CN107625589A - A kind of ectoskeleton wheelchair integrated multi-functional movement auxiliary robot of telescopic - Google Patents
A kind of ectoskeleton wheelchair integrated multi-functional movement auxiliary robot of telescopic Download PDFInfo
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- CN107625589A CN107625589A CN201710751991.0A CN201710751991A CN107625589A CN 107625589 A CN107625589 A CN 107625589A CN 201710751991 A CN201710751991 A CN 201710751991A CN 107625589 A CN107625589 A CN 107625589A
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- 230000033001 locomotion Effects 0.000 title claims description 16
- 210000000689 upper leg Anatomy 0.000 claims abstract description 50
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 15
- 210000001624 hip Anatomy 0.000 claims description 29
- 210000004394 hip joint Anatomy 0.000 claims description 14
- 210000002414 leg Anatomy 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 10
- 210000003127 knee Anatomy 0.000 claims description 9
- 239000007787 solid Substances 0.000 claims description 3
- 210000003423 ankle Anatomy 0.000 claims description 2
- 230000003137 locomotive effect Effects 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 18
- 238000000034 method Methods 0.000 description 8
- 210000000629 knee joint Anatomy 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 238000012549 training Methods 0.000 description 4
- 210000003141 lower extremity Anatomy 0.000 description 3
- 238000011160 research Methods 0.000 description 3
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- 230000008859 change Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
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- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 241000406668 Loxodonta cyclotis Species 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
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- 210000003414 extremity Anatomy 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
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- 230000010354 integration Effects 0.000 description 1
- 230000036651 mood Effects 0.000 description 1
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- 238000005096 rolling process Methods 0.000 description 1
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Abstract
The invention discloses a kind of ectoskeleton wheelchair integrated multi-functional of telescopic to move auxiliary robot, including symmetrical two footrest mechanisms, two shank bars, two thigh bars and two waist bars, bottom bar is provided with the outside of shank bar, the lower end of bottom bar is articulated with ankle-joint with the lower end of shank bar, the linear electric motors of driving shank bar are provided between bottom bar and shank bar, one end of linear electric motors is connected with bottom bar, and the other end of linear electric motors is connected with thigh bar；It is installed on the electric rotating machine on the outside of waist bar and the trailing wheel of bottom bar upper end is rotatably connected on to drive by the Chain conveyer in thigh bar, shank bar and bottom bar, front wheels and rear wheels are installed on bottom bar, backboard is connected between two waist bars, being slidably connected at the chair seat board between two thigh bars can be translated by the motor on backboard.The auxiliary walking function of the quick locomotive function of wheelchair, auxiliary standing function and ectoskeleton is integrated in one by the present invention.
Description
Technical field
The present invention relates to a kind of mobile auxiliary robot, the ectoskeleton wheelchair integration more particularly to a kind of telescopic is more
Function moves auxiliary robot.
Background technology
With the improvement of people ' s living standards with the development of medical technology, long-lived crowd's quantity gradually increases, however, also band
New problem --- the aging population of countries in the world to perplex.Aging triggers the cardiovascular and cerebrovascular diseases such as apoplexy and bone close
The diseases such as degree decline cause the elderly's extremity motor function to decline, and its daily life needs people to take care of；It is further, since natural
Disabled person's quantity is also being continuously increased caused by disaster, traffic accident etc..
Lower extremity motor function impaired patients are handicapped, it is difficult to live on one's own life, it is easy to produce the mood remained passive and pessimistic, together
When return household and bring white elephant, they thirst for living as normal person very much.Medical research shows, effective health
Refreshment white silk can cause nervous function restructuring and compensatory, the reparation of accelerans system, patient is recovered locomitivity.
Lot of domestic and foreign scientific research personnel has carried out research to lower limb rehabilitation robot, is directed generally to realize auxiliary walking and rehabilitation instruction
Do exercises energy.Consider from the daily life demand of user, provided for user and quickly moved under sitting posture state, aid in user
Standing performance has equal status with above two kinds of functions.Therefore, exploitation one kind can carry disabled person's trip, and support is residual
Disease people stands, and the Multifunctional mobile that disabled person can be aided in walk aids in and the robot with certain recovery function
As active demand.
The content of the invention
The invention aims to overcome deficiency of the prior art, there is provided one kind possesses quickly moves under sitting posture state
Dynamic, aiding upright and auxiliary walking function move auxiliary machinery in the ectoskeleton wheelchair integrated multi-functional of the telescopic of one
People.
