Foldable seat plate and auxiliary exoskeleton robot

Abstract

The utility model discloses a foldable seat plate and an auxiliary exoskeleton robot. The foldable seat plate comprises a seat base; the seat plate mechanism comprises a shear fork assembly connected with the seat base and a seat plate assembly, the shear fork assembly comprises a plurality of shear fork units, hinge seats are arranged at all shear fork ends of the shear fork assembly and at hinge points of one or more shear fork units located in the middle, and the seat plate assembly comprises two symmetrically arranged seat plate units; each seat plate unit is formed by sequentially hinging and connecting a plurality of plates, the two groups of seat plate units are respectively connected with the hinging seats positioned at the scissor fork ends through hinging rods, and one hinging rod is rotationally connected with the hinging seat positioned at the hinging point; and the seat plate driving piece is used for driving the shear fork assembly to be unfolded and folded. The seat plate is unfolded and folded by optimizing the seat plate mechanism, the structure is simple, the action stability is good, an integral flat plate is formed after the seat plate is unfolded, and compared with a seat plate made of a flexible material, the seat plate can support a human body more stably.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of robot technology, and specifically relates to a foldable seat plate and an auxiliary exoskeleton robot. BACKGROUND

[0002] The power-assisted exoskeleton can be divided into two cases according to the purpose of power transmission: the exoskeleton drives the human body to move and the human body drives the exoskeleton to move. At present, exoskeleton robots gradually develop in the direction of multifunction, for example, different states can be switched to meet the needs of standing-assisted walking and automatic walking of a wheelchair in a sitting position. When used as a wheelchair, a corresponding seat plate needs to be configured, for example, a reversible seat plate is used, the seat plate is turned to the rear part of the robot in a standing posture, and the seat plate is turned to a horizontal state when switched to a wheelchair posture. This kind of seat plate has the problems of large space occupation or interference with human body movement. SUMMARY

[0003] The utility model aims at providing a foldable seat plate and an auxiliary exoskeleton robot, which can realize the rapid unfolding and folding of the seat plate mechanism during posture switching of the exoskeleton robot.

[0004] The utility model realizes the following technical scheme:

[0005] The foldable seat plate comprises:

[0006] A seat base;

[0007] A seat plate mechanism comprising a scissor assembly connected with the seat base and a seat plate assembly, the scissor assembly comprising multiple groups of scissor units, a hinge seat being arranged on each scissor end of the scissor assembly and on the hinge joint of one or more groups of scissor units located at the middle position, the seat plate assembly comprising two groups of symmetrically arranged seat plate units, the seat plate unit being composed of multiple plate pieces connected in sequence by hinges, the two groups of seat plate units being connected with the hinge seats on the scissor ends through hinge rods, and one of the hinge rods being rotationally connected with the hinge seat on the hinge joint;

[0008] A seat plate driving piece for driving the unfolding and folding of the scissor assembly.

[0009] In some embodiments, the plate piece is a right-angled triangle, and the plate pieces are sequentially connected by hinges between the right-angle sides and the oblique sides to form foldable seat plate units.

[0010] In some embodiments, among the hinge seats on the two scissor ends of the scissor unit connected with the seat base, one of the hinge seats is rotationally connected with the seat base, and the other hinge seat is connected with the seat base in a sliding fit and can rotate along its own axis, and the seat plate driving piece is used to drive the hinge seat to slide on the seat base.

[0011] In some embodiments, the scissors unit adopts a double-layer support structure.

[0012] In another aspect, the utility model also provides an auxiliary exoskeleton robot, including the seat plate of folding.

[0013] In some embodiments, the auxiliary exoskeleton robot comprises:

[0014] The base support, the seat base is fixedly connected on the base support;

[0015] And two groups of lower limbs units, the lower limbs unit comprises:

[0016] Hip joint mechanism, is connected on the base support;

[0017] Thigh link, is rotatably connected with hip joint mechanism at one end;

[0018] First motor, is used to drive thigh link to rotate around the coronal axis;

[0019] Knee joint mechanism, including the knee joint seat connected with thigh link;

[0020] Calf link, is rotatably connected between one end and knee joint seat;

[0021] Ankle joint mechanism, is connected with calf link;

[0022] Second motor, is used to drive calf link to rotate around the coronal axis;

[0023] Wheelchair assembly, including wheelchair support and wheelchair crossbar articulated with hip joint mechanism and ankle joint mechanism, one end of the wheelchair support is provided with electric drive wheel, the other end of the wheelchair crossbar is articulated with wheelchair support, and thigh link, calf link, wheelchair support and wheelchair crossbar form four-bar linkage;

[0024] Front wheel assembly, including front wheel and height adjustment member for adjusting the ground clearance of front wheel, the height adjustment member is connected with ankle joint mechanism.

