CN108858158A - A kind of method and device for realizing the long continuation of the journey ectoskeleton of lightweight - Google Patents
A kind of method and device for realizing the long continuation of the journey ectoskeleton of lightweight Download PDFInfo
- Publication number
- CN108858158A CN108858158A CN201811071245.8A CN201811071245A CN108858158A CN 108858158 A CN108858158 A CN 108858158A CN 201811071245 A CN201811071245 A CN 201811071245A CN 108858158 A CN108858158 A CN 108858158A
- Authority
- CN
- China
- Prior art keywords
- wheelchair
- ectoskeleton
- capacity battery
- exoskeleton robot
- exoskeleton
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
The present invention relates to the exoskeleton device of medical rehabilitation exoskeleton robot field more particularly to a kind of lightweight and long continuation of the journey, main audient's range is to need the patient using wheelchair since spinal cord injury or other reasons cause disabled.Primary structure of the present invention includes exoskeleton robot and matched wheelchair.Exoskeleton robot and wheelchair are separable, and ectoskeleton is equipped with low capacity battery, and large-capacity battery is housed in wheelchair, and large-capacity battery can be repeatedly to the low capacity battery charging in ectoskeleton.When normal use ectoskeleton, wheelchair is left unused on side, after use, patient sits and is back on wheelchair ectoskeleton, and the large-capacity battery in wheelchair charges to ectoskeleton automatically.It is this with fill with exoskeleton robot not only alleviate weight, also effectively increase cruise duration, huge convenience can be brought to user.
Description
Technical field
The present invention relates to the ectoskeletons of medical rehabilitation exoskeleton robot field more particularly to a kind of lightweight and long continuation of the journey
Device.
Background technique
Exoskeleton device is a kind of installations that the frame by hard materials such as metals constitutes and people can be allowed to put on,
It can provide additional energy and come for quadruped locomotion.Cause disabled for spinal cord injury or other reasons and needs using wheelchair
For patient, this device can enable them to stand and normally walk again.In addition to this, exoskeleton device can be with
Applied to multiple fields such as reconditionings.
However, existing exoskeleton device has the following disadvantages.Firstly, the cruising ability of existing battery is weak, one is used
It needs to take off after section time ectoskeleton and charge.Secondly, the volume and weight of battery will certainly to enhance cruising ability
Increase, since battery is assembled on ectoskeleton, makes whole device heaviness.These are insufficient seriously to hamper exoskeleton robot
Universal use.
Summary of the invention
Method proposed by the present invention can make exoskeleton robot realize lightweight and long continuation of the journey, to overcome existing dermoskeleton
The deficiency of bone device.Since above-mentioned patient needs commonly using wheelchair, the present invention provides a kind of exoskeleton robot and wheelchair phase
In conjunction with device.Patient uses wheelchair in the daily life most of the time, it is desirable to which when standing or walking, patient is directly on wheelchair
Ectoskeleton equipment has been dressed, wheelchair can have been placed and ectoskeleton activity is aside used alone；Patient is complete using ectoskeleton activity
Afterwards, it sits and is back to wheelchair, ectoskeleton equipment is released, the use state of common wheelchair can be returned.Little Rong is equipped on ectoskeleton
Battery is measured, electricity is equipped with large-capacity battery for the normal use of single on wheelchair, repeated multiple times can give dermoskeleton
Low capacity battery charging on bone.When using ectoskeleton, wheelchair is idle, and ectoskeleton is by low capacity storage battery power supply at this time.
After use, patient sits and is back to wheelchair ectoskeleton, and low capacity battery of the large-capacity battery in wheelchair into ectoskeleton fills
Electricity.After use, patient sits back on wheelchair ectoskeleton, and charging process carries out automatically, not only realizes ectoskeleton battery in this way
With filling with and alleviating the weight of exoskeleton device, also improve the cruising ability of package unit.
