CN107625589B - Foldable exoskeleton wheelchair integrated multifunctional mobile auxiliary robot - Google Patents

Abstract

The invention discloses a foldable exoskeleton wheelchair integrated multifunctional mobile auxiliary robot, which comprises two pedal mechanisms, two shank rods, two thigh rods and two waist rods, wherein the two pedal mechanisms are bilaterally symmetrical; the rotating motor arranged on the outer side of the waist bar drives the rear wheel connected to the upper end of the bottom bar through chain transmission arranged in the thigh bar, the shank bar and the bottom bar, the front wheel and the rear wheel are arranged on the bottom bar, the back board is connected between the two waist bars, and the seat board which is connected between the two thigh bars in a sliding way can translate through the motor arranged on the back board. The wheelchair integrates the rapid movement function, the standing assisting function and the exoskeleton assisting walking function.

Description

A foldable exoskeleton wheelchair integrated multifunctional mobility assistance robot

Technical field

The present invention relates to a mobile auxiliary robot, and in particular to a foldable exoskeleton wheelchair integrated multifunctional mobile auxiliary robot.

Background technique

With the improvement of people's living standards and the development of medical technology, the number of people with long life is gradually increasing. However, it has also brought about a new problem that plagues countries around the world - population aging. Aging causes strokes and other cardiovascular and cerebrovascular diseases, as well as diseases such as decreased bone density, resulting in reduced motor function of the elderly's limbs, requiring care in their daily lives. In addition, the number of disabled people due to natural disasters, traffic accidents, etc. is also increasing.

Patients with lower limb motor dysfunction have difficulty in moving and living independently. They are prone to negative and pessimistic moods and place a heavy burden on their families. They are eager to live like normal people. Medical research shows that effective rehabilitation training can reorganize and compensate nervous system functions, accelerate the repair of the nervous system, and enable patients to restore their ability to exercise. Many domestic and foreign researchers have conducted research on lower limb rehabilitation robots, mainly focusing on achieving assisted walking and rehabilitation training functions. Considering the daily life needs of users, the function of providing users with fast movement in a sitting position and assisting users in standing has the same status as the previous two functions. Therefore, it has become an urgent need to develop a multi-functional mobile assistance robot that can carry disabled people to travel, support disabled people to stand, and assist disabled people to walk and has certain rehabilitation functions.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies in the prior art and provide a foldable exoskeleton wheelchair integrated multifunctional mobile auxiliary robot with the functions of rapid movement in a sitting position, assisted standing and assisted walking.

The purpose of the present invention is achieved through the following technical solutions:

A foldable exoskeleton wheelchair integrated multifunctional mobility assistance robot, including two symmetrical calf bars, two thigh bars and two waist bars. The upper end of the calf bar passes through the lower end of the thigh bar. The knee joint is connected, the upper end of the thigh rod and the lower end of the waist rod are connected through a hip joint axis, the thigh rod and the calf rod are both provided with leg fixing belts, and the waist rod is provided with a waist fixation belt. belt; the thigh rod is provided with a linear motor II for driving, one end of the linear motor II is hinged to the thigh rod, and the other end is hinged to the front end of the waist rod; a foot pedal is provided on the inside of the calf rod Mechanism, a bottom pole is provided on the outside of the calf pole, and front wheels and rear wheels are installed on the bottom pole. The lower end of the bottom pole is connected to the calf pole through the ankle joint shaft, and the upper end of the bottom pole is rotationally connected to the rear wheel shaft. A linear motor I for driving is installed between the bottom pole and the calf pole; one end of the linear motor I is hinged to the outside of the thigh pole, and the other end is hinged to the inside of the bottom pole; the thigh pole and calf A three-stage chain transmission device is formed inside the rod and the bottom rod by interconnecting chain transmission mechanisms. A rotating motor I is provided outside the waist rod. The rotating motor I drives the three-stage chain through a bevel gear set I. Transmission device; a backrest plate is connected between the two waist bars, a wire transmission mechanism is installed on the back of the backrest plate, a seat plate is connected between the two thigh bars, and both sides of the seat plate It is connected to the thigh rod through a chute, and the seat plate is adjusted to move in translation along the chute through the wire transmission mechanism. A rotation locking structure is provided between the bottom rod and the calf rod. A backpack is also provided behind the backrest board, and a mechanism to prevent lateral deviation is provided on the backpack.

