CN112618293A - Coordination platform for maintaining balance and movable movement of exoskeleton robot - Google Patents
Coordination platform for maintaining balance and movable movement of exoskeleton robot Download PDFInfo
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- CN112618293A CN112618293A CN202011320884.0A CN202011320884A CN112618293A CN 112618293 A CN112618293 A CN 112618293A CN 202011320884 A CN202011320884 A CN 202011320884A CN 112618293 A CN112618293 A CN 112618293A
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- 230000007246 mechanism Effects 0.000 claims abstract description 56
- 210000000689 upper leg Anatomy 0.000 claims description 18
- 238000004804 winding Methods 0.000 claims description 14
- 210000004394 hip joint Anatomy 0.000 claims description 13
- 210000000629 knee joint Anatomy 0.000 claims description 13
- 210000001624 hip Anatomy 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 6
- 238000003825 pressing Methods 0.000 claims description 4
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 4
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 1
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- 239000004065 semiconductor Substances 0.000 description 1
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- 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
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- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- 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
- A61H2201/50—Control means thereof
- A61H2201/5097—Control means thereof wireless
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Abstract
The invention discloses a platform for maintaining balance and movable movement coordination of an exoskeleton robot, which comprises: moving the support; holding the bracket; a lifting mechanism; a steering mechanism. The invention provides a coordination platform for maintaining balance of an exoskeleton robot and moving, wherein a patient can use a holding support to borrow force in the process of changing sitting posture into standing posture, and then the holding support is driven to ascend through a lifting mechanism so as to assist in standing. When the exoskeleton is used for replacing a crutch to stand, the holding bracket and the moving bracket can ensure balance and safety around a patient after the hands are released. But also can adjust the moving direction of the moving support through a steering mechanism arranged on the moving support, so that the patient does not need to push the moving support to steer by extra effort, and the effect of steering easily is achieved.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of medical instruments, in particular to a coordination platform for maintaining balance and movable motion of an exoskeleton robot.
[ background of the invention ]
At present, when a patient with inconvenient legs uses an exoskeleton, a crutch and the like are often used as supports to assist the human body to change from a sitting posture to a standing posture, but the crutch has poor stability and is difficult to keep balance and ensure safety in the process of using the exoskeleton. Later, stand-assisting supports were developed that could replace the crutches in conventional exoskeletons, releasing both hands, but the supports are often large, heavy to improve stability, making it difficult for the patient to turn around or turn around.
[ summary of the invention ]
The coordination platform for maintaining the balance of the exoskeleton robot and the movable motion solves the technical problems that a patient is difficult to change from a sitting posture to a standing posture, the balance is difficult to ensure and the safety is difficult to guarantee when an exoskeleton is used, and the steering or turning around is difficult to carry out when a bracket is used.
The invention is realized by the following technical scheme:
a coordinated motion platform for maintaining exoskeleton robot balance and movement, comprising:
the bottom of the movable support is provided with a wheel set for the movable support to move;
the holding bracket is used for holding the hand of a human body;
the lifting mechanism is arranged between the movable support and the holding support and is used for driving the holding support to ascend or descend along the vertical direction relative to the movable support;
and the steering mechanism is arranged on the movable support and is used for adjusting the moving direction of the movable support.
The wheel set comprises a power wheel set, wherein the power wheel set comprises a left driving wheel and a right driving wheel which are respectively arranged at the left side and the right side of the middle part of the movable support;
steering mechanism is including locating on the movable support and make left action wheel pivoted left-handed rotation motor, and make right action wheel pivoted right-handed rotation motor, left-handed rotation motor with promote when right-handed rotation motor rotational speed is the same the movable support rectilinear movement, left-handed rotation motor with the not simultaneous promotion of right-handed rotation motor rotational speed the movable support reality differential turns to.
A method for maintaining an exoskeleton robot balanced and moveable motion coordination platform as described above, the steering mechanism further comprising:
the remote control unit is used for receiving a user start-stop, left-turn or right-turn instruction;
and the control unit is electrically connected with the left rotating motor and the right rotating motor and is used for controlling the rotating speed and the rotating direction of the left driving wheel and the right driving wheel according to the start-stop, left-turning or right-turning instruction received by the remote control unit.
