WO2019196141A1 - 一种助行机器人 - Google Patents

一种助行机器人 Download PDF

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Publication number
WO2019196141A1
WO2019196141A1 PCT/CN2018/084981 CN2018084981W WO2019196141A1 WO 2019196141 A1 WO2019196141 A1 WO 2019196141A1 CN 2018084981 W CN2018084981 W CN 2018084981W WO 2019196141 A1 WO2019196141 A1 WO 2019196141A1
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WO
WIPO (PCT)
Prior art keywords
leg
auxiliary
walking
disposed
walking robot
Prior art date
Application number
PCT/CN2018/084981
Other languages
English (en)
French (fr)
Inventor
范一飞
Original Assignee
广州足步医疗科技有限公司
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
Application filed by 广州足步医疗科技有限公司 filed Critical 广州足步医疗科技有限公司
Priority to EP18914863.8A priority Critical patent/EP3777811B1/en
Publication of WO2019196141A1 publication Critical patent/WO2019196141A1/zh
Priority to US17/039,962 priority patent/US11419781B2/en

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Classifications

    • 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • 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
    • 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 patients or disabled persons
    • 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
    • A61H2003/006—Appliances for aiding patients or disabled persons to walk about with forearm rests, i.e. for non-used arms
    • 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 patients or disabled persons
    • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1683—Surface of interface
    • A61H2201/1685—Surface of interface interchangeable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs

Definitions

  • the invention relates to the technical field of auxiliary walking instruments, in particular to a walking robot.
  • the traditional walker device is mainly a wheeled walker.
  • the wheeled walker is greatly affected by the terrain and cannot cross the ladder. Secondly, it is easy to slip when going up and down, and there is a big safety hazard.
  • the present invention provides a faux-footed walking robot that can stably walk.
  • the present invention provides a walking robot including a main frame body, a foot type traveling mechanism for alternate walking, an auxiliary device, and a control device, the traveling mechanism, the auxiliary device, and the control
  • the device is disposed on the main frame body, the control device is connected to the traveling mechanism, the auxiliary device includes an auxiliary leg, and the auxiliary leg is disposed in front of the traveling mechanism along the walking direction and/or rear.
  • the auxiliary foot is disposed obliquely, and the contour formed by the auxiliary foot and the running mechanism has an A-shaped structure.
  • the auxiliary leg has an L-shape, and the contour formed by the auxiliary leg and the running mechanism has a gate-shaped structure.
  • one end of the auxiliary leg is disposed on the main frame body, and the other end of the auxiliary leg is provided with an auxiliary wheel, and the bottom of the auxiliary wheel is flush with the bottommost portion of the traveling mechanism.
  • the running mechanism comprises a supporting leg set symmetrically arranged, the supporting leg set comprises a first supporting leg, a second supporting leg, a transmission structure and a driving unit, and the driving unit is connected with the transmission structure
  • the first support leg and the second support leg are respectively disposed on two sides of the transmission structure through a rotating shaft.
  • the transmission structure comprises a transmission wheel and a limiting shaft eccentrically disposed on the transmission wheel, and one end of the first supporting leg and the second supporting leg is a walking end, the first supporting leg and the first supporting leg The other end of the two supporting legs is provided with a sliding slot, and the limiting shaft is disposed in the sliding slot.
  • the first support leg and the second support leg each include an upper support portion and a lower support portion
  • the upper support portion is disposed on the main frame body through the rotating shaft
  • the upper support One end of the portion is provided with a sliding slot on the limiting shaft
  • the other end of the upper supporting portion is connected to one end of the lower supporting portion
  • the other end of the lower supporting portion is a walking end
  • An auxiliary drive unit is provided at an intersection of the support portion and the lower support portion.
  • the first support leg and the second support leg each include an upper support portion and a lower support portion, and the upper support portion is disposed on the main frame body through the rotating shaft, the upper support One end of the portion is provided with a sliding slot on the limiting shaft, the other end of the upper supporting portion is connected to one end of the lower supporting portion, and the other end of the lower supporting portion is a walking end, the upper end A connecting rod is disposed between the support and the lower support portion.