Further, the foot pedal mechanism is a link mechanism composed of a large connecting rod, a small connecting rod, a foot pedal and a linear motor III. The lower end of the large connecting rod is hinged with the outer front end of the foot pedal. The outer rear end of the foot pedal is hinged to the lower end of the small connecting rod, the upper end of the small connecting rod is hinged to one end of the linear motor III, and the other end of the linear motor III is hinged to the upper end of the large connecting rod. The foot pedal mechanism is hinged to the inner ankle joint axis of the calf rod through the small connecting rod, and is hinged to the inner side of the calf rod through the upper end of the large connecting rod.

Further, the rotary locking structure includes a rectangular slot provided on the calf rod and a motor base fixed in the rectangular slot. A rotary motor II is provided in the motor base, and the rotary motor II is driven and embedded in the rectangular groove. The ball screw in the rectangular groove drives the locking pin to move along the calf rod, and the locking pin can be inserted into four evenly distributed locks at the lower end of the bottom rod; when the calf rod and When the bottom pole is parallel, the lock pin is inserted into one of the lock openings. When the calf pole is perpendicular to the bottom pole, the lock pin is inserted into the other lock opening. When the calf pole is perpendicular to the bottom pole, the lock pin is inserted into the other lock opening. When the rod and the bottom rod are neither parallel nor perpendicular, the lock pin has no connection with the lock mouth.

Further, the three-stage chain transmission device includes chain transmission mechanisms respectively installed inside the thigh rod, calf rod and bottom rod. The chain transmission mechanisms each include two identical sprockets and a chain. The sprockets inside the thigh rod are installed at the hip joint axis and the knee joint axis respectively, the sprockets inside the calf rod are installed at the knee joint axis and the ankle joint axis respectively, and the sprockets inside the bottom rod are installed at the ankle joints respectively. At the joint shaft and the rear wheel shaft; when the lower leg rod and the bottom rod are vertical, the rotating motor I on the outside of the waist rod drives the three-stage chain transmission device through the bevel gear set I to drive the rear wheel to rotate .

Further, the wire transmission mechanism includes a cylindrical rod, a bearing seat and a rotating motor III fixed on the back of the backrest board. The rotating motor III drives the cylindrical rod through the bevel gear set II. The cylindrical rod Both ends of the member are respectively hinged on the bearing seat, and the bearing seat is fixed on both sides of the backrest plate. Wires are fixed on both sides of the cylindrical rod, and the other end of the wire is connected to the seat. On the board, the wire is restricted by a pulley, and the pulley is fixed on the backrest board; when the calf rod and the bottom rod are parallel, the rotating motor II works to drive the cylindrical rod to rotate, driving the The wire moves along the pulley to extract the seat plate from between the thigh bars into the reserved space with the backrest plate.

Further, the lateral deflection prevention mechanism includes a lateral control rod, a lateral fixed rod, a Y-shaped buckle and an elastic lock. The lateral control rod is hinged to the hip joint, and the lateral control rod is connected to the lateral fixed rod. The Y-shaped Buckles are provided at both ends of the transverse fixing rod, and the elastic lock buckle is fixed on the backpack; when the calf rod and the bottom rod are parallel, the transverse fixing rod is fixed on the elastic lock mouth. When the rod is perpendicular to the bottom rod, the Y-shaped buckle is fixed on the boss of the bottom rod.

Compared with the existing technology, the beneficial effects brought by the technical solution of the present invention are:

The present invention is based on a reconfigurable mechanism and realizes changes in the degree of freedom of the mechanism by overlapping the rods. Different degrees of freedom of the mechanism realize different functions: 1) realize the function of rapid movement in the wheelchair state; 2) realize The auxiliary standing function is realized; 3) The auxiliary walking function in the exoskeleton state is realized. The above three functions basically cover the user's needs for mobility in daily life, integrating the functions of a wheelchair and an exoskeleton robot. In addition, the auxiliary walking function of the present invention has two modes to choose from: active adaptive walking and passive controlled walking, so users with different degrees of lower limb movement disorders can choose according to their own conditions, which expands the range of users. Moreover, the present invention can realize rehabilitation training of the hip and knee joints of the human lower limbs, thereby combining targeted training of specific joints with assisted walking, which can not only improve the rehabilitation training effect, but also reduce the boringness of the training process.