The purpose of the present invention is achieved through the following technical solutions：
A kind of ectoskeleton wheelchair integrated multi-functional movement auxiliary robot of telescopic, including it is symmetrical two small
Leg bar, two thigh bars and two waist bars, the upper end of the shank bar are connected with the lower end of the thigh bar by knee joint,
The lower end of the upper end of the thigh bar and the waist bar is by hip joint axis connection, on the thigh bar and the shank bar
Leg fixing band is provided with, the waist bar is provided with fixing strap of waist；The thigh bar is provided with the linear electric motors for driving
II, one end of the linear electric motors II are hinged with thigh bar, and the other end is hinged on the front end of the waist bar；The shank bar
Inner side is provided with footrest mechanism, and bottom bar is provided with the outside of shank bar, front wheels and rear wheels are provided with the bottom bar, bottom bar
Lower end is connected by ankle-joint axle with the shank bar, and the upper end of bottom bar is rotatablely connected with hind axle, the bottom bar and described small
Linear electric motors I for driving is installed between leg bar；One end of the linear electric motors I is articulated with the outside of the thigh bar, separately
One end on the inside of the bottom bar with being hinged；The inside of the thigh bar, shank bar and bottom bar is by setting the Chain conveyer being connected with each other
Mechanism passes through bevel gear on the outside of the waist bar formed with three-level chain and sprocket driving device provided with electric rotating machine I, the electric rotating machine I
Group I drives the three-level chain and sprocket driving device；Backboard is connected between two waist bars, is installed in the backrest back
Have a transmission mechanism, be connected with chair seat board between two thigh bars, the chair seat board both sides by chute with it is described big
Leg bar connects, and adjust the chair seat board by the silk transmission mechanism makees translational motion along the chute, the bottom bar and described
It is provided between shank bar and rotates lock solid structure, knapsack is additionally provided with after the backboard, the knapsack, which is provided with, prevents lateral shift
Mechanism.
Further, the company that the footrest mechanism is made up of big connecting rod, small rod, pedal and linear electric motors III
Linkage, the lower end of the big connecting rod and the outside front ends of the pedal are hinged, the outside rear end of the pedal with it is described
The lower end of small rod is hinged, and upper end and linear electric motors III one end of the small rod are hinged, the linear electric motors III other ends and institute
The upper end for stating big connecting rod is hinged, and the footrest mechanism is hinged at shank bar medial ankle axle by the small rod,
It is articulated with by the upper end of the big connecting rod on the inside of shank bar.
Further, the rotary lock structure is included in the rectangular slot that is set on the shank bar and in rectangular slot
Interior affixed motor cabinet, the motor cabinet is interior to be provided with electric rotating machine II, the embedded rectangular slot of electric rotating machine II drivings
Interior ball-screw, the ball-screw band pendulum lock pin move along shank bar, and the lock pin can be inserted into and be opened under the bottom bar
Be evenly distributed four fore shafts at end；When the shank bar is parallel with the bottom bar, the lock pin is inserted into one of lock
Intraoral, when the shank bar is vertical with the bottom bar, the lock pin is inserted into another fore shaft, when the shank bar
With the bottom bar is both not parallel or during out of plumb, the lock pin and fore shaft are connectionless.
Further, the three-level chain and sprocket driving device includes being separately mounted to inside the thigh bar, shank bar and bottom bar
Chain-drive mechanism, the chain-drive mechanism includes two identical sprocket wheels and a chain, inside the thigh bar
Sprocket wheel be respectively arranged at hip joint axle and knee axis, the sprocket wheel inside the shank bar is respectively arranged in knee axis
At ankle-joint axle, the sprocket wheel inside the bottom bar is respectively arranged at ankle-joint axle and hind axle；When the shank bar and institute
State bottom bar it is vertical when, the electric rotating machine I on the outside of the waist bar drives the three-level chain and sprocket driving device by bevel gear set I, to drive
Move the rear wheel.
