A walking-assist robot

Abstract

This invention provides an assistive walking robot, comprising a chassis assembly, a lifting mechanism, an axillary support assembly, a seat support assembly, and a walking mechanism. The chassis assembly includes a chassis support frame and pulleys; the lifting mechanism includes a lifting frame; the axillary support assembly includes an axillary support member; the seat support assembly includes a hip support member, the distance between the hip support member and the axillary support member being adjustable; the walking mechanism includes a foot-wearing component, a linkage assembly, and a walking drive component. The linkage assembly includes a first link, a slider, and a second link. The slider is slidably connected to the chassis support frame. The two ends of the second link are rotatably connected to the first link and the slider via connecting shafts, respectively. The foot-wearing component is connected to the second link, and the foot-wearing component is lower than the axis of the connecting shaft. The walking drive component drives the first link to rotate. The first link, the slider, and the second link constitute a crank-slider mechanism. This assistive walking robot can also assist patients with lower limb paralysis in walking, and its use is not limited by location.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to an assistive walking robot. Background Technology

[0002] Currently, patients with mobility impairments such as lower limb motor disorders often require the assistance of walking aids (such as skeletal robots). However, most walking aids are complex and bulky, requiring patients to use them in environments with suitable facilities, such as hospitals or rehabilitation centers. Furthermore, patients often need assistance from caregivers to board the machines, which is very inconvenient. In addition, patients may be at risk of falling during assisted walking.

[0003] In addition, for patients with lower limb paralysis or elderly people with severe difficulty in moving their lower limbs, who are bedridden for a long time, they may only be able to choose to rest at home or travel by wheelchair. Over time, their core muscles and lower limb abilities cannot be trained, resulting in severe degeneration and adverse effects on their physical and mental health.

[0004] Therefore, how to enable patients with lower limb paralysis or elderly people with severe difficulty in moving their lower limbs to easily achieve assisted walking is a topic that needs to be studied. Summary of the Invention

[0005] This invention provides an assistive walking robot that allows patients to easily use it independently. It is particularly suitable for patients with lower limb paralysis or elderly people with severe lower limb mobility impairment who are bedridden for a long time, enabling them to sit, stand, and walk with assistance. Furthermore, it is not limited by the location of use and is suitable for closed and semi-closed environments such as homes, communities, and nursing homes, as well as outdoor environments with good road conditions.

[0006] The assistive walking robot of the present invention includes a chassis assembly, an axillary support assembly, a seat support assembly, a lifting mechanism, and a walking mechanism. The chassis assembly includes a chassis support frame and casters connected to the bottom of the chassis support frame; the lifting mechanism is disposed on the chassis support frame and includes a movable lifting frame; the axillary support assembly is connected to the lifting frame and includes an axillary support member for supporting the patient's axillary region; the seat support assembly is connected to the lifting frame and located between the axillary support assembly and the chassis assembly, and includes a hip support member for supporting the patient's buttocks, wherein the distance between the hip support member and the axillary support member is adjustable; and the walking mechanism is disposed on the chassis support frame. The device includes a foot-worn device, a linkage assembly, and a walking drive mechanism. The linkage assembly includes a first linkage, a slider, and a second linkage. The slider is slidably connected to the chassis support. The two ends of the second linkage are rotatably connected to the first linkage and the slider, respectively, via connecting shafts. The foot-worn device is connected to the second linkage, and the foot-worn device is lower than the axis of the connecting shaft. The walking drive mechanism is connected to the end of the first linkage away from the second linkage and is used to drive the first linkage to rotate. The first linkage, the slider, and the second linkage constitute a crank-slider mechanism.

[0007] In some embodiments, the linkage assembly further includes a connector, one end of which is fixedly connected to the second linkage and located between the two connecting shafts, the other end of which is lower than the axis of the connecting shafts, and the foot-wearing device is connected to the other end of the connector.

[0008] In some embodiments, there are two walking mechanisms, respectively located on the left and right sides of the chassis support; the walking drive component in each walking mechanism includes a walking motor and a reducer, and the walking motor is connected to the first connecting rod through the reducer; wherein, in the two walking mechanisms, the two walking motors respectively drive their respective first connecting rods to rotate.

[0009] In some embodiments, the height of the foot wearer is adjustable so that the foot wearer can contact or detach from the ground.

[0010] In some embodiments, the seat support assembly includes a hip support and a back support, the hip support being connected to the lifting frame, and the back support being rotatably connected to the end of the hip support away from the lifting frame, so that the back support is in an upright or flat position.

[0011] In some embodiments, the hip support member has a slot at one end away from the lifting frame, and a fixing rod is provided on the hip support member; the back support member is rotatably connected to the hip support frame via the fixing rod, and the back support member has an adjustment groove, through which the fixing rod slidably passes; wherein, when the fixing rod is in a first position in the adjustment groove, the back support member partially extends beyond the lower surface of the hip support member and interferes with the hip support member, so that the back support member is held in the upright posture; when the fixing rod is in a second position in the adjustment groove, the back support member shortens beyond the lower surface of the hip support member, allowing the hip support member to rotate from the upright posture to the flat posture; when the fixing rod moves from the second position to a third position in the adjustment groove, the back support member can be partially inserted into the slot and interfere with the hip support member, so that the back support member is held in the flat posture, and the first position is located between the second position and the third position.

[0012] In some embodiments, the hip support is rotatably connected to the lifting frame; the seat support assembly further includes a telescopic suspension, one end of which is connected to the lifting frame and the other end of which is connected to the hip support, and the hip support is allowed to float up and down by extending and retracting the telescopic suspension; wherein the other end of the telescopic suspension is adjustable at its connection position in the length direction of the hip support to change the tilt angle of the hip support relative to the horizontal plane.

