CN108313157B - Amphibious auxiliary mobile robot for leg disabled people - Google Patents
Amphibious auxiliary mobile robot for leg disabled people Download PDFInfo
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- CN108313157B CN108313157B CN201810152848.4A CN201810152848A CN108313157B CN 108313157 B CN108313157 B CN 108313157B CN 201810152848 A CN201810152848 A CN 201810152848A CN 108313157 B CN108313157 B CN 108313157B
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- paddling
- synchronous pulley
- joints
- motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention provides an amphibious auxiliary mobile robot for people with disabled legs, which comprises two first driving modules, sixteen paddling modules, two second driving modules and the like, and is characterized in that: the synchronous belt wheel fixing frames of the two first driving modules are arranged at the middle and rear sections of the lower end surfaces of the two swing seats through two fourth joints, and the third motors of the two second driving modules are arranged at the front ends of the lower end surfaces of the two swing seats through two fifth joints; the sixteen paddling modules are averagely divided into two groups and are uniformly distributed on two synchronous belts of the two first driving modules; the invention adopts two driving modules which can be freely converted into the robot to provide power in two environments of land and water, so that the disabled can freely move in water and on land, the physical strength is greatly saved, and the daily life of the leg disabled is enriched.
Description
Technical Field
The invention relates to the technical field of rehabilitation and robots, in particular to an amphibious auxiliary mobile robot for people with leg disabilities.
Background
With the improvement of living standard, the demand of the disabled with legs on living is continuously improved, however, the existing disabled with equipment greatly limits their activities, and the disabled cannot conveniently and quickly walk on the land and more difficultly go to the sea for swimming, so that an amphibious auxiliary mobile robot for the disabled with legs is needed.
Disclosure of Invention
Aiming at the problems, the invention provides an amphibious auxiliary mobile robot for the disabled with legs.
The technical scheme adopted by the invention is as follows: the utility model provides a shank disabled person amphibian assists mobile robot, includes two first drive modules, sixteen water modules, two second drive modules, two swing seats, two first joints, two first electric jar, two trays, twelve first splint, twelve second joints, two first motors, waist fixing base, six second electric jar, chest fixing base, four third joints, four second splint, two supporting legs, its characterized in that: the synchronous belt wheel fixing frames of the two first driving modules are arranged at the middle and rear sections of the lower end surfaces of the two swing seats through two fourth joints, and the third motors of the two second driving modules are arranged at the front ends of the lower end surfaces of the two swing seats through two fifth joints; the sixteen paddling modules are averagely divided into two groups and are uniformly distributed on two synchronous belts of the two first driving modules; the two supporting legs are respectively arranged on the upper end surfaces of the two swinging seats through two first joints; the two first electric cylinders are respectively and fixedly installed in the two supporting legs, and the top of a telescopic rod of each first electric cylinder is provided with a tray; the twelve first clamping plates are averagely divided into four groups and are respectively arranged on the left side and the right side of the two supporting legs through twelve second joints; the waist fixing seat and the chest fixing seat are U-shaped; the two first motors are respectively and fixedly arranged at the left side and the right side of the waist fixing seat, and the top ends of the two supporting legs are respectively and fixedly arranged on motor shafts of the two first motors; the bottoms of the six second electric cylinders are hinged to the upper end face of the waist fixing seat, the six second electric cylinders are respectively positioned on the left side, the right side and the middle part of the upper end face of the waist fixing seat in a pairwise mode, and the telescopic rod ends of the six second electric cylinders are hinged to the lower end face of the chest fixing seat; the four second clamping plates are respectively arranged at the left side and the right side of the chest fixing seat through four third joints;
the first driving module comprises a fourth joint, a synchronous belt wheel fixing frame, a synchronous belt wheel, an electric synchronous belt wheel, a synchronous belt, two third electric cylinders and a limiting touch panel, wherein the synchronous belt wheel fixing frame is U-shaped, the top of the synchronous belt wheel fixing frame is provided with the fourth joint, the synchronous belt wheel and the electric synchronous belt wheel are respectively arranged at the front end and the rear end of the synchronous belt wheel fixing frame, the synchronous belt is arranged on the synchronous belt wheel and the electric synchronous belt wheel, the two third electric cylinders are arranged on the lower end face of one side of the synchronous belt wheel fixing frame, the limiting touch panel is formed in a manner that the U-shaped end part is bent inwards, and the limiting;
the paddling module comprises a limiter, a paddling seat, two second motors, two rotary tables, four clamping jaws, two paddling plates and four poking devices, wherein the limiter is arranged on one side of the paddling seat close to the limiting touch plate, and the two second motors are arranged on two sides of the upper end surface of the bottom of the paddling seat; the two rotating discs are respectively arranged on the shafts of the two second motor shafts; two paddling plates are respectively hinged at the centers of the upper end surfaces of the two turntables, four clamping jaws are respectively hinged on the two turntables in pairs in a group and are positioned at two sides of the paddling plates, one ends of four poking devices are respectively hinged at the lower end parts of the four clamping jaws, and the other ends of the four poking devices are hinged on the upper end surfaces of the two turntables;
the second driving module comprises a fifth joint, a third motor, a wheel carrier, traveling wheels, two sliding blocks, two guide rails, a fourth motor, a pinion, a gearwheel and a propeller, the top of the third motor is connected with the fifth joint, the top of the wheel carrier is fixedly arranged on an output shaft of the third motor, and the two sliding blocks are arranged on the inner side of the lower end of the wheel carrier; the walking wheel be the ring shape, central fixed mounting has the screw, two guide rails are located walking wheel both sides respectively to with two slider cooperations, walking wheel one side is equipped with the gear wheel, the fourth motor is installed on the wheel carrier, the output shaft is towards gear wheel one side, the pinion is installed on fourth motor output shaft and with gear wheel meshing.