  • the main frame body further includes a detachable handle.
  • the handle is a normal handle, a hand grip, an elbow handle or a kick handle.
  • the walking robot provided by the present invention has the beneficial effects that the basic function of the robot walking forward is realized by the foot walking mechanism, and the auxiliary foot is set in the walking direction.
  • the traveling mechanism still has a plurality of support points in contact with the ground, and has the function of anti-slip, stable and reliable, and ensures the safety of the user.
  • FIG. 1 is a perspective view showing the structure of a walking robot according to a first embodiment of the present invention.
  • FIG. 2 is a side view showing the structure of a walking robot according to a first embodiment of the present invention.
  • FIG. 3 is a schematic perspective structural view of a walking robot according to a second embodiment of the present invention.
  • FIG. 4 is a side view showing the structure of a walking robot according to a second embodiment of the present invention.
  • FIG. 5 is a schematic perspective structural view of a walking robot according to a third embodiment of the present invention.
  • FIG. 6 is a schematic perspective structural view of a walking robot according to a fourth embodiment of the present invention.
  • FIG. 7 is a schematic perspective structural view of a walking robot according to a fifth embodiment of the present invention.
  • main frame 2. auxiliary device; 201. auxiliary foot; 202. auxiliary wheel; 3. first support leg; 301. upper support; 302. lower support; 303. chute; Auxiliary drive unit; 305. connecting rod; 4. second supporting leg; 5. rotating shaft; 6. transmission structure; 601. transmission wheel; 602. limit shaft; 7. ordinary handle; 8. hand handle; Elbow handle; 10. Turn the handle.
  • the terms "connected”, “connected”, “fixed” and the like shall be understood broadly, and may be, for example, a fixed connection, a detachable connection, or an integral, unless otherwise specifically defined and defined. It may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be an internal connection of two elements or an interaction relationship of two elements unless explicitly defined otherwise.
  • the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • a preferred first preferred embodiment of the present invention provides a walking robot including a main frame body 1, a foot type walking mechanism for alternate walking, an auxiliary device 2, and a control device.
  • the traveling mechanism, the auxiliary device 2, and the control device are all disposed on the main frame body 1, the control device is connected to the traveling mechanism, and the auxiliary device 2 includes an auxiliary leg 201,
  • the auxiliary leg 201 is provided in front of and/or behind the traveling mechanism along the traveling direction.
  • the walking robot based on the above technical features realizes the basic function of the robot walking forward by the foot walking mechanism, and the walking mechanism needs to control the front and rear legs to alternately swing to achieve the purpose of advancement in the walking direction, in the walking direction.
  • the auxiliary leg 201 is disposed so that the traveling mechanism has a plurality of supporting points in contact with the ground at the moment of replacing the foot, and has the function of anti-slipping, which is stable and reliable, and ensures the safety of the user.
  • the auxiliary leg 201 is disposed obliquely, the auxiliary foot 201 and the traveling mechanism form an A-shaped profile, and the auxiliary leg 201 is a rod-shaped body, so that the auxiliary leg 201 and the auxiliary leg 201 During the walking process, the walking mechanism can ensure that at least four support points are in contact with the ground to maintain balance and achieve the purpose of stabilizing the assisting robot.
  • auxiliary leg 201 is disposed on the main frame body 1, and the other end of the auxiliary leg 201 is provided with an auxiliary wheel 202, the bottom of the auxiliary wheel 202 and the bottom of the traveling mechanism Leveling, because the auxiliary foot 201 and the ground will form a certain frictional force, which will affect the advancement of the driving robot to a certain extent, the friction between the auxiliary wheel 202 and the ground transforms the rotation of the wheel, so that the The walking robot is smoother when advancing, and the auxiliary wheel 202 makes the walking robot have the advantages of a wheeled walker and a footed walker at the same time, the walking is stable, the terrain is limited, and the said The range of use of robots has been used.