[0013] In some embodiments, the armpit support assembly further includes a fixing member, the armpit support member being connected to the left and right sides of the fixing member, and the fixing member being fixedly connected to the lifting frame; wherein the height of each armpit support member is adjustable to adjust the distance between the armpit support member and the hip support member; and / or, the spacing between two armpit support members is adjustable.

[0014] In some embodiments, the lifting mechanism further includes a fixing member, a lead screw and nut assembly, and a lifting drive member; the fixing member is fixedly connected to the chassis bracket, and the lifting member is sleeved on the fixing member and slidably connected to the fixing member, so that the lifting member can be extended and retracted relative to the fixing member; the lead screw of the lead screw and nut assembly is fixedly connected to the lifting member; the lifting drive member is connected to the nut and is used to drive the nut to rotate.

[0015] In some embodiments, the assisted walking robot further includes a steering assembly, which includes a steering arm and a steering handle. The steering arm includes a first arm and a second arm that is tractively connected to the first arm. The first arm is sleeved on the second arm and slidably connected to the second arm. The first arm passes through the lifting member and is rotatably connected to the lifting member. It can follow the lifting member in raising and lowering and slide relative to the second arm during the raising and lowering process, so that the first arm can extend, lower, and rotate relative to the second arm. The second arm passes through the fixing member, and the end of the second arm away from the first arm is connected to the pulley through a toggle member. The steering handle is connected to the first arm and is used to drive the first arm and the second arm to rotate so as to drive the toggle member to rotate, so that the toggle member toggle the pulley to rotate, thereby changing the direction of travel of the assisted walking robot.

[0016] In some embodiments, the lifting mechanism is rotatably connected to the chassis bracket via the fixing member, so that the lifting mechanism can switch between a first position close to the chassis assembly and a second position away from the chassis assembly. In the first position, the lifting mechanism is in a folded posture, and in the second position, the lifting mechanism is in an unfolded posture.

[0017] In some embodiments, the assisted walking robot further includes: a controller; a control panel and a manual remote controller, both of which are electrically connected to the controller; the control panel is disposed on the fixed frame along the walking direction of the assisted walking robot and is located in front of the armpit support; and a battery disposed on the chassis bracket for providing power to the controller, the control panel, and the manual remote controller.

[0018] This invention provides an assisted walking robot, comprising: a chassis assembly including a chassis support and pulleys connected to the chassis support; an axillary support assembly located above the chassis assembly, the axillary support assembly including an axillary support member for supporting a patient's axillary region; a seat support assembly located between the chassis assembly and the axillary support assembly, the seat support assembly including a hip support member for supporting the patient's buttocks, the hip support member being capable of reciprocating up and down relative to the chassis assembly; and a lifting mechanism, the axillary support assembly and the seat support assembly being connected to the lifting mechanism for driving the axillary support assembly and the seat support assembly. The system includes a lifting mechanism rotatably connected to the chassis support, allowing the lifting mechanism to be in a folded or unfolded position. Two walking mechanisms are respectively located on opposite sides of the chassis support. Each walking mechanism includes a foot-wearing component and a walking drive assembly. The walking drive assembly drives the foot-wearing component to walk, and the height of the foot-wearing component is adjustable to allow it to contact or detach from the ground. The armpit support assembly, seat support assembly, and foot-wearing component are all located behind the lifting mechanism along the walking direction of the walking assist robot.

[0019] This invention has at least the following technical effects: (1) The assisted walking robot of the present invention, through the armpit support assembly, seat support assembly and walking mechanism, can provide sitting and standing assisted walking for people who are bedridden for a long time; the steering assembly can realize autonomous control of direction; compared with the skeletal robot, the whole structure is more compact and more suitable for closed and semi-closed scenarios such as homes, communities and nursing homes, and can also be suitable for outdoor scenarios with good road conditions. (2) The first link is driven to rotate by the walking drive component, and the second link drives the slider to make linear reciprocating motion. The foot wear component is connected to the second link, and the foot wear component is lower than the axis of the connecting shaft, so that the foot wear component can make a "teardrop"-shaped trajectory movement, simulating the real natural walking gait, improving the comfort of walking, improving the training effect and user experience; the first link in each link assembly is driven to rotate by two walking motors respectively, realizing the natural gait of both feet. With the control of motor speed and the design of the link assembly, the support phase and the suspended phase can be alternated. The teardrop-shaped gait realizes the anthropomorphic gait walking, which is significantly different from the conventional elliptical gait or stepping gait.

[0020] (3) The height of the foot wearable device is adjustable, which allows the patient to walk with the foot wearable device in contact with the ground, thereby enabling the patient to walk from one position to another; the height of the foot wearable device is also adjustable, which allows the patient to walk in place with the foot wearable device off the ground, suitable for fixed-point training purposes; thus, it can provide the patient with a variety of walking modes.

[0021] (4) The patient’s center of gravity floats in a natural gait by connecting the telescopic suspension to the hip support, making walking more natural. The connection position of the telescopic suspension in the length direction of the hip support can be adjusted to change the tilt angle of the hip support relative to the horizontal plane, which can adapt to patients of different weights and achieve center of gravity float in a natural gait.

[0022] (5) Since the assisted walking robot is equipped with an axillary support component and a seat support component, the lifting mechanism can drive the axillary support component and the seat support component to rise and fall. Patients with lower limb paralysis can also move to the seat support component on their own, thus facilitating autonomous machine use. Furthermore, the walking drive component drives the foot wearable device to carry the patient to achieve assisted walking training such as sitting or standing. During the walking process, the patient can also achieve double support through the seat support component and the axillary support component, making the walking process more stable, preventing the risk of falling, and improving safety.

[0023] (6) The spacing between the two axillary supports is adjustable to accommodate patients with different axillary widths; the spacing between the hip support and the axillary support of the same specification is adjustable to accommodate patients with different axillary and hip distances.

