CN115252380A - Allosteric behavior auxiliary robot - Google Patents

Allosteric behavior auxiliary robot Download PDF

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Publication number
CN115252380A
CN115252380A CN202210960506.1A CN202210960506A CN115252380A CN 115252380 A CN115252380 A CN 115252380A CN 202210960506 A CN202210960506 A CN 202210960506A CN 115252380 A CN115252380 A CN 115252380A
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CN
China
Prior art keywords
thigh
rod
shank
connecting rod
hip joint
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Pending
Application number
CN202210960506.1A
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Chinese (zh)
Inventor
赵新刚
韩宇航
赵明
张弼
姚杰
赵忆文
卜春光
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Priority to CN202210960506.1A priority Critical patent/CN115252380A/en
Publication of CN115252380A publication Critical patent/CN115252380A/en
Pending legal-status Critical Current

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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
    • 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
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/045—Rear wheel drive
    • 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
    • A61G5/08—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable
    • 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
    • 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
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/127—Rests specially adapted therefor, e.g. for the head or the feet for lower legs
    • 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
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/128—Rests specially adapted therefor, e.g. for the head or the feet for feet
    • 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
    • A61G5/14—Standing-up or sitting-down aids
    • 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
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • 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
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • 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
    • 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention relates to the field of behavior-assisted robots, in particular to a metamorphic behavior-assisted robot. The leg support device comprises a waist part, thighs, calves and feet which are connected in sequence, wherein the waist part is provided with a control box, the rear sides of the thighs and the calves are provided with a variable support mechanism, the variable support mechanism comprises a thigh support module, a calves support module and a wheel type moving-assistant module, the thigh support module is arranged on the thighs, the calves support module is arranged on the calves, the upper ends of the calves are hinged with the thigh support module, the wheel type moving-assistant module is arranged on the rear sides of the thigh support module and the calves support module, and the wheel type moving-assistant module is hinged with the upper ends of the thigh support module and the lower ends of the calves support module; the control box controls the allosteric support mechanism to switch between a standing mode and a wheelchair state mode. The invention realizes the mutual conversion of the exoskeleton state, the support state and the wheelchair state of the robot through the mechanism deformation and recombination, and integrates the auxiliary walking function, the auxiliary sitting function and the wheel type riding function.

Description

Allosteric behavior auxiliary robot
Technical Field
The invention relates to the technical field of behavior-assisted robots, in particular to a metamorphic behavior-assisted robot.
Background
Patients with motor dysfunction caused by aging, diseases, accidental injuries and the like, particularly patients with lower limb motor dysfunction, not only can affect the daily walking function, but also can cause complications such as organ function reduction, muscular atrophy, bedsore, constipation and the like due to long-term braking. Clinical medicine shows that if the lower limb incapacitating or weak people can keep standing or even walk simply at the right time, the nervous tissue function can be promoted to compensate or recombine, the joint muscle group is coordinated, the movement ability is improved, and the walking function is improved or even recovered. And proper amount of exercise can greatly improve physical and mental health, effectively reduce the phenomena of melancholy, pessimism and the like, and improve the sleep quality. Therefore, how to assist the patient to recover the standing walking ability is an important content of clinical rehabilitation.
At present, lower limb rehabilitation robots have been subjected to a great deal of research at home and abroad, wherein wearable lower limb exoskeleton robots are most widely applied at present and mainly aim to realize functions of assisting walking and rehabilitation training. However, in consideration of the daily life needs of the user, the user needs to be provided with a sitting movement function, and meanwhile, the human body needs to be supported by the lower limb strength in the sitting up process, which is difficult for the patient with lower limb movement dysfunction to achieve, so that additional assistance is needed, and it is also very important to provide the user with an auxiliary sitting up function and a wheel type riding instead function. Therefore, it is urgently needed to develop a wearable multifunctional behavior-assisted robot which can bear the movement of a user for traveling, support standing and assist walking, and can reduce the self weight as much as possible through mechanism deformation and recombination.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a morphic behavior assisting robot for a patient with lower limb motor dysfunction, which solves the problem of relative independence between a lower limb rehabilitation robot and a wheeled mobility aid in the existing rehabilitation training mode, and integrates a walking assisting function, a sitting assisting function, and a wheeled mobility aid.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides an allosteric behavior auxiliary robot which comprises a waist part, thighs, calves and feet which are sequentially connected, wherein a control box is arranged on the rear side of the waist part, and allosteric supporting mechanisms are arranged on the rear sides of the thighs and the calves and control the allosteric supporting mechanisms to be switched between a standing mode and a wheelchair state mode.
