CN112842720B

CN112842720B - Walking-aid robot

Info

Publication number: CN112842720B
Application number: CN202110105509.2A
Authority: CN
Inventors: 刘坤; 刘勇; 吉硕; 赵琛
Original assignee: Individual
Current assignee: Jilin University
Priority date: 2021-01-26
Filing date: 2021-01-26
Publication date: 2022-08-30
Anticipated expiration: 2041-01-26
Also published as: CN112842720A

Abstract

The invention relates to a robot capable of being carried and assisted by a walking, which comprises a handrail mechanism, an auxiliary supporting mechanism and a main supporting mechanism, wherein the tail part of the handrail mechanism is rotatably connected with an opening at the upper end of the main supporting mechanism, and the auxiliary supporting mechanism is connected to the opening at the middle section of the main supporting mechanism through a bolt to form a stable supporting structure. According to the position and posture change rule of the pelvis in the walking process of a human body, the mechanical structure design is carried out based on human engineering data, the multifunctional motor-driven pelvis rehabilitation robot has the advantages that one machine has multiple purposes through simple conversion of the mechanical structure, the requirements of different rehabilitation stages of a rehabilitation patient with motor dysfunction are met, basic functions are a riding running function, a posture supporting and walking function and an armpit posture supporting and walking function, the user is driven to realize position transfer or running through robot movement, and the multifunctional motor-driven pelvis is simple, light, small in size and beneficial to household use and popularization.

Description

Walking-aid robot

Technical Field

The invention relates to the field of human motion auxiliary robots, in particular to a robot capable of taking and walking.

Background

Under the social background that the aging problem of China is increasingly severe, the number of patients with lower limb movement dysfunction caused by spinal cord injury or stroke and other diseases is gradually huge, and in the process of rehabilitation exercise, the assistance of various exercise postures is the primary problem to be solved by rehabilitation training. Most of domestic motion-assisted robots are single-function auxiliary equipment, or a plurality of pieces of equipment are combined, the human-computer interaction experience is poor, or the equipment cost is high, the equipment is not simple and light enough, or the control method is complex, the functions are single and the like, and the use experience of the auxiliary robot is influenced. For example, patent application No. 202020010579.0 discloses a wearable exoskeleton auxiliary rehabilitation device, which comprises a waist wearing device, two sets of hip joint driving devices and two sets of walking devices; the two sets of walking devices are symmetrically arranged at two sides of the waist wearing device through the hip joint driving device; the waist wearing device is fixed on the waist of a wearer; the two sets of walking devices are respectively fixed on the legs and the feet of the wearer. But this equipment control system is complicated, needs to dress, uses complicacy, is unsuitable for daily family ization and uses. Therefore, the auxiliary walking robot is portable, multifunctional, suitable for various recovery stages, simple in mechanical structure, low in manufacturing cost, convenient to use and light in weight, and has important significance in the aspects of technical field and market demand.

Disclosure of Invention

The invention aims to provide a riding walking-aid robot which can provide different exercise assisting functions according to the use requirements of different rehabilitation stages of a rehabilitation patient with dyskinesia, correspondingly assist a user in different rehabilitation stages to improve the exercise experience of the user, and provide three functions of riding, posture-supporting and walking-aid and armpit posture-supporting and walking-aid by adjusting a mechanical structure to switch functions.

In order to achieve the purpose, the invention is realized by the following technical scheme:

the multifunctional riding walking-aid robot comprises a handrail mechanism 1, an auxiliary supporting mechanism 2 and a main supporting mechanism 3, wherein the tail of the handrail mechanism 1 is rotatably connected with the upper end hole of the main supporting mechanism 3, and the auxiliary supporting mechanism 2 is bolted to the hole position of the middle section of the main supporting mechanism 3.

