Mountaineering power-assisted robot

Abstract

The mountaineering power-assisted robot comprises a fixing piece and an output piece, the output piece is a hip joint motor arranged in the fixing piece, the fixing piece is connected with the end of a cross beam frame, and the output piece is connected with a curved bar; a lifting power-assisting element is arranged on the rear side of the bent lever, the lifting power-assisting element comprises a folding state, a shank power-assisting state and a weight-bearing power-assisting state which are switched mutually, and when the lifting power-assisting element is switched to the shank power-assisting state, the lifting power-assisting element provides power for the shank; when the lifting power-assisting element is switched to the weight-bearing power-assisting state, the lifting power-assisting element is used for providing assistance for the weight bearing on the back of the user; the adjustable cross beam frame is utilized to adapt to users with different hip joint sizes, the mountaineering assisting robot has the thigh lifting function and the shank assisting function, a lifting assisting element of the robot can be freely switched among a folded state, a shank assisting state and a weight bearing assisting state, the problem that traditional thigh assisting cannot have the shank assisting function at the same time is solved, and the mountaineering assisting robot is suitable for being used for mountaineering. The method can cope with more assistance scenes.

Description

Technical Field

[0001] This invention relates to a mountaineering assistance robot. Background Technology

[0002] Mountain climbing is an important recreational activity. Due to individual differences, some people are not suitable for or cannot perform mountain climbing. To address this issue, existing technologies offer numerous solutions, such as using trekking poles for assistance or using assistive robots. Currently, assistive robots are mainly divided into two categories: thigh-assisted and knee-assisted. For thigh-assisted robots, when the thigh receives lifting force, the lower leg still needs to extend autonomously, and this market demand has not been met. Summary of the Invention

[0003] To address this technical problem, the present invention aims to provide a mountaineering assistance robot that combines thigh lifting and calf assistance. The robot's lifting assistance element can freely switch between folded state, calf assistance state, and load-bearing assistance state, solving the problem that traditional thigh assistance cannot simultaneously provide calf assistance, and enabling it to handle more assistance scenarios.

[0004] To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows.

[0005] The mountaineering assist robot includes a crossbeam frame with a U-shaped structure. Each end of the crossbeam frame is connected to a thigh lifting element. Each thigh lifting element includes a fixing component and an output component. The output component is a hip joint motor housed within the fixing component. The fixing component is connected to the end of the crossbeam frame, and the output component is connected to a crank rod. A lifting assist element is located on the rear side of the crank rod. This lifting assist element has three switchable states: a folded state, a lower leg assist state, and a load-bearing assist state. When switched to the lower leg assist state, the lifting assist element provides assistance to the lower leg. When switched to the load-bearing assist state, the lifting assist element assists with the load carried on the user's back. When switched to the folded state, the lifting assist element folds into the back of the crank rod.

[0006] Based on the technical solution provided by this invention, the adjustable crossbeam frame can be adapted to users with different hip joint sizes. Moreover, the lifting assist element located on the curved rod can be freely switched between three states. When in the folded state, the assistive robot will provide lifting assistance for the thigh alone. When in the calf assist state, the lifting assist element can provide auxiliary bending assistance for the calf. When in the load-bearing assist state, it can provide upward assist force for the user's backpack to reduce shoulder pressure.

[0007] Further improvements and optimizations to the above technical solution include a lifting assist element comprising a bracket fixed to a crank, an assist motor fixedly mounted on the bracket, a cantilever connected to the output end of the assist motor, the cantilever slidably connected to one end of a push rod, and a support plate hinged to the other end of the push rod.

[0008] Based on the above technical solution, the power-assisted motor outputs power to the outside and provides auxiliary power to the lower leg / backpack. The cantilever is used to receive the power of the power-assisted motor, and the top rod is used to adjust the position and angle of the support plate. It should be noted that fasteners are set between the top rod and the support plate to stabilize the top rod and the support plate. After adjusting to the required angle, the position of the support plate is stabilized by the fasteners to achieve stable power output.

[0009] A more detailed optimization scheme is that the cantilever is provided with a sliding groove that matches the top rod, the lower end of the cantilever is provided with a storage groove that matches the shape of the tray and is used to store the tray, and the cantilever is also provided with a clearance groove that runs through the cantilever. The depth of the clearance groove is perpendicular to the sliding groove. When the lifting assist element is in the folded state, the top rod is located at the intersection of the sliding groove and the clearance groove.