Further, the shifter comprises a shifter cylinder body, a shifting rod, a spring, a first electromagnet and a second electromagnet, the second electromagnet is arranged at the bottom of a cavity in the shifter cylinder body, the shifting rod is slidably mounted in the shifter cylinder body, the first electromagnet is arranged at the bottom end of the shifting rod, and the spring is sleeved on the shifting rod and is positioned between the top end of the shifter cylinder body and the first electromagnet.
The invention has the beneficial effects that:
the invention adopts two driving modules which can be freely converted into the robot to provide power in two environments of land and water, so that the disabled can freely move in water and on land, the physical strength is greatly saved, and the daily life of the leg disabled is enriched.
Drawings
Fig. 1, fig. 2, fig. 3, fig. 6 and fig. 8 are schematic overall structural diagrams of the present invention.
Fig. 4 and 5 are partially enlarged views of fig. 3 according to the present invention.
Fig. 7 is an enlarged view of a portion of fig. 6 of the present invention.
Fig. 9 is an enlarged view of a portion of fig. 8 of the present invention.
FIG. 10 is a schematic structural view of the paddling module of the present invention.
Fig. 11 is a schematic structural diagram of the toggle actuator of the present invention.
Reference numerals: 1-a first drive module; 2-a paddling module; 3-a second driving module; 4-a swing seat; 5-a first joint; 6-a first electric cylinder; 7-a tray; 8-a first splint; 9-a second joint; 10-a first electric machine; 11-waist fixing seat; 12-a second electric cylinder; 13-chest fixing seat; 14-a third joint; 15-a second splint; 16-support legs; 101-fourth joint; 102-a synchronous pulley fixing frame; 103-synchronous pulley; 104-an electric synchronous pulley; 105-a synchronous belt; 106-third electric cylinder; 107-limit touch panel; 201-a stopper; 202-a water-skiing seat; 203-a second motor; 204-a turntable; 205-jaws; 206-a reticle; 207-a toggle; 301-fifth joint; 302-a third motor; 303-wheel carrier; 304-road wheels; 305-a slide block; 306-a guide rail; 307-a fourth motor; 308-pinion gear; 309-big gear wheel; 310-a propeller; 20701-a shifter cylinder; 20702-poke rod; 20703-spring; 20704 — first electromagnet; 20705-second electromagnet.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Examples
As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, an amphibious auxiliary mobile robot for the disabled person in leg comprises two first driving modules 1, sixteen paddling modules 2, two second driving modules 3, two swinging seats 4, two first joints 5, two first electric cylinders 6, two trays 7, twelve first splints 8, twelve second joints 9, two first motors 10, a waist fixing seat 11, six second electric cylinders 12, a chest fixing seat 13, four third joints 14, four second splints 15, two supporting legs 16, and is characterized in that: the synchronous belt wheel fixing frames 102 of the two first driving modules 1 are arranged at the middle and rear sections of the lower end surfaces of the two swing seats 4 through two fourth joints 101, and the third motors 302 of the two second driving modules 3 are arranged at the front ends of the lower end surfaces of the two swing seats 4 through two fifth joints 301; the sixteen paddling modules 2 are averagely divided into two groups and are uniformly distributed on the two synchronous belts 105 of the two first driving modules 1; the two supporting legs 16 are respectively arranged on the upper end surfaces of the two swinging seats 4 through two first joints 5; the two first electric cylinders 6 are respectively and fixedly arranged in the two supporting legs 16, and the top of the telescopic rod of each first electric cylinder 6 is provided with a tray 7; the twelve first clamping plates 8 are averagely divided into four groups and are respectively arranged on the left side and the right side of the two supporting legs 16 through twelve second joints 9; the waist fixing seat 11 and the chest fixing seat 13 are U-shaped; the two first motors 10 are respectively and fixedly arranged at the left side and the right side of the waist fixing seat 11, and the top ends of