CN113509328A - Multi-posture rehabilitation quadruped robot adaptable to various complex pavements - Google Patents
Multi-posture rehabilitation quadruped robot adaptable to various complex pavements Download PDFInfo
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- CN113509328A CN113509328A CN202110787798.9A CN202110787798A CN113509328A CN 113509328 A CN113509328 A CN 113509328A CN 202110787798 A CN202110787798 A CN 202110787798A CN 113509328 A CN113509328 A CN 113509328A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/068—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with extensible supports pushing upwards, e.g. telescopic legs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
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Abstract
The invention discloses a multi-posture rehabilitation quadruped robot suitable for various complex pavements, which comprises a trunk and four legs, wherein the four legs are respectively arranged at four corners of the trunk, the trunk is of a concave frame structure, a backrest and a seat plate capable of being turned over are arranged on the trunk, a crotch belt capable of replacing the seat plate to support buttocks is arranged in the middle of the trunk, so that two upright auxiliary walking modes of sitting posture and crotch belt supporting can be realized, the legs adopt hip swing parts, thigh parts and shank parts capable of being folded into Z-shaped accommodation and straight, and rollers are rotatably connected to the bottoms of the shank parts, so that various walking modes of various postures of sitting posture crawling, upright crotch belt auxiliary walking and wheel type walking are realized, the multi-posture rehabilitation quadruped robot can be suitable for various complex pavements, and can be convenient for assisting lower limb patients to perform leg rehabilitation training.
Description
Technical Field
The invention relates to the technical field of auxiliary manned quadruped robots, in particular to a multi-posture rehabilitation quadruped robot which can adapt to various complex pavements.
Background
Mobile robots are the most interesting robots at present, which can replace humans for dangerous, complex and difficult tasks.
The mobile robot comprises a wheel type robot and a foot type robot, the wheel type robot can only walk on a flat road surface and cannot cross when meeting obstacles, but the foot type robot can adapt to a rugged bottom surface such as a depression, a hill and the like due to multi-fulcrum grounding. The foot type robot is divided into a biped robot and a multi-foot robot, and the biped robot is unstable when standing due to the control of a control system and the bottleneck of intention perception technology, so that the multi-foot robot is more favored by people especially for the quadruped robot, and is widely applied to rescue, medical rehabilitation, aerospace detection and deep sea detection.
The power-assisted walking quadruped robot is most special in medical rehabilitation, plays an important role in walking and rehabilitation training of patients with lower limb injuries, and can provide walking aid, support and protection for the patients.
The existing power-assisted walking rehabilitation quadruped robot can meet the aims of walking aid and rehabilitation training to a certain extent, but has various defects. For example, the chinese invention patent (publication No. CN20982747U) discloses a four-footed walking rehabilitation robot with a balancing device, which adopts a frame-type frame and a balancing device to provide a four-footed walking rehabilitation robot with good balance, large working space, small motion inertia and strong bearing capacity. The Chinese invention patent (CN109966066A) discloses a four-footed robot, which adopts a mounting plate provided with a balancing device, wherein the upper part of the mounting plate is supported with a seat, and the lower part of the mounting plate is provided with a walking device which is distributed in a rectangular shape, and the four-footed robot which has a UPU translational motion structure, is flexible and linear, is used for climbing steps and can adapt to a complex hollow road surface is provided. However, the user of the above patent can only sit on the device, and can not get various stretching exercises for patients needing lower limb rehabilitation, and the device is provided with a balancing device, but can still not avoid the vibration when walking on a flat ground at a high speed, which causes the influence on the walking aid. In addition, the multi-joint leg of the multi-legged robot is still in the development stage, and the driving source generally adopts electric driving and hydraulic driving, but due to the bottleneck of highly complex control and execution technology, the multi-legged robot walking at high speed cannot be realized, the structure is extremely complex, and the manufacturing cost is high.
Disclosure of Invention
In view of the above, the invention aims to provide a multi-posture rehabilitation quadruped robot which can adapt to various complex pavements, provides a solution for enhancing large-space free extension, walking speed and safe power-assisted walking of legs of lower limb rehabilitation users, and realizes that the quadruped robot can assist lower limb patients to perform various walking exercises of flat sitting and straightening two legs.