[0024] (7) The back support is upright, which can provide back support for the patient and further prevent the risk of falling. The back support is flat, which can be used as an extension of the hip support, so that the patient can easily move to the hip support through the flat back support, further improving the convenience of the patient when using the machine independently.

[0025] (8) The lifting mechanism adopts a lifting motor and a screw nut assembly, which can realize the automatic lifting function of autonomous control.

[0026] (9) The first arm of the steering component is inserted through the lifting component and rotatably connected to the lifting component. It can follow the lifting component to rise and fall and slide relative to the second arm during the lifting process. This allows the first arm to be retractable, lift and rotate relative to the second arm. While achieving steering, the lifting of the first arm does not require a separate lifting adjustment structure. This integrates the steering component and the lifting mechanism, making the structure more compact and more suitable for closed and semi-closed scenarios such as homes, communities, and nursing homes.

[0027] (10) The control panel provides patients with autonomous control, while the manual remote control provides auxiliary control for medical staff or family members and other caregivers. For people who are not conscious, the control can be manually switched.

[0028] (11) The lifting mechanism is rotatably connected to the chassis support. When the auxiliary device is needed, the lifting mechanism can be unfolded; when the auxiliary device is not needed, the lifting mechanism can be folded to reduce space occupation, making it more suitable for small spaces such as homes. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall structure of an assisted walking robot provided in some embodiments of the present invention; Figure 2 This is a schematic diagram of the chassis assembly and running gear provided in some embodiments of the present invention; Figure 3 This is a schematic diagram of the walking mechanism provided in some embodiments of the present invention; Figure 4 This is a schematic diagram of the structure of a support assembly provided in some embodiments of the present invention; Figure 5 This is a schematic diagram of the support assembly provided in some embodiments of the present invention in an upright posture; Figure 6 This is a schematic diagram of the support assembly provided in some embodiments of the present invention in a flat position. Figure 7 An exploded view of an armpit support assembly provided in some embodiments of the present invention; Figure 8 Exploded views of lifting mechanisms and steering components provided in some embodiments of the present invention; Figure 9 This is a schematic diagram of the steering component and pulley cooperation structure provided in some embodiments of the present invention; Figure 10 This is a structural schematic diagram of an assisted walking robot in a folded state, provided for some embodiments of the present invention.

[0030] icon: Assisted walking robot 100; Chassis assembly 10; chassis bracket 11; front crossbeam 111; longitudinal beam 112; pulley 12; housing 13; mounting bracket 113; fixing hole 114; Axillary support assembly 20; Axillary support component 21; Fixing frame 22; Support arm 221; Height adjustment component 222; Seat support assembly 30; hip support 31; slot 311; fixing rod 312; mounting through hole 313; back support 32; adjusting slide 321; telescopic suspension 33; Lifting mechanism 40; fixing component 41; lifting component 42; lead screw and nut assembly 43; lifting drive component 44; Walking mechanism 50; foot wearable part 51; walking drive assembly 52; walking drive part 521; first link 522; slider 523; second link 524; connecting shaft 525; linear guide rail 526; reducer 527; connector 528; first connector 5281; second connector 5282; Controller 61; Control panel 62; Manual remote control 63; Battery 64; Steering assembly 70; steering arm 71; steering handle 72; first arm 711; second arm 712; connecting rod 73; actuator 74. Detailed Implementation

[0031] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are used to illustrate the principles of the present invention by way of example, but should not be used to limit the scope of the present invention, that is, the present invention is not limited to the described embodiments.

[0032] Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used in the description of the invention is for the purpose of describing particular embodiments only and is not intended to limit the invention; the terms “comprising” and “having” and any variations thereof in the description, claims and foregoing drawings are intended to cover non-exclusive inclusion.

[0033] The terms "first," "second," etc., in the specification, claims, or accompanying drawings of this invention are used to distinguish different objects, rather than to describe a specific order or primary / secondary relationship.

[0034] In this invention, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this invention can be combined with other embodiments.

[0035] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "attachment" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0036] In this invention, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this invention, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0037] In this invention, "multiple" refers to two or more (including two).

[0038] This invention provides an assistive walking robot that can be used by patients with lower limb motor disorders or elderly individuals to achieve seated-standing assisted walking or rehabilitation training. It offers more options for walking training or mobility for patients with lower limb paralysis or disabilities who require long-term bed rest or wheelchair use. The robot is easy for patients to use independently and provides dual support at the armpits and hips during walking, making walking more stable, preventing falls, and improving safety. Its simple walking mechanism can simulate a realistic "teardrop-shaped" gait, enhancing training effectiveness and user experience. When not in use, the assistive walking robot can be folded to reduce space occupation. This assistive walking robot can be used not only in large rehabilitation facilities such as hospitals and rehabilitation centers but also in smaller spaces such as homes, thus broadening its application range.

[0039] Below, refer to Figures 1 to 10 The assisted walking robot 100 of the present invention will be described in detail below.

[0040] The assisted walking robot 100 may include a chassis assembly 10, an armpit support assembly 20, a seat support assembly 30, a lifting mechanism 40, and a walking mechanism 50.

[0041] The chassis assembly 10 includes a chassis bracket 11 and pulleys 12 connected to the chassis bracket 11. The pulleys 12 are provided with multiple pulleys. The chassis assembly 10 also includes a chassis housing 13. For example, Figure 2 The diagram shows four pulleys 12: two front pulleys and two rear pulleys. In some embodiments, the two front pulleys are rotatably connected to the bottom of the chassis support 11. The front pulleys 121 are rotated by the steering assembly 70, which will be described later, to change the direction of travel of the assisted walking robot 100. In this embodiment, the direction of travel specifically refers to the direction in which the assisted walking robot 100 travels in a straight line without turning, i.e., the direction indicated by arrow X in the diagram. In this embodiment, the direction of arrow X is defined as the direction of travel, the direction of arrow Y as the left-right direction, and the direction of arrow Z as the height direction. Of course, the number of pulleys 12 is not limited; for example, there can be three or more.

