Walking assistance robot

Abstract

The utility model provides a walking assisting robot which comprises a back plate, a waist fixing mechanism arranged on the back plate and two assisting mechanisms connected to the waist fixing mechanism, each assisting mechanism comprises a supporting plate detachably connected to the waist fixing mechanism, and an assisting part is arranged on the face, opposite to the waist fixing mechanism, of each supporting plate. The power assisting part is connected with a power assisting rod group, the power assisting rod group is connected with a first fixing seat, the first fixing seat is rotationally connected with a second fixing seat, the second fixing seat is rotationally connected with a leg fixing mechanism, a limiting block extending from the first fixing seat to the second fixing seat is arranged on one side wall of the first fixing seat, and an avoiding space is formed between the limiting block and the second fixing seat. When a user steers, the first fixing seat and the second fixing seat can relatively rotate through steering torsion, the torsion is prevented from directly acting on the power-assisted rod set, the service life is prolonged, and the use perception is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a walking assistance robot. Background Art

[0002] Walking assistance robots are a type of wearable robotic system that has emerged in recent years. Unlike traditional orthoses, they cannot directly support the legs, but instead provide assistance and power to users when walking. They are currently mainly used to assist patients with lower limb function decline or dysfunction to achieve daily walking and rehabilitation training.

[0003] A walking-assistance robot typically consists of a waist-worn device, a power-assist device attached to the waist-worn device, and leg-worn devices. The power-assist device and leg-worn devices are connected by rigid components. The robot is worn around the user's waist through the waist-worn device, and the leg-worn devices are connected to the user's thighs. With the waist as the fulcrum, the power-assist device transmits driving force to the leg-worn devices through the rigid components to provide walking assistance.

[0004] However, when the user encounters a turn while walking, the turning torque directly acts on the rigid parts, which not only reduces the service life of the rigid parts, but also restricts the user's walking turning due to the obstruction of the rigid parts, affecting the user experience. Utility Model Content

[0005] In response to the shortcomings of the existing technology, the purpose of this utility model is to provide a walking assistance robot, which aims to solve the technical problems in the existing technology that the power assist device is connected to the leg-worn device through a rigid part. When the user turns, the steering torque directly acts on the rigid part, affecting the service life, and the rigid part will hinder the user's steering action, affecting the usage perception.

[0006] In order to achieve the above purpose, the present invention is implemented through the following technical solutions:

[0007] The support leg is fixedly mounted on the support frame, and the support leg is connected to the support frame by a movable frame. The support leg is fixedly mounted on the support frame, wherein the movable frame is connected to the support frame by a movable frame.

[0008] Compared with the prior art, the beneficial effects of the present invention are: through the detachable connection between the auxiliary mechanism and the waist fixing mechanism, when the walking assistance robot is not in use, the auxiliary mechanism can be separated from the waist fixing mechanism for easy storage, and can be worn in parts during wearing. Compared with the integrated setting, the assembly weight can be reduced and the wearing efficiency can be improved; through the rotational connection between the first fixing seat connected to the power-assisting rod group and the second fixing seat connected to the leg fixing mechanism, when the user turns, the turning torque can cause relative rotation between the two, avoiding the torque directly acting on the power-assisting rod group, extending the service life and improving the usage experience; by setting the limit block, when the first fixing seat and the second fixing seat are relatively rotated, the limit block can limit the excessive rotation between the two, which will affect the use.

[0009] Furthermore, one end of the first fixing seat facing the second fixing seat is connected to a threaded rod, and one end of the second fixing seat facing the first fixing seat is concave to form a threaded groove adapted to the threaded rod.

[0010] Furthermore, a surface of the limiting block facing the second fixing seat is connected to a return spring, and an end of the return spring facing away from the limiting block is connected to the second fixing seat.

[0011] Furthermore, flexible clips are provided at both opposite ends of the support plate, and the flexible clips include a first vertical portion and a second vertical portion, the first vertical portion is connected to the support plate, one end of the first vertical portion is connected to the extension portion, the extension portion is connected to the second vertical portion with its back facing the first vertical portion, and one end of the second vertical portion is bent and extended toward the first vertical portion with its back facing the extension portion to form an inverted portion, and the first vertical portion, the extension portion, the second vertical portion and the inverted portion enclose a accommodating space for accommodating the waist fixing mechanism.

[0012] Furthermore, a first threaded hole is provided on the support plate, an extrusion rod is threaded into the first threaded hole, and a second threaded hole adapted to the first threaded hole is provided on the first vertical portion, so that one end of the extrusion rod passes through the second threaded hole and extends toward the second vertical portion.

