CN112494287A

CN112494287A - Follow-up hanging bracket

Info

Publication number: CN112494287A
Application number: CN202011256145.XA
Authority: CN
Inventors: 王天
Original assignee: Hangzhou Chengtian Technology Development Co Ltd
Current assignee: Hangzhou Chengtian Technology Development Co Ltd
Priority date: 2021-02-03
Filing date: 2021-02-03
Publication date: 2021-03-16
Anticipated expiration: 2041-02-03
Also published as: CN112494287B

Abstract

The invention provides a following hanging bracket which comprises a chassis, an upright post arranged on the chassis and an annular force arm arranged on the upright post and used for connecting an exoskeleton robot, wherein the annular force arm is provided with a synchronous adjusting device in a connecting way; the chassis comprises a bearing beam and a frame beam, wherein an upright post is arranged on the bearing beam, and a foot wheel set is arranged below the frame beam; the annular force arm comprises a left force arm and a right force arm. The end parts of the left force arm and the right force arm are provided with connecting pieces connected with the exoskeleton robot; the stand includes interior stand and outer stand, and the gallows has been equipped with folding stool of sitting. The folding chair of the invention realizes the rest and sitting of the user at any time, the longitudinal sliding adjusting part and the universal adjusting connecting piece realize the more scientific gait of the user in the rehabilitation training process, and ensure the activity space of the hip in the walking state and the adjusting functions of the hip in the front, back, up and down directions in the walking process.

Description

Follow-up hanging bracket

Technical Field

The invention relates to the field of machinery, in particular to a hanging bracket for fixing an exoskeleton robot and walking along with the exoskeleton robot.

Background

The exoskeleton robot is used for rehabilitation or walking of the disabled with the lower limbs, the self weight of a user and the total weight burden of the exoskeleton robot are heavier, the heavier burden can be caused to the user during walking, the support is needed to achieve a weight reduction effect after the user and the exoskeleton robot are lifted at the moment, the burden of the user is reduced, and the walking state, the heart rate of the user, the muscle burden or the spasm phenomenon are greatly improved.

In addition, the user still needs a rehabilitation therapist or other service person to follow the exoskeleton robot after wearing the exoskeleton robot to protect the exoskeleton robot from falling or other emergencies when the user is unable to walk or other accidents occur. Further, once the rehabilitation training time is long, the burden on the rehabilitation therapist or other service person is heavy, and other matters cannot be engaged in during this time.

In the above-mentioned cases, in case the user is unable to walk or needs a rest, the prior art does not present the presence of following cradles or displacement machines, specially equipped with seats.

Meanwhile, similar hangers are available in the prior art, such as chinese patent CN101791255B, with patent names: in the walking-aid exoskeleton robot system and the control method, the patent discloses a vertical lower limb rehabilitation training robot which is provided with a movable flat plate, an integral bracket, a lifting gravity center adjusting system, exoskeleton mechanical legs and a control system, the mechanical leg hip joint adjusting device disclosed by the robot comprises a width adjusting rack, a width adjusting rotating shaft, a width adjusting gear, a width adjusting guide rail, a width adjusting sliding block and a width adjusting handle, on one hand, the width adjusting device is manually adjusted and is not simple and convenient to operate, on the other hand, the width adjusting device only realizes width adjustment and does not realize longitudinal fluctuation adjustment of a user in the walking process, because the hip joints on both sides have wave-shaped fluctuation and no longitudinal adjustment during walking according to the general gait, the walking gait is strange and not normal.

Moreover, the system device is provided with the movable flat plate, only provides a walking space of a user on the flat plate, is boring and tedious, is important for the disabled of lower limbs, has vital mood and psychological factors, directly influences the rehabilitation mood of the user, cannot bring the real walking state and the viewing range of the user by walking in a narrow space, cannot really accord with the normal walking habit, and has certain influence on the rehabilitation.

In addition, as in chinese patent CN202459981U, the patent names are: the patent provides a following hanging bracket of a similar exoskeleton robot, and discloses a bottom support frame, an electric lifting column, a stand column with a bend, a suspension arm, a handrail mechanism and a lower limb exoskeleton connecting mechanism, but the handrail elbow of the patent realizes rotatable width adjustment, but the handrail elbow can certainly generate front and back influence on the position of the exoskeleton robot after rotating, in addition, synchronous width adjustment can not be realized, and when one side is adjusted too much, a roll phenomenon can occur. In addition, the supporting device is not provided with a longitudinal exoskeleton robot adjusting range, and normal walking gait is influenced.

Disclosure of Invention

The invention aims to solve the technical problem of providing a following hanging bracket which is provided with a seat for rest, the seat does not need manual operation and additional placement, the hip synchronous adjustment function of a stable exoskeleton robot is realized, the design is ingenious, the use is convenient, and the rehabilitation of a patient is facilitated.

Therefore, the invention adopts the following technical scheme:

the robot comprises a chassis, an upright post arranged on the chassis and an annular force arm arranged on the upright post and used for connecting an exoskeleton robot, wherein the annular force arm is connected with a synchronous adjusting device which is fixedly connected with the upright post and can automatically adjust the hip width;

the chassis comprises a transverse bearing beam and a frame beam vertically connected with two ends of the bearing beam, wherein an upright post is arranged on the bearing beam, a caster group is arranged below the frame beam, and the caster group ensures smooth running along with the hanging bracket;

in the disclosure, the annular force arm comprises a left force arm and a right force arm, the left force arm and the right force arm are both L-shaped bending arms, and the synchronous adjusting device is connected with the left force arm and the right force arm and can synchronously adjust the opening and closing width between the left force arm and the right force arm. After the user wears the exoskeleton robot, the left force arm and the right force arm can be adjusted according to the crotch width of the user.

The end parts of the left force arm and the right force arm are provided with connecting pieces connected with the exoskeleton robot;

the upright post comprises an inner upright post fixedly connected with the bearing beam and an outer upright post capable of moving up and down on the inner upright post, and the hanging bracket is provided with a folding stool which is folded along with the rising of the outer upright post and the falling of the outer upright post.

Further, the folding stool comprises a folding part and a fixing part;

fixed part of folding stool:

the fixed part comprises an outward-inclined fixed frame arranged on the frame beams on the two sides, a rotating plate mounting plate arranged on the fixed frame and an adjusting slide rail fixed on the outer upright post, the fixed frame comprises side arms arranged on the frame beams on the two sides and a cross arm transversely connected between the two side walls, and the rotating plate mounting plate is fixed on the cross arm;

meanwhile, the upper part or the top end of the rotating plate mounting plate protrudes out of the fixed frame and is positioned at the inner side of the fixed frame, more space is reserved for downward folding of the folding stool, and the rotating plate mounting plate is welded or fixed on the cross arm through bolts;

folding part of folding stool:

the folding part comprises a rotating plate hinged with the upper part of the fixing frame, an adjusting pipe hinged with the lower part of the rotating plate, an adjusting pipe mounting plate hinged with the outer end part of the adjusting pipe and an adjusting slide block which is connected with the adjusting pipe mounting plate and slides up and down on the adjusting slide rail;

the exoskeleton robot comprises a rotating plate, an outer upright post and a regulating pipe, wherein the outer end of the rotating plate is provided with an extending frame, the extending frame and the rotating plate form a certain included angle, the included angle between the extending frame and the rotating plate can be set according to the ascending and descending distance of the outer upright post and the length of the regulating pipe, the outer upright post is arranged at a height when the outer upright post ascends to the training of a user using the exoskeleton robot, a stool is completely folded or is folded to a step which cannot influence the user, and the outer upright post descends to a proper height when the user can sit down, and.