[0042] As an example, refer to Figure 2 The chassis support 11 can be roughly U-shaped, including a front crossbeam 111 and two longitudinal beams 112 connected to the left and right sides of the front crossbeam 111. The front crossbeam 111 and the two longitudinal beams 112 form a roughly U-shaped structure, which makes it convenient for patients to get on the assisted walking robot 100 from the rear end.

[0043] The axillary support assembly 20 is used to support the patient's armpit. The axillary support assembly 20 is located above the chassis support 11. The axillary support assembly 20 may include two axillary supports 21 arranged left and right. In some embodiments, the spacing between the two axillary supports 21 is adjustable to accommodate patients with different armpit widths.

[0044] The seat support assembly 30 is located between the axillary support assembly 20 and the chassis support 11, and is used to support the patient's buttocks. The seat support assembly 30 may include a hip support 31 to support the patient's buttocks.

[0045] In some embodiments, the distance between the hip support 31 and the axillary support 21 is adjustable to accommodate patients with different distances between their armpits and hips. For example, the height of one of the hip support 31 and the axillary support 21 relative to the other is adjustable, thereby adjusting the distance between them; or both the hip support 31 and the axillary support 21 are height-adjustable, thereby adjusting the distance between them. That is, both the hip support 31 and the axillary support 21 can be configured as height-adjustable structures, or only one of them can be configured as height-adjustable.

[0046] The lifting mechanism 40 is mounted on the chassis support 11 and connected to the axillary support assembly 20 and the seat support assembly 30. It is used to drive the axillary support assembly 20 and the seat support assembly 30 to rise and fall to accommodate patients of different heights. As an example, the lifting mechanism 40 can drive the axillary support assembly 20 and the seat support assembly 30 to rise and fall together, which simplifies the structure.

[0047] The walking mechanism 50 includes foot wearers 51 and walking drive components 52. The foot wearers 51 are connected to the walking drive components 52, which are mounted on the chassis support 11 and drive the foot wearers 51 to walk. The foot wearers 51 are used to secure the patient's feet and can be various types of easy-to-wear shoes, such as buckle shoes or slip-on shoes. Two foot wearers 51 can be provided, and one or two walking drive components 52 can be provided. One walking drive component 52 drives two foot wearers 51 to walk, or two walking drive components 52 independently drive two foot wearers 51 to walk. In some embodiments, refer to... Figure 2 In this design, the two walking drive components 52 independently drive the two foot wearables 51 to walk. This approach facilitates the control of the two walking drive components 52, ensuring that the two foot wearables 51 do not interfere with each other, and making it easier to simulate a real "teardrop-shaped" walking gait.

[0048] In use, the assistive walking robot 100 can be moved to the side of a patient with limited or paralyzed lower limb mobility. The patient puts the foot on the foot wear piece 51, and the lifting mechanism 40 drives the axillary support component 20 and the seat support component 30 to descend to a suitable height, for example, the seat support component 30 is lowered to a position slightly below the patient's buttocks. The patient with lower limb paralysis can use their hands, arms, etc. to assist their body to move their buttocks onto the seat support component 30 and support their armpits on the axillary support component 20 to complete the autonomous boarding. Then, the lifting mechanism 40 can drive the axillary support component 20 and the seat support component 30 to rise to a suitable height, and the walking drive component 52 is activated to drive the foot wear piece 51 to walk with the patient's lower limbs.

[0049] Because the assisted walking robot 100 is equipped with an axillary support component 20 and a seat support component 30, the lifting mechanism 40 can drive the axillary support component 20 and the seat support component 30 to rise and fall. Patients with lower limb paralysis can also move onto the seat support component 30 on their own, thus facilitating autonomous machine use. The walking drive component 52 drives the foot wearable component 51 to carry the patient for walking training. During walking, the patient can achieve dual support through the seat support component 30 and the axillary support component 20, making the walking process more stable, preventing the risk of falls, and improving safety.

[0050] In some embodiments, refer to Figure 1 Both the axillary support assembly 20 and the seat support assembly 30 are connected to the rear side of the lifting mechanism 40 along the travel direction X. For example, the lifting mechanism 40 is located at the front end of the chassis support 11 along the travel direction X, and the axillary support assembly 20 and the seat support assembly 30 are located at the rear side of the lifting mechanism 40 along the travel direction X. Simultaneously, the walking mechanism 50 is also located at the rear side of the lifting mechanism 40 along the travel direction X. Using this design, patients can board the assisted walking robot 100 from the rear. For patients with lower limb paralysis, there is no need for caregivers to assist them to walk around to the front, allowing for convenient and independent boarding and improving convenience.

[0051] In some embodiments, refer to Figure 3 The walking drive assembly 52 may include a linkage assembly and a walking drive member 521. The linkage assembly may include a first link 522, a slider 523, and a second link 524. The slider 523 is slidably connected to the chassis bracket 11. The two ends of the second link 524 are rotatably connected to the first link 522 and the slider 523 respectively via a connecting shaft 525. The foot-wearing member 51 is connected to the second link 524, and the foot-wearing member 51 is lower than the axis of the connecting shaft 525, that is, the bottom surface of the foot-wearing member 51 is lower than the axis of the connecting shaft 525. For example, the foot-wearing member 51 is located below the second link 524. The first link 522, the slider 523, and the second link 524 constitute a crank-slider mechanism. The walking drive member 521 is connected to the end of the first link 522 away from the second link 524 and is used to drive the first link 522 to rotate.