[0010] Based on the above technical solution, by utilizing the storage slot set on the cantilever, the pallet can be effectively stored and its position stabilized when the lifting assist element is in a folded state.

[0011] A further improvement is that the cantilever's mounting end is provided with a reversing notch that connects to the slide groove and provides steering space for the push rod to rotate rearward.

[0012] Based on the above technical solution, the reversing notch can provide the optimal deflection angle for the lifting assist element when it switches to the load assist state, so as to complete the effective assistance.

[0013] Further improvements and optimizations include a rotating buckle on the bracket to constrain the lifting assist element in the folded state. The drive end of the cantilever has a circular structure, and there is an arc-shaped transition between the storage slot and the drive end. The rotating buckle includes a rotating frame that is rotatably mounted on the bracket. A constraint rod is provided at the suspension end of the rotating frame. The constraint rod is made of elastic material. When the lifting assist element switches to the folded state, the rotating buckle is rotated, causing the constraint rod to slide from the surface of the cantilever drive end to the tray and constrain the tray.

[0014] The area that needs improvement and optimization is that the end side of the pallet that matches the cantilever drive end is provided with a curved surface, and when the lifting assist element is switched to the folded state, the constraint rod on the rotating buckle matches the curved surface.

[0015] A more detailed solution involves the push rod being connected to the cantilever via a positioning assembly. The positioning assembly includes a sliding state and a positioning state that can be switched between each other. When the positioning assembly is in the sliding state, the push rod can slide freely in the groove. When the positioning assembly is in the positioning state, the push rod will maintain a fixed posture with the cantilever.

[0016] The area that needs improvement and optimization is that the tie-position assembly can stabilize the position of the push rod in the groove to adaptively adjust the angle between the push rod and the cantilever.

[0017] A further optimization involves a mandrel coaxially arranged inside the bushing, with one end serving as the force-bearing end and the other as the positioning end. A button is located on the force-bearing end of the mandrel, and an external boss is fixedly mounted on it. A retaining ring is fixedly mounted inside the bushing, and a spring is positioned between the retaining ring and the external boss. The spring's elastic force drives the spring to move outward. A limiting ring is also provided at the end of the bushing to prevent the mandrel from disengaging. The positioning end of the mandrel has opposing constraint and positioning inclined surfaces. A positioning hole is provided on the bushing, and a steel column is movably positioned within the positioning hole. When the spring pushes the external boss outward, the constraint inclined surface pushes the steel ball outward and aligns it with the positioning hole in the groove. When force is applied to the mandrel via the button, the steel column enters the gap between the constraint and positioning inclined surfaces and disengages from the positioning hole.

[0018] The area that needs improvement and optimization is that when a force is applied to the clamping assembly, the mandrel moves inward and causes the spring to contract, causing the steel column to disengage from the support of the constraint ramp and enter the gap between the constraint ramp and the positioning ramp.

[0019] A further improvement and optimization is that a raised ring is provided on the bushing, and a guide groove matching the raised ring is provided in the sliding groove; its function is to use the matching of the raised ring and the sliding groove to realize the sliding guidance of the bushing and prevent the bushing from detaching.

[0020] More specifically, the reversing notch is connected to the clearance groove; its function is that after the reversing notch and the clearance groove are connected, the push rod will obtain a larger steering angle, which can adapt to more situations of load assistance. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 This is a schematic diagram of the lower leg assist state structure of the present invention.

[0023] Figure 3 This is a schematic diagram of the load-bearing assist state structure of the present invention.

[0024] Figure 4 A schematic diagram of the lifting assist component.

[0025] Figure 5 This is a schematic diagram showing the structure where the rotating buckle separates from the support plate.

[0026] Figure 6 A schematic diagram of the structure for deploying the lifting assist element.

[0027] Figure 7 This is a schematic diagram of the cantilever structure.

[0028] Figure 8 This is a schematic diagram of the beam positioning assembly.

[0029] Figure 9 A schematic diagram of the structure that matches the inclined plane to the steel ball.