[0025] In some embodiments, the hip joint mechanism comprises:

[0026] Hip joint seat, is rotatably connected between the base support;

[0027] Hip joint link, is rotatably connected between one end and hip joint seat;

[0028] Third motor, is used to drive hip joint link to rotate around the sagittal axis;

[0029] Thigh link is rotatably connected with hip joint link.

[0030] In some embodiments, the ankle joint mechanism comprises:

[0031] Ankle joint base connected with the shank link;

[0032] Ankle joint connecting rod rotatably connected between the ankle joint base and the shank link;

[0033] Fourth motor for driving the ankle joint connecting rod to rotate around the coronal axis.

[0034] In some embodiments, further comprising a foot support rotatably connected with the ankle joint connecting rod;

[0035] Fifth motor for driving the foot support to rotate around the sagittal axis.

[0036] In some embodiments, further comprising an upper limb unit connected with the base support, the upper limb unit being configured to support the upper limb.

[0037] Compared with the prior art, the utility model has the following advantages and beneficial effects:

[0038] The seat plate is composed of hinged plate pieces, and the unfolding and folding of the seat plate are realized by optimizing the seat plate mechanism, so that the structure is simple, the action is stable, and after unfolding, a whole flat plate is formed, which can provide more stable support to the human body than the seat plate made of flexible material.

[0039] By virtue of the structural features of the lower limb unit, the function of a wheelchair can be realized on the exoskeleton robot only by additionally arranging two link pieces, the multifunctionality of the exoskeleton robot is realized, the lower limb unit is converted from a normal standing state to a wheelchair state, and the conversion is realized by means of the joint driving motor of the lower limb exoskeleton, the structural complexity of the exoskeleton robot is reduced in the case of realizing multifunctionality. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the drawings in the embodiments will be briefly introduced below, and it should be understood that the following drawings only show some embodiments of the utility model, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained from the drawings without creative labor.

[0041] Figure 1 It is a human body orientation reference schematic diagram.

[0042] Figure 2 It is a seat plate unfolded state structure schematic diagram in the embodiments of the utility model.

[0043] Figure 3 It is a seat plate folded state structure schematic diagram in the embodiments of the utility model.

[0044] Figure 4The utility model discloses an auxiliary exoskeleton robot standing posture structure schematic diagram.

[0045] Figure 5 The utility model discloses an auxiliary exoskeleton robot wheelchair posture structure schematic diagram.

[0046] Figure 6 The utility model discloses an auxiliary exoskeleton robot wheelchair posture structure main view.

[0047] Figure 7 The utility model discloses an auxiliary exoskeleton robot lower limb unit structure schematic diagram.

[0048] Figure 8 The utility model discloses an auxiliary exoskeleton robot upper limb unit structure schematic diagram.

[0049] Among them:

[0050] 10, base support,

[0051] 20, seat plate, 21, seat base, 211, sliding groove, 201, scissor assembly, 202, hinged seat, 203, plate piece, 204, hinged rod, 205, seat plate drive piece,

[0052] 31, first motor, 32, second motor, 33, third motor, 34, fourth motor, 35, fifth motor,

[0053] 40, lower limb unit, 401, hip joint seat, 402, hip joint connecting rod, 403, thigh rod piece, 404, knee joint seat, 405, shank rod piece, 406, ankle joint seat, 407, ankle joint connecting rod, 408, foot support piece, 409, leg wearing piece, 410, wheelchair support rod, 411, wheelchair cross rod, 412, electric drive wheel, 413, front wheel, 414, height adjusting piece,

[0054] 50, upper limb unit, 51, upper limb wearing piece, 511, chain plate, 512, fixed connecting piece, 513, scissor adjusting piece, 52, upper limb adjusting piece, 53, universal joint. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical scheme and advantage of the utility model embodiment more clear, the technical scheme in the utility model embodiment will be described clearly and completely below in combination with the drawings in the utility model embodiment, and obviously, the described embodiment is a part of the embodiment of the utility model, not all the embodiment.

