CN212373548U - Posture self-adaptive walking-aid robot - Google Patents
Posture self-adaptive walking-aid robot Download PDFInfo
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- CN212373548U CN212373548U CN201922438900.5U CN201922438900U CN212373548U CN 212373548 U CN212373548 U CN 212373548U CN 201922438900 U CN201922438900 U CN 201922438900U CN 212373548 U CN212373548 U CN 212373548U
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Abstract
Gesture self-adaptation helps capable robot belongs to and helps capable robot technical field. It includes self-adaptation appearance platform and collapsible seat subassembly, self-adaptation appearance platform includes mounting bracket and main part lifting unit, the inside of mounting bracket (8) is equipped with the controller, main part lifting unit includes left main part lifting unit and right main part lifting unit, and the symmetry sets up the both sides at the mounting bracket, main part lifting unit bottom is equipped with in-wheel motor, and main part lifting unit and controller signal connection, a set of or two sets of main part lifting unit work of controller control. The utility model discloses a first supporting leg, the second supporting leg that set up, first in-wheel motor and second in-wheel motor can drive the collapsible seat subassembly up-and-down seesaw of fixing on the mounting bracket, and through the push rod subassembly that sets up, can be under different ground conditions the gesture that the accurate adjustment of self-adaptation helped the line machine, promote to control experience, improve the security of using.
Description
Technical Field
The utility model belongs to the technical field of help capable robot, concretely relates to gesture self-adaptation helps capable robot.
Background
In order to improve the comfort of the walking-aid robot in daily life and the self-adaption or active and passive adjustment of the posture of the walking-aid robot, and facilitate the use of the walking-aid robot by an operator in different environments, various posture adjusting mechanisms are generally additionally arranged on the walking-aid robot.
At present, the commonly used posture adjusting mechanism is mainly a rhombic lifting mechanism or is provided with a plurality of linear motors, the mechanism can only realize the up-and-down adjustment or the front-and-back rotation adjustment of the walking-aid robot, the whole mechanism is complex in adjustment, difficult in control of precision, unchangeable in wheel track, large in size, incapable of being folded or placed in a trunk of a household car, and very inconvenient to use.
SUMMERY OF THE UTILITY MODEL
To the above-mentioned problem that exists among the prior art, the utility model aims to provide an easy control, but gesture self-adaptation regulation, track are variable and can folding gesture self-adaptation help capable robot.
The utility model provides a following technical scheme: gesture self-adaptation helps capable robot, including self-adaptation appearance platform and collapsible seat subassembly, self-adaptation appearance platform includes mounting bracket and main part lifting unit, the inside of mounting bracket is equipped with the controller, main part lifting unit includes left main part lifting unit and right main part lifting unit, and the symmetry sets up the both sides at the mounting bracket, main part lifting unit bottom is equipped with in-wheel motor, main part lifting unit and controller signal connection, and a set of or two sets of main part lifting unit work of controller control, collapsible seat subassembly is placed in the upper end of mounting bracket.
Preferably, both sides symmetry respectively are equipped with first pivot and second pivot around the mounting bracket, and the left and right sides symmetry respectively is equipped with second connecting seat and third connecting seat, left side main part lifting unit includes first connecting plate, two first supporting legs and left lifter, and the one end and a first connecting plate side end face fixed connection of two first supporting legs, other end symmetry activity cup joint around the mounting bracket in the first pivot of both sides, be equipped with first connecting seat on the first connecting plate, the lower extreme and the first connecting seat of left side lifter rotate to be connected, and the upper end rotates with the second connecting seat to be connected.
Preferably, right side main part lifting unit includes second keysets, two second supporting legs and right lifter, the one end and the second keysets fixed connection of two second supporting legs, and other end symmetry activity cup joints around the mounting bracket in the second pivot of both sides, be equipped with the fourth connecting seat on the lateral surface of second keysets, the lower extreme and the fourth connecting seat of right lifter rod end rotate to be connected, and the upper end rotates with the third connecting seat to be connected, all be equipped with the signal line and the power cord of being connected with the controller on left side lifter and the right lifter.
Preferably, the left and right sides of mounting bracket all is equipped with the mount, the both ends of mount are fixed the cup joint respectively in first pivot and second pivot, first supporting leg and second supporting leg all are located between mounting bracket and the mount, prevent that the supporting leg from deviating from.
Preferably, two ends of the bottom of the first adapter plate are symmetrically provided with two first hub motors, two ends of the bottom of the second adapter plate are symmetrically provided with two second hub motors, and the first hub motors and the second hub motors are fixedly connected with the corresponding adapter plates through hub motor mounting seats.
