Foldable seat and exoskeleton robot

Abstract

The utility model relates to the technical field of rehabilitation instruments, and provides a foldable seat and an exoskeleton robot. The foldable seat comprises a mounting frame, a foldable bracket, a supporting plate and a seat plate, the foldable support is connected with the mounting frame, the supporting plate is fixedly arranged on the foldable support, and the seat plate is movably arranged on the foldable support; under the condition that the foldable support is in the folded state, the supporting plate and the seat plate are parallel to each other and are vertically arranged, and the foldable support is contained between the supporting plate and the seat plate; under the condition that the foldable support is in the unfolded state, the supporting plate is used for being vertically supported on the ground, and the seat plate is horizontally arranged and can move relative to the foldable support in the front-back direction of the robot body. The foldable seat disclosed by the utility model can be switched between a folded state and an unfolded state, and the occupied space can be reduced in the two states, so that a patient can conveniently operate on a computer, and enough space is provided for rehabilitation training.

Description

Technical Field

[0001] The utility model relates to the technical field of rehabilitation equipment, in particular to a foldable seat and an exoskeleton robot. Background Art

[0002] Exoskeleton robot technology is a comprehensive technology that integrates sensing, control, information, and mobile computing to provide a wearable mechanical mechanism for the operator. As an important exoskeleton robot, the lower limb exoskeleton rehabilitation robot is widely used for stroke and hemiplegia patients to assist human legs in walking and rehabilitation training, allowing many paralyzed patients to stand up again and increase their confidence in life. The lower limb exoskeleton combines the mechanical structure of the exoskeleton with human legs. Through simple operations, patients can perform walking training, and different gaits and walking speeds can be designed to adapt to patients with different conditions, thereby improving the treatment effect.

[0003] At present, in order to provide a support platform for patients' rehabilitation training on the machine, a seat structure is usually set on the front side of the robot body of the exoskeleton robot to ensure the safety of the patient on the machine. However, the existing seat structure is generally simple in structure, single in function, and large in size, occupying a large space on the front side of the robot body, which has an adverse effect on the patient's rehabilitation training. Utility Model Content

[0004] The utility model provides a foldable seat and an exoskeleton robot, which are used to solve the problem that the seat structure on the existing exoskeleton robot has a single function and occupies a large space.

[0005] The utility model provides a foldable seat, comprising: a mounting frame, a foldable bracket, a support plate and a seat plate;

[0006] The mounting frame is used to connect with the robot body of the exoskeleton robot, the foldable bracket is connected to the mounting frame, the support plate is fixedly arranged on the foldable bracket, and the seat plate is movably arranged on the foldable bracket; the foldable bracket has a folded form and an unfolded form;

[0007] When the foldable bracket is in a folded state, the support plate and the seat plate are parallel to each other and are both vertically arranged, and the foldable bracket is stored between the support plate and the seat plate;

[0008] When the foldable support is in the unfolded state, the support plate is used to be vertically supported on the ground, and the seat plate is horizontally arranged and can move relative to the foldable support along the front-rear direction of the robot body.

[0009] According to a foldable seat provided by the utility model, the foldable bracket includes a parallel four-bar linkage;

[0010] The parallel four-bar linkage mechanism comprises a fixed seat, a connecting rod, a first movable seat and a second movable seat, wherein the fixed seat, the connecting rod, the first movable seat and the second movable seat are connected end to end in sequence, and the fixed seat is connected to the mounting frame;

[0011] The support plate is fixedly arranged on the first movable seat, and the seat plate is movably arranged on the second movable seat along the extension direction of the second movable seat.

[0012] According to a foldable seat provided by the utility model, the foldable bracket further includes a buffer component;

[0013] The buffer assembly is disposed between at least two of the fixed seat, the connecting rod, the first movable seat and the second movable seat to control the deployment state of the parallel four-bar linkage.