A system for maintaining an exoskeleton robot balance and movable motion coordination platform as described above, the set of wheels comprising a front set of wheels;
the movable bracket comprises a front frame pipe, and the front wheel group is arranged on the end part of the front frame pipe;
the steering mechanism comprises a steering handle hinged with the front frame pipe and a steering transmission mechanism arranged between the steering handle and the front wheel set, and the steering transmission mechanism converts the rotating motion of the steering handle relative to the front frame pipe into the motion for steering the front wheel set.
A balance and moveable motion coordination platform for maintaining an exoskeleton robot as described above, the steering transmission mechanism comprising a rotating shaft and a connecting rope for connecting the steering handle and the rotating shaft;
the rotating shaft is arranged between the front wheel set and the end part of the front frame pipe and is used for steering the front wheel set relative to the movable support;
the two ends of the connecting rope are respectively wound on the rotating shaft and the steering handle, and the rotating shaft rotates in the direction of loosening the winding of the connecting rope when the steering handle rotates in the direction of winding the connecting rope.
A balance and movable movement coordination platform for maintaining an exoskeleton robot as described above, said front wheel set comprising a left front wheel and a right front wheel disposed on the left and right sides in front of said mobile frame, respectively;
the steering handle comprises a left steering handle and a right steering handle;
the rotating shaft comprises a left rotating shaft arranged on the left front wheel and a right rotating shaft arranged on the right front wheel;
the connecting rope comprises a left connecting rope and a right connecting rope, wherein two ends of the left connecting rope are respectively wound on the left rotating shaft and the left steering handle, and two ends of the right connecting rope are respectively wound on the right rotating shaft and the right steering handle;
the steering mechanism further comprises a synchronous steering mechanism which enables the left front wheel and the right front wheel to steer in the same direction;
synchronous steering mechanism is including being used for connecting the connecting rod of left side steering handle and right steering handle, the rope is connected on a left side the right side connect the rope with steering handle's coiling opposite direction, the rope is connected on a left side the right side connect the rope with the coiling direction of rotation axis is the same.
The coordination platform for maintaining balance and movable movement of the exoskeleton robot is characterized in that the steering handle is provided with a handle thread groove for winding the connecting rope.
According to the platform for maintaining balance of the exoskeleton robot and coordinating movement of the exoskeleton robot, the steering handle and the rotating shaft are respectively provided with a limiting rod for driving the connecting rope to wind.
A balance and movable movement coordination platform for maintaining an exoskeleton robot as described above, the steering mechanism further comprising a reset device for steering the front wheel set straight ahead;
the reset device comprises a handle reset torsion spring arranged between the steering handle and the front frame tube and a rotating shaft reset torsion spring arranged between the rotating shaft and the front frame tube;
the handle reset torsion spring is used for jacking the handle to reset to pull the front wheel set to face the right front;
the rotating shaft reset torsion spring is used for jacking and pressing the rotating shaft to reset to enable the front wheel set to face to the right front.
A platform for maintaining balance and mobility coordination of an exoskeleton robot as described above, the platform further comprising a walker mechanism, the walker mechanism comprising:
a hip assembly for securing to a human hip;
a thigh assembly for securing to a human thigh;
the hip joint driving part is arranged between the hip assembly and the thigh assembly and is used for driving the thigh assembly to swing relative to the hip assembly;
the shank component is used for being fixed on the shank of the human body;
the knee joint driving part is arranged between the thigh component and the shank component and is used for driving the shank component to swing relative to the thigh component;
and the walking aid control module is arranged at the rear side of the hip assembly, is electrically connected with the hip joint driving piece and the knee joint driving piece respectively, and is used for driving the hip joint driving piece and the knee joint driving piece according to start-stop, left-turn or right-turn instructions received by the remote control unit.