Preferably, the left lifting rod comprises a first push rod and a first push rod seat, one end of the first push rod is rotatably connected with the first connecting seat, the other end of the first push rod is connected with one end of the first push rod seat in a sleeved mode, the other end of the first push rod seat is rotatably connected with the second connecting seat, the right lifting rod comprises a second push rod and a second push rod seat, one end of the second push rod is rotatably connected with the fourth connecting seat, the other end of the second push rod is connected with one end of the second push rod seat in a sleeved mode, and the other end of the second push rod seat is rotatably connected with the third connecting seat.
Preferably, the foldable seat component comprises a seat board, a backrest and handrails positioned on the left side and the right side of the backrest, the lower end of the seat board is fixedly installed on the upper end face of the installation frame, the rear end of the seat board is rotatably connected with the bottom of the backrest, and the handrails on the two sides are rotatably connected with the middle parts of the left side and the right side of the backrest through handrail installation shafts.
Through adopting above-mentioned technique, compare with prior art, the beneficial effects of the utility model are as follows:
1) the utility model discloses a first supporting leg and the second supporting leg that set up, can be according to actual need, carry on anticlockwise respectively around corresponding pivot, clockwise rotation maintains the triangle-shaped relation that corresponding supporting leg, keysets, connecting seat, push rod seat and mount are constituteed, the wheel hub motor on the main part lifting unit on both sides about can do opposite directions or move dorsad, the up-and-down motion of mounting bracket is in order to maintain the quadrangle relation by mount, supporting leg, wheel hub motor and ground constitution simultaneously, even make the whole platform move up, thereby make the synchronous motion of the collapsible seat subassembly of fixed mounting on the mounting bracket;
2) the utility model discloses a push rod subassembly that sets up, the deformation motion that can realize helping capable robot through the small accurate motion of controller control push rod subassembly, utilize the triangle-shaped principle to realize that the contained angle that platform and ground constitute changes or keeps keeping and maintain self rigidity and stability as required, change according to the quadrangle base that is the distance of two in-wheel motor and realize the change of base length, finally realize mount and mounting platform up-and-down motion, the tilt motion left or right, can also realize the tilt motion left or right when mount and seat subassembly move up or down, self-adaptation adjustment gesture when helping capable robot upslope or downhill path, make operator self be in with the unanimous gesture of level land travel, promote and control experience; the seat moves upwards or downwards, so that the operator can conveniently communicate with standing pedestrians or sitting pedestrians face to face, if the operator needs to advance rapidly, the wheel track can be enlarged, the center of gravity is reduced, and the safety of rapid passing can be greatly improved.
Drawings
Fig. 1 is a schematic diagram of the structure of the utility model in a lifting state;
fig. 2 is a schematic view of the descending structure of the present invention;
fig. 3 is a schematic structural view of the inclined state of the present invention;
fig. 4 is a schematic view of the folded structure of the present invention.
In the figure: 1. a first in-wheel motor; 2. a first transfer plate; 3. a first connecting seat; 4. a first support leg; 5. a first push rod; 6. a first push rod seat; 7. a first rotating shaft; 8. a mounting frame; 9. a fixed mount; 10. a second connecting seat; 11. a seat plate; 12. a handrail; 13. a backrest; 14. a handrail mounting shaft; 15. a third connecting seat; 16. a second push rod seat; 17. a second push rod; 18. a fourth connecting seat; 19. a second adapter plate; 20. a second support leg; 21. a second in-wheel motor; 22. a second rotating shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments of the specification. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
On the contrary, the invention is intended to cover alternatives, modifications, equivalents and alternatives which may be included within the spirit and scope of the invention as defined by the appended claims. Furthermore, in order to provide a better understanding of the present invention to the public, certain specific details are set forth in the following detailed description of the invention. It will be apparent to those skilled in the art that the present invention may be practiced without these specific details.
Referring to fig. 1-4, the posture self-adaptive walking aid robot comprises a self-adaptive posture platform and a foldable seat assembly, wherein the self-adaptive posture platform comprises a mounting frame 8 and a main body lifting assembly, a controller is arranged inside the mounting frame 8, the main body lifting assembly comprises a left main body lifting assembly and a right main body lifting assembly, the left main body lifting assembly and the right main body lifting assembly are symmetrically arranged on two sides of the mounting frame 8, a hub motor is arranged at the bottom of the main body lifting assembly, the main body lifting assembly is in signal connection with the controller, the controller controls one or two groups of main body lifting assemblies to work, and the foldable seat assembly is arranged at.
Both sides are symmetrical respectively and are equipped with first pivot 7 and second pivot 22 around the mounting bracket 8, the left and right sides is symmetrical respectively and is equipped with second connecting seat 10 and third connecting seat 15, left side main part elevating module includes first connecting plate 2, two first supporting legs 4 and left lifter, the one end of two first supporting legs 4 and 2 side end fixed connection of first connecting plate, the other end symmetry activity cup joints around the mounting bracket 8 on the first pivot 7 of both sides, be equipped with first connecting seat 3 on the first connecting plate 2, the lower extreme and the 3 rotations of first connecting seat of left lifter are connected, the upper end rotates with second connecting seat 10 to be connected.
