HIGH PRECISION WALKING ROBOT PLATFORM

Abstract

The invention relates to the design of a walking robot platform that can be used in place of wheelchairs for individuals with leg amputations or those unable to perform walking functions. Individuals unable to perform walking functions commonly use wheelchairs. In recent years, the use of motorized wheelchairs has also become widespread. However, wheelchairs are not feasible, especially on uneven surfaces or in situations requiring the use of stairs. The invention consists of two leg structures that perform the walking function and a seat structure fixed to these legs. The robotic legs consist of a Stewart platform containing 6-UPS (Universal-Prismatic-Spherical) joints. With these parallel robotic legs, the orientation of the seat can be achieved with high precision. The area between the seat and the Stewart leg structure contains the robot control board, leg driver units, batteries, and cable connections. Additionally, the walking robot platform features a manually controllable joystick for managing its movements. This allows the user to navigate on flat, uneven, or stair-like surfaces.

Description

1 TARIFF HIGH PRECISION WALKING ROBOT PLATFORM Technical Area This invention is for people with impaired leg function or those who have had leg amputations. 5 robotic legs mounted on robotic legs for individuals who cannot perform walking functions It relates to a walking robot platform with a seat. Previous Technique Wheelchairs have been used for many years for individuals who are unable to perform walking functions. Traditional wheelchairs are used with two large wheels at the back and two multi-directional wheels. The chairs are designed with the wheels at the front. These chairs allow individuals to use their arms if they have the ability to do so. If they possess these qualities, they can be managed by the individual themselves. The need to use their arms for extended periods. It requires considerable strength. However, if individuals have a deficiency / impairment in using their arms, It is moved by an assistant. Individuals with disabilities live their lives with the support of someone. Continuing to do this significantly reduces their quality of life, and this situation also brings about mental health problems. It brings. Nowadays, the rear wheels of wheelchairs are motorized and one direction 15 These motors are moved using a rod. This allows disabled individuals to use their arms. It has eliminated the need for a physically demanding task. Traditional wheelchairs are motorized. They transform into chairs and can be moved with a simple steering wheel. These motorized chairs... The chairs have a battery and can be used after being charged. Apart from that, they are for walking. Support robots have been developed. Some of these robots have an exoskeleton that surrounds the legs externally. Some parts are in the form of an exoskeleton, while others are wheeled walking support robots. Walking support The purpose of these robots is related to the physical therapy and rehabilitation of the patient. This is expressed in this invention. This study is outside the field of rehabilitation and focuses on individuals with permanent physical disabilities. Traditional wheelchairs require constant pushing force. This situation If the patient is physically unable to use their equipment, assistance is provided by an assistant. Traditional 25 The biggest problem with wheelchairs is the need for assistance. Motorized wheelchairs... Wheelchairs (electric wheelchairs being the most common) have reduced the need for assistance, however It has not completely eliminated the problem. Electric wheelchairs are particularly useful for individuals in environments outside the home. It greatly facilitates movement on streets and avenues. However, electric wheelchairs are not suitable for both home and public use. 2 For it to be usable both indoors and outdoors, it primarily needs to be easily portable. At home after use, when taking it outside, there is a special elevator in the sections between the house and the outside environment. It is needed. Since it has a powerful motor set and battery, it can be carried up and down the stairs. Removing or lowering it is not really possible. For this reason, special mechanisms have been developed and various Special transportation options have been created for disabled individuals in public institutions. However, this is very limited. This is not a common occurrence. Furthermore, it is particularly relevant for long-distance journeys where vehicle transportation is essential. Transporting electric wheelchairs is another problem. Some buses have ramps for electric wheelchairs. There are such mechanisms in place. However, these are also not common. Walking Disability is one of the most significant obstacles individuals face in their lives. Studies in this field... Physical therapy and rehabilitation programs are also very intensive. For individuals with walking disabilities, there are 10... Transportation options are extremely limited, and their interaction with other individuals and the environment is very restricted. This leads to a decrease in the quality of life for disabled individuals. This significantly reduces their quality of life. Document CN118384001A describes fall prevention gait and rehabilitation training. A walking robot that helps in this process has been mentioned. Document CN111714299A describes a smart elderly support chair with a control system and its 15 It explains the method of use. Patent document number WO2014065493A1 describes rehabilitation therapy for the lower half of the body. It is related to a robot system and its application. The US2015238382A1 document describes a robot body and a robotic frame to enable and support walking. The text refers to a smart robot consisting of a walker. 20 Studies within the known state of the art focus on individuals with impaired leg function or For individuals who are unable to perform walking functions due to amputation in the leg region Development of a walking robot platform with a seat mounted on robotic legs. It was needed. Purposes of the Invention 25 The purpose of this invention is to provide assistance to individuals with impaired leg function or those who have undergone leg amputation. Robotic legs for individuals who cannot perform walking functions with leashes It is the development of a walking robot platform with a built-in seat. 3 Another aim of this invention is to be more ergonomic than walking aids, and The goal is to improve both reliability and comfort levels. Detailed Description of the Invention High-precision robotic walking was developed to achieve the objectives of this invention. The platform is shown in the attached figures. 5 Figure 1: General mechanical layout view of the robotic walking platform. Figure 2: Front view of the robotic walking platform. Figure 3: Right-side view of the robotic walking platform. Figure 4: Top view of the robotic walking platform. 