Description of the drawings

Figure 1 is a schematic structural diagram of the present invention after the bottom pole is completely retracted;

Figure 2 is a schematic structural diagram of the present invention in a wheelchair robot state;

Figure 3 is a schematic structural diagram of the chain transmission mechanism of the present invention;

Figure 4 is a schematic structural diagram of the lateral deflection prevention mechanism of the present invention;

Figure 5 is a schematic structural diagram of the present invention after assisting the human body to stand;

Figure 6 is a schematic structural diagram of the invention that assists the human body in retracting the bottom pole after standing;

Figure 7 is a schematic diagram of the wire transmission structure of the retractable seat plate of the present invention;

Figure 8 is a schematic structural diagram of the present invention in an exoskeleton robot state.

Reference signs: 101. Waist bar, 102. Rotary motor I, 103. Thigh bar, 104. Rear wheel, 105. Bottom bar, 106. Calf bar, 107. Front wheel, 108. Linear motor I, 109. Linear motor II, 110. Bevel gear set I, 111. Backpack, 112. Backrest plate, 113. Seat plate, 114. Chute, 201. Linear motor III, 202. Large connecting rod, 203. Foot pedal, 204. Small Connecting rod, 301, rotating motor II, 302, lock pin, 303, ball screw, 304, motor base, 401, lateral control rod, 402, Y-shaped buckle, 403, lateral fixed rod, 404, elastic lock, 501 , rotating motor III motor base, 502, rotating motor III, 503, bevel gear set II, 504, cylindrical rod, 505, bearing seat, 506, pulley, 507, wire, 601, sprocket, 602, chain, 701 , hip joint axis, 702, knee joint axis, 703, ankle joint axis, 704, rear wheel axis.

Detailed ways

In order to further understand the invention content, characteristics and effects of the present invention, the following embodiments are listed below, and the detailed description is as follows with reference to the accompanying drawings:

See Figures 1 to 8. A foldable exoskeleton wheelchair integrated multi-functional mobile auxiliary robot includes two symmetrical calf bars 106, two thigh bars 103 and two waist bars 101. The calf bars 106 The upper end of the thigh rod 103 and the lower end of the thigh rod 103 are connected together through the knee joint. The thigh rod 103 and the calf rod 106 are both equipped with drive motors. The upper end of the thigh rod 103 and the lower end of the waist rod 101 are connected together through the hip joint shaft 701. On the thigh rod 103 and the calf rod 106 are connected with leg fixing belts, and the waist rod 101 is connected with a waist fixing belt. The driving motor of the thigh rod 103 is a linear motor II109. One end of the linear motor II109 is hinged with the thigh rod 103. The linear motor II109 The other end is hinged at the front end of the waist bar 101; the inside of the calf bar 106 is provided with a foot pedal mechanism, and the outside of the calf bar 106 is provided with a bottom bar 105. The lower end of the bottom bar 105 is connected to the calf bar 106 through the ankle joint shaft 703. The upper end of the rod 105 is rotatably connected to the rear axle 704. The driving motor of the calf rod 106 is a linear motor I108. The linear motor I108 is arranged between the bottom rod 105 and the calf rod 106. One end of the linear motor I108 is hinged on the outside of the thigh rod 103. The other end of the linear motor I108 is hinged with the inside of the bottom rod 105; a three-stage chain transmission device is provided inside the thigh rod 103, calf rod 106, and bottom rod 105, and a rotating motor I102 is provided outside the waist rod 101. The rotating motor I102 drives the three-stage chain transmission device through the bevel gear set I110; a backrest plate 112 is connected between the two waist bars 101, a wire transmission mechanism is installed on the back of the backrest plate 112, and a seat is connected between the two thigh bars 103 plate 113, both sides of the seat plate 113 are connected to the thigh rod 103 through chute 114, the seat plate 113 translates along the chute 114 through wire transmission, and a rotation locking structure is provided between the bottom rod 105 and the calf rod 106 , the front wheel 107 and the rear wheel 104 are installed on the bottom pole 105, a backpack 111 is provided behind the backrest plate 112, and a lateral deflection preventing mechanism is provided on the backpack 111.

As shown in Figure 1, the pedal mechanism is a linkage mechanism, which includes a linear motor III201, a large connecting rod 202, a pedal 203 and a small connecting rod 204. The lower end of the large connecting rod 202 is connected to the lower end of the pedal 203. The outer front end is hinged, the outer rear end of the foot pedal 203 is hinged to the lower end of the small connecting rod 204, the upper end of the small connecting rod 204 is hinged to one end of the linear motor III201, and the other end of the linear motor III201 is hinged to the upper end of the large connecting rod 202. The plate mechanism is hinged to the inner ankle joint axis 703 of the calf rod 106 through the small connecting rod 204, and is hinged to the inner side of the calf rod 106 through the upper end of the large connecting rod 202.

