CN209899989U - Combined type ectoskeleton helps capable equipment - Google Patents

Abstract

The utility model discloses a composite exoskeleton walking aid device, which comprises a back support plate, a seat plate, a shoulder strap, a waist strap, a seat plate bracket, a left part and a right part; the seat plate bracket is fixed on the On the back support plate, the seat plate is placed in the seat plate bracket; the shoulder straps and lumbar straps are fixed on the back support plate; the left and right parts have the same structure and are symmetrically installed on the lower part of the back support plate; the left part Includes Rear Wheel Module, Thigh Module, Hip Drive Module, Front Wheel Module, Calf Module, Foot Module, Seat Support and Knee Drive Module. The exoskeleton of this device is the mother body. The hip and knee joints of the exoskeleton are provided with a rear wheel module and a front wheel module. Through the deformation of the mechanism, the exoskeleton that can be worn on the human body can climb stairs and complete simple daily actions. Walking and rehabilitation exoskeletons The modification is a wheelchair that realizes fast forward movement, realizes the integration of assisted walking and wheelchair, and meets the needs of people with disabilities.

Description

A composite exoskeleton walking aid device

technical field

The utility model relates to the field of rehabilitation robots, in particular to a compound exoskeleton walking aid device.

Background technique

With the development and popularization of exoskeleton technology, exoskeletons have become the choice of more and more people for walking or rehabilitation treatment. As an auxiliary device for the elderly and those with lower limb movement difficulties, exoskeleton robots can not only assist human movement, but also assist human recovery. For patients who need rehabilitation of the lower limbs, they cannot stand for a long time during the rehabilitation exercise. Moreover, it is difficult for the patient to put on and take off the exoskeleton. In the case of fast movement, it is impossible to quickly take off the exoskeleton to move in a wheelchair. This is also a problem for the elderly. Therefore, it is imperative to design an exoskeleton with both assisted walking and wheelchair functions.

Utility model content

In view of the deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a composite exoskeleton walking aid device.

The technical solution of the present invention to solve the technical problem is to provide a composite exoskeleton walking aid device, which is characterized in that the device includes a back support plate, a seat plate, a shoulder strap, a waist strap, and a seat plate. a bracket, a left part and a right part; the seat plate bracket is fixed on the back support plate, and the seat plate is placed in the seat plate bracket; the shoulder straps and waist straps are fixed on the back support plate; The left part and the right part have the same structure and are symmetrically installed at the lower part of the back support plate;

The left part includes a rear wheel module, a thigh module, a hip joint drive module, a front wheel module, a calf module, a foot module, a seat support and a knee joint drive module; the hip joint drive module includes a thigh drive motor and a rear wheel module steering motor; the knee joint drive module includes a lower leg drive motor and a front wheel module steering motor; the thigh drive motor is fixed on the back support plate, and its output end is fixedly connected to one end of the thigh module; the seat support is fixed on the thigh module; the rear The wheel module steering motor is fixed on the back support plate, and its output end is fixedly connected with the rear wheel module; the calf drive motor is fixed on the other end of the thigh module, and its output end is fixedly connected with one end of the calf module; the front wheel module steering motor is fixed On the other end of the thigh module, the output end is fixedly connected with the front wheel module; the other end of the calf module is fixedly connected with the foot module.

Compared with the prior art, the beneficial effects of the present utility model are:

(1) The exoskeleton of the device is the mother body, and the hip and knee joints of the exoskeleton are provided with a rear wheel module and a front wheel module. Through the deformation of the mechanism, it can be worn on the human body to climb stairs and complete the assisted walking and simple daily actions. The rehabilitation exoskeleton variant is a wheelchair that realizes rapid progress, realizes the integration of assisted walking and wheelchair, and meets the needs of people with reduced mobility.