[0013] Furthermore, the power-assisting rod group includes several power-assisting rods, and the assisting part includes a protective shell connected to the support plate. The interior of the protective shell is hollow to form an assisting cavity. The auxiliary cavity is connected to a rotating shaft, and the outer wall of the rotating shaft is connected to the power-assisting rod. A movable groove connected to the auxiliary cavity is provided on the side wall of the protective shell, and the end of the power-assisting rod facing away from the rotating shaft passes through the movable groove and is connected to the first fixed seat.

[0014] Furthermore, the length of the movable slot is greater than the distance between the power-assisting rods on both sides.

[0015] Furthermore, a surface of the first fixing seat facing away from the second fixing seat is concave to form a plurality of telescopic slots corresponding to the power-assisting rods one by one, and the power-assisting rods are movably connected in the telescopic slots.

[0016] Furthermore, the walking assistance robot also includes a shoulder strap, the top of the back plate is connected to the shoulder strap, and the end of the shoulder strap away from the back plate is connected to the waist fixing mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a structural diagram of the walking assistance robot in an embodiment of the present utility model;

[0018] Figure 2 This is a schematic diagram of the connection structure between the assisting mechanism and the leg fixing mechanism in the walking assisting robot in an embodiment of the present utility model;

[0019] Figure 3 This is a schematic diagram of a partially disassembled connection structure between a support plate and a flexible buckle in a walking assistance robot according to an embodiment of the present utility model;

[0020] Figure 4This is a schematic diagram of the partially disassembled structure of the assisting part of the walking assistance robot in an embodiment of the present utility model;

[0021] Figure 5 This is a schematic diagram of the partially disassembled structure between the first fixing seat and the second fixing seat of the walking assistance robot in an embodiment of the present utility model;

[0022] Description of main component symbols:

[0023] 10. Backboard; 20. Waist fixing mechanism; 30. Auxiliary mechanism; 310. Support plate; 311. First threaded hole; 312. Extrusion rod; 320. Auxiliary part; 321. Protective shell; 322. Rotating shaft; 323. Movable groove; 330. Power assist rod; 340. First fixing seat; 341. Connecting block; 342. Limiting block; 343. Return spring; 344. Threaded rod; 350. Second fixing seat; 351. Threaded groove; 40. Leg fixing mechanism; 50. Flexible buckle; 510. Second threaded hole; 60. Shoulder strap.

[0024] The following specific embodiments will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0025] To facilitate understanding of the present invention, a more comprehensive description of the present invention will be provided below with reference to the accompanying drawings. The drawings illustrate several embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present invention.

[0026] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of this invention are intended only to describe specific embodiments and are not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0028] See also Figures 1 to 5The walking assistance robot in the embodiment of the present invention includes a backboard 10, a waist securing mechanism 20 disposed on the backboard 10, and two assisting mechanisms 30 connected to the waist securing mechanism 20. It is understood that the waist securing mechanism 20 is worn around the user's waist, and the backboard 10 is used to rest against the user's back, providing a support point for the walking assistance robot on the user's body and ensuring stability after wearing. In this embodiment, the waist securing mechanism 20 is a waist belt, which can be adjusted to accommodate different user waist sizes by adjusting the size of the waist belt.

[0029] Preferably, the walking assistance robot also includes a shoulder strap 60, the top of the back plate 10 is connected to the shoulder strap 60, and the end of the shoulder strap 60 away from the back plate 10 is connected to the waist fixing mechanism 20. In this embodiment, the top of the back plate 10 is connected to two shoulder straps 60. When the waist fixing mechanism 20 is fixed to the user's waist and the back plate 10 abuts against the user's back, more force support points are formed on the user's body by making the two shoulder straps 60 abut against the user's shoulders respectively, thereby further improving the wearing stability of the walking assistance robot.

[0030] The two auxiliary mechanisms 30 are symmetrically arranged along the center line of the back plate 10. The auxiliary mechanism 30 includes a support plate 310 that is detachably connected to the waist fixing mechanism 20. Through the detachable connection between the auxiliary mechanism 30 and the waist fixing mechanism 20, when the walking assistance robot is not needed, the auxiliary mechanism 30 can be separated from the waist fixing mechanism 20 for easy storage. During the wearing process, it can be worn in parts. Compared with the integrated setting, it can reduce the assembly weight and improve the wearing efficiency.

