A retractable wearable walking aid robot

Abstract

The application discloses a retractable wearable walking aid robot, which comprises a control cabinet, retractable supporting legs arranged at two ends of the control cabinet, foot mechanisms connected to the bottom of the retractable supporting legs, a foot frame, a shoe-like pedal rotatably arranged in the foot frame, and an elastic limiting component arranged at the front end of the foot frame; the robot further comprises two groups of calf fixing components, each of the calf fixing components comprises a fixed half ring and a movable half ring; in a natural state, the rear end of the shoe-like pedal is lifted up under the action of a first elastic component, at this time, a limiting column is pressed against a supporting arm, and the movable half ring is away from the fixed half ring; when the shoe-like pedal is in a horizontal state, the limiting column is separated from the supporting arm, under the elastic force of a second elastic component, the supporting arm is turned over to drive the movable half ring to move towards the fixed half ring, and the two ends of the movable half ring are respectively embedded into arc-shaped clamping grooves of the fixed half ring and locked. The application has the advantages that the foot fixing and the calf fixing can be simultaneously performed without bending over.

Description

Technical Field

[0001] This invention relates to the field of assistive walking robot technology, and more particularly to a retractable wearable assistive walking robot. Background Technology

[0002] Wearable assistive robots can be worn by users and work in tandem with the body. Their design components and joints mimic human movement patterns. Passive exoskeleton robots serve similar purposes to active exoskeleton robots, providing mechanical assistance to people, relieving pressure on the lower back muscles with restoring torque, or providing additional vertical lifting force when supporting tools or materials to strengthen arm and shoulder muscles. They are designed to enhance human strength, help humans move, reduce user injuries (especially to the shoulders and spine), and reduce work errors caused by fatigue.

[0003] For the legs and feet, existing wearable walking robots require the feet to be placed on fixed pedals before the legs are secured with straps. This method of securing the legs requires fixing the feet and lower legs separately, which is very difficult for users with back injuries who have difficulty bending over. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a retractable wearable walking robot that can simultaneously fix the feet and lower legs without bending over.

[0005] This invention is achieved through the following technical solution:

[0006] A retractable wearable mobility robot includes a control cabinet, with retractable legs at both ends of the control cabinet, and foot mechanisms connected to the bottom of each of the two retractable legs.

[0007] The foot mechanism includes a foot frame, inside which is a slipper-like pedal. The left and right ends of the middle section of the slipper-like pedal are rotatably mounted on the foot frame. The bottom rear end of the slipper-like pedal is elastically supported by a first elastic component. The front end of the foot frame is provided with an elastic limiting component, which includes a limiting wedge that can elastically slide relative to the front and rear directions of the foot frame. In its natural state, the rear end face of the limiting wedge and the front end face of the slipper-like pedal are in inclined engagement. Under the action of external force, the front end of the slipper-like pedal can move upward over the limiting wedge. The inner sidewall of the foot frame is provided with an upper limit protrusion. The upper limit protrusion and the limiting wedge limit the vertical position of the front section of the slipper-like pedal in a horizontal state.

[0008] The robot also includes two sets of lower leg fixing components. Each set of lower leg fixing components includes a fixed half-ring and a movable half-ring arranged opposite each other. The fixed half-ring has an arc-shaped groove at its center. The two fixed half-rings of the two sets of lower leg fixing components are respectively fixed to two retractable legs. The movable half-rings of the two sets of lower leg fixing components are respectively set on two foot mechanisms. The movable half-rings are connected to the corresponding foot frames through support arms. The bottom end of the support arm is rotatably mounted on the foot frame, and the movable half-ring is mounted on the top end of the support arm. The bottom end of the support arm has a bent section that bends horizontally. The top of the bent section of the support arm has a second elastic component, and the top of the second elastic component is mounted on the foot. On the frame, a limiting arm is provided on one side of the slipper-like foot pedal, and a limiting post extending to the left and right is provided on the limiting arm. In the natural state, under the elastic force of the first elastic component, the rear end of the slipper-like foot pedal is pushed upward. At this time, the limiting post presses against the support arm, and the movable half ring at the top of the support arm moves away from the fixed half ring. When the slipper-like foot pedal is in a horizontal state, the limiting post disengages from the support arm, and the second elastic component applies a downward elastic force to the bent section of the support arm, causing the support arm to flip and drive the movable half ring at the top to move towards the fixed half ring. The two ends of the movable half ring are respectively embedded into the arc-shaped grooves of the fixed half ring and locked, forming a closed ring.

