置在所述轮椅轴(42)的中空腔内，旋钮柄(21-11)和旋钮杆(21-12)分别具有一个限位凸台，弹簧(21-2)套在旋钮杆(21-12)上并顶靠在两个限位凸台上，旋钮柄(21-11)通过插装在旋钮柄(21-11)上并旋拧于旋钮杆(21-12)一端内的螺钉与旋钮杆(21-12)连接，旋钮杆(21-12)的另一端伸出轮椅轴(41-3)的中空腔。
7.根据权利要求6所述一种轮足同构变形式轮椅外骨骼机器人，其特征在于：膝关节(6)还包括膝关节轮椅限位端盖(35)，膝关节轮椅限位端盖(35)固装在膝关节外壳(40)上，膝关节轮椅限位端盖(35)上设置有定位孔(35-1)，行走模式下，旋钮杆(21-12)的自由端插装在定位孔(35-1)内。
8.根据权利要求7所述一种轮足同构变形式轮椅外骨骼机器人，其特征在于：腰背组件(1-1)包括腰部支撑板(5)、肩部捆绑板(6)、调节板(7)和腰背支撑架(9)；
腰背支撑架(9)与两个髋关节后背连接件(28)连接，调节板(7)安装在座椅支撑架(9)上，肩部捆绑板(6)安装在调节板(7)上，腰部支撑板(5)安装在肩部捆绑板(6)上，且腰部支撑板(5)能沿肩部捆绑板(6)滑动，轮椅座(1-8)通过转动杆(43)与腰背支撑架(9)转动连接，髋关节轮椅连接件(24)通过限位连接件(14)与轮椅大腿(19)连接，轮椅模式下，轮椅座(1-8)通过插接在髋关节轮椅连接件(14)上的插板及异性磁铁组件(47)支撑限位。
9.根据权利要求8所述一种轮足同构变形式轮椅外骨骼机器人，其特征在于：腰背支撑架(9)为管状支撑架结构，腰背支撑架(9)包括水平杆(9-1)、两个弯折杆(9-2)和两个立杆(9-3)；两个弯折杆(9-2)之间布置有与二者连接的水平杆(9-1)，弯折杆(9-2)与立杆(9-3)连接，立杆(9-3)与髋关节后背连接件(28)连接，调节板(7)安装在水平杆(9-1)上。
10.根据权利要求9所述一种轮足同构变形式轮椅外骨骼机器人，其特征在于：转动杆(43)为[形杆，转动杆(43)的一端与立杆(9-3)转动连接，转动杆(43)的另一端与轮椅座(1-8)转动连接，两个大腿(2)、两个小腿(3)、轮椅大腿(19)、轮椅小腿(20)、腰背支撑架(9)和转动杆(43)均为碳纤维管。
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