The present invention is achieved by the following technical solutions：
As shown in the picture, package unit consists of the following parts：(1) exoskeleton robot, (2) wheelchair, (3) low capacity store
Battery, (4) large-capacity battery, (5) charging interface.(3) it sets in (1), provides electric energy for (1), and be connected to (5).(4) it sets
In (2), and it is connected to (5).(1) (5) are connected after combining with (2) makes (4) for (3) charging.(5) it is connected with and fills between (4)
Electric control circuit can detect the electricity of (3), and charging is automatically stopped after (3) are fully charged.
Specific use process is as follows for the present apparatus, and point three kinds of states are explained：
When using wheelchair state, ectoskeleton is in conjunction with wheelchair, the application method of package unit and common wheelchair phase at this time
Together.Though ectoskeleton equipment is placed on wheelchair, when patient's routine use wheelchair, can not dress ectoskeleton equipment, when keeping using
Comfortably.When using wheelchair state, charging interface is remained up, and the large-capacity battery in wheelchair is that the low capacity in ectoskeleton stores
Battery charging.
When using ectoskeleton state, patient, which is sitting on wheelchair, dresses ectoskeleton equipment, disconnects charging interface, will take turns
Chair leaves unused on side.Ectoskeleton is separated with wheelchair at this time, is powered from low capacity battery to ectoskeleton.Ectoskeleton after use, is suffered from
Person, which sits, is back to wheelchair, releases ectoskeleton equipment, connects charging interface, the large-capacity battery in wheelchair is into ectoskeleton at this time
The charging of low capacity battery.
After large-capacity battery electricity is finished, switches it on to domestic power supply and charge.Continue normally to make after charging complete
With.
Compared with prior art, the present invention has the following advantages：
1, the present invention combines wheelchair with ectoskeleton equipment, and patient can easily carry ectoskeleton and in two kinds of rows
It is switched between flowing mode.Since current ectoskeleton equipment used time of sening as an envoy to outside needs by special carry-over tool to be carried and deposited
It puts, occupy parking space and is not easy to shift.Present invention saves the parking spaces needed for ectoskeleton, and enable ectoskeleton
It easily carries and shifts.
2, in view of the time of patient's actual use ectoskeleton machinery is generally shorter, so the present invention is by reducing ectoskeleton
The method of middle accumulator capacity reduces the weight and volume of exoskeleton device, reduces energy loss.Ectoskeleton weight and volume
Reduction also make it lighter, wearing and movement convenient for patient, and be easier to promote exoskeleton device.
3, in view of patient uses wheelchair as walking-replacing tool the most of the time, large-capacity battery is incorporated by the present invention
In wheelchair, charged when patient does not use ectoskeleton equipment from the battery in wheelchair to ectoskeleton.Although the electricity in ectoskeleton
Tankage reduction will lead to its shortening using the time, but the large-capacity battery installed in mating wheelchair can be stored for dermoskeleton
Bone uses the electricity of longer time.This design considerably improves the cruising ability of ectoskeleton equipment.
Detailed description of the invention
Fig. 1 is using ectoskeleton state, and ectoskeleton is separated with wheelchair at this time.
Fig. 2 is using wheelchair state, and ectoskeleton is in conjunction with wheelchair at this time.
Specific embodiment
In order to which the technical problems, technical solutions and beneficial effects solved by the present invention is more clearly understood, below in conjunction with
Accompanying drawings and embodiments, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein only to
It explains the present invention, is not intended to limit the present invention.
As shown in the picture, the embodiment of the present invention proposes long continuation of the journey and light-weighted exoskeleton device, major part have dermoskeleton
Bone device and wheelchair.Fixed card buckle can be set in two parts junction, keeps it separable or is securely joined with.It is equipped in ectoskeleton
Low capacity storage battery power supply.Large-capacity battery is equipped in wheelchair, charging interface is connected when ectoskeleton is in conjunction with wheelchair to be made
It is the low capacity battery charging in ectoskeleton.
The specific embodiment of the buckle is as follows：Wheelchair monnolithic case is similar to traditional push chairs, the difference is that its
Surface is equipped with the groove for placing ectoskeleton, so that patient is dressed when ectoskeleton is sitting in wheelchair and is tightly combined with ectoskeleton.?
