KR102208606B1 - A wheelchair using in combination with walking assistant robot - Google Patents

Abstract

The present invention relates to a wheelchair for use with a walking assistance robot that can be used by a disabled person alone, comprising a seat, a backrest installed at the rear of the seat, a wheelchair provided with a pair of wheels rotatably installed under the seat, and A thigh brace that is provided to be detachable from the wheelchair and is coupled to the user's thigh, and an electric unit connected to the upper portion of the thigh brace by a hip joint that is rotatable according to the movement of the user's hip joint, and equipped with a power supply and a control unit And a calf brace connected to a lower part of the thigh brace by a knee joint part rotatable in response to movement of a user's knee joint, and a walking assistance robot provided with a plantar support on which the user's foot is seated under the calf brace.

Description

Wheelchair for walking assist robot {A WHEELCHAIR USING IN COMBINATION WITH WALKING ASSISTANT ROBOT}

The present invention relates to a wheelchair for use with a walking assistance robot that can be used by a disabled person alone.

In general, walking assist robot technology is a means used to assist the rehabilitation or movement of patients or elderly people who are inconvenient to walk. As the interest in quality of life and welfare increases and modern society enters an aging society, research and development of these walking assist robots are on the rise.

Until now, many robot developers have been drawing successful results about the performance of walking aid robots, but there are still no commercialized products for use in everyday life, and most of them are used for medical purposes for rehabilitation in hospitals. Accordingly, in order for individuals to use the walking assistance robot in their daily life, many improvements must be made.

In particular, it is common for people with disabilities to move in a wheelchair for most of their movement. In this case, there is an inconvenience of carrying a walking assistant robot separately for walking, and installing it when necessary.

In addition, all of the walking aid robots currently commercialized or developed can not be used alone in everyday life because the disabled or the elderly cannot do it themselves when putting on and taking off, and someone has to help when walking is difficult or dangerous 　 because someone has to hold or sit down while walking. there is a problem.

Korean Patent Publication No. 10-1869968

In order to solve the above problems, the present invention is a walking assistance robot for reducing the hassle of having a paraplegic disabled person using a wheelchair have a walking assistance robot separately from a wheelchair, and for rehabilitation and free activities of the disabled person alone in daily life. The purpose is to provide a combined wheelchair.

A wheelchair for a walking aid robot according to an embodiment of the present invention for achieving the above object is provided with a seat, a backrest installed at the rear of the seat, and a pair of wheels rotatably installed under the seat. It is provided to be detachable to the wheelchair and the wheelchair, and is connected to a thigh brace coupled to the user's thigh, and a hip joint portion rotatable according to the movement of the user's hip joint on the upper portion of the thigh brace, and equipped with a power supply unit and a control unit. Includes a walking aid robot having a full length part, a calf brace connected by a knee joint part rotatable in response to a movement of a user's knee joint under the thigh brace, and a plantar support on which the user's foot is seated under the calf brace do.

As described above, in the wheelchair for use with a walking assistance robot according to an embodiment of the present invention, the walking assistance robot is worn while the user is seated in a wheelchair combined with the walking assistance robot, and when the user stands up and moves, the walking assistance robot and the wheelchair By being easily separated, the paraplegic disabled person using a wheelchair does not need to carry a walking aid robot separate from the wheelchair, and can perform self-rehabilitation and free activities without the help of others.

1 is a view showing a wheelchair for a walking assistance robot according to an embodiment of the present invention.
2 is a view showing a state in which a user wearing a walking assistance robot according to an embodiment of the present invention rises from a wheelchair and walks.
Figure 3 is a view showing the sheet of Figure 1;
4 is a view showing an electric device and a user follower according to an embodiment of the present invention.
5 is a view showing a wheelchair for use with a walking aid robot according to a second embodiment of the present invention.
6 is a view showing a state in which a user wearing a walking assistance robot according to a second embodiment of the present invention rises from a wheelchair and walks.

Advantages and features of the present invention, and techniques for achieving them will become apparent with reference to embodiments described later in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, and may be implemented in various different forms. In addition to making the disclosure of the present invention complete, the present embodiment may be provided to fully inform the scope of the invention to those of ordinary skill in the art.

Meanwhile, terms used in the present specification are for explaining an embodiment and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase. As used in the specification,'comprise' and/or'comprising' means that the recited component, step, operation and/or element is one or more other elements, steps, operations, and/or the presence of elements. Or does not exclude additions.

