CN217828255U

CN217828255U - Power-assisted robot

Info

Publication number: CN217828255U
Application number: CN202221265457.1U
Authority: CN
Inventors: 彭志峰; 彭水平; 刘少科; 孙伟红; 范刚
Original assignee: Shenzhen As Technology Co ltd
Current assignee: Shenzhen As Technology Co ltd
Priority date: 2022-05-24
Filing date: 2022-05-24
Publication date: 2022-11-18
Anticipated expiration: 2032-05-24

Abstract

The utility model is suitable for an endowment nursing, rehabilitation training equipment technical field provides a helping hand robot, including the support main part that can switch to sitting line state and standing line state, the bottom of support main part is provided with at least two sets of walking wheels, at least one set of walking wheel is driven by power unit, power unit connects in the walking wheel, the support main part is connected with battery module and controller, power unit and controller all electricity connect in the battery module; the utility model provides a power-assisted robot can make the support main part switch to the state of going at a station, and the cushion subassembly stands thereupon this moment, and the user can walk under the hoist and mount of safety belt external member is supplementary, and power robot can follow and go. When the shrink of control lever subassembly, front wheel pole subassembly, the relative rotation of rear wheel pole subassembly made front wheel and rear wheel keep away from, the support main part reduces, and the cushion subassembly is set level thereupon, makes the support main part switch to the state of sitting the line, and fail safe nature is good, and rehabilitation training is effectual, and user experience is good.

Description

Power-assisted robot

Technical Field

The utility model belongs to the technical field of endowment nursing, rehabilitation training equipment, especially, relate to a can be applied to the helping hand robot of the inconvenient personage of walking (for example because of old walking difficulty, the disabled personage, leg and foot postoperative resume etc. need nurse the rehabilitation etc.).

Background

The existing wheelchair is generally only used as an auxiliary walking tool for people with walking difficulty, when a patient needs to perform rehabilitation training, the patient needs to perform rehabilitation training by using a single device, the burden of medical care personnel is increased, the patient cannot perform rehabilitation training by himself or herself, the rehabilitation effect is influenced, the people with walking difficulty need to be moved, certain risks exist in the process, and the safety and reliability are poor.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome above-mentioned prior art not enough, provide a helping hand robot, can be applied to the personage of walking inconvenience, for example because of old walking difficulty, the disability personage, the recovered user that needs nurse such as leg and foot operation after-recovery, helping hand robot sit the line and can directly switch over with the state of standing the line, fail safe nature is good, user experience is good.

The technical scheme of the utility model is that a power-assisted robot, including the support main part that can switch to sitting line state and standing line state, the bottom of support main part is provided with at least two sets of walking wheels, and at least one set of walking wheel is driven by power component, power component connect in the walking wheel, support main part is connected with battery module and controller, power component and controller all electricity connect in the battery module;

the bracket main body comprises a front wheel rod assembly, a rear wheel rod assembly and a transverse connecting rod assembly; the front wheel rod assembly and the rear wheel rod assembly are arranged in an X shape, the middle section of the front wheel rod assembly is rotatably connected with the middle section of the rear wheel rod assembly through a rotating structure, the transverse connecting rod assembly is rotatably connected with the front wheel rod assembly and the rear wheel rod assembly to form a multi-connecting-rod structure, and the transverse connecting rod assembly is positioned above the rotating structure;

the bracket main body further comprises a backrest component and a cushion component, the front end of the transverse connecting rod assembly is rotatably connected to the upper end of the front wheel rod component, the rear end of the transverse connecting rod assembly is rotatably connected to the backrest component, the lower end of the backrest component is also rotatably connected to the rear end of the transverse connecting rod assembly, the cushion component is slidably connected to the inner side of the front wheel rod component, and the rear end of the cushion component is rotatably connected to the backrest component;

the bracket main body comprises a telescopic attitude control rod assembly; a first end of the attitude control rod assembly is rotatably connected to the transverse connecting rod assembly or the backrest assembly, and a second end of the attitude control rod assembly is rotatably connected to the rear wheel rod assembly;

a grab rail is arranged above the transverse connecting rod assembly, and a remote controller is arranged on the grab rail and is used for controlling the attitude control rod assembly and the power component;

the support main part still includes the installation and takes the jib subassembly, the lower extreme of installation area jib subassembly rotate connect in the upper end department of back subassembly, the upper end of installation area jib is provided with the safety belt and hangs knot structure, the safety belt is hung and is detained the structure and be used for connecting the safety belt external member.

Specifically, the walking wheel at the lower end of the rear wheel rod assembly is a rear driving wheel, and the power part is a hub motor connected to the rear driving wheel.

Specifically, the rear wheel rod assembly is provided with a battery support, and the battery module is fixed on the battery support.