In order to solve the technical problems, the invention provides a multi-posture rehabilitation quadruped robot which can adapt to various complex pavements, and the robot comprises a trunk and four legs, wherein the four legs are respectively arranged at four corners of the trunk;
the trunk is of a concave frame structure, a crotch belt is arranged in the middle of the trunk, a backrest is fixedly arranged on the rear side of the trunk, parallel and symmetrical handrails are fixedly connected to the front of the backrest, a seat board positioned in front of the backrest is hinged to the trunk, and a telescopic pedal is arranged in front of the bottom of the seat board;
the leg part comprises a hip swing part, a thigh part and a shank part, wherein one end of the hip swing part is rotatably connected with the bottom of the trunk to form a hip joint swinging horizontally, one end of the thigh part is rotatably connected with the other end of the hip swing part to form a thigh joint swinging up and down, the other end of the thigh part is rotatably connected with one end of the shank part to form a knee joint, and the bottom of the shank part is rotatably connected with a roller; the hip joint comprises a direct drive motor, and the direct drive motor coaxially drives the hip joint; the thigh joint comprises a first-region leg power arm oil cylinder, the seat end of the first-region leg power arm oil cylinder is rotatably connected with the hip swing part, and the telescopic end of the first-region leg power arm oil cylinder is rotatably connected with the thigh part; the knee joint comprises a two-region leg power arm oil cylinder, the base end of the two-region leg power arm oil cylinder is rotatably connected with the thigh, and the telescopic end of the two-region leg power arm oil cylinder is rotatably connected with the shank.
In some preferred embodiments of the present disclosure, the four legs correspond to the front left, the front right, the rear left and the rear right of the trunk, the trunk is a hollow plate structure, the front left, the front right, the rear left and the rear right of the trunk are provided with mounting holes, bearings are installed in the mounting holes, the bearings are sleeved with driving shafts rotatably connected to the mounting holes, the direct drive motor is embedded in the upper end of the hip joint, and the output end of the direct drive motor is connected to the driving shafts through a key.
In some preferred embodiments of the present disclosure, an engagement structure is formed at a connection portion of the seat plate and the trunk, the engagement structure includes a fixing block fixedly mounted at a crossing portion of the backrest and the trunk, the fixing block is fixedly connected to the backrest and the trunk, the engagement structure further includes a clamping groove formed in a rear middle portion of the seat plate and adapted to the fixing block, and a fixing shaft fixedly connected to the fixing block is rotatably connected to the clamping groove.
In some preferred embodiments of the present disclosure, the retractable pedal includes a first force arm plate, a second force arm plate and a pedal, one end of the first force arm plate is rotatably connected to the bottom of the seat plate to form a first rotating joint, the other end of the first force arm plate is rotatably connected to the second force arm plate to form a second rotating joint, the second force arm plate is rotatably connected to the rear side of the pedal to form a third rotating joint, the first rotating joint, the second rotating joint and the third rotating joint are of the same structure and are all defined as a joint unit a, the joint unit a includes a joint base b and a joint rotating arm a, the joint base b and the joint rotating arm a rotate around a rotation axis corresponding to the same rotational degree of freedom, and a piston hole groove and a clutch limit hole groove are respectively drilled on a side of the joint base b and a side of the joint rotating arm a facing away from each other, the inner side of the piston hole groove is provided with a rectangular clamping groove in a penetrating manner, a connecting rod locking cover matched with the piston hole groove is connected in the piston hole groove in a sliding manner, a rectangular block matched with the connecting rod locking cover is arranged on the side, close to the rectangular clamping groove, of the connecting rod locking cover, and a plurality of centrosymmetric thrust springs are fixedly connected between the connecting rod locking cover and the inner side wall of the piston hole groove; the spacing hole inslot of separation and reunion inboard link up and is equipped with a plurality of spacing holes of central symmetry, the connecting rod locking dish is installed to spacing hole inslot sliding connection adaptation of separation and reunion, the connecting rod locking dish is close to piston hole groove side is equipped with the bolt of looks adaptation with it, connecting rod locking lid with fixedly connected with cup joints between the connecting rod locking dish center joint base b with hollow shaft between the joint rocking arm a.