[0031] Specifically, flexible buckles 50 are provided at both opposite ends of the support plate 310, and the flexible buckle 50 includes a first vertical portion and a second vertical portion, the first vertical portion is connected to the support plate 310, one end of the first vertical portion is the extension portion, the extension portion is connected to the second vertical portion with its back facing the first vertical portion, and one end of the second vertical portion is bent and extended toward the first vertical portion with its back facing the extension portion to form an inverted buckle portion. It can be understood that the second vertical portion and the inverted buckle portion form a hook-type structure, and the first vertical portion, the extension portion, the second vertical portion and the inverted buckle portion are enclosed to form a accommodating space for accommodating the waist fixing mechanism 20. After the waist fixing mechanism 20 is worn, part of the waist fixing mechanism 20 is snapped into the accommodating space to complete the assembly between the waist fixing mechanism 20 and the auxiliary mechanism 30.

[0032] Preferably, a first threaded hole 311 is provided on the support plate 310, and an extrusion rod 312 is screwed into the first threaded hole 311. A second threaded hole 510 adapted to the first threaded hole 311 is provided on the first vertical portion, so that one end of the extrusion rod 312 passes through the second threaded hole 510 and extends toward the second vertical portion. When the waist fixing mechanism 20 is partially placed in the accommodating space, the extrusion rod 312 is rotated so that the extrusion rod 312 is abutted against the waist fixing mechanism 20 toward one end of the second vertical portion. The waist fixing mechanism 20 abuts against the second vertical portion as the extrusion rod 312 is squeezed. The waist fixing mechanism 20 is locked by the cooperation between the extrusion rod 312 and the second vertical portion to prevent the waist fixing mechanism 20 from leaving the accommodating space.

[0033] The support plate 310 is provided with an auxiliary part 320 on the side facing away from the waist fixing mechanism 20. The auxiliary part 320 is used to drive the auxiliary rod 330 group to rotate along the axial direction of the auxiliary part 320. The auxiliary rod 330 group is provided with a first fixed seat 340 at one end away from the auxiliary part 320. The first fixed seat 340 is rotatably connected to the second fixed seat 350. The second fixed seat 350 is rotatably connected to the leg fixing mechanism 40. The leg fixing mechanism 40 is worn on the user's thigh. Through the rotational connection, the angle between the leg fixing mechanism 40 and the second fixed seat 350 can be adjusted according to the different users, making it easier to use. In this embodiment, the leg fixing mechanism 40 is a leg strap. By adjusting the enclosed range of the leg strap, it can adapt to the leg size of different users. It can be understood that the auxiliary part 320 provides a swinging force to the user's thigh by causing the auxiliary rod 330 group to swing, thereby assisting the user in walking.

[0034] By the rotational connection between the first fixing seat 340 connected to the power-assisting rod 330 group and the second fixing seat 350 connected to the leg fixing mechanism 40, when the user turns, the turning torque can cause relative rotation between the two, avoiding the torque directly acting on the power-assisting rod 330 group, extending the service life and improving the user experience.

[0035] The power-assisting rod 330 group includes several power-assisting rods 330. In this embodiment, the power-assisting rod 330 group includes two power-assisting rods 330. The auxiliary part 320 includes a protective shell 321 connected to the support plate 310. The interior of the protective shell 321 is hollow to form an auxiliary cavity. The auxiliary cavity is rotated and connected to the rotating shaft 322. It can be understood that a rotating motor is provided in the auxiliary cavity. The rotating motor is used to drive the rotating shaft 322 to rotate axially. The outer wall of the rotating shaft 322 is connected to the power-assisting rod 330. The side wall of the protective shell 321 is provided with a movable groove 323 connected to the auxiliary cavity. The end of the power-assisting rod 330 facing away from the rotating shaft 322 passes through the movable groove 323 and is connected to the first fixed seat 340. The rotating motor drives the rotating shaft 322 to rotate, thereby driving the power-assisting rod 330 to rotate along the axial direction of the rotating shaft 322, realizing the swing of the power-assisting rod 330 and driving the user's thigh to swing. It should be noted that the length of the movable slot 323 is greater than the distance between the power-assisting rods 330 on both sides, so as to prevent the movable slot 323 from hindering the swing of the power-assisting rod 330 .

[0036] The first fixing seat 340 is connected to a threaded rod 344 at one end facing the second fixing seat 350, and the second fixing seat 350 is concave at one end facing the first fixing seat 340 to form a threaded groove 351 adapted to the threaded rod 344. The threaded rod 344 is screwed into the threaded groove 351 to achieve the connection between the first fixing seat 340 and the second fixing seat 350. At the same time, when the user turns, the relative rotation between the first fixing seat 340 and the second fixing seat 350 is achieved by the rotation of the threaded rod 344 in the threaded groove 351.