The structure-changing supporting mechanism comprises a thigh supporting module, a shank supporting module and a wheel type moving-assistant module which are sequentially hinged end to end, the thigh supporting module is arranged on the rear side of a thigh, the shank supporting module is arranged on the rear side of a shank, the upper end of the shank supporting module is hinged with the thigh supporting module, the wheel type moving-assistant module is arranged on the rear sides of the thigh supporting module and the shank supporting module, and the wheel type moving-assistant module is hinged with the upper end of the thigh supporting module and the lower end of the shank supporting module.
The thigh supporting module comprises a thigh supporting connecting rod, a thigh supporting rod and a linear push rod motor I, wherein one end of the thigh supporting connecting rod is hinged with the upper end of the thigh, the other end of the thigh supporting connecting rod is provided with a kidney-shaped groove along the length direction, and the kidney-shaped groove is connected with the upper end of the thigh supporting rod in a sliding manner;
the shank support module comprises a shank baffle, a shank support rod and a linear push rod motor II, wherein the shank support rod is connected with the shank through the shank baffle, and the upper end of the shank support rod is hinged with the lower end of the thigh support rod;
the tail part of the linear push rod motor I is hinged on the shank supporting rod, and the output end of the linear push rod motor I is hinged with the thigh supporting rod;
the wheel type traveling module comprises a telescopic supporting rod, a wheel rod, a front universal wheel and a rear driving wheel, wherein one end of the telescopic supporting rod is hinged to the upper end of the thigh supporting rod, the other end of the telescopic supporting rod is hinged to one end of the wheel rod, the other end of the wheel rod is hinged to the lower end of the shank supporting rod, and the front universal wheel 27 and the rear driving wheel 28 are installed on the wheel rod;
the tail part of the linear push rod motor II is hinged on the shank supporting rod, and the output end of the linear push rod motor II is hinged with the wheel rod.
The thigh supporting rod comprises a thigh supporting bottom rod, a sliding block guide rail, a sliding block, a screw rod and an adjusting nut, wherein the sliding block guide rail is arranged on the thigh supporting bottom rod, the sliding block is in sliding connection with the sliding block guide rail, a notch is formed in the side face of the thigh supporting bottom rod, the screw rod is accommodated in the notch and is connected with the sliding block, and the adjusting nut is in threaded connection with the screw rod and is used for locking the screw rod;
the output end of the linear push rod motor I is hinged to the sliding block.
The waist part comprises a back plate, a hip joint connecting plate and a waist part binding band, wherein the hip joint connecting plate is arranged on the front side of the back plate, and the waist part binding band is arranged on the front side of the hip joint connecting plate; the rear side of the back plate is provided with the control box.
The thigh comprises a hip joint, a thigh rod, a knee joint and thigh bandages, wherein the upper end and the lower end of the thigh rod are respectively connected with the hip joint and the knee joint, the hip joint is connected with the hip joint connecting plate, the length of the thigh rod can be adjusted, and one group or two groups of thigh bandages are arranged on the front side of the thigh rod.