[0009] As a preferred embodiment of the robot, the elastic limiting component includes an adjusting rod, a third elastic component, and a sliding frame. The front end of the adjusting rod is provided with a knob, and the rear end of the adjusting rod slides through the front wall of the foot frame and connects with the limiting wedge. The sliding frame is fixed to the rear end of the front wall of the foot frame and is provided with a sliding groove extending in the front-rear direction. The limiting wedge slides in cooperation with the sliding groove of the sliding frame. The third elastic component is movably fitted on the rear end of the adjusting rod, and the front and rear ends of the third elastic component elastically press against the front wall of the foot frame and the limiting wedge, respectively.

[0010] As a preferred embodiment of the robot, the outer side of the movable semi-ring is provided with two symmetrical teeth, the tips of which are inclined outward toward the middle of the movable semi-ring. The inner wall of the arc-shaped groove of the fixed semi-ring is provided with two ratchet teeth, which can engage with the two teeth respectively.

[0011] As a preferred embodiment of the robot, the inner and outer sides of the fixed semi-ring are respectively provided with separation slots that communicate with the arc-shaped slot, and the vertical dimension of the separation slots is smaller than the vertical dimension of the arc-shaped slot.

[0012] As a preferred embodiment of the robot, the top of the support arm has a groove for the movable semi-ring to slide, and the middle section of the outer side of the movable semi-ring is connected to the support arm by an elastic rope.

[0013] As a preferred embodiment of the robot, the slipper-like pedal is provided with left and right extending pivots at its left and right ends, and the two pivots of the slipper-like pedal are respectively rotatably mounted on the left and right side walls of the foot frame, with the limiting arm fixedly mounted on one of the pivots.

[0014] As a preferred embodiment of the robot, an inverted U-shaped limiting frame is hinged to the top of the foot frame. The inverted U-shaped limiting frame includes two right side connecting rods and a top connecting rod located at the top. The top connecting rod is fixed to the bottom of the retractable leg. The top ends of the two side connecting rods are respectively hinged to the left and right ends of the top connecting rod, and the bottom ends of the two side connecting rods are respectively hinged to the left and right sides of the foot frame.

[0015] As a preferred embodiment of the robot, the bottom end of the support arm is mounted on the foot frame via a crankshaft.

[0016] The present invention has the following advantages over the prior art:

[0017] 1. The present invention provides a retractable wearable walking robot. When the foot steps on a slipper-like pedal to a horizontal position, the upper limit protrusion and the limiting wedge block limit the vertical position of the slipper-like pedal to prevent it from wobbling. During this process, the slipper-like pedal drives the limiting post to rotate together. The support arm loses the support of the limiting post and automatically flips under the elastic force of the second elastic component, thereby driving the two ends of the movable half-ring to be respectively embedded into the arc-shaped slots of the fixed half-ring and locked, thus realizing automatic wrapping and fixing of the lower leg. That is, the present invention can wrap and fix the lower leg at the same time as the foot steps on the slipper-like pedal to a horizontal position, without the need to bend over to fix the lower leg, which is especially suitable for users with lumbar injuries who have difficulty bending over.

[0018] 2. The present invention provides a retractable wearable walking robot, wherein the slipper-like pedal end is elastically limited by an elastic limiting component. The elastic limiting component includes a limiting wedge that can elastically slide relative to the foot frame in the front-back direction, so that the limiting wedge can limit the front end of the slipper-like pedal in the natural state, and at the same time, it can allow the slipper-like pedal to pass over the limiting wedge when subjected to external force. At this time, the limiting wedge can also support and limit the bottom of the slipper-like pedal that has passed the limiting wedge. In conjunction with the upper limiting protrusion, it can prevent the slipper-like pedal in the horizontal state from moving up and down, ensuring the stability of the slipper-like pedal in the horizontal state, thereby ensuring stable support for the user's feet.