Additionally, the same reference numerals indicated throughout each drawing refer to the same elements, and detailed descriptions of well-known features and techniques may be omitted to avoid unnecessarily obscuring the discussion of the described embodiments of the present invention. .

1 is a view showing a wheelchair for use with a walking assistance robot according to an embodiment of the present invention, and FIG. 2 is a view showing a state in which a user wearing a walking assistance robot according to an embodiment of the present invention rises from a wheelchair and walks. 3 is a view showing the sheet of FIG. 1, and FIG. 4 is a view showing an electric device and a user follower according to an embodiment of the present invention.

1 and 2, a wheelchair for use with a walking assistance robot according to an embodiment of the present invention includes a wheelchair 100 and a walking assistance robot 200.

The wheelchair 100 includes a seat 110 on which the user's buttocks are seated, a backrest 120 installed at the rear of the seat 110, and a pair of rotatably installed under the seat 110 A wheel 130 and a pair of auxiliary wheels 140 disposed in front of the wheel 130 and rotatably installed may be provided.

Meanwhile, although not shown in the drawing, the wheelchair 100 may be provided with a driving unit (not shown) for driving the wheel 130. Here, the driving unit may be a motor, and may drive the wheel 130 by generating a rotational force.

In addition, the wheelchair 100 may further include a user follower 150 to automatically move by tracking a user wearing the walking assistance robot 200, as shown in FIG. 4.

Here, the user following unit 150 may include a location signal receiving unit 151 for receiving a location signal and a tracking unit 152 for driving a driving unit to follow the user by tracking the location signal.

In this case, the position signal receiving unit 151 may receive a position signal from the position signal generating unit 233 provided in the electric device 230 to be described later. For example, the location signal receiver 151 may be an antenna for receiving a signal of a preset frequency band, an RFID receiver for receiving RFID information, a GPS receiver for receiving a GPS signal, or the like.

In addition, the tracking unit 152 may drive the driving unit to follow the user by tracking the position signal. Specifically, the tracking unit 152 tracks the position of the walking assist robot 200 based on the received position signal, and drives the driving unit according to the tracked information. Accordingly, when a user wearing the walking assistance robot 200 walks apart from the wheelchair 100, the tracking unit 152 tracks the position of the walking assistance robot 200 and drives the driving unit, thereby driving the wheelchair 100 ) Will automatically drive and move along with the walking user.

Meanwhile, as shown in FIG. 2, the backrest 120 of the wheelchair 100 may have an electric length coupling part 121 so that the electric length 210, which will be described later, is detachable. Here, when the user wearing the walking assistance robot 200 is seated in the wheelchair 100, the electric unit coupling unit 121 may be formed in a groove shape so that the electric unit 210 disposed behind the user’s waist is accommodated. I can.

The walking assistance robot 200 may be provided to be detachably attached to the wheelchair 100.

Here, the walking assistance robot 200, as shown in Figs. 1 and 2, is worn on the lower extremity of the user, and the full length part 210, the thigh brace 220, the hip joint part 221, the calf A brace 230, a knee joint part 231, and a plantar support 240 may be included.

On the other hand, the walking assist robot 200 includes a motor (not shown) that provides a driving force for rotational driving of the thigh brace 220 and the calf brace 230 in the hip joint part 221 and the knee joint part 231. It can be provided.

The electric device 210 may be provided at the back of the user's waist, and a power supply unit 211 for supplying power to the walking assistance robot 200 and a control unit 212 for controlling the driving of the walking assist robot 200 and a walking A position signal generator 213 may be provided to inform the position of the auxiliary robot 200. In this case, the location signal generator 213 may be a signal generator that generates a signal of a preset frequency band, an RFID tag that transmits RFID information, and a GPS signal transmitter that receives and transmits a GPS signal.

Meanwhile, the electric length part 210 extends in the direction of both sides of the user, and the thigh brace 220 corresponding to the user's thigh is connected through the hip joint part 221. In this case, the hip joint portion 221 may be rotatably connected to the upper portion of the thigh brace 220 according to the movement of the hip joint of the user.

In addition, a calf brace 230 corresponding to a user's calf is connected to a lower portion of the thigh brace 220 through a knee joint part 231. In this case, the knee joint portion 231 may be rotatably connected to the lower portion of the thigh brace 220 and the upper portion of the calf brace 240 in response to the movement of the user's knee joint.

In addition, a plantar support 240 on which a user's foot is seated may be provided under the calf brace 240.

On the other hand, the walking assist robot 200 may be provided with a front part 210 and a fastening part 250 that is fastened to the user's lower limb, respectively, in the thigh brace 220 and the calf brace 230.