In some preferred embodiments of the present disclosure, the lower side of the seat plate is provided with two symmetrical receiving grooves, one side of the front of the receiving groove near the center is provided with a protruding groove, and the receiving groove and the protruding groove are used for receiving the retractable pedal in combination.
In some preferred embodiments of the present disclosure, a fastener is formed between the front side of the crotch strap and the front ends of the trunk, and the fastener includes a slot disposed on the trunk and hooks disposed on the two ends of the crotch strap.
In some preferred embodiments of the present disclosure, the hip swing portion has a zigzag structure, and a lower end of the hip swing portion extends to the outside of the trunk and is hinged to one end of the thigh.
In some preferred embodiments of the scheme, a first hollow-out part is formed in the middle of the lower end of the hip swing part, second hollow-out parts are formed in the middle of two ends of the thigh part, two ends of the first leg force arm cylinder are located in the first hollow-out part and the second hollow-out part respectively, and the whole hip swing part is located above the axis of the rotational freedom degree of the thigh joint; and a hollow part III is formed in the middle of the shank, two ends of the second-region leg force arm oil cylinder are respectively positioned in the hollow part II and the hollow part III, and the whole second-region leg force arm oil cylinder is positioned below the axis of the rotational freedom degree of the knee joint.
In some preferred embodiments of the present disclosure, the leg-type walking device further includes a brake control mechanism, the brake control mechanism includes a brake handle structure mounted on the armrest and a brake mechanism mounted on the shank for braking the roller, the brake handle structure and the brake mechanism are cooperatively connected to each other for limiting rotation of the roller, so as to enable the leg to walk in a foot-type manner.
In some preferred embodiments of the present invention, the brake handle structure comprises a brake handle fixed to the armrest and brake wires having one end connected to the brake handle and the other end extending along the trunk and four legs;
brake actuating mechanism includes locating part, brake lever and spring, the locating part is fixed the root of shank is used for the restriction the shell tip of floodgate line, the heart yearn tip of floodgate line is connected with the one end of brake lever, the spring cup joint be located the locating part with on the floodgate line between the brake lever, the brake lever rotate connect in the side of shank
Compared with the prior art, the invention has the beneficial effects that:
the four-legged robot has the truck that four shank of seat and crotch area switching mode supported, the shank has oil cylinder driven hip pendulum portion, thigh and shank portion form the folding vertical walking of crawling of shank and shank extension completely, make the low limbs hinder and suffer from the user and can carry out the low gravity center auxiliary stay walking of seat formula, whole in-process robot crawls, safety and stability, the shank lift up and the whereabouts range is little, thereby make the influence of helping hand walking less, can also make the lower limbs hinder and suffer from the user and can carry out the vertical auxiliary stay walking of crotch area flexible support, can promote the training effect. In addition, the quadruped robot is also provided with a roller on the lower leg part and a brake control structure for braking the roller, the roller can drive the robot to move in a wheel type through motor driving, the brake control structure can control starting and stopping and switch the robot to move in a foot type, and therefore a user can wear the quadruped robot to perform rehabilitation training in multi-body and multi-movement modes of various complex pavements.
Drawings
Fig. 1 is a schematic overall perspective view of a crawling wheelchair mode of a four-legged robot according to an embodiment of the present invention;
FIG. 2 is a schematic perspective view of the leg of FIG. 1;
FIG. 3 is a schematic perspective view of the seat assembly of FIG. 1;
FIG. 4 is a cross-sectional view of the revolute joint of the telescoping pedal of the embodiment of the present invention;
FIG. 5 is a perspective view of the rotational joint of the retractable pedal according to the embodiment of the present invention;
fig. 6 is a schematic overall perspective view of an upright crotch strap 123 of the quadruped robot according to the embodiment of the present invention;
FIG. 7 is a perspective view of the leg of FIG. 6;
FIG. 8 is a schematic perspective view of the seat assembly of FIG. 6;
fig. 9 is a view of a scenario of the quadruped robot according to the embodiment of the present invention when the quadruped robot is used for climbing stairs.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are usually placed in when used, the orientations or positional relationships are only used for convenience of describing the present invention and simplifying the description, but the terms do not indicate or imply that the devices or elements indicated must have specific orientations, be constructed in specific orientations, and operate, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not require that the components be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the embodiments of the present invention, "a plurality" represents at least 2.