The hip joint comprises a hip joint motor fixing shell, a hip joint motor, a hip joint harmonic reducer and a hip joint multi-turn absolute value type encoder, wherein the hip joint motor fixing shell is fixed on the hip joint connecting plate, the hip joint harmonic reducer is arranged on the hip joint motor fixing shell, the input end of the hip joint harmonic reducer is connected with the hip joint motor, and the hip joint multi-turn absolute value type encoder is arranged on the hip joint motor;
the thigh rod comprises a connecting rod adapter, a connecting rod pressing connecting piece, a sliding bush, a thigh outer connecting rod, a thigh inner connecting rod, a locking ring and a quick fastening handle, wherein the connecting rod adapter is connected with the output end of the hip joint harmonic reducer, the upper part of the connecting rod pressing connecting piece is installed on the shell of the hip joint motor through the sliding bush, and the connecting rod adapter and the connecting rod pressing connecting piece press the upper end of the thigh outer connecting rod and are fixed; the upper end of the thigh inner connecting rod is inserted and matched with the lower end of the thigh outer connecting rod in a sliding manner, and the locking ring is sleeved at the lower end of the thigh outer connecting rod and used for locking the thigh outer connecting rod and the thigh inner connecting rod; the locking ring is provided with a quick fastening handle.
The knee joint comprises a knee joint motor fixing shell, a knee joint motor, a knee joint harmonic reducer and a knee joint multi-turn absolute value type encoder, wherein the knee joint motor fixing shell is connected with the thigh inner connecting rod, the knee joint harmonic reducer is arranged on the knee joint motor fixing shell, the input end of the knee joint harmonic reducer is connected with the knee joint motor, and the knee joint multi-turn absolute value type encoder is arranged on the knee joint motor;
the output end of the knee joint harmonic reducer is connected with the crus.
The shank comprises a shank rod and an ankle joint, wherein the upper end of the shank rod is connected with the knee joint, and the lower end of the shank rod is connected with the ankle joint.
The foot part comprises a pedal adapter, a pedal and a foot binding belt, wherein the pedal adapter is fixed on the pedal and is connected with the ankle joint; one or two groups of foot binding bands are arranged on the upper surface of the pedal.
The invention has the advantages and positive effects that:
1. the invention realizes configuration conversion through deformation and recombination of the configuration supporting mechanism, and the wearable device assists a user in walking, sitting up and going out quickly, thereby meeting the daily use requirements of patients with lower limb movement dysfunction.
2. The thigh and shank support module is positioned on the sagittal central plane of the shank, can provide reliable support function to assist a user to finish sitting and standing conversion, and the linear motor I can support the sliding end of the shank support rod and the shank of the user for a certain height after the user finishes standing posture conversion to sitting posture, so that the pedal is separated from the ground, and the wheel type movement is convenient.
3. The waist of the robot adopts a width-adjustable design, and the legs adopt a rod length-adjustable design, so that the robot can be conveniently adjusted for users with different heights and weights, thereby being suitable for the waist widths, the lengths of the large legs and the small legs of different users, and realizing that the centers of all joints of the robot correspond to the joints of the legs of the human body.
4. The invention has novel structure and reasonable design, and the whole body is mostly made of aluminum alloy, thereby reducing the whole weight of the robot.
Drawings
FIG. 1 is a schematic diagram of the present invention in an exoskeleton configuration when standing;
FIG. 2 is a schematic structural view of the present invention in a standing state;
FIG. 3 is a schematic structural view of the present invention in a wheelchair state;
FIG. 4 is a schematic view of the thigh of the present invention;
FIG. 5 is a schematic view of the thigh support bar of the present invention;
in the figure: 1 is a waist, 2 is a control box, 3 is a thigh, 4 is a shank, 5 is a thigh supporting module, 6 is a shank supporting module, 7 is a wheel type walking module, 8 is a foot, 9 is a back plate, 10 is a hip joint connecting plate, 11 is a waist binding band, 12 is a hip joint, 12-1 is a hip joint motor fixing shell, 12-2 is a hip joint motor, 12-3 is a hip joint harmonic reducer, 12-4 is a hip joint multi-turn absolute value encoder, 12-5 is a hip joint shell, 13 is a thigh rod, 13-1 is a connecting rod adapter, 13-2 is a connecting rod pressing connecting piece, 13-3 is a sliding bush, 13-4 is an outer thigh connecting rod, 13-5 is an inner thigh connecting rod, 13-6 is a locking ring, 13-7 is a quick fastening handle, 14 is a knee joint, 14-1 is a knee joint motor fixing shell, 14-2 is a knee joint motor, 14-3 is a knee joint harmonic reducer, 14-4 is a knee joint multi-turn absolute value encoder, 14-5 is a knee joint shell, 15 is a thigh bandage, 16 is a shank rod, 17 is an ankle joint, 18 is a shank bandage, 19 is a thigh supporting connecting rod, 20 is a thigh supporting rod, 20-1 is a thigh supporting bottom rod, 20-2 is a slider guide rail, 20-3 is a slider, 20-4 is a screw rod, 20-5 is an adjusting nut, 21 is a linear push rod motor I, 22 is a shank baffle, 23 is a shank supporting rod, 24 is a linear push rod motor II, 25 is a telescopic supporting rod, 26 is a wheel rod, 27 is a front universal wheel, 28 is a rear driving wheel, 29 is a pedal connecting piece, 30 is a pedal, and 31 is a foot bandage.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the allosteric behavior assistance robot provided by the present invention comprises a waist part 1, thighs 3, calves 4 and feet 8 which are connected in sequence, wherein a control box 2 is arranged at the rear side of the waist part 1, an allosteric support mechanism is arranged at the rear side of the thighs 3 and the calves 4, and the control box 2 controls the allosteric support mechanism to switch between a standing mode and a wheelchair state mode.