It can be understood that the outer end of the rotating plate can be directly provided with a stool surface, or the outer end of the rotating plate is provided with a stretching frame for connecting the stool surface, or the outer end of the rotating plate is provided with a stretching frame even for stretching, the stretching frame is fixedly connected with a stool support, and the stool is connected with the stool support.

Furthermore, the fixing frame is perpendicular to the frame beam or inclines outwards from the frame beam. Preferably, in order to ensure that the rotation of the rotating plate is smooth and easy and to prevent the adjusting pipe from being incapable of rotating smoothly due to excessive mutually-conflicting acting forces generated by the adjusting pipe in the longitudinal direction relative to the rotating plate and the rotating plate relative to the fixed support when the adjusting pipe moves up and down along with the adjusting slider, the fixed support is arranged in an inclined manner. Of course, the object of the technical solution of the present invention can also be achieved by adopting a vertical arrangement.

Furthermore, the adjusting pipe comprises an adjusting outer pipe hinged to the lower portion of the rotating plate and an adjusting inner pipe which is moved in the adjusting outer pipe and hinged to the adjusting pipe mounting plate, the length of the adjusting pipe is increased through the multi-section adjusting pipe, on one hand, the situation that the fixing frame is mounted at a position closer to the stand column due to the fact that the length of the adjusting pipe is not enough is avoided, and therefore excessive mutually-conflicting acting force is generated in the longitudinal direction when the folding is increased.

More specifically, be provided with the regulation inner tube sliding tray of rectangular shape from bottom to top on the pipe wall of adjusting the outer tube, adjust the inner tube bottom mounting and have realized adjusting the sliding displacement between inner tube and the outer tube in this sliding tray removal's feather key.

Furthermore, adjust and be provided with the extension spring between inner tube and the regulation outer tube for restrain the flexible of regulating tube, when the outer column upward movement, when the regulating tube has not reached the maximum, the regulating tube just can be upwards upset the rotor plate, and then the regulation bench face is folding, and when sitting the bench and reach the exhibition, the regulating tube can continue to rise along with the outer column.

Specifically, one end of the tension spring is connected to the top of the inner pipe, and the other end of the tension spring is connected to the bottom of the outer pipe, so that the tension spring has the effect of adjusting the inner pipe to lift and simultaneously pull the outer pipe.

It can be understood that when the stool is in a folded state, the adjusting slide block is positioned at the uppermost end of the adjusting slide rail, when the outer upright post rises, the adjusting slide rail rises along with the outer upright post, and the adjusting slide block firstly slides from the uppermost end to the lowermost end to pull the adjusting inner tube to extend. Similarly, when the stool is just in the flattening state, the adjusting slide block is at the lowermost end of the adjusting slide rail, and when the outer stand column descends, the adjusting slide rail descends along with the outer stand column, and the adjusting slide block firstly slides from the lowermost end to the uppermost end to push the adjusting inner tube to retract.

In the disclosure, the hanger is also provided with a synchronous adjusting device fixed on the outer stand column, and the synchronous adjusting device is connected with the left force arm and the right force arm and can synchronously adjust the opening and closing width between the left force arm and the right force arm.

The synchronous adjusting device has the following two embodiments:

1. the synchronization adjustment device includes:

the left force arm and the right force arm are both L-shaped bending arms, a first sliding plate connected with the inner end part of the left force arm and a second sliding plate connected with the inner end part of the right force arm are parallel, the first sliding plate and the second sliding plate are used for fixing the left force arm and the right force arm, and the first sliding plate and the second sliding plate are fixedly connected in a bolt or welding mode; and

one or two slide rails are arranged above or below the first slide plate and the second slide plate, a slide block fixed with the first slide plate and the second slide plate is arranged between the first slide plate and the second slide plate and the slide rails, the slide rails are fixed on a fixing plate fixed with the upright post, the fixing plate is fixedly connected with the upright post, in some embodiments, the slide rails can be arranged above the first slide plate and the second slide plate or below the first slide plate and the second slide plate, or can be one or two, in the case of two slide rails, the load capacity of the force arm can be better, correspondingly, the slide blocks are also arranged above the first slide plate and the second slide plate or below the first slide plate and the second slide plate, in the case of one slide rail, one slide block is arranged below the first slide plate and the second slide plate, the number of slide blocks is two, in the case of two slide rails, the number of corresponding slide blocks is four, and the first slide plate is fixed with the corresponding slide block, the second sliding plate is fixed with the corresponding sliding block, similarly, the fixed plate is correspondingly positioned above the first sliding plate and the second sliding plate or below the first sliding plate and the second sliding plate, and the fixed plate is fixedly connected with the upright column, wherein the fixed connection mode can be bolt fixing or welding fixing; and

the first rack is positioned above or below the first sliding plate, the second rack is positioned below or above the second sliding plate and is opposite to the first rack, the first rack and the second rack are meshed with the same gear at the inner ends, and the gear is fixed with the upright post through a gear shaft, so that the synchronous reverse movement of another force arm can be driven by the movement of any force arm at the same time.

2. The synchronization adjustment device includes:

the left force arm and the right force arm are both L-shaped bending arms, a first sliding plate connected with the inner end part of the left force arm and a second sliding plate connected with the inner end part of the right force arm, and the first sliding plate and the second sliding plate are parallel; and

the first sliding rail is positioned below the first sliding plate and the second sliding plate and close to the left force arm and the right force arm, and the second sliding rail is positioned above the first sliding plate and the second sliding plate and close to the upright post; and

the first fixing plate is positioned below the first slide rail and used for fixing the first slide rail, and the second fixing plate is positioned above the second slide rail and used for fixing the second slide rail, wherein the first fixing plate and the second fixing plate are fixedly connected with the upright post; and

the first sliding block group is fixed below the first sliding plate and the second sliding plate and is matched with the first sliding rail to slide, and the second sliding block group is fixed above the first sliding plate and the second sliding plate and is matched with the second sliding rail to slide; and

The upper part is provided with a slide rail and a slide block which are matched up and down, the slide rail close to the force arm is arranged down, the slide rail close to the upright post is arranged up, and the corresponding slide block and the fixing plate are also arranged.

Under this condition, according to the effort of the arm of force behind slider and the slide rail combination near the arm of force, will act on the tail end formation ascending effort of first slide and second slide, at this moment, the second fixed plate, slider and the slide rail combination that are close to the stand will offset this effort by a wide margin, form more firm supporting role, improve the bearing capacity of the arm of force by a wide margin, realize better, wider following gallows and subtract heavy supporting role, provide more stable rehabilitation training condition.

Furthermore, a synchronous adjusting device mounting plate is fixed on the upright post, a third fixing plate is fixed on the synchronous adjusting device mounting plate, the lower end of the third fixing plate is fixed with the first fixing plate, and the upper end of the third fixing plate is fixed with the second fixing plate; three fixed plates are fixed mutually, and three fixed plates are all fixed with the stand, provide more firm fixed effect, and the stability in use is stronger.

The above synchronization adjusting means in the 2 nd is preferable.

Furthermore, a bearing is arranged at the rear end of the gear shaft, and a fixing hole of the bearing is formed in the middle of the third fixing plate.

Furthermore, a first mounting surface for mounting a first slide rail is arranged on the first fixing plate, the first mounting surface is used for fixing the first slide rail more stably and enhancing the use stability, and in addition, the first slide rail and the first fixing plate are fixed through threads or welding.

Furthermore, a second mounting surface for mounting a second sliding rail is arranged below the second fixing plate, the second mounting surface is used for fixing the second sliding rail more stably and enhancing the use stability, and the second sliding rail and the second fixing plate are fixed through threads or welded.