Compared with the prior art, the invention has the following advantages:
the invention provides a coordination platform for maintaining balance of an exoskeleton robot and moving, wherein a patient can use a holding support to borrow force in the process of changing sitting posture into standing posture, and then the holding support is driven to ascend through a lifting mechanism so as to assist in standing. When the exoskeleton is used for replacing a crutch to stand, the holding bracket and the moving bracket can ensure balance and safety around a patient after the hands are released. But also can adjust the moving direction of the moving support through a steering mechanism arranged on the moving support, so that the patient does not need to push the moving support to steer by extra effort, and the effect of steering easily is achieved.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a portion of the present invention;
FIG. 3 is an exploded view of FIG. 2
FIG. 4 is an enlarged view at A of FIG. 3;
FIG. 5 is an enlarged view at B of FIG. 3;
FIG. 6 is a schematic structural view of the walker mechanism of the present invention;
FIG. 7 is a system framework diagram one of the present invention;
fig. 8 is a system framework diagram two of the present invention.
[ detailed description ] embodiments
In order to make the technical solutions and the advantages of the technical problems solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
When embodiments of the present invention refer to the ordinal numbers "first", "second", etc., it should be understood that the terms are used for distinguishing only when they do express the ordinal order in context.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A coordinated motion platform for maintaining exoskeleton robot balance and movement, comprising:
the bottom of the movable bracket 1 is provided with a wheel set 11 for the movement of the movable bracket;
a holding bracket 2 for holding the hand of a human body;
the lifting mechanism 3 is arranged between the movable bracket 1 and the holding bracket 2 and is used for driving the holding bracket 2 to ascend or descend along the vertical direction relative to the movable bracket 1;
and the steering mechanism 4 is arranged on the movable support 1 and is used for adjusting the moving direction of the movable support 1.
The embodiment provides a balance and movable movement coordination platform for maintaining an exoskeleton robot, wherein a patient can use a holding support to assist in standing when changing from a sitting posture to a standing posture, and then the holding support is driven to ascend through a lifting mechanism so as to assist in standing. When the exoskeleton is used for replacing a crutch to stand, the holding bracket and the moving bracket can ensure balance and safety around a patient after the hands are released. But also can adjust the moving direction of the moving support through a steering mechanism arranged on the moving support, so that the patient does not need to push the moving support to steer by extra effort, and the effect of steering easily is achieved.
In this embodiment, the lifting mechanism includes a gear and a rack, the gear is disposed on the movable support, the rack is disposed on the holding support, and when the lifting motor drives the gear to rotate, the rack moves up or down, so that the holding support ascends or descends.
Further, as a preferred embodiment of the present invention, but not limited thereto, the wheel set 11 includes a power wheel set 12, and the power wheel set 12 includes a left driving wheel 121 and a right driving wheel 122 respectively disposed at the left and right sides of the middle portion of the moving rack 1;
Further, as a preferred embodiment of the present solution, but not limited thereto, the steering mechanism 4 further includes:
a remote control unit 43 for receiving a user start-stop, left turn, or right turn instruction;
and a control unit 44 electrically connected to the left rotating motor 41 and the right rotating motor 42, and configured to control the rotation speed and the rotation direction of the left driving wheel 121 and the right driving wheel 122 according to the start-stop, left-turn or right-turn instruction received by the remote control unit 43. The remote control unit can be the remote controller, and the cell-phone APP acts as remote controller etc. is connected with the control unit through wireless signal, like bluetooth, infrared ray etc. when receiving user's turn left or turn right instruction, the control unit turns to through the differential value that predetermines. The left rotating motor and the right rotating motor can deviate from the straight direction to be suitable for turning when the difference between the rotating speeds of the left rotating motor and the right rotating motor is large, and deviate from the straight direction to be small when the difference between the rotating speeds of the left rotating motor and the right rotating motor is small, so that the left rotating motor and the right rotating motor are suitable for slight turning. When the left rotating motor and the right rotating motor rotate in the same direction, the steering mechanism can be used for turning, and when the left rotating motor and the right rotating motor rotate in opposite directions, the steering mechanism can be used for turning around.