  • the running mechanism includes a support leg set symmetrically disposed, and each of the support leg sets includes a first support leg 3, a second support leg 4, a transmission structure 6, and a driving unit (the drawing is not identified)
  • the drive unit (not shown in the drawing) is connected to the transmission structure 6, and the first support leg 3 and the second support leg 4 are respectively disposed on the transmission structure 6 through the rotation shaft 5
  • the first support leg 3 and the second support leg 4 are symmetrically disposed in front and rear, such that the transmission structure 6 drives the first support leg 3 and the second support leg 4 to swing in opposite directions, so as to achieve the The purpose of the first support leg 3 and the second support leg 4 are alternately oscillated.
  • the first support leg 3 can be a front leg or a rear leg
  • the second support leg 4 can also be The front leg or the rear leg is not limited by the present invention.
  • the first support leg 3 includes an upper support portion 301 and a lower support portion 302.
  • the transmission structure 6 includes a transmission wheel 601 and a limiting shaft 602 eccentrically disposed on the transmission wheel 601.
  • the upper support The 301 is disposed on the main frame 1 through the rotating shaft 5, and one end of the upper supporting portion 301 is provided with a sliding slot 303, and the limiting shaft 602 is located in the sliding slot 303, and the upper support The other end of the portion 301 is connected to one end of the lower support portion 302, the other end of the lower support portion 302 is a walking end, and an auxiliary driving unit is disposed at an intersection of the upper support portion 301 and the lower support portion 302.
  • the second supporting leg 4 has the same structure as the first supporting leg 3, the limiting shaft 602 on the first supporting leg 3 and the second supporting leg 4
  • the limiting shaft 602 is symmetrically disposed on both sides of the transmission wheel 601.
  • the driving unit (not shown) is connected to the driving wheel 601, so that the driving unit (not shown) drives The upper support portion 301 swings, and the auxiliary drive unit 304 simultaneously controls the lower support portion 302 into Walking, knee joint 302 forming the upper support structure 301 and the portion of the lower support portion, the front and rear legs to achieve a simulated human swing forward, mobile, across the barrier and has good performance across the ladder.
  • the main frame body 1 further includes a detachable handle, and the user can install different handles according to his own needs.
  • the handle shown in the figure is a common handle 7.
  • the present embodiment has the same features as the first embodiment except for the following features:
  • the first support leg includes an upper support portion 301 and a lower support portion 302.
  • the transmission structure 6 includes a transmission wheel 601 and a limiting shaft 602 eccentrically disposed on the transmission wheel 601.
  • the upper support portion 301 is disposed on the main frame body 1 through the rotating shaft 5, and one end of the upper support portion 301 is provided with a sliding slot 303, and the limiting shaft 602 is located in the sliding slot 303.
  • the other end of the upper support portion 301 is connected to one end of the lower support portion 302, and the other end of the lower support portion 302 is a walking end, and between the upper support portion 301 and the lower support portion 302 A connecting rod 305 is provided, it being understood that the second supporting leg 4 has the same structure as the first supporting leg 3, and the limiting shaft 602 and the second on the first supporting leg 3
  • the limiting shaft 602 on the supporting leg 4 is symmetrically disposed on both sides of the driving wheel 601.
  • the driving unit (not shown in the drawing) is connected to the driving wheel 601, so that the driving unit (attached
  • the upper support portion 301 is oscillated to realize the swing of the upper support portion 301 while passing through the connection.
  • the rod 305 can drive the lower support portion 302 to walk, the upper support portion 301 is more coherent with the lower support portion 302, and the autonomy is stronger.
  • the upper support portion 301 and the lower support portion 302 form a knee joint structure. The simulation of the front and rear swings of the human legs is carried out, and the maneuverability is strong, and the obstacle crossing and the step-crossing performance are better, the secondary control program design is reduced, and the design cost is saved.
  • the present embodiment has the same features as the first embodiment except for the following features:
  • the auxiliary leg 201 has an L-shape, and the contour formed by the auxiliary leg 201 and the running mechanism has a gate-shaped structure, and the auxiliary leg 201 has a rod-shaped body, which can also achieve the same.
  • the auxiliary foot 201 and the running mechanism can ensure that at least four support points are in contact with the ground during the walking process, and the balance is maintained, so that the auxiliary foot 201 has better stability.