10 Figure 5: Right front perspective view of the robotic walking platform. Figure 6: Perspective view of the robotic leg of the robotic walking platform. The parts shown in the figures are individually numbered, and their corresponding numbers are listed below. It has been given. 15 A. Seating mechanism B. Right robotic leg C. Left robotic leg 1. Rubber-soled foot 2. Robotic foot mobility platform 20 3. Robotic foot movable (lower) platform universal joints 4. Linear motion motors 5. Robotic foot fixed platform (top) universal joints 6. Robotic foot stabilization platform 7. Seat 25 8. Robotic walking platform motion control stick 9. Seat armrest slots 10. Seat back support plate 11. Connection profile bar set between seat and robotic legs. 12. Robotic walking platform power supply batteries 30 13. Dual motor drive units for linear motion motors 14. Robotic walking platform control unit 4 The invention relates to walking difficulties in individuals with impaired leg function or those with leg amputations. robotic legs mounted on a device for individuals who cannot perform functions It relates to a walking robot platform with a seat, - The walking platform is powered by an electro-parallel robot arrangement that enables its movement. Mechanical structure of the right robotic leg (B) and left robotic leg (C), 5 - Robotic legs (B) and (C) are placed on which the disabled individual is transported while sitting. seat mechanism (A), - Rubber-based foot (1) that provides contact between the robotic legs (B) and (C) plane, - It is possible to give different angular positions to the robotic legs (B) and (C), and to the attached feet (1). universal joint structures (3), 10 - Robotic legs (B) and (C) at different heights and orientations linear motion motors that enable positioning (4), - Robotic systems where linear motion motors (4) are connected by a universal joint structure (3). The movable platform belonging to the parallel robot structure that forms the legs (2), - Robotic legs (B) and (C) are positioned at different angles depending on the fixed platform. universal joint structures that enable its positioning (5), - Robotic systems where linear motion motors (4) are connected by a universal joint structure (5). Fixed platform (6) belonging to the parallel robot structure that forms the legs, - Seat (7) which is located in the structure of the seating arrangement (A), enabling the disabled individual to sit, - Motion control 20 that enables the management of the robotic walking platform's movement. bar (8,) - The armrest in the seat mechanism (A) where the disabled individual can place their arms. support sockets (9), - The seat mechanism (A) includes a backrest that the disabled individual can lean their back against. plate (10), 25 - Assembly of the seat assembly (A) with the right robotic leg (B) and the left robotic leg (C) The connection profile bar set (11) is provided, - Batteries that provide electrical energy for the robotic walking platform (12), - Motor drive units (13) that provide control of linear motion motors (4), - Robotic walking 30 which generates movement with linear motors (4) controlled by the control stick (8). platform control unit (14), It consists of parts. In one application of the invention in question; High-precision robotic walking platform, seat assembly (A), right robotic leg (B), and The left robotic leg (C) consists of main structures. The robotic leg structures are similar to the human foot. The foot (1) with a rubber sole contacts the walking plane. Angular position of the foot and The height above the walking plane is provided by robotic leg structures (B) and (C). Robotic leg 5 Structures (B) and (C) consist of Stewart-based parallel robot configurations. This robot configuration consists of 1 unit fixed platform (6), 1 mobile platform (2), 6 linear motors (4) and platforms 12 universal joints that provide connections from the two endpoints of linear motors. It consists of elements (3) and (5). The movable platform of the robotic legs (B) and (C) (2) is circular. It has a structure and consists of a 36 cm diameter sheet metal plate. The robotic legs (B) and (C) are fixed 10 The platform (6) has a circular arrangement and consists of a sheet metal plate with a diameter of 16 cm. Robotic leg The heights of structures (B) and (C) are 60 cm at their longest and 35 cm at their shortest. Linear The elongation amounts of the linear motion motors (4) are 25 cm. Elongation of linear motion motors The quantities were determined based on the target stair height of 20 cm. Robotic The fixed platforms of the leg structures (B) and (C) are made of 4 pieces of 30x30 mm aluminum sigma profile. The bar (11) is connected side by side to the seating arrangement (A). These 4 bars form a rectangular frame. It is assembled in its structure. The seat (7) is mounted on the connecting bar set (11) with a riser at each of the 4 points. It is connected. The seat (7) height of the robotic walking platform is 70 cm. Thus, the robotic A 10 cm gap is created between the fixed platforms of the legs (B) and (C) and the bottom point of the seat. The arm support sockets (9) are attached to the connecting bar set (11) using aluminum profile bars. 20 Depending on the disabled individual's preference, a robotic walking platform can be attached to the ends of the armrest sockets. The control bar (8) is attached. The back is attached to the connecting bar set (11) with aluminum profile bars. The support plate (10) is attached. Inside the seat assembly (A), the seat (7) and the robotic legs A gap is left between the fixed platform (6). The robotic walking platform is placed in this area. 24V 20Amp batteries (12) are installed to provide its energy. Also, these 25 in the section, the control unit (14) that manages the movement of the robotic walking platform The drive units (13) of the linear motors are installed. 6 The walking robot platform essentially consists of two robotic leg structures and a seating mechanism. It is formed. The robotic legs are Stewart-based parallel robots containing 6 linear motion motors. It consists of a system. The linear motion motors used in robotic legs are universal. with articulated joints to the upper (fixed) platform and again with universal articulated joints 5 It is attached to the lower (movable) platform. There are rubber-soled feet under the movable platform. It has an insole. Robotic legs are connected to the seat assembly with aluminum bars. The seat assembly supports the individual. It includes plates that allow the child to sit, lean back, and place their arms during the exercise. The seating arrangement also houses the power supply batteries and motor 10 of the robotic walking platform. It includes the driver units and the control unit. Seating arrangement, robotic walking. It includes the control stick that provides movement management for the platform. 20