[0019] 3. The present invention provides a retractable wearable walking robot, wherein the movable half ring has two symmetrical teeth on the outer side, the tips of which are inclined outward toward the middle of the movable half ring. The two teeth engage with the two ratchet teeth on the inner wall of the arc-shaped groove, thereby realizing the automatic locking of the movable half ring and the fixed half ring without the need for an additional locking structure.

[0020] 4. The present invention provides a retractable wearable walking robot, which has separation slots connected to arc-shaped slots on the inner and outer sides of the fixed half ring. By inserting a thin plate into the separation slot and pushing it forward, the movable half ring can be removed from the arc-shaped slot of the fixed half ring, thus releasing the fixation on the lower leg. The operation is convenient and quick.

[0021] 5. The present invention provides a retractable wearable walking robot, which has an inverted U-shaped limiting frame hinged at the top of the foot frame. The limiting frame can limit the user's feet from falling upwards. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0023] Figure 2 This is a schematic diagram of the foot mechanism of the present invention.

[0024] Figure 3 This is a partial structural schematic diagram of the present invention.

[0025] Figure 4 This is a schematic diagram of the structure of the fixed half-ring and the movable half-ring in the separated state of the present invention.

[0026] The following are the labels in the diagram: 1 Control cabinet, 2 Retractable outrigger, 3 Foot frame, 4 Slipper footrest, 5 First elastic component, 6 Limiting wedge, 7 Adjusting rod, 8 Third elastic component, 9 Slide frame, 10 Upper limit protrusion, 11 Limiting frame, 12 Side connecting rod, 13 Top connecting rod, 14 Fixed half ring, 15 Movable half ring, 16 Arc-shaped groove, 17 Support arm, 18 Crankshaft, 19 Slide groove, 20 Elastic rope, 21 Bending section, 22 Second elastic component, 23 Limiting arm, 24 Rotating shaft, 25 Limiting post, 26 Tooth, 27 Separation groove. Detailed Implementation

[0027] The embodiments of the present invention are described in detail below. These embodiments are implemented based on the technical solution of the present invention, and provide detailed implementation methods and specific operation processes. However, the scope of protection of the present invention is not limited to the following embodiments.

[0028] See Figures 1 to 4 This embodiment discloses a retractable wearable walking robot, including a control cabinet 1. Retractable legs 2 are respectively provided at the left and right ends of the control cabinet 1. The retractable legs 2 include two pseudo-leg arms, which serve as the robot's thigh and calf, respectively. The two pseudo-leg arms are connected by a knee joint. The length of each pseudo-leg arm can be adjusted by a pneumatic telescopic rod provided inside, so as to adapt to users with different leg lengths.

[0029] Two retractable outriggers are connected to foot mechanisms at their bottoms. The foot mechanism includes a foot frame 3, inside which is a slipper-like foot pedal 4. The left and right ends of the middle section of the slipper-like foot pedal 4 are rotatably mounted on the foot frame 3. The rear bottom of the slipper-like foot pedal 4 is elastically supported by a first elastic component 5. The front end of the foot frame 3 is provided with an elastic limiting component, which includes a limiting wedge 6 that can elastically slide relative to the foot frame 3 in the front-back direction. The elastic limiting component also includes an adjusting rod 7, a third elastic component 8, and a sliding frame 9. The front end of the adjusting rod 7 is provided with a knob, and the rear end of the adjusting rod 7 slides through the front wall of the foot frame 3 and connects with the limiting wedge 6. The sliding frame 9 is fixed to the rear end of the front wall of the foot frame 3 and is provided with a sliding groove extending in the front-back direction. The limiting wedge 6 slides in cooperation with the sliding groove of the sliding frame 9. The third elastic component 8 is movably fitted on the rear section of the adjusting rod 7, and the front and rear ends of the third elastic component 8 elastically press against the front wall of the foot frame 3 and the limiting wedge 6, respectively. In its natural state, the rear end face of the limiting wedge block 6 and the front end face of the slipper-like footboard 4 are in inclined engagement. Under the action of external force, the front end of the slipper-like footboard 4 can move upward over the limiting wedge block 6. The inner side wall of the foot frame 3 is provided with an upper limit protrusion 10. The upper limit protrusion 10 and the limiting wedge block 6 respectively limit the upper and lower positions of the front section of the slipper-like footboard 4 in the horizontal state.