In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; 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 by those skilled in the art according to specific situations.
The embodiment provides a multi-posture rehabilitation quadruped robot which can adapt to various complex pavements, and the robot is worn at the crotch part and below the human body, so that the functions of the lower limbs of the human body can be enhanced, such as flat sitting walking and crotch part supporting walking, and the rehabilitation exercise effect can be increased.
Referring to fig. 1, 2, 3, 6, 7 and 8, the multi-posture rehabilitation quadruped robot has a trunk 101 with a concave frame structure, four legs distributed at four corners are rotatably connected to the lower part of the trunk 101, the balance of the trunk 101 carried by a user can be enhanced through the bending and stretching of the four legs, and the multi-posture rehabilitation quadruped robot is more suitable for more complicated and rugged floors.
In order to adapt to various postures of the lower limbs of the body of a user, a backrest 104 is fixed above the trunk 101 and a seat plate 117 which is positioned in front of the backrest 104 is hinged and connected through a meshing mechanism, so that the user can turn over the seat plate 117 to leak the trunk 101 of the frame and is convenient to wrap the crotch for carrying in use, an elastic crotch belt 123 is formed in the upper middle part of the trunk 101, concretely, the crotch belt 123 can be made of materials such as sponge pads and nylon cloth, a fastener is formed between the front side of the crotch belt 123 and the front of the trunk 101, the fastener is specially provided with a slot 126 on the trunk 101 and hooks 124 arranged at two ends of the crotch belt 123, namely, the crotch belt 123 can be buckled or not through the insertion of the hooks 124 and the slot 126, the releasing and the fitting of the user from the trunk 101 are convenient, and the seat plate 117 is in a seat form when being put down, a telescopic pedal is formed at the bottom of the seat plate 117, a receiving groove is formed at a lower side of the seat plate 117 in a bilaterally symmetrical manner, a protruding groove 128 is formed at a front side of the receiving groove close to a center, the receiving groove and the protruding groove 128 can be combined to receive a retractable pedal, and armrests 106 are fixedly connected to both sides of the backrest 104 in parallel and symmetrical to each other for safety. Specifically, four leg parts are distributed on the left front part, the right rear part and the right front part of the trunk 101, mounting holes corresponding to the four leg parts one by one are arranged on the trunk 101, bearings are mounted in the mounting holes, driving rotating shafts in rotary connection with the mounting holes are sleeved on the bearings and fixedly connected with the bottom leg parts, the leg parts are provided with a hip swing part 110, a thigh part 108 and a shank part 109, one end of the hip swing part 110 is in rotary connection with the bottom part of the trunk 101 to form a hip joint swinging horizontally, the hip joint comprises a direct drive motor arranged above the hip swing part 110, the output end of the direct drive motor is in key connection with the direct drive motor to drive the rotation, so that the driving motor can drive the rotating shafts to rotate and break the hip swing part 110 to rotate relatively to the trunk 101, and further the leg parts rotate relatively to the trunk 101 horizontally, namely the hip swing part 110, the thigh part 108 and the shank part 109 can rotate relatively to the trunk 101 under the driving of the driving motor, the other end of the hip swing part 110 is rotatably connected with one end of the thigh part 108 to form a thigh joint swinging up and down, the thigh joint comprises a first region leg force arm oil cylinder 122, the hinged seat end of the first region leg force arm oil cylinder 122 is rotatably connected with the hip swing part 110, the telescopic end of the first region leg force arm oil cylinder 122 is rotatably connected with the thigh part 108, the first region leg force arm oil cylinder 122 is positioned above the axis of the rotational freedom degree of the thigh joint, the other end of the thigh part 108 is rotatably connected with one end of the shank part 109 to form a knee joint, the knee joint comprises a second region