KR20200029069A - A wheelchair using in combination with walking assistant robot - Google Patents

Abstract

The present invention relates to a wheelchair used in combination with a walking assistant robot to allow a disabled person to use on his/her own, comprising a wheelchair and a walking assistant robot. The wheelchair includes: a seat; a backrest installed in a rear side of the seat; and a pair of wheels rotatably installed in a lower side of the seat. The walking assistant robot includes: a thigh brace detachably placed on the wheelchair, and engaged with the thighs of a user; an electronics unit connected to an upper side of the thigh brace by a hip joint unit, which can rotate following a motion of the joints of the hip of the user, and includes a power supply unit and a control unit; a calf brace connected to a lower side of the thigh brace by a knee joint unit which can rotate corresponding to a motion of the knee joints of the user; and a footrest placed on a lower side of the calf brace wherein the feet of the user are settled.

Description

Wheelchair with walking aid robot {A WHEELCHAIR USING IN COMBINATION WITH WALKING ASSISTANT ROBOT}

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

In general, the walking assist robot technology is a means used to assist the rehabilitation or assist the rehabilitation of the patient or the elderly who have difficulty walking. These walking robots are increasingly in research and development as interest in quality of life and welfare increases and modern society enters an aging society.

To date, successful results have been produced by many robot developers on the performance of walking aid robots, but there are still no commercially available products for use in daily life, and most of them are used for medical rehabilitation in hospitals. Accordingly, in order to use the walking assist robot in an individual's daily life, many improvements have to be made.

In particular, in the case of the disabled, it is common to move most of the movement in a wheelchair. In this case, there is a hassle of carrying a walking assist robot separately for walking and mounting it when necessary.

In addition, all walking aid robots that are currently commercialized or being developed cannot be used alone in daily life because people with disabilities or the elderly cannot do it themselves when wearing or taking off and need to help or hold or sit when someone is struggling or dangerous while walking. there is a problem.

Korean Registered Patent Publication No. 10-1869968

The present invention proposed to solve the above problems reduces the hassle of a paralyzed paralyzed person using a wheelchair and has a walking assist robot separately from the wheelchair, and a walking assist robot for rehabilitation and free activity of the disabled in daily life alone The purpose is to provide a combination wheelchair.

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

As described above, the walking aid robot combination wheelchair according to the embodiment of the present invention wears the walking aid robot while the user sits in the wheelchair to which the walking aid robot is coupled, and when the user stands up and moves, the walking aid robot and the wheelchair By being easily separated, the paralyzed handicapped person using a wheelchair does not need to carry a walking aid robot separately from the wheelchair, and rehabilitation and free activities are possible without the help of others.

1 is a view showing a walking aid robot combined wheelchair according to an embodiment of the present invention.
Figure 2 is a view showing a user walking in a wheelchair, a user wearing a walking aid robot according to an embodiment of the present invention.
Fig. 3 shows the sheet of Fig. 1;
4 is a view showing a full-length portion and a user following portion according to an embodiment of the present invention.
5 is a view showing a walking aid robot combined wheelchair according to a second embodiment of the present invention.
6 is a view showing a user wearing a walking aid robot according to a second embodiment of the present invention walking in a wheelchair.

Advantages and features of the present invention, and techniques for achieving them will be clarified with reference to embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms. The present embodiment can be provided to fully disclose the scope of the invention to those skilled in the art to which the present invention pertains, as well as to make the disclosure of the invention complete.

On the other hand, the terms used in this specification are for describing the embodiments and are not intended to limit the present invention. In the present specification, the singular form also includes the plural form unless otherwise specified in the phrase. As used herein, 'comprise' and / or 'comprising' refers to the components, steps, operations and / or elements mentioned above, the presence of one or more other components, steps, operations and / or elements. Or do not exclude additions.

Additionally, the same reference numbers throughout each figure refer to the same components, and detailed descriptions of well-known features and techniques may be omitted to avoid unnecessarily obscuring the discussion of the described embodiments of the invention. .

1 is a view showing a walking aid robot combined wheelchair according to an embodiment of the present invention, Figure 2 is a view showing a user wearing a walking aid robot according to an embodiment of the present invention walking in a wheelchair, 3 is a view showing a sheet of FIG. 1, and FIG. 4 is a view showing a battlefield and a user following according to an embodiment of the present invention.

1 and 2, the walking assist robot combination wheelchair according to an embodiment of the present invention includes a wheelchair 100 and a walking assist robot 200.

