CN-122008151-A - Mountain climbing power-assisted robot

CN122008151ACN 122008151 ACN122008151 ACN 122008151ACN-122008151-A

Abstract

The invention discloses a mountain climbing assistance robot which comprises a fixing piece and an output piece, wherein the output piece is a hip joint motor arranged in the fixing piece, the fixing piece is connected with the end part of a beam frame, the output piece is connected with a curved bar, a lifting assistance element is arranged at the rear side of the curved bar and comprises a folding state, a shank assistance state and a load assistance state which are switched mutually, the lifting assistance element provides assistance for the shank when the lifting assistance element is switched to the shank assistance state, the lifting assistance element is used for providing assistance for the load borne by a user back when the lifting assistance element is switched to the load assistance state, the adjustable beam frame is used for adapting to users with different hip joint sizes, the mountain climbing assistance robot has the advantages of lifting thighs and assisting the shank, the lifting assistance element of the robot can be freely switched among the folding state, the shank assistance state and the load assistance state, the problem that the traditional thigh assistance can not have shank assistance can be solved, and the robot can cope with more assistance scenes.

Inventors

CHENG HUASHENG
YUAN XUEYONG
HUANG YAN
Yu Xuanye
ZHANG QING
LI XIAOYA

Assignees

六安职业技术学院

Dates

Publication Date: 20260512
Application Date: 20260407

Claims (10)

1. The mountain climbing assistance robot comprises a cross beam frame (10), wherein the cross beam frame (10) is of a U-shaped structure, two ends of the cross beam frame (10) are respectively connected with a thigh lifting element, the thigh lifting elements comprise fixing pieces and output pieces, the output pieces are hip joint motors arranged in the fixing pieces, the fixing pieces are connected with the end parts of the cross beam frame (10), the output pieces are connected with a curved rod (30), and the mountain climbing assistance robot is characterized in that the rear side of the curved rod (30) is provided with lifting assistance elements (40), the lifting assistance elements (40) comprise mutually switched folding states, shank assistance states and load assistance states, when the lifting assistance elements (40) are switched to the shank assistance states, the lifting assistance elements (40) provide assistance for the shank, when the lifting assistance elements (40) are switched to the load assistance states, the lifting assistance elements (40) are used for providing assistance for the load of the back of a user, and when the lifting assistance elements (40) are switched to the folding states, the lifting assistance elements (40) are folded on the back surfaces of the curved rod (30).
2. The mountain climbing assistance robot according to claim 1, wherein the lifting assistance element (40) comprises a bracket (41) fixed on the curved bar (30), an assistance motor is fixedly arranged on the bracket (41), an output end of the assistance motor is connected with a cantilever (42), the cantilever (42) is slidably connected to one end of a push rod (43), and a supporting plate (44) is hinged to the other end of the push rod (43).
3. The mountain climbing assistance robot according to claim 2, wherein a chute (42 a) matched with the ejector rod (33) is arranged on the cantilever (42), a storage groove (42 b) matched with the shape of the supporting plate (44) and used for storing the supporting plate (44) is arranged at the lower end of the cantilever (42), an avoidance groove (42 d) penetrating through the cantilever (42) is further arranged on the cantilever (42), the groove depth of the avoidance groove (42 d) is perpendicular to the chute (42 a), and when the lifting assistance element (40) is in a folded state, the ejector rod (43) is positioned at the junction of the chute (42 a) and the avoidance groove (42 d).
4. A mountain climbing assistance robot according to claim 3, wherein the cantilever (42) is provided at its suspension end with a reversing notch (42 c) which is connected to the chute (42 a) and which provides a steering space for the ejector rod (43) to rotate to the rear side.
5. A mountain climbing assistance robot according to claim 3, characterized in that a rotary buckle (45) for restraining the folding state lifting assistance element (40) is arranged on the support (41), the driving end of the cantilever (42) is of a circular structure, a circular arc transition is arranged between the storage groove (42) b and the driving end, the rotary buckle (45) comprises a rotary rack (45) a rotatably arranged on the support (41), a restraining rod (45 b) is arranged at the suspension end of the rotary rack (45) a, the restraining rod (45 b) is made of an elastic material, the rotary buckle (45) is rotated when the lifting assistance element (40) is switched to the folding state, and the restraining rod (45 b) is enabled to slide onto the supporting plate (44) through the surface movement of the driving end of the cantilever (42) and form restraint on the supporting plate (44).
6. The climbing assistance robot according to claim 5, wherein a curved surface is provided on an end side of the pallet (44) that matches the driving end of the cantilever (42), and a restraining bar (45 b) on the swivel button (45) matches the curved surface when the lifting assistance element is switched to the folded state.
7. The climbing assistance robot according to claim 5, wherein the ejector rod (43) is connected with the cantilever (42) through a beam position assembly (50), the beam position assembly (50) comprises a sliding state and a positioning state which are switched with each other, the ejector rod (43) can freely slide in the sliding groove (42 a) when the beam position assembly (50) is in the sliding state, and the ejector rod (43) keeps a fixed posture with the cantilever (42) when the beam position assembly (50) is in the positioning state.
8. The climbing assistance robot according to claim 7, wherein a mandrel (54) is coaxially arranged in the shaft sleeve (51), one end of the mandrel (54) is a stress end, the other end of the mandrel is a positioning end, the stress end of the mandrel (54) is provided with a button (52), an external boss (56) is fixedly arranged on the mandrel (54), a fixed collar (55) is fixedly arranged in the shaft sleeve (51), a spring is arranged between the fixed collar (55) and the external boss (56), the elastic force provided by the spring is used for driving the spring (54) to move outwards, a limiting collar (57) for limiting the mandrel (54) to separate is further arranged at the end of the shaft sleeve (51), a constraint inclined plane (58) and a positioning inclined plane (59) which are oppositely arranged are arranged at the positioning end of the mandrel (54), a positioning hole is formed in the shaft sleeve (51), a steel column (53) is movably arranged in the positioning hole, when the external boss (56) is pushed to move outwards by the spring, the constraint inclined plane (58) is pushed to extend outwards and match with the positioning hole of the chute (42 a), and when the mandrel (54) is exerted by the button (52), the acting force is exerted on the mandrel (54), and the constraint inclined plane (58) and the positioning inclined plane and the positioning hole are separated from the steel column (59).
9. The climbing assistance robot according to claim 8, wherein the shaft sleeve (51) is provided with a protruding ring, and the sliding groove (42 a) is internally provided with a guide groove matched with the protruding ring.
10. The climbing assistance robot according to any one of claims 3 to 9, characterized in that the reversing notch (42 c) is connected to the avoidance groove (42 d).