[0014] According to a foldable seat provided by the utility model, the buffer assembly includes a first hydraulic spring, a second hydraulic spring and a tension spring;

[0015] The first end of the first hydraulic spring and the first end of the tension spring are respectively connected to the fixed seat, the second end of the first hydraulic spring and the second end of the tension spring are respectively connected to the connecting rod, the first end of the second hydraulic spring is connected to the connecting rod, and the second end of the second hydraulic spring is connected to the second movable seat.

[0016] According to a foldable seat provided by the utility model, a slide rail assembly is provided between the seat plate and the second movable seat;

[0017] The slide rail assembly is arranged along the extension direction of the second movable seat, and the slide rail assembly is used to guide the seat plate to move relative to the second movable seat;

[0018] When the foldable support is in the unfolded configuration, the seat panel can move between a first position and a second position under the guidance of the slide rail assembly;

[0019] Wherein, when the seat plate is in the first position, at least a portion of the seat plate is located in front of the support plate, and when the seat plate is in the second position, the seat plate is located in the rear of the support plate.

[0020] According to a foldable seat provided by the utility model, the slide rail assembly includes a fixed guide rail, a movable guide rail and a limiter;

[0021] The fixed guide rail is connected to the second movable seat and is arranged along the extension direction of the second movable seat; the movable guide rail is connected to the seat plate and is movably arranged on the fixed guide rail along the extension direction of the fixed guide rail;

[0022] The limiting member is arranged on the fixed guide rail; when the seat plate is in the first position or the second position, the limiting member is connected to the seat plate.

[0023] According to a foldable seat provided by the utility model, the slide rail assembly further includes a limit bracket; the limit bracket is connected to the seat plate, the limit bracket is provided with a limit opening, and the limit opening is extended along the extension direction of the fixed guide rail;

[0024] The limiting member comprises a locking pin, and the locking pin is inserted into the limiting opening;

[0025] When the seat plate is in the first position, the locking pin abuts against one end of the limiting opening; when the seat plate is in the second position, the locking pin abuts against the other end of the limiting opening.

[0026] According to a foldable seat provided by the utility model, the fixed guide rail includes a fixed portion and a guide portion;

[0027] The fixing part and the guide part are arranged side by side, and a gap is formed between the fixing part and the guide part; the fixing part is connected to the second movable seat, and the movable guide rail is movably arranged on the guide part;

[0028] The limiting bracket is movably arranged in the gap along the extension direction of the gap; the guiding part is provided with a limiting groove, and the limiting groove is arranged opposite to the locking pin; the locking pin can be passed through the limiting opening and extend into the limiting groove.

[0029] According to a foldable seat provided by the utility model, the foldable bracket is provided in plurality, and the plurality of foldable brackets are arranged side by side;

[0030] The mounting frame is respectively connected to the plurality of foldable brackets, the support plate is fixedly arranged on one side of the plurality of foldable brackets, and the seat plate is movably arranged on the other side of the plurality of foldable brackets.

[0031] According to a foldable seat provided by the utility model, the foldable seat further comprises a flexible pad; the flexible pad is arranged at one end of the support plate for contacting the ground.

[0032] According to a foldable seat provided by the utility model, a first handle is provided on the support plate; and / or a second handle is provided on the seat plate.

[0033] The utility model also provides an exoskeleton robot, comprising: a robot body and a foldable seat as described in any one of the above items; a mounting frame of the foldable seat is connected to the robot body.

[0034] The foldable seat and exoskeleton robot provided by the utility model are configured with a mounting frame, a foldable bracket, a support plate and a seat plate. When the foldable bracket is in an unfolded form, the seat plate and the support plate are vertically arranged, and the support plate provides support for the entire foldable seat. The patient can adjust the seat plate forward and backward according to actual needs, which reduces the space occupied by the seat plate and is convenient for the patient to operate the machine; when the foldable bracket is in a folded form, the foldable bracket is stored between the support plate and the seat plate, so that the whole set of foldable seats is in a folded state and fixed on the robot body. This arrangement can reserve enough space on the front side of the robot body to facilitate the patient to perform rehabilitation training based on the exoskeleton robot.

