CN209899989U - Combined type ectoskeleton helps capable equipment - Google Patents
Combined type ectoskeleton helps capable equipment Download PDFInfo
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- CN209899989U CN209899989U CN201920467141.2U CN201920467141U CN209899989U CN 209899989 U CN209899989 U CN 209899989U CN 201920467141 U CN201920467141 U CN 201920467141U CN 209899989 U CN209899989 U CN 209899989U
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Abstract
The utility model discloses a combined exoskeleton walking aid device, which comprises a back support plate, a seat plate, shoulder straps, waist straps, a seat plate bracket, a left part and a right part; the seat plate bracket is fixed on the back supporting plate, and the seat plate is placed in the seat plate bracket; the shoulder bandage and the waist bandage are fixed on the back support plate; the left part and the right part have the same structure and are symmetrically arranged at the lower part of the back support plate; the left part comprises a rear wheel module, a thigh module, a hip joint driving module, a front wheel module, a shank module, a foot module, a seat support and a knee joint driving module. The device takes an outer skeleton as a parent, a hip joint and a knee joint of the outer skeleton are provided with a rear wheel module and a front wheel module, and the device can be used for changing the auxiliary walking and rehabilitation exoskeleton which can climb stairs and complete daily simple actions and is worn on a human body into a wheelchair capable of rapidly advancing through mechanism deformation, so that the integration of auxiliary walking and the wheelchair is realized, and the use requirements of people with mobility disabilities are met.
Description
Technical Field
The utility model relates to a recovered robot field specifically is a combined type ectoskeleton helps capable equipment.
Background
With the development and popularization of exoskeleton technology, exoskeleton becomes an option for more and more people to walk or rehabilitate. The exoskeleton robot is used as auxiliary equipment for the old, the person with difficulty in lower limb movement and other persons with mobility disabilities, and not only can assist the movement of the human body, but also can assist the rehabilitation of the human body. For patients with lower limbs needing rehabilitation, the patients cannot stand for a long time during rehabilitation exercise. Moreover, the exoskeleton is difficult to put on and take off, and the exoskeleton cannot be quickly taken off to move in a wheelchair under the condition that the exoskeleton needs to be quickly moved. This problem is also present for the elderly. Therefore, it is imperative to design an exoskeleton with both walking assisting function and wheelchair function.
SUMMERY OF THE UTILITY MODEL
To the deficiency of the prior art, the utility model aims to solve the technical problem that a combined type ectoskeleton helps capable equipment is provided.
The technical scheme of the utility model for solving the technical problems is to provide a combined exoskeleton walking aid device, which is characterized in that the device comprises a back support plate, a seat plate, shoulder straps, waist straps, a seat plate bracket, a left part and a right part; the seat plate bracket is fixed on the back supporting plate, and the seat plate is placed in the seat plate bracket; the shoulder bandage and the waist bandage are fixed on the back support plate; the left part and the right part have the same structure and are symmetrically arranged at the lower part of the back support plate;
the left part comprises a rear wheel module, a thigh module, a hip joint driving module, a front wheel module, a shank module, a foot module, a seat support and a knee joint driving module; the hip joint driving module comprises a thigh driving motor and a rear wheel module steering motor; the knee joint driving module comprises a shank driving motor and a front wheel module steering motor; the thigh driving motor is fixed on the back supporting plate, and the output end of the thigh driving motor is fixedly connected with one end of the thigh module; the seat support is fixed on the thigh module; the rear wheel module steering motor is fixed on the back support plate, and the output end of the rear wheel module steering motor is fixedly connected with the rear wheel module; the shank driving motor is fixed on the other end of the thigh module, and the output end of the shank driving motor is fixedly connected with one end of the shank module; the front wheel module steering motor is fixed at the other end of the thigh module, and the output end of the front wheel module steering motor is fixedly connected with the front wheel module; the other end of the shank module is fixedly connected with the foot module.
Compared with the prior art, the utility model discloses beneficial effect lies in:
(1) the device takes an outer skeleton as a parent, a hip joint and a knee joint of the outer skeleton are provided with a rear wheel module and a front wheel module, and the device can be used for changing the auxiliary walking and rehabilitation exoskeleton which can climb stairs and complete daily simple actions and is worn on a human body into a wheelchair capable of rapidly advancing through mechanism deformation, so that the integration of auxiliary walking and the wheelchair is realized, and the use requirements of people with mobility disabilities are met.