Further, first fixed plate rear end is provided with the third installation face of fixed third fixed plate lower extreme, and the lower extreme setting of third fixed plate is in first fixed plate top, and in order to guarantee the stability of being connected between third fixed plate and the first fixed plate, the third fixed plate card is in the third installation face, and both are through bolt fastening or welded fastening to strengthen its steadiness.

Furthermore, the rear end of the second fixing plate is provided with a downward convex body which is used for limiting the third mounting plate, and the convex body and the part of the second fixing plate behind the convex body form a fourth mounting surface at the upper end of the third mounting plate. The upper end setting of third fixed plate is in the below of second fixed plate, and in order to guarantee the stability of being connected between third fixed plate and the second fixed plate, the third fixed plate card is internal at this protrusion, and this protrusion opposite side is the second slide rail, prevents that the third fixed plate from producing the displacement on the second fixed plate to, through bolt fastening or welded fastening, further strengthen its stability between second fixed plate and the third fixed plate.

Further, first slide is provided with the first installation spacing groove of first rack, and first rack setting utilizes bolt fastening or welded fastening at this first installation spacing inslot, has guaranteed that first rack can not take place the displacement to further guaranteed to connect the steadiness.

Furthermore, the second slide is provided with the second installation spacing groove of second rack, and the second rack setting utilizes bolt fastening or welded fastening at this second installation spacing inslot, has guaranteed that the second rack can not take place the displacement to further guaranteed to connect the steadiness.

Furthermore, the third fixing plate comprises a main body plate and an L-shaped extension part which are integrally formed, wherein two end parts of the L-shaped extension part are provided with upward limiting protruding parts of the first sliding plate and the second sliding plate, and the first sliding plate and the second sliding plate slide in the limiting protruding parts to limit the sliding range.

In this disclosure, first fixed plate is located the below, has born second fixed plate, the third fixed plate including first slide rail, second slide rail and top, and its width is greater than the width of second fixed plate, and the width of second fixed plate only covers below second slide rail.

It can be understood that the first sliding plate and the second sliding plate of the invention realize the position fixation by means of the first sliding block group and the second sliding block group and the first sliding rail and the second sliding rail. In addition, the sliding block and the sliding rail are combined to be arranged up and down, so that the position stability of the first sliding plate and the second sliding plate is ensured.

In order to realize the universal adjusting function and the follow-up function of the connecting piece, sliding adjusting parts are arranged between the connecting piece and the left force arm and between the connecting piece and the right force arm:

the sliding adjusting part comprises a guide rail connecting plate fixedly connected with the left force arm or the right force arm, a guide rail arranged on the guide rail connecting plate and a third sliding block fixedly connected with the connecting piece, and the third sliding block realizes the sliding of the connecting buckle on the guide rail and is used for adjusting the fluctuation of the hip of a user during walking;

in this disclosure, the guide rail connecting plate of the slide adjusting portion may be disposed in any direction, such as transversely disposed, longitudinally disposed, obliquely disposed, as required. Particularly, in the rehabilitation training process of the exoskeletal robot, the hip can fluctuate up and down in the walking process, and at the moment, the longitudinal fluctuation adjustment can be realized by the longitudinally arranged sliding adjusting part, so that more scientific and smoother walking is realized.

In addition, the connecting pieces arranged at the end parts of the left force arm and the right force arm are universal adjusting connecting pieces, and the universal adjusting connecting pieces are fixedly connected with the left force arm and the right force arm;

universal adjusting connecting piece is including the horizontal regulating plate that is located the outer end and the vertical regulating plate of inner, be provided with the transverse adjustment hole in the horizontal regulating plate, be provided with vertical regulation hole in the vertical regulating plate, universal adjusting connecting piece is still including running through the adapter that sets up in transverse adjustment hole and vertical regulation hole, be provided with a vertical first rotation axis that runs through between adapter and the horizontal regulating plate, be provided with a horizontal second rotation axis that runs through between adapter and the vertical regulating plate, horizontal regulating plate winds horizontal rotation regulation is realized to first rotation axis, vertical regulating plate winds vertical rotation regulation is realized to the second rotation axis.

The principle of the gimbaled linkage described in this disclosure is similar to a cross cardan shaft, but the present invention provides for the two shafts to be separated.

Furthermore, in order to ensure the adjusting function of the transverse adjusting plate, the transverse adjusting plate is spaced from the longitudinal adjusting plate by a certain distance so as to ensure the adjusting space of the transverse adjusting plate.

It will be appreciated that the universal adjustment connection of the present invention may also be a longitudinal adjustment plate in front of a transverse adjustment plate in back of the transverse adjustment plate.

Furthermore, both ends of the first rotating shaft and the second rotating shaft are provided with limiting heads with diameters larger than that of the through holes.

In the disclosure, the chassis comprises a transverse bearing beam and a frame beam vertically connected with two ends of the bearing beam, casters are arranged below the frame beam, the exoskeleton robot (user) moves in a space enclosed by the bearing beam and the frame beam, and the middle of the bearing beam is connected with an upright post. The bearing beam and the frame beam are square tubes made of hollow metal.

Furthermore, the upright column comprises an inner upright column and an outer upright column sleeved on the inner upright column, and a synchronous adjusting device is fixed on the outer upright column.

Furthermore, a push rod support is arranged at the upper part of the outer upright post, and the push rod support is connected with an electric push rod to realize the electric control of the outer upright post to move up and down, so that the height of the connection position of the hip of the exoskeleton robot is adjusted according to the height and the use habit of a user;

furthermore, the passive following hanging bracket is also provided with a battery or a battery pack, the battery supplies power for the electric push rod, the use of an electric wire is avoided, and the movement and the moving range of the passive following hanging bracket are ensured. The batteries or the battery packs are arranged on the bearing beams or the frame beams or the outer upright posts, preferably the frame beams, and cannot influence the installation and the use of the folding seat.

Furthermore, be provided with welded fixed plate and with fixed plate bolted connection's stand mounting panel on the spandrel girder, integrated into one piece has the interior stand mount pad that stretches into the inner column on the stand mounting panel, interior stand mount pad passes through bolted connection with the inner column.

Furthermore, the upper part of the outer upright post is also provided with an outward handrail. The handrail is provided for a rehabilitation therapist or other service personnel to use, and is convenient for the rehabilitation therapist or other service personnel to hold the following hanging bracket or push and pull the following hanging bracket.

Furthermore, the caster set is 4 directional casters at two ends of the frame beam or 2 movable casters close to the upright post and 2 directional casters far away from the upright post at two ends of the frame beam respectively.

In detail, when 4 directional casters are provided, the following hanger realizes the travel or retreat in the linear direction; when 2 movable casters (also called universal wheels) and 2 directional casters are matched, the turning and obstacle avoidance functions can be realized, so that the following hanger is more flexible to use and is more interesting than a straight line. And, the activity truckle is generally set up in two frame beam ends near the stand, and 2 directional truckles are set up in two other frame beam ends.

In some embodiments of the above synchronous adjusting device, the synchronous adjusting device is externally provided with an upper shell and a lower shell which are buckled up and down, so as to protect the device from being polluted and meeting the requirement of aesthetic appearance.

Furthermore, in order to be more attractive and clean and ensure the use of components, an electric push rod shell is arranged at the joint of the lower part of the electric push rod and the upright post; a battery shell is arranged outside the battery.

Furthermore, the arm armrests are fixedly arranged on the outer sides of the left arm and the right arm, so that a user can conveniently grasp the arm armrests when using the arm armrests, the supporting force of upper limbs is provided, and the stability in the walking process is guaranteed or safer psychological guarantee is provided for the user.