Further, the silk transmission mechanism includes cylindrical rod piece, bearing block and the rotation for being fixed on backrest back
Motor III, the electric rotating machine III drive the cylindrical rod piece, the cylindrical rod piece both ends point by bevel gear set II
Distinguish and be articulated with the bearing block, the bearing block is fixed on the both sides of backboard, and the cylindrical rod piece both sides are respectively fixedly connected
There is silk, the other end of the silk is connected on the chair seat board, and the silk is limited by pulley, and the pulley is fixed on backboard
On；When the shank bar is parallel with the bottom bar, the electric rotating machine II work, the cylindrical rod piece is driven to rotate, band
The silk is moved to move along the pulley, the chair seat board is pre- with the backboard from being drawn between the thigh bar
In spacing.
Further, it is described to prevent that lateral shift mechanism from including Horizontal control lever, horizontal fix bar, Y types are buckled and snap lock
Button, the Horizontal control lever are articulated with hip joint, and Horizontal control lever is connected with horizontal fix bar, and the Y types, which are buckled, is arranged on transverse direction
The both ends of fix bar, the elastic lock are fixed on knapsack；When the shank bar is parallel with the bottom bar, the transverse direction
Fix bar is fixed on the elastic fore shaft, when the shank bar and the vertical bottom bar, the Y types buckle be fixed on it is described
On the boss of bottom bar.
Compared with prior art, beneficial effect caused by technical scheme is：
Mechanism of the invention based on restructural, the change of mechanism freedom is realized by way of rod member coincidence, mechanism is not
The same free degree correspondingly realizes different functions：One) function of the quick movement under wheelchair state is realized；Two) realize
Auxiliary standing function；Three) the auxiliary walking function under ectoskeleton state is realized.Three of the above function covers use substantially
For mobile demand, the function of the function of wheelchair and exoskeleton robot is integrated in one in daily life by person.In addition,
The auxiliary walking function of the present invention, which has the walking of active adaptive type and passive control type walking both of which, to be selected, so as to
The different user of lower limb dyskinesia degree can be selected according to own situation, that is, expand the model of user
Enclose.And the present invention can realize human body lower limbs hip, kneed rehabilitation training, so as to by the special training of particular joint
Walk to be combined with secondary row, rehabilitation training effect can either be improved, can also reduce the uninteresting property of training process.
Brief description of the drawings
Fig. 1 packs up the structural representation after bottom bar completely for the present invention；
Fig. 2 is the structural representation that the present invention is in wheel chair robot state；
Fig. 3 is the structural representation of chain-drive mechanism of the present invention；
Fig. 4 is the structural representation that the present invention prevents lateral shift mechanism；
Fig. 5 is the structural representation after present invention auxiliary human body is stood；
Fig. 6 is the structural representation that bottom bar is packed up after present invention auxiliary human body is stood；
Fig. 7 is the silk drive mechanism schematic diagram that the present invention packs up chair seat board；
Fig. 8 is the structural representation that the present invention is in exoskeleton robot state.
Reference：101st, waist bar, 102, electric rotating machine I, 103, thigh bar, 104, trailing wheel, 105, bottom bar, 106, small
Leg bar, 107, front-wheel, 108, linear electric motors I, 109, linear electric motors II, 110, bevel gear set I, 111, knapsack, 112, backrest
Plate, 113, chair seat board, 114, chute, 201, linear electric motors III, 202, big connecting rod, 203, pedal, 204, small rod, 301,
Electric rotating machine II, 302, lock pin, 303, ball-screw, 304, motor cabinet, 401, Horizontal control lever, 402, Y types buckle, 403, horizontal
To fix bar, 404, elastic lock, 501, electric rotating machine III motor cabinets, 502, electric rotating machine III, 503, bevel gear set II,
504th, cylindrical rod piece, 505, bearing block, 506, pulley, 507, silk, 601, sprocket wheel, 602, chain, 701, hip joint axle,
702nd, knee axis, 703, ankle-joint axle, 704, hind axle.