[0056] The position noun term used in the description of structure in the utility model embodiment is according to the definition in "Anthropometry Terms", and refers to Figure 1The "coronal plane" is the plane through the vertical axis and the transverse axis and all planes parallel thereto that divide the human body into front and back portions; the "sagittal plane" is the plane that divides the human body into left and right portions and all planes parallel thereto. The "coronal axis" is the axis parallel to the horizontal plane in the coronal plane; the "sagittal axis" is the axis parallel to the horizontal plane in the sagittal plane; and the "vertical axis" is the axis perpendicular to the horizontal plane.

[0057] With reference to Figure 2 and Figure 3 In some embodiments, the foldable seat plate 20 comprises:

[0058] a seat base 21;

[0059] a seat plate mechanism comprising a scissor assembly 201 connected to the seat base and a seat plate assembly, the scissor assembly in this embodiment comprising three groups of scissor units, a hinged seat 202 being arranged on the hinged point of each scissor end of the scissor assembly and a group of scissor units in the middle, the seat plate assembly comprising two groups of symmetrically arranged seat plate units, each seat plate unit being composed of a plurality of plate pieces 203 connected in sequence by hinges, the two groups of seat plate units being connected by a hinged rod 204 to the hinged seat 202 on the scissor end, and one of the hinged rods 204 being rotatably connected to the hinged seat 502 on the hinged point;

[0060] a seat plate driving member for driving the unfolding and folding of the scissor assembly.

[0061] The two groups of seat plate units are symmetrically arranged on both sides of the scissor assembly relative to the hinged seat on the hinged point, each seat plate unit being composed of 10 plate pieces 203 in the shape of a right triangle, two plate pieces 203 being connected by a right angle to form an isosceles triangle, and two adjacent isosceles triangles being connected by a hypotenuse to form a foldable structure.

[0062] The two ends of the hinged rod are rotatably connected to the two hinged seats on the same scissor strut, at which time the hinged rod is connected to one plate piece in each of the two groups of seat plate units as a hinge axis for the two plate pieces.

[0063] With reference to Figure 2 and Figure 3 One of the two hinged seats 202 on the two scissor ends of the group of scissor units connected to the seat base 21 is rotatably connected to the seat base 21, and the other hinged seat 202 is connected to the seat base 21 in a sliding fit and can rotate along its own axis, and the seat plate driving member 205 is used to drive the hinged seat to move along the sliding groove 211 on the seat base 21, and when the hinged seat is driven to move, the unfolding and folding actions of the scissor assembly can be achieved, thereby achieving the unfolding and folding of the seat plate assembly.

[0064] In this embodiment, the seat plate driving member 205 can adopt an electric cylinder.

[0065] In some embodiments, the scissor unit adopts a double-layer support structure to improve the structural strength of the scissor assembly and provide stable support for the seat plate.

[0066] In another aspect, the utility model also relates to an auxiliary exoskeleton robot, and the auxiliary exoskeleton robot adopts the retractable seat plate; when the auxiliary exoskeleton robot is switched into a wheelchair posture, the seat plate is unfolded; and when the auxiliary exoskeleton robot is switched into a standing posture, the seat plate is retracted and folded.

[0067] In some embodiments, with reference to Figure 4 、 Figure 5 、 Figure 6 and Figure 7 , the auxiliary exoskeleton robot comprises:

[0068] a base support 10, a seat base 21 being fixedly connected to the base support 10;

[0069] and two groups of lower limb units, the lower limb unit 40 comprising:

[0070] a hip joint mechanism connected to the base support 10;

[0071] a thigh link member 403 rotatably connected to the hip joint mechanism at one end;

[0072] a first motor 31 for driving the thigh link member to rotate around the coronal axis;

[0073] a knee joint mechanism comprising a knee joint seat 404 connected to the thigh link member;

[0074] a shank link member 405 rotatably connected between the knee joint seat at one end;

[0075] an ankle joint mechanism connected to the shank link member;