Meanwhile, the force arm handrail disclosed by the invention has a multidirectional adjusting function, namely an outward turning and folding function of the force arm handrail and a turning function of a grip at the front end of the handrail from bottom to top in the axial direction of the force arm.

Specifically, the outer ends of the left force arm and the right force arm are fixedly provided with force arm handrails which can be outwards turned in the horizontal direction and/or rotate by taking the length direction of the force arms as the axial direction.

Furthermore, the arm of force handrail comprises a horizontal overturning connecting piece, a longitudinal overturning connecting piece connected with the horizontal overturning connecting piece and an L-shaped handrail connected with the longitudinal overturning connecting piece, wherein the outer end of the L-shaped handrail is provided with a handrail bending part, so that the L-shaped handrail is convenient for a user to grab and hold, is used for supporting and supporting during walking, reduces the workload of a rehabilitation therapist, and can be conveniently grabbed by the user at the first time to keep the body stable and safe in an emergency;

the horizontal overturning connecting piece comprises a connecting body fixedly connected with the end part of the force arm and an overturning part connected with the rotating shaft at the outer end of the connecting body through a first rotating shaft, the overturning part is embedded in the connecting body, the first rotating shaft penetrates through the connecting body and the overturning part, the connecting body is provided with a first limiting hole and a second limiting hole which are arranged at two sides of the rotating shaft hole above the connecting body or below the connecting body in the length direction of the force arm, a first bolt capable of being inserted into the first limiting hole is arranged in the overturning part, a sliding groove is arranged on the side wall of the overturning part, a control switch connected with the first bolt and capable of sliding up and down in the sliding groove is arranged in the sliding groove, and after the first bolt is lifted by the control switch and leaves the first limiting hole, the overturning part can rotate freely; the first bolt is also connected with a pressure spring, and the first bolt is automatically bounced into the second limiting hole by the pressure spring after the overturning part reaches the second limiting hole;

in the actual work process, the handrail is when outwards, and first bolt inserts first spacing hole and realizes fixing, when needs are with handrail folding backward or when not using, utilizes control switch upwards or extracts first bolt from first spacing downthehole downwards, the rotatory arm of force, and at this moment, first bolt supports on the connector, when sliding to the spacing hole position of second, because the pressure spring effect, first bolt can be automatic to be popped into first spacing downthehole fixed of realizing the handrail. In addition, the handrail can only be turned outwards from the middle position, but not inwards, so that unnecessary troubles are avoided.

First spacing hole is preferred to be set up in the below of connector, avoids the trend of first bolt directional whereabouts under the effect of gravity, has also guaranteed apparent pleasing to the eye simultaneously.

Vertical upset connecting piece include with upset portion fixed connection's fixed cover, be provided with the fixed block in the fixed cover, be provided with the second pivot that connects the axial of L type handrail and arm of force length direction parallel in the fixed block, second pivot and L type handrail fixed connection, the rotation of L type handrail is realized in the fixed block internal rotation to the second pivot, be provided with the spacing hole of 2 or more than 2 third in the second pivot, be provided with the second bolt that can stretch into this spacing hole of third on the fixed cover. The number of the second limiting holes is preferably 4, and one second limiting hole is arranged at every 90 degrees, so that armrest adjustment in 4 directions is realized.

The invention has the advantages that:

1. the folding chair has realized that user's rest at any time is sat down, has avoided when user's physical stamina is not supported or when other circumstances appear because do not have quick rest position, insists on the potential safety hazard that takes place when walking to the rest position by force, perhaps can't provide the rest seat fast, need select the seat to fill in following the gallows.

2. The handrail part realizes the folding and rotating functions, can be folded when not in use, extends out when in use, realizes the holding angle in 360 directions, and has more flexible use and more ingenious design.

3. The synchronous adjusting device realizes automatic synchronous adjustment of the hip, does not need manual operation, does not incline, and has convenient operation and higher safety performance.

4. Two sets of slide rails and slider combination of synchronous adjustment device in the front are located the below, and the back is located the top, have realized that fore-and-aft effort is offset to the steadiness of connecting has further been guaranteed in the setting of three mounting panels, thereby has avoided causing the influence because of the damage that the load overweight leads to user's safety. And when the device is used, the device is smoother and more stable, and the experience feeling is better.

5. The longitudinal sliding adjusting part and the universal adjusting connecting piece realize more scientific gait of the user in the rehabilitation training process, and ensure the activity space of the hip in the walking state and the adjusting functions of the hip in the front, back, up and down directions in the walking process.

6. Electric putter has realized automatic accent height and has transferred lowly, can realize subtracting heavy braced system's training environment, more does benefit to user's light use, alleviates muscle burden and cardiopulmonary load, simultaneously, has reduced rehabilitation therapist work burden, only need guarantee user's safety and the route of marcing of following the gallows under the effect of handrail.

Drawings

Fig. 1 is a first perspective view of the following hanger according to the present invention.

Fig. 2 is a schematic perspective view of the following hanger of the present invention.

Fig. 3 is a side view of the trailing hanger of the present invention.

Fig. 4 is a schematic view of a folding stool according to the present invention.

Fig. 5 is an internal schematic view of the synchronization adjustment apparatus of the present invention.

Fig. 6 is a schematic view of the first fixing plate according to the present invention.

Fig. 7 is a schematic view of a second fixing plate according to the present invention.

Fig. 8 is a schematic view of a third fixing plate according to the present invention.

Fig. 9 is a schematic view of a first slide plate according to the present invention.

Fig. 10 is a schematic view of a second slide plate according to the present invention.

FIG. 11 is an exploded view of the universal adjusting joint according to the present invention.

FIG. 12 is a perspective view of the universal adjusting joint of the present invention.

Fig. 13 is a schematic view of the slide adjusting portion according to the present invention.

Fig. 14 is a schematic view of the force arm and the handrail of the present invention.

Fig. 15 is a schematic view of a horizontal flip connector according to the present invention.

Fig. 16 is a schematic view of the first plug, the first shaft and the control switch according to the present invention.

Fig. 17 is a schematic view of the longitudinal flip connector and the moment arm of the present invention.

Fig. 18 is a schematic view of the second pin, the second shaft and the arm according to the present invention.

FIG. 19 is a schematic view of a second plug according to the present invention.

Fig. 20 is a schematic view of the invention after the stool is folded.

Reference numerals: the adjustable stool comprises a chassis 1, a stand column 2, a left force arm 3, a right force arm 4, a first sliding plate 5, a second sliding plate 6, a first sliding rail 7, a second sliding rail 8, a first fixing plate 9, a second fixing plate 10, a first slider group 11, a second slider group 12, a first rack 13, a second rack 14, a gear 15, a gear shaft 16, a sliding plate connecting plate 17, a third fixing plate 18, a universal adjusting connecting member 19, a transverse adjusting plate 20, a longitudinal adjusting plate 21, a transverse adjusting hole 22, a longitudinal adjusting hole 23, an adapter 24, a first rotating shaft 25, a second rotating shaft 26, a sliding adjusting part 35, a guide rail connecting plate 36, a guide rail 37, a third slider 38, a bend 39, a folding stool 40, a fixing frame 41, a rotating plate mounting plate 42, a rotating plate 43, an adjusting pipe 44, an adjusting sliding rail 45, an adjusting pipe mounting plate 46, an adjusting slider 47, a stool surface 48, a stool surface bracket 49, an adjusting, The arm-rest 50, the horizontal turning connector 51, the longitudinal turning connector 52, the L-shaped arm-rest 53, the arm-rest bent part 54, the connector 55, the first rotating shaft 56, the turning part 57, the first limit hole 58, the first bolt 59, the sliding groove 70, the control switch 71, the second limit hole 73, the fixing sleeve 74, the fixing block 75, the second rotating shaft 76, the third limit hole 77, the second bolt 78, the frame beam 101, the bearing beam 102, the caster 104, the inner upright column 201, the outer upright column 202, the electric push rod 203, the push rod upper bracket 204, the electric push rod housing 205, the battery housing 206 and the arm-rest 207.