[0030] The diagram is labeled as follows: 10. Crossbeam frame; 11. Control components; 12. Lumbar support; 20. Thigh lifting element; 30. Curved rod; 31. Bundling frame; 40. Lifting assist element; 41. Bracket; 42. Cantilever; 42a. Slide groove; 42b. Storage groove; 42c. Reversing notch; 42d. Clearance groove; 43. Top rod; 44. Support plate; 45. Rotary buckle; 45a. Rotary bracket; 45b. Restraint rod; 50. Beam assembly; 51. Bushing; 52. Button; 53. Steel ball; 54. Spindle; 55. Fixing collar; 56. External boss; 57. Limiting collar; 58. Constraint slope; 59. Positioning slope. Detailed Implementation

[0031] See appendix Figure 1 The mountaineering assistance robot includes a crossbeam 10, which has a U-shaped structure and a thigh lifting element connected to each end of the crossbeam 10. The thigh lifting element includes a fixing component and an output component. The output component is a hip joint motor located inside the fixing component. The fixing component is connected to the end of the crossbeam 10, and the output component is connected to a crank 30. The crossbeam 10 is designed to be telescopic and the distance between the two thigh lifting elements can be adjusted to meet different user needs.

[0032] A strapping frame 31 is provided on the curved rod 30. The curved rod 30 has a curved structure so that one end of the curved rod 30 is connected to the output component and the other end is located on the back of the user's thigh. The structure of the strapping frame 31 and the elastic band are used to stabilize the position of the climbing robot by abutting against the waist. To improve the stability of the waist support, a waist restraint belt can be built between the two waist supports 12 so that the robot can form a stable support with the user's waist. A control component 11 is provided on the crossbeam frame 10. The control component 11 includes a control unit, a battery and other components.

[0033] Importantly, a lifting assist element 40 is provided on the rear side of the crank 30. The lifting assist element 40 has three interchangeable states: a folded state, a calf assist state, and a load-bearing assist state. When the lifting assist element 40 is switched to the calf assist state, it provides assistance to the calf so that when the thigh is raised, it assists the calf in completing the outward extension movement of the calf. For elderly users or users with knee joint injuries, this can reduce the physical exertion of raising the calf. When the lifting assist element 40 is switched to the load-bearing assist state, it is used to assist the user in carrying the load on their back. In the load-bearing assist state, the lifting assist element 40 can provide assistance for backpacks and other items carried by the user, reducing the pressure on the user's shoulders. When the lifting assist element 40 is switched to the folded state, it is folded on the back of the crank 30, which is the opposite side of the end of the crank 30 where the binding frame 31 is provided.

[0034] See appendix Figure 4 , 5 The lifting assist element 40 includes a bracket 41 fixed to the crank 30. The bracket 41 is provided with a rotating buckle 45 for constraining the lifting assist element 40 in the folded state, so as to prevent the lifting assist element 40 from automatically opening when not in use, thus affecting the use effect.

[0035] See appendix Figure 4 , 6 An assist motor is fixedly mounted on the bracket 41. The output end of the assist motor is connected to a cantilever 42. The cantilever 42 is slidably connected to one end of the top rod 43. The other end of the top rod 43 is hinged to a support plate 44.

[0036] More specifically, the cantilever 42 is provided with a sliding groove 42a that matches the top rod 33, and the lower end of the cantilever 42 is provided with a storage groove 42b that matches the shape of the tray 44 and is used to store the tray 44. The cantilever 42 is also provided with a clearance groove 42d that runs through the cantilever 42. The groove depth of the clearance groove 42d is perpendicular to the sliding groove 42a. When the lifting assist element 40 is in the folded state, the top rod 43 is located at the intersection of the sliding groove 42a and the clearance groove 42d.

[0037] More detailed implementation details, such as Figure 5 , 6 As shown in the attached figures, the drive end of the cantilever 42 is a circular structure, and there is an arc-shaped transition between the storage groove 42b and the drive end. The rotating buckle 45 includes a rotating frame 45a rotatably mounted on the bracket 41. The suspension end of the rotating frame 45a is provided with a constraint rod 45b, which is made of an elastic material, such as polymer rubber. When the lifting assist element 40 is switched to the folded state, the rotating buckle 45 is rotated, causing the constraint rod 45b to slide from the surface of the drive end of the cantilever 42 to the support plate 44 and constrain the support plate 44.