(2) The legs of the device adopt a retractable design, which can be adjusted and easily adjusted for users of different heights to adapt to the lengths of the thighs and calves of different users, so that the hip joint of the device corresponds to the hip joint of the 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) The shoulder straps, waist straps, thigh straps, calf straps and foot straps are all made of elastic material and have buckles installed on them, which can adjust the appropriate tightness according to different users to achieve fit .

(4) The design of this equipment is reasonable and compact, the components will not interfere and influence each other during the deformation process, and the auxiliary walking function and the wheelchair function will not interfere with each other, making full use of the limited space, making the equipment more compact as a whole High utilization rate.

(5) The equipment is simple in structure, stable in operation, economical and practical, safe and reliable.

Description of drawings

1 is an axonometric schematic diagram of the overall structure when standing in an assisted walking state according to an embodiment of the present invention;

2 is a schematic front view of FIG. 1 of the present utility model;

Fig. 3 is the left side schematic diagram of Fig. 1 of the utility model;

FIG. 4 is a schematic axonometric view of the overall structure of the wheelchair according to an embodiment of the present invention;

FIG. 5 is a schematic front view of the assembly of the back support plate according to an embodiment of the present invention;

Fig. 6 is the cross-sectional schematic diagram of the utility model along the A-A direction of Fig. 5;

7 is a schematic axonometric view of a thigh module according to an embodiment of the present invention;

8 is a schematic axonometric view of a calf module and a foot module according to an embodiment of the present invention;

9 is a schematic diagram of a hip joint drive module according to an embodiment of the present invention;

10 is a schematic diagram of a knee joint drive module according to an embodiment of the present invention;

11 is a schematic axonometric view of a rear wheel module according to an embodiment of the present invention;

12 is a schematic axonometric view of a front wheel module according to an embodiment of the present invention.

In the picture: 1. Back support plate; 2. Seat plate; 3. Rear wheel module; 31. Rear wheel; 32. Wheel bar; 4. Thigh module; 41. Thigh straps; Outer thigh bracket; 5. Hip joint drive module; 51, thigh drive motor; 52, steering motor for rear wheel module; 6, front wheel module; 61, front wheel; 62, retractable wheel bar; 7, calf module; 71, Calf straps; 72. Calf inner plate; 73. Calf outer bracket; 8. Foot module; 81. Foot support plate; 82. Foot straps; 9. Handles; 10. Armrests; 11. Shoulder straps ; 12, waist straps; 13, seat support; 14, seat plate bracket; 15, battery; 16, knee joint drive module; 161, calf drive motor; 162, front wheel module steering motor;

Detailed ways

Specific embodiments of the present utility model are given below. The specific embodiments are only used to further describe the present invention in detail, and do not limit the protection scope of the claims of the present application.

The utility model provides a composite exoskeleton walking aid device (referred to as the device, see FIGS. 1-12 ), which is characterized in that the device includes a back support plate 1 , a seat plate 2 , a shoulder strap 11 , and a waist strap 12 , seat plate bracket 14, left and right parts; the seat plate bracket 14 is fixed on the back support plate 1, the seat plate 2 is placed in the seat plate bracket 14; the shoulder straps 11 and the waist The straps 12 are fixed on the back support plate 1 by screws; the shoulder straps 11 have buckles for fixing the shoulders of the human body, and the waist straps 12 have buckles for fixing the waist of the human body; the left and right parts It is exactly the same, and is symmetrically installed on the lower part of the back support plate 1;

The left part includes rear wheel module 3, thigh module 4, hip joint drive module 5, front wheel module 6, calf module 7, foot module 8, seat support 13 and knee joint drive module 16; hip joint drive module 5 It includes a thigh drive motor 51 and a rear wheel module steering motor 52; the knee joint drive module 16 includes a calf drive motor 161 and a front wheel module steering motor 162; the thigh drive motor 51 is fixed on the back support plate 1, and its output end is connected to the thigh One end of the module 4 is fixedly connected; the seat support 13 is fixed to the thigh module 4; The calf drive motor 161 is fixed on the other end of the thigh module 4, and its output end is fixedly connected with one end of the calf module 7; the front wheel module steering motor 162 is fixed on the other end of the thigh module 4, and its output end is connected with the front wheel module The shaft hole at the end of 6 is fixedly connected with interference fit; the other end of the calf module 7 is fixedly connected with the foot module 8 .