Specifically, the front wheel lever assembly is connected with a pedal.

Specifically, the front wheel rod assembly comprises two front wheel rods, the pedals comprise a first section of pedal and a second section of pedal, one end of the first section of pedal is rotatably connected to one front wheel rod, one end of the second section of pedal is rotatably connected to the other front wheel rod, and the other end of the first section of pedal and the other end of the second section of pedal can be in butt joint.

Specifically, the front wheel rod assembly is provided with a pedal overturning motor assembly for driving the first section of pedal and the second section of pedal to overturn.

Specifically, a boom overturning motor assembly is arranged between the mounting belt boom assembly and the backrest assembly.

Specifically, the mounting band hanger rod is provided with a telescopic structure.

Specifically, the attitude control rod assembly includes a linear driving part, a main rod and a sliding rod, the sliding rod is slidably connected to the main rod, and the linear driving part is connected to the main rod and the sliding rod for driving the sliding rod to slide along the main rod.

Specifically, the controller is provided with a constant speed control module.

The utility model provides a power-assisted robot can make the support main part switch to the state of going at a station, and the cushion subassembly stands thereupon this moment, and the user can walk under the hoist and mount of safety belt external member is supplementary, and power robot can follow and go. The shrink of control lever subassembly, front wheel pole subassembly, when rear wheel pole subassembly relatively rotates and makes front wheel and rear wheel keep away from, the support main part reduces, the cushion subassembly is set level thereupon, make the support main part switch to sitting the state of going, the user can sit in the cushion subassembly this moment, and make helping hand robot go according to control through the remote controller, it can seamless switching user's the state of taking the wheelchair and the recovered helping hand state of walking, need not to shift user to another rehabilitation device, avoid the risk of transfer process, fail safe nature is good, and rehabilitation training is effectual, user experience is good.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic perspective view of a power-assisted robot according to an embodiment of the present invention;

fig. 2 is a schematic perspective view of a power-assisted robot according to an embodiment of the present invention;

fig. 3 is a schematic perspective view of a power-assisted robot according to an embodiment of the present invention;

fig. 4 is a schematic plan view of a power-assisted robot provided by an embodiment of the present invention;

fig. 5 is a schematic plan view of a power-assisted robot according to an embodiment of the present invention.

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. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.

As shown in fig. 1 to 5, an embodiment of the present invention provides a power-assisted robot, which can be applied to people with walking inconvenience, such as people with walking difficulty, disabilities, and recovery after leg and foot operations. The power-assisted robot comprises a support main body capable of being switched to a sitting state and a standing state, wherein at least two groups of walking wheels are arranged at the bottom of the support main body, at least one group of walking wheels is driven by a power part, the power part is connected with the walking wheels, the support main body is connected with a battery module 310 and a controller, and the power part and the controller are electrically connected with the battery module 310; the battery module 310 includes a battery box and a power battery pack built in the battery box. The bracket body includes a front wheel bar assembly 110, a rear wheel bar assembly 120, and a transverse link assembly 130; the front wheel rod assembly 110 and the rear wheel rod assembly 120 are arranged in an X shape, and can rotate to change an included angle so as to realize lifting adjustment. The middle section of the front wheel rod assembly 110 is rotatably connected with the middle section of the rear wheel rod assembly 120 through a rotating structure 101 (which can be a rotating shaft), and the rotating structure 101 can also be selectively provided with a rotating steering engine. The two groups of road wheels are respectively a front wheel 210 and a rear wheel 220, the front wheel 210 is connected to the bottom of the front wheel rod assembly 110, the rear wheel 220 is connected to the bottom of the rear wheel rod assembly 120, the transverse connecting rod assembly 130 is rotatably connected to the front wheel rod assembly 110 and the rear wheel rod assembly 120 to form a multi-connecting-rod structure, and the transverse connecting rod assembly 130 is positioned above the rotating structure 101; the bracket main body further comprises a backrest component 140 and a cushion component 150, the front end of the transverse connecting rod assembly 130 is rotatably connected to the upper end of the front wheel rod component 110, the rear end of the transverse connecting rod assembly 130 is rotatably connected to the backrest component 140, and the upper end of the rear wheel rod component 120 is rotatably connected to the middle section of the transverse connecting rod assembly 130. The lower end of the backrest assembly 140 is also rotatably connected to the rear end of the transverse link assembly 130, the cushion assembly 150 is slidably connected to the inner side of the front wheel link assembly 110 through a sliding groove and a circular slider structure, and the rear end of the cushion assembly 150 is rotatably connected to the backrest assembly 140; the bracket body includes a telescopic attitude control lever assembly 160; a first end of the attitude control rod assembly 160 is pivotally connected to the transverse link assembly 130 or the backrest assembly 140, and a second end of the attitude control rod assembly 160 is pivotally connected to the rear wheel bar assembly 120; a grab bar 141 is arranged above the transverse connecting rod assembly 140, and a remote controller 410 is arranged on the grab bar 141 and used for controlling the attitude control rod assembly 160 and the power component. The control rod component can control the lifting of the bracket main body by stretching. The power component can control the walking of the power-assisted robot. The support main part still includes installation area jib subassembly 170, the lower extreme of installation area jib subassembly 170 rotate connect in the upper end department of backrest subassembly 140, the upper end of installation area jib is provided with the safety belt and hangs the knot structure, the safety belt is hung the knot structure and is used for connecting the safety belt external member (not shown in the figure), and the safety belt external member can overlap in user's trunk department, and the upper end of safety belt external member is connected in the safety belt and is hung the knot, prevents to fall down when standing the station. When the front wheel rod assembly 110 and the rear wheel rod assembly 120 rotate relatively to enable the front wheel 210 and the rear wheel 220 to approach each other due to the extension of the attitude control rod assembly 160, the support main body rises, the support main body is switched to a standing state, the cushion assembly 150 stands up at the moment, a user can walk under the assistance of lifting of the safety belt kit, and the power robot can follow the running. The shrink (shorten) of gesture control pole subassembly 160, front wheel pole subassembly 110, rear wheel pole subassembly 120 rotates relatively, and when making front wheel 210 and rear wheel 220 keep away from, the support main part reduces, cushion subassembly 150 is along with laying level, make the support main part switch to the state of sitting the line, the user can sit in cushion subassembly 150 this moment, and make the helping hand robot go according to control through remote controller 410, it can seamless switching user's the state of taking the wheelchair and the recovered helping hand state of walking, need not to shift user to another recovered equipment, avoid the risk of transfer process, the fail safe nature is good, and the rehabilitation training is effectual, user experience is good.