Detailed Description

The following description is of several embodiments of the invention only, and is intended to provide a basic understanding of the invention and not to identify key or critical elements of the invention or to delineate the scope of the invention.

As shown in fig. 1, 2 and 3, in this embodiment, the annular force arm includes a left force arm 3 and a right force arm 4, and a connecting member 19 for connecting the exoskeleton robot is disposed at an end of the left force arm 3 and an end of the right force arm 4.

In this embodiment, the left force arm 3 and the right force arm 4 are hollow pipes, and the material may be hard plastic or metal pipe, and preferably metal pipe for ensuring the strength of the material.

When the exoskeleton robot needs to be used, a user moves the exoskeleton robot into the following hanging bracket after wearing the exoskeleton robot, and the exoskeleton robot is connected with the connecting piece 19, the general connecting position is located at the hip of the exoskeleton robot, and the connection position does not influence the movement of the exoskeleton robot.

It should be noted that the following hanging bracket provided by the invention can also be used for rehabilitation training of users without using the exoskeleton robot, and can be used as a displacement machine. The user will follow the hanger as support and protection while grasping the moment arm. If necessary, a waist strap or other binding piece can be arranged on the following hanging bracket for supporting and fixing with the user.

A chassis:

in this embodiment, as shown in fig. 1, fig. 2, and fig. 3, the chassis 1 is a door-shaped frame, two sides of the chassis are frame beams 101, a bearing beam 102 fixed to the frame beams 101 is transverse, and the upright 2 is fixed to the bearing beam and located in the middle of the bearing beam 102. In order to reduce the weight, hollow metal square pipes are preferably used for the bearing beams and the frame beams. The outer end part of each square pipe is provided with a plug.

In this embodiment, the lower portion of the frame beam 101 is connected with a caster set 104.

In this embodiment, the caster set 104 is provided in 2 types:

1. the end part of each frame beam is provided with 1 directional caster, the total number of the directional casters is 4, the directional casters realize linear advancing and retreating, the linear advancing gait of the lower limb disabled person needs to be kept, the following hanger frame does not displace towards two sides under the condition of other unintended conditions, and the linear advancing route of the exoskeleton robot is kept because the general exoskeleton robot does not turn in the gait of the lower limb disabled person.

2. The tip of every frame roof beam all sets up 1 truckle, the truckle that sets up at the rear end of two frame roof beams that are close to the stand is universal caster, and the truckle that the place ahead set up is directional truckle, realizes the diversion demand of route of marcing, adapts to the condition of turning to that some users themselves probably appear, and on the other hand can realize following the route change of gallows in the marcing or keep away the barrier function, and at this moment, rehabilitation therapist or other service person also can initiatively promote this and follow the gallows and carry out the diversion.

Column:

as shown in figures 1 and 2, the following hanger provided by the invention has the advantages that the synchronous adjusting device can adjust the height. In the mode of realizing the height adjustment, the upright post 2 comprises an inner upright post 201 and an outer upright post 202 sleeved outside the inner upright post, the synchronous adjusting device is fixed on the outer upright post 202, in addition, an electric push rod 203, a push rod upper bracket 204 for fixing the upper part of the electric push rod 203 and a push rod lower bracket for fixing the lower part of the push rod are also arranged on the outer upright post 202, the electric push rod 203 realizes the up-and-down movement of the outer upright post 202, thereby adjusting the position of the synchronous adjusting device, and after the exoskeleton robot is connected with the following hanging bracket, the up-and-down movement of the exoskeleton robot can

Folding stool 40:

as shown in fig. 1, 2, 3, 4, the folding bench 40 comprises a folding portion and a fixed portion;

the fixed part comprises an outward-inclined fixed frame 41 arranged on the frame beams on the two sides, a rotating plate mounting plate 42 arranged on the fixed frame 41 and an adjusting slide rail 45 fixed on the outer upright post;

the folding part comprises a rotating plate 43 hinged with the upper end of a rotating plate mounting plate 42, an adjusting pipe 44 hinged with the lower part of the rotating plate 43, an adjusting pipe mounting plate 46 hinged with the outer end part of the adjusting pipe 44 and an adjusting slider 47 connected with the adjusting pipe mounting plate 46 and sliding up and down on an adjusting slide rail 45, and the rotating plate mounting plate 42 is positioned at two sides of the rotating plate 43 to form the hinge joint of the rotating plate 43 and the rotating plate mounting plate 42.

The outer end of the rotating plate 43 is provided with a stool surface 48, the adjusting pipe 44 is pressed downwards along with the adjusting slider 47 to enable the rotating plate to turn downwards so that the stool surface 48 is gradually leveled, and the adjusting pipe 44 is lifted upwards along with the adjusting slider 47 to enable the rotating plate 43 to turn upwards so that the stool surface 48 is gradually folded downwards.

Specifically, in order to ensure the folding smoothness of the folding stool 40 and avoid the problem that the vertical forces cancel each other out and cannot be folded smoothly when folded, the fixing frame 41 is inclined outward from the frame beam 101.

Meanwhile, in order to increase the adjustment amount of the adjusting pipe 44, the situation that the arrangement position of the fixing frame is influenced by using a long adjusting pipe when the rising distance of the outer upright is long, and thus the action of the exoskeleton robot is influenced is avoided. The present invention employs a multi-sectional type of adjustment tube, which includes an adjustment outer tube 441 hinged to a lower portion of the rotation plate, and an adjustment inner tube 442 moving within the adjustment outer tube and hinged to the adjustment tube mounting plate 46.

Particularly, a tension spring is arranged between the adjusting inner tube 442 and the adjusting outer tube 441, when the stool 40 is unfolded and flat, the adjusting inner tube 442 is located in the adjusting outer tube 441, when the outer upright column 202 rises and the stool 40 needs to be folded, when the adjusting outer tube 441 rises along with the adjusting slider 47, a pulling force on the adjusting inner tube 442 is formed, and then the adjusting inner tube 442 directly starts to pull the rotating plate 43 to rotate, so that the stool 40 is folded downwards, and the condition that the exoskeleton robot stands or squats half-squats is avoided, the stool 40 does not start to be folded downwards or is folded by a small angle, so that the movement of legs of the exoskeleton robot is affected.

In this embodiment, the stool surface can be directly mounted on the rotating plate.

In order to ensure the stability of the stool surface installation, in the present embodiment, a stool surface bracket 49 is provided at the outer end of the rotating plate 43, the stool surface 48 is installed on the stool surface bracket 49, and the stool surface bracket 49 is horizontal after the stool 40 is unfolded, as shown in fig. 1, parallel to or at an angle with the rotating plate, and preferably, the stool surface bracket is obliquely provided at the outer end of the rotating plate 43.

In this embodiment, the upper end and the lower end of the adjusting slide rail 45 are provided with adjusting slide block limiting blocks, and when the adjusting slide block slides to the uppermost end of the adjusting slide rail 45, the stool surface 48 is completely flattened; when the adjusting slide block 48 slides to the lowest end of the adjusting slide rail 45, the stool surface 48 is at least folded to be perpendicular to the frame beam 101, as shown in fig. 20, and the movement of the exoskeleton robot is not affected.

A synchronous adjusting device:

in the present embodiment, the present invention provides for a synchronizing adjustment device to be provided to follow the spreader, as shown in fig. 1-10. The synchronous adjusting device is fixedly connected with the outer upright column and is connected with a left force arm 3 and a right force arm 4, a first sliding plate 5 is connected with the inner end part of the left force arm 3, a second sliding plate 6 is connected with the inner end part of the right force arm 4, and the sliding plate and the force arm can be connected in a welding mode or a bolt fixing mode or other modes.