The thigh module 4 includes a thigh strap 41, an inner thigh plate 42 and an outer thigh bracket 43; the calf module 7 includes a calf strap 71, an inner thigh plate 72 and an outer calf bracket 73; the foot module 8 includes a foot support plate 81 and foot straps 82; the rear wheel module 3 includes a rear wheel 31 and a wheel bar 32; the front wheel module 6 includes a front wheel 61 and a retractable wheel bar 62;

The thigh driving motor 51 is fixed on the back support plate 1, and its output end is fixedly connected with the end of the thigh outer bracket 43; After adapting to the length of the user's thigh, it is fixedly connected by a thread (bolt or screw) (the mobile pair is specifically a groove track or a raised track inside the thigh outer bracket 43, a protrusion or groove on the outer side of the inner thigh plate 42, and a inner thigh plate 43). The protrusion or groove of 42 is matched with the groove track or raised track of the thigh outer bracket 43 to realize the relative sliding of the inner thigh plate 42 and the outer thigh bracket 43); the seat support 13 is fixed on the inner thigh plate 42; the thigh The strap 41 is fixed on the thigh outer bracket 43, and the thigh strap 41 has a buckle for fixing the human thigh; the rear wheel module steering motor 52 is fixed on the back support plate 1, and its output end is connected to the shaft hole at one end of the wheel rod 32. The interference fit is fixedly connected; the other end of the wheel rod 32 is connected with the rear wheel 31 in the form of a rotating pair (the rotating pair is that the shaft cooperates with the rolling bearing, specifically, the center position of the rear wheel 31 is fixed with a shaft through a pin, and the two ends of the shaft are connected to the shaft. The inner ring of the rolling bearing is fixedly connected by an interference fit, and the outer ring of the bearing is fixedly connected with the wheel rod 32 to realize rotation); The outer bracket 73 of the lower leg is connected with the inner plate 72 of the lower leg in the form of a movable pair, and the relative movement to an appropriate length to adapt to the length of the user's lower leg is fixedly connected by threads (bolts or screws) (the movable pair is specifically the outer bracket of the lower leg). 73 has a groove track or a raised track inside, and the outer side of the inner calf plate 72 has a protrusion or groove. The relative sliding of the inner side plate 72 and the calf outer bracket 73); the calf strap 71 is fixed on the calf outer bracket 73, and the calf strap 71 has a buckle for fixing the human calf; the front wheel module steering motor 162 is fixed on the inner thigh plate On the end of 42, its output end is fixedly connected with the shaft hole of one end of the telescopic wheel rod 62 by interference fit; the other end of the telescopic wheel rod 62 is connected with the front wheel 61 in the form of a rotating pair; the end of the inner calf plate 72 The feet are fixedly connected with the foot support plate 81; the foot straps 82 are fixed on the foot support plate 81, and the foot straps 82 are provided with buckles for fixing the human feet.

The device also includes a handle 9, an armrest 10 and a battery module 15; the handle 9 is connected to the back support plate 1 through a rotating pair, which is rotatable for others to use when pushing a wheelchair; the armrest 10 is connected to the back through a rotating pair The support plate 1, which is rotatable, is used to place the user's arm; 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 board bracket 14 has a protrusion or groove, which cooperates with the seat support 13 to support the seat board 2 in a wheelchair state; the protrusion or groove is located at the same height as the seat support 13 to ensure the seat board 2 Level. The seat plate 2 is provided with tooth-shaped grooves for cooperating with the protrusions or grooves and the seat support 13 to achieve fixing.