[0035] It can be seen that the foldable seat shown in the utility model can be switched between a folded state and an unfolded state. In both states, the space occupied can be reduced, which is convenient for patients to operate the machine and provide enough space for rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 This is one of the structural schematic diagrams of the foldable seat provided by the utility model when the foldable bracket is in the unfolded state;

[0038] Figure 2 This is the second structural schematic diagram of the foldable seat provided by the utility model when the foldable bracket is in the unfolded state;

[0039] Figure 3 It is a structural schematic diagram of the foldable seat provided by the utility model when the foldable bracket is in a folded state;

[0040] Figure 4 It is a structural schematic diagram of the mounting frame provided by the utility model;

[0041] Figure 5 It is a structural schematic diagram of the foldable bracket provided by the utility model in an unfolded state;

[0042] Figure 6It is a structural schematic diagram of the foldable bracket provided by the utility model in a folded state;

[0043] Figure 7 This is one of the structural schematic diagrams of the slide rail assembly provided by the utility model;

[0044] Figure 8 This is the second structural schematic diagram of the slide rail assembly provided by the utility model;

[0045] Fig. 9 yes Figure 8 The schematic diagram of the structure of the installation arrangement of the slide rail assembly and the seat plate shown;

[0046] Fig.10 This is one of the structural schematic diagrams of the exoskeleton robot provided by the utility model;

[0047] Fig.11 This is the second structural schematic diagram of the exoskeleton robot provided by the utility model;

[0048] Reference numerals:

[0049] 1. Foldable seat; 2. Robot body;

[0050] 11. Mounting frame;

[0051] 12. Foldable bracket; 121. Parallel four-bar linkage; 1211. Fixed seat; 1212. Connecting rod; 1213. First movable seat; 1214. Second movable seat; 122. Buffer assembly; 1221. First hydraulic spring; 1222. Second hydraulic spring; 1223. Tension spring;

[0052] 13. Support plate; 131. Flexible pad; 132. First handle;

[0053] 14. Seat board; 141. Second handle;

[0054] 15. Slide rail assembly; 151. Fixed guide rail; 152. Moving guide rail; 153. Limiting member; 154. Limiting bracket; 1511. Fixed part; 1512. Guide part. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described clearly and completely in conjunction with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0056] Combine the following Figure 1-Figure 11 , the foldable seat and exoskeleton robot provided by the embodiment of the utility model are described in detail through specific embodiments and their application scenarios.

[0057] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the embodiment of the utility model provides a foldable seat 1, comprising: a mounting frame 11, a foldable bracket 12, a support plate 13 and a seat plate 14.

[0058] The mounting frame 11 is used to connect with the robot body 2 of the exoskeleton robot, the foldable bracket 12 is connected to the mounting frame 11, the support plate 13 is fixedly arranged on the foldable bracket 12, and the seat plate 14 is movably arranged on the foldable bracket 12; the foldable bracket 12 has a folded form and an unfolded form.

[0059] like Figure 3 As shown, when the foldable bracket 12 is in the folded state, the support plate 13 and the seat plate 14 are parallel to each other and are both vertically arranged, and the foldable bracket 12 is stored between the support plate 13 and the seat plate 14 .

[0060] like Figure 1 and Figure 2 As shown, when the foldable support 12 is in the unfolded state, the support plate 13 is used to be vertically supported on the ground, and the seat plate 14 is horizontally arranged and can move relative to the foldable support 12 along the front-rear direction of the robot body 2. Figure 1 In the embodiment, the seat plate 14 moves to the front side of the support plate 13; Figure 2 In the embodiment of the present invention, the seat plate 14 moves to the rear side of the support plate 13.

[0061] Among them, Figure 1 , Fig.10 and Fig.11 In this embodiment, arrows are used to indicate the front and rear directions of the robot body 2.

