CN206548727U - The ectoskeleton wheelchair integrated mobile auxiliary robot of telescopic - Google Patents
The ectoskeleton wheelchair integrated mobile auxiliary robot of telescopic Download PDFInfo
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- CN206548727U CN206548727U CN201621291660.0U CN201621291660U CN206548727U CN 206548727 U CN206548727 U CN 206548727U CN 201621291660 U CN201621291660 U CN 201621291660U CN 206548727 U CN206548727 U CN 206548727U
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Abstract
The utility model discloses a kind of ectoskeleton wheelchair integrated mobile auxiliary robot of telescopic, including symmetrical two pedals, two shank bars, two thigh bars and two waist bars, the motor driving hind axle of shank bar, little gear is connected with hind axle, little gear and gear wheel engagement, gear wheel is packed in kneed outer end, bottom bar is provided with the outside of gear wheel, bottom bar is rotatably connected on hind axle, shank bar is arranged on the inner side of bottom bar, small rod is provided between bottom bar and shank bar, the lower end of bottom bar is connected with the lower end of shank bar by ankle-joint；Thigh bar sliding block and shank bar sliding block are connected by the big connecting rod on the outside of it, and front wheels and rear wheels are provided with bottom bar, are provided with universal wheel in the front of front-wheel, are connected with backboard between two waist bars, flexible seat cushion is connected between two thigh bars.The quick locomotive function of wheelchair, auxiliary standing function and auxiliary walking function are integrated in one by the utility model.
Description
Technical field
The utility model is related to a kind of mobile auxiliary robot, the ectoskeleton wheelchair one of more particularly to a kind of telescopic
Change mobile auxiliary robot.
Background technology
With the development of society, China has stepped into the society of aging.Ended for the end of the year 2014, more than 60 years old the elderly of China
Mouth has reached 2.12 hundred million, accounts for the 15.5% of total population.And there is joint strength deficiency, legs and feet inconvenience etc. and ask in the elderly's majority
Topic, its daily life needs people to take care of.Other China has the cerebrovascular patients of larger a part of proportion, Ta Mentong
Hemiplegia and paraplegia symptom are often accompanied by, lower limb motion is drastically influence.Medical research shows that cerebrovascular patient is in stable disease
Afterwards, impaired nervous system will be repaired automatically, but clear-cutting forestland process is slower, and be difficult to fully recover.But effectively
Rehabilitation training can cause nervous function restructuring and compensatory, the reparation of accelerans system, make patient recover motion energy
Power.
Lot of domestic and foreign scientific research personnel has carried out research to lower limb rehabilitation robot, be directed generally to realize auxiliary walking and
Rehabilitation training function.Consider from the daily life demand of user, provided for user and quickly moved under sitting posture state, aid in making
User's standing performance has equal status with above two kinds of functions.Therefore develop and quickly moved under a kind of fusion sitting posture state
It is urgent that dynamic, aiding upright and auxiliary walking function seem anxious in the ectoskeleton wheelchair integrated mobile auxiliary robot of one.
The content of the invention
The utility model technical problem present in solution known technology provides one kind and possesses quick under sitting posture state
Mobile, aiding upright and auxiliary walking function are in the ectoskeleton wheelchair integrated mobile auxiliary robot of the telescopic of one.
The utility model is adopted the technical scheme that to solve technical problem present in known technology：A kind of telescopic
Ectoskeleton wheelchair integrated mobile auxiliary robot, including symmetrical two pedals, two shank bars, two thighs
Bar and two waist bars, the pedal are connected to the inner side of the shank bar, the upper end of the shank bar and institute by ankle-joint
The lower end for stating thigh bar is linked together by knee joint, and the thigh bar and the shank bar are equipped with motor, described
The upper end of thigh bar and the lower end of the waist bar are linked together by hip joint, on the thigh bar and the shank bar
Leg fixing band is connected with, fixing strap of waist is connected with the waist bar, the motor of the thigh bar is linear electric motors,
The linear electric motors are arranged between the waist bar and drive link, and the rear end of the drive link is hinged on the outer of thigh bar sliding block
Side, the thigh bar sliding block is arranged on the outside of the thigh bar；The motor of the shank bar is electric rotating machine, the rotation
Rotating motor is fixed on bottom bar, and the electric rotating machine drives hind axle by bevel gear set, is connected with the rear on wheel shaft small
Gear, the little gear and gear wheel engagement, the gear wheel are packed in kneed outer end, set on the outside of the gear wheel
There is bottom bar, the upper end of the bottom bar is rotatably connected on the hind axle, and the shank bar is arranged on the inner side of the bottom bar,
Small rod is provided between the bottom bar and the shank bar, the upper end of the small rod is hinged on the outside of shank bar sliding block, institute
The outside that shank bar sliding block is arranged on the shank bar is stated, the lower end of the small rod is hinged with the bottom bar, the bottom bar
Lower end is connected with the lower end of the shank bar by ankle-joint；Provided with parallel locking knot between the bottom bar and the connecting rod
Structure, the thigh bar sliding block and the shank bar sliding block are connected by big connecting rod on the outside of it, in the waist bar and described
Provided with lock solid structure is rotated between thigh bar, it is provided between the shank bar sliding block and the ankle-joint and moves up lock solid structure,
Front wheels and rear wheels are installed on the bottom bar, the front of the front-wheel be provided with universal wheel, the universal wheel by wheel carrier with
The shank bar sliding block connection, is connected with backboard between two waist bars, is connected between two thigh bars
Flexible seat cushion.