The thigh drive motor 51 , the rear wheel module steering motor 52 , the calf drive motor 161 and the front wheel module steering motor 162 have self-locking functions, and can maintain one posture for a long time without changing.

The telescopic wheel rod 62 adopts the same structure as the telescopic structure of the rod part of the foldable umbrella, has several fixed positions, and is fixed by pins after being adjusted to an appropriate length.

Preferably, the wheel bar 32 is also adjustable in length, the same principle as the retractable wheel bar 62 .

The working principle and workflow of the present utility model are:

When the equipment needs to be used to assist walking, adjust the relative position of the outer thigh support 43 and the inner thigh plate 42 to match the length of the user's thigh; adjust the relative position of the outer calf bracket 73 and the inner thigh plate 72 to match the length of the user's calf The sole of the user's foot is placed on the foot support plate 81, and the foot strap 82 is fixed with the foot of the human body; the thigh strap 41 is fixed with the user's thigh, the calf strap 71 is fixed with the user's calf, and the shoulder is tied The belt 11 is carried on the shoulders of the user, and the waist strap 12 is tied to the waist of the user, so that the hip joint drive module 5 of the device corresponds to the hip joint of the human body, and the knee joint drive module 16 of the device corresponds to the knee joint of the human body, ensuring that the exoskeleton is relative to the human body. correct location.

After wearing, the foot module 8 is on the ground. Start assisted walking, take the left leg as an example (the left leg is the swinging leg and the right leg is the supporting leg), the left thigh drive motor 51 rotates to lift the user's thigh, and the calf drive motor 161 rotates to make the user's calf move forward Rotate, and then the thigh driving motor 51 rotates to realize the landing of the left foot and the forward step of the left leg. The same is true for the right leg to realize the movement of the entire device to drive the human body forward.

When it is necessary to convert into 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 rotation of the calf drive motor 161 and the rotation of the thigh drive motor 51 drives the outer thigh support 43 to move horizontally, so that the rear wheel 31 is in contact with the ground, and the back support plate 1 is vertical at the same time. The seat panel 2 is pulled out from the seat panel bracket 14 , and the four corners are placed horizontally on the protrusions or grooves at the bottom of the seat panel bracket 14 and the seat support 13 . The thigh straps 41 are loosened, so that the user's thighs and the thigh straps 41 are in a released state, and the user sits on the seat board 2 . Adjust the length of the retractable wheel rod 62 so that the front wheel 61 is in contact with the ground. At this time, the thigh outer bracket 43 can be parallel to the ground, and the calf module 7 is suspended. The rotation of the calf drive motor 161 makes the calf module 7 rotate at an appropriate angle, and the user's front legs are lifted to ensure comfort. The armrest 10 is put down, and the user's hand is placed on the armrest 10 . Others can hold the handle 9 to push. Motors can also be installed in the rear wheel module 3 and the front wheel module 6 to realize the movement of the wheelchair driven by the motor. The distance between the two front wheels is greater than the distance between the two rear wheels, which is beneficial to the stability of the wheelchair state.

When it needs to be transformed into an auxiliary walking state, the lower leg driving motor 161 rotates, so that the lower leg module 7 is rotated to be perpendicular 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. Adjust the thigh strap 41 so that the user's thigh and the thigh strap 41 are in a tight state. The seat panel 2 is then withdrawn from the seat support 13 and supported by the protrusions or grooves at the bottom of the seat panel support 14 and inserted into the seat panel support 14 . The lower leg driving motor 161 rotates and the thigh driving motor 51 rotates, so that the outer thigh support 43 is in a vertical state, and the back support plate 1 is vertical at the same time. The steering motor 162 of the front wheel module rotates to drive the front wheel module 6 to rotate 90° and stow it away. The steering motor 52 of the rear wheel module rotates to drive the rear wheel module 3 to rotate 90° and stow it away. The device changes to a standing state for assisted walking.

The points not mentioned in the present invention are applicable to the 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.

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