[0062] It is understandable that the mounting frame 11 is arranged on the front side of the robot body 2. The mounting frame 11 can be configured to include a connecting seat and a main frame body, the connecting seat is arranged on the side of the main frame body facing the robot body 2 and connected to the robot body 2, and the side of the main frame body away from the robot body 2 is connected to the foldable bracket 12.

[0063] The foldable bracket 12 can be configured to include multiple connecting parts that rotate in sequence. The foldable bracket 12 can be either a manual folding bracket or an electric folding bracket, and there is no limitation on this. As long as it can change its own shape to achieve switching between the folded form and the unfolded form shown in this embodiment, it can be used.

[0064] For the foldable seat 1 shown in this embodiment, by configuring the mounting frame 11, the foldable bracket 12, the support plate 13 and the seat plate 14, when the foldable bracket 12 is in the unfolded form, the seat plate 14 and the support plate 13 are vertically arranged, and the support plate 13 provides support for the entire foldable seat 1. The patient can adjust the seat plate 14 forward and backward according to actual needs, which reduces the space occupied by the seat plate 14 and facilitates the patient to operate the machine; when the foldable bracket 12 is in the folded form, the foldable bracket 12 is stored between the support plate 13 and the seat plate 14, so that the whole foldable seat 1 is in a folded state and fixed on the robot body 2. This arrangement can reserve enough space on the front side of the robot body 2 to facilitate the patient to perform rehabilitation training based on the exoskeleton robot.

[0065] It can be seen that the foldable seat 1 shown in the utility model can be switched between a folded state and an unfolded state. In both states, the space occupied can be reduced, which is convenient for patients to operate the machine and provide enough space for rehabilitation training.

[0066] like Figure 5 and Figure 6 As shown, the foldable support 12 includes a parallel four-bar linkage 121 .

[0067] The parallel four-bar linkage 121 includes a fixed seat 1211, a connecting rod 1212, a first movable seat 1213 and a second movable seat 1214. The fixed seat 1211, the connecting rod 1212, the first movable seat 1213 and the second movable seat 1214 are connected end to end in sequence, and the fixed seat 1211 is connected to the mounting frame 11.

[0068] The support plate 13 is fixed on the first movable seat 1213 , and the seat plate 14 is movably disposed on the second movable seat 1214 along an extending direction of the second movable seat 1214 .

[0069] It can be understood that, for the parallel four-bar linkage 121, any two adjacent ones of the fixed seat 1211, the connecting rod 1212, the first movable seat 1213 and the second movable seat 1214 are configured to be rotationally connected, and the fixed seat 1211 and the first movable seat 1213 are both extended in the vertical direction to ensure that the extension direction of the fixed seat 1211 is parallel to the extension direction of the first movable seat 1213; the extension direction of the connecting rod 1212 is parallel to the extension direction of the second movable seat 1214.

[0070] In this way, based on the structural characteristics of the parallelogram linkage 121, the parallelogram linkage 121 can be switched between the folded state and the unfolded state. During the process of switching the structural state of the parallelogram linkage 121, the first moving seat 1213 drives the support plate 13 to translate on the vertical plane, and the second moving seat 1214 drives the seat plate 14 to flip relative to the horizontal plane.

[0071] When the parallel four-bar linkage 121 is in the folded state, the connecting rod 1212 and the second movable seat 1214 are both arranged vertically; when the parallel four-bar linkage 121 is in the unfolded state, the connecting rod 1212 and the second movable seat 1214 are both arranged horizontally.

[0072] like Figure 5 As shown, the foldable bracket 12 further includes a buffer component 122 ; the buffer component 122 is disposed between at least two of the fixed seat 1211 , the connecting rod 1212 , the first movable seat 1213 and the second movable seat 1214 to control the unfolding shape of the parallel four-bar linkage 121 .

[0073] It is understandable that the buffer component 122 is used to control the parallel four-bar linkage 121 to stably switch between the folded form and the unfolded form; the buffer component 122 can adopt any one of a gas spring, a tension spring 1223, and a pull rod.