(2) The leg of the device adopts a telescopic design, can be adjusted and is simple and convenient to adjust for users with different heights so as to adapt to the lengths of thighs and shanks of different users, the hip joint of the device corresponds to the hip joint of a human body, the knee joint of the device corresponds to the knee joint of the human body, and the ankle joint of the device corresponds to the ankle joint of the human body.
(3) Shoulder bandage, waist bandage, thigh bandage, shank bandage and foot bandage all adopt elastic material and install the buckle on it, can realize the laminating according to the suitable elasticity of different users adjustment.
(4) The device has reasonable and compact design, can not interfere and influence each other between parts in the deformation process, can not influence each other when realizing the auxiliary walking function and the wheelchair function, fully utilizes the limited space, and ensures that the whole device is more compact and the space utilization rate is high.
(5) The equipment has the advantages of simple structure, stable operation, economy, practicality, safety and reliability.
Drawings
Fig. 1 is an axial view of an overall structure of the auxiliary walking device in an embodiment of the present invention when standing;
FIG. 2 is a schematic front view of the present invention shown in FIG. 1;
fig. 3 is a left side view of fig. 1 in accordance with the present invention;
FIG. 4 is a schematic view of the axle of the whole structure of the wheelchair according to an embodiment of the present invention;
fig. 5 is a front view of the back support plate according to an embodiment of the present invention;
fig. 6 is a schematic sectional view taken along a-a of fig. 5;
fig. 7 is a schematic view of a thigh module axis according to an embodiment of the present invention;
FIG. 8 is an isometric view of a shank module and a foot module according to an embodiment of the present invention;
fig. 9 is a schematic view of a hip joint driving module according to an embodiment of the present invention;
fig. 10 is a schematic view of a knee joint driving module according to an embodiment of the present invention;
fig. 11 is a rear wheel module axle schematic view of an embodiment of the present invention;
fig. 12 is a front wheel module axle measuring view according to an embodiment of the present invention.
In the figure: 1. a back support plate; 2. a seat plate; 3. a rear wheel module; 31. a rear wheel; 32. a wheel lever; 4. a thigh module; 41. a thigh strap; 42. inner thigh panels; 43. thigh external support; 5. a hip joint drive module; 51. a thigh drive motor; 52. the rear wheel module is turned to the motor; 6. a front wheel module; 61. a front wheel; 62. a retractable wheel lever; 7. a shank module; 71. a shank binding band; 72. a lower leg medial plate; 73. a shank external support; 8. a foot module; 81. a foot support plate; 82. a foot strap; 9. a handle; 10. a handrail; 11. shoulder straps; 12. a waist strap; 13. a seat support; 14. a seat pan support; 15. a battery; 16. a knee joint drive module; 161. a shank drive motor; 162. a front wheel module steering motor;
Detailed Description
Specific embodiments of the present invention are given below. The specific embodiments are only used for further elaboration of the invention, and do not limit the scope of protection of the claims of the present application.
The utility model provides a combined exoskeleton walking aid device (for short, see fig. 1-12), which is characterized in that the device comprises a back support plate 1, a seat plate 2, shoulder straps 11, waist straps 12, a seat plate bracket 14, a left part and a right part; the seat plate bracket 14 is fixed on the back support plate 1, and the seat plate 2 is placed in the seat plate bracket 14; the shoulder straps 11 and the waist straps 12 are fixed on the back support plate 1 through screws; the shoulder bandage 11 is provided with a buckle for fixing the shoulders of the human body, and the waist bandage 12 is provided with a buckle for fixing the waist of the human body; the left part and the right part are completely the same and are symmetrically arranged at the lower part of the back support plate 1;
the left part comprises a rear wheel module 3, a thigh module 4, a hip joint driving module 5, a front wheel module 6, a shank module 7, a foot module 8, a seat support 13 and a knee joint driving module 16; the hip joint driving module 5 comprises a thigh driving motor 51 and a rear wheel module steering motor 52; the knee joint driving module 16 comprises a shank driving motor 161 and a front wheel module steering motor 162; the thigh driving motor 51 is fixed on the back support plate 1, and the output end of the thigh driving motor is fixedly connected with one end of the thigh module 4; the seat support 13 is fixed on the thigh module 4; the rear wheel module steering motor 52 is fixed on the back support plate 1, and the output end of the rear wheel module steering motor is fixedly connected with the shaft hole at the end part of the rear wheel module 3 in an interference fit manner; the shank driving motor 161 is fixed on the other end of the thigh module 4, and the output end thereof is fixedly connected with one end of the shank module 7; the front wheel module steering motor 162 is fixed at the other end of the thigh module 4, and the output end of the front wheel module steering motor is fixedly connected with the shaft hole at the end part of the front wheel module 6 in an interference fit manner; the other end of the shank module 7 is fixedly connected with the foot module 8.