Specifically, the traveling wheel at the lower end of the rear wheel rod assembly 120 is a rear driving wheel (rear wheel 220), and the power component is an in-wheel motor 510 connected to the rear driving wheel, so that the structure is compact and reliable. The rear driving wheels are two and are respectively connected with a hub motor 510, and the traveling direction of the power-assisted robot can be controlled when the hub motors 510 run in a differential mode. Each in-wheel motor 510 is controlled by an independent motor controller, which is connected to the controller. The rear wheels 220 may be universal wheels, and the front wheels 210 may also be connected with a steering motor for steering control. In a specific application, the front wheel 210 and the rear wheel 220 can be provided with independent brake devices. The brake device may be an electronic brake device.

Specifically, the rear wheel lever assembly 120 is provided with a battery bracket, the battery module is fixed to the battery bracket, the battery module is relatively close to the rear wheel 220, the center of gravity thereof is relatively low, and the stability is high.

Specifically, a foot pedal is connected to the front wheel bar assembly 110 for use when the user is seated.

Specifically, the front wheel lever assembly 110 includes two front wheel levers, the pedals include a first pedal and a second pedal, one end of the first pedal is rotatably connected to one of the front wheel levers, one end of the second pedal is rotatably connected to the other front wheel lever, and the other end of the first pedal and the other end of the second pedal can be butted, and in a walking state, the first pedal and the second pedal can be respectively turned over to be attached to the front wheel levers, so that the interference to the walking of the user is avoided, and the user is prevented from being stumbled.

Specifically, the front wheel lever assembly 110 is provided with a pedal overturning motor assembly for driving the first and second pedals to overturn. The pedal plate turnover motor component can comprise a motor and a transmission mechanism, and the pedal plate can be folded or put down in an electric control mode. The pedal plate overturning motor component can be a steering engine and is connected to the controller.

In specific application, a rotation driving part can be arranged at the rotation connection positions between the front wheel rod assembly 110 and the rear wheel rod assembly 120, between the backrest assembly 140 and the cushion assembly 150 and the like, the rotation driving part can be a steering engine, the steering engine is electrically connected to the controller, and the support main body can be automatically switched between a sitting state and a standing state.

Specifically, a boom tilt motor assembly is provided between the mounting strap boom assembly 170 and the backrest assembly 140. The boom turnover motor assembly can comprise a motor and a worm gear transmission part, the motor drives a worm, the worm drives a worm gear to enable the installation belt boom assembly 170 to turn over and rise, and the self-locking transmission part is adopted, so that the reliability is high.