Right side main part lifting unit includes second keysets 19, two second supporting legs 20 and right lifter, the one end and the 19 fixed connection of second keysets of two second supporting legs 20, the activity of other end symmetry cup joints around mounting bracket 8 on the second pivot 22 of both sides, be equipped with fourth connecting seat 18 on the lateral surface of second keysets 19, the lower extreme and the fourth connecting seat 18 of right side lifter rod end rotate to be connected, the upper end rotates with third connecting seat 15 to be connected, all be equipped with the signal line and the power cord of being connected with the controller on left side lifter and the right lifter.
The left and right sides of mounting bracket 8 all is equipped with mount 9, and fixed the cup joint respectively on first pivot 7 and second pivot 22 at the both ends of mount 9, and first supporting leg 4 and second supporting leg 20 all are located between mounting bracket 8 and the mount 9, prevent that the supporting leg from deviating from.
Two ends of the bottom of the first adapter plate 2 are symmetrically provided with two first hub motors 1, two ends of the bottom of the second adapter plate 19 are symmetrically provided with two second hub motors 21, and the first hub motors 1 and the second hub motors 21 are fixedly connected with corresponding adapter plates through hub motor mounting seats.
Left lifter includes first push rod 5 and first push rod seat 6, the one end of first push rod 5 rotates with first connecting seat 3 to be connected, the other end cup joints with the one end of first push rod seat 6 to be connected, the other end of first push rod seat 6 rotates with second connecting seat 10 to be connected, right lifter includes second push rod 17 and second push rod seat 16, the one end and the fourth connecting seat 18 of second push rod 17 rotate to be connected, the other end cup joints with 16 one end of second push rod seat to be connected, the other end and the third connecting seat 15 of second push rod seat 16 rotate to be connected.
The foldable seat component comprises a seat board 11, a backrest 13 and armrests 12 positioned on the left side and the right side of the backrest 13, the lower end of the seat board 11 is fixedly installed on the upper end face of the installation frame 8, the rear end of the seat board 11 is rotatably connected with the bottom of the backrest 13, and the armrests 12 on the two sides are rotatably connected with the middle parts of the left side and the right side of the backrest 13 through armrest installation shafts 14.
The utility model discloses when using, the main technical scheme who takes has: the controller controls the first push rod 5 and the second push rod 17 to respectively slide relatively along the first push rod seat 6 and the second push rod seat 16, the first push rod 5 and the second push rod 17 respectively drive the first adapter plate 2 and the second adapter plate 19 to relatively move through the first connecting seat 3 and the fourth connecting seat 18, the two first hub motors 1 at the bottom end of the first adapter plate 2 and the two second hub motors 21 at the bottom end of the second adapter plate 19 are driven to roll oppositely or back to back, and as the two first supporting legs 4 arranged on the first adapter plate 2 and the two second supporting legs 20 arranged on the second adapter plate 19 are respectively rotatably connected with the mounting frame 8 through the first rotating shaft 7 and the second rotating shaft 22, the first supporting legs 4 and the second supporting legs 20 are driven to respectively rotate clockwise or rotationally around the first rotating shaft 7 and the second rotating shaft 22, so as to maintain anticlockwise rotation, the supporting leg adapter plate 6 and the second supporting legs, A triangular relation is formed among the connecting seats, the push rods, the push rod seats and the fixing frame 9, at the moment, the mounting frame 8 which is respectively and rotatably connected with the first push rod seat 6 and the second push rod seat 16 through the second connecting seat 10 and the third connecting seat 15 moves up and down to maintain a quadrilateral relation formed by the fixing frame 9, the supporting legs, the hub motor and the ground, and then the foldable seat assembly mounted on the mounting frame 8 is driven to move;
when the controller controls the push rod on one side to be fixed or move in the opposite direction of the push rod on the other side, the foldable seat component tilts to one side of the push rod, which is close to the push rod seat, through the mounting frame 8;
the seat plate 11 and the backrest 13 and the armrests 12 and the backrest 13 in the foldable seat assembly can be turned and folded through the mounting shafts and adjusted to the required positions.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. Gesture self-adaptation helps capable robot, its characterized in that includes self-adaptation appearance platform and collapsible seat subassembly, self-adaptation appearance platform includes mounting bracket (8) and main part lifting unit, the inside of mounting bracket (8) is equipped with the controller, main part lifting unit includes left main part lifting unit and right main part lifting unit, and the symmetry sets up the both sides at mounting bracket (8), main part lifting unit bottom is equipped with in-wheel motor, main part lifting unit and controller signal connection, and a set of or two sets of main part lifting unit work of controller control, collapsible seat subassembly is placed in the upper end of mounting bracket (8).