The lock solid structure that rotates is including being fixed in the locking pin seat on the outside of the thigh bar upper end and being opened in the waist bar
Fore shaft on front side of lower end, in the locking pin seat be provided with slideway, be sequentially provided with from top to bottom in the slideway lock pin, spring and
Limiting plate, the spring clip is pressed between the limiting plate and the lock pin, and the lock pin is connected to greatly using flexible wire ropes
On leg bar sliding block；When the waist bar and the vertical thigh bar, the lock pin is inserted into the fore shaft.
The lock solid structure that moves up includes being fixed in the lock housing below the shank bar sliding block, and being provided with the lock housing can
Flexible dead bolt, the dead bolt is using the ankle-joint as locking bolt, at the rear portion of the dead bolt provided with ring of pulling back.
When auxiliary robot is in wheelchair state, the trailing wheel lands, and the front-wheel and/or the universal wheel land,
The little gear departs from the gear wheel, and the lock solid structure that moves up is in locking condition, and the rotation lock solid structure is in
Locking condition.
When auxiliary robot is in exoskeleton robot state, the linear electric motors are driven described by the drive link
Thigh bar is rotated around the hip joint；The parallel lock solid structure is in locking condition, and the electric rotating machine drives the shank
Bar is rotated around the knee joint；When auxiliary robot is in aiding upright state, the linear electric motors pass through the drive link
Drive the thigh bar sliding block to be moved to the knee joint, drive the big connecting rod to be rotated around the shank bar sliding block, and then push away
The thigh bar is moved to rotate around the knee joint.
The utility model has the advantages and positive effects of：It is real by way of rod member is overlapped based on restructural mechanism
The change of existing mechanism freedom, the different free degree correspondence of mechanism realizes different functions：One) realize under wheelchair state
The function of quickly moving；Two) auxiliary standing function is realized；Three) the auxiliary walking function under ectoskeleton state is realized.Three kinds
Function covers user in daily life for mobile demand substantially, by the function of wheelchair and the work(of exoskeleton robot
It can be integrated in one.In addition, there is the walking of active adaptive type and passive control type walking two in auxiliary walking function of the present utility model
The pattern of kind can be selected, so that the different user of lower limb dyskinesia degree can be selected according to own situation,
Expand the scope of user.And the utility model can realize human body lower limbs hip, kneed rehabilitation training, so that will
The special training of particular joint is walked to be combined with secondary row, can either improve rehabilitation training effect, can also reduce and train
The uninteresting property of journey.
Brief description of the drawings
Fig. 1 is the structural representation that the utility model is in exoskeleton robot state；
Fig. 2 is the front view of Fig. 1 bottoms；
Fig. 3 is the structural representation that the utility model is in wheelchair state；
Fig. 4 is the structural representation that the utility model aids in human body to stand initial stage；
Fig. 5 is the structural representation that the utility model aids in the human body standing later stage；
Fig. 6 is two close-up schematic views of the present utility model.
In figure：101st, waist bar, 102, drive link, 103, thigh bar, 104, shank bar, 105, big connecting rod, 106, small rod,
107th, bottom bar, 201, backboard, 202, linear electric motors, 203, thigh bar sliding block, 204, flexible seat cushion, 205, gear wheel,
206th, little gear, 207, shank bar sliding block, 208, electric rotating machine, 209, bevel gear set, 210, pedal, 211, hind axle,
301st, universal wheel, 302, front-wheel, 303, trailing wheel, 401, rotate lock solid structure, 402, move up lock solid structure, 403, parallel locking knot
Structure, 411, flexible wire ropes, 412, spring, 413, lock pin, 421, dead bolt, 422, ring of pulling back, 501, hip joint, 502, knee closes
Section, 503, ankle-joint.