The buckle that can be fixed on ectoskeleton on wheelchair is arranged in ectoskeleton and the crucial stress point of wheelchair junction, so that when snap lock
Ectoskeleton is combined closely with wheelchair.When patient needs using ectoskeleton equipment, buckle can be unlocked manually, it is outer after buckle unlock
Bone and wheelchair are separated into two individual parts, and patient manipulates ectoskeleton standing and can separate with wheelchair.Patient has used outer
After bone, wheelchair is placed in and is sat down behind, ectoskeleton equipment can be bonded with the groove on wheelchair surface, and patient is again by snap lock at this time
Fixed, ectoskeleton is combined as a whole with wheelchair, and allomeric function is similar to common wheelchair.
The specific embodiment of the large capacity and low capacity battery is as follows：For low capacity battery, it is primarily due to
Patient's practical time that ectoskeleton is intended for single use will not be too long, so we can reduce the capacity and volume of the battery, than
It is such as ectoskeleton continuous use 3 to 5 hours by its Capacity design.Secondly as existing exoskeleton robot mostly will be electric
Pond is designed as an entirety, causes ectoskeleton distribution of weight uneven, usage experience is bad.Accordingly it is also possible to by exoskeleton device
In low capacity battery designs be it is split type, be dispersed among each structure of ectoskeleton, make ectoskeleton entirety weight divide
Cloth is more uniform, and patient's use is more comfortable.And this design makes entire ectoskeleton compared to traditional monolith battery
Structure is more simplified, and shape is more succinct.Large-capacity battery can be fixed below wheelchair, form an entirety with wheelchair.
Since it is in conjunction with wheelchair, be restricted it is smaller, and for increase the system cruising ability, can have biggish weight
It is used continuously 36 to 48 hours with the electricity of volume, such as battery storage for ectoskeleton equipment, or even the longer time.
The specific embodiment of the connection ectoskeleton and wheelchair charging interface is as follows：Such as above-mentioned click-on design, wheelchair table
Face is equipped with the groove for placing ectoskeleton.Somewhere in groove is designed as circuit contact, by the ectoskeleton being bonded here and wheelchair
Surface is designed as metal contact piece.When using wheelchair state, above-mentioned metal contact piece is touched, and circuit is connected, the large capacity in wheelchair
Low capacity battery charging of the battery into ectoskeleton；When using ectoskeleton state, above-mentioned metal contact piece separation, circuit breaks
It opens.In addition to this, which can also be another design method, as socket and plug formula.Patient need using
When ectoskeleton, first plug is come out of the socket manually, then unlock buckle, operation ectoskeleton is separated with wheelchair.Ectoskeleton uses
After complete, patient operates ectoskeleton seat and is back to wheelchair, docks charging plug by snap-lock, then manually, to be low capacity storage
Battery charging.
Above-mentioned wheelchair, battery, charging control circuit are existing mature technology, are common in life, therefore do not do and retouch in detail
It states.Above-mentioned exoskeleton robot is technology in existing experiment, is not limited to temper the ectoskeleton of patient's lower limb, also may include exercise
The ectoskeleton of entire patient itself is not belonging to key content of the invention, therefore is also not described in detail.It is knot as described above
One or more embodiments that particular content provides are closed, do not assert that specific implementation of the invention is only limited to these instructions.
It is all approximate with method of the invention, structure etc., identical, or deduced for making several technologies under the premise of present inventive concept, or
Replacement all should be considered as protection scope of the present invention.
Claims (4)
1. the exoskeleton device of a kind of lightweight and long continuation of the journey, including (1) exoskeleton robot, (2) wheelchair, it is characterised in that make
When with (2) wheelchair, (1) exoskeleton robot is combined as a whole with (2) wheelchair, when using (1) exoskeleton robot, can operate it
It is separated with (2) wheelchair and (2) wheelchair leaves unused on side.