The thigh module 4 comprises a thigh strap 41, an inner thigh panel 42 and an outer thigh support 43; the calf module 7 comprises a calf bandage 71, a calf inner side plate 72 and a calf outer bracket 73; the foot module 8 includes a foot support plate 81 and a foot strap 82; the rear wheel module 3 comprises a rear wheel 31 and a wheel lever 32; the front wheel module 6 comprises a front wheel 61 and a retractable wheel bar 62;
the thigh driving motor 51 is fixed on the back supporting plate 1, and the output end of the thigh driving motor is fixedly connected with the end part of the thigh outer bracket 43; the thigh outer support 43 is connected with the thigh inner plate 42 in the form of a moving pair, and is fixedly connected with the thigh inner plate 42 through threads (bolts or screws) after moving to a proper length to adapt to the length of the thigh of the user (the moving pair specifically is that a groove track or a convex track is arranged inside the thigh outer support 43, a protrusion or a groove is arranged on the outer side of the thigh inner plate 42, and the protrusion or the groove of the thigh inner plate 42 is matched with the groove track or the protrusion track of the thigh outer support 43 to realize the relative sliding of the thigh inner plate 42 and the thigh outer support 43); the seat support 13 is fixed on the inner thigh panel 42; the thigh bandage 41 is fixed on the thigh external support 43, and the thigh bandage 41 is provided with a buckle for fixing the thigh of the human body; the rear wheel module steering motor 52 is fixed on the back support plate 1, and the output end of the rear wheel module steering motor is fixedly connected with the shaft hole at one end of the wheel rod 32 in an interference fit manner; the other end of the wheel rod 32 is connected with the rear wheel 31 in a revolute pair manner (a revolute pair, i.e. a shaft is matched with a rolling bearing, specifically, the central position of the rear wheel 31 is fixed with the shaft through a pin, the two ends of the shaft are fixedly connected with the inner ring of the rolling bearing in an interference fit manner, and the outer ring of the bearing is fixedly connected with the wheel rod 32 to realize rotation); the lower leg driving motor 161 is fixed on the end of the thigh inner side plate 42, and the output end thereof is fixedly connected with the end of the lower leg outer bracket 73; the outer calf support 73 is connected with the inner calf plate 72 in a sliding pair mode, and is fixedly connected with the inner calf plate 72 through threads (bolts or screws) after moving to a proper length to adapt to the calf length of a user (specifically, the sliding pair is characterized in that a groove track or a convex track is arranged inside the outer calf support 73, a protrusion or a groove is arranged on the outer side of the inner calf plate 72, and the protrusion or the groove of the inner calf plate 72 is matched with the groove track or the convex track of the outer calf support 73, so that the relative sliding of the inner calf plate 72 and the outer calf support 73 is realized); the calf bandage 71 is fixed on the calf outer support 73, and a buckle is arranged on the calf bandage 71 and used for fixing the calf of the human body; the front wheel module steering motor 162 is fixed on the end part of the thigh inner side plate 42, and the output end of the front wheel module steering motor is fixedly connected with the shaft hole at one end of the telescopic wheel rod 62 in an interference fit manner; the other end of the telescopic wheel rod 62 is connected with the front wheel 61 in a rotating pair mode; the end of the lower leg inner side plate 72 is fixedly connected with the foot supporting plate 81; the foot strap 82 is fixed on the foot support plate 81, and the foot strap 82 is provided with a buckle for fixing the foot of the human body.
The device further comprises a handle 9, an armrest 10 and a battery module 15; the handle 9 is connected to the back support plate 1 through a revolute pair, can rotate and is used for being used by others when pushing the wheelchair; the armrest 10 is connected to the back support plate 1 through a revolute pair, can rotate and is used for placing the arm of a user; the battery module 15 is placed inside the back support plate 1 to supply power to all the motors of the device.
The bottom of the seat plate bracket 14 is provided with a bulge or a groove which is matched with the seat support 13 to support the seat plate 2 in a wheelchair state; the projections or recesses are located at the same height as the seat supports 13, ensuring that the seat plate 2 is level. The seat plate 2 is provided with a toothed groove for fixing in cooperation with the projection or recess and the seat support 13.
The thigh drive motor 51, the rear wheel module steering motor 52, the shank drive motor 161, and the front wheel module steering motor 162 have a self-locking function, and can maintain one posture unchanged for a long time.
The retractable wheel rod 62 has a structure which is the same as the rod portion retractable structure principle of the foldable umbrella, has a plurality of fixed positions, and is fixed by pins after being adjusted to a proper length.