[0038] More specifically, the end side of the pallet 44 that matches the drive end of the cantilever 42 is provided with a curved surface, in the attached... Figure 1-6 The embodiment provided is that both ends of the support plate 44 are curved surfaces; when the lifting assist element is switched to the folded state, the constraint rod 45b on the rotating buckle 45 matches the curved surface and forms a more effective constraint, making it more stable in the folded state.

[0039] See appendix Figure 5-8 The push rod 43 is connected to the cantilever 42 through the tie-position assembly 50. The tie-position assembly 50 includes a sliding state and a positioning state that can be switched between each other. When the tie-position assembly 50 is in the sliding state, the push rod 43 can slide freely in the slide groove 42a. When the tie-position assembly 50 is in the positioning state, the push rod 43 will maintain a fixed posture with the cantilever 42.

[0040] See appendix Figure 7 The cantilever 42 has a reversing notch 42c at its suspended end that connects to the slide groove 42a and provides turning space for the push rod 43 to rotate rearward. When the lifting assist element 40 switches to the load-bearing assist state, the push rod 43 turns rearward through the reversing notch 42c and provides an effective lifting posture for the support plate 44. When the lifting assist element 40 switches to the load-bearing assist state, during the user's walking process, the two support plates 44 are lifted sequentially and supported by the thighs, which can effectively relieve shoulder pressure.

[0041] More specifically, the reversing notch 42c is connected to the clearance groove 42d; when the push rod 43 turns backward, the push rod 43 can obtain more change angles in the backward direction.

[0042] See appendix Figure 8 , 9 The positioning assembly 50 includes a bushing 51 fixedly connected to the cantilever 42. The bushing 51 is provided with a protruding ring (not shown in the figure), and a guide groove matching the protruding ring is provided in the slide groove 42a. The protruding ring and the guide groove are matched to constrain the position of the bushing 51 in the slide groove 42a to prevent it from disengaging.

[0043] More specifically, a spindle 54 is coaxially arranged inside the bushing 51. One end of the spindle 54 is the force-bearing end, and the other end is the positioning end. A button 52 is provided on the force-bearing end of the spindle 54. An external boss 56 is fixedly provided on the spindle 54. A fixing collar 55 is fixedly provided inside the bushing 51. A spring is provided between the fixing collar 55 and the external boss 56. The elastic force provided by the spring is used to drive the spring 54 to move outward. A limiting collar 57 is also provided at the end of the bushing 51 to limit the spindle 54 from disengaging. The positioning end of the spindle 54 is provided with a constraint inclined surface 58 and a positioning inclined surface 59 arranged opposite to each other. A positioning hole is provided on the bushing 51. A steel column 53 is movably arranged in the positioning hole. The spring pushes the external boss 56. When the boss 56 moves outward, the constraint slope 58 will push the steel ball 53 outward and match the positioning hole in the slide groove 42a; when the button 52 applies force to the spindle 54, the steel column 53 enters the gap between the constraint slope 58 and the positioning slope 59 and disengages from the positioning hole; when the button 52 is pressed inward again, the positioning slope 59 will push the steel column 53 to match the positioning hole. At this time, the firmness of the positioning can be tested, and the bushing 51 can be rotated slightly to make the steel column 53 and the positioning hole establish a stable match. When the force applied to the button 52 is removed, under the action of the spring, the steel column will quickly match the positioning hole under the action of the constraint slope 58.

Claims

1. A mountaineering assist robot, comprising a crossbeam (10), the crossbeam (10) having a U-shaped structure and a thigh lifting element connected to each end of the crossbeam (10), the thigh lifting element comprising a fixing member and an output member, the output member being a hip joint motor disposed inside the fixing member, the fixing member being connected to the end of the crossbeam (10), and the output member being connected to a crank (30); characterized in that, A lifting assist element (40) is provided on the rear side of the crank (30). The lifting assist element (40) includes a folding state, a calf assist state, and a load assist state that can be switched between each other. When the lifting assist element (40) is switched to the calf assist state, the lifting assist element (40) provides assistance to the calf. When the lifting assist element (40) is switched to the load assist state, the lifting assist element (40) is used to provide assistance to the load carried on the user's back. When the lifting assist element (40) is switched to the folding state, the lifting assist element (40) is folded on the back of the crank (30).