Further, as a preferred embodiment of the present solution, but not limiting thereto, said wheel set 11, which comprises a front wheel set 13;
the movable bracket 1 comprises a front frame tube 14, and the front wheel set 13 is arranged on the end part of the front frame tube 14; the front frame pipe is U-shaped, and the opening part is arranged towards the ground.
The steering mechanism 4 comprises a steering handle 45 hinged to the front frame tube 14 and a steering transmission mechanism 46 arranged between the steering handle 45 and the front wheel set 13, and the steering transmission mechanism 46 converts the rotation motion of the steering handle 45 relative to the front frame tube 14 into the motion for steering the front wheel set 13. The steering handle is controlled to rotate so as to pull the front wheel set to swing to the left side or swing to the right side, so that the effects of steering and traction directions are achieved when the movable support is pushed.
Further, as a preferred embodiment of the present invention, but not limited thereto, the steering transmission mechanism 46 includes a rotating shaft 461, and a connecting rope 462 for connecting the steering handle 45 and the rotating shaft 461;
the rotating shaft 461 is disposed between the front wheel set 13 and the end of the front frame tube 14, and is used for the front wheel set 13 to rotate relative to the movable bracket 1;
both ends of the connection cord 462 are wound around the rotation shaft 461 and the steering handle 45, respectively, and when the steering handle 45 rotates in a direction to wind the connection cord 462, the rotation shaft 461 rotates in a direction to unwind the connection cord 462. When the front wheel group is in the forward direction, the two ends of the connecting rope are respectively wound on the steering handle and the rotating shaft, the two tail ends of the connecting rope are respectively fixed on the steering handle and the rotating shaft, and when the steering handle is rotated, the connecting rope on the steering handle is more wound on the connecting rope, so that the rotating shaft is pulled to rotate in the direction of loosening the wound connecting rope, and the steering effect is realized.
Further, as a preferred embodiment of the present invention, but not limited thereto, the front wheel group 13 includes a left front wheel 131 and a right front wheel 132 respectively disposed at the left and right sides in front of the moving bracket 1;
the steering handle 45 includes a left steering handle 451 and a right steering handle 452;
the rotary shaft 461 includes a left rotary shaft 4611 provided on the left front wheel 131, and a right rotary shaft 4612 provided on the right front wheel 132;
the connection rope 462 includes a left connection rope 4621 having both ends wound around the left rotation shaft 4611 and the left steering handle 451, respectively, and a right connection rope 4622 having both ends wound around the right rotation shaft 4612 and the right steering handle 452, respectively;
the steering mechanism 4 further includes a synchronous steering mechanism 5 for steering the left front wheel 131 and the right front wheel 132 in the same direction;
the synchronous steering mechanism 5 includes a connection rod 51 for connecting the left and right steering handles 451, 452, the left and right connection ropes 4621, 4622 are wound in the opposite direction to the steering handle 45, and the left and right connection ropes 4621, 4622 are wound in the same direction as the rotation shaft 461. The connecting rod connects the left steering handle and the right steering handle so that the left steering handle and the right steering handle rotate together. The left side is connected the winding direction setting of rope and right side connection rope for when turning to the handle in a left side and turning to the handle syntropy rotatory, connect the rope with the right side in a left side and connect the synchronous winding of rope, realize the effect that the preceding wheelset turned to same direction.
Further, as a preferred embodiment of the present invention, but not limited thereto, the steering handle 45 is provided with a handle thread groove 453 for winding the connection cord 462. The handle thread groove is used for winding the connecting rope on the handle thread groove, so that when the connecting rope is prevented from deviating, the steering handle rotates at the same angle, the steering angle for pulling the front wheel set is the same, and the inconsistent winding length caused by the change of the winding radius is reduced.
Further, as a preferred embodiment of the present invention, but not limited thereto, a limiting rod 454 for driving the connecting rope 462 to wind is respectively disposed on the steering handle 45 and the rotating shaft 461. The limiting rod is used for driving the connecting rope to wind or loosen and wind along with the rotation of the steering handle.