Claims

7 REQUESTS 1. Walking difficulties due to impaired leg use or leg amputation. robotic legs mounted on individuals who are unable to perform functions It relates to a walking robot platform with a seat, - The electro-5, a parallel robot arrangement that enables the walking platform to move. mechanical structure right robotic leg (B) and left robotic leg (C), - Robotic legs (B) and (C) are placed on which the disabled individual is transported while sitting. seat mechanism (A), - Rubber-based foot (1) that provides contact between the robotic legs (B) and (C) plane, - Robotic 10 where linear motion motors (4) are connected by universal joint structure (3). The movable platform belonging to the parallel robot structure that forms the legs (2), - It is possible to give different angular positions to the robotic legs (B) and (C), and to the attached feet (1). universal joint structures (3), - Robotic legs (B) and (C) at different heights and orientations Linear motion motors that enable positioning (4), 15 - Robotic legs (B) and (C) are at different angles depending on the fixed platform. universal joint structures that enable its positioning (5), - Robotic systems where linear motion motors (4) are connected by a universal joint structure (5). Fixed platform (6) belonging to the parallel robot structure that forms the legs, - Seat (7), located in the structure of the seating arrangement (A), which enables the disabled individual to sit, 20 - Motion control that enables the management of the robotic walking platform's movement. bar (8,) - The armrest in the seat mechanism (A) where the disabled individual can place their arms. support sockets (9), - The seat mechanism (A) includes a back support 25 that the disabled individual can lean their back against. plate (10), - Assembly of the seat assembly (A) with the right robotic leg (B) and the left robotic leg (C) The connection profile bar set (11) is provided, - Batteries that provide electrical energy for the robotic walking platform (12), - Motor drive units (13) that provide control of linear motion motors (4), 30 - Robotic walking system that generates movement with linear motors (4) controlled by a control stick (8). platform control unit (14), 8 It is characterized by its inclusion.

2. A walking robot platform as in Claim 1, with robotic leg structures (B) and (C) Characterized by the use of a parallel robot structure containing 6 linear motors based on Stewart principles. is being done.