In the embodiment of the invention, the allosteric support mechanism comprises a thigh support module 5, a shank support module 6 and a wheel type riding instead module 7 which are sequentially hinged end to end, wherein the thigh support module 5 is arranged at the rear side of a thigh 3, the shank support module 6 is arranged at the rear side of a shank 4, the upper end of the thigh support module 5 is hinged, and the wheel type riding instead module 7 is arranged at the rear sides of the thigh support module 5 and the shank support module 6 and is hinged with the upper end of the thigh support module 5 and the lower end of the shank support module 6. The lower leg support module 6 is used for realizing lower limb support in a robot support state and a wheelchair state.
As shown in fig. 2, in the embodiment of the present invention, the waist portion 1 includes a back plate 9, a hip joint connection plate 10, and a waist band 11, wherein the hip joint connection plate 10 is disposed on the front side of the back plate 9, and the waist band 11 is disposed on the front side of the hip joint connection plate 10; the control box 2 is arranged on the rear side of the back plate 9.
Further, both sides of the hip joint connecting plate 10 are provided with adjusting grooves in the front-rear direction so as to adjust the connecting position with the thighs 3 to adapt to patients with different waist widths.
In the embodiment of the present invention, the thigh 3 comprises a hip joint 12, a thigh rod 13, a knee joint 14 and a thigh strap 15, wherein the upper end and the lower end of the thigh rod 13 are respectively connected with the hip joint 12 and the knee joint 14, the hip joint 12 is connected with the hip joint connecting plate 10, the length of the thigh rod 13 is adjustable, and one or two sets of thigh straps 15 are arranged on the front side of the thigh rod 13. The hip joint 12 is connected with the hip joint connecting plate 10 and the thigh rod 13 and used for realizing that the robot assists the flexion and extension of hip joints of legs of a user and the relative rotation between the hip joints and the waist; the knee joint 14 connects the thigh 3 and the shank 4, and is used for realizing that the robot assists the flexion and extension of the knee joint of the leg of the user.
In the embodiment of the present invention, the lower leg 4 includes a lower leg shaft 16 and an ankle joint 17, wherein the upper end of the lower leg shaft 16 is connected to the knee joint 14, and the lower end of the lower leg shaft 16 is connected to the ankle joint 17. Preferably, the shank rod 16 is adjustable in length.
In the embodiment of the present invention, the foot 8 includes a pedal adaptor 29, a pedal 30 and a foot strap 31, wherein the pedal adaptor 29 is fixed on the pedal 30, and the pedal adaptor 29 is connected with the ankle joint 17; one or two sets of foot straps 31 are provided on the upper surface of the pedal 30.