[0030] A U-shaped limiting frame 11 is hinged to the top of the foot frame 3. The U-shaped limiting frame 11 includes two right side connecting rods 12 and a top connecting rod 13 located at the top. The top connecting rod 13 is fixed to the bottom of the telescopic outrigger. The top ends of the two side connecting rods 12 are respectively hinged to the left and right ends of the top connecting rod 13, and the bottom ends of the two side connecting rods 12 are respectively hinged to the left and right sides of the foot frame 3. The limiting frame 11 can limit the user's feet from above, preventing the feet from slipping upwards.

[0031] The robot also includes two sets of lower leg fixing components. Each set of lower leg fixing components includes a fixed half-ring 14 and a movable half-ring 15 arranged opposite to each other. The fixed half-ring 14 has an arc-shaped groove 16 at its center. The two fixed half-rings 14 of the two sets of lower leg fixing components are respectively fixed to two retractable legs 2. The movable half-rings 15 of the two sets of lower leg fixing components are respectively set on two foot mechanisms. The movable half-ring 15 is connected to the corresponding foot frame 3 through a support arm 17. The bottom end of the support arm 17 is rotatably mounted on the foot frame 3 through a crankshaft 18. The movable half-ring 15 is mounted on the top end of the support arm 17. The top end of the support arm 17 has a sliding groove 19 for the movable half-ring 15 to slide. The middle section of the outer side of the movable half-ring 15 is connected to the support arm 17 through an elastic rope 20. The elastic rope 20 can meet the small-range sliding needs of the movable half-ring 15 on the support arm 17. The bottom end of the support arm 17 is provided with a bending section 21 that bends horizontally. The top of the bending section 21 of the support arm 17 is provided with a second elastic component 22. The top of the second elastic component 22 is installed on the foot frame 3. A limiting arm 23 is provided on one side of the slipper-like footboard 4. The left and right ends of the slipper-like footboard 4 are respectively provided with left and right extending pivots 24. The two pivots 24 of the slipper-like footboard 4 are respectively rotatably installed on the left and right side walls of the foot frame 3. The limiting arm 23 is fixedly installed on one of the pivots 24. The limiting arm 23 is provided with limiting posts 25 extending to the left and right. In the natural state, under the elastic force of the first elastic member 5, the rear end of the slipper-like foot pedal 4 is pushed upward. At this time, the limiting post 25 presses against the support arm 17, and the movable half ring 15 at the top of the support arm 17 moves away from the fixed half ring 14. When the slipper-like foot pedal 4 is in a horizontal state, the limiting post 25 disengages from the support arm 17. The second elastic member 22 applies a downward elastic force to the bent section 21 of the support arm 17, causing the support arm 17 to flip and drive the movable half ring 15 at the top to move closer to the fixed half ring 14. The two ends of the movable half ring 15 are respectively embedded into the arc-shaped slots 16 of the fixed half ring 14 and locked, forming a closed ring.

[0032] The movable semi-ring 15 has two symmetrical toothed sections 26 on its outer side, with the tips of the toothed sections 26 tilting outwards towards the center of the movable semi-ring 15. The inner wall of the arc-shaped groove 16 of the fixed semi-ring 14 has two ratchet sections, which can engage with the two toothed sections 26 respectively. The inner and outer sides of the fixed semi-ring 14 have separation slots 27 that communicate with the arc-shaped groove 16. The vertical dimension of the separation slots 27 is smaller than that of the arc-shaped groove 16. By inserting a thin plate into the separation slot 27 and pushing it forward, the movable semi-ring 15 can be removed from the arc-shaped groove 16 of the fixed semi-ring 14, releasing the fixation on the lower leg. The operation is convenient and quick.

[0033] The first elastic component 5, the second elastic component 22, and the third elastic component 8 can each be springs.