[0074] In one example, the buffer assembly 122 may be disposed between the fixing seat 1211 and the connecting rod 1212 .

[0075] In one example, the buffer assembly 122 may be disposed between the connecting rod 1212 and any one of the first moving seat 1213 and the second moving seat 1214 .

[0076] In one example, the buffer assembly 122 is not only disposed between the fixed seat 1211 and the connecting rod 1212 , but also disposed between the connecting rod 1212 and the second movable seat 1214 .

[0077] like Figure 5 As shown, the buffer assembly 122 includes a first hydraulic spring 1221 , a second hydraulic spring 1222 and a tension spring 1223 .

[0078] The first end of the first hydraulic spring 1221 and the first end of the tension spring 1223 are respectively connected to the fixed seat 1211, the second end of the first hydraulic spring 1221 and the second end of the tension spring 1223 are respectively connected to the connecting rod 1212, the first end of the second hydraulic spring 1222 is connected to the connecting rod 1212, and the second end of the second hydraulic spring 1222 is connected to the second movable seat 1214.

[0079] It is understandable that, based on the arrangement of the first hydraulic spring 1221, the second hydraulic spring 1222 and the tension spring 1223, the parallel four-bar linkage 121 can be ensured to reach a force balance state and maintain the stability of its own shape regardless of whether the parallel four-bar linkage 121 is in an unfolded state or a folded state.

[0080] In actual application, when the patient needs to sit on the machine, by applying a downward component force to the support plate 13, the support plate 13 can drive the first movable seat 1213 to move downward. At this time, the first hydraulic spring 1221, the second hydraulic spring 1222 and the tension spring 1223 cooperate with each other to drive the parallel four-bar linkage 121 to slowly switch from a folded form to an unfolded form until the lower end of the support plate 13 is vertically supported on the ground and the seat plate 14 is horizontally arranged.

[0081] Correspondingly, by applying an upward component force to the support plate 13, when the first movable seat 1213 can be driven upward by the support plate 13, the first hydraulic spring 1221, the second hydraulic spring 1222 and the tension spring 1223 cooperate with each other, and can also assist the operator to slowly switch the parallel four-bar linkage 121 from the unfolded form to the folded form.

[0082] like Figure 5 and Figure 6 As shown, the length of the first hydraulic spring 1221 when the parallel four-bar linkage 121 is in the expanded form is greater than the length of the first hydraulic spring 1221 when the parallel four-bar linkage 121 is in the folded form; the length of the second hydraulic spring 1222 when the parallel four-bar linkage 121 is in the expanded form is less than the length of the second hydraulic spring 1222 when the parallel four-bar linkage 121 is in the folded form; the length of the tension spring 1223 when the parallel four-bar linkage 121 is in the expanded form is greater than the length of the tension spring 1223 when the parallel four-bar linkage 121 is in the folded form.

[0083] like Figure 1 , Figure 7 , Figure 8 and Fig. 9 As shown, a slide rail assembly 15 is provided between the seat plate 14 and the second movable seat 1214 .

[0084] The slide rail assembly 15 is arranged along the extension direction of the second movable seat 1214 , and the slide rail assembly 15 is used to guide the seat plate 14 to move relative to the second movable seat 1214 .

[0085] When the foldable support 12 is in the unfolded state, the seat plate 14 can move between the first position and the second position under the guidance of the slide rail assembly 15. In this way, the patient can determine his / her sitting position according to his / her body shape, and then adjust the seat plate 14 according to the sitting position.

[0086] The first position is the limit position of the seat plate 14 moving forward along the front-rear direction of the robot body 2 . When the seat plate 14 is in the first position, at least part of the seat plate 14 is located in front of the support plate 13 .

[0087] At the same time, the second position is the limit position of the seat plate 14 moving backward along the front-to-back direction of the robot body 2 . When the seat plate 14 is in the second position, the seat plate 14 is located at the rear side of the support plate 13 .

[0088] like Figure 7 and Figure 8 As shown, the slide rail assembly 15 includes a fixed guide rail 151 , a movable guide rail 152 and a limiting member 153 .