Further, as a preferred embodiment of the present invention, but not limited thereto, the steering mechanism 4 further includes a return device 6 for turning the front wheel set 13 straight ahead;
the return device 6 comprises a handle return torsion spring 61 arranged between the steering handle 45 and the front frame tube 14, and a rotating shaft return torsion spring 62 arranged between the rotating shaft 461 and the front frame tube 14;
the handle return torsion spring 61 is used for jacking the handle 45 and returning to pull the front wheel set 13 to face the right front;
the rotating shaft return torsion spring 62 is used for pressing the rotating shaft 461 to return to make the front wheel set 13 face to the right front. In this embodiment, when steering handle is terminal when rotating toward being close to user's direction, connect rope one end and convolute more on steering handle, the other end then is reduced the coiling to the rotation axis by the pulling, the front wheel group turns to the right side this moment, rotation axis reset torsion spring is distorted, loosen steering handle, rotation axis reset torsion spring kick-backs, make the rotation axis increase to the coiling of connecting the rope, thereby the pulling steering handle is terminal toward keeping away from user's direction gyration, steering handle reduces the coiling to connecting the rope this moment, until steering handle supports and presses on handle reset torsion spring, hinder pivot reset torsion spring continuation kick-back this moment, the front wheel group is towards the dead ahead this moment.
When steering handle end is rotatory toward keeping away from user's direction, handle reset torsion spring is distorted, it reduces to convolute on steering handle to connect rope one end, rotation axis reset torsion spring continues to kick-back, make the rotation axis increase the coiling to connecting the rope other end, preceding wheelset turns to toward the left side this moment, loosen steering handle, handle reset torsion spring is kick-backed, steering handle end is toward being close to user's direction gyration, make steering handle increase the coiling to connecting the rope, rotation axis reset torsion spring is distorted, the rotation axis reduces the coiling to connecting the rope this moment, until preceding wheelset orientation dead ahead.
In the process, the rotating shaft reset torsion spring always keeps pressing the front wheel set towards the left steering direction, when the steering handle is pressed on the handle reset torsion spring, the front wheel set is in a balanced state, and at the moment, the front wheel set faces the dead ahead.
Further, as a preferred embodiment of the present invention, but not limited thereto, the balance and movable movement coordination platform for the exoskeleton robot further comprises a walking aid mechanism 7, wherein the walking aid mechanism 7 comprises:
a hip assembly 71 for securing to a human hip;
a thigh assembly 72 for securing to a human thigh;
a hip joint driving member 73 provided between the hip assembly 71 and the thigh assembly 72 for driving the thigh assembly 72 to swing with respect to the hip assembly 71;
a lower leg assembly 75 for securing to a human lower leg;
a knee joint driving member 75 provided between the thigh assembly 72 and the lower leg assembly 75 for driving the lower leg assembly 75 to swing relative to the thigh assembly 72;
and the walking aid control module 70 is arranged at the rear side of the hip assembly 71, is electrically connected with the hip joint driving piece 73 and the knee joint driving piece 75 respectively, and is used for driving the hip joint driving piece 73 and the knee joint driving piece 75 according to the start-stop, left-turn or right-turn instruction received by the remote control unit 43. When the left turn is performed, the motion frequency of the hip joint driving piece and the knee joint driving piece on the right side is higher than that of the hip joint driving piece and the knee joint driving piece on the left side, so that the left turn is realized. When the left-hand side rotates, the motion frequency of the hip joint driving piece and the knee joint driving piece on the left side is lower than that of the hip joint driving piece and the knee joint driving piece on the right side, and therefore left-hand rotation is achieved.
The working principle of the embodiment is as follows:
the embodiment provides a balance and movable movement coordination platform for maintaining an exoskeleton robot, wherein a patient can use a holding support to assist in standing when changing from a sitting posture to a standing posture, and then the holding support is driven to ascend through a lifting mechanism so as to assist in standing. When the exoskeleton is used for replacing a crutch to stand, the holding bracket and the moving bracket can ensure balance and safety around a patient after the hands are released. But also can adjust the moving direction of the moving support through a steering mechanism arranged on the moving support, so that the patient does not need to push the moving support to steer by extra effort, and the effect of steering easily is achieved.