  • the handle is a hand held handle 8, and the user can install different handles according to his own needs to meet the needs of different users.
  • the present embodiment has the same features as the first embodiment except for the following features:
  • the handle is an elbow handle 9, and the user can install different handles according to his own needs to meet the needs of different users.
  • the present embodiment has the same features as the first embodiment except for the following features:
  • the handle is a folding handle 10 , and the user can install different handles according to his own needs to meet the needs of different users.
  • auxiliary leg 201 the type of the auxiliary wheel 202 and the handle can be set on the foot type walking mechanism in various combinations, and the present invention has no particular limitation on this. These structural designs are all within the protection of the present invention and will not be described herein.
  • the assisting robot described in the embodiment of the present invention utilizes the structure formed by the auxiliary leg 201 or the auxiliary wheel 202, so that the walking robot also has a plurality of grounds during the alternate walking of the traveling mechanism.
  • the contact points of the contact greatly avoid the danger of slipping.
  • the walking range of the walking robot is enlarged, the terrain is limited in the walking process, the stability and balance are strong, and the safety performance is good.

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Abstract

一种助行机器人，包括主架体（1）、用于交替行走的足式行走机构、辅助装置（2）以及控制装置，该行走机构、该辅助装置（2）和该控制装置均设于该主架体（1）上，该控制装置与该行走机构相连接，该辅助装置（2）包括辅助脚（201），该辅助脚（201）沿着行走方向设于该行走机构的前方和/或后方。利用该足式行走机构实现机器人步行前进的基本功能，通过在行走方向上设置辅助脚（201），使得该行走机构在交替换脚的瞬间，仍具有多个支撑点与地面接触，具备防滑倒的功能，稳定可靠，保证了使用者的安全。

Description

一种助行机器人 技术领域
本发明涉及辅助行走器械技术领域，尤其涉及一种助行机器人。
背景技术
传统的助行器装置主要为轮式助行器，轮式助行器受地形影响较大，不能跨越阶梯，其次在上下坡的时候非常容易滑倒，存在较大的安全隐患。