The armrest mechanism 1 comprises handles 101, T-shaped members 102, hexagonal tubes 103, round shaft tubes 104, stepped tubes 105, clamping pieces 106, supporting tubes 107, first limiting bearings 108, spring buttons 109 and springs 110, wherein every two spring buttons 109 are arranged in the inner grooves of the holes in the left side and the right side of the cross shaft of the T-shaped members 102 in a group, two ends of each spring 110 on two sides are respectively connected with the two spring buttons 109 in the same group, the two handles 101 are inserted into the holes in the left side and the right side of the cross shaft of the T-shaped members 102 after the assembled spring buttons 109 are pressed down, the upper ends of the hexagonal tubes 103 are fixedly connected with the hexagonal grooves in the tops of the T-shaped members 102, the bottom ends of the round shaft tubes 104 are fixedly connected with the inner tail ends of the supporting tubes 107, the two first limiting bearings 108 are respectively embedded in the tops and the tails of the holes in the inner sides of the T-shaped members 102 in an interference manner, the upper sections of the stepped tubes 105 are inserted into the first limiting bearings 108 in an interference fit, the lower section of the stepped pipe 105 and the support pipe 107 form a sliding pair which is coaxially nested through the clamping piece 106, the clamping piece 106 is fixed at the corresponding position of the lower section of the stepped pipe 105, the protruding part of the upper section of the stepped pipe 105 is arranged in a 90-degree fan-shaped groove on the inner hole wall of the lower section of the T-shaped component 102, the rotating range of the T-shaped component 102 is limited to +/-45 degrees, the support pipe 107 is downwards inserted into a circular opening at the upper end of the main support mechanism 3, and the support pipe is axially fixed and can rotate in the radial direction.

The auxiliary supporting mechanism 2 comprises an auxiliary supporting pipe 201, an outer pedal sheet 202, an auxiliary wheel shaft 203, an auxiliary wheel 204, a limiting nut 205, an inner pedal sheet 206 and a fastening nut 207, wherein the fastening nut 207 is tightly connected to one side of the main supporting mechanism 3 through threads, the auxiliary supporting pipe 201 is in interference connection with the fastening nut 207 through an inner hexagonal slotted hole at the upper end, the outer pedal sheet 202 is fixedly connected to the lower section of the auxiliary supporting pipe 201, the lower end of the inner pedal sheet 206 is rotatably connected with the lower end of the outer pedal sheet 202 to realize opening and closing, the auxiliary wheel shaft 203 sequentially penetrates through holes at the lower end of the auxiliary supporting pipe 201 and holes in the middle of the auxiliary wheel 204, and then the two ends of the auxiliary wheel shaft 203 are fixed through the two limiting nuts 205.

The main support mechanism 3 comprises a main support master slice 301, a central control module 302, auxiliary support shafts 303, first threaded shafts 304, first nuts 305, steering bearings 306, a main wheel 307, a flexible shaft 308, a saddle support rod 309, second nuts 310, second threaded shafts 311, a saddle 312, second limiting bearings 313 and a bent pipe bearing 314, wherein the second limiting bearings 313 and the bent pipe bearing 314 are embedded in grooves at the upper section of the main support master slice 301 in an interference manner, the central control module 302 is embedded in the middle section of the main support master slice 301, the auxiliary support shafts 303 penetrate through holes of the main support master slice 301, two sets of auxiliary support mechanisms 2 are fixedly connected to two sides through two fastening nuts 207 in a bolting manner, the four first threaded shafts 304 penetrate through four open holes of the left and right oppositely fastened main support master slices 301, then are fixedly bolted through the first nuts 305 at two ends, the steering bearings 306 are fastened to circular grooves at the lower end of the main support master slice 301, the steering bearings 306 are inserted into circular holes at the upper end of the main wheel 307 downwards towards the lower end of the bearing 306 in an interference manner, the outer hexagonal end of the flexible shaft 308 is inserted downwards into an inner hexagonal groove at the upper end of the rudder bearing 306 to be fixedly connected, the flexible shaft 308 is arranged in an arc-shaped groove formed in the main support master piece 301, the upper end of the flexible shaft 308 is connected with the armrest mechanism 1 in a matching manner, the lower end of the saddle support rod 309 is fixed in a square groove formed in the upper side of the main support master piece 301 in a nesting manner, and the saddle 312 is fixedly connected and assembled with the saddle support rod 309 through a second threaded shaft 311 and a second nut 310.

