WO2019091498A1 - 无固定座椅的帮扶机器人、帮扶机器人及其控制方法 - Google Patents

无固定座椅的帮扶机器人、帮扶机器人及其控制方法 Download PDF

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Publication number
WO2019091498A1
WO2019091498A1 PCT/CN2018/124038 CN2018124038W WO2019091498A1 WO 2019091498 A1 WO2019091498 A1 WO 2019091498A1 CN 2018124038 W CN2018124038 W CN 2018124038W WO 2019091498 A1 WO2019091498 A1 WO 2019091498A1
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WO
WIPO (PCT)
Prior art keywords
robot
plate
fixed seat
rod
knee
Prior art date
Application number
PCT/CN2018/124038
Other languages
English (en)
French (fr)
Inventor
王天
Original Assignee
杭州程天科技发展有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201711098368.6A external-priority patent/CN107669449B/zh
Priority claimed from CN201711100219.9A external-priority patent/CN107671844A/zh
Priority claimed from CN201711100203.8A external-priority patent/CN107693309A/zh
Priority claimed from CN201810604374.2A external-priority patent/CN108852764B/zh
Application filed by 杭州程天科技发展有限公司 filed Critical 杭州程天科技发展有限公司
Publication of WO2019091498A1 publication Critical patent/WO2019091498A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F4/00—Methods or devices enabling patients or disabled persons to operate an apparatus or a device not forming part of the body 
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for disabled persons

Definitions

  • the invention relates to the technical field of medical instruments, in particular to a help robot without a fixed seat, a help robot and a control method thereof.
  • Help robots are used in the hospitals and families for the elderly, disabled, paralyzed patients and other people with mobility problems, physical therapy and rehabilitation care.
  • There are two usage states in use one is a standing posture that can ensure the user's safety; the other is a sitting posture that can satisfy the user; both of the use states can be realized in a moving state.
  • prior art assist robots typically include an automatic seat that primarily includes a seat assembly, a seat lift assembly, and a seat extension assembly.
  • a helping robot provided with an automatic seat generally has a large weight, a complicated structure, and a poor flexibility when moving.
  • the object of the present invention is to provide a helper robot without a fixed seat, a helper robot and a control method thereof, so as to solve the problem that the existing helper robot has a large weight, complicated structure and flexibility due to the provision of an automatic seat. Poor technical problems.
  • the present invention provides a help robot comprising: a hip strap and a waist strap, and a body having a Mecanum wheel, the body having a sole support and a lifting support mechanism;
  • the lifting support mechanism includes a top chest plate, the lower end surface of the top chest plate is provided with a first connecting member, and the side wall is provided with a second connecting member;
  • the hip strap is provided with a third connecting member matched with the first connecting member,
  • the waist strap is provided with a fourth connector that is mated with the second connector.
  • the sole support plate comprises a pedal, a foot block adjustment block, two front foot stops and two rear foot stops, the pedals are mounted on the body, and the two front foot blocks are mounted side by side on the pedals.
  • a footrest adjustment block is mounted in the middle of the two front footrests, two of the rear footrests are mounted on the pedals on opposite sides of the two front footrests, and the two rear footrests and the foot
  • the block adjusting block is integrally formed, and the foot block adjusting block defines an elongated hole, and the positions of the foot block adjusting block and the two rear foot blocks are adjusted by bolts.
  • the help robot further includes a control system including a sensor probe, a control box, a mounting post, a camera, a searchlight, and a camera mounting plate, and the sensor probe is mounted on an outer end surface of the body.
  • the control box is mounted on a front end surface of the body
  • the mounting post is mounted on an outer side wall of the control box located inside the body
  • the camera mounting board is mounted on the mounting post
  • the camera and The searchlights are all mounted on the camera mounting plate.
  • the lifting support mechanism includes a chest plate, two handles, a handle shaft, a lifting arm, a lifting arm shaft, an electric cylinder, an electric cylinder bracket and a lifting bracket, and the lifting bracket is mounted on the upper end of the mounting pillar.
  • One end of the lifting swing arm is rotatably connected to the lifting bracket, and the other end of the lifting swing arm is connected to the breastplate through the lifting swing arm rotating shaft, and the two handles are installed in the handle shaft through the handle shaft
  • the chest plate is disposed, and two of the handles are located at two sides of the lifting swing arm, the electric cylinder bracket is mounted at a lower end of the lifting swing arm, and the electric cylinder is mounted on the body, the electric A cylinder bracket is coupled to the upper end of the electric cylinder.
  • the side of the breastplate has a shield that is bent toward the side of the user.
  • the helper robot further includes a top knee mechanism, the top knee mechanism including two knee guard assemblies, and the two knee protectors are mounted side by side on the body.
  • each of the knee protector assemblies includes a knee protector, a chute, a mounting rod and a slide bar
  • the mounting rod is vertically mounted on the body
  • the chute is mounted on an upper end of the mounting rod
  • One end of the sliding rod is slidably disposed in the sliding slot
  • the other end of the sliding rod is connected to the knee lining.
  • the lifting support mechanism comprises a support frame and a clamping mechanism, the clamping mechanism is rotatably mounted on the support frame, and the clamping mechanism realizes up and down, front and rear directions under the adjustment of the support frame Movement;
  • the support frame includes a bottom fixing frame, two connecting rods, two sliding rods, two knobs, a top fixing frame and two rotating shafts, and the bottom fixing frame and the top fixing frame are arranged up and down, two One end of the connecting rod is rotatably mounted on the bottom fixing frame, one end of each of the sliding rods is disposed in one of the connecting rods, and each of the sliding rods is fixed to one by a knob In the connecting rod, the other end of each of the sliding rods is rotatably mounted on a lower end of the top fixing frame, and the two rotating shafts are mounted on the top fixing frame.
  • the top fixing frame comprises a connecting portion, two sets of connecting ears and two adapting portions
  • the connecting portion is a rectangular connecting plate
  • two sets of the connecting ears are mounted on the connecting along a length direction of the connecting portion
  • two of the adapter portions are mounted at both ends of the connecting portion in the longitudinal direction
  • the adapter portion is located on one side of the two sets of the connecting ears.
  • the lifting support mechanism is composed of a strut, a handle, a control mechanism and a chest protection mechanism;
  • the strut is a rigid long rod;
  • the handle is composed of a handle frame and a glove, and the handle frame is folded a bending piece, the middle of the handle frame is flat and provided with a screw hole for fixing on the chest protection mechanism, the two ends of the handle frame are sleeved with the glove;
  • the control mechanism is controlled by a handle a point and an outer casing, the inside of the outer casing is provided with a rotating shaft for connecting the strut, the outer casing is provided with a groove, the handle is embedded in the groove, and the bottom of the groove is provided with a plurality of places a contact, the bottom of the outer casing is provided with a through hole through which the handle passes;
  • the chest protection mechanism is composed of a storage bag, a breastplate, a back plate, a flexible pad, and a strap, the flexibility a pad fit is fixed on an inner
  • the assisting robot of the present invention has the following advantages:
  • the assisting robot provided by the present invention comprises: a hip strap and a waist strap, and a body having a Mecanum wheel, the body is provided with a sole support plate and a lifting support mechanism; and the lifting support mechanism comprises a top chest plate and a top
  • the lower end surface of the chest plate is provided with a first connecting member, and the side wall is provided with a second connecting member;
  • the hip strap is provided with a third connecting member matched with the first connecting member, and the waist strap is provided with the second connecting member Match the docked fourth connector.
  • the waist strap Connected, put the waist strap on the back of the waist, and connect the fourth connector on the waist strap to the second connector on the help robot. Finally tighten the hip strap and tie the waist.
  • the belt is brought into close contact with the user's buttocks and waist, and the assisting robot can be controlled to perform posture change, horizontal movement or rotational movement. It can be seen from the analysis that the assisting robot provided by the invention can ensure the user has the standing posture and the sitting posture, can effectively reduce the weight of the whole machine, and simplify the structure of the assisting robot, thereby effectively improving the flexibility thereof.
  • the invention provides a helper robot without a fixed seat, comprising: a hip strap and a waist strap, and a body having a McNane wheel, wherein the body is provided with a foot support plate and a lifting support mechanism;
  • the lifting support mechanism includes a top chest plate, the lower end surface of the top chest plate is provided with a first connecting member, and the side wall is provided with a second connecting member;
  • the back hip strap is provided with a matching butt joint with the first connecting member a three-piece connector, the waistband strap being provided with a fourth connector that mates with the second connector.
  • the first connecting member adopts a circular buckle
  • the second connecting member adopts an aviation lock
  • the third connecting member adopts an ISOFIX interface
  • the fourth connecting member adopts an aviation insert.
  • the hip strap includes a hip body, and a hip adjusting belt disposed on the hip body.
  • the free end of the hip adjusting belt is provided with the ISOFIX interface, and the ISOFIX interface is used.
  • the waist strap includes a waist supporting body, and a waist adjusting belt disposed on the waist supporting body, wherein the free end of the waist adjusting belt is provided with the aviation insert
  • the air insert is for docking with the air lock.
  • the hip body and the waist body respectively comprise: an outer leather layer, a middle sponge filling layer, and an inner non-slip cloth layer; the leather layer and the non-slip cloth layer correspond to one
  • the side edges are connected by a zipper or a snap-fit layer, the sponge-filled layer being a detachable structural member.
  • the non-slip cloth layer has a lattice-shaped gas permeable net.
  • the lattice-shaped gas permeable net comprises a plurality of, and the plurality of the lattice-shaped gas permeable nets are evenly distributed on the non-slip cloth layer.
  • the lattice-shaped gas permeable net comprises two, and two of the lattice-shaped gas permeable nets are symmetrically distributed on the non-slip cloth layer.
  • the sponge-filled layer has a thickness of 3 cm.
  • the hip adjusting belt and the waist adjusting belt are provided with an adjusting buckle for adjusting the length of the hip adjusting belt and the waist adjusting belt.
  • the non-slip cloth layer has a dispensing, and the dispensing is evenly spaced on the non-slip cloth layer.
  • the body includes: a vehicle body, and a frame connected to a bottom end region of the vehicle body; the lifting support mechanism is coupled to the vehicle body, and the sole plate is coupled to the frame; the microphone
  • the nano wheel includes: a front Mecanum wheel connected to the vehicle body and a rear Mecanum wheel connected to the frame; the front Mecanum wheel and the rear Mecanum wheel respectively include: a wheel body, a drive motor and a speed reducer, the drive motor and the speed reducer being partially or entirely disposed in an axle hole of the Mecanum wheel body; an output shaft of the drive motor and the Mecanum wheel
  • the rotary axis of the body is collinear, and the Mecanum wheel body rotates with the housing of the drive motor.
  • the Mecanum wheel body is composed of a Mecanum roller bracket and a Mecanum roller, and the Mecanum roller is disposed on the Mecanum roller bracket, the Mecanum A roller bracket is coupled to the housing of the drive motor.
  • both ends of the Mecanum roller are connected to the Mecanum roller bracket, or the middle of the Mecanum roller is connected to the Mecanum roller bracket.
  • the assisting robot without a fixed seat further includes: a damping device, the damping device includes a shock-absorbing fixing bracket and a shock-absorbing moving bracket; the shock-absorbing moving bracket and the Mecanum wheel
  • the output shaft of the driving motor is fixedly connected;
  • the damper fixing bracket includes at least one damper fixing shaft;
  • the damper moving bracket is sleeved on the damper fixing shaft and can be along the damper fixing shaft Reciprocating movement in the axial direction;
  • the shock absorbing moving bracket has two elastic members; the shock absorbing moving bracket is connected between the two elastic members; the axial direction of the damping fixed shaft and the output of the driving device
  • the axial direction of the shaft is set at an angle.
  • the damper moving bracket comprises a damper moving bracket connecting portion and at least two damper moving bracket sleeve portions; the connecting shaft of the driving motor passes through the damper moving bracket connecting portion and is damped
  • the moving bracket connecting portion is fixedly connected; optionally, the connecting shaft of the driving motor is fixedly connected to the shock absorbing moving bracket by a nut.
  • the damper moving bracket sleeve is jacketed on the damper fixing shaft, and the number of the damper moving bracket ferrules corresponds to the number of the damper fixing shafts; that is, the The number of the damper moving bracket sockets is the same as the number of the damper fixing shafts.
  • the adjacent shock-absorbing moving bracket sleeves are fixedly connected by the shock-absorbing moving bracket connecting portion; the shock-absorbing moving bracket connecting portion protrudes from the adjacent shock-absorbing moving bracket sleeve portion Forming a surface such that the shock absorbing moving bracket forms an arc or arc-like structure to improve the elastic deformation capability of the shock absorbing moving bracket to better support the support of the Mecanum wheel It is transmitted to the device through the damping device.
  • the number of the damping fixed shafts is 1, 2, 4, and 5.
  • the number of the damping fixed shafts is set in pairs.
  • the number of the damper fixing shafts is two; the number of the damper moving bracket sockets is also two; and the damper moving bracket is a symmetrical structure.
  • the connecting shaft of the driving motor passes through the center of the damper moving bracket and is fixedly connected with the damper moving bracket connecting portion.
  • the elastic element comprises a spring, a rubber ring, a silicone ring or a polyester elastomer.
  • the number of the damping devices is one; the damping device is disposed at one side of the Mecanum wheel, and the connecting shaft of the damping device and the driving motor of the Mecanum wheel a fixed connection; or, the number of the damper devices is two; the memant wheel is disposed between the two dampers, and both of the dampers are connected to the mecanum wheel The connecting shaft of the drive motor is fixedly connected.
  • the lifting support mechanism comprises: a support rod, one end of the support rod is hinged to the body, the other end is provided with a console, the console is connected with a handle and the top chest; the support rod A drive assembly is further coupled to the body, the drive assembly for placing the support bar in a first state or a second state, and capable of switching between the first state and the second state .
  • the height of the help robot is less than 0.8 meters.
  • the support rod includes: a main rod and a sub-rod disposed in the main rod, the auxiliary rod and the main rod are connected by a movable member, and the auxiliary rod can be inside the main rod
  • the telescopic movement is carried out and fixed by the movable member.
  • the console is provided with a power switch and at least two speed control switches; the console is provided with a groove, and the groove can be used for placing a remote controller and charging the remote controller.