[0076] a second motor 32 for driving the shank link member to rotate around the coronal axis;

[0077] a wheelchair assembly comprising a wheelchair support rod 410 hingedly connected to the hip joint mechanism and a wheelchair cross rod 411 hingedly connected to the ankle joint mechanism, the wheelchair support rod 410 being provided with an electrically driven wheel 412 at one end, the other end of the wheelchair cross rod 411 being hingedly connected to the wheelchair support rod 410, the thigh link member, the shank link member, the wheelchair support rod and the wheelchair cross rod forming a four-bar linkage mechanism;

[0078] a front wheel assembly comprising a front wheel 413 and a height adjusting member 414 for adjusting the ground clearance of the front wheel, the height adjusting member being connected to the ankle joint mechanism. The height adjusting member 414 can adopt an electric cylinder.

[0079] When switching from the standing state to the wheelchair state, the exoskeleton robot drives the thigh link to rotate through the third motor, drives the lower leg link to rotate through the fourth motor, until the electrically driven wheels are in contact with the ground, and at the same time, the front wheels are controlled to extend and support on the ground through the height adjusting member. In this process, the seat mechanism is controlled to be unfolded to form the seat plate of the wheelchair, and at this time, the exoskeleton robot can realize the function of the electric wheelchair.

[0080] In some embodiments, the hip joint mechanism comprises:

[0081] The hip joint seat 401 is rotationally connected between the base support and the hip joint;

[0082] The hip joint connecting rod 402 is rotationally connected between the hip joint seat and the hip joint connecting rod 407 at one end;

[0083] The third motor 33 is used to drive the hip joint connecting rod to rotate around the sagittal axis;

[0084] The thigh link 403 is rotationally connected with the hip joint connecting rod 407.

[0085] In some embodiments, the ankle joint mechanism comprises:

[0086] The ankle joint seat 406 is connected with the lower leg link 405;

[0087] The ankle joint connecting rod 407 is rotationally connected between the ankle joint seat 406 and the ankle joint connecting rod 407 at one end;

[0088] The fourth motor 34 is used to drive the ankle joint connecting rod to rotate around the coronal axis.

[0089] In some embodiments, the lower limb unit further comprises a foot support 408 for supporting the foot;

[0090] The foot support 408 is rotationally connected between the ankle joint connecting rod 407 and the foot support 408;

[0091] The fifth motor 35 is used to drive the foot support to rotate around the sagittal axis.

[0092] In some embodiments, the auxiliary exoskeleton robot further comprises an upper limb unit 50 connected with the base support, and the upper limb unit is used to support the upper limb.

[0093] Referring to Figure 8 The upper limb unit comprises an upper limb wearing member 51 and an upper limb adjusting unit;

[0094] The upper limb adjusting unit comprises a plurality of sets of upper limb adjusting members 52, and the two ends of the upper limb adjusting member 52 are respectively connected between the base support 10 and the upper limb wearing member 51 through the universal joint, so as to support the upper limb wearing member and adjust the posture of the upper limb wearing member.

[0095] The upper limb wearing piece can adopt a ring structure matched with the upper limb, can form a covering to the upper limb, and thus forms a good connection with the upper limb.

[0096] As shown in Figure 8 The upper limb wearing piece is composed of a chain plate 511, a fixed connecting piece 512 and a scissor adjusting piece 513, which are connected by bolts, and the scissor adjusting piece 513 is used for adjusting the tightness of the upper limb wearing piece, and the arc-shaped connecting rod structure of the chain plate 511 forms a good fit with the human body.

[0097] The upper limb adjusting unit can adopt three upper limb adjusting pieces, two of which are arranged on both sides of the waist, and the other is arranged at a position corresponding to the back.

[0098] The upper limb adjusting piece adopts an electric push rod to assist the movement of the upper limb in each direction, and the upper limb adjusting piece 52 and the universal joint 53 at both ends thereof form a UPU branch chain structure, and three groups of UPU branch chain structures jointly constitute the upper limb adjusting unit to realize the adjustment of the upper limb posture.