the two supporting legs 16 are respectively and fixedly arranged on motor shafts of the two first motors 10; the bottoms of the six second electric cylinders 12 are hinged to the upper end face of the waist fixing seat 11, the six second electric cylinders 12 are respectively positioned on the left side, the right side and the middle of the upper end face of the waist fixing seat 11 in a group of two, and the telescopic rod ends of the six second electric cylinders 12 are hinged to the lower end face of the chest fixing seat 13; the four second splints 15 are respectively arranged at the left side and the right side of the chest fixing seat 13 through four third joints 14;
the first driving module 1 comprises a fourth joint 101, a synchronous pulley fixing frame 102, a synchronous pulley 103, an electric synchronous pulley 104, a synchronous belt 105, two third electric cylinders 106 and a limiting touch panel 107, wherein the synchronous pulley fixing frame 102 is U-shaped, the top of the synchronous pulley fixing frame is provided with the fourth joint 101, the synchronous pulley 103 and the electric synchronous pulley 104 are respectively arranged at the front end and the rear end of the synchronous pulley fixing frame 102, the synchronous belt 105 is arranged on the synchronous pulley 103 and the electric synchronous pulley 104, the two third electric cylinders 106 are arranged on the lower end face of one side of the synchronous pulley fixing frame 102, the limiting touch panel 107 is formed by inwards bending the U-shaped end part, and the limiting touch panel 107 is arranged at the end parts of telescopic rods of the two third electric;
the paddling module 2 comprises a limiter 201, a paddling seat 202, two second motors 203, two rotating discs 204, four clamping jaws 205, two paddling plates 206 and four poking devices 207, wherein the limiter 201 is arranged on one side of the paddling seat 202 close to the limiting contact plate 107, and the two second motors 203 are arranged on two sides of the upper end surface of the bottom of the paddling seat 202; the two turntables 204 are respectively arranged on motor shafts of the two second motors 203; the two paddling plates 206 are respectively hinged at the centers of the upper end faces of the two turntables 204, the four claws 205 are respectively hinged on the two turntables 204 in pairs and positioned at two sides of the paddling plates 206, one ends of the four poking devices 207 are respectively hinged at the lower end parts of the four claws 205, and the other ends of the four poking devices are hinged on the upper end faces of the two turntables 204;
the second driving module 3 comprises a fifth joint 301, a third motor 302, a wheel carrier 303, a traveling wheel 304, two sliding blocks 305, two guide rails 306, a fourth motor 307, a pinion 308, a bull gear 309 and a propeller 310, wherein the top of the third motor 302 is connected with the fifth joint 301, the top of the wheel carrier 303 is fixedly arranged on an output shaft of the third motor 302, and the two sliding blocks 305 are arranged on the inner side of the lower end of the wheel carrier 303; the walking wheel 304 is circular, a propeller 310 is fixedly installed in the center of the walking wheel 304, two guide rails 306 are respectively located on two sides of the walking wheel 304 and are matched with two sliding blocks 305, a large gear 309 is arranged on one side of the walking wheel 304, a fourth motor 307 is installed on the wheel frame 303, an output shaft faces one side of the large gear 309, and a small gear 308 is installed on an output shaft of the fourth motor 307 and is meshed with the large gear 309.
Further, the driver 207 includes a driver cylinder 20701, a driver rod 20702, a spring 20703, a first electromagnet 20704 and a second electromagnet 20705, the second electromagnet 20705 is arranged at the bottom of the cavity in the driver cylinder 20701, the driver rod 20702 is slidably mounted in the driver cylinder 20701, the first electromagnet 20704 is arranged at the bottom of the driver rod 20702, and the spring 20703 is sleeved on the driver rod 20702 and is located between the top end of the driver cylinder 20701 and the first electromagnet 20704.