  • a control component is disposed in the machine body, and the control component is connected to the driving component for controlling the lifting and lowering of the support bar; the remote controller is connected to the control component by a wireless connection manner, and The remote controller can remotely control the assisting robot to move.
  • the remote controller is provided with a control switch, and the control switch and the power switch are both turned on.
  • the remote controller can remotely control the movement of the assisting robot or control the assisting robot to perform posture change, horizontal movement or rotational movement.
  • the top chest plate comprises: an EVA filling layer, and a leather layer wrapped on the outer side of the EVA filling layer; the lower ends of the top chest plate are arc-shaped structures that are folded upward.
  • the frame comprises: a fixed beam, and a movable beam connected to the fixed beam by a fixing member; the rear Mecanum wheel is connected with the fixed beam, and the sole plate is connected with the movable beam
  • the movable beam is capable of driving the sole support relative to the fixed beam in a direction away from or close to the vehicle body, and is fixed by the fixing member.
  • the helper robot without a fixed seat further includes: a top knee mechanism connected to the vehicle body; the top knee mechanism includes: a vertical beam, one end of the vertical beam and the The vehicle body is connected, and the other end is connected with a beam, and the cross beam is symmetrically disposed with two movable connecting top knee plates.
  • the vertical beam includes: a main beam and a sub beam, one end of the main beam is connected to the vehicle body, one end of the auxiliary beam is disposed in the main beam, and the top end is connected to the top knee a sub-beam capable of driving the top knee plate to move and fix relative to the main beam in a direction away from or close to the vehicle body.
  • the beam is provided with a connecting hole
  • the top knee plate is longitudinally provided with a strip-shaped groove; when the connecting hole corresponds to different positions of the strip-shaped groove and is fixed by bolts, the top knee plate Located at different heights.
  • the top knee board includes: an intermediate board connected to the beam, and an inner side board and an outer side board respectively connected to both sides of the intermediate board; the outer side board is larger in size than the inner side board size.
  • the side of the top knee that is in contact with the user is provided with a soft material structure.
  • the front side of the vehicle body is provided with a lighting lamp, and the vehicle body is provided with an indicator light; the indicator light includes: any one of a charging standby state, a power-on charging state, a normal power-on state, a standby state, and an alarm state.
  • the indicator light includes: any one of a charging standby state, a power-on charging state, a normal power-on state, a standby state, and an alarm state.
  • the helper robot of the unfixed seat further includes: an audible prompting device for prompting the state of the assisting robot or performing a dangerous alarm.
  • the helpless robot with no fixed seat has the following advantages:
  • the utility model comprises a top chest plate, a lower end surface of the top chest plate is provided with a first connecting member, and a side wall is provided with a second connecting member; the back hip strap is provided with a third connecting piece matched with the first connecting piece, and the waist strap is provided with A fourth connector that mates with the second connector.
  • the waist strap Connected, put the waist strap on the back of the waist, and connect the fourth connector on the waist strap to the second connector on the help robot. Finally tighten the hip strap and tie the waist.
  • the belt is brought into close contact with the user's buttocks and waist, and the assisting robot can be controlled to perform posture change, horizontal movement or rotational movement. It can be seen from the analysis that the assisting robot provided by the invention can ensure the user has the standing posture and the sitting posture, can effectively reduce the weight of the whole machine, and simplify the structure of the assisting robot, thereby effectively improving the flexibility thereof.
  • the structure size of the Mecanum wheel and its drive motor and reducer is reduced to form an integrated Mecanum wheel.
  • the structure of the assisting robot using the Mecanum wheel is more compact.
  • the axis of the connecting shaft of the driving motor is collinear with the rotating shaft of the Mecanum wheel body, so that the rotation of the Mecanum wheel body with the casing of the driving motor is more stable, and the device using the Mecanum wheel is lowered while walking. shock.
  • the Mecanum wheel integrates the drive motor, which reduces the installation of the Mecanum wheel and its drive unit to a certain extent, and simplifies the structure of the assist robot using this Meinam wheel. To a certain extent, it also simplifies the installation process and requirements of the assisting robot using the Mecanum wheel, reduces its structural weight and manufacturing maintenance cost, and can also improve the reliability of equipment walking to a certain extent.
  • the Mecanum wheel with shock absorbing device through the shock-absorbing fixing bracket, the shock-absorbing moving bracket and the elastic member, so that the vibration generated by the Mecanum wheel while walking can be absorbed by the elastic member;
  • the shock absorbing device has a simple and compact structure.
  • the cost is relatively cheap, and it is also convenient for production and processing. It can not only reduce the vibration of the helper robot when the Mecanum wheel is walking, but also make the structure of the equipment such as the help robot more compact.
  • the invention also provides a control method for the help robot, the help robot is provided with a power switch, and the remote controller is provided with a control switch; when the power switch is turned on, the help robot is in a brake state by default; the control When the switch and the power switch are both in an open state, the remote controller can remotely control the movement of the assisting robot, or control the assisting robot to perform posture change, horizontal movement or rotational movement.
  • control method of the assisting robot is the same as that of the prior art without the fixed seat, and will not be described herein.
  • the control method of the assisting robot provided by the present invention, since the assisting robot is in the braking state by default when the power switch is turned on, the safety of the user can be effectively improved; since the control switch and the power switch are both turned on, The remote control can remotely control the movement of the robot, or control the posture change, horizontal movement or rotational movement, so the use is more convenient and convenient.
  • FIG. 1 is a schematic structural view of a hip strap in a helping robot according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of a waist strap in a helping robot according to an embodiment of the present invention
  • FIG. 3 is a schematic perspective structural view of a whole robot for assisting a robot according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of an explosion structure of a Mecanum wheel and a shock absorbing device in the assisting robot according to an embodiment of the present invention
  • FIG. 5 is a schematic structural diagram of a helper robot in a first state according to an embodiment of the present invention
  • FIG. 6 is a schematic structural diagram of a helper robot in a second state according to an embodiment of the present invention.
  • FIG. 7 is a schematic enlarged structural view of a console and a remote controller in a helper robot according to an embodiment of the present invention.
  • FIG. 8 is a schematic enlarged view showing the back of the top knee mechanism of the assisting robot according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of a foot support plate of a helping robot according to an embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of a control system in a helper robot according to an embodiment of the present invention.
  • FIG. 11 is a schematic structural view of a lifting support mechanism in a helper robot according to an embodiment of the present invention.
  • FIG. 12 is a schematic structural diagram of a knee guard mechanism in a helping robot according to an embodiment of the present invention.
  • 21-fourth connecting piece 22-supporting waist body; 23-supporting waist adjusting belt;
  • 61-top chest plate 62-first connector; 63-second connector; 64-support bar; 65-console; 66-handle; 67-drive assembly; 641-master; 642-par; Moving parts; 651-power switch; 652-speed switch;
  • 801-knee pad 802-slot; 803-mounting bar; 804-slider.
  • connection In the description of the present invention, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of the two components.
  • Connected, or integrally connected can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of the two components.
  • the specific meaning of the above terms in the present invention can be understood in a specific case by those skilled in the art.
  • FIG. 1 is a schematic structural view of a hip strap in a helper robot according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of a waist strap in a helper robot according to an embodiment of the present invention
  • an embodiment of the present invention provides a helper robot or a helper robot without a fixed seat, including: a hip strap 1 and a waist strap 2, and a McNaum.
  • the body 4 of the wheel 3, the body 4 is provided with a sole support plate 5 and a lifting support mechanism 6; the lifting support mechanism 6 comprises a top chest plate 61, the lower end surface of the top chest plate 61 is provided with a first connecting member 62, and the side wall is provided with a second
  • the connecting member 63 is provided with a third connecting member 11 that is mated to the first connecting member 62.
  • the waist strap 2 is provided with a fourth connecting member 21 that is mated with the second connecting member 63.
  • the assisting robot described in the embodiments of the present invention has the following advantages:
  • the utility model comprises: a hip strap 1 and a waist strap 2, and a body 4 having a Mecanum wheel 3.
  • the body 4 is provided on the body 4 a bottom support plate 5 and a lifting support mechanism 6;
  • the lifting support mechanism 6 includes a top chest plate 61, the lower end surface of the top chest plate 61 is provided with a first connecting member 62, and the side wall is provided with a second connecting member 63;
  • the hip strap 1 is provided
  • the third connecting member 11 is mated with the first connecting member 62
  • the waist strap 2 is provided with a fourth connecting member 21 that is mated with the second connecting member 63.
  • the hip strap 1 is laid flat, the user moves to sit there, and then the third connecting member 11 on the hip strap 1 is attached to the assisting robot.
  • the first connecting members 62 are connected, and the waist strap 2 is placed on the back waist of the back, and the fourth connecting member 21 on the waist strap 2 is connected to the second connecting member 63 on the assisting robot.
  • the heel strap 1 and the waist strap 2 are tightened to fit the user's hips and waist, and the assisting robot can be controlled to perform posture change, horizontal movement or rotational movement. It can be seen from the analysis that the assisting robot provided by the embodiment of the invention can ensure the user has the standing posture and the sitting posture, can effectively reduce the weight of the whole machine, and simplify the structure of the assisting robot, thereby effectively improving the flexibility thereof.
  • the first connecting member 62 may adopt a ring buckle, and the second connecting member 63 may adopt an aviation lock;
  • the third connecting member 11 can adopt an ISOFIX interface, and the fourth connecting member 21 can adopt an air insert.
  • the hip strap 1 may include a hip body 12, and a hip adjustment belt 13 disposed on the hip body 12.
  • the free end of the hip adjustment belt 13 may be provided with the above ISOFIX.
  • the interface can be connected to the ring buckle through the ISOFIX interface to fix the hip strap 1;
  • the waist strap 2 can include a waist support body 22, and a support body disposed on the waist support body 22
  • the waist adjusting belt 23 and the free end of the waist adjusting belt 23 may be provided with the above-mentioned aeronautical inserts, so that the aerial inserts can be docked with the aviation lock to realize the fixing of the waist straps 2.
  • ISOFIX International Standards Organisation FIX
  • ISO standard fixtures It is a new standard for placing child seats in cars. This standard is being accepted by many car manufacturers and its role is to make the installation of child seats quick and easy.
  • hip body 12 and the waist body 22 may respectively include an outer leather layer, a middle sponge filling layer, and an inner non-slip cloth layer; and the leather layer and the non-slip cloth layer correspond to each other.
  • One side edge can be connected by a zipper or a snap action, so that the sponge filling layer is a detachable structural member, so that the sponge filling layer can be placed in winter and the sponge filling layer can be taken out during summer use.
  • the non-slip cloth layer may have a lattice-shaped gas permeable net, thereby effectively improving the gas permeability of the hip body through the lattice-shaped gas permeable net, thereby effectively preventing the hip band from causing obvious sweating to the user.
  • the above-mentioned lattice-shaped gas permeable mesh may include a plurality of, and a plurality of lattice-shaped gas permeable meshes may be evenly distributed on the non-slip cloth layer.
  • the lattice-shaped gas permeable mesh is disposed along the longitudinal direction of the hip body 12 and distributed along the width direction; or, the lattice-shaped gas permeable mesh is disposed along the width direction of the hip body 12 and distributed along the length direction.
  • the above-mentioned lattice-shaped gas permeable mesh may include two, and the two lattice-shaped gas permeable nets may be symmetrically distributed on the non-slip cloth layer.
  • the sponge filler layer may have a thickness of 3 cm.
  • the above-mentioned hip adjustment belt 13 and the waist adjustment belt 23 can be provided with an adjustment buckle, so that the adjustment buckle can be effectively used.
  • the length of the hip adjusting belt 13 and the waist adjusting belt 23 are adjusted, so that the hip strap 1 and the waist strap 2 can be well adapted to users of different sizes.
  • the lattice-shaped gas permeable mesh uniformly distributed on the non-slip cloth layer may also be dispensed, so that the anti-slip effect is further effectively improved by the dispensing setting.
  • FIG. 4 is a schematic diagram of an explosion structure of a Mecanum wheel and a shock absorbing device in the assisting robot according to an embodiment of the present invention.
  • the above-mentioned body 4 may include a body 41 and a frame 42 connected to a bottom end region of the body 41.
  • the lifting support mechanism 6 may be coupled to the body 41, and the foot plate is supported. 5 can be connected to the frame 42.
  • the above-mentioned Mecanum wheel 3 may include a front Mecanum wheel 31 connected to the vehicle body 41 and connected to the frame 42.
  • Rear Mecanum wheel 32; the front Mecanum wheel 31 and the rear Mecanum wheel 32 may respectively include a Mecanum wheel body 33, a drive motor 34 and a speed reducer, the drive motor 34 and the speed reducer being partially or fully disposed
  • the wheel shaft hole of the Mecanum wheel body 33; the output shaft of the drive motor 34 is collinear with the rotary shaft of the Mecanum wheel body 33, and the Mecanum wheel body 33 rotates with the housing of the drive motor 34.
  • the structure size of the Mecanum wheel 3 and its drive motor 34 and reducer is reduced to form an integrated McN.
  • the wheel 3 makes the structure of the assisting robot using the Mecanum wheel 3 more compact.
  • the axis of the connecting shaft of the driving motor 34 is collinear with the rotating shaft of the Mecanum wheel body 33, so that the McNane wheel body 33 is more stable with the rotation of the casing of the driving motor 34, and the device using the McNane wheel is lowered. Vibration when walking.
  • the Mecanum wheel 3 integrates the drive motor 34, which reduces the mounting components of the Mecanum wheel 3 and its drive unit to a certain extent, and simplifies the structure of the assist robot using the Mecanum wheel 3. To a certain extent, it also simplifies the installation process and requirements of the assisting robot using the Mecanum wheel, reduces its structural weight and manufacturing maintenance cost, and can also improve the reliability of equipment walking to a certain extent.
  • the Mecanum wheel body 33 is composed of a Mecanum roller bracket and a Mecanum roller, the Mecanum roller is set on the Mecanum roller bracket, and the Mecanum roller bracket and the driving motor 34 The housing is connected.
  • the ends of the Mecanum roller are connected to the Mecanum roller bracket, or the middle of the Mecanum roller is connected to the Mecanum roller bracket.