Embodiment
In order to further understand the content, features and effects of the present invention, hereby enumerating following examples, and coordinate accompanying drawing
Describe in detail as follows：
See Fig. 1~Fig. 8, a kind of ectoskeleton wheelchair integrated multi-functional movement auxiliary robot of telescopic, including left and right
Symmetrical two shank bars, 106, two thigh bars 103 and two waist bars 101, upper end and the thigh bar 103 of shank bar 106
Lower end is linked together by knee joint, and thigh bar 103 and shank bar 106 are equipped with motor, the upper end of thigh bar 103
Linked together with the lower end of waist bar 101 by hip joint axle 701, leg is respectively connected with thigh bar 103 and shank bar 106
Portion's fixing band, is connected with fixing strap of waist on waist bar 101, and the motor of thigh bar 103 is linear electric motors II109, straight line
Motor II109 one end is be hinged with thigh bar 103, and the linear electric motors II109 other ends are hinged on the front end of waist bar 101；Shank bar
106 inner side is provided with footrest mechanism, and the outside of shank bar 106 is provided with bottom bar 105, and the lower end of bottom bar 105 passes through ankle-joint
Axle 703 is connected with shank bar 106, and the upper end of bottom bar 105 is rotatably connected on hind axle 704, the motor of shank bar 106
It is arranged on for linear electric motors I108, linear electric motors I108 between bottom bar 105 and shank bar 106, linear electric motors I108 one end hinge
The outside of thigh bar 103 is connected on, the linear electric motors I108 other end and the inner side of bottom bar 105 are be hinged；In thigh bar 103, shank bar
106th, three-level chain and sprocket driving device is provided with inside the rod member of bottom bar 105, electric rotating machine I102, electric rotating is provided with the outside of waist bar 101
Machine I102 drives three-level chain and sprocket driving device by bevel gear set I110；Backboard 112 is connected between two waist bars 101,
The back side of backboard 112 is provided with a transmission mechanism, and chair seat board 113,113 liang of chair seat board are connected between two thigh bars 103
Side is connected by chute 114 with thigh bar 103, and chair seat board 113 is driven along chute 114 by silk and translated, in bottom bar
It is provided between 105 and shank bar 106 and rotates lock solid structure, front-wheel 107 and trailing wheel 104 is installed on bottom bar 105, in backrest
Knapsack 111 is provided with after plate 112, being provided with knapsack 111 prevents lateral shift mechanism.
See Fig. 1, footrest mechanism is a linkage, the linkage include linear electric motors III201, big connecting rod 202,
Pedal 203 and small rod 204, the lower end of big connecting rod 202 and the outside front ends of pedal 203 are hinged, outside pedal 203
Side rear end and the lower end of small rod 204 are hinged, and upper end and linear electric motors III201 one end of small rod 204 are hinged, linear electric motors
The upper end of the III201 other ends and big connecting rod 202 is hinged, and footrest mechanism is hinged on the inner side of shank bar 106 by small rod 204
On ankle-joint axle 703, the inner side of shank bar 106 is articulated with by the upper end of big connecting rod 202.
See Fig. 1, rotary lock structure is included in the rectangular slot opened on the shank bar 106, consolidating in rectangular slot
Motor cabinet 304 is connected to, being driven provided with electric rotating machine II301, the electric rotating machine II301 described in insertion in motor cabinet 304
Ball-screw 303 in rectangular slot, the ball-screw 303 move with pendulum lock pin 302 along shank bar 106, the lock pin
302 are inserted into being opened in be evenly distributed four fore shafts of the lower end of bottom bar 105；When the shank bar 106 and the bottom
When bar 105 is parallel, the lock pin 302 is inserted into the fore shaft, when the shank bar 106 is vertical with the bottom bar 105,
The lock pin 302 be inserted into in another fore shaft of 90 degree of the fore shaft, when the shank bar 106 and the bottom bar 105
During both not parallel out of plumb, the lock pin 302 is not inserted into any fore shaft yet.
See Fig. 3, three-level chain and sprocket driving device includes being arranged on inside thigh bar 103, in the inside of shank bar 106 and bottom bar 105
The Chain conveyer in portion, chain-drive mechanism include two identical sprocket wheels 601 and a chain 602, inside thigh bar 103
Sprocket wheel 601 be respectively arranged at hip joint axle 701 and knee axis 702, the sprocket wheel 601 inside shank bar 106 is installed respectively
At knee axis 702 and ankle-joint 703, the sprocket wheel 601 inside bottom bar 105 is respectively arranged in ankle-joint axle 703 and hind axle
At 704；When shank bar 106 and vertical bottom bar 105, the electric rotating machine I102 that the outside of waist bar 101 is provided with passes through bevel gear set
I110 drives three-level chain and sprocket driving device, so as to drive trailing wheel 104 to rotate.
