Wheelchair type robot for walking aid
A wheelchair type robot for use as a walking aid wherein an outer skeleton to be worn on the lower body of a user is combined with a lift and a drive part in a wheelchair form. The drive part is furnished with a drive motor and wheels that are installed on a main frame. The lift is furnished with an outer linear guide that is fixed and joined with the main frame, an inner linear guide that can move up and down along same, an upper chair part that connects with the inner linear guide to enable up and down motion, and a lower chair part that connects with the outer linear guide such that unfolds if the inner linear guide descends and folds if it ascends. The outer skeleton is furnished with a lift locking part that is fixed and joined with the upper chair part, an upper frame whereto a thigh brace is joined, a lower frame whereto a calf brace is joined, a hip part that is installed between the lift locking part and the upper frame to rotate the upper frame around the lift locking part, and a knee joint part that is installed between the upper frame and the lower frame to rotate the lower frame around the upper frame.
1. A wheelchair walking aid robot comprising:
a driving unit including a main frame, a driving motor provided to the main frame, and wheels provided to the main frame and driven by the driving motor;
a lift including an outer linear guide fixed to the main frame, an inner linear guide capable of a vertical movement along the outer linear guide, an upper chair part connected to the inner linear guide and capable of a vertical movement, and a lower chair part directly connected to the outer linear guide wherein the lower chair part is unfolded or folded when the inner linear guide descends or ascends, respectively; and
an exoskeleton including a lift locking part combined with the upper chair part, an upper frame having a thigh brace joined to the upper frame, a lower frame having a calf brace joined to the lower frame, a hip joint part installed between the lift locking part and the upper frame and forcing the upper frame to rotate with respect to the lift locking part, and a knee joint part installed between the upper frame and the lower frame and forcing the lower frame to rotate with respect to the upper frame.
2. The wheelchair walking aid robot of claim 1 , wherein the lift further includes a linear actuator fixed to the main frame, connected to the inner linear guide, and vertically driving the inner linear guide.
3. The wheelchair walking aid robot of claim 1 , wherein the lift further includes an outer link block fixedly connected to the inner linear guide and movably connected to the outer linear guide.
4. The wheelchair walking aid robot of claim 1 , wherein the lift further includes an inner link block fixedly connected to the upper chair part and movably connected to the inner linear guide.
5. The wheelchair walking aid robot of claim 4 , wherein the lift further includes a sprocket provided to an upper end of the inner linear guide, and a chain connected at one end to the main frame, traveling on the sprocket, and connected at the other end to the inner link block, and wherein when the inner link block moves upwards along the inner linear guide by the chain, the upper chair part moves upwards together.
6. The wheelchair walking aid robot of claim 3 , wherein the lift further includes a rack gear formed on the outer linear guide, a first spur gear engaged with the rack gear and inserted into the outer link block to run idle, and a second spur gear engaged with the first spur gear and having a shaft of the first spur gear fixed to the lower chair part, and wherein when the outer link block rises by the inner linear guide, the lower chair part is folded downwards.
7. The wheelchair walking aid robot of claim 1 , wherein the lift further includes a waist brace provided to the upper chair part.
8. The wheelchair walking aid robot of claim 1 , wherein the exoskeleton further includes a hip joint driving member provided to both a first end and a second end of the lift locking part and offering a rotating force to the hip joint part.
9. The wheelchair walking aid robot of claim 1 , wherein the exoskeleton further includes a knee joint driving member provided directly to the knee joint part and offering a rotating force to the knee joint part.