The invention has the beneficial effects that: through simple conversion of a mechanical structure, one machine has multiple functions, the requirements of different rehabilitation stages of a rehabilitation patient with dyskinesia are met, the basic function is a riding and driving function, the pedal inner piece 206 is opened during the function, a human body sits on the saddle 312, and the position of the user is driven to be transferred or driven through movement of the robot; when the posture-supporting walking-assisting function is achieved, the pedal inner plate 206 and the pedal outer plate 202 are closed, the largest ground-contacting walking space is provided for a user, the handrail mechanism 1 axially rotates 180 degrees around the upper end of the main supporting mechanism 3, and the handrail mechanism 1 is rotatably arranged in the transverse axis direction of the T-shaped component 102 again, so that the posture-supporting walking-assisting function is achieved; when the armpit supporting and walking aid is used, the armrest structure 1 is upwards pulled in the axial direction to be lifted, the armrest mechanism 1 is rotated in the direction of the transverse shaft of the T-shaped component 102 to the standing direction of a user again, the armrests are positioned under the armpits of a human body and can support the human body to move back and forth, the armpit supporting and walking aid function is achieved, the multifunctional walking aid is achieved by changing the positions of all parts, meanwhile, the structure is light in weight and small in size, and the armpit supporting and walking aid is suitable for being used and popularized in a family.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention.

FIG. 1 perspective view of a rollable walker robot according to the invention in a first function (riding mode)

FIG. 2 is an axonometric view of a transportable walking aid robot of the invention in a second function (stance aid)

FIG. 3 is an axonometric view of a riding walking aid robot of the invention at the third function (an armpit posture supporting walking aid)

Figure 4 is an exploded view of the structure of the handrail mechanism of the present invention

FIG. 5 is an exploded view of the construction of the secondary support mechanism of the present invention

FIG. 6 is an exploded view of the main support mechanism of the present invention

Detailed Description

The details of the present invention and its embodiments are further described below with reference to the accompanying drawings.

Referring to fig. 1, as a preferred example, when a user uses a first function of the riding walking-aid robot of the present invention, namely, riding and traveling functions, the inner pedal sheet 206 and the outer pedal sheet 202 are opened to provide a pedal support position for the sole of a foot, the buttocks of a human body are seated on the saddle 312, the handles 101 are held by both hands, the human body controls the steering direction of the main wheel 307 through the armrest mechanism 1 and the flexible shaft 308, and the main wheel 307 is controlled to rotate back and forth through the electric signal of the central control module 302, so that the traveling direction of the robot is controlled.

Referring to fig. 2, as another preferred example, when the user uses the second function of the riding walking robot of the present invention, i.e. the stance walking function, the inner pedal sheet 206 and the outer pedal sheet 202 are closed to provide the user with the largest walking space to touch the ground, the second limit bearing 313 is loosened, the armrest mechanism 1 is screwed to rotate 180 ° around the upper end of the main support mechanism 3 in the axial direction until it is in the vertical state, then the second limit bearing 313 is screwed, and the armrest mechanism 1 is rotated in the horizontal axis direction of the T-shaped member 102 to the position shown in the figure, so as to realize the stance walking function, and the position thereof is fixed by the spring button 109 to ensure that the handle 101 faces the human body, the user stands on the inner side of the envelope of the auxiliary support structure 2, and the stance walking function is realized by the armrest handle 101 under the driving of the riding walking robot of the present invention.

Referring to fig. 3, as another preferred example, when the user uses the third function of the walk-assisting robot of the present invention, namely the armpit posture-supporting walk-assisting function, the function is based on the mechanical structure of the posture-supporting walk-assisting function, the armrest structure 1 is pulled upwards in the axial direction to be lifted, the spring button 109 is pressed, the handle 101 on one side is rotated around the transverse axis of the T-shaped member 102 in the user standing direction, the user stands in the space surrounded by the handle 101, the handle 101 is placed under the armpit of the user for supporting, and the spring button 109 automatically jumps up to the position shown in the figure to be clamped; in the same way, the handle 101 at the other side is rotated again and is also placed under the armpit of the user for supporting, so far, the left and right handles 101 surround the chest of the user and upwards support the user under the armpit.