[0099] In the description of the present application, it should be pointed out that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly used when the product of the present application is used, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0100] In addition, the terms "horizontal", "vertical" and the like in the description of the present application do not mean that the components must be absolutely horizontal or vertical, but can be slightly inclined. For example, "horizontal" only means that its direction is relatively more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0101] In the description of the utility model, still need to explain, unless another explicit provision and limitation, if appear term " set ", " install ", " link ", " connect " should do broad sense understanding, for example, can be fixed connection, also can be detachable connection, or integrally connected;Can be mechanical connection, also can be electrical connection;Can be directly connected, also can be indirectly connected through the intermediate medium, can be two elements inside the communication.

[0102] The above is only the preferred embodiment of the utility model, and does not limit the utility model in any form, and any simple modification, equivalent change of the above embodiment according to the technical essence of the utility model all fall within the protection scope of the utility model.

Claims

1. A foldable seat pan, characterized by, include: Seat base; A seat plate mechanism includes a scissor lift assembly and a seat plate assembly connected to a seat base. The scissor lift assembly includes multiple sets of scissor lift units. Hinge seats are provided at the hinge points of each scissor lift end and one or more sets of scissor lift units located in the middle position. The seat plate assembly includes two sets of symmetrically arranged seat plate units. Each seat plate unit is composed of multiple plates that are hinged together in sequence. The two sets of seat plate units are respectively connected to the hinge seats located at the scissor lift ends via hinge rods, and one of the hinge rods is rotatably connected to the hinge seat located at the hinge point. Seat plate driver, used to drive the scissor lift assembly to extend and retract.

2. The stowable bench of claim 1, wherein, The plate is a right-angled triangle, and the plates are connected sequentially by hinges between the right-angled sides and the hypotenuse to form a foldable base plate unit.

3. The stowable bench of claim 1, wherein, The two hinge seats located on the two scissor ends of the scissor unit connected to the seat base are such that one hinge seat is rotatably connected to the seat base, and the other hinge seat is slidably connected to the seat base and can rotate along its own axis. The seat plate drive is used to drive the hinge seat to slide on the seat base.

4. The stowable bench of claim 1, wherein, The scissor lift unit adopts a double-layer support structure.

5. An assistive exoskeleton robot characterized by, Includes the retractable seat plate according to any one of claims 1-4.

6. The assistive exoskeleton robot according to claim 5, wherein, include: A base support is provided, and the seat base is fixedly connected to the base support. And two sets of lower limb units, the lower limb units comprising: The hip joint mechanism is connected to the base support; The thigh member is rotatably connected to the hip joint mechanism at one end; The first motor is used to drive the thigh rod to rotate around the coronal axis; A knee joint mechanism, including a knee joint seat connected to a thigh member; The lower leg member is rotatably connected to the knee joint seat at one end; Ankle joint mechanism, connected to the lower leg rod; The second motor is used to drive the lower leg rod to rotate around the coronal axis; The wheelchair assembly includes a wheelchair strut hinged to a hip joint mechanism and a wheelchair crossbar hinged to an ankle joint mechanism. One end of the wheelchair strut is provided with an electric drive wheel, and the other end of the wheelchair crossbar is hinged to the wheelchair strut. The thigh member, the lower leg member, the wheelchair strut, and the wheelchair crossbar form a four-bar linkage. A front wheel assembly, including a front wheel and a height adjuster for adjusting the ground clearance of the front wheel, the height adjuster being connected to an ankle joint mechanism.

7. The assistive exoskeleton robot according to claim 6, wherein, The hip joint mechanism includes: The hip joint seat is rotatably connected to the base support. The hip joint link is rotatably connected at one end to the hip joint seat; The third motor is used to drive the hip joint linkage to rotate around the sagittal axis; The thigh member is rotatably connected to the hip joint link.

8. The assistive exoskeleton robot according to claim 6, wherein, The ankle joint mechanism includes: Ankle joint seat, connected to the lower leg rod; Ankle joint link, which is rotatably connected at one end to the ankle joint seat; The fourth motor is used to drive the ankle joint linkage to rotate around the coronal axis.

9. The assistive exoskeleton robot according to claim 8, wherein, It also includes a foot support component, which is rotatably connected to the ankle joint link; The fifth motor is used to drive the foot support to rotate around the sagittal axis.

10. The assistive exoskeleton robot according to claim 6, wherein, It also includes an upper limb unit connected to the base support, which is used to support the upper limb.

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