In addition, the walking assist robot 200 may be provided with a clutch 260 so as to be coupled to the user's arm to support the user when the user walks. Here, although not shown in the drawing, the clutch 260 may be formed in a foldable or telescopic frame to adjust its length, and may be coupled to the wheelchair 100 so as to be detachable. For example, it may be combined in the form of an armrest of the wheelchair 100, or the backrest 120 may be combined to be detachable to the rear.

A user wearing such a walking assistance robot 200 receives power required for normal walking from the walking assistance robot 200, and can walk similar to that of a normal person.

On the other hand, when the seat 110 of the wheelchair 100 is seated while wearing the walking assistance robot 200, the walking assistance robot 200 is worn and seated so that the user may not be in the same posture at the same position. It may be formed to be curved in a shape corresponding to the shape. Accordingly, when the user wearing the walking assistance robot 200 is seated in the wheelchair 100 again after walking, the walking assistance robot 200 can be easily coupled to the wheelchair 100 by seating at an accurate position.

At this time, as shown in FIG. 3, in the region where the pressure is concentrated when the user sits on the seat 110 among the corrugated portions of the seat 110 and the region where the fastening part 250 is located, an intaglio 112, 113) can be formed. Specifically, when the user is seated on the seat 110, the intaglio 112 is formed in the area where the pressure is concentrated according to the shape of the user's body so that the user's body part where the pressure is concentrated on the seat 110 does not come into contact. I can. In addition, the fastening part 250 fixing the 　 thigh brace 220 to the user's thigh may cause bedsores between the seat 110 and the thigh, but the fastening part 250 enters the intaglio 113 By allowing the pressure to be evenly distributed on the surface of the seat 110 when seated on the seat 110, there is no skin damage even when sitting in a wheelchair for a long time.

In addition, the seat 110 of the wheelchair 100 may further include an elevating unit (not shown) for raising and lowering the seat 110 when the user gets on or off the wheelchair 100. Here, the elevating portion may be an actuator such as a hydraulic or electric cylinder, or a motor, and may elevate and descend the seat 110. Specifically, when the user stands on the seat 110 for walking, the elevating portion lowers the seat 110 so that the plantar support 240 touches the floor, and the user moves using the wheelchair 100 After sitting on the seat 110, the elevating portion lifts the seat 110 so that the plantar support 240 does not touch the floor.

Meanwhile, the seat 110 of the wheelchair 100 may further include a tilt adjustment unit (not shown) that adjusts the tilt of the seat 110 when the user gets on or off the wheelchair 100. Specifically, when the user stands on the seat 110 for walking, the tilt adjustment unit tilts the seat 110 forward so that the plantar support 240 touches the floor, and the user moves using the wheelchair 100 After the user sits on the seat 110, the tilt adjustment unit tilts the seat 110 to the rear so that the plantar support 240 does not touch the floor.

5 is a view showing a wheelchair for use with a walking assistance robot according to a second embodiment of the present invention, and FIG. 6 is a view showing a state in which a user wearing the walking assistance robot according to the second embodiment of the present invention rises from the wheelchair and walks. It is a drawing.

As shown in FIGS. 5 and 6, the wheelchair 100 may further include a thigh brace coupling unit 160 formed to allow the thigh brace 220 to be detachably attached.

Here, the thigh brace coupling portions 160 may be provided on both sides of the sheet 110. Specifically, when a user wearing the walking assistance robot 200 is seated in the wheelchair 100, the thigh brace 220 may be fixedly coupled to the inner surface of the thigh brace coupling unit 160, and the walking assistance robot 200 ), when the user who wears it occurs in the wheelchair 100, the thigh brace 220 may be separated from the thigh brace coupling portion 160. In this case, when the thigh brace 220 is fixedly coupled to the thigh brace coupling unit 160, it is possible to prevent movement such as the user's thigh open.

For example, in the coupling of the thigh brace coupling part 160 and the thigh brace 220, the thigh brace 220 slides into a groove formed in the thigh brace coupling part 160 in a slide manner, or It may be coupled through a bolt member that penetrates through 160 and is coupled to the thigh brace 220. However, it is not limited thereto.

On the other hand, when the user wears the walking assistance robot 200 and sits on the wheelchair 100, the walking assistance robot 200 may be coupled to the wheelchair 100 so that the plantar support 240 does not touch the floor. Specifically, a calf brace coupling unit 170 may be formed in the front of the auxiliary wheel 140 so that the calf brace 230 is detachable, and the user wears the walking assist robot 200 and is attached to the wheelchair 100 When seated, the calf brace 230 may be coupled to and fixed to the inner side of the calf brace coupling unit 170.