The synchronous adjusting device has two embodiments:

1. and 1 or 2 sliding rails are arranged above or below the first sliding plate and the second sliding plate and span above or below the first sliding plate and the second sliding plate. Set up between first slide and second slide and the slide rail and can prolong the gliding slider of this slide rail, like this, when 1 of slide rail installation, the slider is 2, and when 2 of slide rail installation, the slider is 4.

The sliding block is fixedly connected with the first sliding plate or the second sliding plate, and is fixed through bolts or welding.

The slider is fixed on the slide, and the slide rail is fixed on the fixed plate, and fixed plate and stand fixed connection form certain fixed effect.

The synchronous regulation mode is as follows:

2. As shown in fig. 5, the slide rail has two rails: the first sliding rail 7 is positioned below the first sliding plate 5 and the second sliding plate 6 and close to the left force arm and the right force arm, and the second sliding rail 8 is positioned above the first sliding plate 5 and the second sliding plate 6 and close to the upright post, so that the sliding rails are arranged up and down separately;

every slide rail all has a fixed plate: a first fixing plate 9 positioned below the first slide rail 7 and used for fixing the first slide rail 7, and a second fixing plate 10 positioned above the second slide rail 6 and used for fixing the second slide rail 6, wherein the first fixing plate 9 and the second fixing plate 10 are both fixedly connected with the upright post 2;

a first sliding block group 11 (one block is arranged below the first sliding plate 5 and the second sliding plate 6) which is fixed below the first sliding plate 5 and the second sliding plate 6 and slides in cooperation with the first sliding rail 7, and a second sliding block group 12 (one block is arranged above the first sliding plate 5 and the second sliding plate 6) which is fixed above the first sliding plate 5 and the second sliding plate 6 and slides in cooperation with the second sliding rail 8; and

the first rack 13 is positioned above or below the first sliding plate 5, the second rack 14 is positioned below or above the second sliding plate 6 and is opposite to the first rack 13, the inner ends of the first rack 13 and the second rack 14 are meshed with the same gear 15, the gear 15 is fixed with the upright post 2 through a gear shaft 16, and the synchronous reverse movement of any force arm can be driven by the movement of the other force arm at the same time.

It will be appreciated that both of the above approaches may achieve synchronous hip width adjustment, but that approach 1 is not sufficiently robust. And 2 nd mode, its upper and lower two sets of slide rails and slider device that set up, according to moment analysis, provide stronger stability and load capacity, be favorable to reaching the training environment under following the gallows and subtracting the heavy condition, the user that the weight is heavier also can use at ease.

In addition, in above-mentioned two kinds of realization methods, use the bolt to carry out fixed connection between left side arm of force 3 and the right arm of force 4 and first slide 5 and the second slide 6, more specifically, the rear end of first slide 5 and second slide 6 all is provided with slide connecting plate 17, and the main part and the slide connecting plate 17 of this slide are integrated into one piece, slide connecting plate 17 and left arm of force 3 or the right arm of force 4 are all welded fastening or bolt fastening.

More specifically, the sliding plate connecting plate 17 is fixed with the moment arm connecting plate, and the moment arm connecting plate is welded or fixed with the moment arm through a bolt.

In this embodiment, as shown in fig. 1, a synchronous adjusting device mounting plate 21 is fixed on the upright column 2, a third fixing plate 18 is fixed on the synchronous adjusting device mounting plate 21, a lower end of the third fixing plate 18 is fixed to the first fixing plate 9, and an upper end of the third fixing plate 18 is fixed to the second fixing plate 10; three fixed plates are fixed mutually, and three fixed plates are all fixed with the stand, provide more firm fixed effect, and the stability in use is stronger.

Furthermore, a bearing is arranged at the rear end of the gear shaft, a fixing hole of the bearing is formed in the middle of the third fixing plate, and the gear shaft is inserted into the fixing hole to fix the bearing.

As shown in fig. 6, the first fixing plate 9 is provided with a first mounting surface 61 for mounting the first slide rail 7, the first mounting surface 61 is used for fixing the first slide rail 7 more stably and enhancing the stability of use, and the first slide rail and the first fixing plate are fixed by screw thread or welding.

Meanwhile, a third mounting surface 63 for fixing the lower end of the third fixing plate 18 is arranged at the rear end of the first fixing plate 9, the lower end of the third fixing plate 18 is arranged above the first fixing plate, and a boss is arranged between the first mounting surface 61 and the third mounting surface 63 for limiting the third fixing plate and the first fixing plate. The third fixed plate is clamped in the third mounting surface and fixed through bolts or welding to strengthen the stability of the third mounting surface.

In this embodiment, as shown in fig. 7, a second mounting surface 62 for mounting a second slide rail is disposed below the second fixing plate, the second mounting surface 62 is used to more stably fix the second slide rail 8 and enhance the stability of use, and the second slide rail 8 and the second fixing plate 62 are fixed by screwing or welding.

More specifically, the rear end of the second fixing plate 10 is provided with a third mounting plate protrusion 65 protruding downwards for limiting the third mounting plate 18, and the protrusion and the portion of the second fixing plate behind the protrusion form a fourth mounting surface 64 at the upper end of the third mounting plate. The upper end setting of third fixed plate 18 is in the below of second fixed plate 10, in order to guarantee the stability of being connected between third fixed plate and the second fixed plate, and the third fixed plate card is in this third mounting panel protrusion 65, and this third mounting panel protrusion 65 opposite side is the second slide rail, prevents that the third fixed plate from producing the displacement on the second fixed plate to, pass through bolt fastening or welded fastening between second fixed plate and the third fixed plate, further strengthen its stability.

In this embodiment, as shown in fig. 8, the third fixing plate 18 includes a main body plate and an L-shaped extension portion 68, the two end portions of the L-shaped extension portion 68 are provided with an upward limiting protrusion 69 of the first sliding plate 5 and the second sliding plate 6, and the first sliding plate 5 and the second sliding plate 6 slide within the limiting protrusion to limit the sliding range.

In this embodiment, as shown in fig. 9, the first sliding plate 5 is provided with a first installation limiting groove 66 for the first rack, and the first rack 13 is arranged in the first installation limiting groove 66, and is fixed by bolts or welding, so that the first rack 13 is not displaced, and the connection stability is further ensured.

In this embodiment, as shown in fig. 10, the second sliding plate 6 is provided with a second installation limiting groove 67 of the second rack 13, and the second rack 14 is arranged in the second installation limiting groove 67, and is fixed by bolts or welding, so that the second rack 14 is not displaced, and the connection stability is further ensured.

In this embodiment, the first fixing plate 9 is located below and bears a first slide rail, a second fixing plate above the first slide rail, and a third fixing plate above the first slide rail, and the width of the first fixing plate is greater than that of the second fixing plate, and the width of the second fixing plate only covers the second slide rail below the second fixing plate.

Slide adjusting portion 35:

in this embodiment, as shown in fig. 1 and 13, the sliding adjusting portions 35 are disposed between the connecting member of the left force arm and the left force arm 3, and the sliding adjusting portions 35 are also disposed between the connecting member of the right force arm and the right force arm 4.

Specifically, as shown in fig. 13, the sliding adjustment portion 35 includes a guide rail connection plate 36 fixedly connected to the left force arm 3 or the right force arm 4, a guide rail 37 disposed on the guide rail connection plate 36, and a third slider 38 fixedly connected to the connecting member (hanger quick release buckle), where the third slider 38 realizes the sliding of the connecting buckle on the guide rail 37, so as to adjust the hip of the user during walking. The guide rail and the guide rail connecting plate are fixed through bolts. The guide rail connecting plate is fixed with the left force arm or the right force arm through bolts.