2. the exoskeleton device of lightweight according to claim 1 and long continuation of the journey, it is characterised in that (1) exoskeleton robot
In be equipped with (3) low capacity battery power for it, in (2) wheelchair be equipped with (4) large-capacity battery can store more electric energy, pass through
It repeatedly charges to (1) exoskeleton robot, achievees the purpose that long continuation of the journey.
3. according to claim 1 with the exoskeleton device of lightweight as claimed in claim 2 and long continuation of the journey, it is characterised in that device
In be equipped with (5) charging interface, connection (5) charging interface (4) large-capacity battery in (2) wheelchair can be made to (1) ectoskeleton machine
(3) low capacity battery charging in device people, disconnecting (5) charging interface can stop charging.
4. according to claim 1 with the exoskeleton device of lightweight as claimed in claim 3 and long continuation of the journey, it is characterised in that use
(1) it when exoskeleton robot, is powered from (3) low capacity battery to (1) exoskeleton robot, has used (1) ectoskeleton machine
After people, seat is back to (2) wheelchair and connects (5) charging interface, and (4) large-capacity battery charges to (3) low capacity battery,
Realize (1) exoskeleton robot with fill with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811071245.8A CN108858158A (en) | 2018-09-14 | 2018-09-14 | A kind of method and device for realizing the long continuation of the journey ectoskeleton of lightweight |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811071245.8A CN108858158A (en) | 2018-09-14 | 2018-09-14 | A kind of method and device for realizing the long continuation of the journey ectoskeleton of lightweight |
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| CN108858158A true CN108858158A (en) | 2018-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811071245.8A Pending CN108858158A (en) | 2018-09-14 | 2018-09-14 | A kind of method and device for realizing the long continuation of the journey ectoskeleton of lightweight |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113997277A (en) * | 2022-01-04 | 2022-02-01 | 广东工业大学 | Photovoltaic power supply system for wearable lower limb exoskeleton robot |
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| WO2013035814A1 (en) * | 2011-09-06 | 2013-03-14 | 国立大学法人 和歌山大学 | Power-assisting robotic device and control method thereof |
| CN106420203A (en) * | 2016-11-29 | 2017-02-22 | 天津大学 | Foldable exoskeleton wheelchair integrated motion assisted robot |
| CN108127647A (en) * | 2018-02-13 | 2018-06-08 | 中山市沃倍特智能医疗机器人股份有限公司 | Long continuation of the journey and light-weighted intelligent exoskeleton robot |
| CN108186295A (en) * | 2018-02-13 | 2018-06-22 | 中山市沃倍特智能医疗机器人股份有限公司 | Meet the lower limb structure component of the exoskeleton robot of simulation of human body design |
| CN108309593A (en) * | 2018-02-22 | 2018-07-24 | 哈尔滨工业大学 | A kind of sufficient isomorphism deformation type wheelchair exoskeleton robot of wheel |
-
2018
- 2018-09-14 CN CN201811071245.8A patent/CN108858158A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013035814A1 (en) * | 2011-09-06 | 2013-03-14 | 国立大学法人 和歌山大学 | Power-assisting robotic device and control method thereof |
| CN106420203A (en) * | 2016-11-29 | 2017-02-22 | 天津大学 | Foldable exoskeleton wheelchair integrated motion assisted robot |
| CN108127647A (en) * | 2018-02-13 | 2018-06-08 | 中山市沃倍特智能医疗机器人股份有限公司 | Long continuation of the journey and light-weighted intelligent exoskeleton robot |
| CN108186295A (en) * | 2018-02-13 | 2018-06-22 | 中山市沃倍特智能医疗机器人股份有限公司 | Meet the lower limb structure component of the exoskeleton robot of simulation of human body design |
| CN108309593A (en) * | 2018-02-22 | 2018-07-24 | 哈尔滨工业大学 | A kind of sufficient isomorphism deformation type wheelchair exoskeleton robot of wheel |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113997277A (en) * | 2022-01-04 | 2022-02-01 | 广东工业大学 | Photovoltaic power supply system for wearable lower limb exoskeleton robot |
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Application publication date: 20181123 |
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