Embodiment
For invention, features and effects of the present utility model can be further appreciated that, following examples are hereby enumerated, and coordinate
Accompanying drawing describes in detail as follows：
Fig. 1~Fig. 6 is referred to, a kind of ectoskeleton wheelchair integrated mobile auxiliary robot of telescopic, including left and right are right
Two pedals 210, two shank bars 104, two thigh bars 103 and the two waist bars 101 claimed, the pedal 210 passes through
Ankle-joint 503 is connected to the inner side of the shank bar 104, and the upper end of the shank bar 104 and the lower end of the thigh bar 103 lead to
Cross knee joint 502 to link together, the thigh bar 103 and the shank bar 104 are equipped with motor, the thigh bar
103 upper end and the lower end of the waist bar 101 are linked together by hip joint 501, in the thigh bar 103 and the shank
Leg fixing band is respectively connected with bar 104, fixing strap of waist, the driving of the thigh bar 103 are connected with the waist bar 101
Motor is linear electric motors 202, and the linear electric motors 202 are arranged between the waist bar 101 and drive link 102, the drive link
102 rear end is hinged on the outside of thigh bar sliding block 203, and the thigh bar sliding block 203 is arranged on the outer of the thigh bar 103
Side.
Referring to Fig. 3, the motor of the shank bar 104 is electric rotating machine 208, the electric rotating machine 208 is fixed on
On bottom bar 107, the electric rotating machine 208 drives hind axle 211 by bevel gear set 209, is connected with the rear on wheel shaft 211
Little gear 206, the little gear 206 and gear wheel 205 are engaged, and the gear wheel 205 is packed in the outer end of knee joint 502,
The outside of the gear wheel 205 is provided with bottom bar 107, and the upper end of the bottom bar 107 is rotatably connected on the hind axle 211, institute
The inner side that shank bar 104 is arranged on the bottom bar 107 is stated, small rod is provided between the bottom bar 107 and the shank bar 104
106, the upper end of the small rod 106 is hinged on the outside of shank bar sliding block 207, and the shank bar sliding block 207 is arranged on described
The outside of shank bar 104, the lower end of the small rod 106 is hinged with the bottom bar 107, the lower end of the bottom bar 107 with it is described
The lower end of shank bar 104 is connected by ankle-joint 503, and parallel locking is provided between the bottom bar 107 and the small rod 106
Structure 403, the thigh bar sliding block 203 and the shank bar sliding block 207 are connected by the big connecting rod 105 on the outside of it,
Provided with lock solid structure 401 is rotated between the waist bar 101 and the thigh bar 103, in the shank bar sliding block 207 and the ankle
Provided with lock solid structure 402 is moved up between joint 503, front-wheel 302 and trailing wheel 303 are installed on the bottom bar 107, before described
The front of wheel 302 is provided with universal wheel 301, and the universal wheel 301 is connected by wheel carrier with the shank bar sliding block 207, at two
Backboard 201 is connected between the waist bar 101, flexible seat cushion 204 is connected between two thigh bars 103.
In the present embodiment, the lock solid structure 401 that rotates includes being fixed in the lock pin on the outside of the upper end of thigh bar 103
Seat and the fore shaft being opened on front side of the lower end of waist bar 101, are provided with slideway in the locking pin seat, in the slideway in the past extremely
Lock pin 413, spring 412 and limiting plate are sequentially provided with after lower, the spring 412 is clamped in the limiting plate and the lock pin 413
Between, the lock pin 413 is connected on thigh bar sliding block 203 using flexible wire ropes 411；When the waist bar 101 and described big
When leg bar 103 is vertical, the lock pin 413 is inserted into the fore shaft.It is described move up lock solid structure 402 include be fixed in it is described small
The lock housing of the lower section of leg bar sliding block 207, is provided with telescopic dead bolt 421, the dead bolt 421 is with the ankle-joint in the lock housing
503 as locking bolt, at the rear portion of the dead bolt 421 provided with ring 422 of pulling back.