In particular, the guide link plate 36 of the sliding adjustment part can be arranged vertically, horizontally or obliquely, and can be adjusted in multiple directions, particularly longitudinally, according to the fluctuation of the hip during walking, because the hip has a certain fluctuation during walking.

Meanwhile, the upper and lower ends of the rail connecting plate 36 are provided with bends 39 as a limit of the sliding range of the third slider 38 up and down on the rail 37.

Universal adjusting connection 19:

in this embodiment, as shown in fig. 11 and 12, in order to realize the universal rotation of the hip during walking, the universal adjusting connecting piece 19 is connected to the third sliding block 38.

It can be understood that the following hanger of the present invention may be provided with only the universal adjusting connection 19, or may be provided with the sliding adjusting portion 35 on the basis of the universal adjusting connection 19. When only the universal adjusting connecting piece 19 is arranged, the universal adjusting connecting piece is directly fixed with the left force arm 3 and the right force arm 4 respectively.

Specifically, the universal adjusting connecting piece 19 comprises a transverse adjusting plate 20 at the outer end and a longitudinal adjusting plate 21 at the inner end.

Be provided with transverse adjustment hole 22 in the transverse adjustment board 19, be provided with longitudinal adjustment hole 23 in the longitudinal adjustment board 20, universal adjusting connection spare is still including running through the adapter 24 that sets up in transverse adjustment hole 22 and longitudinal adjustment hole 23, be provided with a vertical first rotation axis 25 that runs through between adapter 24 and the transverse adjustment board 20, be provided with a horizontal second rotation axis 26 that runs through between adapter 24 and the longitudinal adjustment board 21, transverse adjustment board 20 winds horizontal rotation regulation is realized to first rotation axis 25, longitudinal adjustment board 21 winds second rotation axis 26 realizes fore-and-aft rotation regulation.

The aperture length of the transverse adjusting hole 22 and the longitudinal adjusting hole 23 is larger than the length of the adapter 24 in the holes, so that the moving space of the adapter is reserved.

The third sliding block 38 is connected with the longitudinal adjusting plate 21, so that the third sliding block 38 is connected with the universal adjusting connecting piece 19.

As shown, the exoskeleton robot is connected to the lateral adjustment plate 20, and generally, the hip of the exoskeleton robot can be used as a connection point, and the lateral adjustment plate is provided with a screw hole, and the hip is screwed with the lateral adjustment plate to realize fixation.

In addition, the setting position of the universal adjusting connecting piece is also adjustable, a screw hole group is arranged on the force arm, and the threaded fixed connection with the sliding adjusting part or the universal adjusting connecting piece can be realized through the screw hole after the mounting position of the connecting piece is selected. Of course, the fixing manner may be other types, such as hook and loop, snap, welding, etc.

It is understood that the universal adjusting joint of the present invention may also have the longitudinal adjusting plate 21 outside, the transverse adjusting plate 20 inside, and the first rotating shaft, the second rotating shaft, the longitudinal through hole, etc. adjusted accordingly.

The principle of the present universal adjusting joint is similar to a cross cardan shaft, but the present invention provides for the two shafts to be separated.

Furthermore, in order to ensure the adjusting function and the adjusting space of the transverse adjusting plate, a certain distance is arranged between the transverse adjusting plate and the longitudinal adjusting plate so as to ensure the backward moving space of the transverse adjusting plate when the transverse adjusting plate rotates.

Arm of force handrail:

in this embodiment, as shown in fig. 14-19, in order to provide a position for the user to hold with the hand more easily, a moment arm handrail 50 is fixedly arranged on the outer side of the annular moment arm, so as to be convenient for the user to grip when in use, provide a supporting force for the upper limb, ensure the stability during walking or provide a safer psychological guarantee for the user.

More specifically, as shown in fig. 14, 17 and 18, the arm rest 50 includes a horizontal turning connector 51, a longitudinal turning connector 52 connected to the horizontal turning connector 51, and an L-shaped arm rest 53 connected to the longitudinal turning connector 52, and the L-shaped arm rest 53 is provided with a bent arm part 54 at an outer end thereof, so that the arm rest can be conveniently grabbed and held by a user, can be used for supporting and supporting during walking, and can reduce the workload of a rehabilitation therapist, and can be conveniently grabbed by the user for keeping the body stable and safe in an emergency;

as shown in fig. 15, the horizontal turning connector 51 comprises a connector 55 fixedly connected with the end of the force arm and a turning part 57 pivotally connected to the outer end of the connector 55 via a first shaft 56, the turning part 57 is embedded in the connecting body 55, the first rotating shaft 56 penetrates through the connecting body 55 and the turning part 57, meanwhile, the connecting body 55 is provided with a first limiting hole 58 and a second limiting hole 73 at two sides of the rotating shaft hole above the connecting body 55 or below the connecting body 55 in the length direction of the force arm, a first bolt 59 which can be inserted into the first limit hole 58 is arranged inside the turning part, a sliding groove 70 is arranged on the side wall of the turning part 57, a control switch 71 connected with the first bolt 59 and sliding up and down in the sliding groove is arranged in the sliding groove 70, after the control switch 71 lifts the first bolt 59 and leaves the first limiting hole 58, the turning part 57 can rotate freely; the first bolt 59 is also connected with a pressure spring, and after the turning part 57 reaches the second limiting hole 63, the first bolt 59 is automatically bounced into the second limiting hole 73 by the pressure spring;

in the actual working process, when the handrail is outward, the first bolt 59 is inserted into the first limiting hole 58 to realize fixation, when the handrail is required to be folded backwards or not used, the first bolt 59 is upwards or downwards pulled out from the first limiting hole 58 by using the control switch 61, the force arm is rotated, at the moment, the first bolt 59 supports against the connecting body 55, and when the handrail slides to the position of the second limiting hole 73, the first bolt 59 can automatically spring into the second limiting hole 73 to realize fixation of the handrail due to the action of the pressure spring. In addition, the handrail can only be turned outwards from the middle position, but not inwards, so that unnecessary troubles are avoided.

The first limiting hole 59 and the second limiting hole 73 are preferably arranged below the connecting body, the tendency that the first bolt falls down under the action of gravity is avoided, and meanwhile, the attractive appearance is guaranteed.

As shown in fig. 17 and 18, the longitudinal turning connector 52 includes a fixing sleeve 74 fixedly connected to the turning part 57, a fixing block 75 is disposed in the fixing sleeve 74, a second rotating shaft 76 connected to the L-shaped armrest 53 and parallel to the length direction of the force arm is disposed in the fixing block 75, the second rotating shaft 76 is fixedly connected to the L-shaped armrest 53, the second rotating shaft 76 rotates in the fixing block 75 to rotate the L-shaped armrest 53, and the second rotating shaft 76 is provided with 2 or more than 2 third limiting holes 77. As shown in fig. 19, a second bolt 78 capable of extending into the third position-limiting hole 77 is disposed on the fixing sleeve, and the second bolt 78 may be an indexing pin. The third limiting holes 77 are preferably 4, and are arranged at every 90 degrees, so that armrest adjustment in 4 directions is realized.

In the present embodiment, as shown in fig. 1 and 2, a battery or a battery pack is provided below the column to supply power to the electric cylinder of the electric push rod 203.

In this embodiment, the upper part of the outer upright is further provided with an outward handrail 207 for a rehabilitation therapist or other service personnel to control the following hanging bracket and protect the user.