[0052] The slider 523 can be directly slidably connected to the chassis support 11, or slidably connected to the chassis support 11 via a linear guide rail 526. As an example, the linear guide rail 526 is fixed to the bottom of the chassis support 11 and extends along the travel direction X. The two connecting shafts 525 can extend along the left-right direction Y. The foot-wearing component 51 can be in contact with the ground or not.

[0053] The walking drive component 521 drives the first link 522 to rotate around the connection point between the two. Figure 3 (As shown by the dashed line C1). The walking drive component 521 can be a servo motor, which can be connected to the first link 522 via a reducer 527.

[0054] The walking drive component 521 drives the first link 522 to rotate, causing the second link 524 to drive the slider 523 to perform linear reciprocating motion. Since the foot-wearing component 51 is connected to the second link 524 and the foot-wearing component 51 is lower than the axis of the connecting shaft 525, the foot-wearing component 51 can perform a "teardrop-shaped" trajectory motion. Figure 3 (As shown by the dashed line C2), to simulate real walking gait, improve walking comfort, and enhance training effectiveness and user experience.

[0055] In some embodiments, refer to Figure 3 The foot-wearing component 51 is connected to the second link 524 via a connector 528. Specifically, the upper end of the connector 528 is connected to the second link 524 and located between the two ends of the second link 524, i.e., between the two connecting shafts 525. The lower end of the connector 528 is below the axis of the connecting shafts 525, and the foot-wearing component 51 is connected to the lower end of the connector 528. As an example, the upper end of the connector 528 can be connected to the second link 524, and the lower end can extend vertically downwards below the axis of the connecting shafts 525.

[0056] In other embodiments, the foot-wearing component 51 can be directly connected to the second link 524. For example, the second link 524 has two connecting ends that are rotatably connected to the first link 522 and the slider 523, respectively, and a fixing end lower than these two connecting ends for fixed connection with the foot-wearing component 51. The second link 524 can be generally V-shaped or inverted triangle shaped. Using this design, the foot-wearing component 51 can also perform a teardrop-shaped trajectory movement to simulate a real walking gait.

[0057] The foot-wearing component 51 is lower than the two connecting shafts 525. This can be achieved by adding a connector 528 so that the foot-wearing component 51 is indirectly connected to the second connecting rod 524 through the connector 528, or by changing the structure of the second connecting rod 524 so that the foot-wearing component 51 is directly connected to the second connecting rod 524.

[0058] In some embodiments, the height of the foot wearer 51 is adjustable so that the foot wearer 51 contacts or leaves the ground.

[0059] The height of the foot-wearing device 51 can be adjusted by adjusting the height of the connecting member 528. Alternatively, the height of the foot-wearing device 51 can be adjusted through its own structure, allowing it to contact or detach from the ground. For example, the foot-wearing device 51 may have multiple height-adjusting latches to adjust its height for contact or detachment from the ground.

[0060] The adjustable height of the foot wearer 51 allows the patient to walk while wearing the foot wearer 51 in contact with the ground, thus enabling the patient to walk from one location to another; the adjustable height of the foot wearer 51 also allows the patient to walk in place while wearing the foot wearer 51 off the ground; thus providing the patient with multiple walking modes.

[0061] In some examples, the height of the foot-wearing component 51 is adjustable by adjusting the height of the connector 528. Specifically, see reference... Figure 3 The connector 528 includes a first connector 5281 and a second connector 5282. The first connector 5281 is fixedly connected to the second connecting rod 524. The second connector 5282 is connected to the foot wearer 51. The second connector 5282 is connected to the first connector 5281 and the height of the second connector 5282 is adjustable so that the foot wearer 51 can contact the ground or leave the ground.

[0062] For example, the first connector 5281 and / or the second connector 5282 are provided with height adjustment holes. Fasteners are selectively installed in the height adjustment holes to secure the first connector 5281 and the second connector 5282, thereby adjusting the height of the second connector 5282 and allowing the foot-wearing device 51 to contact or detach from the ground. As an example, the second connector 5282 can be telescopically sleeved onto the first connector 5281 and the second connector 5282. The first connector 5281 and the second connector 5282 can employ a sleeve structure.

[0063] In some embodiments, the seat support assembly 30 further includes a back support 32, one end of the hip support 31 is connected to the lifting mechanism 40, and the back support 32 is rotatably connected to the end of the hip support 31 away from the lifting mechanism 40, so that the back support 32 is in an upright or flat position.

[0064] When the back support 32 is in an upright position, it provides back support for the patient, further preventing the risk of falls. When the back support 32 is in a flat position, it can serve as an extension of the hip support 31, allowing the patient to easily move from the flat back support 32 to the hip support 31, further improving the convenience of the patient's independent use.

[0065] A seat cushion can be provided on the hip support 31, and a backrest cushion can be provided on the back support 32. This improves the patient's sitting and leaning comfort.

[0066] It is worth noting that the back support 32 is in an upright position, but not necessarily absolutely vertical. For example, it can be at a right angle or an obtuse angle with the hip support 31. The back support 32 is in a flat position, but not necessarily absolutely horizontal. It can be horizontal or slightly tilted relative to the horizontal plane, for example, slightly tilted downwards.

[0067] In some embodiments, the hip support 31 has a slot 311 at the end away from the lifting mechanism 40, and a fixing rod 312 is provided on the hip support 31. The back support 32 is rotatably connected to the hip support 31 via the fixing rod 312, and the back support 32 can rotate relative to the hip support 31 about the fixing rod 312. The fixing rod 312 can extend in the left-right direction.