2. The mountaineering assist robot according to claim 1, characterized in that, The lifting assist element (40) includes a bracket (41) fixed to the crank (30), an assist motor is fixedly mounted on the bracket (41), the output end of the assist motor is connected to a cantilever (42), the cantilever (42) is slidably connected to one end of the top rod (43), and the other end of the top rod (43) is hinged to a support plate (44).

3. The mountaineering assist robot according to claim 2, characterized in that, The cantilever (42) is provided with a sliding groove (42a) that matches the top rod (33). The lower end of the cantilever (42) is provided with a storage groove (42)b that matches the shape of the tray (44) and is used to store the tray (44). The cantilever (42) is also provided with a clearance groove (42d) that runs through the cantilever (42). The groove depth of the clearance groove (42d) is perpendicular to the sliding groove (42a). When the lifting assist element (40) is in the folded state, the top rod (43) is located at the intersection of the sliding groove (42a) and the clearance groove (42d).

4. The mountaineering assist robot according to claim 3, characterized in that, The cantilever (42) has a reversing notch (42c) that is connected to the slide (42a) and provides steering space for the push rod (43) to rotate to the rear.

5. The mountaineering assist robot according to claim 3, characterized in that, The bracket (41) is provided with a rotating buckle (45) for constraining the lifting assist element (40) in the folded state. The driving end of the cantilever (42) is a circular structure. There is an arc transition between the storage slot (42)b and the driving end. The rotating buckle (45) includes a rotating frame (45)a rotatably set on the bracket (41). The suspension end of the rotating frame (45)a is provided with a constraint rod (45b). The constraint rod (45b) is made of elastic material. When the lifting assist element (40) is switched to the folded state, the rotating buckle (45) is rotated, and the constraint rod (45b) slides from the surface of the driving end of the cantilever (42) to the tray (44) and constrains the tray (44).

6. The mountaineering assist robot according to claim 5, characterized in that, The end side of the pallet (44) that matches the drive end of the cantilever (42) is provided with a curved surface. When the lifting assist element is switched to the folded state, the constraint rod (45b) on the rotating buckle (45) matches the curved surface.

7. The mountaineering assist robot according to claim 5, characterized in that, The push rod (43) is connected to the cantilever (42) through the tie assembly (50). The tie assembly (50) includes a sliding state and a positioning state that can be switched between each other. When the tie assembly (50) is in the sliding state, the push rod (43) can slide freely in the slide groove (42a). When the tie assembly (50) is in the positioning state, the push rod (43) will maintain a fixed posture with the cantilever (42).

8. The mountaineering assist robot according to claim 7, characterized in that, A spindle (54) is coaxially arranged inside the bushing (51). One end of the spindle (54) is the force-bearing end and the other end is the positioning end. A button (52) is provided on the force-bearing end of the spindle (54). An external boss (56) is fixedly provided on the spindle (54). A fixing collar (55) is fixedly provided inside the bushing (51). A spring is provided between the fixing collar (55) and the external boss (56). The elastic force provided by the spring is used to drive the spring (54) to move outward. A limiting collar (57) is also provided at the end of the bushing (51) to limit the spindle (54) from disengaging. The positioning end of the mandrel (54) is provided with a constraint inclined surface (58) and a positioning inclined surface (59) arranged opposite to each other. The bushing (51) is provided with a positioning hole, and a steel column (53) is movably arranged in the positioning hole. When the spring pushes the external boss (56) to move outward, the constraint inclined surface (58) will push the steel ball (53) to extend outward and match the positioning hole in the slide groove (42a). When the button (52) applies force to the mandrel (54), the steel column (53) enters the gap between the constraint inclined surface (58) and the positioning inclined surface (59) and disengages from the positioning hole.

9. The mountaineering assist robot according to claim 8, characterized in that, The bushing (51) is provided with a raised ring, and the slide groove (42a) is provided with a guide groove that matches the raised ring.

10. The mountaineering assistive robot according to any one of claims 3-9, characterized in that, The reversing notch (42c) is connected to the clearance groove (42d).

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