[0089] The fixed guide rail 151 is connected to the second movable seat 1214 and is arranged along the extension direction of the second movable seat 1214 ; the movable guide rail 152 is connected to the seat plate 14 and is movably arranged on the fixed guide rail 151 along the extension direction of the fixed guide rail 151 .

[0090] The limiting member 153 is disposed on the fixed guide rail 151 ; when the seat plate 14 is in the first position or the second position, the limiting member 153 is connected to the seat plate 14 .

[0091] It is understandable that in this embodiment, the fixed guide rail 151 and the second movable seat 1214 can be connected by a bolt locking assembly.

[0092] In order to ensure that the movable guide rail 152 moves stably and reliably relative to the fixed guide rail 151, a guide groove can be provided on the fixed guide rail 151, and the guide groove extends along the extension direction of the fixed guide rail 151. An engaging portion can be provided on the movable guide rail 152, and the engaging portion is embedded in the guide groove and can move along the guide groove.

[0093] At the same time, the limiting member 153 can be a locking pin, a clamping member, etc. When the seat plate 14 is in the first position or the second position, the seat plate 14 can be prevented from moving relative to the fixed guide rail 151 by connecting the limiting member 153 and the seat plate 14.

[0094] In this way, when the seat plate 14 is in the first position or the second position, the seat plate 14 is limited by the limiting member 153 to ensure that the seat plate 14 can only move between the first position and the second position relative to the fixed guide rail 151 to prevent the seat plate 14 from detaching from the fixed guide rail 151.

[0095] like Figure 7As shown, the slide rail assembly 15 further includes a limiting bracket 154 ; the limiting bracket 154 is connected to the seat plate 14 , and the limiting bracket 154 is provided with a limiting opening, which is extended along the extension direction of the fixed guide rail 151 .

[0096] The limiting member 153 includes a locking pin which is inserted into the limiting opening.

[0097] When the seat plate 14 is in the first position, the locking pin abuts against one end of the limiting opening; when the seat plate 14 is in the second position, the locking pin abuts against the other end of the limiting opening.

[0098] It is understandable that the limiting opening extends along the extension direction of the fixed guide rail 151 to form a strip-shaped hole, and the limiting opening cooperates with the locking pin to limit the movable range of the seat plate 14 between the first position and the second position.

[0099] When the seat plate 14 moves forward along the front-to-back direction of the robot body 2 and reaches the first position, the seat plate 14 can be prevented from continuing to move forward based on the abutment design between the locking pin and one end of the limiting opening.

[0100] Accordingly, when the seat plate 14 moves backward along the front-to-back direction of the robot body 2 and reaches the second position, the seat plate 14 can be prevented from continuing to move forward based on the abutment design between the locking pin and the other end of the limit opening.

[0101] like Figure 7 As shown, the fixed guide rail 151 includes a fixing portion 1511 and a guiding portion 1512 .

[0102] The fixing portion 1511 and the guiding portion 1512 are arranged side by side with a gap formed therebetween; the fixing portion 1511 is connected to the second movable seat 1214 , and the movable guide rail 152 is movably arranged on a side of the guiding portion 1512 away from the fixing portion 1511 .

[0103] The limiting bracket 154 is movably arranged in the gap along the extending direction of the gap; the guiding part 1512 is provided with a limiting groove, which is arranged opposite to the locking pin; the locking pin can be passed through the limiting opening and extend into the limiting groove.

[0104] In actual applications, in order to improve the convenience of the locking operation of the lock pin, the lock pin can be specifically configured as an elastic lock pin. The elastic lock pin has a retractable characteristic. The operator can press the elastic lock pin to control the elastic lock pin to switch between an extended state and a shortened state.