[0068] The back support 32 is provided with an adjustment groove 321, and the fixing rod 312 is slidably inserted into the adjustment groove 321. Specifically, when the fixing rod 312 is in the first position in the adjustment groove 321 ( Figure 5 As shown), the back support 32 extends beyond the lower surface of the hip support 31 and interferes with it, for example, the back support 32 abuts against the hip support 31 to keep the back support 32 in an upright position. When the fixing rod 312 is in the second position in the adjusting groove 321, the back support 32 shortens beyond the lower surface of the hip support 31 to allow the back support 32 to rotate from an upright position to a flat position; when the fixing rod 312 moves from the second position to the third position in the adjusting groove 321 ( Figure 6 As shown), the back support 32 can be partially inserted into the slot 311 and interfere with the hip support 31 so that the back support 32 is held in a flat position, with the first position located between the second and third positions.

[0069] As an example, when a patient needs to use the device, the back support 32 can be switched from an upright position to a flat position. Pulling the back support 32 upwards causes the fixing rod 312 to slide from a first position in the adjusting groove 321 to a second position. At this time, since the back support 32 is shortened below the lower surface of the hip support 31, the back support 32 does not interfere with the hip support 31. Therefore, the back support 32 can rotate relative to the hip support 31 about the fixing rod 312, thus rotating from an upright position to a flat position. In the flat position, pushing the back support 32 forward in the travel direction X inserts the front end of the back support 32 into the slot 311. At this time, the front end of the back support 32 interferes with the hip support 31 and cannot rotate relative to the hip support 31, thus limiting the back support 32 and maintaining it in a flat position. This can serve as an extension of the hip support 31, facilitating the patient's access via... The back support 32, initially in a flat position, moves onto the hip support 31. At this point, the fixing rod 312 is in the third position within the adjustment groove 321. When the patient reaches the seat cushion on the hip support 31, the back support 32 is pulled backward in the direction of travel X, causing the front end of the back support 32 to exit from the slot 311. At this point, the fixing rod 312 is in the second position within the adjustment groove 321. The back support 32 does not interfere with the hip support 31 and can rotate relative to the hip support 31 about the fixing rod 312, thus rotating from a flat position to an upright position. Next, the back support 32 is moved downward, causing the fixing rod 312 to slide from the second position within the adjustment groove 321 to the first position. At this point, because part of the back support 32 extends beyond the lower surface of the hip support 31 and interferes with the hip support 31, the back support 32 is kept in an upright position for the patient's comfort.

[0070] The hip support 31 is provided with a slot 311, and the back support 32 is provided with an adjustment groove 321. The hip support 31 is rotatably connected to the back support 32 via a fixing rod 312. The fixing rod 312 is slidably inserted into the adjustment groove 321. Thus, by cleverly utilizing the structure of the hip support 31 and the back support 32, the back support 32 can be switched between an upright and a flat position, and can be kept in an upright or flat position without adding too many parts, thereby simplifying the structure and making the whole machine more compact. It is not only suitable for large rehabilitation places such as hospitals and rehabilitation centers, but also for small places such as homes, thus having a wider range of applications.

[0071] In some embodiments, refer to Figure 4 and Figure 5The seat support assembly 30 also includes a telescopic suspension 33. One end of the telescopic suspension 33 is fixedly connected to the lifting mechanism 40, and the other end of the telescopic suspension 33 is fixedly connected to the hip support member 31. The telescopic suspension 33 extends and retracts, causing the hip support member 31 to float up and down. The telescopic suspension 33 can be a spring telescopic member (spring damping member) or a hydraulic telescopic member, etc.

[0072] The telescopic suspension 33 drives the hip support 31 to move up and down, which allows the patient to simulate a more realistic walking posture, making walking more comfortable and improving the training effect and user experience.

[0073] In some embodiments, the hip support 31 is rotatably connected to the lifting mechanism 40, for example, rotatably connected to the lifting member 41 of the lifting mechanism 40. The other end of the telescopic suspension 22 is adjustable in its connection position along the length of the hip support 31 to change the tilt angle of the hip support 31 relative to the horizontal plane.

[0074] As an example, refer to Figure 4 and Figure 5 The hip support 31 has a plurality of mounting holes 313 along its length. The other end of the telescopic suspension 22 can be selectively connected to one of the mounting holes 313, for example by fasteners passing through the mounting hole 313 and the other end of the telescopic suspension 22. This changes the tilt angle of the hip support 31 relative to the horizontal plane so that the center of gravity can float in a natural walking state for patients of different weights.

[0075] The other end of the telescopic suspension 22 can be adjusted in the length direction of the hip support 31 in a way that is not limited to the above-mentioned method of providing multiple mounting through holes 313 along the length direction of the hip support 31. For example, it can be achieved by providing an adjustment groove, snap-fit ​​groove, snap-fit ​​hole, etc. along the length direction of the hip support 31.

[0076] In some embodiments, refer to Figure 1 and Figure 7 The armpit support assembly 20 includes a fixed frame 22 and two armpit support members 21. The fixed frame 22 is fixedly connected to the lifting mechanism 40, and the armpit support members 21 are connected to the fixed frame 22.

[0077] Two armpit supports 21 are arranged on the left and right sides of the fixing frame 22. The distance between the two armpit supports 21 is adjustable. The height of the two armpit supports 21 is adjustable.

[0078] For example, the fixed frame 22 may include a support arm 221 and a height adjustment component 222. The height adjustment component 222 is connected to the lifting mechanism 40, and the support arm 221 is connected to the height adjustment component 222. The support arm 221 is provided with multiple adjustment holes. Two armpit supports 21 are respectively connected to the left and right sides of the support arm 221 by fasteners. The fasteners pass through the armpit supports 21 and the adjustment holes, thereby adjusting the distance between the two armpit supports 21. The height adjustment component 222 is provided with multiple adjustment holes. The support arm 221 is connected to the height adjustment component 222 by fasteners. The fasteners pass through the support arm 221 and the adjustment holes, thereby adjusting the height of the armpit supports 21. The support arm 221 and the height adjustment component 222 can adopt a sleeve structure, which is beneficial to the overall weight reduction of the machine.