The working principle of the invention is as follows: the upper half of the disabled is fixed in a chest fixing seat 13 from the back by four second clamping plates 15 driven by four third joints 14, the thigh of the disabled is fixed in a supporting leg 16 by a first clamping plate 8 driven by a second joint 9, a tray 7 is propped against the bottom of the big leg of the disabled by the extension of a first electric cylinder 6, two first motors 10 drive two supporting legs 16 to swing to help the disabled swing the thigh, six second electric cylinders 12 are linked to make the chest fixing seat 13 swing relative to a waist fixing seat 11 to help the disabled to bend down, and the first joint 5 adjusts the angle of a swing seat 4 relative to the supporting leg 16; the fourth motor 307 drives the small gear 308 to rotate and drives the traveling wheel 304 to rotate through the large gear 309, so that the robot travels on the ground, the fifth joint 301 and the third motor 302 are linked to adjust the direction of the traveling wheel 304, and when the robot enters water, a propeller 310 in the center of the traveling wheel 304 can propel the robot to move; the fourth joint 101 can adjust the inclination angle of the first driving module 1 relative to the swing seat 4, and the electric synchronous pulley 104 drives the synchronous belt 105 to rotate; when the robot is on the land, the third electric cylinder 106 is shortened, the rowing base 202 is in contact with the ground, the rowing base 202 on the synchronous belt 105 moves, when the robot enters the water, the third electric cylinder 106 extends, the limit touch plate 107 is in contact with the adjacent stopper 201, the first electromagnet 20704 and the second electromagnet 20705 are electrified, the compression spring 20703 and the poking rod 20702 extend out, the rowing plate 206 is pushed to be vertical through the clamping jaws 205, the rowing plate 206 rowing belt 105 paddles the walking belt 105, the second motor 203 drives the rotary table 204 to rotate, the rowing direction of the rowing plate 206 is adjusted, when the limit touch plate 107 leaves the stopper 201, the first electromagnet 20704 and the second electromagnet 20705 are powered off, the poking rod 20702 retracts, and the rowing plate 206 swings freely under the resistance.
Claims (2)
1. The utility model provides an amphibious auxiliary mobile robot for leg disabled person, includes two first drive modules (1), sixteen water modules (2), two second drive modules (3), two swing seats (4), two first joints (5), two first electric jar (6), two trays (7), twelve first splint (8), twelve second joint (9), two first motor (10), waist fixing base (11), six second electric jar (12), chest fixing base (13), four third joints (14), four second splint (15), two supporting legs (16), its characterized in that: the synchronous belt wheel fixing frames (102) of the two first driving modules (1) are arranged at the middle and rear sections of the lower end surfaces of the two swinging seats (4) through two fourth joints (101), and the third motors (302) of the two second driving modules (3) are arranged at the front ends of the lower end surfaces of the two swinging seats (4) through two fifth joints (301); the sixteen paddling modules (2) are averagely divided into two groups and are uniformly distributed on two synchronous belts (105) of the two first driving modules (1); the two supporting legs (16) are respectively arranged on the upper end surfaces of the two swinging seats (4) through two first joints (5); the two first electric cylinders (6) are respectively and fixedly arranged in the two supporting legs (16), and the top of a telescopic rod of each first electric cylinder (6) is provided with a tray (7); the twelve first splints (8) are averagely divided into four groups and are respectively arranged on the left side and the right side of the two supporting legs (16) through twelve second joints (9); the waist fixing seat (11) and the chest fixing seat (13) are U-shaped; the two first motors (10) are respectively and fixedly arranged at the left side and the right side of the waist fixing seat (11), and the top ends of the two supporting legs (16) are respectively and fixedly arranged on motor shafts of the two first motors (10); the bottoms of the six second electric cylinders (12) are hinged to the upper end face of the waist fixing seat (11), every two of the six second electric cylinders (12) are respectively positioned on the left side, the right side and the middle of the upper end face of the waist fixing seat (11), and the telescopic rod ends of the six second electric cylinders (12) are hinged to the lower end face of the chest fixing seat (13); the four second splints (15) are respectively arranged at the left side and the right side of the chest fixing seat (13) through four third joints (14);
the first driving module (1) comprises a fourth joint (101), a synchronous pulley fixing frame (102), a synchronous pulley (103), an electric synchronous pulley (104), a synchronous belt (105), two third electric cylinders (106) and a limiting contact plate (107), wherein the synchronous pulley fixing frame (102) is U-shaped, the fourth joint (101) is arranged at the top of the synchronous pulley fixing frame, the synchronous pulley (103) and the electric synchronous pulley (104) are respectively installed at the front end and the rear end of the synchronous pulley fixing frame (102), the synchronous belt (105) is installed on the synchronous pulley (103) and the electric synchronous pulley (104), the two third electric cylinders (106) are installed at the lower end face of one side of the synchronous pulley fixing frame (102), the limiting contact plate (107) is formed by inwards bending the U-shaped end part, and the limiting contact plate (107) is installed at the end parts of telescopic rods of the two third electric cylinders (106;