Referring to Fig. 3, when auxiliary robot be in wheelchair state when, the trailing wheel 303 lands, the front-wheel 302 and/or
The universal wheel 301 lands, and the gear wheel 205 departs from the little gear 206, and the lock solid structure 402 that moves up is in lock
Solid fraction state, the rotation lock solid structure 401 is in locking condition.
Referring to Fig. 1, when auxiliary robot is in exoskeleton robot state, the linear electric motors 202 are by described
Drive link 102 drives the thigh bar 103 to be rotated around the hip joint 501；The parallel lock solid structure 403 is in locking shape
State, the electric rotating machine 208 drives the shank bar 104 to be rotated around the knee joint 502.
Referring to Fig. 4, when auxiliary robot is in aiding upright state, the linear electric motors 202 pass through the transmission
Bar 102 drives the thigh bar sliding block 203 to be moved to the knee joint 502, drives the big connecting rod 105 to be slided around the shank bar
Block 207 is rotated, and then promotes the thigh bar 103 to be rotated around the knee joint 502.
Operation principle of the present utility model：
Fig. 3 is referred to, the utility model can realize quick locomotive function under wheelchair state, its specific implementation is：
Electric rotating machine 208 works, and is passed to power on hind axle 211 by bevel gear set 209, realizes the continuous rolling of trailing wheel 303, enters
And realize the quick locomotive function of wheelchair.
Fig. 4 is referred to, in auxiliary human body standing process, lock solid structure 401 is rotated and is always maintained at locking condition.Because
Human body is sat down the later stage, and lock pin 413 is moved into the fore shaft on waist bar 101 in the presence of spring 412 along slideway, hinders waist bar
The rotary motion of 101 relative thigh bars 103, this state is always maintained in auxiliary human body standing preliminary process.In this mistake
Cheng Zhong, small rod 106 and the remains stationary of bottom bar 107 between shank bar 104, shank bar and bottom bar, mechanism is left and right two
Human body is aided in stand under the driving of linear electric motors 202, detailed process is：
Linear electric motors 202 stretch out, and promote thigh bar sliding block 203 to be moved along thigh bar 103 to knee joint 502, now small
Leg bar sliding block 207 lock in the presence of lock solid structure 402 is moved up it is immovable on shank bar 104, so big connecting rod 105 exists
Jointed shaft under the drive of thigh bar sliding block 203 around shank bar sliding block 207 is rotated and by the jack-up of thigh bar 103, makes thigh bar 103
Rotated around knee joint 502, drive the flexible seat cushion 204 affixed with thigh bar 103 to rise, auxiliary human body is tentatively stood.
After auxiliary human body is tentatively stood, thigh bar sliding block 203 moves to thigh bar 103 foremost, passes through flexible steel
Cord 411, which is driven, opens the rotation lock solid structure 401 at hip joint 501, allows waist bar 101 in the presence of human body waist
Gradually turned over to the position parallel with thigh bar 103 around hip joint 501, while pull shank bar sliding block 207 moves up lock
The ring 422 of pulling back of fixing structure 402 makes dead bolt 421 be retracted in lock housing, and decontroling shank bar sliding block 207 moves it.Then
Linear electric motors 202 shrink, and drive thigh bar sliding block 203 to be moved along thigh bar 103 to hip joint 501, big connecting rod 105 is then followed greatly
Leg bar sliding block 203 moves and drives shank bar sliding block 207 to be moved along shank bar 104 to knee joint 502, with shank bar sliding block 207
The small rod 106 being hinged then is drawn close under the drive of shank bar sliding block 207 to shank bar 104, while driving the bottom being hinged with it
Bar 107 is rotated around ankle-joint 503 to the direction of shank bar 104, and trailing wheel 303 leaves ground, front-wheel 302 and universal wheel 301 with
Ground keep contact while be gradually increasing relative to ankle-joint 503 make pedal 210 slowly landing, realize by wheel land to
The smooth transition that pedal lands, refers to Fig. 5, and now mechanism is changed into drive lacking mode and moved, and user can be according to certainly
Body is accustomed to, and standing, the later stage gradually stands up.
Human body is in the stance later stage, by drawing oneself up, and human body weight is acted on pedal.As waist bar 101 is gone to
The position parallel with thigh bar 103, small rod 106 and bottom bar 107 go to the position parallel with shank bar 104, using parallel lock
Fixing structure 403 locks together small rod 106 and bottom bar 107, and this state is kept not in human walking procedure
Become, the utility model is converted into exoskeleton robot state.