See Fig. 7, silk transmission mechanism includes the electric rotating machine III motor cabinets 501 for being fixed on the backrest back, is fixed on
Electric rotating machine III502 on electric rotating machine III motor cabinets 501, electric rotating machine III502 are driven by bevel gear set II503 to be justified
Cylindricality rod member 504, the both ends of cylindrical rod piece 504 are differentiated and are articulated with bearing block 505, and bearing block 505 is fixed on backboard 112
Both sides, the both sides of cylindrical rod piece 504 respectively on be fixed with silk 507, the other end of silk 507 is connected on chair seat board 113, silk
507 are limited by pulley 506, and pulley 506 is fixed on backboard 112；When shank bar 106 is parallel with bottom bar 105, electric rotating
Machine III502 works, and driving cylindrical rod piece 504 rotates, and drives silk 507 to be moved along pulley 506, by chair seat board 113 from big
Be drawn between leg bar 103 with the headspace of backboard 112.
See Fig. 4, it is described prevent lateral shift mechanism include being articulated with the Horizontal control lever 401 of hip joint and with the horizontal stroke
The horizontal fix bar 403 that is connected to control-rod 401, the Y types for being fixed on the horizontal both ends of fix bar 403 buckle 402 and are fixed on knapsack
Elastic lock 404 on 111；When shank bar 106 is parallel with the bottom bar 105, horizontal fix bar 403 is fixed on snap lock
On mouth 404, when shank bar 106 and vertical bottom bar 105, Y types are buckled 402 and are fixed on the boss of bottom bar 105.
The operation principle of the present invention is as follows：
Referring to Fig. 2~Fig. 3, the present invention can realize quick locomotive function under wheelchair state, and its specific implementation is：Rotation
Rotating motor I102 works, the sprocket wheel 601 and chain for being passed to power in thigh bar, shank bar and bottom bar by bevel gear set I110
On bar 602, via three-level Chain conveyer, most power is reached on hind axle 704 at last, realizes the continuous rolling of trailing wheel 104, Jin Ershi
The quick locomotive function of existing wheelchair.
Fig. 4~Fig. 6 is referred to, in human body standing process is aided in, rotary lock structure is always maintained at locking condition.Because
Sat down initial stage in human body, lock pin 302 is under electric rotating machine II driving, along rectangular slot to knee under the effect of ball-screw 303
Joint direction is moved, and extracts the fore shaft on bottom bar 105 out, now the relative shank in the presence of linear electric motors II108 of bottom bar 105
Bar 106 rotates, until trailing wheel 104 and front-wheel 107 contact to earth, afterwards lock pin 302 under electric rotating machine II driving,
Ball-screw 303 moves under acting on along rectangular slot to ankle-joint direction, and the fore shaft inserted on bottom bar 105 simultaneously remains stationary as.
During this, shank bar 106, the remains stationary of bottom bar 105, mechanism aid under the two linear electric motors II108 in left and right driving
Human body is stood, and detailed process is：
First, Horizontal control lever 401 is controlled manually, it is rotated around hip joint to horizontal fix bar 403 and is fixed on elasticity
On lock 404, buckle Y types and separated with bottom bar 105, linear electric motors II108 stretches out afterwards, now shank bar 106 and bottom bar 105
Keep locking not relatively rotate in the presence of rotary lock structure, so thigh bar 103 rotates around knee joint 702, drive
Risen with the chair seat board 113 that thigh bar 103 is connected by chute 114, while waist bar 101 is under linear electric motors I109 driving
Rotated relative to thigh bar 103 by meeting in human body standing process in a manner of Hip Angle change, auxiliary human body is stood.Auxiliary
Help in standing process, footrest mechanism is also being moved with the progressively standing of human body, i.e. linear electric motors III work, passes through Dalian
Bar 202, small rod 204 drive pedal 203 to move to contact parallel to the ground, complete the process that auxiliary human body is stood.
Fig. 6~Fig. 7 is referred to, after auxiliary human body is stood, lock pin 302 is under electric rotating machine II driving, in ball
Leading screw 303 moves under acting on along rectangular slot to knee joint direction, extracts the fore shaft on bottom bar 105 out, now bottom bar 105 is straight
Relative shank bar 106 rotates in the presence of line motor II108, until bottom bar 105 is parallel with shank bar 106, Zhi Housuo
Pin 302 moves under electric rotating machine II301 driving under the effect of ball-screw 303 along rectangular slot to ankle-joint direction,
Fore shaft on insertion bottom bar 105 simultaneously remains stationary as, and this state keeps constant in human walking procedure.