Preferably, the wheel bar 32 is also adjustable in length, in the same principle as the retractable wheel bar 62.
The utility model discloses a theory of operation and work flow are:
when the device is needed to be used for assisting walking, the relative positions of the thigh outer support 43 and the thigh inner side plate 42 are adjusted to be matched with the length of the thigh of the user; adjusting the relative position of the outer crus bracket 73 and the inner crus plate 72 to match with the length of the crus of the user; the sole of the user is placed on the foot supporting plate 81, and the foot binding band 82 is fixed with the foot of the human body; the thigh binding bands 41 are fixed with the thighs of the user, the calf binding bands 71 are fixed with the calves of the user, the shoulder binding bands 11 are arranged on the back of the shoulders of the user, the waist binding bands 12 are used for binding the waist of the user, the hip joint driving module 5 of the device corresponds to the hip joints of the human body, the knee joint driving module 16 of the device corresponds to the knee joints of the human body, and therefore the correct position of the exoskeleton relative to the human body is guaranteed.
After wearing is complete, foot module 8 is located on the ground. When the walking assistance is started, taking the left leg as an example (the left leg is a swing leg and the right leg is a supporting leg), the thigh driving motor 51 at the left part rotates to lift the thigh of the user, the shank driving motor 161 rotates to realize the forward rotation of the shank of the user, and then the thigh driving motor 51 rotates to realize the landing of the left foot, so as to realize the forward walking of the left leg. The right leg is the same, and the whole device drives the human body to move forwards.
When it is desired to convert to a wheelchair, the foot module 8 is in contact with the ground. The rear wheel module steering motor 52 rotates to drive the rear wheel module 3 to rotate 90 °. The front wheel module steering motor 162 rotates to drive the front wheel module 6 to rotate 90 °. The lower leg driving motor 161 rotates and the thigh driving motor 51 rotates to drive the thigh outer support 43 to move horizontally, so that the rear wheel 31 contacts the ground, and the back support plate 1 is vertical at the same time. The seat plate 2 is drawn out of the seat plate support 14 with four corners horizontally placed on the projections or grooves at the bottom of the seat plate support 14 and the seat supports 13. The thigh straps 41 are loosened so that the thighs of the user are in a released state with the thigh straps 41, and the user sits on the seat plate 2. The length of the telescopic wheel rod 62 is adjusted to enable the front wheel 61 to be in contact with the ground, the thigh outer support 43 can be parallel to the ground, and the shank module 7 is suspended. The rotation of the shank driving motor 161 enables the shank module 7 to rotate a proper angle, and the front legs of the user are raised, so that the comfort is ensured. The armrest 10 is placed down and the user's hand is placed on the armrest 10. Others can hold the handle 9 to push. And a motor can be arranged in the rear wheel module 3 and the front wheel module 6 to drive the wheelchair to move. The distance between the two front wheels is larger than the distance between the two rear wheels, which is beneficial to the stability of the wheelchair.
When the walking assisting state needs to be changed, the lower leg driving motor 161 rotates to rotate the lower leg module 7 to be vertical to the ground. The length of the retractable wheel bar 62 is adjusted so that the foot module 8 is in contact with the ground. The thigh strap 41 is adjusted so that the user's thigh is in a tightened state with the thigh strap 41. The seat plate 2 is then extracted from the supported state of the projections or grooves at the bottom of the seat support 13 and the seat plate bracket 14 and inserted into the seat plate bracket 14. The calf drive motor 161 rotates and the thigh drive motor 51 rotates so that the thigh outer support 43 is in a vertical state and the back support plate 1 is vertical at the same time. The front wheel module steering motor 162 rotates to drive the front wheel module 6 to rotate 90 degrees and retract. The rear wheel module steering motor 52 rotates to drive the rear wheel module 3 to rotate 90 degrees, and then the rear wheel module is folded. The device becomes a walking assisted stance.
The utility model discloses the nothing is mentioned the part and is applicable to prior art.