Fig. 1 is referred to, human body is under the collective effect of electric rotating machine 208 and linear electric motors 202, and shank bar 104 is stayed with one's parents in order to make them happy pass
Section 502 rotates, and thigh bar 103 rotates around hip joint 501, and pedal 210 follows human body step around ankle-joint
503 rotate, so as to realize auxiliary user's walking function.Detailed process is：Electric rotating machine 208 passes through bevel gear set
209 and hind axle 211 power is transmitted to the little gear 206 of the end of hind axle 211, little gear 206 is gone with the formation of large straight gear 205
Star gear drive, little gear 206 is turned round along the outline of gear wheel 205, drives shank bar 104, the bottom bar 107 linked into an integrated entity
Rotated with small rod 106 around knee joint 502, realize the function of auxiliary shank motion.At hip joint 501, linear electric motors 202 lead to
Cross drive link 102 and drive thigh bar sliding block 203, thigh bar sliding block 203 pulls thigh bar 103 to be rotated around hip joint 501, realized auxiliary
The function of helping thigh to move.The angle of knee joint 502 and the anglec of rotation of hip joint 501 by setting can be realized by programming Control
It is changed.
Fig. 5 is referred to, the utility model by exoskeleton robot state during wheelchair state is changed into, it is necessary to first
The parallel lock solid structure 403 between shank bar 104 and bottom bar 107 is first opened, linear electric motors 202 stretch out afterwards, promote thigh bar
Sliding block 203 is moved along thigh bar 103 to knee joint 502, in the presence of big connecting rod 105, and shank bar sliding block 207 is along shank bar
104 move to ankle-joint 503, promote bottom bar 107 to be rotated around ankle-joint 503 to the direction away from shank bar 104, gradually by bottom bar
107 are laid flat, and trailing wheel 303, front-wheel 302 and universal wheel 301 gradually land, and pedal 210 leaves ground, wherein front-wheel 302 and ten thousand
Landed to 301 priorities of wheel, trailing wheel 303 finally lands.Meanwhile, waist bar 101 is extremely hung down by the pull-up of linear electric motors 202 with thigh bar 103
Straight position, the lock pin 413 rotated in lock solid structure 401 enters the fore shaft of waist bar 101 under the effect of spring 412, realizes waist bar 101
The relative locking with thigh bar 103, it is ensured that the stabilization of mechanism under sitting posture state, hereafter just can provide and quickly be moved under sitting posture state
Function.
Although preferred embodiment of the present utility model is described above in conjunction with accompanying drawing, the utility model is not
Above-mentioned embodiment is confined to, above-mentioned embodiment is only schematical, is not restricted, ability
The those of ordinary skill in domain is not departing from the utility model objective and claimed under enlightenment of the present utility model
Under ambit, many forms can also be made, these are belonged within protection domain of the present utility model.
Claims (5)
1. a kind of ectoskeleton wheelchair integrated mobile auxiliary robot of telescopic, including symmetrical two pedals, two
Individual shank bar, two thigh bars and two waist bars, the pedal are connected to the inner side of the shank bar by ankle-joint, described
The upper end of shank bar and the lower end of the thigh bar are linked together by knee joint, and the thigh bar and the shank bar are all provided with
There is motor, the upper end of the thigh bar and the lower end of the waist bar are linked together by hip joint, in the thigh bar
Leg fixing band is respectively connected with the shank bar, fixing strap of waist is connected with the waist bar, it is characterised in that described
The motor of thigh bar is linear electric motors, and the linear electric motors are arranged between the waist bar and drive link, the drive link
Rear end be hinged on the outside of thigh bar sliding block, the thigh bar sliding block is arranged on the outside of the thigh bar；The shank bar
Motor be electric rotating machine, the electric rotating machine is fixed on bottom bar, after the electric rotating machine is driven by bevel gear set
Wheel shaft, is connected with little gear, the little gear and gear wheel engagement in the rear on wheel shaft, the gear wheel is packed in knee joint
Outer end, the outside of the gear wheel be provided with bottom bar, the upper end of the bottom bar is rotatably connected on the hind axle, described small
Leg bar is arranged on the inner side of the bottom bar, between the bottom bar and the shank bar be provided with small rod, the small rod it is upper
End is hinged on the outside of shank bar sliding block, and the shank bar sliding block is arranged under the outside of the shank bar, the small rod
End is hinged with the bottom bar, and the lower end of the bottom bar is connected with the lower end of the shank bar by ankle-joint；In the bottom bar and
Parallel lock solid structure is provided between the connecting rod, the thigh bar sliding block and the shank bar sliding block pass through big on the outside of it
Connecting rod is connected, provided with lock solid structure is rotated between the waist bar and the thigh bar, in the shank bar sliding block and the ankle
Provided with lock solid structure is moved up between joint, front wheels and rear wheels are installed on the bottom bar, ten thousand are provided with the front of the front-wheel
To wheel, the universal wheel is connected by wheel carrier with the shank bar sliding block, and backboard is connected between two waist bars,
Flexible seat cushion is connected between two thigh bars.