所以目前的市场上也有对足式助行器的进行研究的例子，主要为拟人形态的足式行走助行器，利用前后脚的交替摆动来实现模拟人类行走的过程，但是目前的足式助行器在步行过程中仍具备一定的安全隐患，例如在前后脚交替的瞬间，只有前脚或者后脚支撑地面，如若此时使用者失去平衡，同样存在滑倒受伤的危险，因为使用助行器的使用者均为老人或者病患者等特殊人群，滑倒或者摔倒导致的后果可能会不堪设想，所以助行器装置的稳定可靠性能显得极为重要。
发明内容
为了克服现有技术存在的不足，本发明提供一种可稳定行走的仿足式助行机器人。
为了解决上述技术问题，本发明提供了一种助行机器人，包括主架体、用于交替行走的足式行走机构、辅助装置以及控制装置，所述行走机构、所述辅助装置和所述控制装置均设于所述主架体上，所述控制装置与所述行走机构相连接，所述辅助装置包括辅助脚，所述辅助脚沿着行走方向设于所述行走机构的前方和/或后方。
作为优选方案，所述辅助脚呈倾斜设置，所述辅助脚与所述行走机构形成的轮廓呈A字型结构。
作为优选方案，所述辅助脚呈L型形状，所述辅助脚与所述行走机构形成的轮廓呈门字型结构。
作为优选方案，所述辅助脚的一端设于所述主架体上，所述辅助脚的另一端设有辅助轮，所述辅助轮的最底部与所述行走机构的最底部相平齐。
作为优选方案，所述行走机构包括左右对称设置的支撑脚组，所述支撑腿组包括第一支撑腿、第二支撑腿、传动结构以及驱动单元，所述驱动单元与所述传动结构相连接，所述第一支撑腿和所述第二支撑腿通过转动轴分别设于所述传动结构的两侧。
作为优选方案，所述传动结构包括传动轮以及偏心设于所述传动轮上的限位轴，所述第一支撑腿和第二支撑腿的一端为行走端，所述第一支撑腿和第二支撑腿的另一端设有滑槽，所述限位轴设于所述滑槽内。
作为优选方案，所述第一支撑腿和所述第二支撑腿均包括上支撑部以及下支撑部，所述上支撑部通过所述转动轴设于所述主架体上，所述上支撑部的一端设有位于所述限位轴上的滑槽，所述上支撑部的另一端与所述下支撑部的一端相连接，所述下支撑部的另一端为行走端，所述上支撑部与所述下支撑部的交点设有辅助驱动单元。
作为优选方案，所述第一支撑腿和所述第二支撑腿均包括上支撑部以及下支撑部，所述上支撑部通过所述转动轴设于所述主架体上，所述上支撑部的一端设有位于所述限位轴上的滑槽，所述上支撑部的另一端与所述下支撑部的一端相连接，所述下支撑部的另一端为行走端，所述上支撑与所述下支撑部之间设有连接杆。
作为优选方案，所述主架体上还包括可拆卸把手。
作为优选方案，所述把手为普通把手、手扶把手、手肘把手或者腋拐把手。本发明所提供的助行机器人，与现有技术相比，其有益效果是：本发明通过所述的足式行走机构实现机器人步行前进的基本功能，通过在行走方向上设置辅助脚，使得所述行走机构在交替换脚的瞬间，仍具有多个支撑点与地面接触，具备防滑倒的功能，稳定可靠，保证了使用者的安全。
附图说明
为了更清楚地说明本发明的技术方案，下面将对实施方式中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施方式，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。
图1为本发明第一种实施例的助行机器人的立体结构示意图。
图2为本发明第一种实施例的助行机器人的侧视结构示意图。
图3为本发明第二种实施例的助行机器人的立体结构示意图。
图4为本发明第二种实施例的助行机器人的侧视结构示意图。
图5为本发明第三种实施例的助行机器人的立体结构示意图。
图6为本发明第四种实施例的助行机器人的立体结构示意图。
图7为本发明第五种实施例的助行机器人的立体结构示意图。
图中：1.主架体；2.辅助装置；201.辅助脚；202.辅助轮；3.第一支撑腿；301.上支撑部；302.下支撑部；303.滑槽；304.辅助驱动单元；305.连接杆；4.第二支撑腿；5.转动轴；6.传动结构；601.传动轮；602.限位轴；7.普通把手；8.手扶把手；9.手肘把手；10.腋拐把手。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅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作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。
在本发明中，除非另有明确的规定及限定，术语“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；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或两个元件的相互作用关系，除非另 有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