  • the helpless robot of the unfixed seat may further include: a damper device 9, which may include a damper fixing bracket 91 and a damper moving bracket. 92; the damper moving bracket 92 is fixedly connected with the output shaft of the driving motor 34 of the Mecanum wheel 3; the damper fixing bracket 91 includes at least one damper fixing shaft 93; the damper moving bracket 92 is jacketed on the damper fixing shaft 93 And reciprocally movable along the axial direction of the shock absorbing fixed shaft 93, so that the Mecanum wheel 3 can reciprocate along the axial direction of the damper fixing shaft 93 with the damper moving bracket 92; the shock absorbing moving bracket 92 has two elasticity
  • the member 931; the two elastic members 931 are connected with the damper moving bracket 92, the elastic member 931 is in a compressed state or the elastic member 931 is in a non-stress state, and the elastic member 931 has a tendency to return the damper moving bracket
  • the axial direction of the damper fixing shaft 93 is set at a right angle to the axial direction of the connecting shaft of the driving motor 34 or is approximately Right angle , So that the damper fixing shaft 93, two resilient elements 931 can well helping to reduce the vibration of the robot and other equipment Mecanum wheels 3 when walking.
  • the Mecanum wheel 3 having the damper device 9 passes through the damper fixing bracket 91, the damper moving bracket 92 and the elastic member 931 so that the vibration generated by the Mecanum wheel 3 during walking can be absorbed by the elastic member 931;
  • the shock absorbing device 9 has a simple and compact structure, is relatively inexpensive, and is convenient for production and processing. It can not only reduce the vibration of the assisting robot when the Mecanum wheel 3 is walking, but also make the structure of the auxiliary robot and the like more compact.
  • the damper moving bracket 92 includes a damper moving bracket connecting portion and at least two damper moving bracket sleeve portions; the connecting shaft of the driving motor 34 passes through the damper moving bracket connecting portion and is fixedly connected with the damper moving bracket connecting portion; Alternatively, the connecting shaft of the drive motor 34 is fixedly coupled to the damper moving bracket 92 by a nut.
  • the shock-absorbing moving bracket sleeve is jacketed on the shock-absorbing fixed shaft 93, and the number of the shock-absorbing moving bracket sleeves corresponds to the number of the shock-absorbing fixed shafts 93; that is, the number and the reduction of the shock-absorbing moving bracket sleeves The number of the vibration fixing shafts 93 is the same.
  • the adjacent shock-absorbing moving bracket sleeves are fixedly connected by the shock-absorbing moving bracket connecting portion; the shock-absorbing moving bracket connecting portion protrudes from the surface formed by the adjacent shock-absorbing moving bracket sleeve portion, so that the shock-absorbing moving bracket 92
  • An arc-shaped or arc-like structure is formed to improve the elastic deformation capability of the shock absorbing moving bracket 92 to better transmit the supporting force of the Mecanum wheel 3 to the apparatus through the damper device 9.
  • the number of the damper fixing shafts 93 is 1, 2, 4, 5, and the like.
  • the number of the damper fixing shafts 93 is set in pairs.
  • the number of the damper fixing shafts 93 is two; the number of the damper moving bracket sockets is also two; and the damper moving bracket 92 has a symmetrical structure.
  • the connecting shaft of the drive motor 34 passes through the center of the damper moving bracket 92 and is fixedly coupled to the damper moving bracket connecting portion.
  • the elastic member 931 includes a spring, a rubber ring or a silicone ring, or other elastic members 931, such as a polyester elastomer or a polyurethane elastic member.
  • the number of the damping devices 9 may be one or more.
  • the number of the damper devices 9 is one; the damper device 9 is disposed at one side of the Mecanum wheel 3, and the damper device 9 is fixedly coupled to the connecting shaft of the drive motor 34 of the Mecanum wheel 3.
  • the number of the damping devices 9 is two; the Mecanum wheel 3 is disposed between the two damping devices 9, and the two damping devices 9 are connected to the driving shaft 34 of the Mecanum wheel 3 Fixed connection. That is, the connecting shaft of the drive motor 34 of the Mecanum wheel 3 penetrates the Mecanum wheel 3 so that both ends of the connecting shaft of the drive motor 34 are respectively connected to the damper device 9.
  • the damper device 9 By arranging the damper device 9 on both sides of the Mecanum wheel 3, the shock absorbing performance of the Mecanum wheel 3 having the damper device 9 is improved to further reduce the installation of the Shield with the damper device 9 The vibration of the wheel 3 helps the robot.
  • FIG. 5 is a schematic structural diagram of a helper robot in a first state according to an embodiment of the present invention
  • FIG. 6 is a schematic structural diagram of a helper robot in a second state according to an embodiment of the present invention.
  • the lifting support mechanism 6 may include: a support rod 64 , one end of the support rod 64 is hinged to the body 4 , and the other end is provided with a console 65 , and the console 65 may be connected with a handle 66 and The top chest plate 61; a drive assembly 67 is further connected between the support rod 64 and the body 4, so that the drive assembly 67 can bring the support rod 64 in the first state (as shown in FIG. 5) or the second state (as shown in FIG. 6). And being able to switch between the first state and the second state.
  • the driving component 67 can be an electric push rod.
  • the support rod 64 When the electric push rod is extended, the support rod 64 is in a vertical state, corresponding to the second state (standing state), as shown in FIG. 6; when the electric push rod is retracted, The support rod 64 is in a horizontal state, corresponding to the first state (sitting state), as shown in FIG.
  • the driving component 67 can also be a hydraulic push rod or a pneumatic push rod, etc., and is not limited herein.
  • the handle 66 is integrally provided with the top chest plate 61 and the support rod 64, which is more stable and safe for the user when changing the posture.
  • the height of the assisting robot is less than 0.8 meters, so that the user can enter the underside of the table to ensure the user completes the desk work or daily catering.
  • the user can lower the lifting support mechanism 6 by releasing the hip strap 1 so that the buttocks can contact the toilet to complete the preparation work of the toilet; the lifting support mechanism 6 is raised, and the support is fixed by the back.
  • the waist strap 2, which brings up the user, can complete the standing from above the toilet.
  • the support rod 64 may include a main rod 641 and a sub-rod 642 disposed in the main rod 641.
  • the sub-rod 642 and the main rod 641 may be connected by the movable member 643, and the auxiliary rod
  • the 642 can be telescopically moved within the main rod 641 and fixed by the movable member 643, thereby achieving height adjustment of the support rod 64 to accommodate users of different heights (for example, 150 cm - 190 cm).
  • FIG. 7 is an enlarged schematic structural diagram of a console and a remote controller in a helper robot according to an embodiment of the present invention.
  • the console 65 may be provided with a power switch 651 and at least two speed control switches 652; and the console 65 is provided with a groove, which can be used for placing the remote controller 7 And charging the remote controller 7.
  • the above-mentioned body 4 is provided with a control component, which is connected with the driving component 67 for controlling the lifting and lowering of the support rod 64; and the remote controller can be connected to the control component through a wireless connection to enable the remote controller to be remotely Control the robot to move.
  • the remote controller 7 can remotely control the movement of the assisting robot, or control the assisting robot to perform posture change, horizontal movement or rotational movement.
  • the remote controller 7 is provided with a raise button, a down button, a direction rocker, a clockwise rotation button and a counterclockwise rotation button; the lift height is adjusted by pressing the raise button or the down button to stand up and sit.
  • the remote control 7 can also be provided with a light on-off key and an SOS help button; the light on the remote control robot can be turned on or off by pressing the illumination light on the key; the alarm call can be immediately realized by pressing the SOS help button if the robot When the host is in the active state, the robot host simultaneously calls for an alarm (when the SOS help button is pressed again, the rescue alarm stops).
  • the top chest plate 61 may include: an EVA filling layer, and a leather layer wrapped on the outer side of the EVA filling layer; and the lower ends of the top chest plate 61 may be an upwardly folded arc structure, thereby being topped. After the chest plate 61 is lowered, the space between the chest and the leg is effectively increased, and the comfort is improved.
  • EVA refers to "ethylene-vinyl acetate copolymer” and its rubber-plastic foam material, molecular formula (C2H4)x.(C4H6O2)y, used to make refrigerator ducts, gas pipes, civil plates, containers and daily necessities, etc. .
  • the frame 42 may include a fixing beam 421 and a movable beam 423 connected to the fixing beam 421 through a fixing member 422.
  • the rear Mecanum wheel 32 is coupled to the fixed beam 421
  • the sole plate 5 is coupled to the movable beam 423, so that the movable beam 423 can move the sole plate 5 relative to the fixed beam 421 in a direction away from or close to the body 41.
  • the fixing member 422 fixed by the fixing member 422, thereby better adapting to users of different height and shape.
  • the assisting robot provided by the embodiment of the present invention may further include: a top knee mechanism 8 connected to the vehicle body 41; the top knee mechanism 8 may include: a vertical beam 81, one end of the vertical beam 81 and The body 41 is connected, and the other end is connected with a beam 82.
  • the beam 82 is symmetrically disposed with two movably connected top knee plates 83.
  • the vertical beam 81 may include a main beam 811 and a sub beam 812. One end of the main beam 811 is connected to the vehicle body 41. One end of the sub beam 812 is disposed in the main beam 811 and connected at the other end.
  • the top knee plate 83 is provided so that the sub-beam 812 can move the top knee plate 83 relative to the main beam 811 in a direction away from or close to the body 41, thereby better adapting to users of different heights.
  • FIG. 8 is a schematic enlarged view showing the back of the top knee mechanism of the assisting robot according to an embodiment of the present invention.
  • the beam 82 is provided with a connecting hole
  • the top knee plate 83 is longitudinally provided with a strip-shaped groove 831, so that the connecting hole corresponds to different positions of the strip-shaped groove 831 and is fixed by the bolt 832.
  • the top knees 83 can be located at different heights to better accommodate users of different heights.
  • the top knee plate 83 may include: an intermediate plate 833 connected to the beam 82, and an inner plate 834 and an outer plate 835 respectively connected to both sides of the intermediate plate 833; and, the outer side
  • the size of the plate 835 is preferably larger than the size of the inner side plate 834.
  • the side of the top knee plate 83 that is in contact with the user is provided with a soft material structure member, so that the comfort can be effectively improved.
  • the front side of the vehicle body 41 may be provided with an illumination lamp 411, and the vehicle body 41 may further be provided with an indicator light.
  • the indicator light may include: a charging standby state (for example, green is always on), a power-on state (for example, green flashing), a normal power-on state (for example, blue flashing), and a standby state (for example, blue is always bright). Any one or more of the alarm status (for example, red flashing).
  • the helper robot provided by the embodiment of the present invention may further include: an audible prompting device, which can be used to prompt the state of the assisting robot or perform a dangerous alarm.
  • the metal square tube fixed in the front direction of the vehicle body 41 may be an impact beam.
  • the embodiment of the invention further provides a control method for assisting the robot, the help robot is provided with a power switch, and the remote controller is provided with a control switch; when the power switch is turned on, the help robot is in a brake state by default; the control switch and the power switch are at When the state is on, the remote controller can remotely control the movement of the assisting robot, or control the robot to perform posture change, horizontal movement or rotational movement.
  • the assisting robot and the control method thereof provided by the embodiments of the invention can ensure the user has a standing posture and a sitting posture, can effectively reduce the weight of the whole machine, and simplify the structure of the assisting robot, thereby effectively improving the flexibility thereof.
  • the remote controller can remotely control the movement of the assisting robot, or control the posture change, horizontal movement or rotational movement, so that the use is more convenient and convenient.
  • the contact between the robot and the human body is ergonomically designed, the textile is firm and comfortable, and is easy for the user to wear.
  • the remote control can remotely control the help robot to perform various plane movements, and can also be mounted on the robot base.
  • the robot and the prompts can be powered by the robot body. All the robot's motion operations are controlled by the remote control, and can also operate the switch lights, call for help, remote control robot switch machine and so on.
  • Adaptable users include at least the following categories: 1. Users who are paralyzed by disease or trauma can control their hands; 2. People who cannot walk normally due to illness or aging; 3. Can stand by external facilities People, such as crutches.
  • FIG. 9 is a schematic structural diagram of a foot support plate in a helping robot according to an embodiment of the present invention.
  • the foot supporting plate 5 may include a pedal 52, a footrest adjusting block 53, two front footrests 51 and two rear footrests 55, and the pedal 52 is mounted on the body.
  • two front foot blocks 51 are mounted side by side on the pedal 52
  • the foot block adjusting block 53 is mounted in the middle of the two front foot blocks 51
  • the two rear foot blocks 55 are mounted on the pedals 52 on the opposite sides of the two front foot blocks 51.
  • the two rear footrests 55 are integrally formed with the footrest adjusting block 53.
  • the footrest adjusting block 53 has an elongated hole, and the positions of the footrest adjusting block 53 and the two rear footrests 55 are adjusted by the bolts 54. In this way, by adjusting the position of the elongated hole on the footrest adjusting block 53 at the bolt 54, the distance between the two front footrests 51 and the two rear footrests 55 is achieved, which is convenient for patients of different foot sizes.
  • the two front foot stops 51 and the two rear foot stops 55 are all curved foot stops, and one front foot block 51 and one rear foot block 55 are oppositely arranged to form an elongated semi-enclosed area for the user to stand on the strip.
  • the footrest above the horizontal plane of the pedal 52 can prevent the user from shifting the foot when standing or moving, thereby ensuring the safety of the user.
  • FIG. 10 is a schematic structural diagram of a control system in a helper robot according to an embodiment of the present invention.
  • the help robot provided by the embodiment of the present invention further includes a control system, which may include a sensor probe 71, a control box 72, a mounting post 73, a camera 74, a searchlight 75, and a camera mounting plate 76, and a sensor probe.
  • a sensor probe 71 is mounted on the outer end surface of the body 4
  • the control box 72 is mounted on the front end surface of the body 4
  • the mounting post 73 is mounted on the outer side wall of the control box 72 located inside the body 4
  • the camera mounting plate 76 is mounted on the mounting post 73.
  • Both the camera 74 and the searchlights 75 are mounted on the camera mounting plate 76.
  • the searchlight 75 can provide illumination to the user when the incoming light is insufficient, the control box 72 receives the remote control command, and controls the searchlight 75 to be turned on; the camera 74 collects the scene information in front of the device and transmits it to the control box 72, and the control box 72 determines whether As an obstacle, if there is an obstacle in front, the control box 72 controls the wheel to stop, and the device stops moving forward; the sensor probe 71 collects the side information of the vehicle, and if there is an obstacle, returns the obstacle information to the control box 72, and after the control box 72 accepts the information, the device is judged. Stop and no longer pan or turn.