leg force arm oil cylinder 120, the hinged seat end of the second region leg force arm oil cylinder 120 is rotatably connected with the thigh part 108, the telescopic end of the second region leg force arm oil cylinder 120 is rotatably connected with the shank part 109, the second region leg force arm oil cylinder 120 is positioned below the axis of the rotational freedom degree of the knee joint, and the bottom of the shank part 109 is rotatably connected with a roller 113, so that the thigh part 108, the shank part 109 and the hip swing part 110 can horizontally rotate relative to the trunk 101, the lower leg part 109 can swing up and down along with the thigh part 108, and the lower leg part 109 can swing up and down relative to the thigh part 108; in order to reduce the mass ratio of the legs, a first hollow part 125 is arranged in the middle of the lower portion of the hip swing part 110, a second hollow part 121 is arranged in the middle of the two ends of the thigh part 108, a third hollow part 107 is arranged in the middle of the upper portion of the lower leg part 109, a first-region leg power arm oil cylinder 122 is located in the first hollow part 125 and the second hollow part 121, and a second-region leg power arm oil cylinder 120 is located in the second hollow part 121 and the third hollow part 107, so that the mass ratio of the legs is reduced, the oil cylinders can be hidden, the complexity of a leg surface structure plate is reduced, and the bending limit of joints is increased. Therefore, when the leg power arm cylinder 122 in the first area can be completely accommodated in the first hollow-out portion of the hip swing portion 110 and the second hollow-out portion of the thigh portion 108, and the leg power arm cylinder 120 in the second area can be completely accommodated in the second hollow-out portion of the thigh portion 108 and the third hollow-out portion of the shank portion 109, so that the problem that the accommodating space between the hip swing portion 110 and the thigh portion 108 is blocked and the accommodating space between the thigh portion 108 and the shank portion 109 is blocked is avoided, that is, the leg portion can be accommodated in a Z shape, low-gravity crawling is realized, see fig. 1, and high-gravity supporting walking with the leg portion straightened can be realized, see fig. 6.
Referring to fig. 3 and 8, it should be noted that the engaging mechanism has a fixing block 103 fixed at the intersection of the backrest 104 and the trunk 101, a slot 102 adapted to the fixing block 103 is formed on the seat plate 117, and a fixing shaft 127 fixedly connected to the fixing block 103 is rotatably connected to the slot 102, so that the seat plate 117 can be turned over without a protruding and slot-free flat surface, that is, when the seat plate 117 is horizontally placed on the trunk 101, the fixing block 103 is adapted to the slot 102, and the surface of the seat plate 117 has no concave groove, and when the seat plate 117 is turned over to a vertical state, the fixing block 103 is still adapted to the slot 102, so as to prevent the waist of the user wearing the seat plate by the crotch strap 123 from being uncomfortable.
Referring to fig. 1, 2, 6 and 7, it is worth explaining that in order to make the center of gravity of the trunk 101 supported by the legs stable, the hip pendulums 110 are formed in a zigzag structure, the bottoms of the hip pendulums 110 extend out of the trunk 101 and are hinged to one ends of the thighs 108, so that the legs extend away from the center side of the trunk 101, and the trunk 101 is more stable when the robot walks, and the four-legged robot can realize the outward extension of the four legs when the bottoms crawl, see fig. 1, and also can extend outwards when the four legs of the robot completely extend and walk upright, see fig. 6.
Referring to fig. 3, 6 and 8, in the present embodiment, as a preferable technical solution, the retractable pedal has a first force arm plate 116, a second force arm plate 115 and a pedal 114, one end of the first force arm plate 116 is rotatably connected with the bottom of the seat plate 117 to form a first rotational joint, the other end of the first force arm plate 116 is rotatably connected with the second force arm plate 115 to form a second rotational joint, and the second force arm plate 115 is rotatably connected with the rear side surface of the pedal 114 to form a third rotational joint.