此外，在本发明的描述中，需要说明的是，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
如图1至图2所示，本发明优选的第一种较佳实施例提供了一种助行机器人，包括主架体1、用于交替行走的足式行走机构、辅助装置2以及控制装置，所述行走机构、所述辅助装置2和所述控制装置均设于所述主架体1上，所述控制装置与所述行走机构相连接，所述辅助装置2包括辅助脚201，所述辅助脚201沿着行走方向设于所述行走机构的前方和/或后方。
基于上述技术特征的助行机器人，通过所述的足式行走机构实现机器人步行前进的基本功能，所述行走机构在步行过程中，需要控制前后腿交替摆动来达到前进的目的，在行走方向上设置辅助脚201，使得在所述行走机构在交替换脚的瞬间，仍具有多个支撑点与地面接触，具备防滑倒的功能，稳定可靠，保证了使用者的安全。
进一步的，所述辅助脚201呈倾斜设置，所述辅助脚201与所述行走机构形成的轮廓呈A字型结构，所述辅助脚201呈杆状体，使得所述辅助脚201与所述行走机构在行走过程可保证至少四个支撑点与地面相接触，保持平衡，达到稳定所述助行机器人的目的。
进一步的，所述辅助脚201的一端设于所述主架体1上，所述辅助脚201的另一端设有辅助轮202，所述辅助轮202的最底部与所述行走机构的最底部相平齐，因所述辅助脚201与地面会形成一定的摩擦力，在一定程度上会影响所述助行机器人的前进，所述辅助轮202与地面的摩擦转化轮子的转动，使得所述助行机器人在前进时更加顺畅，所述辅助轮202使得所述助行机器人同时具备轮式助行器以及足式助行器的优点，行走稳定，受地形限制小，很大程度扩大所述助行机器人的使用范围了。
如图2所示，所述行走机构包括左右对称设置的支撑脚组，每个所述支撑腿组包括第一支撑腿3、第二支撑腿4、传动结构6以及驱动单元(附图未标识)， 所述驱动单元(附图未标识)与所述传动结构6相连接，所述第一支撑腿3和所述第二支撑腿4通过转动轴5分别设于所述传动结构6的两侧，所述第一支撑腿3与所述第二支撑腿4为前后对称设置，使得所述传动结构6带动所述第一支撑腿3与第二支撑腿4往相反方向摆动，实现所述第一支撑腿3以及所述第二支撑腿4交替摆动前行的目的，可以理解的是，所述第一支撑腿3可以是前腿或者后腿，同样所述第二支撑腿4可以是前腿或者后腿，本发明对此并无限制。
进一步的，所述第一支撑腿3包括上支撑部301以及下支撑部302，所述传动结构6包括传动轮601以及偏心设于所述传动轮601上的限位轴602，所述上支撑部301通过所述转动轴5设于所述主架体1上，所述上支撑部301的一端设有滑槽303，所述限位轴602位于所述滑槽303内，所述上支撑部301的另一端与所述下支撑部302的一端相连接，所述下支撑部302的另一端为行走端，所述上支撑部301与所述下支撑部302的交点设有辅助驱动单元304，可以理解的是，所述第二支撑腿4与所述第一支撑腿3具有相同的结构，所述第一支撑腿3上的限位轴602与所述第二支撑腿4上的限位轴602为前后对称设置于所述传动轮601的两侧面上，所述驱动单元(附图未标识)与所述传动轮601相连接，使得所述驱动单元(附图未标识)带动所述上支撑部301进行摆动，所述辅助驱动单元304同时控制所述下支撑部302进行行走，所述上支撑部301与所述下支撑部302形成膝关节结构，实现了模拟人双腿前后摆动前移，机动性强，具有较好的障碍跨越及阶梯跨越性能。
进一步的，所述主架体1上还包括可拆卸把手，使用者可根据自身需要安装不同的把手，如图2所示，图中所示的把手为普通把手7。
第二种实施例，本实施例除以下特征外，其余特征均与第一种实施例相同：
如图3至图4所示，所述第一支撑腿包括上支撑部301以及下支撑部302，所述传动结构6包括传动轮601以及偏心设于所述传动轮601上的限位轴602，所述上支撑部301通过所述转动轴5设于所述主架体1上，所述上支撑部301的一端设有滑槽303，所述限位轴602位于所述滑槽303内，所述上支撑部301 的另一端与所述下支撑部302的一端相连接，所述下支撑部302的另一端为行走端，所述上支撑部301与所述下支撑部302之间设有连接杆305，，可以理解的是，所述第二支撑腿4与所述第一支撑腿3具有相同的结构，所述第一支撑腿3上的限位轴602与所述第二支撑腿4上的限位轴602为前后对称设置于所述传动轮601的两侧面上，所述驱动单元(附图未标识)与所述传动轮601相连接，使得所述驱动单元(附图未标识)带动所述上支撑部301进行摆动，从而实现所述上支撑部301摆动的同时通过所述连接杆305可带动所述下支撑部302进行行走，所述上支撑部301与下支撑部302配合更加连贯，自主性更强，所述上支撑部301与所述下支撑部302形成膝关节结构，实现了模拟人双腿前后摆动前移，机动性强，具有较好的障碍跨越及阶梯跨越性能，减少了二次控制程序设计，节约设计成本。