the paddling module (2) comprises a limiter (201), a paddling seat (202), two second motors (203), two turntables (204), four clamping jaws (205), two paddling plates (206) and four shifting devices (207), wherein the limiter (201) is arranged on one side, close to a limiting contact plate (107), of the paddling seat (202), and the two second motors (203) are arranged on two sides of the upper end face of the bottom of the paddling seat (202); the two turntables (204) are respectively arranged on the motor shafts of the two second motors (203); two paddling plates (206) are respectively hinged at the centers of the upper end surfaces of the two turntables (204), four clamping jaws (205) are respectively hinged on the two turntables (204) in pairs in a group and are positioned at two sides of the paddling plates (206), one ends of four poking devices (207) are respectively hinged at the lower end parts of the four clamping jaws (205), and the other ends of the four poking devices are hinged on the upper end surfaces of the two turntables (204);
the second driving module (3) comprises a fifth joint (301), a third motor (302), a wheel carrier (303), a traveling wheel (304), two sliding blocks (305), two guide rails (306), a fourth motor (307), a pinion (308), a bull gear (309) and a propeller (310), the top of the third motor (302) is connected with the fifth joint (301), the top of the wheel carrier (303) is fixedly installed on an output shaft of the third motor (302), and the two sliding blocks (305) are installed on the inner side of the lower end of the wheel carrier (303); the walking wheel (304) be the ring shape, central fixed mounting has screw (310), two guide rails (306) are located walking wheel (304) both sides respectively to with two slider (305) cooperation, walking wheel (304) one side is equipped with gear wheel (309), fourth motor (307) are installed on wheel carrier (303), the output shaft is towards gear wheel (309) one side, pinion (308) are installed on fourth motor (307) output shaft and with gear wheel (309) meshing.
2. An amphibious auxiliary mobile robot for a person with a disabled leg as claimed in claim 1, characterised in that: the setting device (207) comprises a setting device cylinder body (20701), a setting rod (20702), a spring (20703), a first electromagnet (20704) and a second electromagnet (20705), wherein the second electromagnet (20705) is arranged at the bottom of a cavity in the setting device cylinder body (20701), the setting rod (20702) is slidably arranged in the setting device cylinder body (20701), the bottom end of the setting rod (20702) is provided with the first electromagnet (20704), and the spring (20703) is sleeved on the setting rod (20702) and is positioned between the top end of the setting device cylinder body (20701) and the first electromagnet (20704).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810152848.4A CN108313157B (en) | 2018-02-20 | 2018-02-20 | Amphibious auxiliary mobile robot for leg disabled people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810152848.4A CN108313157B (en) | 2018-02-20 | 2018-02-20 | Amphibious auxiliary mobile robot for leg disabled people |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108313157A CN108313157A (en) | 2018-07-24 |
| CN108313157B true CN108313157B (en) | 2020-05-05 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810152848.4A Expired - Fee Related CN108313157B (en) | 2018-02-20 | 2018-02-20 | Amphibious auxiliary mobile robot for leg disabled people |
Country Status (1)
| Country | Link |
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| CN (1) | CN108313157B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2257247B1 (en) * | 2008-03-24 | 2018-04-25 | Ossur HF | Transfemoral prosthetic systems and methods for operating the same |
| US20130253385A1 (en) * | 2012-03-21 | 2013-09-26 | Amit Goffer | Motorized exoskeleton unit |
| CN104188675B (en) * | 2014-09-24 | 2016-04-20 | 哈尔滨工业大学 | There is exoskeleton robot system and the control method of human motion measuring ability |
| CN105030487B (en) * | 2015-09-10 | 2017-01-25 | 哈尔滨工业大学 | Bionic flexible wearable lower limb exoskeleton clothes driven by pneumatic artificial muscle |
| US20170156895A1 (en) * | 2015-12-03 | 2017-06-08 | National Chiao Tung University | Movement assistance system and method thereof |
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2018
- 2018-02-20 CN CN201810152848.4A patent/CN108313157B/en not_active Expired - Fee Related
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| CN108313157A (en) | 2018-07-24 |
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Inventor after: Feng Li Inventor after: Gao Jingli Inventor after: Zhao Nuan Inventor after: Other inventor requests not to publish the name Inventor before: Request for anonymity |
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Effective date of registration: 20200407 Address after: 266011 Shandong province Qingdao City, Jiaozhou Road No. 1 Applicant after: QINGDAO MUNICIPAL Hospital Address before: Room 1704, Haijingwan, West Section of Hebei Street, Haigang District, Qinhuangdao City, Hebei Province, 066000 Applicant before: Guo Hua |
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