The foregoing is illustrative of embodiments provided in connection with the detailed description and is not intended to limit the disclosure to the particular forms set forth herein. Similar to the structure of the method, or several technical deductions or substitutions made on the premise of the conception of the present application, should be regarded as the protection scope of the present application.
Claims (10)
1. A platform for maintaining exoskeleton robot balance and movable motion coordination, comprising:
the bottom of the movable support (1) is provided with a wheel set (11) for the movable support to move;
a holding bracket (2) for holding the hand of a human body;
the lifting mechanism (3) is arranged between the movable support (1) and the holding support (2) and is used for driving the holding support (2) to ascend or descend along the vertical direction relative to the movable support (1);
and the steering mechanism (4) is arranged on the movable support (1) and is used for adjusting the moving direction of the movable support (1).
2. The platform of claim 1 for maintaining exoskeleton robot balance and movable motion coordination, wherein:
the wheel set (11) comprises a power wheel set (12), and the power wheel set (12) comprises a left driving wheel (121) and a right driving wheel (122) which are respectively arranged at the left side and the right side of the middle part of the movable support (1);
steering mechanism (4) are including locating on moving support (1) and make left action wheel (121) pivoted left rotation motor (41), and make right action wheel (122) pivoted right rotation motor (42), left rotation motor (41) with promote when right rotation motor (42) rotational speed is the same moving support (1) rectilinear movement, left rotation motor (41) with right rotation motor (42) rotational speed promotes not simultaneously moving support (1) reality differential turns to.
3. A platform for maintaining exoskeleton robot balance and movable motion coordination according to claim 2 wherein the steering mechanism (4) further comprises:
a remote control unit (43) for receiving a user start-stop, left turn or right turn instruction;
and the control unit (44) is electrically connected with the left rotating motor (41) and the right rotating motor (42) and is used for controlling the rotating speed and the rotating direction of the left driving wheel (121) and the right driving wheel (122) according to start-stop, left-turning or right-turning instructions received by the remote control unit (43).
4. The platform of claim 1 for maintaining exoskeleton robot balance and movable motion coordination, wherein:
the wheel set (11) comprises a front wheel set (13);
the movable support (1) comprises a front frame pipe (14), and the front wheel set (13) is arranged on the end part of the front frame pipe (14);
steering mechanism (4) including with fore-stock pipe (14) articulated steering handle (45), and locate steering handle (45) with turn to drive mechanism (46) between preceding wheelset (13), turn to drive mechanism (46) with steering handle (45) is relative the rotary motion of fore-stock pipe (14) converts into the motion that makes preceding wheelset (13) turn to.
5. The platform of claim 4 for maintaining exoskeleton robot balance and movable motion coordination, wherein:
the steering transmission mechanism (46) includes a rotating shaft (461), and a connecting rope (462) for connecting the steering handle (45) and the rotating shaft (461);
the rotating shaft (461) is arranged between the front wheel set (13) and the end part of the front frame pipe (14) and is used for steering the front wheel set (13) relative to the movable support (1);
both ends of the connection cord (462) are wound around the rotary shaft (461) and the steering handle (45), respectively, and when the steering handle (45) rotates in a direction to wind the connection cord (462), the rotary shaft (461) rotates in a direction to unwind the connection cord (462).