2. the ectoskeleton wheelchair integrated mobile auxiliary robot of telescopic according to claim 1, it is characterised in that institute
Stating rotation lock solid structure includes being fixed in the locking pin seat on the outside of the thigh bar upper end and is opened on front side of the waist bar lower end
Fore shaft, slideway is provided with the locking pin seat, lock pin, spring and limiting plate, institute is sequentially provided with from top to bottom in the slideway
State spring clip to be pressed between the limiting plate and the lock pin, the lock pin is connected to thigh bar sliding block using flexible wire ropes
On；When the waist bar and the vertical thigh bar, the lock pin is inserted into the fore shaft.
3. the ectoskeleton wheelchair integrated mobile auxiliary robot of telescopic according to claim 1, it is characterised in that institute
State and move up lock solid structure and include being fixed in lock housing below the shank bar sliding block, telescopic lock is provided with the lock housing
Tongue, the dead bolt is using the ankle-joint as locking bolt, at the rear portion of the dead bolt provided with ring of pulling back.
4. the ectoskeleton wheelchair integrated mobile auxiliary robot of telescopic according to claim 1, it is characterised in that when
When auxiliary robot is in wheelchair state, the trailing wheel lands, and the front-wheel and/or the universal wheel land, the little gear
Depart from the gear wheel, the lock solid structure that moves up is in locking condition, and the rotation lock solid structure is in locking condition.
5. the ectoskeleton wheelchair integrated mobile auxiliary robot of telescopic according to claim 1, it is characterised in that when
When auxiliary robot is in exoskeleton robot state, the linear electric motors drive the thigh bar around institute by the drive link
State hip joint rotation；The parallel lock solid structure is in locking condition, and the electric rotating machine drives the shank bar around the knee
Articulation；When auxiliary robot is in aiding upright state, the linear electric motors are driven described big by the drive link
Leg bar sliding block is moved to the knee joint, drives the big connecting rod to be rotated around the shank bar sliding block, and then promotes the thigh
Bar is rotated around the knee joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621291660.0U CN206548727U (en) | 2016-11-29 | 2016-11-29 | The ectoskeleton wheelchair integrated mobile auxiliary robot of telescopic |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621291660.0U CN206548727U (en) | 2016-11-29 | 2016-11-29 | The ectoskeleton wheelchair integrated mobile auxiliary robot of telescopic |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206548727U true CN206548727U (en) | 2017-10-13 |
Family
ID=60369130
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621291660.0U Expired - Fee Related CN206548727U (en) | 2016-11-29 | 2016-11-29 | The ectoskeleton wheelchair integrated mobile auxiliary robot of telescopic |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206548727U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112168524A (en) * | 2020-10-23 | 2021-01-05 | 天津大学 | Auxiliary movement wheelchair exoskeleton device capable of realizing sitting, standing and running three-state conversion |
| CN112998924A (en) * | 2021-03-05 | 2021-06-22 | 滨州医学院 | Multifunctional adjustable knee joint orthosis |
-
2016
- 2016-11-29 CN CN201621291660.0U patent/CN206548727U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112168524A (en) * | 2020-10-23 | 2021-01-05 | 天津大学 | Auxiliary movement wheelchair exoskeleton device capable of realizing sitting, standing and running three-state conversion |
| CN112168524B (en) * | 2020-10-23 | 2022-02-22 | 天津大学 | Auxiliary movement wheelchair exoskeleton device capable of realizing sitting, standing and running three-state conversion |
| CN112998924A (en) * | 2021-03-05 | 2021-06-22 | 滨州医学院 | Multifunctional adjustable knee joint orthosis |
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Address after: 300350 District, Jinnan District, Tianjin Haihe Education Park, 135 beautiful road, Beiyang campus of Tianjin University Patentee after: Tianjin University Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92, Tianjin University Patentee before: Tianjin University |
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Granted publication date: 20171013 Termination date: 20181129 |
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