As shown in fig. 4, in the embodiment of the present invention, the hip joint 12 includes a hip joint motor fixing shell 12-1, a hip joint motor 12-2, a hip joint harmonic reducer 12-3 and a hip joint multi-turn absolute value encoder 12-4, wherein the hip joint motor fixing shell 12-1 is fixed on a hip joint connecting plate 10, the hip joint harmonic reducer 12-3 is disposed on the hip joint motor fixing shell 12-1, and an input end of the hip joint harmonic reducer is connected with the hip joint motor 12-2, and the hip joint multi-turn absolute value encoder 12-4 is disposed on the hip joint motor 12-2;
in the embodiment of the invention, a thigh rod 13 comprises a connecting rod adapter 13-1, a connecting rod pressing connecting piece 13-2, a sliding bush 13-3, an outer thigh connecting rod 13-4, an inner thigh connecting rod 13-5, a locking ring 13-6 and a quick fastening handle 13-7, wherein the connecting rod adapter 13-1 is connected with the output end of a hip joint harmonic reducer 12-3, the upper part of the connecting rod pressing connecting piece 13-2 is arranged on the shell of a hip joint motor 12-2 through the sliding bush 13-3, and the connecting rod adapter 13-1 and the connecting rod pressing connecting piece 13-2 press the upper end of the outer thigh connecting rod 13-4 and are fixed; the upper end of the thigh inner connecting rod 13-5 is inserted and matched with the lower end of the thigh outer connecting rod 13-4 in a sliding way, and the locking ring 13-6 is sleeved at the lower end of the thigh outer connecting rod 13-4 and used for locking the thigh outer connecting rod 13-4 and the thigh inner connecting rod 13-5; the locking ring 13-6 is provided with a quick fastening handle 13-7.
Specifically, the thigh outer connecting rod 13-4 is provided with a notch for the thigh inner connecting rod 13-5 to slide directionally in the thigh outer connecting rod 13-4 and provide a limit, and the locking ring 13-6 and the quick fastening handle 13-7 form a thigh connecting rod length locking device for changing the thigh connecting rod length to adapt to patients with different leg lengths.
In the embodiment of the invention, the knee joint 14 comprises a knee joint motor fixing shell 14-1, a knee joint motor 14-2, a knee joint harmonic reducer 14-3 and a knee joint multi-turn absolute value type encoder 14-4, wherein the knee joint motor fixing shell 14-1 is connected with a thigh inner connecting rod 13-5, the knee joint harmonic reducer 14-3 is arranged on the knee joint motor fixing shell 14-1, the input end of the knee joint harmonic reducer is connected with the knee joint motor 14-2, and the knee joint multi-turn absolute value type encoder 14-4 is arranged on the knee joint motor 14-2; the output end of the knee joint harmonic reducer 14-3 is connected with the lower leg 4.
As shown in fig. 2-3, in the embodiment of the present invention, the thigh support module 5 includes a thigh support connecting rod 19, a thigh support rod 20 and a linear push rod motor i 21, wherein one end of the thigh support connecting rod 19 is hinged to the upper end of the thigh 3, and the other end of the thigh support connecting rod 19 is provided with a waist-shaped groove along the length direction, and the waist-shaped groove is slidably connected to the upper end of the thigh support rod 20; the shank support module 6 comprises a shank baffle 22, a shank support rod 23 and a linear push rod motor II 24, wherein the shank support rod 23 is connected with the shank 4 through the shank baffle 22, and the upper end of the shank support rod 23 is hinged with the lower end of the thigh support rod 20; the tail part of the linear push rod motor I21 is hinged on the shank support rod 23, and the output end is hinged with the thigh support rod 20.
In the embodiment of the invention, the wheel-type traveling module 7 comprises a telescopic supporting rod 25, a wheel rod 26, a front universal wheel 27 and a rear driving wheel 28, wherein one end of the telescopic supporting rod 25 is hinged to the upper end of the thigh supporting rod 20, the other end of the telescopic supporting rod is hinged to one end of the wheel rod 26, the other end of the wheel rod 26 is hinged to the lower end of the shank supporting rod 23, and the front universal wheel 27 and the rear driving wheel 28 are installed on the wheel rod 26 and used for realizing the rapid movement of the robot in a wheel-chair state; the tail part of the linear push rod motor II 24 is hinged on the shank support rod 23, and the output end of the linear push rod motor II is hinged with the wheel rod 26.
