Wear type lower limb assistant robot, folding method thereof and hand luggage for carrying

Abstract

The invention discloses a wear type lower limb assistant robot, a folding method thereof and a hand luggage for carrying. The robot is characterized by comprising a lower limb assistant mechanical device and a servocontrol system, wherein the lower limb assistant mechanical device is provided with wearable assistant mechanical legs which are symmetrically arranged on the two sides of a wearable waistband. The wearing load on human bodies can be effectively relieved, and the robot has the characteristics of high safety performance, simple man-machine coordination control, good following assist effect, high cost performance and the like; the robot can be changed into a portable body which is compact in structure through the folding method, and a user can conveniently carry and store the robot in various manners through matching with the hand luggage for carrying, so that the nursing requirements of the middle-aged and the aged people on daily activities such as walking and walking up and down stairs can be better satisfied.

Description

technical field [0001] The invention relates to a wearable lower limb power-assisted robot, its folding method and a hand-drawn case for shipment, especially for the daily nursing occasions of the middle-aged and elderly people with weak lower limbs or inconvenient joint movements, to help them walk and get up and down. The utility model relates to expanding the motor ability of the lower limbs when going up stairs, and belongs to the technical field of nursing-type power-assisted robots. Background technique [0002] As Chinese society gradually enters the stage of population aging, more and more middle-aged and elderly people are affected by various factors such as joint function degeneration, osteoporosis, and leg muscle strain. Symptoms such as weakness and weakness of the lower limbs have seriously affected walking. and basic daily activities such as going up and down stairs. In order to solve such problems and ensure the normal body movement of the middle-aged and elde...

AI Technical Summary

Problems solved by technology

At present, several research institutions at home and abroad have carried out research on wearable lower limb assist robot technology, and individual research results have even been transformed into products for sale, such as the power-assisted mechanical suit BLEEX developed by the University of California, Berkeley, and the Cybernics experiment at the University of Tsukuba, Japan. Although the exoskeleton robot HAL developed by the laboratory has rich functions and good assisting effect, the manufacturing cost remains high due to the large number of power sources and sensing devices used in the robot body, and the cost performance is lost. It makes it difficult to control the robot, and it has a strong sense of weight when worn on the human body, and its portability is poor, so it is difficult to popularize

[0003] ZL201310034245.1 reported "a wearable lower extremity exoskeleton walking aid robot", which is composed of ankle joint movement module, knee joint movement module, hip joint movement module, drive module, waist and support frame module, etc. The motor cooperates with the screw nut transmission mechanism to drive each joint movement module to realize the assistance of the lower limbs when the human body walks. It has the advantages of good human-machine movement coordination and compact structure. Human body wearing exoskeleton robot has a strong sense of load, and it is not convenient for users to carry the robot with them

[0004] ZL201020568411.8 reported "a human body exoskeleton load-bearing walking assist device driven by a linear motor", which consists of a back frame, a hip joint component, a thigh component, a lower leg component, an ankle bone component, a base plate, a power supply, a control device, a sensor and a drive It is composed of various parts such as the device, and the electric cylinder of the linear motion drives the joints of the lower limbs to rotate, thereby providing assistance to the human body that walks with weight. It has the advantages of small size, low energy consumption, easy control, and low manufacturing cost. However, due to The linear motor itself occupies a large axial dimension and is constrained by the movement stroke, which limits the range of motion of the joints of the lower limbs. Since each joint needs to be driven by an independent linear motor, it is not conducive to the coordinated motion control of the entire lower limbs of the human body, and the walking assist The device does not have a portable function, which affects the user's daily use

[0005] ZL201210370645.5 reported a "portable wearable lower limb rehabilitation and walking aid exoskeleton robot", which consists of sequentially connected thigh support parts, knee joint parts, calf support parts and ankle joint foot parts. The rod drives the joint movement, which has the advantages of light and small size, suitable for wearing and easy to carry. However, the robot does not have the perception module for detecting human-computer interaction information and human motion posture and the necessary anti-falling device, which is not conducive to external use. The intelligent control of the skeletal robot affects the coordination of human-computer interaction and reduces the safety of the user when using the robot; moreover, the portable performance of the robot is only for the convenience and reliability of the components that make up the leg mechanism. In terms of disassembly and combination, the process is time-consuming, and the robot itself cannot be transformed into a portable body, lacks specific carrying and shipping tools, and does not solve the problem of user collection after use, so the versatility is poor

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