2. The posture-adaptive walking-aid robot according to claim 1, characterized in that the front side and the rear side of the mounting frame (8) are respectively provided with a first rotating shaft (7) and a second rotating shaft (22) symmetrically, the left side and the right side are respectively provided with a second connecting seat (10) and a third connecting seat (15) symmetrically, the left main body lifting assembly comprises a first rotating plate (2), two first supporting legs (4) and a left lifting rod, one end of each first supporting leg (4) is fixedly connected with one side end face of the first rotating plate (2), the other end of each first supporting leg is symmetrically movably sleeved on the first rotating shaft (7) on the front side and the rear side of the mounting frame (8), the first connecting seat (3) is arranged on the first rotating plate (2), the lower end of the left lifting rod is rotatably connected with the first connecting seat (3), and the upper end of the left lifting rod is rotatably connected with the second connecting seat.
3. The posture-adaptive walking-assisting robot according to claim 2, characterized in that the right main body lifting assembly comprises a second adapter plate (19), two second support legs (20) and a right lifting rod, one ends of the two second support legs (20) are fixedly connected with the second adapter plate (19), the other ends of the two second support legs are symmetrically and movably sleeved on second rotating shafts (22) on the front side and the rear side of the mounting frame (8), a fourth connecting seat (18) is arranged on the outer side surface of the second adapter plate (19), the lower end of the right lifting rod end is rotatably connected with the fourth connecting seat (18), the upper end of the right lifting rod end is rotatably connected with a third connecting seat (15), and signal lines and power lines connected with a controller are arranged on the left lifting rod and the right lifting rod.
4. The posture-adaptive walking-assisted robot according to claim 3, characterized in that fixing frames (9) are arranged on the left side and the right side of the mounting frame (8), two ends of each fixing frame (9) are respectively fixedly sleeved on the first rotating shaft (7) and the second rotating shaft (22), and the first supporting leg (4) and the second supporting leg (20) are located between the mounting frame (8) and the fixing frame (9) to prevent the supporting legs from being separated.
5. The posture-adaptive walking-assisting robot according to claim 3 is characterized in that two first hub motors (1) are symmetrically arranged at two ends of the bottom of the first adapter plate (2), two second hub motors (21) are symmetrically arranged at two ends of the bottom of the second adapter plate (19), and the first hub motors (1) and the second hub motors (21) are fixedly connected with the corresponding adapter plates through hub motor mounting seats.
6. The posture-adaptive walking-assisting robot according to claim 3, wherein the left lifting rod comprises a first push rod (5) and a first push rod seat (6), one end of the first push rod (5) is rotatably connected with the first connecting seat (3), the other end of the first push rod is connected with one end of the first push rod seat (6) in a sleeved mode, the other end of the first push rod seat (6) is rotatably connected with the second connecting seat (10), the right lifting rod comprises a second push rod (17) and a second push rod seat (16), one end of the second push rod (17) is rotatably connected with a fourth connecting seat (18), the other end of the second push rod seat (16) is connected with one end of the second push rod seat (16) in a sleeved mode, and the other end of the second push rod seat (16) is rotatably connected with a third connecting seat (15).
7. The posture-adaptive walking aid robot according to claim 1, wherein the foldable seat component comprises a seat board (11), a backrest (13) and armrests (12) positioned on the left side and the right side of the backrest (13), the lower end of the seat board (11) is fixedly arranged on the upper end surface of the mounting frame (8), the rear end of the seat board (11) is rotatably connected with the bottom of the backrest (13), and the armrests (12) on the two sides are rotatably connected with the middle parts of the left side and the right side of the backrest (13) through armrest mounting shafts (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922438900.5U CN212373548U (en) | 2019-12-30 | 2019-12-30 | Posture self-adaptive walking-aid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922438900.5U CN212373548U (en) | 2019-12-30 | 2019-12-30 | Posture self-adaptive walking-aid robot |
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| Publication Number | Publication Date |
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| CN212373548U true CN212373548U (en) | 2021-01-19 |
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| CN201922438900.5U Active CN212373548U (en) | 2019-12-30 | 2019-12-30 | Posture self-adaptive walking-aid robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116158918A (en) * | 2023-02-22 | 2023-05-26 | 中山小神童创新科技有限公司 | Stair climbing machine |
-
2019
- 2019-12-30 CN CN201922438900.5U patent/CN212373548U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116158918A (en) * | 2023-02-22 | 2023-05-26 | 中山小神童创新科技有限公司 | Stair climbing machine |
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