Meanwhile, the bottom of the electric push rod 203 is provided with an electric push rod shell 205, and a battery shell 206 is also arranged outside the battery or the battery pack, so that the appearance of the follow-up hanger is ensured, and the protection functions of dust prevention and the like are also achieved.

Furthermore, the synchro-regulator peripheral is provided with a synchro-regulator housing 208.

It can be appreciated that the following hanger provided by the present invention can achieve a variety of functions:

1. the following function when the user connects the exoskeleton robot.

2. When the user is not connected with the exoskeleton robot, the exoskeleton robot can be used as a displacement machine, the user grasps the force arm to support the upper limbs, and the lower limbs can move in the follow-up hanging bracket in place and drive the follow-up hanging bracket to move forwards or backwards.

Spatially relative terms such as "below …," "above …," "below," "above," "below," and the like are used for ease of description and to explain the positioning of one element relative to a second element. These terms are intended to encompass different orientations of the corresponding device in addition to different orientations than those depicted in the figures. Further, terms such as "first" and "second," etc., are also used to describe various elements, regions, sections, etc. and are also not intended to be limiting. Like terms refer to like elements throughout the description.

As used herein, the terms "having," "including," "containing," and "exhibiting," and the like are open-ended terms that indicate the presence of stated elements or features, but do not exclude additional elements or features.

With the above range of variations and applications in mind, it should be understood that the present invention is not limited by the foregoing description, nor is it limited by the accompanying drawings. Rather, the invention is limited only by the claims and their legal equivalents.

Claims

1. A following hanger comprises a chassis, an upright post arranged on the chassis and an annular force arm arranged on the upright post and used for connecting an exoskeleton robot, and is characterized in that the chassis comprises a transverse bearing beam and a frame beam vertically connected with two ends of the bearing beam, the upright post is arranged on the bearing beam, and a caster set is arranged below the frame beam;

the annular force arm comprises a left force arm and a right force arm;

2. A follow hanger as claimed in claim 1, wherein the folding bench comprises a folding portion and a fixed portion;

the fixed part comprises an outward-inclined fixed frame arranged on the frame beams on the two sides, a rotating plate mounting plate arranged on the fixed frame and a sliding rail fixed on the outer upright post;

the folding part comprises a rotating plate hinged to the upper end of the rotating plate mounting plate, a regulating pipe hinged to the lower portion of the rotating plate, a regulating pipe mounting plate hinged to the outer end portion of the regulating pipe, and a regulating slider connected with the regulating pipe mounting plate and capable of sliding up and down on a regulating slide rail, the outer end of the rotating plate is provided with a stool surface, the regulating pipe presses down along with the regulating slider to enable the rotating plate to turn over downwards and the stool surface to be flat gradually, and the regulating pipe lifts upwards along with the regulating slider to enable the rotating plate to turn over upwards and the stool surface to be folded downwards gradually.

3. A follow hanger as claimed in claim 2, wherein the mounting bracket is inclined perpendicularly to the frame beam or outwardly of the frame beam.

4. The follow hanger of claim 2, wherein the adjustment tube comprises an outer adjustment tube hinged to the lower portion of the rotating plate and an inner adjustment tube movable within the outer adjustment tube and hinged to the adjustment tube mounting plate, and a tension spring is disposed between the inner and outer adjustment tubes.

5. The follow hanger as claimed in claim 2, wherein a bench top holder is fixedly attached to an outer end of the rotating plate, and the bench top is disposed on the bench top holder.

6. The follow hanger as claimed in claim 2, wherein the upper and lower ends of the slide rail are provided with slider stoppers, such that when the slider slides to the uppermost end of the slide rail, the stool surface is completely flat; when the sliding block slides to the lowest end of the sliding rail, the stool surface is at least folded to be vertical to the frame beam.

7. The follow hanger of claim 1, wherein the hanger is further provided with a synchronous adjusting device fixed on the outer upright column, the synchronous adjusting device is connected with the left force arm and the right force arm and can synchronously adjust the opening and closing width between the left force arm and the right force arm;

the left side arm of force and the right arm of force all are L type bending arm, synchronization regulation device includes:

the first sliding plate is connected with the inner end part of the left force arm, the second sliding plate is connected with the inner end part of the right force arm, and the first sliding plate and the second sliding plate are parallel; and

one or two sliding rails are positioned above or below the first sliding plate and the second sliding plate, sliding blocks fixed with the first sliding plate and the second sliding plate are arranged between the first sliding plate and the sliding rails, and the sliding rails are fixed on a fixing plate fixedly connected with the upright post; and

8. The follow hanger of claim 1, wherein the hanger is further provided with a synchronous adjusting device fixed on the outer upright column, the synchronous adjusting device is connected with the left force arm and the right force arm and can synchronously adjust the opening and closing width between the left force arm and the right force arm;

9. The follow hanger of claim 8, wherein a synchronization adjustment device mounting plate is fixed to the outer column, a third fixing plate is fixed to the synchronization adjustment mounting plate, the third fixing plate is fixed to the first fixing plate at a lower end, and the second fixing plate at an upper end;

the rear end part of the gear shaft is provided with a bearing, and the middle part of the third fixing plate is provided with a fixing hole of the bearing.

10. The follow hanger of claim 1, wherein the connecting members provided at the ends of the left and right moment arms are universal adjusting connecting members, and the universal adjusting connecting members are fixedly connected with the left and right moment arms;

11. The follow hanger of claim 1, wherein a sliding adjustment part is arranged between the connecting piece and the left and right force arms, the sliding adjustment part is provided with a guide rail and a third sliding block sliding on the guide rail, the third sliding block is fixedly connected with the connecting piece, and the guide rail is fixed with the left and right force arms through a guide rail fixing plate;

the guide rails are longitudinally arranged, transversely arranged or obliquely arranged;

the connecting piece is universal adjusting connecting piece, universal adjusting connecting piece is including the transverse adjustment board that is located the outer end and the vertical regulating plate of inner, be provided with the transverse adjustment hole in the transverse adjustment board, be provided with vertical regulation hole in the vertical regulating plate, universal adjusting connecting piece is still including running through the adapter that sets up in transverse adjustment hole and vertical regulation hole, be provided with a vertical first rotation axis that runs through between adapter and the transverse adjustment board, be provided with a horizontal second rotation axis that runs through between adapter and the vertical regulating plate, transverse adjustment board winds horizontal rotation regulation is realized to first rotation axis, vertical regulating plate winds vertical rotation regulation is realized to the second rotation axis.

12. A follow hanger as claimed in claim 10 or claim 11, wherein the lateral adjustment plate is spaced from the longitudinal adjustment plate.

13. A follow hanger according to claim 10 or 11, wherein both ends of the first and second rotary shafts are provided with a stopper having a diameter larger than that of the through hole.

14. A follow hanger according to any one of claims 1, 7, 8, 11 or 12, wherein the outer ends of the left and right arms are fixedly provided with arm handrails which can be turned outwards in the horizontal direction and/or rotated with the length direction of the arm as the axial direction.

15. The follow hanger of claim 14, wherein the moment arm rest comprises a horizontal flip connector, a longitudinal flip connector connected to the horizontal flip connector, and an L-shaped rest connected to the longitudinal flip connector;

vertical upset connecting piece include with upset portion fixed connection's fixed cover, be provided with the fixed block in the fixed cover, be provided with the second pivot that connects the axial of L type handrail and arm of force length direction parallel in the fixed block, second pivot and L type handrail fixed connection, the rotation of L type handrail is realized in the fixed block internal rotation to the second pivot, be provided with the spacing hole of 2 or more than 2 third in the second pivot, be provided with the second bolt that can stretch into this spacing hole of third on the fixed cover.