  • FIG. 11 is a schematic structural diagram of a lifting support mechanism in a helping robot according to an embodiment of the present invention.
  • the lifting support mechanism 6 may include a chest plate 603, two handles 605, a handle shaft 604, a lifting arm 606, a lifting arm shaft 602, an electric cylinder, an electric cylinder bracket 608, and a lifting bracket 607.
  • the bracket 607 is mounted on the upper end of the mounting post 73.
  • One end of the lifting arm 606 is rotatably connected to the lifting bracket 607, and the other end of the lifting arm 606 is connected to the chest plate 603 through the lifting swing arm shaft 602.
  • the two handles 605 are mounted through the handle shaft 604.
  • the lifting support mechanism 6 drives the lifting and lowering arms 606 and the chest plate 603 up and down by the lifting and lowering of the electric cylinder.
  • the inside of the breastplate 603 further includes a protective cotton pad, and the protective cotton pad is mounted on the breast shield 603, which can prevent the user from colliding with the front chest and better protect the safety of the user.
  • the side of the breast shield 603 has a shield that is bent toward the side of the user. This is to prevent personal danger when the user shakes left or right when the balance is lost.
  • FIG. 12 is a schematic structural diagram of a knee guard mechanism in a helping robot according to an embodiment of the present invention.
  • the assisting robot provided by the embodiment of the present invention may further include a top knee mechanism 8 including two knee guard assemblies, and the two knee guard assemblies are mounted side by side on the body 4. This is set to protect the user's knees from injury.
  • Each of the knee brace components includes a knee guard 801, a chute 802, a mounting rod 803, and a slide bar 804.
  • the mounting rod 803 is vertically mounted on the body 4, and the chute 802 is mounted on the upper end of the mounting rod 803, and the sliding rod 804 is One end is slidably disposed in the sliding slot 802, and the other end of the sliding bar 804 is coupled to the knee guard 801. With this arrangement, it is convenient and flexible to adjust the position of the knee guard 801.
  • the knee protector 801 is a curved knee protector which is more conformable to the shape of the knee portion of the human body to better protect the safety of the user.
  • the lifting support mechanism may include a support frame and a clamping mechanism, the clamping mechanism is rotatably mounted on the support frame, and the clamping mechanism is moved up and down and forward and backward in the adjustment of the support frame;
  • the support frame may include The bottom fixing frame, the two connecting rods, the two sliding rods, the two knobs, the top fixing frame and the two rotating shafts, the bottom fixing frame and the top fixing frame are arranged up and down, and one end of the two connecting rods is rotatably mounted on the bottom fixing frame, One end of each sliding rod is disposed in one connecting rod, and each sliding rod is fixed in one connecting rod by a knob, and the other end of each sliding rod is rotatably mounted on the lower end of the top fixing bracket, two rotating shafts Mounted on the top mount.
  • the bottom bracket, the two connecting rods, the two sliding rods and the top fixing frame form a four-sided rod mechanism
  • the four-sided rod mechanism used in the invention can effectively maintain the angle of the clamping mechanism and is safer to use. It is reliable and effective to prevent damage to the user caused by unstable lifting support mechanism during use.
  • the adjustment of the length of the two connecting rods and the two sliding rods is achieved by adjusting the position of the adjusting knob on the sliding rod, and the upper and lower fixing frames are supported by the clamping mechanism.
  • the adjustment can realize the adjustment of the support frame in the up and down direction, and the use is more flexible, and cooperates with the rotation of the clamping mechanism, thereby realizing all-round and position adjustment without dead angle.
  • the top fixing frame may include a connecting portion, two sets of connecting ears and two connecting portions, the connecting portion is a rectangular connecting plate, and the two sets of connecting ears are mounted on the lower end surface of the connecting portion along the length direction of the connecting portion, two The adapter portion is mounted at both ends of the connecting portion in the longitudinal direction, and the adapter portion is located on one side of the two sets of connecting ears.
  • the two adapters are arranged in a "V" shape between the connecting portions. This arrangement provides a more comfortable angle for the rotation of the clamping mechanism.
  • the connecting portion, the two sets of connecting ears and the two adapter portions are integrally formed. With this arrangement, the structure is simple and easy to manufacture.
  • the clamping mechanism includes a left clamping member and a right clamping member.
  • the left clamping member and the right clamping member are oppositely rotated, and the left clamping member and the right clamping member are respectively rotatably mounted on a rotating shaft. So set up, the structure is symmetrical, easy to install, use and manufacture.
  • the left clamping member comprises a left clamping pad, a left clamping arm, a left flexible handle and a left rotating shaft, the left rotating shaft is mounted at one end of the left clamping arm, and the left clamping pad is mounted at the other end of the left clamping arm
  • the left flexible handle is mounted on the left clamping arm.
  • the left clamping pad is a flexible "V" shaped clamping pad. This setting makes the user more comfortable to use and does not get stuck under the arm, ensuring the user's safety.
  • the left clamping arm is a "Z" shaped clamping arm. With this arrangement, the user is more labor-saving and convenient in the process of turning the clamping arm.
  • the right clamping member includes a right clamping pad, a right clamping arm, a right flexible handle and a right rotating shaft, the right rotating shaft is mounted at one end of the right clamping arm, and the right clamping pad is mounted at the other end of the right clamping arm
  • the right flexible handle is mounted on the right clamping arm.
  • the two connecting rods and the two sliding rods are hollow cylinders or hollow rectangular columns. With such a setting, the structure is simple, the weight is light, the cost is low, and the adjustment is more convenient.