As shown in fig. 5, in the embodiment of the present invention, the thigh support rod 20 includes a thigh support bottom rod 20-1, a slider guide 20-2, a slider 20-3, a screw 20-4 and an adjusting nut 20-5, wherein the slider guide 20-2 is disposed on the thigh support bottom rod 20-1, the slider 20-3 is slidably connected to the slider guide 20-2, a notch is disposed on a side surface of the thigh support bottom rod 20-1, the screw 20-4 is accommodated in the notch and connected to the slider 20-3, and the adjusting nut 20-5 is in threaded connection with the screw 20-4 for locking the screw 20-4; the output end of the linear push rod motor I21 is hinged with the sliding block 20-3.
Specifically, the thigh support base bar 20-1 is used for providing a fitting support surface for a user, and the side surface is provided with a notch for providing a maximum limit, a minimum limit and a fixed limit for the adjusting nut 20-5; the slide block guide rail 20-2 is fixed on the thigh support low rod 20-1 through a screw, and the slide block 20-3 slides along the lower thigh support low rod; the screw rod 20-4 is fixed on the sliding block 20-3 through a screw, a hinge lug seat is arranged on the sliding block 20-3, and the hinge lug seat is hinged with the output end of the linear push rod motor I21; the adjusting nut 20-5 is in threaded connection with the screw rod 20-4, and the sliding block 20-3 is fixed and limited by changing the screwing depth of the adjusting nut 20-5. The linear push rod motor I21 can support the lower end of the shank support rod 23 and the shank of the user to a certain height after the user finishes the standing posture conversion to the sitting posture, so that the pedal 30 is separated from the ground, and the wheel type movement is convenient.
The invention provides a metamorphic behavior auxiliary robot, which has the working principle that:
when the user wears the robot and performs the walking-assisting mode, the adjusting nut 20-4 is screwed out to be disengaged from the thigh supporting rod 20-1, and the robot is in an exoskeleton state, as shown in fig. 1. The left leg and the right leg are a swinging leg and a supporting leg, a hip joint motor and a knee joint motor of the swinging leg drive the thigh 3 and the shank 4 to do flexion and extension movement, the feet of the swinging leg are converted into the supporting leg after falling to the ground, and the other leg swings, so that the robot assists a user to walk.
As shown in fig. 2, when the robot is switched from the exoskeleton state to the support state, a linear push rod motor i 21 and a linear push rod ii 22 work, the top end of the linear push rod motor i 21 is hinged with a slide block 20-3, the tail end of the linear push rod motor i 21 is hinged with a shank support rod 23, a push rod of the linear push rod motor i 21 extends upwards, the slide block 20-3 drives an adjusting nut 20-4 to move to the fixed limit of a side notch of a thigh support bottom rod 20-1, and a user screws the adjusting nut 20-5 in to fix the slide block 20-3; the top end of the linear push rod motor II 24 is hinged with the wheel rod 26, the tail end of the linear push rod motor II is hinged with the fixed end of the shank support rod 23, a push rod of the linear push rod motor II 24 extends downwards to the front universal wheel 27 and the rear drive wheel 28 to be stably fixed on the ground, and the deformation of the robot support state mechanism is completed. When a user needs to sit and stand for posture conversion, the robot is in a supporting state, the linear motors I21 of the left leg and the right leg stretch out and draw back, the supporting height can be adjusted according to the actual requirement of the user, and the robot assists the user to sit up.
As shown in figure 3, when the robot is switched from a support state to a wheelchair state, the push rod of the linear push rod motor I21 retracts, the telescopic support rod 25 is provided with a plurality of fixed positions, the telescopic support rod can be adjusted to a proper seat height according to the actual requirement of a user and then fixed through a pin, and the deformation of the wheelchair state mechanism of the robot is completed. When a user needs to move quickly, the linear push rod motor I21 extends the push rod upwards for a certain length, and the push rod drives the sliding ends of the thigh support rod 20 and the shank support rod 23 to upwards support for a certain height, so that the foot 8 of the robot is separated from the ground, the robot can conveniently move in a wheel type when in a wheelchair state, and the wheel type riding instead of walking function of the robot is realized.
