CN110584961A - Walking-aid robot - Google Patents

Abstract

The invention discloses a walking-aid robot, which comprises a left box body, a right box body, a handrail, a speed-regulating handle, a main shaft, a transmission gear, a speed reducer, a universal wheel, a walking device and the like, wherein a motor is fixed on the bottom surface inside the box body, the output power of the motor is controlled by the speed-regulating handle, the rotating speed of the motor is changed through the rotating angle of the speed-regulating handle, and then the power is transmitted to parts of the walking device of the robot through gear transmission. Two universal wheels are installed behind the robot, power drive is not available, the rear wheels are driven by the walking piece to move forwards, when the robot is used, the center of gravity of the robot can be pressed by a person, and the user can slowly move forwards along with the robot, so that the purpose of assisting the walking is achieved.

Description

a walking aid robot

technical field

The invention relates to the fields of mechanical walking aids and elderly aids, in particular to a walking aid robot.

Background technique

The walking frame is a very important walking aid mechanism for the elderly or the disabled with limited mobility in the lower limbs and sound upper limbs. There are two types of walking frames that are common on the market: frame-type walking frames and wheel-type walking frames. The frame-type walker needs to be lifted by the person during walking, which is laborious for the elderly and prone to danger during the lifting process. Wheeled walking frames have poor stability during walking, and are prone to slipping when encountering ramps, and bumps when the road surface is uneven. The common walking frame with front wheels and rear legs is relatively better, but it does not solve the contradiction between stability and labor saving. Traditional wheelchairs cannot achieve the effect of rehabilitation training. After searching the existing technology, it is found that the currently designed walker robots are all wheeled, and wheeled walker robots will have the problem of slipping easily.

Contents of the invention

In order to overcome the deficiencies of the prior art, the technical problem to be solved by the present invention is to design a walking-assisting robot with a built-in speed-regulating drive device that can also work normally on uneven roads.

A walker robot, the main body is a cuboid box, the left box and the right box are fixedly connected by screws, two handrails are symmetrically arranged on the top of the left box and the right box, and the handrails and the left box and the left box are connected by screws. On the right box, a speed control handle is installed between the two handrails, and the two handrails are connected together. A main shaft is arranged across the side of the left box and the right box. The two ends of the main shaft pass through the box, and the two ends are symmetrical. Two sets of walking devices are set up, and the walking devices include cranks, upper rockers, lower rockers, side links and walking parts; the exit end of the main shaft on one side of the left box is fixedly connected to a crank, and the front end of the left box An upper rocker and a lower rocker are provided, the crank and the lower rocker are respectively articulated to a side link, and the side link and the upper rocker are respectively articulated to a walking piece; the two ends of the main shaft are connected to the left box through bearings respectively It is connected with the right box, and a transmission gear is set on the main shaft in the box. The transmission gear is connected with the main shaft through a key assembly, and the axial movement is limited by springs on both sides. A motor is installed in the box, and the motor is located under the main shaft. A reducer is connected, the reducer is connected with a driving gear, and the driving gear and the transmission gear mesh; two sets of universal wheels are arranged at the rear bottom of the box.

Preferably, a bottom plate is provided at the bottom of the walking member.

Preferably, the above-mentioned crank is fixed through the special-shaped hole and the main shaft without relative rotation.

Preferably, the above-mentioned speed control handle is a Hall speed control handle, and the forward speed of the robot is controlled by changing the rotation angle of the speed control handle.

Preferably, the above-mentioned armrest can be adjusted in height up and down.

The present invention uses a speed-regulating handle to design a walking-aiding robot that can manually adjust the speed of action. When walking, the speed-regulating handle can be rotated to freely control the speed of the robot, and no human push is required to achieve a good labor-saving effect. The walking frame designed in the front adopts a gait walking structure, which can cross small obstacles when moving on uneven ground, with smooth walking and strong adaptability.

The cranks on the walking frames on both sides of the box are assembled with the main shaft through special-shaped holes, and the two cranks always maintain a parallel and reverse relationship to ensure that the motor will not rotate and can complete a complete walking route.

The bottom of the walking parts of the walking device is designed to be in surface contact with the ground to ensure that there is sufficient friction to drive the universal wheels forward. When the robot stops on a slope, it can generate self-locking.

Compared with prior art, the beneficial effect of the present invention is:

1. The armrest is light in structure and can be adjusted to different heights by itself;

2. There is a driving device inside the robot, which does not need to be lifted or pushed by people to achieve the purpose of labor saving;

3. Hall speed control handle is installed on the armrest, users can adjust the speed according to their own needs in real time;

4. The front leg of the robot adopts the design of rod walking, which is highly adaptable to the ground conditions, and it is safer to go uphill.

Description of drawings

Fig. 1 is the perspective view of walking aid robot of the present invention;

Fig. 2 is an internal sectional view of the walking aid robot of the present invention;

Fig. 3 is a diagram of the driving device of the walking aid robot of the present invention.