  • the shaft is a hollow column. The arrangement is such that the right rotating shaft and the left rotating shaft are rotatably inserted into the hollow column.
  • the lifting support mechanism may be composed of a strut, a handle, a control mechanism and a chest protection mechanism;
  • the strut is a rigid long rod;
  • the handle is composed of a handle frame and a glove, and the handle frame is folded a bending member, the handle frame has a flat shape in the middle thereof and is provided with a screw hole for fixing on the chest protection mechanism, the two ends of the handle frame are sleeved with a glove;
  • the control mechanism is composed of a handle, a contact and an outer casing
  • the inside of the outer casing is provided with a rotating shaft for connecting a strut, the outer casing is provided with a groove, the handle is embedded in the groove, the bottom of the groove is provided with a contact, and the bottom of the outer casing is disposed There is a through hole for the handle to pass through;
  • the chest protection mechanism is composed of a storage bag, a chest plate, a back plate, a flexible pad, and a strap, and the flexible pad
  • the outer casing has a groove for easy placement of the handle; the handle can be fixed on the outer casing or can be separated from the outer casing, which is simple and convenient.
  • the handle has a flexible glove that provides a comfortable grip and maintains body balance.
  • a flexible material is attached to the breastplate to reduce compression on the chest and enhance comfort.
  • the straps are fixed in 4 points to improve stability.
  • Most of the parts are injection molded parts and bent parts, which have the characteristics of simple structure, low cost and convenient and comfortable wearing. It can reduce the overall cost of helping robots, save resources, and make it easy for walking robots to enter thousands of households.
  • the material of the glove is made of flexible material; the handle is provided with a flexible glove, which is comfortable to hold and can maintain the balance of the body.
  • a USB socket is provided on the outer casing; the USB socket can charge a device such as a mobile phone.
  • the bottom of the groove on the outer casing is provided with four contacts, two of which provide power for the handle, and the other two are serial ports, which are connected as signal output ends to external signal receiving terminals; when the handle battery is dead, it can continue to be used.
  • the communication interface is a reserved handle communication, which can expand other types of handles.
  • the straps are attached to the chest plate and the back plate in a 4-point fixed manner; the four-point fixing can improve stability.
  • a battery is disposed in the handle, and is disposed in a groove on the outer casing or separated from the outer casing for operation; the handle can be used on the hand or controlled by others.

Abstract

本发明公开一种无固定座椅的帮扶机器人、帮扶机器人及其控制方法，涉及医疗器械技术领域，以解决现有的帮扶机器人因设置有自动座椅而导致整机重量大、结构复杂，灵活性较差的技术问题。本发明所述的帮扶机器人，包括：托臀绑带和扶腰绑带，以及具有麦克纳姆轮的机体，机体上设有脚底托板和升降支撑机构；升降支撑机构包括顶胸板，顶胸板的下端面设有第一连接件、侧壁设有第二连接件；托臀绑带设有与第一连接件匹配对接的第三连接件，扶腰绑带设有与第二连接件匹配对接的第四连接件。本发明提供的帮扶机器人，既能够保证使用者具有站姿和坐姿，又能够有效减轻整机重量，使帮扶机器人结构简化，从而有效提高其的灵活性。

Description

无固定座椅的帮扶机器人、帮扶机器人及其控制方法
相关申请的交叉引用
本申请要求于2018年06月12日提交中国专利局的申请号为201810604374.2、名称为“无固定座椅的帮扶机器人、帮扶机器人及其控制方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中；
本申请要求于2017年11月09日提交中国专利局的申请号为201711098368.6、名称为“一种帮扶机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本申请要求于2017年11月09日提交中国专利局的申请号为201711100203.8、名称为“一种助行机器人夹紧支撑结构”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本申请要求于2017年11月09日提交中国专利局的申请号为201711100219.9、名称为“一种助行机器人胸部支撑结构”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及医疗器械技术领域，尤其涉及一种无固定座椅的帮扶机器人、帮扶机器人及其控制方法。
背景技术
帮扶机器人用于医院和家庭中老年人、残疾人、瘫痪患者等行动不便者的助行，理疗与康复护理。在使用时共存在两种使用状态，一个是能够保证使用者安全的站立姿势；另一个是能够满足使用者的坐姿；这两种使用状态均能够在移动状态下实现。
具体地，现有技术中的帮扶机器人通常包括自动座椅，该自动座椅主要包括座椅组件、座椅抬起组件和座椅伸出组件。
然而，本申请发明人发现，设置有自动座椅的帮扶机器人通常整机重量较大、结构复杂，移动时的灵活性较差。
因此，如何提供一种无固定座椅的帮扶机器人、帮扶机器人及其控制方法，既能够保证使用者具有站姿和坐姿，又能够有效减轻整机重量，已成为本领域技术人员亟需解决的技术问题。
发明内容
本发明的目的在于提供一种无固定座椅的帮扶机器人、帮扶机器人及其控制方法，以解决现有的帮扶机器人因设置有自动座椅而导致整机重量大、结构复杂，灵活性较差的技术问题。
本发明提供一种帮扶机器人，包括：托臀绑带和扶腰绑带，以及具有麦克纳姆轮的机 体，所述机体上设有脚底托板和升降支撑机构；所述升降支撑机构包括顶胸板，所述顶胸板的下端面设有第一连接件、侧壁设有第二连接件；所述托臀绑带设有与所述第一连接件匹配对接的第三连接件，所述扶腰绑带设有与所述第二连接件匹配对接的第四连接件。
其中，所述脚底托板包括踏板、脚挡调节块、两个前脚挡和两个后脚挡，所述踏板安装在所述机体上，两个所述前脚挡并排安装在所述踏板上，所述脚挡调节块安装在两个所述前脚挡的中部，两个所述后脚挡安装在两个所述前脚挡相对一侧的所述踏板上，且两个所述后脚挡与所述脚挡调节块制成一体，所述脚挡调节块上开设长条形孔，所述脚挡调节块和两个所述后脚挡的位置通过螺栓调节。
具体地，所述帮扶机器人还包括控制系统，所述控制系统包括传感器探头、控制箱、安装支柱、摄像头、探照灯和摄像头安装板，所述传感器探头安装在所述机体的外侧端面上，所述控制箱安装在所述机体的前端面上，所述安装支柱安装在位于所述机体内侧的所述控制箱外侧壁上，所述摄像头安装板安装在所述安装支柱上，所述摄像头和所述探照灯均安装在所述摄像头安装板上。
进一步地，所述升降支撑机构包括护胸板、两个把手、把手转轴、升降摆臂、升降摆臂转轴、电缸、电缸支架和升降支架，所述升降支架安装在所述安装支柱上端，所述升降摆臂的一端与所述升降支架转动连接，所述升降摆臂的另一端通过所述升降摆臂转轴与所述护胸板连接，两个所述把手通过所述把手转轴安装在所述护胸板上，且两个所述把手位于所述升降摆臂的两侧，所述电缸支架安装在所述升降摆臂的下端，所述电缸安装在所述机体上，所述电缸支架与所述电缸的上端连接。
更进一步地，所述护胸板的两侧带有向使用者一侧弯曲的防护板。
实际应用时，所述帮扶机器人还包括护顶膝机构，所述顶膝机构包括两个护膝组件，两个所述护膝组件并排安装在所述机体上。
其中，每个所述护膝组件均包括护膝板、滑槽、安装杆和滑杆，所述安装杆竖直安装在所述机体上，所述滑槽安装在所述安装杆的上端，所述滑杆的一端滑动穿设在所述滑槽内，所述滑杆的另一端与所述护膝板连接。
实际应用时，所述升降支撑机构包括支撑架和夹紧机构，所述夹紧机构转动安装在所述支撑架上，且所述夹紧机构在所述支撑架的调节下实现上下、前后方向运动；所述支撑架包括底部固定架、两根连杆、两根滑杆、两个旋钮、顶部固定架和两个转轴，所述底部固定架和所述顶部固定架上下设置，两根所述连杆的一端转动安装在所述底部固定架上，每根所述滑杆的一端穿设在一根所述连杆内，且每根所述滑杆通过一个所述旋钮固定在一根所述连杆内，每根所述滑杆的另一端转动安装在所述顶部固定架的下端，两个所述转轴安装在所述顶部固定架上。
其中，所述顶部固定架包括连接部、两组连接耳和两个转接部，所述连接部为矩形连接板，两组所述连接耳沿所述连接部的长度方向安装在所述连接部的下端面上，两个所述转接部安装在所述连接部长度方向的两端，且所述转接部位于两组所述连接耳的一侧。
实际应用时，所述升降支撑机构由支杆、把手、控制机构和护胸机构组成；所述支杆为刚性的长杆；所述把手由把手架与把手套组成，所述把手架为折弯件，所述把手架的中间为扁状并设置有螺孔用以固定在所述护胸机构上，所述把手架的两端套有所述把手套；所述控制机构由手柄、触点和外壳组成，所述外壳的内部设置有转轴用以连接所述支杆，所述外壳上设置有凹槽，所述手柄嵌在凹槽内，所述凹槽的底部设置有若干个所述触点， 所述外壳的底部设置有用以所述把手穿过的通孔；所述护胸机构由储物袋、护胸板、后背板、柔性护垫、和绑带组成，所述柔性护垫贴合固定在所述护胸板的内侧，所述护胸板和所述后背板之间通过所述绑带连接；所述支杆与所述控制机构通过转轴铰接，所述把手从所述控制机构中穿出通过螺纹连接固定在所述护胸板的前端。
相对于现有技术，本发明所述的帮扶机器人具有以下优势：
本发明提供的帮扶机器人中，包括：托臀绑带和扶腰绑带，以及具有麦克纳姆轮的机体，机体上设有脚底托板和升降支撑机构；升降支撑机构包括顶胸板，顶胸板的下端面设有第一连接件、侧壁设有第二连接件；托臀绑带设有与第一连接件匹配对接的第三连接件，扶腰绑带设有与第二连接件匹配对接的第四连接件。使用本发明提供的帮扶机器人时，先将托臀绑带平置铺好，使用者移动至此坐下，然后将托臀绑带上的第三连接件与帮扶机器人上的第一连接件相连，再将扶腰绑带放于自身的背后腰部，并将扶腰绑带上的第四连接件与帮扶机器人上的第二连接件相连，最后收紧托臀绑带和扶腰绑带使其与使用者的臀部和腰部紧密贴合，便可控制帮扶机器人进行姿态变换、水平移动或旋转移动。由此分析可知，本发明提供的帮扶机器人，既能够保证使用者具有站姿和坐姿，又能够有效减轻整机重量，使帮扶机器人结构简化，从而有效提高其的灵活性。
本发明提供一种无固定座椅的帮扶机器人，包括：托臀绑带和扶腰绑带，以及具有麦克纳姆轮的机体，所述机体上设有脚底托板和升降支撑机构；所述升降支撑机构包括顶胸板，所述顶胸板的下端面设有第一连接件、侧壁设有第二连接件；所述托臀绑带设有与所述第一连接件匹配对接的第三连接件，所述扶腰绑带设有与所述第二连接件匹配对接的第四连接件。
其中，所述第一连接件采用环形扣，所述第二连接件采用航空锁扣；所述第三连接件采用ISOFIX接口，所述第四连接件采用航空插片。
具体地，所述托臀绑带包括托臀本体，以及设置在所述托臀本体上的托臀调节带，所述托臀调节带的自由端设有所述ISOFIX接口，所述ISOFIX接口用于与所述环形扣对接；所述扶腰绑带包括扶腰本体，以及设置在所述扶腰本体上的扶腰调节带，所述扶腰调节带的自由端设有所述航空插片，所述航空插片用于与所述航空锁扣对接。
实际应用时，所述托臀本体和所述扶腰本体分别包括：外侧的皮革层，中间的海绵填充层，以及内侧的防滑布料层；所述皮革层和所述防滑布料层相对应的一侧边沿通过拉链或按扣活动连接，所述海绵填充层为可拆卸结构件。
其中，所述防滑布料层具有格状透气网。
具体地，所述格状透气网包括有多个，且多个所述格状透气网在所述防滑布料层上间隔均匀分布。
可替代地，所述格状透气网包括有两个，且两个所述格状透气网在所述防滑布料层上呈左右对称分布。
进一步地，所述海绵填充层的厚度为3cm。
更进一步地，所述托臀调节带和所述扶腰调节带上穿设有调节扣，所述调节扣用于调节所述托臀调节带和所述扶腰调节带的长度。