Refer to Fig. 1, Fig. 7, after completing the packing up of bottom bar 105, the work of silk transmission mechanism, electric rotating machine III502 driving cones
Gear train II503 drives cylindrical rod piece 504 to rotate, and silk 507 is rolled along pulley 506, the seat support that will be connected with silk 507
Plate 113 is retracted to along chute 114 in the headspace of backboard 112, completes mechanism from wheelchair state to the conversion of ectoskeleton state.
Refer to Fig. 8, collective effect of the human body in linear electric motors I108, linear electric motors II109 and linear electric motors III201
Under, shank bar 106 rotates around knee joint 702, and thigh bar 103 does rotary motion around hip joint 701, and pedal 203 exists
Rotated under the constraint of four-bar mechanism around ankle-joint 703, so as to realize auxiliary user's walking function.Detailed process is：
Linear electric motors I108 is flexible to drive the bottom bar 105 be hinged with it to move, because rotary lock mechanism limits bottom bar 105 and small
Rotation between leg bar 106, so the drive of bottom bar 105 is connected thereto integral shank bar 106 and rotated around knee joint 702, it is real
Now aid in the function of shank movement.At hip joint 701, linear electric motors II109 is flexible to drive thigh bar 103 relative to waist bar
101 rotate, and realize the function of auxiliary thigh movement.It can realize that knee joint 702 and hip joint 701 rotate by programming Control
Angle is changed by the angle of setting.
The present invention is not limited to embodiments described above.The description to embodiment is intended to describe and said above
Bright technical scheme, above-mentioned embodiment is only schematical, is not restricted.Do not departing from
In the case of present inventive concept and scope of the claimed protection, one of ordinary skill in the art is under the enlightenment of the present invention
The specific conversion of many forms can be also made, these are belonged within protection scope of the present invention.
Claims (6)
1. the ectoskeleton wheelchair integrated multi-functional movement auxiliary robot of a kind of telescopic, it is characterised in that right including left and right
Two shank bars, two thigh bars and the two waist bars claimed, the upper end of the shank bar pass through knee with the lower end of the thigh bar
Joint connects, and the lower end of the upper end of the thigh bar and the waist bar is by hip joint axis connection, the thigh bar and described small
Leg fixing band is provided with leg bar, the waist bar is provided with fixing strap of waist；The thigh bar is provided with for driving
Linear electric motors II, one end of the linear electric motors II are hinged with thigh bar, and the other end is hinged on the front end of the waist bar；It is described small
The inner side of leg bar is provided with footrest mechanism, and bottom bar is provided with the outside of shank bar, front wheels and rear wheels, bottom are provided with the bottom bar
The lower end of bar is connected by ankle-joint axle with the shank bar, and upper end and the hind axle of bottom bar are rotatablely connected, the bottom bar and institute
State the linear electric motors I being provided between shank bar for driving；One end of the linear electric motors I is articulated with outside the thigh bar
Side, the other end on the inside of the bottom bar with being hinged；The inside of the thigh bar, shank bar and bottom bar is by setting the chain being connected with each other
Transmission mechanism passes through cone on the outside of the waist bar formed with three-level chain and sprocket driving device provided with electric rotating machine I, the electric rotating machine I
Gear train I drives the three-level chain and sprocket driving device；Backboard is connected between two waist bars, is pacified in the backrest back
Equipped with silk transmission mechanism, be connected with chair seat board between two thigh bars, the chair seat board both sides by chute with it is described
Thigh bar connects, and adjust the chair seat board by the silk transmission mechanism makees translational motion, the bottom bar and institute along the chute
State to be provided between shank bar and rotate lock solid structure, knapsack is additionally provided with after the backboard, the knapsack, which is provided with, to be prevented laterally partially
Telephone-moving structure.
2. the ectoskeleton wheelchair integrated multi-functional movement auxiliary robot of telescopic according to claim 1, its feature
It is, the linkage that the footrest mechanism is made up of big connecting rod, small rod, pedal and linear electric motors III, it is described big
The lower end of connecting rod and the outside front ends of the pedal are hinged, and the outside rear end of the pedal is cut with scissors with the lower end of the small rod
Connect, upper end and linear electric motors III one end of the small rod are hinged, the upper end of the linear electric motors III other ends and the big connecting rod
Be hinged, the footrest mechanism is hinged at shank bar medial ankle axle by the small rod, passes through the big connecting rod
Upper end be articulated with the inside of shank bar.