6. The platform of claim 5 for maintaining exoskeleton robot balance and movable motion coordination, wherein:
the front wheel set (13) comprises a left front wheel (131) and a right front wheel (132) which are respectively arranged at the left side and the right side in front of the movable bracket (1);
the steering handle (45) comprises a left steering handle (451) and a right steering handle (452);
the rotary shaft (461) includes a left rotary shaft (4611) provided on the left front wheel (131), and a right rotary shaft (4612) provided on the right front wheel (132);
the connection rope (462) includes a left connection rope (4621) having both ends wound around the left rotation shaft (4611) and the left steering handle (451), respectively, and a right connection rope (4622) having both ends wound around the right rotation shaft (4612) and the right steering handle (452), respectively;
the steering mechanism (4) further comprises a synchronous steering mechanism (5) for steering the left front wheel (131) and the right front wheel (132) in the same direction;
the synchronous steering mechanism (5) comprises a connecting rod (51) used for connecting the left steering handle (451) and the right steering handle (452), the winding directions of the left connecting rope (4621) and the right connecting rope (4622) are opposite to the winding direction of the steering handle (45), and the winding directions of the left connecting rope (4621) and the right connecting rope (4622) are the same as the winding direction of the rotating shaft (461).
7. The platform of claim 5 for maintaining exoskeleton robot balance and movable motion coordination, wherein: the steering handle (45) is provided with a handle thread groove (453) for winding the connecting rope (462).
8. The platform of claim 5 for maintaining exoskeleton robot balance and movable motion coordination, wherein: the steering handle (45) and the rotating shaft (461) are respectively provided with a limiting rod (454) for driving the connecting rope (462) to wind.
9. The platform of claim 5 for maintaining exoskeleton robot balance and movable motion coordination, wherein: the steering mechanism (4) further comprises a resetting device (6) for enabling the front wheel set (13) to steer forwards;
the reset device (6) comprises a handle reset torsion spring (61) arranged between the steering handle (45) and the front frame pipe (14) and a rotating shaft reset torsion spring (62) arranged between the rotating shaft (461) and the front frame pipe (14);
the handle reset torsion spring (61) is used for jacking the handle (45) to reset to pull the front wheel set (13) to face the right front;
the rotating shaft reset torsion spring (62) is used for pressing the rotating shaft (461) to reset to enable the front wheel set (13) to face the right front.
10. A platform for maintaining balance and moveable coordination of exoskeleton robots as claimed in claim 3 further comprising a walking aid mechanism (7) and wherein said walking aid mechanism (7) comprises:
a hip assembly (71) for securing to a human hip;
a thigh assembly (72) for securing to a human thigh;
a hip joint drive (73) disposed between the hip assembly (71) and the thigh assembly (72) for driving the thigh assembly (72) in an oscillating motion relative to the hip assembly (71);
a lower leg assembly (75) for securing to a lower leg of a human body;
the knee joint driving part (75) is arranged between the thigh component (72) and the lower leg component (75) and is used for driving the lower leg component (75) to swing relative to the thigh component (72);
and the walking aid control module (70) is arranged at the rear side of the hip assembly (71), is respectively and electrically connected with the hip joint driving piece (73) and the knee joint driving piece (75), and is used for driving the hip joint driving piece (73) and the knee joint driving piece (75) according to start-stop, left-turn or right-turn instructions received by the remote control unit (43).
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| US3460392A (en) * | 1965-11-16 | 1969-08-12 | Gert Friedrich Kolbel | Physical exerciser |
| US5411044A (en) * | 1994-04-12 | 1995-05-02 | Andolfi; Alexander S. | Patient transfer walker |
| JPH09135871A (en) * | 1995-11-17 | 1997-05-27 | Hitachi Ltd | Auxiliary device for walking, bending and stretching motions |
| WO2005039477A1 (en) * | 2003-10-27 | 2005-05-06 | Robert John Tough | A wheeled contrivance and a steering mechanism for the wheeled contrivance |
| US20120018233A1 (en) * | 2010-07-20 | 2012-01-26 | Chang Yoon Young | Walking-assistant device |
| US9789023B1 (en) * | 2016-09-29 | 2017-10-17 | Lunghwa University Of Science And Technology | Multi-function lower limb ambulation rehabilitation and walking assist device |
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| CN208081427U (en) * | 2018-01-15 | 2018-11-13 | 天津科技大学 | Multifunction translocation device |
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| CN112618293B (en) | 2022-08-16 |
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