Method for folding wearable lower limb assisting robots

Abstract

The invention discloses a method for folding wearable lower limb assisting robots. The method is characterized by comprising detaching leg following support elastic components from assisting mechanical legs, and sequentially outwardly turning hinge centers of the upper end edges of hip joint rotation limiting discs and the lower portions of bosses by 90-degree angles by the aid of thigh folding components and shank folding components; outwardly and oppositely folding the assisting mechanical legs at the shank folding components; inwardly and oppositely folding the assisting mechanical legs at the thigh folding components; obtaining portable bodies of the wearable lower limb assisting robots. The wearable lower limb assisting robots are in initial states when central connecting lines of thigh connecting rods and shank connecting rods are at mutual coincidence positions. The method has the advantages that the wearable lower limb assisting robots can be turned into the portable bodies with compact structures and can be used with loading and transporting trolley cases, so that users can conveniently carry and store the wearable lower limb assisting robots in various modes, and daily activity and nursing requirements such as walking and stair ascending and descending of the users can be effectively met.

Description

[0001] The application number is: 2013102573605; the application date is: June 26, 2013; the title of the invention is a divisional application for a wearable lower limb power-assisted robot, its folding method and a hand-drawn case for shipment. technical field [0002] The invention relates to a folding method of a wearable lower limb power-assisted robot, especially applied to the daily life nursing occasions of the middle-aged and elderly people with weak lower limbs or inconvenient joint movements, to help them expand the motor ability of the lower limbs when walking and going up and down stairs, which belongs to nursing care in the field of assistive robotics. Background technique [0003] 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 seri...

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

[0004] 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

[0005] 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

[0006] 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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