3. the ectoskeleton wheelchair integrated multi-functional movement auxiliary robot of telescopic according to claim 1, its feature
It is, the rotary lock structure is included in the rectangular slot set on the shank bar and affixed motor in rectangular slot
Seat, the interior electric rotating machine II, the electric rotating machine II of being provided with of the motor cabinet drive the ball-screw in the embedded rectangular slot,
Ball-screw band pendulum lock pin moves along shank bar, and the lock pin, which can be inserted into, is opened in being evenly distributed for the bottom bar lower end
Four fore shafts；When the shank bar is parallel with the bottom bar, the lock pin is inserted into one of fore shaft, when the shank
When bar is vertical with the bottom bar, the lock pin is inserted into another fore shaft, when the shank bar and the bottom bar are both uneven
During capable also out of plumb, the lock pin and fore shaft are connectionless.
4. the ectoskeleton wheelchair integrated multi-functional movement auxiliary robot of telescopic according to claim 1, its feature
It is, the three-level chain and sprocket driving device includes being separately mounted to the chain-drive mechanism inside the thigh bar, shank bar and bottom bar,
The chain-drive mechanism includes two identical sprocket wheels and a chain, and the sprocket wheel inside the thigh bar is installed respectively
At hip joint axle and knee axis, the sprocket wheel inside the shank bar is respectively arranged at knee axis and ankle-joint axle, institute
The sprocket wheel inside bottom bar is stated to be respectively arranged at ankle-joint axle and hind axle；When the shank bar and the vertical bottom bar, institute
State the electric rotating machine I on the outside of waist bar and the three-level chain and sprocket driving device is driven by bevel gear set I, to drive the rear wheel.
5. the ectoskeleton wheelchair integrated multi-functional movement auxiliary robot of telescopic according to claim 1, its feature
It is, the silk transmission mechanism includes cylindrical rod piece, bearing block and the electric rotating machine III for being fixed on backrest back, described
Electric rotating machine III drives the cylindrical rod piece by bevel gear set II, and the cylindrical rod piece both ends resolution is articulated with described
On bearing block, the bearing block is fixed on the both sides of backboard, and silk has been respectively fixedly connected in the cylindrical rod piece both sides, the silk
The other end is connected on the chair seat board, and the silk is limited by pulley, and the pulley is fixed on backboard；When the shank bar
When parallel with the bottom bar, electric rotating machine II work, drive the cylindrical rod piece to rotate, drive the silk along described
Pulley move, by the chair seat board from be drawn between the thigh bar with the headspace of the backboard.
6. the ectoskeleton wheelchair integrated multi-functional movement auxiliary robot of telescopic according to claim 1, its feature
It is, described to prevent that lateral shift mechanism from including Horizontal control lever, horizontal fix bar, Y types are buckled and elastic lock, the laterally control
Bar processed is articulated with hip joint, and Horizontal control lever is connected with horizontal fix bar, and the Y types buckle the both ends for being arranged on horizontal fix bar,
The elastic lock is fixed on knapsack；When the shank bar is parallel with the bottom bar, the horizontal fix bar is fixed on institute
State on elastic fore shaft, when the shank bar and the vertical bottom bar, the Y types, which are buckled, to be fixed on the boss of the bottom bar.
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| CN109106531A (en) * | 2018-08-14 | 2019-01-01 | 温州医科大学附属第二医院、温州医科大学附属育英儿童医院 | A kind of multi-joint synkinesia bed |
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| CN112716756A (en) * | 2020-10-28 | 2021-04-30 | 浙江大学台州研究院 | Multifunctional rehabilitation robot |
| CN113288729A (en) * | 2021-06-30 | 2021-08-24 | 杭州程天科技发展有限公司 | Exoskeleton auxiliary mobile device |
| WO2023233205A1 (en) * | 2022-06-02 | 2023-12-07 | Matthias Kube | Exoskeleton and method for handling same |
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Effective date of registration: 20240929 Address after: 330000 Room 203, 2nd Floor, Comprehensive Exhibition Hall, No. 336 Hongdu North Avenue, Donghu District, Nanchang City, Jiangxi Province Patentee after: Nanchang Leyuan Technology Co.,Ltd. Country or region after: China Address before: 300350 Haijing garden, Haihe Education Park, Jinnan, Tianjin, 135, Tianjin University. Patentee before: Tianjin University Country or region before: China |