[0105] The elastic locking pin can be configured to be in an extended state under normal circumstances. When the seat plate 14 is in the first position or the second position, one end of the elastic locking pin facing the limit bracket 154 is inserted into the limit groove to lock the seat plate 14; when the position of the seat plate 14 needs to be adjusted, it is only necessary to press the end of the elastic locking pin away from the limit bracket 154 to switch the elastic locking pin from the extended state to the shortened state, and the end of the elastic locking pin facing the limit bracket 154 is separated from the limit groove, thereby releasing the locking connection between the elastic locking pin and the seat plate 14.

[0106] like Figure 1 and Figure 2 As shown, a plurality of foldable brackets 12 are provided, and the plurality of foldable brackets 12 are arranged side by side.

[0107] The mounting frame 11 is respectively connected to the plurality of foldable brackets 12 , the support plate 13 is fixedly disposed on one side of the plurality of foldable brackets 12 , and the seat plate 14 is movably disposed on the other side of the plurality of foldable brackets 12 .

[0108] It is understandable that the multiple foldable brackets 12 can be switched between the folded state and the unfolded state simultaneously, and the multiple foldable brackets 12 can jointly provide mounting support for the support plate 13 and the seat plate 14 .

[0109] In this way, when the foldable support 12 is in the unfolded configuration, it is possible to ensure that the patient can sit stably and feasibly on the seat plate 14 .

[0110] like Figure 1 and Figure 2 As shown, the foldable seat 1 further includes a flexible pad 131; the flexible pad 131 is arranged at one end of the support plate 13 for contacting the ground.

[0111] It is understandable that the flexible pad 131 may be a rubber pad or a sponge pad.

[0112] In this embodiment, a flexible pad 131 is provided at the end of the support plate 13 that contacts the ground. The flexible pad 131 can adapt to terrain structures of different heights. When the foldable seat 1 is in the unfolded state, the support plate 13 can provide stable and reliable support for the upper structure of the foldable seat 1.

[0113] like Figure 1 and Figure 2 As shown, in order to facilitate applying a driving force to the support plate 13 so as to control the foldable seat 1 to switch between the folding state and the unfolding state through the support plate 13 , a first handle 132 is provided on the support plate 13 .

[0114] In order to facilitate applying driving force to the seat plate 14 to adjust the position of the seat plate 14 , a second handle 141 is provided on the seat plate 14 .

[0115] The first handle 132 may be a buckle slot disposed on the surface of the support plate 13 , and the second handle 141 may be a buckle slot disposed on the surface of the seat plate 14 .

[0116] like Fig.10 and Fig.11 As shown, an embodiment of the utility model further provides an exoskeleton robot, comprising: a robot body 2 and a foldable seat 1 as described in any one of the above items; a mounting frame 11 of the foldable seat 1 is connected to the robot body 2 .

[0117] Among them, Fig.10 In the embodiment, the foldable seat 1 is in a folded state; in Fig.11 In the embodiment, the foldable seat 1 is in an unfolded state.

[0118] Since the exoskeleton robot includes a foldable seat 1, the specific structure of the foldable seat 1 refers to the above embodiment, and the exoskeleton robot of this embodiment includes all the technical solutions of the above embodiment, and therefore has at least all the beneficial effects achieved by all the technical solutions of the above embodiment, which will not be described one by one.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A foldable seat, characterized in that: include: mounting racks, foldable stands, support panels, and seat panels; The mounting frame is used to be connected to the robot body of the exoskeleton robot, the foldable bracket is connected to the mounting frame, the support plate is fixedly arranged on the foldable bracket, and the seat plate is movably arranged on the foldable bracket; The foldable support has a folded configuration and an unfolded configuration; When the foldable bracket is in a folded state, the support plate and the seat plate are parallel to each other and are both vertically arranged, and the foldable bracket is stored between the support plate and the seat plate; When the foldable support is in the unfolded state, the support plate is used to be vertically supported on the ground, and the seat plate is horizontally arranged and can move relative to the foldable support along the front-rear direction of the robot body.