The robot is suitable for patients with lower limb movement dysfunction, has a novel structure and a reasonable design, is mainly made of aluminum alloy materials, and can reduce the overall weight of the robot. The mutual conversion of the exoskeleton state, the support state and the wheelchair state of the robot is realized through mechanism deformation and recombination, the auxiliary walking function, the auxiliary sitting-up function and the wheel type riding-instead function are integrated, and the use requirements in daily life are met.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims (10)

1. The utility model provides a allosteric behavior auxiliary robot, its characterized in that, including waist (1), thigh (3), shank (4) and foot (8) that connect gradually, wherein the rear side of waist (1) is equipped with control box (2), and the rear side of thigh (3) and shank (4) is equipped with allosteric supporting mechanism, and control box (2) control allosteric supporting mechanism switches between standing mode and wheelchair attitude mode.
2. The allosteric behavior assistance robot according to claim 1, characterized in that the allosteric support mechanism comprises a thigh support module (5), a shank support module (6) and a wheel type riding instead module (7) which are sequentially hinged end to end, wherein the thigh support module (5) is arranged at the rear side of the thigh (3), the shank support module (6) is arranged at the rear side of the shank (4), the upper end of the shank support module is hinged with the thigh support module (5), and the wheel type riding instead module (7) is arranged at the rear side of the thigh support module (5) and the shank support module (6), and is hinged with the upper end of the thigh support module (5) and the lower end of the shank support module (6).
3. The allosteric behavior-assisted robot according to claim 2, characterized in that the thigh support module (5) comprises a thigh support connecting rod (19), a thigh support rod (20) and a linear push rod motor i (21), wherein one end of the thigh support connecting rod (19) is hinged with the upper end of the thigh (3), and the other end of the thigh support connecting rod (19) is provided with a kidney slot along the length direction, and the kidney slot is slidably connected with the upper end of the thigh support rod (20);
the shank support module (6) comprises a shank baffle (22), a shank support rod (23) and a linear push rod motor II (24), wherein the shank support rod (23) is connected with the shank (4) through the shank baffle (22), and the upper end of the shank support rod (23) is hinged with the lower end of the thigh support rod (20);
the tail part of the linear push rod motor I (21) is hinged on the shank support rod (23), and the output end of the linear push rod motor I is hinged with the thigh support rod (20);
the wheel type travel module (7) comprises a telescopic supporting rod (25), a wheel rod (26), a front universal wheel (27) and a rear driving wheel (28), wherein one end of the telescopic supporting rod (25) is hinged to the upper end of the thigh supporting rod (20), the other end of the telescopic supporting rod is hinged to one end of the wheel rod (26), the other end of the wheel rod (26) is hinged to the lower end of the shank supporting rod (23), and the front universal wheel (27) and the rear driving wheel (28) are installed on the wheel rod (26);
the tail part of the linear push rod motor II (24) is hinged on the shank support rod (23), and the output end of the linear push rod motor II is hinged with the wheel rod (26).
4. The allosteric behavior auxiliary robot according to claim 3, characterized in that the thigh support bar (20) comprises a thigh support base bar (20-1), a slider guide rail (20-2), a slider (20-3), a screw (20-4) and an adjusting nut (20-5), wherein the slider guide rail (20-2) is arranged on the thigh support base bar (20-1), the slider (20-3) is slidably connected with the slider guide rail (20-2), the side surface of the thigh support base bar (20-1) is provided with a notch, the screw (20-4) is accommodated in the notch and connected with the slider (20-3), and the adjusting nut (20-5) is in threaded connection with the screw (20-4) and used for locking the screw (20-4);
the output end of the linear push rod motor I (21) is hinged with the sliding block (20-3).
5. The allosteric behavior assistance robot according to claim 1, characterized by that the waist (1) comprises a back plate (9), hip joint plates (10) and a waist strap (11), where the hip joint plates (10) are arranged at the front side of the back plate (9) and the waist strap (11) is arranged at the front side of the hip joint plates (10); the control box (2) is arranged at the rear side of the back plate (9).