In particular, the mounting strap boom is provided with a telescopic structure to accommodate users of different shapes. The installation belt suspender can be provided with an electric winder, the electric winder can electrically lift the installation belt kit, and the auxiliary user can be conveniently switched to a standing position (standing walking) by a sitting position (wheelchair type walking). The electric winder is connected with the lifting rope of the installation belt sleeve member, so that the wire can be automatically wound and unwound, and the user experience is good. Specifically, the attitude control lever assembly 160 includes a linear driving part, a main lever, and a sliding lever, the sliding lever being slidably connected to the main lever, the linear driving part being connected to the main lever and the sliding lever for driving the sliding lever to slide along the main lever, the linear driving part may be a linear motor, etc. The electric winder may be provided with a tension sensor and a centrifugal self-locking device. The centrifugal self-locking device adopts the principle of a vehicle safety belt, a clamping wheel is arranged in the device, if the safety belt is pulled quickly, the clamping wheel in the device can be taken out by centrifugal force due to the quick rotation of a safety belt roller, and the safety belt is locked quickly, so that the mounting belt sleeve is prevented from falling down suddenly, and a user is prevented from falling down. When the tension sensor is stressed suddenly, the power-assisted robot can be reliably stopped through the driving part or the electronic brake device, so that stalling and falling down can be avoided.

In particular, the controller can be optionally provided with a constant speed control module so as to be convenient for the user to use. In the concrete application, back subassembly 140 can be provided with distance sensor for the distance with user's back, and distance sensor connects in the controller, under the recovered mode of walking, can automatic control helping hand robot and user between the distance be in certain extent, need not extra control, the result of use is better. Of course, the controller can also be optionally provided with a wireless receiving module, and an attendant can control the driving speed, the direction, the folding state and the like of the power-assisted robot through the wireless remote controller 410, so that the user experience is good.

The embodiment of the utility model provides a helping hand robot can make the support main part switch to the state of going of standing, and cushion subassembly 150 stands thereupon this moment, and the user can walk under the hoist and mount of safety belt external member is supplementary, and power robot can follow and go. When the front wheel 210 and the rear wheel 220 are far away from each other due to relative rotation of the front wheel rod assembly 110 and the rear wheel rod assembly 120, the support body is lowered, the cushion assembly 150 is laid flat, the support body is switched to a sitting state, the user can sit on the cushion assembly 150 at the moment, the power-assisted robot runs according to control through the remote controller 410, the user can be seamlessly switched between the wheelchair riding state and the walking rehabilitation assistance state, the user does not need to be transferred to another rehabilitation device, the risk of the transfer process is avoided, safety and reliability are good, the rehabilitation training effect is good, and user experience is good.

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 modification, equivalent replacement or improvement made within the spirit and principle of the present invention should be included in the present invention.

Claims

1. A power-assisted robot is characterized by comprising a support main body capable of being switched to a sitting state and a standing state, wherein at least two groups of walking wheels are arranged at the bottom of the support main body, at least one group of walking wheels is driven by a power part, the power part is connected with the walking wheels, the support main body is connected with a battery module and a controller, and the power part and the controller are electrically connected with the battery module;

the support main part still includes the installation and takes the jib subassembly, the installation take the lower extreme of jib subassembly rotate connect in the upper end department of back subassembly, the upper end of installation belt jib is provided with the safety belt and hangs the knot structure, the safety belt is hung and is detained the structure and be used for connecting the safety belt external member.

2. A power-assisted robot as claimed in claim 1, wherein the road wheels at the lower end of the rear wheel bar assembly are rear drive wheels and the power unit is an in-wheel motor connected to the rear drive wheels.

3. A power-assisted robot as claimed in claim 1, wherein the rear wheel bar assembly is provided with a battery holder to which the battery module is fixed.

4. A power assisted robot as claimed in claim 1, wherein a foot pedal is connected to the front wheel bar assembly.

5. A power-assisted robot as claimed in claim 4, wherein the front wheel bar assembly comprises two front wheel bars, the pedals comprise a first section of pedal and a second section of pedal, one end of the first section of pedal is rotatably connected to one of the front wheel bars, one end of the second section of pedal is rotatably connected to the other front wheel bar, and the other end of the first section of pedal and the other end of the second section of pedal can be butted.

6. A power-assisted robot as claimed in claim 5, wherein the front wheel bar assembly is provided with a foot pedal turnover motor assembly for driving the first and second sections of foot pedals to turn.

7. A power-assisted robot as claimed in claim 1, wherein a boom tilt motor assembly is provided between the mounting strap boom assembly and the backrest assembly.

8. A power-assisted robot according to claim 7, wherein the mounting strap boom is provided with a telescopic arrangement.

9. A power-assisted robot as claimed in claim 1, wherein the attitude control lever assembly comprises a linear driving part, a main lever and a sliding lever, the sliding lever being slidably connected to the main lever, the linear driving part being connected to the main lever and the sliding lever for driving the sliding lever to slide along the main lever.

10. A power-assisted robot as claimed in claim 1, wherein the controller is provided with a constant speed control module.