Claims (6)
1. A combined exoskeleton walking aid device is characterized by comprising a back support plate, a seat plate, shoulder straps, waist straps, a seat plate bracket, a left part and a right part; the seat plate bracket is fixed on the back supporting plate, and the seat plate is placed in the seat plate bracket; the shoulder bandage and the waist bandage are fixed on the back support plate; the left part and the right part have the same structure and are symmetrically arranged at the lower part of the back support plate;
the left part comprises a rear wheel module, a thigh module, a hip joint driving module, a front wheel module, a shank module, a foot module, a seat support and a knee joint driving module; the hip joint driving module comprises a thigh driving motor and a rear wheel module steering motor; the knee joint driving module comprises a shank driving motor and a front wheel module steering motor; the thigh driving motor is fixed on the back supporting plate, and the output end of the thigh driving motor is fixedly connected with one end of the thigh module; the seat support is fixed on the thigh module; the rear wheel module steering motor is fixed on the back support plate, and the output end of the rear wheel module steering motor is fixedly connected with the rear wheel module; the shank driving motor is fixed on the other end of the thigh module, and the output end of the shank driving motor is fixedly connected with one end of the shank module; the front wheel module steering motor is fixed at the other end of the thigh module, and the output end of the front wheel module steering motor is fixedly connected with the front wheel module; the other end of the shank module is fixedly connected with the foot module.
2. The compound exoskeleton walker apparatus as claimed in claim 1, further comprising a handle, armrests and a battery module; the handle is connected to the back support plate through a revolute pair; the handrail is connected to the back support plate through a revolute pair; the battery module is placed in the back support plate to supply power for all motors of the equipment.
3. The compound exoskeleton walker device as claimed in claim 1, wherein the bottom of the seat plate bracket has a protrusion or a groove for engaging with the seat support to support the seat plate in the wheelchair state; the bulge or the groove is positioned at the same height with the seat support, so that the level of the seat plate is ensured.
4. The compound exoskeleton walker apparatus as claimed in claim 1, wherein said thigh module comprises a thigh strap, an inner thigh panel and an outer thigh brace; the shank module comprises a shank binding band, a shank inner side plate and a shank outer bracket; the foot module comprises a foot supporting plate and a foot binding band; the rear wheel module comprises a rear wheel and a wheel rod; the front wheel module comprises a front wheel and a telescopic wheel rod;
the thigh driving motor is fixed on the back supporting plate, and the output end of the thigh driving motor is fixedly connected with the end part of the thigh outer support; the thigh outer support is connected with the thigh inner side plate in a moving pair mode, and is fixedly connected after moving to a proper length; the seat support is fixed on the inner thigh side plate; the thigh bandage is fixed on the thigh outer support; the rear wheel module steering motor is fixed on the back support plate, and the output end of the rear wheel module steering motor is fixedly connected with one end of the wheel rod; the other end of the wheel rod is connected with the rear wheel in a revolute pair mode; the shank driving motor is fixed on the end part of the thigh inner side plate, and the output end of the shank driving motor is fixedly connected with the end part of the shank outer bracket; the crus outer support is connected with the crus inner side plate in a moving pair mode, and is fixedly connected after moving to a proper length; the crus bandage is fixed on the crus outer bracket; the front wheel module steering motor is fixed on the end part of the thigh inner side plate, and the output end of the front wheel module steering motor is fixedly connected with one end of the telescopic wheel rod; the other end of the telescopic wheel rod is connected with the front wheel in a revolute pair mode; the end part of the shank inner side plate is fixedly connected with the foot supporting plate; the foot bandage is fixed on the foot supporting plate.
5. The compound exoskeleton walker apparatus as claimed in claim 4, wherein the shoulder straps have snaps for securing the shoulders of the person; the waist binding belt is provided with a buckle for fixing the waist of a human body; the thigh binding belt is provided with a buckle for fixing the thigh of the human body; the shank binding belt is provided with a buckle for fixing the shank of a human body; the foot binding belt is provided with a buckle for fixing the foot of the human body.
6. The compound exoskeleton walker apparatus as claimed in claim 4, wherein the retractable wheel bars have a plurality of fixed positions and are adjusted to a suitable length and then fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920467141.2U CN209899989U (en) | 2019-04-09 | 2019-04-09 | Combined type ectoskeleton helps capable equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920467141.2U CN209899989U (en) | 2019-04-09 | 2019-04-09 | Combined type ectoskeleton helps capable equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209899989U true CN209899989U (en) | 2020-01-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920467141.2U Expired - Fee Related CN209899989U (en) | 2019-04-09 | 2019-04-09 | Combined type ectoskeleton helps capable equipment |
Country Status (1)
| Country | Link |
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| CN (1) | CN209899989U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109846681A (en) * | 2019-04-09 | 2019-06-07 | 河北工业大学 | A kind of combined type ectoskeleton walk-aid equipment |
-
2019
- 2019-04-09 CN CN201920467141.2U patent/CN209899989U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109846681A (en) * | 2019-04-09 | 2019-06-07 | 河北工业大学 | A kind of combined type ectoskeleton walk-aid equipment |
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Granted publication date: 20200107 |