As shown in Figure 1, the rotation locking structure includes a rectangular slot opened on the calf rod 106. A motor base 304 is fixedly connected in the rectangular slot, and a rotating motor II301 is provided in the motor base 304. The rotating motor II301 The ball screw 303 embedded in the rectangular slot is driven. The ball screw 303 drives the lock pin 302 to move along the calf rod 106. The lock pin 302 can be inserted into four evenly distributed holes at the lower end of the bottom rod 105. Lock mouth; when the calf bar 106 and the bottom bar 105 are parallel, the lock pin 302 is inserted into the lock mouth; when the calf bar 106 is perpendicular to the bottom bar 105, the lock pin 302 302 is inserted into another lock opening 90 degrees to the lock opening. When the calf rod 106 and the bottom rod 105 are neither parallel nor perpendicular, the lock pin 302 is not inserted anywhere. Inside the lock mouth.

See Figure 3. The three-stage chain transmission device includes chain drives installed inside the thigh rod 103, the calf rod 106 and the bottom rod 105. The chain transmission mechanisms include two identical sprockets 601 and a chain 602. The thigh rod The sprockets 601 inside 103 are respectively installed at the hip joint axis 701 and the knee joint axis 702. The sprockets 601 inside the calf rod 106 are installed at the knee joint axis 702 and ankle joint 703 respectively. The sprockets 601 inside the bottom rod 105 are respectively Installed at the ankle joint shaft 703 and the rear wheel shaft 704; when the calf rod 106 and the bottom rod 105 are vertical, the rotating motor I102 provided on the outside of the waist rod 101 drives the three-stage chain transmission device through the bevel gear set I110, thereby driving the rear wheel 104 Turn.

As shown in Figure 7, the wire transmission mechanism includes a rotating motor III motor base 501 fixed on the back of the backrest plate, a rotating motor III502 fixed on the rotating motor III motor base 501, and the rotating motor III502 drives the cylindrical rod through the bevel gear set II503. 504. Both ends of the cylindrical rod 504 are respectively hinged on the bearing seats 505. The bearing seats 505 are fixed on both sides of the backrest plate 112. There are wires 507 fixed on both sides of the cylindrical rod 504, and the other ends of the wires 507 are connected. On the chair seat plate 113, the wire 507 is restricted by the pulley 506, which is fixed on the backrest plate 112; when the calf rod 106 and the bottom rod 105 are parallel, the rotating motor III502 works to drive the cylindrical rod 504 to rotate, driving the wire 507 Move along the pulley 506 to extract the seat plate 113 from between the thigh bars 103 to the reserved space with the backrest plate 112 .

As shown in Figure 4, the lateral deflection prevention mechanism includes a lateral control rod 401 hinged to the hip joint, a lateral fixed rod 403 connected to the lateral control rod 401, Y-shaped buckles 402 fixed at both ends of the lateral fixed rod 403, and The elastic lock 404 fixed on the backpack 111; when the calf bar 106 is parallel to the bottom bar 105, the transverse fixed bar 403 is fixed on the elastic lock 404; when the calf bar 106 and the bottom bar 105 are perpendicular, the Y-shaped buckle 402 is fixed on the boss of the bottom rod 105.

The working principle of the present invention is as follows:

Referring to Figures 2 to 3, the present invention can realize the fast movement function in the wheelchair state. The specific implementation method is: the rotating motor I102 works, and the power is transmitted to the thigh rod, calf rod and the chain in the bottom rod through the bevel gear set I110. On the wheel 601 and the chain 602, the power is finally transmitted to the rear wheel axle 704 through the three-stage chain transmission to realize the continuous rolling of the rear wheel 104, thereby realizing the rapid movement function of the wheelchair.

Please refer to Figures 4 to 6. During the process of assisting the human body to stand, the rotation locking structure remains locked. Because in the early stage of sitting down, the lock pin 302 is driven by the rotating motor II and the ball screw 303 moves along the rectangular groove toward the knee joint, and pulls out the lock on the bottom rod 105. At this time, the bottom rod 105 is in a straight line. Under the action of the motor II108, the relative calf rod 106 performs a rotational movement until the rear wheel 104 and the front wheel 107 touch the ground. Then the lock pin 302 is driven by the rotary motor II and moves along the rectangular groove toward the ankle joint under the action of the ball screw 303. Move, insert into the lock on the bottom rod 105 and hold it still. During this process, the calf rod 106 and the bottom rod 105 remain stationary, and the mechanism is driven by the two left and right linear motors II108 to assist the human body in standing. The specific process is:

First, manually control the lateral control rod 401 to rotate around the hip joint until the lateral fixed rod 403 is fixed on the elastic lock 404, so that the Y-shaped buckle is separated from the bottom rod 105, and then the linear motor II108 is extended. At this time, the calf rod 106 The bottom rod 105 remains locked under the action of the rotation locking structure without relative rotation, so the thigh rod 103 rotates around the knee joint 702, driving the seat plate 113 connected to the thigh rod 103 through the chute 114 to rise, and at the same time the waist rod 101 Driven by the linear motor I109, the thigh rod 103 rotates relative to the thigh rod 103 in a manner that satisfies changes in the hip joint angle during the standing process of the human body, thereby assisting the human body in standing. During the assisted standing process, the foot pedal mechanism also moves as the human body gradually stands, that is, the linear motor III works and drives the foot pedal 203 to move parallel to the ground through the large connecting rod 202 and the small connecting rod 204 to complete the assist. The process of human standing.

Please refer to Figures 6 to 7. After assisting the human body to stand, the lock pin 302 is driven by the rotating motor II and moves along the rectangular groove toward the knee joint under the action of the ball screw 303, and pulls out the lock on the bottom rod 105. At this time, the bottom rod 105 rotates relative to the calf rod 106 under the action of the linear motor II108 until the bottom rod 105 is parallel to the calf rod 106. Then, the lock pin 302 is driven by the rotary motor II301 and moves along the ball screw 303. The rectangular slot moves toward the ankle joint, is inserted into the locking opening on the bottom rod 105 and remains motionless, and this state remains unchanged during the walking process of the human body.

Please refer to Figure 1 and Figure 7. After the bottom rod 105 is retracted, the wire transmission mechanism works. The rotating motor III502 drives the bevel gear set II503 to drive the cylindrical rod 504 to rotate, so that the wire 507 is rolled up along the pulley 506, and the wire 507 is rolled up along the pulley 506. The seat plate 113 connected by the wire 507 is retracted along the chute 114 into the reserved space of the backrest plate 112 to complete the conversion of the mechanism from the wheelchair state to the exoskeleton state.

Please refer to Figure 8. Under the joint action of the linear motor I108, the linear motor II109 and the linear motor III201, the calf rod 106 of the human body rotates around the knee joint 702, the thigh rod 103 rotates around the hip joint 701, and the foot pedal 203 rotates around the knee joint 702. It rotates around the ankle joint 703 under the constraints of the four-bar mechanism, thereby achieving the function of assisting the user in walking. The specific process is: the linear motor I108 telescopically drives the bottom rod 105 that is hinged with it to move. Because the rotation locking mechanism limits the rotation between the bottom rod 105 and the calf rod 106, the bottom rod 105 drives the calf rod 106 that is connected to it to rotate around. The knee joint 702 rotates to assist the movement of the lower leg. At the hip joint 701, the linear motor II 109 expands and contracts to drive the thigh bar 103 to rotate relative to the waist bar 101 to achieve the function of assisting the movement of the thigh. Through programming control, the rotation angles of the knee joint 702 and the hip joint 701 can be changed according to the set angle.

The invention is not limited to the embodiments described above. The above description of the specific embodiments is intended to describe and illustrate the technical solution of the present invention. The above specific embodiments are only illustrative and not restrictive. Without departing from the spirit of the present invention and the scope protected by the claims, those of ordinary skill in the art can make many specific changes based on the inspiration of the present invention, and these all fall within the protection scope of the present invention.

Claims (4)