Accordingly, as described above, in the wheelchair for the walking assistance robot according to the embodiment of the present invention, the walking assistance robot 200 is detachably coupled to the wheelchair 100, so that the paraplegic disabled person using the wheelchair walks separately from the wheelchair. There is no need to carry an auxiliary robot.

In addition, by seating in the wheelchair 100 to which the walking assistance robot 200 is coupled and fastening the fastening part 250, the user can wear the walking assistance robot 200 by himself without the help of others.

In addition, since the walking assistance robot 200 is detachably coupled with the wheelchair 100, when the user stands up and moves, the walking assistance robot 200 is easily separated from the wheelchair 100 so that the user can walk, Rehabilitation and free activities are possible alone.

In addition, by tracking and automatically moving the user wearing the walking assistance robot 200 through the user follower 150 of the wheelchair 100, it is possible to provide convenience because the user can sit immediately whenever he wants to sit while walking. have.

In the present specification, the singular form also includes the plural form unless specifically stated in the phrase. In addition, components, steps, actions, and elements referred to as'comprising' or'comprising' as used herein mean the presence or addition of one or more other elements, steps, actions, elements and devices.

So far, the present invention has been looked at around its preferred embodiments. All embodiments and conditional examples disclosed through the present specification are described with the intention of helping those skilled in the art with ordinary knowledge in the technical field of the present invention to understand the principles and concepts of the present invention. It will be understood that the disclosed embodiments may be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered from a descriptive point of view rather than a limiting point of view. The scope of the present invention is shown in the claims rather than the above description, and all differences within the scope equivalent thereto should be construed as being included in the present invention.

100: wheelchair 110: seat
120: back 130: wheels
140: auxiliary wheel 150: user follower
151: position signal receiving unit 152: tracking unit
160: thigh brace coupling part 170; Calf brace joint
200: walking assist robot 210: electric unit
211: power supply unit 212: control unit
213: position signal generator 220: thigh brace
221: hip joint 230: calf brace
231: knee joint part 240: plantar support
250: fastening part

Claims (10)

A wheelchair having a seat, a backrest installed at the rear of the seat, and a pair of wheels rotatably installed at a lower portion of the seat; And
A thigh brace that is provided to be detachable from the wheelchair and is coupled to the user's thigh, and an electric part connected to the upper portion of the thigh brace by a hip joint that is rotatable according to the movement of the user's hip joint, and equipped with a power supply and a control And, a walking assistance robot provided with a calf brace connected by a knee joint portion rotatable in response to the movement of the user's knee joint under the thigh brace, and a plantar support on which the user's foot is seated under the calf brace; ,
The above wheelchair
It is provided on both sides of the sheet, further comprising a thigh brace coupling portion formed so that the thigh brace is detachable,
The sheet is
When the user is seated while wearing the walking assistance robot, it is formed to be bent in a shape corresponding to the shape in which the walking assistance robot is worn and seated so that the user can sit in a certain position, the area where pressure is concentrated, and the A wheelchair for use with a walking aid robot in which an intaglio is formed so that the user's body and the fastening part are not in contact with the fastening part for fixing the thigh brace, and the pressure is evenly distributed when the user is seated.
The method of claim 1,
The electric device further includes a location signal generator for transmitting a location signal,
The wheelchair further comprises a user following unit provided with a location signal receiving unit for receiving the location signal and a tracking unit for tracking the location of the user based on the location signal and moving along the user.
The method of claim 1,
The backrest
A wheelchair for use with a walking assistance robot further comprising an electric-length coupling portion formed so that the electric-length portion is detachable.
delete delete delete The method of claim 1,
A calf brace coupling part is formed in front of the wheelchair so that the calf brace is detachable, so that when the user wears the walking assistance robot and sits in the wheelchair, the walking assistance robot is combined so that the plantar support does not touch the floor bathchair.
The method of claim 1,
The walking assistance robot
Further comprising a clutch for supporting the user's arm when the user is walking, wherein the clutch is a walking assistance robot combined wheelchair provided to be detachably attached to the wheelchair.
The method of claim 1,
A wheelchair for use with a walking aid robot further comprising an elevating unit for elevating and descending the seat when the user gets on or off the wheelchair.
The method of claim 1,
A wheelchair for use with a walking aid robot further comprising a tilt adjustment unit for adjusting the tilt of the seat when the user gets on or off the wheelchair.

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