可选地，所述防滑布料层具有点胶，且所述点胶在所述防滑布料层上间隔均匀分布。
进一步地，所述机体包括：车身，以及与所述车身的底端区域连接的车架；所述升降支撑机构与所述车身连接，所述脚底托板与所述车架连接；所述麦克纳姆轮包括：与所述 车身连接的前麦克纳姆轮和与所述车架连接的后麦克纳姆轮；所述前麦克纳姆轮和所述后麦克纳姆轮分别包括：麦克纳姆轮本体、驱动电机和减速器，所述驱动电机和所述减速器部分或全部设置在所述麦克纳姆轮本体的轮轴孔内；所述驱动电机的输出轴与所述麦克纳姆轮本体的回转轴共线，且所述麦克纳姆轮本体随所述驱动电机的壳体转动。
可选地，所述麦克纳姆轮本体由麦克纳姆滚子支架和麦克纳姆滚子组成，所述麦克纳姆滚子设在所述麦克纳姆滚子支架上，所述麦克纳姆滚子支架与所述驱动电机的壳体连接。
其中，所述麦克纳姆滚子的两端与所述麦克纳姆滚子支架连接，或者所述麦克纳姆滚子的中间与所述麦克纳姆滚子支架连接。
更进一步地，所述无固定座椅的帮扶机器人还包括：减震装置，所述减震装置包括减震固定支架和减震移动支架；所述减震移动支架与所述麦克纳姆轮的所述驱动电机的输出轴固定连接；所述减震固定支架包括至少一个减震固定轴；所述减震移动支架外套在所述减震固定轴上并能沿所述减震固定轴的轴向往复移动；所述减震移动支架外套有两个弹性元件；两个所述弹性元件之间连接所述减震移动支架；所述减震固定轴的轴向与所述驱动装置的输出轴的轴向呈夹角设置。
其中，所述减震移动支架包括减震移动支架连接部和至少两个减震移动支架套接部；所述驱动电机的连接轴穿过所述减震移动支架连接部并与所述减震移动支架连接部固定连接；可选地，所述驱动电机的连接轴通过螺母固定连接在所述减震移动支架上。
具体地，所述减震移动支架套接部外套在所述减震固定轴上，且所述减震移动支架套接部的数量与所述减震固定轴的数量相对应；也即所述减震移动支架套接部的数量与所述减震固定轴的数量相同。
进一步地，相邻所述减震移动支架套接部之间通过所述减震移动支架连接部固定连接；所述减震移动支架连接部凸出于相邻所述减震移动支架套接部形成的表面，以使所述减震移动支架形成弧形或者类似于弧形的结构，以提高所述减震移动支架的弹性形变能力，以更好地将所述麦克纳姆轮的支撑力通过所述减震装置传递给设备。
可选地，所述减震固定轴的数量为1个、2个、4个、5个。可选地，所述减震固定轴的数量成对设置。
优选地，所述减震固定轴的数量为两个；所述减震移动支架套接部的数量也为两个；并且，所述减震移动支架为对称结构。可选地，所述驱动电机的连接轴穿过所述减震移动支架的中心并与所述减震移动支架连接部固定连接。
可选地，所述弹性元件包括弹簧、橡胶圈、硅胶圈或聚酯弹性体。
更进一步地，所述减震装置的数量为一个；所述减震装置设置在所述麦克纳姆轮的一侧，且所述减震装置与所述麦克纳姆轮的驱动电机的连接轴固定连接；或者，所述减震装置的数量为两个；两个所述减震装置之间设置有所述麦克纳姆轮，且两个所述减震装置均与所述麦克纳姆轮的驱动电机的连接轴固定连接。
实际应用时，所述升降支撑机构包括：支撑杆，所述支撑杆的一端与所述机体铰接、另一端设置有控制台，所述控制台连接有手柄和所述顶胸板；所述支撑杆与所述机体之间还连接有驱动组件，所述驱动组件用于使所述支撑杆处于第一状态或第二状态，并能够在所述第一状态与所述第二状态之间进行切换。
其中，所述支撑杆处于所述第一状态时，所述帮扶机器人的高度低于0.8米。
具体地，所述支撑杆包括：主杆和穿设在所述主杆内的副杆，所述副杆与所述主杆通 过活动件连接，且所述副杆能够在所述主杆内伸缩移动并通过所述活动件固定。
进一步地，所述控制台上设有电源开关和至少两档调速开关；所述控制台上设有凹槽，所述凹槽能够用于放置遥控器，并为所述遥控器进行充电。
更进一步地，所述机体内设有控制组件，所述控制组件与所述驱动组件连接，用于控制所述支撑杆升降；所述遥控器通过无线连接方式与所述控制组件连接，且所述遥控器能够远程控制所述帮扶机器人进行移动。
再进一步地，所述电源开关开启时，所述无固定座椅的帮扶机器人默认处于刹车状态；所述遥控器上设有控制开关，所述控制开关和所述电源开关均处于开启状态时，所述遥控器能够远程控制所述帮扶机器人移动，或控制所述帮扶机器人进行姿态变换、水平移动或旋转移动。
实际应用时，所述顶胸板包括：EVA填充层，以及包覆在所述EVA填充层外侧的皮革层；所述顶胸板的下端两侧为向上收起的弧形结构。
其中，所述车架包括：固定梁，以及与所述固定梁通过固定件连接的活动梁；所述后麦克纳姆轮与所述固定梁连接，所述脚底托板与所述活动梁连接；所述活动梁能够带动所述脚底托板相对所述固定梁沿远离或靠近所述车身的方向移动，并通过所述固定件进行固定。
具体地，所述无固定座椅的帮扶机器人还包括：顶膝机构，所述顶膝机构与所述车身连接；所述顶膝机构包括：竖梁，所述竖梁的一端与所述车身连接、另一端连接有横梁，所述横梁上对称设置有两个活动连接的顶膝板。
进一步地，所述竖梁包括：主梁和副梁，所述主梁的一端与所述车身连接，所述副梁的一端穿设在所述主梁内、另一端连接有所述顶膝板；所述副梁能够带动所述顶膝板相对所述主梁沿远离或靠近所述车身的方向移动并固定。
更进一步地，所述横梁上设有连接孔，所述顶膝板上纵向设有条状槽；所述连接孔对应所述条状槽的不同位置并通过螺栓固定时，所述顶膝板位于不同的高度。
再进一步地，所述顶膝板包括：与所述横梁连接的中间板，以及分别与所述中间板的两侧连接的内侧板和外侧板；所述外侧板的尺寸大于所述内侧板的尺寸。
优选地，所述顶膝板与使用者接触的一面设有软包材质结构件。
实际应用时，所述车身的前侧设有照明灯，所述车身上设有指示灯；所述指示灯包括：充电待机状态、开机充电状态、正常开机状态、待机状态、报警状态中的任意一种或多种。
其中，所述无固定座椅的帮扶机器人还包括：声音提示装置，所述声音提示装置用于提示所述帮扶机器人的状态，或进行危险报警。
相对于现有技术，本发明所述的无固定座椅的帮扶机器人具有以下优势：
本发明提供的无固定座椅的帮扶机器人中，包括：托臀绑带和扶腰绑带，以及具有麦克纳姆轮的机体，机体上设有脚底托板和升降支撑机构；升降支撑机构包括顶胸板，顶胸板的下端面设有第一连接件、侧壁设有第二连接件；托臀绑带设有与第一连接件匹配对接的第三连接件，扶腰绑带设有与第二连接件匹配对接的第四连接件。使用本发明提供的帮扶机器人时，先将托臀绑带平置铺好，使用者移动至此坐下，然后将托臀绑带上的第三连接件与帮扶机器人上的第一连接件相连，再将扶腰绑带放于自身的背后腰部，并将扶腰绑带上的第四连接件与帮扶机器人上的第二连接件相连，最后收紧托臀绑带和扶腰绑带使其与使用者的臀部和腰部紧密贴合，便可控制帮扶机器人进行姿态变换、水平移动或旋转移 动。由此分析可知，本发明提供的帮扶机器人，既能够保证使用者具有站姿和坐姿，又能够有效减轻整机重量，使帮扶机器人结构简化，从而有效提高其的灵活性。
通过将驱动电机和减速器的部分或者全部设置在麦克纳姆轮本体的轮轴孔内，以缩小麦克纳姆轮与其驱动电机和减速器的结构尺寸，以形成一体化的麦克纳姆轮，使采用该麦克纳姆轮的帮扶机器人的结构更加紧凑。
通过驱动电机的连接轴的轴线与麦克纳姆轮本体的回转轴共线，以使麦克纳姆轮本体随驱动电机的壳体转动更加稳定，降低采用该麦克纳姆轮的设备在行走时的震动。
此外，麦克纳姆轮集成了驱动电机，在一定程度上减少了麦克纳姆轮与其驱动装置的安装零部件，简化了采用本麦克纳姆轮的帮扶机器人的结构。在一定程度上也简化了采用本麦克纳姆轮的帮扶机器人的安装过程和要求，降低其结构重量和制造维护成本，还在一定程度上可以提高设备行走的可靠性。
具有减震装置的麦克纳姆轮，通过减震固定支架、减震移动支架和弹性元件，以使麦克纳姆轮在行走时产生的震动能够被弹性元件吸收；该减震装置结构简单紧凑，成本比较便宜，还便于生产加工，既能够很好地降低麦克纳姆轮行走时对帮扶机器人的震动，还可以令帮扶机器人等设备的结构更加紧凑。
本发明还提供一种帮扶机器人的控制方法，所述帮扶机器人设有电源开关，遥控器设有控制开关；所述电源开关开启时，所述帮扶机器人默认处于刹车状态；所述控制开关和所述电源开关均处于开启状态时，所述遥控器能够远程控制所述帮扶机器人移动，或控制所述帮扶机器人进行姿态变换、水平移动或旋转移动。
所述帮扶机器人的控制方法与上述无固定座椅的帮扶机器人相对于现有技术所具有的优势相同，在此不再赘述。
此外，本发明提供的帮扶机器人的控制方法中，由于电源开关开启时，帮扶机器人默认处于刹车状态，因此能够有效提高使用者的安全性；由于控制开关和电源开关均处于开启状态时，遥控器能够远程控制帮扶机器人移动，或控制其进行姿态变换、水平移动或旋转移动，因此使用更加方便、便捷。
附图说明
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些特殊实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图，其它未表述的附图均在本发明保护范围之内。
图1为本发明实施例提供的帮扶机器人中托臀绑带的结构示意图；
图2为本发明实施例提供的帮扶机器人中扶腰绑带的结构示意图；
图3为本发明实施例提供的帮扶机器人整机的立体结构示意图；
图4为本发明实施例提供的帮扶机器人中麦克纳姆轮及减震装置的爆炸结构示意图；
图5为本发明实施例提供的帮扶机器人处于第一状态的结构示意图；
图6为本发明实施例提供的帮扶机器人处于第二状态的结构示意图；
图7为本发明实施例提供的帮扶机器人中控制台及遥控器的放大结构示意图；
图8为本发明实施例提供的帮扶机器人中顶膝机构的背部放大结构示意图；
图9为本发明实施例提供的帮扶机器人中脚底托板的结构示意图；
图10为本发明实施例提供的帮扶机器人中控制系统的结构示意图；
图11为本发明实施例提供的帮扶机器人中升降支撑机构的结构示意图；
图12为本发明实施例提供的帮扶机器人中护膝板机构的结构示意图。
图中：1-托臀绑带；2-扶腰绑带；3-麦克纳姆轮；4-机体；5-脚底托板；6-升降支撑机构；7-遥控器；8-顶膝机构；9-减震装置；
11-第三连接件；12-托臀本体；13-托臀调节带；
21-第四连接件；22-扶腰本体；23-扶腰调节带；
31-前麦克纳姆轮；32-后麦克纳姆轮；33-麦克纳姆轮本体；34-驱动电机；
41-车身；42-车架；421-固定梁；422-固定件；423-活动梁；411-照明灯；
51-前脚挡；52-踏板；53-脚挡调节块；54-螺栓；55-后脚挡；
61-顶胸板；62-第一连接件；63-第二连接件；64-支撑杆；65-控制台；66-手柄；67-驱动组件；641-主杆；642-副杆；643-活动件；651-电源开关；652-调速开关；
71-传感器探头；72-控制箱；73-安装支柱；74-摄像头；75-探照灯；76-摄像头安装板；
81-竖梁；82-横梁；83-顶膝板；811-主梁；812-副梁；831-条状槽；832-螺栓；833-中间板；834-内侧板；835-外侧板；
91-减震固定支架；92-减震移动支架；93-减震固定轴；931-弹性元件；
602-升降摆臂转轴；603-护胸板；604-把手转轴；605-把手；606-升降摆臂；607-升降支架；608-电缸支架；
801-护膝板；802-滑槽；803-安装杆；804-滑杆。
具体实施方式
下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电气连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
图1为本发明实施例提供的帮扶机器人中托臀绑带的结构示意图；图2为本发明实施例提供的帮扶机器人中扶腰绑带的结构示意图；图3为本发明实施例提供的帮扶机器人整机的立体结构示意图。
如图1-图3所示，本发明实施例提供一种无固定座椅的帮扶机器人或一种帮扶机器人，包括：托臀绑带1和扶腰绑带2，以及具有麦克纳姆轮3的机体4，机体4上设有脚底托板5和升降支撑机构6；升降支撑机构6包括顶胸板61，顶胸板61的下端面设有第一连接件 62、侧壁设有第二连接件63；托臀绑带1设有与第一连接件62匹配对接的第三连接件11，扶腰绑带2设有与第二连接件63匹配对接的第四连接件21。
相对于现有技术，本发明实施例所述的帮扶机器人具有以下优势：
本发明实施例提供的帮扶机器人中，如图1-图3所示，包括：托臀绑带1和扶腰绑带2，以及具有麦克纳姆轮3的机体4，机体4上设有脚底托板5和升降支撑机构6；升降支撑机构6包括顶胸板61，顶胸板61的下端面设有第一连接件62、侧壁设有第二连接件63；托臀绑带1设有与第一连接件62匹配对接的第三连接件11，扶腰绑带2设有与第二连接件63匹配对接的第四连接件21。使用本发明实施例提供的帮扶机器人时，先将托臀绑带1平置铺好，使用者移动至此坐下，然后将托臀绑带1上的第三连接件11与帮扶机器人上的第一连接件62相连，再将扶腰绑带2放于自身的背后腰部，并将扶腰绑带2上的第四连接件21与帮扶机器人上的第二连接件63相连，最后收紧托臀绑带1和扶腰绑带2使其与使用者的臀部和腰部紧密贴合，便可控制帮扶机器人进行姿态变换、水平移动或旋转移动。由此分析可知，本发明实施例提供的帮扶机器人，既能够保证使用者具有站姿和坐姿，又能够有效减轻整机重量，使帮扶机器人结构简化，从而有效提高其的灵活性。
其中，为了有效提高托臀绑带1和扶腰绑带2的连接牢固性，如图3所示，上述第一连接件62可以采用环形扣，第二连接件63可以采用航空锁扣；相应地，上述第三连接件11可以采用ISOFIX接口，第四连接件21可以采用航空插片。
具体地，如图1所示，托臀绑带1可以包括托臀本体12，以及设置在该托臀本体12上的托臀调节带13，托臀调节带13的自由端可以设有上述ISOFIX接口，从而能够通过ISOFIX接口与环形扣对接，实现托臀绑带1的固定；如图2所示，扶腰绑带2可以包括扶腰本体22，以及设置在该扶腰本体22上的扶腰调节带23，扶腰调节带23的自由端可以设有上述航空插片，从而能够通过航空插片与航空锁扣对接，实现扶腰绑带2的固定。
ISOFIX的全称是"International Standards Organisation FIX"，中文意思是：国际标准化组织固定装置。它是一个关于在汽车中安置儿童座椅的新标准。这一标准正在为众多汽车制造商所接受，其作用是在于使儿童座椅的安装变得快速而简单。
此处需要补充说明的是，上述托臀本体12和扶腰本体22可以分别包括：外侧的皮革层，中间的海绵填充层，以及内侧的防滑布料层；并且，皮革层和防滑布料层相对应的一侧边沿可以通过拉链或按扣活动连接，从而使海绵填充层为可拆卸结构件，进而在冬季使用时可以将海绵填充层放入、在夏季使用时可以将海绵填充层取出。
此外，上述防滑布料层可以具有格状透气网，从而通过该格状透气网有效提高托臀本体的透气性，进而有效避免托臀绑带对使用者造成明显的出汗现象。
实际生产制造时，上述格状透气网可以包括有多个，且多个格状透气网可以在防滑布料层上间隔均匀分布。格状透气网沿托臀本体12的长度方向设置、沿宽度方向分布；或，格状透气网沿托臀本体12的宽度方向设置、沿长度方向分布。
可替代地，实际生产制造时，上述格状透气网可以包括有两个，且两个格状透气网可以在防滑布料层上呈左右对称分布。
进一步地，为了有效保证托臀绑带1和扶腰绑带2的舒适度，上述海绵填充层的厚度可以为3cm。
为了使托臀绑带1和扶腰绑带2能够良好地适应不同身材的使用者，上述托臀调节带13和扶腰调节带23上可以穿设有调节扣，从而通过该调节扣能够有效调节托臀调节带13 和扶腰调节带23的长度，进而使托臀绑带1和扶腰绑带2能够良好地适应不同身材的使用者。
可选地，防滑布料层上均匀分布的格状透气网也可以是点胶，从而通过点胶的设置进一步有效提高防滑效果。
图4为本发明实施例提供的帮扶机器人中麦克纳姆轮及减震装置的爆炸结构示意图。