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

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

In addition, the wheelchair 100 may further include a user follower 150 to track and automatically move a user wearing the walking aid robot 200, as shown in FIG.

Here, the user following unit 150 may be provided with a location signal receiving unit 151 for receiving a location signal and a tracking unit 152 for driving the driving unit to move along the user by tracking the location signal.

At this time, the position signal receiving unit 151 may receive a position signal from the position signal generating unit 233 provided in the electric unit 230, which will be described later. For example, the location signal receiving unit 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 GPS signals, and the like.

In addition, the tracking unit 152 may drive the driving unit to track the position signal and move along the user. 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 the user wearing the walking assist robot 200 walks away from the wheelchair 100, the tracking unit 152 tracks the position of the walking assist robot 200 to drive the driving unit, thereby driving the wheelchair 100 ) Automatically moves and moves along the walking user.

Meanwhile, as illustrated in FIG. 2, the backrest 120 of the wheelchair 100 may be formed with a full-length coupling portion 121 so that the full-length portion 210 described later can be detached. Here, when the user wearing the walking assist robot 200 is seated in the wheelchair 100, the electric unit coupling portion 121 may be formed in a groove shape to accommodate the electric unit 210 disposed behind the user's waist. You can.

The walking assist robot 200 may be provided to be detachable from the wheelchair 100.

Here, the walking assist robot 200, as shown in Figures 1 and 2, is worn on the lower part of the user, the full length part 210, thigh brace 220, hip joint 221, calf It may include a brace 230, a knee joint 231 and the plantar foot 240.

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

The electric unit 210 may be provided at the back of the user's waist, a power supply unit 211 for supplying power to the walking assist robot 200, a control unit 212 for controlling driving of the walking assist robot 200, and a walking A position signal generator 213 that informs the position of the auxiliary robot 200 may be provided. At this time, the location signal generator 213 may be a signal generator for generating a signal in a preset frequency band, an RFID tag for transmitting RFID information, and a GPS signal transmitter for receiving and transmitting a GPS signal.

On the other hand, the full length portion 210 extends in both side directions of the user, and the thigh brace 220 corresponding to the user's thigh is connected through the hip joint 221. At this time, the hip joint 221 may be rotatably connected to the upper portion of the thigh brace 220 according to the movement of the user's hip joint.

In addition, a calf brace 230 corresponding to the user's calf is connected to the lower portion of the thigh brace 220 through the knee joint 231. At this time, 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 footrest support 240 on which a user's foot is seated may be provided below the calf brace 240.

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

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

The user wearing the walking assist robot 200 is assisted by the walking assist robot 200 with power required for normal walking, and can walk similar to that of a normal person.

Meanwhile, when the seat 110 of the wheelchair 100 is seated while the user wears the walking assist robot 200, the walking assist robot 200 is worn and seated so as not to 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 assist robot 200 is seated again in the wheelchair 100 after walking, the walking assist robot 200 can be easily coupled to the wheelchair 100 by sitting in the correct position.

At this time, as shown in FIG. 3, among the curved portions of the seat 110, when the user is seated on the seat 110, the area where the pressure is concentrated and the area where the fastening part 250 is located are engraved 112, 113) may be formed. Specifically, when the user is seated on the seat 110, the intaglio 112 is formed in an area where pressure is concentrated according to the body shape of the user, so that the body part of the user who is focused on the pressure in the seat 110 is not contacted. You can. In addition, the fastening part 250 for fixing the thigh brace 220 to the user's thigh may cause pressure sores between the seat 110 and the thigh, and the fastening part 250 enters the intaglio 113 portion and the user When seated on the seat 110, the pressure on the surface of the seat 110 can be evenly distributed, thereby preventing 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 elevating and descending the seat 110 when the user gets on and off the wheelchair 100. Here, the elevating portion may be a hydraulic or electric cylinder, an actuator such as a motor, or the like, and elevate the seat 110. Specifically, when the user stands up from the seat 110 for walking, the elevating and descending portion lowers the seat 110 so that the plantar rest 240 touches the floor, and when the user moves using the wheelchair 100 After the seat 110 is seated, the elevating unit elevates the seat 110 so that the plantar support 240 does not contact the floor.

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

5 is a view showing a walking aid robot combination wheelchair according to a second embodiment of the present invention, and FIG. 6 shows a user wearing a walking aid robot according to the second embodiment of the present invention walking in a wheelchair It is a drawing.

As shown in FIGS. 5 and 6, the wheelchair 100 may further include a thigh brace coupling portion 160 formed such that the thigh brace 220 is detachable.