Referring to fig. 4 and 5, it should be noted that the first rotary joint, the second rotary joint and the third rotary joint are of the same structure, and for convenience of presentation, all of them are defined as a joint unit a, the joint unit a includes a joint base b and a joint rotating arm a, the joint base b and the joint rotating arm a rotate around a rotation axis corresponding to the same rotational degree of freedom, one side of the joint base b and the joint rotating arm a, which are away from each other, is respectively provided with a piston hole groove 135 and a clutch limit hole groove 133, the inner side of the piston hole groove 135 is provided with a rectangular clamping groove 102 in a penetrating manner, a connecting rod locking cover 134 adapted to the piston hole groove 135 is slidably connected in the piston hole groove 135, the side of the connecting rod locking cover 134, which is close to the rectangular clamping groove 102, is provided with a rectangular block adapted to the connecting rod locking cover 134, and a plurality of thrust springs 118136 which are centrosymmetric are fixedly connected between the connecting rod locking cover 134 and the inner side wall of the piston hole groove 135; a plurality of centrosymmetric limiting holes 130 are arranged in the clutch limiting hole groove 133 in a penetrating manner, a connecting rod locking disc 129 is arranged in the clutch limiting hole groove 133 in a sliding connection and adaptation manner, a bolt 131 adapted to the connecting rod locking disc 129 is arranged on the side of the connecting rod locking disc 129 close to the piston hole groove 135, a hollow shaft 132 sleeved between the joint base b and the joint rotating arm a is fixedly connected between the connecting rod locking cover 134 and the connecting rod locking disc 129, namely the connecting rod locking cover 134 and the connecting rod locking disc 129 can rotate along with the center of the joint rotating arm a, and can be limited by the connecting rod locking cover 134 and the connecting rod locking disc 129 which are respectively fixed with the joint rotating arm a and the joint base b on two sides under normal conditions without relative rotation, and when a certain angle needs to rotate, the connecting rod locking cover 134 is pressed axially to drive the connecting rod locking disc 129 to move axially, so that the bolt 131 on the side surface of the connecting rod locking disc 129 is separated from the clutch limiting hole groove 133, at this time, the joint rotating arm a and the joint base b are rotated, and the telescopic pedal can be completely accommodated in the accommodating groove by the above operation, as shown in fig. 8, or completely unfolded for supporting the foot of the human body, as shown in fig. 3.
Referring to fig. 1 and 6, the quadruped robot further comprises a brake control mechanism, specifically, the brake control mechanism comprises a brake handle structure mounted on the armrest 106 and a brake mechanism mounted on the lower leg 109 for braking the roller 113, the brake handle structure and the brake mechanism are cooperatively connected to limit the rotation of the roller 113, so that the quadruped walking of the leg is realized, that is, the brake mechanism can be controlled by the hand hole brake handle structure to limit the movement of the roller 113, so that the leg can be in the quadruped walking state, and the wheel 113 is not limited at the release opening, so that the leg can be in the wheel walking state. In this embodiment, the brake handle structure has a brake handle 105 and brake cables 119, the brake handle 105 is fixed on the armrest 106, one end of the brake cable 119 is connected to the brake handle 105, and the other end extends along the trunk 101 and four legs; the brake braking mechanism is provided with a limiting piece 111, a brake lever 112 and a spring 118, the limiting piece 111 is fixed at the root of the shank 109 and used for limiting the end part of a shell of a brake cable 119, the end part of a core wire of the brake cable 119 is connected with one end of the brake lever 112, the spring 118 is sleeved on the brake cable 119 between the limiting piece 111 and the brake lever 112, and the brake lever 112 is rotatably connected to the side surface of the shank 109.
Referring to fig. 9, when the locking roller 113 of the four-legged robot is switched to foot walking by rolling, the four legs can alternately walk up stairs in a balanced manner.
The above is only a preferred embodiment of the present invention, and the scope of the present invention is defined by the appended claims, and several modifications and amendments made by those skilled in the art without departing from the spirit and scope of the present invention should be construed as the scope of the present invention.