进一步地，如图3所示，上述机体4可以包括：车身41，以及与该车身41的底端区域连接的车架42；实际装配时，升降支撑机构6可以与车身41连接，脚底托板5可以与车架42连接。为了实现横向平移、斜向平移和原地旋转等全向运动，如图4所示，上述麦克纳姆轮3可以包括：与车身41连接的前麦克纳姆轮31和与车架42连接的后麦克纳姆轮32；该前麦克纳姆轮31和后麦克纳姆轮32可以分别包括：麦克纳姆轮本体33、驱动电机34和减速器，驱动电机34和减速器部分或全部设置在麦克纳姆轮本体33的轮轴孔内；驱动电机34的输出轴与麦克纳姆轮本体33的回转轴共线，且麦克纳姆轮本体33随驱动电机34的壳体转动。
通过将驱动电机34和减速器的部分或者全部设置在麦克纳姆轮本体33的轮轴孔内，以缩小麦克纳姆轮3与其驱动电机34和减速器的结构尺寸，以形成一体化的麦克纳姆轮3，使采用该麦克纳姆轮3的帮扶机器人的结构更加紧凑。
通过驱动电机34的连接轴的轴线与麦克纳姆轮本体33的回转轴共线，以使麦克纳姆轮本体33随驱动电机34的壳体转动更加稳定，降低采用该麦克纳姆轮的设备在行走时的震动。
此外，麦克纳姆轮3集成了驱动电机34，在一定程度上减少了麦克纳姆轮3与其驱动装置的安装零部件，简化了采用本麦克纳姆轮3的帮扶机器人的结构。在一定程度上也简化了采用本麦克纳姆轮的帮扶机器人的安装过程和要求，降低其结构重量和制造维护成本，还在一定程度上可以提高设备行走的可靠性。
可选地，麦克纳姆轮本体33由麦克纳姆滚子支架和麦克纳姆滚子组成，麦克纳姆滚子设在麦克纳姆滚子支架上，麦克纳姆滚子支架与驱动电机34的壳体连接。其中，麦克纳姆滚子的两端与麦克纳姆滚子支架连接，或者麦克纳姆滚子的中间与麦克纳姆滚子支架连接。
更进一步地，如图4所示，本发明实施例提供的无固定座椅的帮扶机器人还可以包括：减震装置9，该减震装置9可以包括减震固定支架91和减震移动支架92；减震移动支架92与麦克纳姆轮3的驱动电机34的输出轴固定连接；减震固定支架91包括至少一个减震固定轴93；减震移动支架92外套在减震固定轴93上并能沿减震固定轴93的轴向往复移动，以使麦克纳姆轮3随减震移动支架92可以沿减震固定轴93的轴向往复移动；减震移动支架92外套有两个弹性元件931；两个弹性元件931之间连接减震移动支架92，弹性元件931处于压缩状态或者弹性元件931处于非受力状态，弹性元件931具有令减震移动支架92回复原始位置状态的趋势；减震固定轴93的轴向与驱动电机34的输出轴的轴向呈夹角设置，可选地，减震固定轴93的轴向与驱动电机34的连接轴的轴向呈直角设置或者近似直角设置，以便于减震固定轴93,上的两个弹性元件931能够很好的降低麦克纳姆轮3行走时对帮扶机器人等设备的震动。
具有减震装置9的麦克纳姆轮3，通过减震固定支架91、减震移动支架92和弹性元件931，以使麦克纳姆轮3在行走时产生的震动能够被弹性元件931吸收；该减震装置9结构简单紧凑，成本比较便宜，还便于生产加工，既能够很好地降低麦克纳姆轮3行走时对帮 扶机器人的震动，还可以令帮扶机器人等设备的结构更加紧凑。
减震移动支架92包括减震移动支架连接部和至少两个减震移动支架套接部；驱动电机34的连接轴穿过减震移动支架连接部并与减震移动支架连接部固定连接；可选地，驱动电机34的连接轴通过螺母固定连接在减震移动支架92上。减震移动支架套接部外套在减震固定轴93上，且减震移动支架套接部的数量与减震固定轴93的数量相对应；也即减震移动支架套接部的数量与减震固定轴93的数量相同。相邻减震移动支架套接部之间通过减震移动支架连接部固定连接；减震移动支架连接部凸出于相邻减震移动支架套接部形成的表面，以使减震移动支架92形成弧形或者类似于弧形的结构，以提高减震移动支架92的弹性形变能力，以更好地将麦克纳姆轮3的支撑力通过减震装置9传递给设备。
可选地，减震固定轴93的数量为1个、2个、4个、5个等等。可选地，减震固定轴93的数量成对设置。
优选地，减震固定轴93的数量为两个；减震移动支架套接部的数量也为两个；并且，减震移动支架92为对称结构。可选地，驱动电机34的连接轴穿过减震移动支架92的中心并与减震移动支架连接部固定连接。
可选地，弹性元件931包括弹簧、橡胶圈或者硅胶圈，或者其他弹性元件931，例如：聚酯弹性体或聚氨酯材质的弹性元件等。
本实施例的可选方案中，减震装置9的数量可以为一个或者多个。
例如，减震装置9的数量为一个；减震装置9设置在麦克纳姆轮3的一侧，且减震装置9与麦克纳姆轮3的驱动电机34的连接轴固定连接。
又如，减震装置9的数量为两个；两个减震装置9之间设置有麦克纳姆轮3，且两个减震装置9均与麦克纳姆轮3的驱动电机34的连接轴固定连接。也即麦克纳姆轮3的驱动电机34的连接轴贯穿麦克纳姆轮3，以使驱动电机34的连接轴的两端分别连接减震装置9。通过在麦克纳姆轮3的两侧分别设置减震装置9，以提高具有减震装置9的麦克纳姆轮3的减震性能，以进一步降低安装有该具有减震装置9的麦克纳姆轮3的帮扶机器人的震动。
图5为本发明实施例提供的帮扶机器人处于第一状态的结构示意图；图6为本发明实施例提供的帮扶机器人处于第二状态的结构示意图。
实际应用时，如图1所示，上述升降支撑机构6可以包括：支撑杆64，支撑杆64的一端与机体4铰接、另一端设置有控制台65，该控制台65可以连接有手柄66和顶胸板61；支撑杆64与机体4之间还连接有驱动组件67，从而驱动组件67能够使支撑杆64处于第一状态(如图5所示)或第二状态(如图6所示)，并能够在该第一状态与第二状态之间进行切换。
此处需要补充说明的是，上述第一状态可以对应坐姿状态，第二状态可以对应站姿状态。驱动组件67可以为电动推杆，当电动推杆伸出时，支撑杆64处于竖直状态，对应上述第二状态(站姿状态)，如图6所示；当电动推杆缩回时，支撑杆64处于水平状态，对应上述第一状态(坐姿状态)，如图5所示。当然，驱动组件67也可以为液压推杆或气动推杆等，在此不做限制。
此外，手柄66与顶胸板61和支撑杆64设置为一体，有利于使用者在变换姿态时，更加稳固、安全。
其中，如图5所示，上述支撑杆64处于第一状态(坐姿状态)时，帮扶机器人的高度低于0.8米，从而能够进入桌子下方保证使用者完成伏案工作或日常餐饮。
此处需要补充说明的是，使用者通过释放托臀绑带1，降下升降支撑机构6，能够使臀部接触马桶，完成如厕的准备工作；升起升降支撑机构6，通过后背固定的扶腰绑带2，带起使用者，能够完成从马桶上方的起立。
具体地，如图6所示，上述支撑杆64可以包括：主杆641和穿设在该主杆641内的副杆642，副杆642与主杆641可以通过活动件643连接，且副杆642能够在主杆641内伸缩移动并通过活动件643固定，从而实现支撑杆64的高度调节，以适应不同身高的使用者(例如：150cm-190cm)。
图7为本发明实施例提供的帮扶机器人中控制台及遥控器的放大结构示意图。
进一步地，如图7所示，上述控制台65上可以设有电源开关651和至少两档调速开关652；并且，控制台65上设有凹槽，该凹槽能够用于放置遥控器7，并为遥控器7进行充电。
更进一步地，上述机体4内设有控制组件，该控制组件与驱动组件67连接，用于控制支撑杆64升降；并且，遥控器可以通过无线连接方式与控制组件连接，以使遥控器能够远程控制帮扶机器人进行移动。
再进一步地，为了有效提高帮扶机器人的安全性，上述电源开关651开启时，帮扶机器人默认处于刹车状态；并且，遥控器7上设有控制开关，控制开关和电源开关651均处于开启状态时，遥控器7能够远程控制帮扶机器人移动，或控制帮扶机器人进行姿态变换、水平移动或旋转移动。
此处需要补充说明的是，遥控器7上设有升起键、降落键、方向摇杆、顺时针旋转键和逆时针旋转键；通过按压升起键或降落键调整升降高度实现起立、坐下功能；通过手摇动方向遥杆，可实现对机器人前进、后退、左平移和右平移四个方向的水平移动；通过按压顺时针旋转键或逆时针旋转键实现对机器人的旋转移动。
此外，遥控器7上还可以设有照明灯开关键和SOS求救键；通过按压照明灯开关键远程操控机器人主机上的照明灯开启或关闭；通过按压SOS求救键可立即实现警报呼救，如果机器人主机在激活状态下，机器人主机同时进行警报呼救(当再次按压SOS求救键，求救警报停止)。
实际应用时，上述顶胸板61可以包括：EVA填充层，以及包覆在该EVA填充层外侧的皮革层；并且，顶胸板61的下端两侧可以为向上收起的弧形结构，从而在顶胸板61下降之后，有效加大其与腿部的空间，提高舒适度。
EVA指的是“乙烯-醋酸乙烯共聚物”及其制成的橡塑发泡材料，分子式(C2H4)x.(C4H6O2)y，用于制作冰箱导管、煤气管、土建板材、容器和日用品等。
其中，如图3所示，上述车架42可以包括：固定梁421，以及与该固定梁421通过固定件422连接的活动梁423。具体装配时，后麦克纳姆轮32与固定梁421连接，脚底托板5与活动梁423连接，从而活动梁423能够带动脚底托板5相对固定梁421沿远离或靠近车身41的方向移动，并通过固定件422进行固定，进而更好地适应不同身高体型的使用者。
具体地，如图3所示，本发明实施例提供的帮扶机器人还可以包括：与车身41连接的顶膝机构8；该顶膝机构8可以包括：竖梁81，竖梁81的一端与车身41连接、另一端连接有横梁82，横梁82上对称设置有两个活动连接的顶膝板83。
进一步地，如图3所示，上述竖梁81可以包括：主梁811和副梁812，主梁811的一端与车身41连接，副梁812的一端穿设在主梁811内、另一端连接有顶膝板83，从而副 梁812能够带动顶膝板83相对主梁811沿远离或靠近车身41的方向移动并固定，进而更好地适应不同身高体型的使用者。
图8为本发明实施例提供的帮扶机器人中顶膝机构的背部放大结构示意图。
更进一步地，如图8所示，上述横梁82上设有连接孔，顶膝板83上纵向设有条状槽831，从而连接孔对应条状槽831的不同位置并通过螺栓832固定时，顶膝板83可以位于不同的高度，进而更好地适应不同身高体型的使用者。
再进一步地，如图3所示，上述顶膝板83可以包括：与横梁82连接的中间板833，以及分别与该中间板833的两侧连接的内侧板834和外侧板835；并且，外侧板835的尺寸优选为大于内侧板834的尺寸。此种设计，不仅能够适应不同大腿粗细的使用者，而且能够防止使用者膝盖外翻。
优选地，上述顶膝板83与使用者接触的一面设有软包材质结构件，从而舒适度能够有效提高。
实际应用时，如图5和图6所示，上述车身41的前侧可以设有照明灯411，车身41上还可以设有指示灯。具体地，指示灯可以包括：充电待机状态(例如：绿色常亮)、开机充电状态(例如：绿色闪烁)、正常开机状态(例如：蓝色闪烁)、待机状态(例如：蓝色常亮)、报警状态(例如：红色闪烁)中的任意一种或多种。
其中，本发明实施例提供的帮扶机器人还可以包括：声音提示装置，该声音提示装置能够用于提示帮扶机器人的状态，或进行危险报警。
此外，车身41前方横向固定的金属方管可以为防撞梁。
本发明实施例还提供一种帮扶机器人的控制方法，帮扶机器人设有电源开关，遥控器设有控制开关；电源开关开启时，帮扶机器人默认处于刹车状态；控制开关和电源开关均处于开启状态时，遥控器能够远程控制帮扶机器人移动，或控制帮扶机器人进行姿态变换、水平移动或旋转移动。
本发明实施例提供的帮扶机器人及其控制方法，既能够保证使用者具有站姿和坐姿，又能够有效减轻整机重量，使帮扶机器人结构简化，从而有效提高其的灵活性。
此外，本发明实施例提供的帮扶机器人的控制方法中，由于电源开关开启时，帮扶机器人默认处于刹车状态，因此能够有效提高使用者的安全性；由于控制开关和电源开关均处于开启状态时，遥控器能够远程控制帮扶机器人移动，或控制其进行姿态变换、水平移动或旋转移动，因此使用更加方便、便捷。
本发明实施例提供的帮扶机器人中，帮扶机器人与人体接触部分均采用人体工学设计，纺织物牢固且舒适，并易于用户自行穿戴。
遥控器可远程控制帮扶机器人做各种平面运动，也可搭载于机器人基体上使用，搭载与机器人及提示可由机器人机体提供电力。机器人所有的运动操作均受遥控器控制，还可操作开关灯，呼救，远程遥控机器人开关机等。
可适应用户至少包括如下几类：1、因疾病或外伤而截瘫的用户，可以控制自己的双手；2、因疾病或衰老而双腿无力无法正常行走的人群；3、能借助外部设施站立的人，比如拐杖。
图9为本发明实施例提供的帮扶机器人中脚底托板的结构示意图。
如图9所示，本发明实施例提供的帮扶机器人中，上述脚底托板5可以包括踏板52、脚挡调节块53、两个前脚挡51和两个后脚挡55，踏板52安装在机体4上，两个前脚挡 51并排安装在踏板52上，脚挡调节块53安装在两个前脚挡51的中部，两个后脚挡55安装在两个前脚挡51相对一侧的踏板52上，且两个后脚挡55与脚挡调节块53制成一体，脚挡调节块53上开设长条形孔，脚挡调节块53和两个后脚挡55的位置通过螺栓54调节。如此设置，通过调整脚挡调节块53上的长条形孔在螺栓54处的位置，从而实现两个前脚挡51和两个后脚挡55之间的距离，便于适用于不同脚大小的患者。
其中，两个前脚挡51和两个后脚挡55均为弧形脚挡，一个前脚挡51和一个后脚挡55相对设置，能够形成长条形的半围合区域，便于使用者站在长条形的半围合区域内，高于踏板52水平面的脚挡能够防止使用者在站立或移动时，脚移位，保证使用者的安全。
图10为本发明实施例提供的帮扶机器人中控制系统的结构示意图。
如图10所示，本发明实施例提供的帮扶机器人还包括控制系统，该控制系统可以包括传感器探头71、控制箱72、安装支柱73、摄像头74、探照灯75和摄像头安装板76，传感器探头71安装在机体4的外侧端面上，控制箱72安装在机体4的前端面上，安装支柱73安装在位于机体4内侧的控制箱72外侧壁上，摄像头安装板76安装在安装支柱73上，摄像头74和探照灯75均安装在摄像头安装板76上。如此设置，探照灯75在换进光线不足时能够为使用者提供照明，控制箱72接收遥控器指令，控制探照灯75开启；摄像头74采集设备前方场景信息，传递给控制箱72，控制箱72判断是否为障碍，如果前方有障碍，控制箱72控制车轮停转，设备停止前进；传感器探头71采集车辆侧面信息，如果存在障碍物时返回给控制箱72障碍信息，控制箱72接受信息后，判断设备停止，不再进行平移或转向。
图11为本发明实施例提供的帮扶机器人中升降支撑机构的结构示意图。
如图11所示，上述升降支撑机构6可以包括护胸板603、两个把手605、把手转轴604、升降摆臂606、升降摆臂转轴602、电缸、电缸支架608和升降支架607，升降支架607安装在安装支柱73上端，升降摆臂606的一端与升降支架607转动连接，升降摆臂606的另一端通过升降摆臂转轴602与护胸板603连接，两个把手605通过把手转轴604安装在护胸板603上，且两个把手605位于升降摆臂606的两侧，电缸支架608安装在升降摆臂606的下端，电缸安装在机体4上，电缸支架608与电缸的上端连接。如此设置，升降更加灵活。此外，升降支撑机构6通过电缸的升降来带动升降摆臂606和护胸板603的升降。
其中，护胸板603内侧还包括防护棉垫，防护棉垫安装在护胸板603上，能够防止使用者出现前胸碰撞，更好的保护使用者的安全。具体地，护胸板603的两侧带有向使用者一侧弯曲的防护板。如此设置，防止使用者在失去平衡时，向左或右进行晃动时，而造成的人身危险。
图12为本发明实施例提供的帮扶机器人中护膝板机构的结构示意图。
如图12所示，本发明实施例提供的帮扶机器人还可以包括顶膝机构8，顶膝机构8包括两个护膝组件，两个护膝组件并排安装在机体4上。如此设置，保护使用者的膝盖防止收到伤害。
其中，每个护膝组件均包括护膝板801、滑槽802、安装杆803和滑杆804，安装杆803竖直安装在机体4上，滑槽802安装在安装杆803的上端，滑杆804的一端滑动穿设在滑槽802内，滑杆804的另一端与护膝板801连接。如此设置，调整护膝板801的位置方便、灵活。
具体地，护膝板801为弧形护膝板，与人体的膝盖部位形状更加贴合，更好的保护使 用者的安全。