Referring to fig. 4, the armrest mechanism 1 according to the present invention includes a handle 101, a T-shaped member 102, a hexagonal tube 103, a circular shaft tube 104, a stepped tube 105, a locking piece 106, a supporting tube 107, a first limiting bearing 108, spring buttons 109, and springs 110, wherein every two spring buttons 109 are set in internal slots formed on left and right sides of a horizontal shaft of the T-shaped member 102, two ends of each spring 110 on both sides are respectively engaged with two spring buttons 109 of the same set, the two handles 101 are inserted into the left and right openings of the horizontal shaft of the T-shaped member 102 after the assembled spring buttons 109 are pressed down, an upper end of the hexagonal tube 103 is fixedly connected with a hexagonal groove on a top of the T-shaped member 102, a bottom end of the circular shaft tube 104 is fixedly connected with an internal end of the supporting tube 107, the two first limiting bearings 108 are respectively nested on a top and a tail of an internal aperture of the T-shaped member 102, an upper section of the stepped tube 105 is inserted into the two first limiting bearings 108 for internal diameter interference fit, the lower section of the stepped pipe 105 and the support pipe 107 form a coaxially nested sliding pair through the clamping piece 106, the clamping piece 106 is fixed at the corresponding position of the lower section of the stepped pipe 105, the protruding part of the upper section of the stepped pipe 105 is arranged in a 90-degree sector groove on the inner hole wall of the lower section of the T-shaped component 102, the rotating range of the T-shaped component 102 is limited to +/-45 degrees, the support pipe 107 is downwards inserted into a circular opening at the upper end of the main support mechanism 3, and the axial fixing and the radial rotation are realized.

Referring to fig. 5, the auxiliary supporting mechanism 2 of the present invention includes an auxiliary supporting pipe 201, an outer pedal plate 202, an auxiliary wheel shaft 203, an auxiliary wheel 204, a limit nut 205, an inner pedal plate 206, and a fastening nut 207, wherein the fastening nut 207 is tightly connected to one side of the main supporting mechanism 3 through a screw thread, the auxiliary supporting pipe 201 is in interference connection with the fastening nut 207 through an inner hexagonal slot hole at an upper end, the outer pedal plate 202 is fixedly connected to a lower section of the auxiliary supporting pipe 201, a lower end of the inner pedal plate 206 is rotatably connected to a lower end of the outer pedal plate 202 to realize opening and closing, the auxiliary wheel shaft 203 sequentially passes through a lower end hole of the auxiliary supporting pipe 201 and a middle opening of the auxiliary wheel 204, and then two ends of the auxiliary wheel shaft 203 are fixed by two limit nuts 205.

Referring to fig. 6, the main support mechanism 3 of the present invention includes a main support master slice 301, a central control module 302, an auxiliary support shaft 303, a first threaded shaft 304, a first nut 305, a rudder bearing 306, a main wheel 307, a flexible shaft 308, a saddle support bar 309, a second nut 310, a second threaded shaft 311, a saddle 312, a second limit bearing 313, and a bent pipe bearing 314, wherein the second limit bearing 313 and the bent pipe bearing 314 are embedded in a groove at an upper section of the main support master slice 301 in an interference manner, the central control module 302 is embedded in a middle section of the main support master slice 301, the auxiliary support shaft 303 penetrates through an opening of the main support master slice 301, two sides are fixedly connected with two sets of the auxiliary support mechanisms 2 through two fastening nuts 207, the four first threaded shafts 304 penetrate through four openings of two left and right sheets of oppositely fastened main support master slices 301, and then both ends are fixedly fastened through the first nut 305, the rudder bearing 306 is fastened at a circular groove at a lower end of the main support master slice 301, the lower end of a rudder bearing 306 is downwards inserted into a round hole in the upper end of a main wheel 307 to be in interference fit, the outer hexagonal end of a flexible shaft 308 is downwards inserted into an inner hexagonal groove in the upper end of the rudder bearing 306 to be fixedly connected, the flexible shaft 308 is arranged in an arc-shaped groove formed in the main support master piece 301, the upper end of the flexible shaft 308 is in fit connection with an armrest mechanism 1, the lower end of a saddle support rod 309 is nested and fixed in the square groove formed in the upper side of the main support master piece 301, and a saddle 312 is fixedly connected with the saddle support rod 309 through a second threaded shaft 311 and a second nut 310.

The above description is only a preferred example of the present invention and is not intended to limit the present invention, and various modifications and changes may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement and the like of the present invention shall be included in the protection scope of the present invention.