Claims (10)
1. The multi-posture rehabilitation quadruped robot capable of adapting to various complex pavements is characterized by comprising a trunk (101) and four legs, wherein the four legs are respectively arranged at four corners of the trunk (101);
the trunk (101) is of a concave frame structure, a crotch belt (123) is installed in the middle of the trunk (101), a backrest (104) is fixedly installed on the rear side of the trunk (101), parallel and symmetrical armrests (106) are fixedly connected to the upper front of the backrest (104), a seat plate (117) located in front of the backrest (104) is hinged to the trunk (101), and a telescopic pedal is installed in front of the bottom of the seat plate (117);
the leg part comprises a hip swing part (110), a thigh part (108) and a shank part (109), one end of the hip swing part (110) is rotatably connected with the bottom of the trunk (101) to form a hip joint swinging horizontally, one end of the thigh part (108) is rotatably connected with the other end of the hip swing part (110) to form a thigh joint swinging vertically, the other end of the thigh part (108) is rotatably connected with one end of the shank part (109) to form a knee joint, and the bottom of the shank part (109) is rotatably connected with a roller (113); the hip joint comprises a direct drive motor, and the direct drive motor coaxially drives the hip joint; the thigh joint comprises a region leg power arm oil cylinder (122), the seat end of the region leg power arm oil cylinder (122) is rotatably connected with the hip swing part (110), and the telescopic end of the region leg power arm oil cylinder (122) is rotatably connected with the thigh part (108); the knee joint comprises a two-region leg force arm oil cylinder (120), the seat end of the two-region leg force arm oil cylinder (120) is rotatably connected with the thigh part (108), and the telescopic end of the two-region leg force arm oil cylinder (120) is rotatably connected with the shank part (109).
2. The multi-pose rehabilitation quadruped robot capable of adapting to various complex pavements according to claim 1, wherein four legs correspond to the front left, the front right, the rear left and the rear right of a trunk (101) respectively, the trunk (101) is of a hollowed-out plate structure, mounting holes are formed in the front left, the front right, the rear left and the rear right of the trunk (101), bearings are mounted in the mounting holes, driving rotating shafts rotatably connected with the mounting holes are sleeved on the bearings, the direct-drive motor is embedded in the upper end of the hip joint, and the output end of the direct-drive motor is connected with the driving rotating shafts through keys.
3. The multi-pose rehabilitation quadruped robot capable of adapting to various complex pavements according to claim 1, wherein a joint of the seat plate (117) and the trunk (101) is formed with a snap structure, the snap structure comprises a fixing block (103) fixedly installed at the intersection of the backrest (104) and the trunk (101), the fixing block (103) is fixedly connected with the backrest (104) and the trunk (101), the multi-pose rehabilitation quadruped robot further comprises a clamping groove (102) cut in the middle of the rear of the seat plate (117) and matched with the fixing block (103), and a fixed rotating shaft (127) fixedly connected with the fixing block (103) is rotatably connected in the clamping groove (102).
4. The multi-posture rehabilitation quadruped robot capable of adapting to various complex road surfaces as claimed in claim 1, wherein the telescopic pedal comprises a first force arm plate (116), a second force arm plate (115) and a pedal (114), one end of the first force arm plate (116) is rotatably connected with the bottom of the seat plate (117) to form a first rotating joint, the other end of the first force arm plate (116) is rotatably connected with the second force arm plate (115) to form a second rotating joint, the second force arm plate (115) is rotatably connected with the rear side of the pedal (114) to form a third rotating joint, the first rotating joint, the second rotating joint and the third rotating joint are of the same structure and are all defined as a joint unit A, the joint unit A comprises a joint base b and a joint rotating arm a, and the joint base b and the joint rotating arm a rotate around a rotating axis corresponding to the same degree of rotational freedom, a piston hole groove (135) and a clutch limiting hole groove (133) are respectively drilled at one side of the joint base b, which is far away from the joint rotating arm a, the inner side of the piston hole groove (135) is provided with a rectangular clamping groove (102) in a penetrating manner, a connecting rod locking cover (134) matched with the piston hole groove (135) is connected in the piston hole groove (135) in a sliding manner, a rectangular block matched with the connecting rod locking cover (134) is arranged at the side, close to the rectangular clamping groove (102), of the connecting rod locking cover (134), and a plurality of centrosymmetric thrust springs (118136) are fixedly connected between the connecting rod locking cover (134) and the inner side wall of the piston hole groove (135); spacing hole groove of separation and reunion (133) inboard link up a plurality of spacing holes (130) that are equipped with central symmetry, connecting rod locking dish (129) are installed to the sliding connection adaptation in spacing hole groove of separation and reunion (133), connecting rod locking dish (129) are close to piston hole groove (135) side is equipped with bolt (131) with its looks adaptation, connecting rod locking lid (134) with fixedly connected with cup joints between connecting rod locking dish (129) the center joint base b with hollow shaft (132) between the joint rocking arm a.