实际应用时，上述升降支撑机构可以包括支撑架和夹紧机构，夹紧机构转动安装在支撑架上，且夹紧机构在支撑架的调节下实现上下、前后方向运动；其中，支撑架可以包括底部固定架、两根连杆、两根滑杆、两个旋钮、顶部固定架和两个转轴，底部固定架和顶部固定架上下设置，两根连杆的一端转动安装在底部固定架上，每根滑杆的一端穿设在一根连杆内，且每根滑杆通过一个旋钮固定在一根连杆内，每根滑杆的另一端转动安装在顶部固定架的下端，两个转轴安装在顶部固定架上。如此设置，通过底部固定架、两根连杆、两根滑杆和顶部固定架组成了四边杆机构，本发明所采用的四边杆机构能够有效的保持夹紧机构的角度不变，使用更加安全、可靠，有效的防止了使用过程中，升降支撑机构不稳对使用者造成的损伤。
实际使用时，通过调整旋钮固定在滑杆上的位置来实现对两根连杆和两根滑杆之间长度方向(也指前后方向)的调节，通过夹紧机构在底部固定架上进行上下调节，能够实现支撑架在上下方向上的调节，使用更加灵活，与夹紧机构的转动进行配合，能够实现全方位，无死角的位置调节。
具体地，顶部固定架可以包括连接部、两组连接耳和两个转接部，连接部为矩形连接板，两组连接耳沿连接部的长度方向安装在连接部的下端面上，两个转接部安装在连接部长度方向的两端，且转接部位于两组连接耳的一侧。如此设置，便于实现对支撑架和夹紧机构之间的过渡和连接。
两个转接部与连接部之间呈“V”字形设置。如此设置，便于为夹紧机构的转动提供更为舒适的角度。连接部、两组连接耳和两个转接部制成一体。如此设置，结构简单，便于生产制造。
夹紧机构包括左夹紧件和右夹紧件，左夹紧件和右夹紧件相对转动布置，且左夹紧件和右夹紧件分别转动安装在一个转轴上。如此设置，结构对称，便于安装、使用和生产制造。
左夹紧件包括左夹紧垫、左夹紧臂、左柔性把手和左转动轴，左转动轴安装在左夹紧臂的一端，左夹紧垫安装在左夹紧臂的另一端，左柔性把手安装在左夹紧臂上。如此设置，结构简单，成本低廉，而且还能够保证使用者的舒适度。
左夹紧垫为柔性“V”字形夹紧垫。如此设置，使得使用者使用时更加舒适，而且不会卡在腋下，保证使用者的使用安全。左夹紧臂为“Z”字形夹紧臂。如此设置，使用者在转动夹紧臂的过程中更加省力和方便。
右夹紧件包括右夹紧垫、右夹紧臂、右柔性把手和右转动轴，右转动轴安装在右夹紧臂的一端，右夹紧垫安装在右夹紧臂的另一端，右柔性把手安装在右夹紧臂上。如此设置，结构简单，成本低廉，而且还能够保证使用者的舒适度。
两根连杆和两根滑杆均为空心圆柱或空心矩形柱。如此设置，结构简单，重量轻，成本低，调节更加方便。转轴为空心柱。如此设置，便于右转动轴和左转动轴转动插装在空心柱内。
实际应用时，上述升降支撑机构可以由支杆、把手、控制机构和护胸机构组成；所述支杆为刚性的长杆；所述把手由把手架与把手套组成，所述把手架为折弯件，所述把手架的中间为扁状并设置有螺孔用以固定在护胸机构上，所述把手架的两端套有把手套；所述控制机构由手柄、触点和外壳组成，所述外壳的内部设置有转轴用以连接支杆，所述外壳 上设置有凹槽，所述手柄嵌在凹槽内，所述凹槽的底部设置有触点，所述外壳的底部设置有用以把手穿过的通孔；所述护胸机构由储物袋、护胸板、后背板、柔性护垫、和绑带组成，所述柔性护垫贴合固定在护胸板的内侧，所述护胸板和后背板之间通过绑带连接；所述支杆与控制机构通过转轴铰接，所述把手从控制机构中穿出通过螺纹连接固定在护胸板的前端。
外壳上有凹槽，便于安放手柄；手柄可以固定在外壳上使用，也可与外壳相互分离使用，简单方便。把手有柔性把手套，握感舒适，可以保持身体平衡。护胸板上贴有柔性材料，可以减少对胸部的压迫，增强舒适度。绑带采用4点固定的方式，可以提高稳定性。零件大多为注塑件与折弯件，具有结构简单、造价低廉、穿戴方便舒适等特点。能减少帮扶机器人的整体成本，节约资源，使助行机器人容易走进千家万户。
把手套的材质为柔性材料；把手设置有柔性把手套，握感舒适，可以保持身体平衡。外壳上设置有USB插口；USB插口可以为手机等设备充电。外壳上凹槽的底部设置有4个触点，其中两个为手柄提供电能，另外两个为串口，作为信号输出端与外部通信的信号接收端相连；当手柄电池没电时依然可以继续使用，通讯接口为预留手柄通讯，可扩展其他类型手柄。护胸板的外侧有储物袋；储物袋便于存放个人随身物品，也可以拆下，挂其它物品。绑带采用4点固定的方式连接护胸板和后背板；采用四点固定，可以提高稳定性。手柄内设置有电池，设置在外壳上的凹槽内操作或者与外壳分离开进行操作；手柄可以拿在手上使用或由他人帮助操控。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (31)

  1. 一种帮扶机器人，其特征在于，包括：托臀绑带和扶腰绑带，以及具有麦克纳姆轮的机体，所述机体上设有脚底托板和升降支撑机构；
    所述升降支撑机构包括顶胸板，所述顶胸板的下端面设有第一连接件、侧壁设有第二连接件；
    所述托臀绑带设有与所述第一连接件匹配对接的第三连接件，所述扶腰绑带设有与所述第二连接件匹配对接的第四连接件。
  2. 根据权利要求1所述的帮扶机器人，其特征在于，所述脚底托板包括踏板、脚挡调节块、两个前脚挡和两个后脚挡，所述踏板安装在所述机体上，两个所述前脚挡并排安装在所述踏板上，所述脚挡调节块安装在两个所述前脚挡的中部，两个所述后脚挡安装在两个所述前脚挡相对一侧的所述踏板上，且两个所述后脚挡与所述脚挡调节块制成一体，所述脚挡调节块上开设长条形孔，所述脚挡调节块和两个所述后脚挡的位置通过螺栓调节。
  3. 根据权利要求2所述的帮扶机器人，其特征在于，还包括控制系统，所述控制系统包括传感器探头、控制箱、安装支柱、摄像头、探照灯和摄像头安装板，所述传感器探头安装在所述机体的外侧端面上，所述控制箱安装在所述机体的前端面上，所述安装支柱安装在位于所述机体内侧的所述控制箱外侧壁上，所述摄像头安装板安装在所述安装支柱上，所述摄像头和所述探照灯均安装在所述摄像头安装板上。
  4. 根据权利要求3所述的帮扶机器人，其特征在于，所述升降支撑机构包括护胸板、两个把手、把手转轴、升降摆臂、升降摆臂转轴、电缸、电缸支架和升降支架，所述升降支架安装在所述安装支柱上端，所述升降摆臂的一端与所述升降支架转动连接，所述升降摆臂的另一端通过所述升降摆臂转轴与所述护胸板连接，两个所述把手通过所述把手转轴安装在所述护胸板上，且两个所述把手位于所述升降摆臂的两侧，所述电缸支架安装在所述升降摆臂的下端，所述电缸安装在所述机体上，所述电缸支架与所述电缸的上端连接。
  5. 根据权利要求4所述的帮扶机器人，其特征在于，所述护胸板的两侧带有向使用者一侧弯曲的防护板。
  6. 根据权利要求1所述的帮扶机器人，其特征在于，还包括护顶膝机构，所述顶膝机构包括两个护膝组件，两个所述护膝组件并排安装在所述机体上。
  7. 根据权利要求6所述的帮扶机器人，其特征在于，每个所述护膝组件均包括护膝板、滑槽、安装杆和滑杆，所述安装杆竖直安装在所述机体上，所述滑槽安装在所述安装杆的上端，所述滑杆的一端滑动穿设在所述滑槽内，所述滑杆的另一端与所述护膝板连接。
  8. 根据权利要求1所述的帮扶机器人，其特征在于，所述升降支撑机构包括支撑架和夹紧机构，所述夹紧机构转动安装在所述支撑架上，且所述夹紧机构在所述支撑架的调节下实现上下、前后方向运动；
    所述支撑架包括底部固定架、两根连杆、两根滑杆、两个旋钮、顶部固定架和两个转轴，所述底部固定架和所述顶部固定架上下设置，两根所述连杆的一端转动安装在所述底部固定架上，每根所述滑杆的一端穿设在一根所述连杆内，且每根所述滑杆通过一个所述旋钮固定在一根所述连杆内，每根所述滑杆的另一端转动安装在所述顶部固定架的下端，两个所述转轴安装在所述顶部固定架上。
  9. 根据权利要求8所述的帮扶机器人，其特征在于，所述顶部固定架包括连接部、两 组连接耳和两个转接部，所述连接部为矩形连接板，两组所述连接耳沿所述连接部的长度方向安装在所述连接部的下端面上，两个所述转接部安装在所述连接部长度方向的两端，且所述转接部位于两组所述连接耳的一侧。
  10. 根据权利要求1所述的帮扶机器人，其特征在于，所述升降支撑机构由支杆、把手、控制机构和护胸机构组成；所述支杆为刚性的长杆；所述把手由把手架与把手套组成，所述把手架为折弯件，所述把手架的中间为扁状并设置有螺孔用以固定在所述护胸机构上，所述把手架的两端套有所述把手套；所述控制机构由手柄、触点和外壳组成，所述外壳的内部设置有转轴用以连接所述支杆，所述外壳上设置有凹槽，所述手柄嵌在凹槽内，所述凹槽的底部设置有若干个所述触点，所述外壳的底部设置有用以所述把手穿过的通孔；所述护胸机构由储物袋、护胸板、后背板、柔性护垫、和绑带组成，所述柔性护垫贴合固定在所述护胸板的内侧，所述护胸板和所述后背板之间通过所述绑带连接；所述支杆与所述控制机构通过转轴铰接，所述把手从所述控制机构中穿出通过螺纹连接固定在所述护胸板的前端。
  11. 一种无固定座椅的帮扶机器人，其特征在于，包括：托臀绑带和扶腰绑带，以及具有麦克纳姆轮的机体，所述机体上设有脚底托板和升降支撑机构；
    所述升降支撑机构包括顶胸板，所述顶胸板的下端面设有第一连接件、侧壁设有第二连接件；
    所述托臀绑带设有与所述第一连接件匹配对接的第三连接件，所述扶腰绑带设有与所述第二连接件匹配对接的第四连接件。
  12. 根据权利要求11所述的无固定座椅的帮扶机器人，其特征在于，所述第一连接件采用环形扣，所述第二连接件采用航空锁扣；所述第三连接件采用ISOFIX接口，所述第四连接件采用航空插片。
  13. 根据权利要求12所述的无固定座椅的帮扶机器人，其特征在于，所述托臀绑带包括托臀本体，以及设置在所述托臀本体上的托臀调节带，所述托臀调节带的自由端设有所述ISOFIX接口，所述ISOFIX接口用于与所述环形扣对接；
    所述扶腰绑带包括扶腰本体，以及设置在所述扶腰本体上的扶腰调节带，所述扶腰调节带的自由端设有所述航空插片，所述航空插片用于与所述航空锁扣对接。
  14. 根据权利要求11所述的无固定座椅的帮扶机器人，其特征在于，所述机体包括：车身，以及与所述车身的底端区域连接的车架；所述升降支撑机构与所述车身连接，所述脚底托板与所述车架连接；
    所述麦克纳姆轮包括：与所述车身连接的前麦克纳姆轮和与所述车架连接的后麦克纳姆轮；所述前麦克纳姆轮和所述后麦克纳姆轮分别包括：麦克纳姆轮本体、驱动电机和减速器，所述驱动电机和所述减速器部分或全部设置在所述麦克纳姆轮本体的轮轴孔内；
    所述驱动电机的输出轴与所述麦克纳姆轮本体的回转轴共线，且所述麦克纳姆轮本体随所述驱动电机的壳体转动。
  15. 根据权利要求14所述的无固定座椅的帮扶机器人，其特征在于，还包括：减震装置，所述减震装置包括减震固定支架和减震移动支架；所述减震移动支架与所述麦克纳姆轮的所述驱动电机的输出轴固定连接；
    所述减震固定支架包括至少一个减震固定轴；所述减震移动支架外套在所述减震固定轴上并能沿所述减震固定轴的轴向往复移动；
    所述减震移动支架外套有两个弹性元件；两个所述弹性元件之间连接所述减震移动支架；
    所述减震固定轴的轴向与所述驱动装置的输出轴的轴向呈夹角设置。
  16. 根据权利要求11所述的无固定座椅的帮扶机器人，其特征在于，所述升降支撑机构包括：支撑杆，所述支撑杆的一端与所述机体铰接、另一端设置有控制台，所述控制台连接有手柄和所述顶胸板；
    所述支撑杆与所述机体之间还连接有驱动组件，所述驱动组件用于使所述支撑杆处于第一状态或第二状态，并能够在所述第一状态与所述第二状态之间进行切换。
  17. 根据权利要求16所述的无固定座椅的帮扶机器人，其特征在于，所述支撑杆处于所述第一状态时，所述帮扶机器人的高度低于0.8米。
  18. 根据权利要求17所述的无固定座椅的帮扶机器人，其特征在于，所述支撑杆包括：主杆和穿设在所述主杆内的副杆，所述副杆与所述主杆通过活动件连接，且所述副杆能够在所述主杆内伸缩移动并通过所述活动件固定。
  19. 根据权利要求16所述的无固定座椅的帮扶机器人，其特征在于，所述控制台上设有电源开关和至少两档调速开关；
    所述控制台上设有凹槽，所述凹槽能够用于放置遥控器，并为所述遥控器进行充电。
  20. 根据权利要求19所述的无固定座椅的帮扶机器人，其特征在于，所述机体内设有控制组件，所述控制组件与所述驱动组件连接，用于控制所述支撑杆升降；
    所述遥控器通过无线连接方式与所述控制组件连接，且所述遥控器能够远程控制所述帮扶机器人进行移动。
  21. 根据权利要求20所述的无固定座椅的帮扶机器人，其特征在于，所述电源开关开启时，所述帮扶机器人默认处于刹车状态；
    所述遥控器上设有控制开关，所述控制开关和所述电源开关均处于开启状态时，所述遥控器能够远程控制所述帮扶机器人移动，或控制所述帮扶机器人进行姿态变换、水平移动或旋转移动。
  22. 根据权利要求11所述的无固定座椅的帮扶机器人，其特征在于，所述顶胸板包括：EVA填充层，以及包覆在所述EVA填充层外侧的皮革层；
    所述顶胸板的下端两侧为向上收起的弧形结构。
  23. 根据权利要求14所述的无固定座椅的帮扶机器人，其特征在于，所述车架包括：固定梁，以及与所述固定梁通过固定件连接的活动梁；
    所述后麦克纳姆轮与所述固定梁连接，所述脚底托板与所述活动梁连接；
    所述活动梁能够带动所述脚底托板相对所述固定梁沿远离或靠近所述车身的方向移动，并通过所述固定件进行固定。
  24. 根据权利要求14所述的无固定座椅的帮扶机器人，其特征在于，还包括：顶膝机构，所述顶膝机构与所述车身连接；
    所述顶膝机构包括：竖梁，所述竖梁的一端与所述车身连接、另一端连接有横梁，所述横梁上对称设置有两个活动连接的顶膝板。
  25. 根据权利要求24所述的无固定座椅的帮扶机器人，其特征在于，所述竖梁包括：主梁和副梁，所述主梁的一端与所述车身连接，所述副梁的一端穿设在所述主梁内、另一端连接有所述顶膝板；
    所述副梁能够带动所述顶膝板相对所述主梁沿远离或靠近所述车身的方向移动并固定。
  26. 根据权利要求25所述的无固定座椅的帮扶机器人，其特征在于，所述横梁上设有连接孔，所述顶膝板上纵向设有条状槽；
    所述连接孔对应所述条状槽的不同位置并通过螺栓固定时，所述顶膝板位于不同的高度。
  27. 根据权利要求26所述的无固定座椅的帮扶机器人，其特征在于，所述顶膝板包括：与所述横梁连接的中间板，以及分别与所述中间板的两侧连接的内侧板和外侧板；
    所述外侧板的尺寸大于所述内侧板的尺寸。
  28. 根据权利要求27所述的无固定座椅的帮扶机器人，其特征在于，所述顶膝板与使用者接触的一面设有软包材质结构件。
  29. 根据权利要求14所述的无固定座椅的帮扶机器人，其特征在于，所述车身的前侧设有照明灯，所述车身上设有指示灯；
    所述指示灯包括：充电待机状态、开机充电状态、正常开机状态、待机状态、报警状态中的任意一种或多种。
  30. 根据权利要求11所述的无固定座椅的帮扶机器人，其特征在于，还包括：声音提示装置，所述声音提示装置用于提示所述帮扶机器人的状态，或进行危险报警。
  31. 一种帮扶机器人的控制方法，其特征在于，所述帮扶机器人设有电源开关，遥控器设有控制开关；
    所述电源开关开启时，所述帮扶机器人默认处于刹车状态；
    所述控制开关和所述电源开关均处于开启状态时，所述遥控器能够远程控制所述帮扶机器人移动，或控制所述帮扶机器人进行姿态变换、水平移动或旋转移动。
PCT/CN2018/124038 2017-11-09 2018-12-26 无固定座椅的帮扶机器人、帮扶机器人及其控制方法 WO2019091498A1 (zh)

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CN201711100219.9A CN107671844A (zh) 2017-11-09 2017-11-09 一种助行机器人胸部支撑结构
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