1. A foldable exoskeleton wheelchair integrated multifunctional mobile auxiliary robot, characterized in that it includes two symmetrical calf rods, two thigh rods and two waist rods, the upper end of the calf rod is in contact with the The lower end of the thigh rod is connected through the knee joint, the upper end of the thigh rod and the lower end of the waist rod are connected through the hip joint axis, the thigh rod and the calf rod are both provided with leg fixation belts, and the waist rod is The rod is provided with a waist fixing belt; the thigh rod is provided with a linear motor II for driving, one end of the linear motor II is hinged to the thigh rod, and the other end is hinged to the front end of the waist rod; the calf rod is A foot pedal mechanism is provided on the inside, and a bottom rod is provided on the outside of the calf rod. Front wheels and rear wheels are installed on the bottom rod. The lower end of the bottom rod is connected to the calf rod through the ankle joint axis. The upper end of the bottom rod is connected to the calf rod. The rear wheel axle is rotationally connected, and a linear motor I for driving is installed between the bottom rod and the calf rod; one end of the linear motor I is hinged to the outside of the thigh rod, and the other end is hinged to the inside of the bottom pole; A three-stage chain transmission device is formed inside the thigh rod, calf rod and bottom rod by setting up interconnected chain transmission mechanisms. A rotating motor I is provided outside the waist rod. The rotating motor I passes through a bevel gear set I. The three-stage chain transmission device is driven; a backrest plate is connected between the two waist bars, a wire transmission mechanism is installed on the back of the backrest board, and a seat plate is connected between the two thigh bars. Both sides of the seat plate are connected to the thigh rod through chute, and the wire transmission mechanism is used to adjust the translation movement of the seat plate along the chute. There is a gap between the bottom rod and the calf rod. Rotating locking structure, a backpack is also provided behind the backrest board, and a mechanism to prevent lateral deviation is provided on the backpack; the foot pedal mechanism is composed of a large connecting rod, a small connecting rod, a foot pedal and a linear motor III The lower end of the large connecting rod is hinged to the outer front end of the foot pedal, the outer rear end of the foot pedal is hinged to the lower end of the small connecting rod, and the upper end of the small connecting rod is One end of the linear motor III is hinged, and the other end of the linear motor III is hinged with the upper end of the large connecting rod. The foot pedal mechanism is hinged at the inner ankle joint axis of the calf rod through the small connecting rod. The upper end of the rod is hinged to the inner side of the calf rod; the rotation locking structure includes a rectangular groove provided on the calf rod and a motor base fixed in the rectangular groove. A rotating motor II is provided in the motor base. The rotating motor II drives the ball screw embedded in the rectangular slot, and the ball screw drives the locking pin to move along the calf rod. The locking pin can be inserted into four evenly distributed locking openings at the lower end of the bottom rod; When the calf bar and the bottom bar are parallel, the lock pin is inserted into one of the lock openings; when the calf bar is perpendicular to the bottom bar, the lock pin is inserted into the other lock mouth. In the mouth, when the calf rod and the bottom rod are neither parallel nor perpendicular, the lock pin is not connected to the lock mouth. 2. The foldable exoskeleton wheelchair integrated multifunctional mobility assistance robot according to claim 1, characterized in that the three-level chain transmission device includes components respectively installed inside the thigh rod, calf rod and bottom rod. The chain transmission mechanism includes two identical sprockets and a chain. The sprockets inside the thigh rod are respectively installed at the hip joint axis and the knee joint axis. The chain inside the calf rod The wheels are respectively installed at the knee joint axis and the ankle joint axis, and the sprockets inside the bottom rod are installed at the ankle joint axis and the rear wheel axle respectively; when the calf rod and the bottom rod are vertical, the outside of the waist rod The rotating motor I drives the three-stage chain transmission device through the bevel gear set I to drive the rear wheel to rotate. 3. The foldable exoskeleton wheelchair integrated multi-functional mobility auxiliary robot according to claim 1, characterized in that the wire transmission mechanism includes a cylindrical rod, a bearing seat and a rotating motor fixed on the back of the backrest board. III. The rotating motor III drives the cylindrical rod through the bevel gear set II. Both ends of the cylindrical rod are hinged to the bearing seat, and the bearing seat is fixed to both sides of the backrest plate. There are wires fixedly connected to both sides of the cylindrical rod, and the other end of the wire is connected to the seat plate. The wire is restricted by a pulley, and the pulley is fixed to the backrest board; when the calf rod and When the bottom rods are parallel, the rotating motor II works, driving the cylindrical rod to rotate, driving the wire to move along the pulley, and extracting the seat plate from between the thigh rods to the position between the thigh rods. in the reserved space of the backrest board. 4. The foldable and deployable exoskeleton wheelchair integrated multifunctional mobility assistance robot according to claim 1, wherein the lateral deflection prevention mechanism includes a lateral control rod, a lateral fixed rod, a Y-shaped buckle and an elastic lock. buckle, the transverse control rod is hinged to the hip joint, the transverse control rod is connected to the transverse fixed rod, the Y-shaped buckle is provided at both ends of the transverse fixed rod, and the elastic lock buckle is fixed on the backpack; when the calf rod When the lower leg rod is parallel to the bottom rod, the transverse fixing rod is fixed on the elastic lock. When the calf rod is perpendicular to the bottom rod, the Y-shaped buckle is fixed on the boss of the bottom rod.