5. The multi-pose rehabilitation quadruped robot capable of adapting to various complex road surfaces as claimed in claim 1, wherein the seat plate (117) is provided with two symmetrical receiving grooves at the lower side, a protruding groove (128) is formed at one side of the front of the receiving groove close to the center, and the receiving groove and the protruding groove (128) are combined for receiving a telescopic pedal.
6. The multi-pose rehabilitation quadruped robot capable of adapting to various complex road surfaces as claimed in claim 1, wherein a buckle is formed between the front side of the crotch belt (123) and the front ends of the trunk (101), and the buckle comprises a slot (126) arranged on the trunk (101) and hooks (124) arranged at the two ends of the crotch belt (123).
7. The multi-pose rehabilitation quadruped robot capable of adapting to various complex road surfaces as claimed in claim 1, wherein the hip swing part (110) is of a zigzag structure, and the lower end of the hip swing part (110) extends out of the trunk (101) and is hinged with one end of the thigh part (108).
8. The multi-pose rehabilitation quadruped robot capable of adapting to various complex road surfaces according to claim 1, wherein a first hollow-out part (125) is formed in the middle of the lower end of the hip swing part (110), a second hollow-out part (121) is formed in the middle of each of two ends of the thigh part (108), two ends of the first leg power arm cylinder (122) are respectively located in the first hollow-out part (125) and the second hollow-out part (121), and the whole first leg power arm cylinder is located above the axis of the rotational freedom degree of a thigh joint; and a hollow part III (107) is formed in the middle of the small leg part (109), two ends of the second-region leg force arm oil cylinder (120) are respectively positioned in the hollow part II (121) and the hollow part III (107), and the whole is positioned below the axis of the rotational freedom degree of the knee joint.
9. The multi-pose rehabilitation quadruped robot capable of adapting to various complex road surfaces as claimed in claim 1, further comprising a brake control mechanism, wherein the brake control mechanism comprises a brake handle structure mounted on the armrest (106) and a brake mechanism mounted on the lower leg portion (109) for braking the roller (113), and the brake handle structure and the brake mechanism are cooperatively connected with each other for limiting the rotation of the roller (113) so as to enable the leg to walk in a foot-type manner.
10. The multi-pose rehabilitation quadruped robot capable of adapting to various complex road surfaces as claimed in claim 9, wherein the brake handle structure comprises a brake handle (105) and a brake cable (119), the brake handle (105) is fixed on the handrail (106), one end of the brake cable (119) is connected to the brake handle (105), and the other end of the brake cable extends along the trunk (101) and four legs;
brake braking mechanism includes locating part (111), brake lever (112) and spring (118), locating part (111) are fixed the root of shank (109) is used for the restriction the shell tip of brake cable (119), the heart yearn tip and the one end of brake lever (112) of brake cable (119) are connected, spring (118) cup joint and are being located locating part (111) with brake cable (119) between brake lever (112), brake lever (112) rotate connect in the side of shank (109).
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| CN202110787798.9A CN113509328B (en) | 2021-07-13 | 2021-07-13 | Multi-pose rehabilitation four-foot robot adaptable to various complex pavements |
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Cited By (1)
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| CN115230857A (en) * | 2022-07-29 | 2022-10-25 | 王�琦 | Four-leg walking bicycle |
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| CN113509328B (en) | 2023-06-16 |
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