2. The foldable seat according to claim 1, characterized in that: The foldable support comprises a parallel four-bar linkage; The parallel four-bar linkage mechanism comprises a fixed seat, a connecting rod, a first movable seat and a second movable seat, wherein the fixed seat, the connecting rod, the first movable seat and the second movable seat are connected end to end in sequence, and the fixed seat is connected to the mounting frame; The support plate is fixedly arranged on the first movable seat, and the seat plate is movably arranged on the second movable seat along the extension direction of the second movable seat.

3. The foldable seat according to claim 2, characterized in that: The foldable support further includes a buffer assembly; The buffer assembly is disposed between at least two of the fixed seat, the connecting rod, the first movable seat and the second movable seat to control the deployment state of the parallel four-bar linkage.

4. The foldable seat according to claim 3, characterized in that: The buffer assembly includes a first hydraulic spring, a second hydraulic spring and a tension spring; The first end of the first hydraulic spring and the first end of the tension spring are respectively connected to the fixed seat, the second end of the first hydraulic spring and the second end of the tension spring are respectively connected to the connecting rod, the first end of the second hydraulic spring is connected to the connecting rod, and the second end of the second hydraulic spring is connected to the second movable seat.

5. The foldable seat according to claim 2, characterized in that: A slide rail assembly is provided between the seat plate and the second movable seat; The slide rail assembly is arranged along the extension direction of the second movable seat, and the slide rail assembly is used to guide the seat plate to move relative to the second movable seat; When the foldable support is in the unfolded configuration, the seat panel can move between a first position and a second position under the guidance of the slide rail assembly; Wherein, when the seat plate is in the first position, at least a portion of the seat plate is located in front of the support plate, and when the seat plate is in the second position, the seat plate is located in the rear of the support plate.

6. The foldable seat according to claim 5, characterized in that: The slide rail assembly includes a fixed guide rail, a movable guide rail and a limiter; The fixed guide rail is connected to the second movable seat and is arranged along the extension direction of the second movable seat; the movable guide rail is connected to the seat plate and is movably arranged on the fixed guide rail along the extension direction of the fixed guide rail; The limiting member is arranged on the fixed guide rail; when the seat plate is in the first position or the second position, the limiting member is connected to the seat plate.

7. The foldable seat according to claim 6, characterized in that: The slide rail assembly further includes a limit bracket; the limit bracket is connected to the seat plate, the limit bracket is provided with a limit opening, and the limit opening is extended along the extension direction of the fixed guide rail; The limiting member comprises a locking pin, and the locking pin is inserted into the limiting opening; When the seat plate is in the first position, the locking pin abuts against one end of the limiting opening; When the seat plate is in the second position, the locking pin abuts against the other end of the limiting opening.

8. The foldable seat according to claim 7, characterized in that: The fixed guide rail comprises a fixing portion and a guiding portion; The fixing part and the guide part are arranged side by side, and a gap is formed between the fixing part and the guide part; the fixing part is connected to the second movable seat, and the movable guide rail is movably arranged on the guide part; The limiting bracket is movably arranged in the gap along the extension direction of the gap; the guiding part is provided with a limiting groove, and the limiting groove is arranged opposite to the locking pin; the locking pin can be passed through the limiting opening and extend into the limiting groove.

9. The foldable seat according to any one of claims 1 to 8, characterized in that: The foldable brackets are provided in plurality, and the plurality of foldable brackets are arranged side by side; The mounting frame is respectively connected to the plurality of foldable brackets, the support plate is fixedly arranged on one side of the plurality of foldable brackets, and the seat plate is movably arranged on the other side of the plurality of foldable brackets.

10. The foldable seat according to any one of claims 1 to 8, characterized in that: The foldable seat further comprises a flexible pad; the flexible pad is arranged at one end of the support plate for contacting the ground.

11. The foldable seat according to any one of claims 1 to 8, characterized in that: The support plate is provided with a first handle; and / or the seat plate is provided with a second handle.

12. An exoskeleton robot, characterized in that: include: A robot body and a foldable seat as claimed in any one of claims 1 to 11; The mounting frame of the foldable seat is connected to the robot body.

Images