[0034] The working process of the retractable wearable mobility robot provided in this embodiment is as follows:

[0035] When wearing the slipper, the user places their foot onto the slipper-like footrest 4, and presses down on the rear of the slipper-like footrest 4 with their heel. The pressing action causes the slipper-like footrest 4 to rotate, compressing the first elastic component 5. The front end of the slipper-like footrest 4 moves upward past the limiting wedge block 6. When the slipper-like footrest 4 is in a horizontal position, the upper limit protrusion 10 and the limiting wedge block 6 respectively limit the vertical position of the slipper-like footrest 4 in the horizontal state, preventing the slipper-like footrest 4 from moving up and down, ensuring the stability of the slipper-like footrest 4 in the horizontal state, and avoiding large-angle swaying when walking. At this time, the user's foot is supported on the horizontal slipper-like footrest 4, and the limiting frame 11 limits the user's foot from falling upward. At the same time, the first elastic component 5 at the bottom of the slipper-like footrest 4 can effectively reduce the vibration of the foot when walking. The stepping motion causes the slipper-like foot pedal 4 to rotate, which in turn causes the limiting arm 23 to rotate as well. The limiting post 25 of the limiting arm 23 will gradually detach from the supporting arm 17. The supporting arm 17 loses the support of the limiting post 25 and automatically flips under the elastic force of the second elastic component 22. The supporting arm 17 will then drive the movable half ring 15 to move closer to the fixed half ring 14. The two ends of the movable half ring 15 are respectively embedded into the arc-shaped slots 16 of the fixed half ring 14 and locked to form a closed ring, which can realize the automatic wrapping and fixing of the lower leg. When the user's leg bends at a certain angle, the fixed half ring 14 and the movable half ring 15 are still a whole. At the same time, the movable half ring 15 is always embedded in the top of the supporting arm 17, and the elastic rope 20 can facilitate the bending of the user's leg.

[0036] When disassembling the robot, a thin sheet with a thickness smaller than the separation slot 27 is inserted into the separation slot 27. The sheet abuts against the movable half-ring 15, and is pushed towards the center of the circle after the movable half-ring 15 and the fixed half-ring 14 are connected. This allows the movable half-ring 15 to exit from the fixed half-ring 14, thus canceling the connection between the movable half-ring 15 and the fixed half-ring 14 and removing the wrapping and fixing of the legs. When it is necessary to remove the limit on the slipper-like foot pedal 4, simply pull the adjusting rod 7 forward to move the limiting wedge 6 forward together, canceling the bottom support of the front section of the slipper-like foot pedal 4. Under the elastic force of the first elastic component 5, the front end of the slipper-like foot pedal 4 automatically flips downward and resets until the front end of the slipper-like foot pedal 4 is below the limiting wedge 6. Then, release the adjusting rod 7. The disassembly operation is convenient and quick.

[0037] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A retractable wearable walking robot, comprising a control cabinet (1), the left and right ends of the control cabinet (1) are respectively provided with retractable legs (2), and the bottoms of the two retractable legs are respectively connected with foot mechanisms, characterized in that: the foot mechanism comprises a foot frame (3), a slipper-like pedal (4) is arranged in the foot frame (3), the middle section of the slipper-like pedal (4) is rotatably installed on the foot frame (3), the rear end of the slipper-like pedal (4) is elastically supported through a first elastic component (5), and the front end of the foot frame (3) is provided with an elastic limiting assembly; the elastic limiting assembly comprises a limiting wedge (6) capable of elastically sliding in the front-rear direction of the foot frame (3); in a natural state, the rear end surface of the limiting wedge (6) is in inclined surface cooperation with the front end surface of the slipper-like pedal (4); under the action of external force, the front end of the slipper-like pedal (4) can be moved upwards beyond the limiting wedge (6); the inner side wall of the foot frame (3) is provided with an upper limiting protrusion (10), and the upper and lower positions of the front section of the slipper-like pedal (4) in the horizontal state are respectively limited by the upper limiting protrusion (10) and the limiting wedge (6); the robot further comprises two groups of calf fixing assemblies, each group of calf fixing assemblies comprises a fixed half ring (14) and a movable half ring (15) arranged oppositely, the center of the fixed half ring (14) is provided with an arc-shaped clamping groove (16), the two fixed half rings (14) of the two groups of calf fixing assemblies are respectively fixed on the two retractable legs (2), the movable half rings (15) of the two groups of calf fixing assemblies are respectively arranged on the two foot mechanisms, the movable half ring (15) is connected with the corresponding foot frame (3) through a support arm (17), the bottom end of the support arm (17) is rotatably installed on the foot frame (3), the movable half ring (15) is installed on the top end of the support arm (17), the bottom end of the support arm (17) is provided with a bending section (21) bent in the horizontal direction, the top of the bending section (21) of the support arm (17) is provided with a second elastic component (22), the top end of the second elastic component (22) is installed on the foot frame (3), one side of the slipper-like pedal (4) is provided with a limiting arm (23), the limiting arm (23) is provided with a limiting column (25) extending leftward and rightward, in a natural state, the rear end of the slipper-like pedal (4) is lifted upwards under the elastic force of the first elastic component (5), at this time, the limiting column (25) abuts against the support arm (17), and the movable half ring (15) at the top end of the support arm (17) is away from the fixed half ring (14); when the slipper-like pedal (4) is in a horizontal state, the limiting column (25) is separated from the support arm (17), the bending section (21) of the support arm (17) is subjected to downward elastic force through the second elastic component (22), so that the support arm (17) is flipped to drive the movable half ring (15) at the top end to move towards the fixed half ring (14), and the two ends of the movable half ring (15) are respectively embedded into the arc-shaped clamping groove (16) of the fixed half ring (14) and locked, forming a closed ring.