Detailed ways

The present invention will be described in detail below through specific embodiments;

As shown in Fig. 1, Fig. 2 and Fig. 3, a walking aid robot, the main body is a cuboid box, the left box 1 and the right box 2 are fixedly connected by screws, the left box 1 and the right box 2 Two handrails 3 are arranged symmetrically on the top, and the handrails 3 and the left box body 1 and the right box body 2 are connected by screws, and the speed regulating handle 4 is installed between the two handrails 3, and the two handrails 3 are connected together. A main shaft 11 is arranged across the side of the body 1 and the right box body 2, and the two ends of the main shaft 11 pass through the box body, and two sets of walking devices are arranged symmetrically at both ends, and the walking devices include a crank 6, an upper rocker 7, and a lower rocker 8 , side connecting rod 9 and walking part 10; the passing end of the main shaft 11 on one side of the left box body 1 is fixedly connected with a crank 6, and the front end of the left box body 1 is provided with an upper rocker 7 and a lower rocker 8, and the crank 6 and the lower rocker 8 are respectively articulated to a side link 9, and the side link 9 and the upper rocker 7 are respectively articulated to a walking member 10; the two ends of the main shaft 11 are connected to the left box 1 and the right box through bearings respectively. 2 connection, a transmission gear 12 is arranged on the main shaft 11 in the box, and the transmission gear 12 is assembled with the main shaft 11 through a key connection, and the axial movement is limited by circlips 16 on both sides, and a motor 13 is installed in the box, and the motor 13 is located at Below the main shaft 11, the motor 13 is connected with a speed reducer 15, and the speed reducer 15 is connected with a driving gear 18, and the driving gear 18 and the transmission gear 12 mesh; two groups of universal wheels 5 are arranged at the rear bottom of the casing.

Preferably, a bottom plate 17 is provided at the bottom of the walking member 10 .

Preferably, the crank 6 is fixed through the special-shaped hole and the main shaft 11 without relative rotation.

Preferably, the above-mentioned speed-regulating handle 4 is a Hall speed-regulating handle, and the forward speed of the robot is controlled by changing the rotation angle of the speed-regulating handle 4 .

Preferably, the above-mentioned armrest 3 can be adjusted in height up and down.

The walker robot of the present invention is quite easy to use. People stand on the rear side of the robot, hold the upper beam of the handrail 3 with their left hand, and hold the speed control handle 4 with their right hand. People with inconvenient legs and feet can press their body center of gravity on the robot. When needing to walk forward, turn the speed regulating handle 4 with the right hand, then the motor 13 starts to work, and the main shaft 11 is driven to rotate by the transmission gear 12. The main shaft 11 rotates periodically, drives the walking part 10 to move regularly through the connecting rod, and drives the robot to move forward through the friction between the bottom plate 17 at the bottom of the walking part 10 and the ground. The cranks 6 are parallel and in opposite directions. When doing periodic motion, only one of the walking parts 10 on both sides will touch the ground. When one of them touches the ground, the other side will move forward immediately, ensuring the continuous and uninterrupted advancement of the robot.

When it is necessary to turn, the user only needs to loosen the speed control handle 4, and the user holds the handrail 3, and the turning action of the whole robot can be completed by the rotation of the universal wheel 5.

The walking mechanism of the walking aid robot of the present invention abandons the rollers. When it is necessary to stop moving on a slope, the robot can use the friction between the bottom plate 17 of the walking device and the ground to generate self-locking, preventing the robot from falling down as a whole. When encountering small roadblocks in the middle, the front leg rods of the robot can easily cross the roadblocks, and the adaptability to the ground is stronger.

The above is only a preferred embodiment of the present invention, it should be pointed out that, for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications can also be made. It should be regarded as the protection scope of the present invention.

Claims (5)

1. A walking-aid robot is characterized in that a main body is a cuboid box body, a left box body (1) and a right box body (2) are fixedly connected through screws, two handrails (3) are symmetrically arranged at the tops of the left box body (1) and the right box body (2), the handrails (3) and the left box body (1) and the right box body (2) are connected through the screws, a speed-regulating grip (4) is arranged between the two handrails (3), the two handrails (3) are connected together, a main shaft (11) is transversely arranged on the lateral sides of the left box body (1) and the right box body (2), two ends of the main shaft (11) penetrate through the box body, two groups of walking devices are symmetrically arranged at the two ends of the main shaft, and each walking device comprises a crank (6), an upper rocker (7), a lower rocker (8), a side; the penetrating end of a main shaft (11) at one side of the left box body (1) is fixedly connected with a crank (6), the front end of the left box body (1) is provided with an upper rocker (7) and a lower rocker (8), the crank (6) and the lower rocker (8) are respectively and movably hinged with a side connecting rod (9), and the side connecting rod (9) and the upper rocker (7) are respectively and movably hinged with a walking piece (10); the two ends of the main shaft (11) are respectively connected with the left box body (1) and the right box body (2) through bearings, a transmission gear (12) is arranged on the main shaft (11) in the box body, the transmission gear (12) is connected with the main shaft (11) through a key, the two sides of the transmission gear are limited to move axially through clamp springs (16), an electric motor (13) is installed in the box body, the electric motor (13) is positioned below the main shaft (11), the electric motor (13) is connected with a speed reducer (15), the speed reducer (15) is connected with a driving gear (18), and the driving gear (18) is meshed with the transmission gear (12); two groups of universal wheels (5) are arranged at the bottom of the rear part of the box body.

2. A walking aid robot according to claim 1, characterised in that the bottom of the walking member (10) is provided with a bottom plate (17).

3. A walking aid robot according to claim 1, characterised in that the crank (6) is fixed by means of profiled holes and spindles (11) without relative rotation.

4. The walking-aid robot as claimed in claim 1, wherein the speed-regulating handle (4) is a Hall speed-regulating handle, and the advancing speed of the robot is controlled by changing the rotation angle of the speed-regulating handle (4).

5. A walking aid robot according to claim 1, characterised in that the arm-rests (3) are adjustable in height up and down.