Here, the thigh brace coupling part 160 may be provided on both sides of the sheet 110. Specifically, when the user wearing the walking assist 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 part 160, and the walking assist robot 200 When the user wearing) occurs in the wheelchair 100, the thigh brace 220 may be separated from the thigh brace coupling part 160. At this time, when the thigh brace 220 is fixedly coupled to the thigh brace coupling part 160, movement of the user's thighs or the like can be prevented.

For example, the combination of the thigh brace coupling portion 160 and the thigh brace 220 is a slide method of the thigh brace 220 coupled to the groove formed in the thigh brace coupling portion 160, or the thigh brace coupling portion ( 160) may be coupled through a bolt member that is coupled to the thigh brace 220. However, it is not limited thereto.

Meanwhile, when the user wears the walking assist robot 200 and seats the wheelchair 100, the walking assist robot 200 may be coupled to the wheelchair 100 so that the plantar support 240 does not touch the floor. Specifically, the calf brace 230 may be formed on the front side of the auxiliary wheel 140 so that the calf brace 230 can be detached, and the user wears the walking assist robot 200 and wears it on the wheelchair 100. When seated, the calf brace 230 may be fixed by being coupled to the inner surface of the calf brace coupling portion 170.

Therefore, as described above, the walking aid robot combination wheelchair according to the embodiment of the present invention is detachably coupled to the walking aid robot 200 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, the user can wear the walking assist robot 200 by himself or herself without the help of others, by seating on the wheelchair 100 to which the walking assist robot 200 is coupled and fastening the fastening unit 250.

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

And, by tracking the user who wears the walking aid robot 200 through the user follower 150 of the wheelchair 100 and automatically moving, when the user wants to sit while walking, he / she can sit at any time and provide convenience. have.

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

So far, the present invention has been focused on the preferred embodiments. All of the embodiments and conditional examples disclosed through this specification are intended to help those skilled in the art to understand the principles and concepts of the present invention by those skilled in the art, and those skilled in the art It will be understood that the present invention can be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered in terms of explanation, not limitation. The scope of the present invention is shown in the claims rather than the foregoing description, and all differences within the equivalent range should be interpreted as being included in the present invention.

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

Claims (10)

A wheelchair provided with a seat, a backrest installed at the rear of the seat, and a pair of wheels rotatably installed under the seat; And
It is provided so as to be detachable to the wheelchair, the thigh brace coupled to the user's thigh, and connected to the upper part of the thigh brace by a hip joint that is rotatable according to the movement of the user's hip joint, and an electric part equipped with a power unit and a control unit And, a walking aid robot provided with a calf brace connected to a rotation of the knee joint in response to the movement of the user's knee at the lower portion of the thigh brace, and a plantar foot on which the user's foot rests on the lower portion of the calf brace;
Walking aid robot combination wheelchair comprising a.
According to claim 1,
The electric unit further includes a position signal generator for transmitting a position signal,
The wheelchair further includes a walking aid robot combination wheelchair having a location signal receiving unit for receiving the location signal and a tracking unit for tracking the user's location based on the location signal and moving along the user.
According to claim 1,
The upper back
A walking aid robot combined wheelchair further comprising an electric portion coupling portion formed so that the electric portion is detachable.
According to claim 1,
The wheelchair
A walking aid robot combined wheelchair provided on both sides of the seat, and further comprising a thigh brace coupling portion formed such that the thigh brace is detachable.
According to claim 1,
The sheet
When the user is seated while wearing the walking aid robot, the walking aid robot combined wheelchair is bent in a shape corresponding to the seated shape while wearing the walking aid robot so that it can sit in a certain position.
The method of claim 5,
The sheet
When the user is seated while wearing the walking aid robot, the walking aid robot combined wheelchair in which an intaglio is formed so as to enter a fastening portion for fixing the thigh brace to the thigh of the user.
According to claim 1,
When the user wears the walking aid robot and seats on the wheelchair, the walking aid robot combined wheelchair is coupled to the walking aid robot so that the plantar support does not touch the floor.
According to claim 1,
The walking aid robot
When the user walks further comprising a clutch for supporting the user's arm, the clutch is a walking aid robot combined wheelchair that is detachably provided on the wheelchair.
According to claim 1,
A walking aid robot combined wheelchair further comprising an elevating and descending portion for elevating and descending the seat when the user gets on and off the wheelchair.
According to claim 1,
A walking aid robot combined wheelchair further comprising a tilt adjusting unit configured to adjust a tilt of the seat when the user gets on and off the wheelchair.

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