[0079] The spacing between the two armpit support members 21 can also be adjusted using other methods, such as a telescopic structure or a snap-fit ​​structure. Similarly, the height of the two armpit support members 21 can also be adjusted using other methods, such as a telescopic structure or a snap-fit ​​structure. Using adjustment holes and fasteners to achieve spacing adjustment between the two armpit support members 21, and height adjustment of the two armpit support members 21, simplifies the structure, making the entire machine more compact and adaptable to various applications.

[0080] The assisted walking robot 100 may further include a controller 61, a control panel 62, a manual remote controller 63, and a battery 64. Both the control panel 62 and the manual remote controller 63 are electrically connected to the controller 61. The control panel 62 is fixed to the support arm 221 along the walking direction X of the assisted walking robot 100. The control panel 62 is located in front of the axillary support 21, making it inconvenient for the patient to operate. The battery 64 is located in the chassis bracket 11 and provides power to the controller 61, control panel 62, and manual remote controller 63. The battery 64 may be a rechargeable battery.

[0081] The control panel 62 can be operated independently by patients with behavioral capacity, such as controlling the lifting mechanism 40 to rise and fall, and the walking mechanism 50 to start and stop; the manual remote control 63 can be operated by caregivers, and when the patient is not capable of behavioral control, caregivers can assist in operation through the manual remote control 63.

[0082] In some embodiments, refer to Figure 1 and Figure 8 The lifting mechanism 40 includes a fixing member 41, a lifting member 42, a lead screw and nut assembly 43, and a lifting drive member 44. The fixing member 41 is connected to the chassis bracket 11, and the lifting member 42 is sleeved on the fixing member 41 and slidably connected to the fixing member 41. The lead screw of the lead screw and nut assembly 43 is fixedly connected to the lifting member 42. The lifting drive member 44 is connected to the nut of the lead screw and nut assembly 43 and is used to drive the nut 432 to rotate.

[0083] The hip support 31 of the seat support assembly 30 and the fixing frame 22 of the armpit support assembly 20 are both connected to the lifting component 42 so that they can move up and down with the lifting component 42.

[0084] The lifting drive component 45 can be a servo motor, which can be connected to the nut of the lead screw and nut assembly 43 via a square tube. The rotation of the servo motor drives the square tube and nut 432 to rotate, thereby driving the lead screw and lifting component 42 to rise and fall, thus driving the seat support assembly 30 and the underarm support assembly 20 to rise and fall together. During the lifting process, the lifting component 42 slides relative to the fixed component 41. The lifting component 42 and the fixed component 41 can also be square tubes (such as square steel). The lifting component 42 and the fixed component 41 can be slidably connected via a sliding damper to achieve smooth lifting.

[0085] The aforementioned lifting mechanism uses a screw and nut assembly 43 to lift the hip support 31 and the armpit support assembly 20, which simplifies the structure and makes the whole machine more compact, so as to adapt to a variety of usage scenarios.

[0086] The lifting mechanism can also use other methods to achieve the lifting of the hip support 31 and the armpit support assembly 20, such as the gear and rack assembly, the linkage mechanism, the belt drive mechanism, etc.

[0087] In some embodiments, the assisted walking robot 100 further includes a steering assembly 70, which includes a steering arm 71 and a steering handle 72. The steering arm 71 includes a first arm 711 and a second arm 712 tractively connected to the first arm 711. The first arm 711 is sleeved on the second arm 712 and slidably connected to the second arm 712. The first arm 711 is rotatably connected to the lifting member 42, for example, via a bearing, and can follow the lifting member 42 in raising and lowering and slide relative to the second arm 712 during the raising and lowering process. A pulley 12 (e.g., a front pulley 121) is rotatably connected to the chassis bracket 11 and connected to the steering arm 71. The steering handle 72 is connected to the first arm 711 and is used to drive the first arm 711 and the second arm 712 to rotate, thereby driving the pulley 12 to rotate. The first arm 711 can be inserted into the lifting component 42, and the second arm 712 can be inserted into the fixing component 41, so that the steering component 70 and the lifting mechanism 40 are highly integrated, making the overall structure more compact and further making the whole machine smaller, so as to adapt to a variety of usage scenarios.

[0088] The first arm 711 and the second arm 712 can be square tubes. The first arm 711 and the second arm 712 can be slidably connected by a sliding damper.

[0089] Reference Figure 8 and Figure 9The two front pulleys 12 can be connected to the actuating element 74 via the connecting rod 73, and the second arm 712 is connected to the actuating element 74. The patient drives the first arm 711 and the second arm 712 to rotate by turning the steering handle 72. The second arm 712 drives the actuating element 74 to rotate, thereby actuating the two pulleys 121 to rotate, thereby changing the direction of travel of the assisted walking robot 100.

[0090] In some embodiments, the lifting mechanism 40 is rotatably connected to the chassis support 11 so that the lifting mechanism 40 is in a folded position. Figure 10 (as shown) or unfolded posture ( Figure 1 (As shown).

[0091] As an example, the lifting mechanism 40 is rotatably connected to the chassis support 11 via a fixed shaft through a fixing member 41. The fixing member 41 rotates towards the chassis support 11 to fold the lifting mechanism 40, and rotates away from the chassis support 11 to unfold the lifting mechanism 40. In the unfolded position, the chassis support 11 and the fixing member 41 are fixedly connected by fasteners. (Refer to...) Figure 2 The chassis bracket 11 is provided with a mounting bracket 113 for mounting a fixed shaft. The lower end of the fixing member 41 is rotatably mounted on the mounting bracket 113 via the fixed shaft. The front end of the chassis bracket 11 is also provided with a fixing hole 114. In the unfolded position, a fastener passes through the fixing member 41 and the fixing hole 114 to fix the fixing member 41 to the chassis bracket 11. In the folded position, the second arm 712 can be disengaged from the actuating member 74; in the unfolded position, the second arm 712 can be inserted into the actuating member 74.