6. The allosteric behavior assistance robot according to claim 5, characterized in that the thighs (3) comprise hip joints (12), thigh bars (13), knee joints (14) and thigh straps (15), where the upper and lower ends of the thigh bars (13) are connected with the hip joints (12) and knee joints (14), respectively, the hip joints (12) are connected with the hip joint connection plates (10), the length of the thigh bars (13) is adjustable, and the front side of the thigh bars (13) is provided with one or two sets of thigh straps (15).
7. The allosteric behavior assistance robot according to claim 6, characterized by that the hip joint (12) comprises a hip joint motor fixing shell (12-1), a hip joint motor (12-2), a hip joint harmonic reducer (12-3) and a hip joint multi-turn absolute value encoder (12-4), wherein the hip joint motor fixing shell (12-1) is fixed on the hip joint connection plate (10), the hip joint harmonic reducer (12-3) is arranged on the hip joint motor fixing shell (12-1), and the input end is connected with the hip joint motor (12-2), and the hip joint multi-turn absolute value encoder (12-4) is arranged on the hip joint motor (12-2);
the thigh rod (13) comprises a connecting rod adapter (13-1), a connecting rod pressing connecting piece (13-2), a sliding bush (13-3), an outer thigh connecting rod (13-4), an inner thigh connecting rod (13-5), a locking ring (13-6) and a quick fastening handle (13-7), wherein the connecting rod adapter (13-1) is connected with the output end of the hip joint harmonic reducer (12-3), the upper part of the connecting rod pressing connecting piece (13-2) is installed on the shell of the hip joint motor (12-2) through the sliding bush (13-3), and the connecting rod adapter (13-1) and the connecting rod pressing connecting piece (13-2) press the upper end of the outer thigh connecting rod (13-4) and are fixed; the upper end of the thigh inner connecting rod (13-5) is inserted and matched with the lower end of the thigh outer connecting rod (13-4) in a sliding way, and the locking ring (13-6) is sleeved at the lower end of the thigh outer connecting rod (13-4) and used for locking the thigh outer connecting rod (13-4) and the thigh inner connecting rod (13-5); the locking ring (13-6) is provided with a quick fastening handle (13-7).
8. The allosteric behavior-assisted robot according to claim 6, characterized in that the knee joint (14) comprises a knee joint motor fixing shell (14-1), a knee joint motor (14-2), a knee joint harmonic reducer (14-3) and a knee joint multi-turn absolute value encoder (14-4), wherein the knee joint motor fixing shell (14-1) is connected with the thigh inner connecting rod (13-5), the knee joint harmonic reducer (14-3) is arranged on the knee joint motor fixing shell (14-1), the input end of the knee joint harmonic reducer is connected with the knee joint motor (14-2), and the knee joint multi-turn absolute value encoder (14-4) is arranged on the knee joint motor (14-2);
the output end of the knee joint harmonic reducer (14-3) is connected with the shank (4).
9. The allosteric behavior assistance robot according to claim 6, characterized by that the lower leg (4) comprises a lower leg bar (16) and an ankle joint (17), where the upper end of the lower leg bar (16) is connected to the knee joint (14) and the lower end of the lower leg bar (16) is connected to the ankle joint (17).
10. The allosteric behavior assistance robot according to claim 9, characterised by that the foot (8) comprises a pedal adapter (29), a pedal (30) and a foot strap (31), where the pedal adapter (29) is fixed to the pedal (30) and the pedal adapter (29) is connected with the ankle joint (17); one or two groups of foot binding bands (31) are arranged on the upper surface of the pedal (30).
CN202210960506.1A 2022-08-11 2022-08-11 Allosteric behavior auxiliary robot Pending CN115252380A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210960506.1A CN115252380A (en) 2022-08-11 2022-08-11 Allosteric behavior auxiliary robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210960506.1A CN115252380A (en) 2022-08-11 2022-08-11 Allosteric behavior auxiliary robot

Publications (1)

Publication Number Publication Date
CN115252380A true CN115252380A (en) 2022-11-01

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210960506.1A Pending CN115252380A (en) 2022-08-11 2022-08-11 Allosteric behavior auxiliary robot

Country Status (1)

Country Link
CN (1) CN115252380A (en)

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