2. The retractable wearable walking assist robot according to claim 1, wherein: The elastic limiting assembly comprises an adjusting rod (7), a third elastic component (8) and a sliding frame (9), the front end of the adjusting rod (7) is provided with a knob, the rear end of the adjusting rod (7) is slid through the front wall of the foot frame (3) and is connected with a limiting wedge (6), the sliding frame (9) is fixed at the rear end of the front wall of the foot frame (3), the sliding frame (9) is provided with a sliding groove extending in the front-rear direction, the limiting wedge (6) is slidably matched with the sliding groove of the sliding frame (9), and the third elastic component (8) is movably sleeved on the rear section of the adjusting rod (7) and elastically abuts against the front wall of the foot frame (3) and the limiting wedge (6) at the front-rear ends, respectively.

3. The retractable wearable walking assist robot according to claim 1, wherein: The outer side of the movable half ring (15) is provided with two symmetrical tooth gears (26), the tips of the tooth gears (26) are inclined outward towards the middle part of the movable half ring (15), the inner wall of the arc-shaped clamping groove (16) of the fixed half ring (14) is provided with two ratchet gears, and the two ratchet gears can be clamped with the two tooth gears (26), respectively.

4. The retractable wearable walking assist robot according to claim 3, wherein: The inner and outer sides of the fixed half ring (14) are respectively provided with separation notches (27) which are communicated with the arc-shaped clamping groove (16), and the size of the separation notches (27) in the vertical direction is smaller than that of the arc-shaped clamping groove (16) in the vertical direction.

5. The retractable wearable walking assist robot according to claim 1, wherein: The top end of the supporting arm (17) is provided with a sliding groove (19) for sliding of the movable half ring (15), and the outer middle part of the movable half ring (15) is connected with the supporting arm (17) through an elastic rope (20).

6. The retractable wearable walking assist robot according to claim 1, wherein: The left and right ends of the shoe-like pedal (4) are respectively provided with left and right extending rotating shafts (24), the two rotating shafts (24) of the shoe-like pedal (4) are rotatably installed on the left and right side walls of the foot frame (3), and the limiting arm (23) is fixedly installed on one of the rotating shafts (24).

7. The retractable wearable walking assist robot according to claim 1, wherein: The top end of the foot frame (3) is hingedly provided with an inverted U-shaped limiting frame (11), the inverted U-shaped limiting frame (11) comprises two right side connecting rods (12) and a top connecting rod (13) located at the top, the top connecting rod (13) is fixed at the bottom of the telescopic supporting leg, the top ends of the two side connecting rods (12) are hingedly connected to the left and right ends of the top connecting rod (13), respectively, and the bottom ends of the two side connecting rods (12) are hingedly connected to the left and right sides of the foot frame (3), respectively.

8. The retractable wearable walking assist robot according to claim 1, wherein: The bottom end of the supporting arm (17) is rotatably installed on the foot frame (3) through a crankshaft (18).

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