Description

Mountain climbing power-assisted robot Technical Field The invention relates to a mountain climbing power-assisted robot. Background Mountain climbing travel is an important play item, and due to individual variability, a part of people are not suitable for climbing or cannot overcome the mountain climbing item, so that a plurality of technical schemes are provided in the prior art, for example, assistance is provided through a mountain climbing stick, assistance is provided through an assistance robot, the current assistance robots are mainly divided into two types, namely thigh assistance and knee assistance, and when the thigh assistance type robot is used, the thigh still needs to be automatically stretched when lifting acting force is obtained, and the market demand is not solved. Disclosure of Invention In order to solve the technical problem, the invention aims to provide a climbing assistance robot with thigh lifting and shank assistance, wherein a lifting assistance element of the robot can be freely switched among a folding state, a shank assistance state and a load assistance state, so that the problem that the conventional thigh assistance cannot be provided with shank assistance is solved, and more assistance scenes can be dealt with. In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows. The climbing assistance robot comprises a cross beam frame, wherein the cross beam frame is of a U-shaped structure, two ends of the cross beam frame are respectively connected with a thigh lifting element, each thigh lifting element comprises a fixing piece and an output piece, the output piece is a hip joint motor arranged in the fixing piece, the fixing piece is connected with the end part of the cross beam frame, the output piece is connected with a curved rod, the rear side of the curved rod is provided with a lifting assistance element, the lifting assistance element comprises a folding state, a shank assistance state and a load assistance state which are mutually switched, the lifting assistance element provides assistance for the shank when the lifting assistance element is switched to the shank assistance state, the lifting assistance element is used for providing assistance for the load borne by a user when the lifting assistance element is switched to the load assistance state, and the lifting assistance element is folded on the back of the curved rod when the lifting assistance element is switched to the folding state. Based on the technical scheme provided by the invention, users with different hip joint sizes can be adapted by using the adjustable beam frame, the lifting power assisting element positioned on the curved bar can be freely switched in three states, the power assisting robot can independently provide lifting power for thighs when positioned in a folding state, the lifting power assisting element can provide auxiliary bending power for the thighs when positioned in a shank power assisting state, and the lifting power assisting element can provide upward auxiliary force for a knapsack of the user when positioned in a load power assisting state so as to reduce shoulder pressure. According to the technical scheme, the lifting power assisting element comprises a support fixed on a bent rod, a power assisting motor is fixedly arranged on the support, the output end of the power assisting motor is connected with a cantilever, the cantilever is connected to one end of a push rod in a sliding mode, and the other end of the push rod is hinged to a supporting plate. Based on the technical scheme, the power-assisted motor outputs power outwards, auxiliary power is provided for the lower leg/backpack, the cantilever is used for receiving the power of the power-assisted motor, the ejector rod is used for adjusting the position and the angle of the supporting plate, the fastener used for stabilizing the ejector rod and the supporting plate is arranged between the ejector rod and the supporting plate, and after the position is adjusted to a required angle, the position of the supporting plate is stabilized by the fastener so as to realize stable power assistance to the external output. The more detailed optimization scheme is that a chute matched with the ejector rod is arranged on the cantilever, a storage groove matched with the shape of the supporting plate and used for storing the supporting plate is arranged at the lower end of the cantilever, an avoidance groove penetrating through the cantilever is further formed in the cantilever, the groove depth of the avoidance groove is perpendicular to the chute, and when the lifting power assisting element is in a folded state, the ejector rod is located at the junction of the chute and the avoidance groove. Based on the technical scheme, the storage groove arranged on the cantilever is utilized, so that the supporting plate can be effectively stored when the lifting power assisting element is in a folde