Claims

1. The utility model provides a multi-functional ability to take helps capable robot which characterized in that: including handrail mechanism (1), assist and prop mechanism (2), main support mechanism (3), handrail mechanism (1) afterbody rotates with the upper end trompil department of main support mechanism (3) to be connected, assists and props mechanism (2) and put at main support mechanism (3) middle section trompil position through the bolt, handrail mechanism (1) including handle (101), T shape component (102), hexagonal pipe (103), circle axle pipe (104), ladder pipe (105), screens piece (106), stay tube (107), first spacing bearing (108), spring button (109), spring (110), per two spring button (109) a set of put into the inside trench of T shape component (102) cross axle left and right sides trompil, every of both sides spring (110) both ends respectively with two spring button (109) the joint of group, two handle (101) after spring button (109) that have assembled press down, the device is inserted into holes at the left side and the right side of a cross shaft of a T-shaped component (102), the upper end of a hexagonal pipe (103) is fixedly connected with a hexagonal groove at the top of the T-shaped component (102), the bottom end of a circular shaft pipe (104) is fixedly connected with the inner tail end of a supporting pipe (107), two first limiting bearings (108) are respectively embedded at the top and the tail of the hole at the inner side of the T-shaped component (102) in an interference fit manner, the upper section of a stepped pipe (105) is inserted into the two first limiting bearings (108) in an interference fit manner, the lower section of the stepped pipe (105) forms a coaxially embedded sliding pair with the supporting pipe (107) through a clamping sheet (106), the clamping sheet (106) is fixed at the corresponding position of the lower section of the stepped pipe (105), the protruding part at the upper section of the stepped pipe (105) is arranged in a 90-degree fan-shaped groove at the inner hole wall of the lower section of the T-shaped component (102), the rotating range of the T-shaped component (102) is limited to be +/-45 degrees, the supporting pipe (107) is downwards inserted into a circular hole at the upper end of a main supporting mechanism (3), axially fixed and radially rotatable.

2. The multifunctional carryable walker robot of claim 1 wherein: the auxiliary supporting mechanism (2) comprises an auxiliary supporting pipe fitting (201), an outer pedal piece (202), an auxiliary wheel shaft (203), an auxiliary wheel (204), a limiting nut (205), an inner pedal piece (206) and a fastening nut (207), wherein the fastening nut (207) is tightly connected to one side of the main supporting mechanism (3) through threads, the auxiliary supporting pipe fitting (201) is in interference connection with the fastening nut (207) through an inner hexagonal slotted hole in the upper end, the outer pedal piece (202) is fixedly connected to the lower section of the auxiliary supporting pipe fitting (201), the lower end of the inner pedal piece (206) is rotatably connected with the lower end of the outer pedal piece (202), opening and closing can be achieved, the auxiliary wheel shaft (203) sequentially penetrates through holes in the middle of the lower end of the auxiliary supporting pipe fitting (201) and the auxiliary wheel (204), and then the two ends of the auxiliary wheel shaft (203) are fixed through the limiting nuts (205).

3. The multifunctional carryable walker robot of claim 2 wherein: the main support mechanism (3) comprises a main support master slice (301), a central control module (302), auxiliary support shafts (303), a first threaded shaft (304), a first nut (305), a rudder bearing (306), a main wheel (307), a flexible shaft (308), a saddle support rod (309), a second nut (310), a second threaded shaft (311), a saddle (312), a second limit bearing (313) and a bent pipe bearing (314), wherein the second limit bearing (313) and the bent pipe bearing (314) are embedded in a groove at the upper section of the main support master slice (301) in an interference manner, the central control module (302) is embedded in the middle section of the main support master slice (301), the auxiliary support shafts (303) penetrate through holes of the main support master slice (301), two auxiliary support mechanisms (2) are fixedly connected at two sides through two fastening nuts (207) in a bolted manner, and the four first threaded shafts (304) penetrate through four hole sites of the left and right oppositely fastened main support master slices (301), both ends are rethread first nut (305) and are carried out the bolt and fix, rudder is fastened at main trunk stay (301) lower extreme circular slot department to bearing (306), rudder is to bearing (306) lower extreme downward insert main wheel (307) upper end circular hole interference fit, the outer hexagonal end of flexible axle (308) inserts rudder and is linked firmly to bearing (306) upper end hexagon socket head fluting department downwards, flexible axle (308) are arranged and are propped the inside arc inslot that opens of trunk stay (301) in the main, flexible axle (308) upper end and handrail mechanism (1) cooperation are connected, saddle vaulting pole (309) lower extreme nestification is fixed and is propped the square inslot that opens of trunk stay (301) upside, saddle (312) are linked firmly the assembly through second threaded shaft (311) and second nut (310) and saddle vaulting pole (309).