第三种实施例，本实施例除以下特征外，其余特征均与第一种实施例相同：
如图5所示，所述辅助脚201呈L型形状，所述辅助脚201与所述行走机构形成的轮廓呈门字型结构，所述辅助脚201呈杆状体，同样可实现所述辅助脚201与所述行走机构在行走过程可保证至少四个支撑点与地面相接触，保持平衡，使得所述辅助脚201具备更好的稳定性。
进一步的，如图5中所示，所述把手为手扶把手8，使用者可根据自身需要安装不同的把手，满足不同使用者的需求。
第四种实施例，本实施例除以下特征外，其余特征均与第一种实施例相同：
如图6所示，所述把手为手肘把手9，使用者可根据自身需要安装不同的把手，满足不同使用者的需求。
第五种实施例，本实施例除以下特征外，其余特征均与第一种实施例相同：
如图7所示，所述把手为腋拐把手10，使用者可根据自身需要安装不同的把手，满足不同使用者的需求。
可以理解的是，对于所述辅助脚201的形状、所述辅助轮202和所述把手的种类可以以多种组合方式设于所述足式行走机构上，本发明对此没有特殊性限定，这些结构设计方案均在本发明的保护之内，在此不再赘述。
综上所述，本发明实施例所述的助行机器人利用所述辅助脚201或者辅助轮202形成的结构，使得所述助行机器人在所述行走机构交替行走过程中同样具备多个与地面接触的支撑点，很大程度避免了滑倒的危险，同时，扩大了所述助行机器人的行走范围，行走过程中受地形限制小，具有较强的稳定性和平衡性，安全性能好。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (10)

  1. 一种助行机器人，其特征在于，包括主架体、用于交替行走的足式行走机构、辅助装置以及控制装置，所述行走机构、所述辅助装置和所述控制装置均设于所述主架体上，所述控制装置与所述行走机构相连接，所述辅助装置包括辅助脚，所述辅助脚沿着行走方向设于所述行走机构的前方和/或后方。
  2. 根据权利要求1所述的助行机器人，其特征在于，所述辅助脚呈倾斜设置，所述辅助脚与所述行走机构形成的轮廓呈A字型结构。
  3. 根据权利要求1所述的助行机器人，其特征在于，所述辅助脚呈L型形状，所述辅助脚与所述行走机构形成的轮廓呈门字型结构。
  4. 根据权利要求2-3中任一项所述的助行机器人，其特征在于，所述辅助脚的一端设于所述主架体上，所述辅助脚的另一端设有辅助轮，所述辅助轮的最底部与所述行走机构的最底部相平齐。
  5. 根据权利要求1所述的助行机器人，其特征在于，所述行走机构包括左右对称设置的支撑脚组，所述支撑腿组包括第一支撑腿、第二支撑腿、传动结构以及驱动单元，所述驱动单元与所述传动结构相连接，所述第一支撑腿和所述第二支撑腿通过转动轴分别设于所述传动结构的两侧。
  6. 根据权利要求5所述的助行机器人，其特征在于，所述传动结构包括传动轮以及偏心设于所述传动轮上的限位轴，所述第一支撑腿和第二支撑腿的一端为行走端，所述第一支撑腿和第二支撑腿的另一端设有滑槽，所述限位轴设于所述滑槽内。
  7. 根据权利要求6所述的助行机器人，其特征在于，所述第一支撑腿和所述第二支撑腿均包括上支撑部以及下支撑部，所述上支撑部通过所述转动轴设于所述主架体上，所述上支撑部的一端设有位于所述限位轴上的滑槽，所述上支撑部的另一端与所述下支撑部的一端相连接，所述下支撑部的另一端为行走端，所述上支撑部与所述下支撑部的交点设有辅助驱动单元。
  8. 根据权利要求6所述的助行机器人，其特征在于，所述第一支撑腿和所述第二支撑腿均包括上支撑部以及下支撑部，所述上支撑部通过所述转动轴设 于所述主架体上，所述上支撑部的一端设有位于所述限位轴上的滑槽，所述上支撑部的另一端与所述下支撑部的一端相连接，所述下支撑部的另一端为行走端，所述上支撑部与所述下支撑部之间设有连接杆。
  9. 根据权利要求1所述的助行机器人，其特征在于，所述主架体上还包括可拆卸把手。
  10. 根据权利要求9所述的助行机器人，其特征在于，所述把手为普通把手、手扶把手、手肘把手或者腋拐把手。
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