[0092] The lifting mechanism 40 is rotatably connected to the chassis support 11. When the auxiliary device 100 is needed, the lifting mechanism 40 can be unfolded; when the auxiliary device 100 is not needed, the lifting mechanism 40 can be folded to reduce space occupation, making it more suitable for small spaces such as homes.

Claims

1. An assisted walking robot, characterized in that, include: A chassis assembly, including a chassis bracket and pulleys connected to the bottom of the chassis bracket; A lifting mechanism is provided on the chassis support, and the lifting mechanism includes a movable and liftable lifting frame; An axillary support assembly, connected to the lifting frame, the axillary support assembly including an axillary support member for supporting the patient's axillary region; A seat support assembly, connected to the lifting frame and located between the axillary support assembly and the chassis assembly, includes a hip support member for supporting the patient's hips, wherein the hip support member is capable of reciprocating up and down relative to the chassis assembly; the hip support member is rotatably connected to the lifting frame; the seat support assembly also includes a telescopic suspension, one end of which is connected to the lifting frame and the other end of which is connected to the hip support member, the telescopic suspension extending and retracting to allow the hip support member to reciprocate up and down; A walking mechanism is mounted on the chassis support. The walking mechanism includes a foot-wearing device, a linkage assembly, and a walking drive component. The linkage assembly includes a first link, a slider, and a second link. The slider is slidably connected to the chassis support. The two ends of the second link are rotatably connected to the first link and the slider, respectively, via connecting shafts. The foot-wearing device is connected to the second link, and the foot-wearing device is lower than the axis of the connecting shaft. The walking drive component is connected to the end of the first link away from the second link and is used to drive the first link to rotate. The first link, the slider, and the second link constitute a crank-slider mechanism. There are two walking mechanisms, which are respectively located on the left and right sides of the chassis support; The walking drive component in each of the walking mechanisms includes a walking motor and a reducer, and the walking motor is connected to the first link through the reducer; In the two walking mechanisms, each of the two walking motors drives its respective first link to rotate; The height of the foot-wearing device is adjustable so that it can contact or leave the ground.

2. The assisted walking robot according to claim 1, characterized in that, The linkage assembly further includes a connector, one end of which is fixedly connected to the second linkage and located between the two connecting shafts, the other end of which is lower than the axis of the connecting shaft, and the foot-wearing device is connected to the other end of the connector.

3. The assisted walking robot according to claim 1 or 2, characterized in that, The seat support assembly includes a hip support and a back support. The hip support is connected to the lifting frame, and the back support is rotatably connected to the end of the hip support away from the lifting frame, so that the back support is in an upright or flat position.

4. The assisted walking robot according to claim 3, characterized in that, The hip support member has a slot at one end away from the lifting frame, and the hip support member has a fixing rod; the back support member is rotatably connected to the hip support member through the fixing rod, and the back support member has an adjustment groove, through which the fixing rod is slidably inserted; Specifically, when the fixing rod is in the first position in the adjusting slide, the back support extends beyond the lower surface of the hip support and interferes with the hip support, so that the back support remains in the upright posture; when the fixing rod is in the second position in the adjusting slide, the back support shortens beyond the lower surface of the hip support, allowing the hip support to rotate from the upright posture to the flat posture; when the fixing rod moves from the second position to the third position in the adjusting slide, the back support can be partially inserted into the slot and interfere with the hip support, so that the back support remains in the flat posture, and the first position is located between the second position and the third position.

5. The assisted walking robot according to claim 3, characterized in that, The other end of the telescopic suspension is adjustable at its connection point along the length of the hip support to change the tilt angle of the hip support relative to the horizontal plane.

6. The assisted walking robot according to claim 1 or 2, characterized in that, The armpit support assembly also includes a fixing member, the armpit support member is connected to the left and right sides of the fixing member, and the fixing member is fixedly connected to the lifting frame; The height of each of the armpit supports is adjustable to adjust the distance between the armpit support and the hip support; and / or the spacing between two armpit supports is adjustable.

7. The assisted walking robot according to claim 1 or 2, characterized in that, The lifting mechanism also includes a fixing component, a lead screw and nut assembly, and a lifting drive component; The fixing member is fixedly connected to the chassis bracket, and the lifting drive member is sleeved on the fixing member and slidably connected to the fixing member, so that the lifting drive member can extend and retract relative to the fixing member. The lead screw of the lead screw and nut assembly is fixedly connected to the lifting drive component; The lifting drive component is connected to the nut and is used to drive the nut to rotate.

8. The assisted walking robot according to claim 7, characterized in that, The assisted walking robot also includes a steering assembly, which includes a steering arm and a steering handle; The steering arm includes a first arm and a second arm that is pulsatorically connected to the first arm. The first arm is sleeved on the second arm and slidably connected to the second arm. The first arm passes through the lifting drive and is rotatably connected to the lifting drive. It can follow the lifting drive and slide relative to the second arm during the lifting process, so that the first arm can extend, retract, lift and rotate relative to the second arm. The second arm passes through the fixing member, and the end of the second arm away from the first arm is connected to the pulley through a toggle member. The steering handle is connected to the first arm and is used to drive the first arm and the second arm to rotate, thereby causing the actuating element to rotate, so that the actuating element actuates the pulley to rotate, thereby changing the direction of travel of the assisted walking robot.

9. The assisted walking robot according to claim 1, characterized in that, The lifting mechanism is rotatably connected to the chassis support so that the lifting mechanism can be in a folded or unfolded position. The armpit support assembly, the seat support assembly, and the foot wearable device are all located on the rear side of the lifting mechanism along the direction of travel of the assisted walking robot.

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