[0037] A connecting block 341 is provided on one sidewall of the first fixing seat 340. The end of the connecting block 341 away from the first fixing seat 340 is connected to a limiting block 342. The limiting block 342 extends from the first fixing seat 340 toward the second fixing seat 350. The height of the limiting block 342 is greater than the distance between the first fixing seat 340 and the second fixing seat 350, forming a clearance space between the limiting block 342 and the second fixing seat 350. The limiting block 342 provides a certain rotation angle between the first fixing seat 340 and the second fixing seat 350 during relative rotation between the first fixing seat 340 and the second fixing seat 350. The limiting block 342 can prevent excessive rotation between the two fixing seats, which could affect their use. Furthermore, the side of the limit block 342 facing the second fixed seat 350 is connected to the return spring 343, and the end of the return spring 343 facing away from the limit block 342 is connected to the second fixed seat 350. By setting the return spring 343, a certain return force can be provided after the user completes the turn, so that the first fixed seat 340 and the second fixed seat 350 can quickly return to their positions and quickly restore the parallel state between the two. In addition, by setting the return spring 343, direct hard contact between the second fixed seat 350 and the limit block 342 can be avoided during the turn, thereby reducing the perception of use.

[0038] In this embodiment, the first fixing seat 340 is recessed on a surface facing away from the second fixing seat 350 to form a plurality of telescopic slots corresponding to the power-assisting rods 330. The power-assisting rods 330 are movably connected to the telescopic slots. By adjusting the insertion depth of the power-assisting rods 330 in the telescopic slots, the distance between the leg fixing mechanism 40 and the waist fixing mechanism 20 can be adjusted to accommodate different patients and improve the applicability of the walking assistance robot. It should be noted that a self-locking mechanism is provided in the telescopic slots to secure the power-assisting rods 330 in the telescopic slots after the insertion depth of the power-assisting rods 330 in the telescopic slots is adjusted.

[0039] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0040] The above-described embodiments merely represent several implementation methods of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A walking assistance robot, characterized in that: The harness is adapted to rotate the harness so as to allow the harness to move relative to the support frame, wherein the harness is adapted to move relative to the support frame, wherein the harness is adapted to move relative to the support frame.

2. The walking assistance robot according to claim 1, characterized in that: One end of the first fixing seat facing the second fixing seat is connected to a threaded rod, and one end of the second fixing seat facing the first fixing seat is concave to form a threaded groove adapted to the threaded rod.

3. The walking assistance robot according to claim 1, characterized in that: A surface of the limiting block facing the second fixing seat is connected to a return spring, and an end of the return spring facing away from the limiting block is connected to the second fixing seat.

4. The walking assistance robot according to claim 1, characterized in that: Flexible clips are provided at both opposite ends of the support plate, and the flexible clips include a first vertical portion and a second vertical portion. The first vertical portion is connected to the support plate, one end of the first vertical portion is connected to the extension portion, the extension portion is connected to the second vertical portion with its back facing the first vertical portion, and one end of the second vertical portion is bent and extended toward the first vertical portion with its back facing the extension portion to form an inverted portion. The first vertical portion, the extension portion, the second vertical portion and the inverted portion enclose a accommodating space for accommodating the waist fixing mechanism.

5. The walking assistance robot according to claim 4, characterized in that: A first threaded hole is provided on the support plate, and an extrusion rod is threaded into the first threaded hole. A second threaded hole adapted to the first threaded hole is provided on the first vertical portion, so that one end of the extrusion rod passes through the second threaded hole and extends toward the second vertical portion.

6. The walking assistance robot according to claim 4, characterized in that: The power-assisting rod group includes several power-assisting rods, and the assisting part includes a protective shell connected to the support plate. The interior of the protective shell is hollow to form an assisting cavity. The auxiliary cavity is connected to a rotating shaft, and the outer wall of the rotating shaft is connected to the power-assisting rod. A movable groove connected to the auxiliary cavity is provided on the side wall of the protective shell. The end of the power-assisting rod facing away from the rotating shaft passes through the movable groove and is connected to the first fixed seat.

7. The walking assistance robot according to claim 6, characterized in that: The length of the movable groove is greater than the distance between the power-assisting rods on both sides.

8. The walking assistance robot according to claim 6, characterized in that: A surface of the first fixing seat facing away from the second fixing seat is inwardly concave to form a plurality of telescopic slots corresponding to the power-assisting rods one by one, and the power-assisting rods are movably connected in the telescopic slots.

9. The walking assistance robot according to claim 1, characterized in that: The walking assistance robot further comprises a shoulder strap, the top of the back plate is connected to the shoulder strap, and one end of the shoulder strap away from the back plate is connected to the waist fixing mechanism.

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