CN101019795A - Multifunctional the disabled aiding robot - Google Patents

Abstract

Translated fromChinese

本发明提供了一种多功能助残机器人。它包括轮椅架、双差动轮驱动机构、腿部推力机构、踏板回转机构、坐椅回转机构和腰带助力机构，轮驱动机构包括双差动轮驱动机构和自由轮辅助机构，双差动轮驱动机构共有两组，分别固定在轮椅两侧的中间位置；自由轮辅助机构由四个自由轮组成，分别布置在轮椅的四角位置；腿部推力机构和坐椅回转机构设置在轮椅架下面，踏板回转机构设置在轮椅架前端，腰带助力机构设置在轮椅架中央。本发明既具有一般轮椅的通用性又能够帮助截瘫患者或行走不便病人进行行走锻炼、有利于残疾人自主进行腿部康复训练并能进行减重训练、下肢关节和肌肉的运动训练等康复训练功能，起坐、下蹲等生活技能训练。

The invention provides a multifunctional robot for assisting the disabled. It includes wheelchair frame, double differential wheel drive mechanism, leg thrust mechanism, pedal swing mechanism, seat swing mechanism and belt assist mechanism, wheel drive mechanism includes double differential wheel drive mechanism and free wheel auxiliary mechanism, double differential wheel There are two groups of driving mechanisms, which are respectively fixed in the middle of the two sides of the wheelchair; the free wheel auxiliary mechanism is composed of four free wheels, which are respectively arranged at the four corners of the wheelchair; the leg thrust mechanism and the seat rotation mechanism are arranged under the wheelchair frame. The pedal turning mechanism is arranged at the front end of the wheelchair frame, and the belt assist mechanism is arranged at the center of the wheelchair frame. The invention not only has the versatility of a general wheelchair, but also can help paraplegic patients or patients with walking difficulties to carry out walking exercises, is beneficial to the disabled to carry out leg rehabilitation training independently, and can perform rehabilitation training functions such as weight loss training, lower limb joints and muscle exercise training, etc. , Life skills training such as sit-ups and squats.

Description

The multi-functional robot that helps the disabled

(1) technical field

The present invention relates to mechanical field, be specifically related to a kind of rehabilitation training machinery of helping the disabled.

(2) background technology

Along with the raising of scientific and technological progress and living standards of the people, China is stepping into aging with many countries are the same in the world.A large amount of cerebrovascular disease or patient with nervous system disease are arranged in aged crowd, and this class patient has hemiplegia or paraplegia symptom mostly.Need carry out rehabilitation training and nursing, can guarantee the rehabilitation of limbs, be unlikely to the old damage of muscle or downright bad.The healing robot technical transform is the robot product, for improving the rehabilitation of patients quality, alleviating burden on society and have important and practical meanings.Patient's number of suffering from limb movement disturbance owing to a variety of causes is many, along with growth in the living standard, also can be increasing to the needs of rehabilitation, and healing robot will have good market prospect.The conversion of healing robot achievement may drive the development of an emerging robot industry, and this will play a significant role to development and national economy.

The external at present relevant achievement of developing:

Closed loop power control formula gravity support system (CLOSED-LOOP FORCE CONTROLLED BODY WEIGHTSUPPORT SYSTEM)

Publication?number:WO03035184

Publication?date:2003-05-01

Inventor:GORDON?KEITHE；SVENDSEN?BJORN；HARKEMA?SUSAN；EL-ALAMI?SAM

Applicant:UNIV?CALIFORNIA(US)

A kind of gravity support system is used to monitor and control the size of support force in the gait cycle, makes to obtain normal center of mass motion and ground reaction force.This system connects the bundle tool by last stay cord, and long the adjusting by device of rope elongates or shortens.Other has the loading condition on the control system detection rope, regulates elongating or shortening of rope in view of the above.This system cooperates with treadmill, and patient is carried out training.

This system is based on the loss of weight system of rope, makes patient carry out lower limb exercise by means of the power of treadmill, and shank does not have any supplemental training mechanism, can't reach the purpose of leg training for paralytic patient.And whole system is huger, and cost is higher, only is applicable to indoor training, is unfavorable for product development.

Domesticly developed two kinds of relevant achievements: 1, application number is that the denomination of invention of CN02238860.5 is the comprehensive physical ability functional training of the past complex line sports apparatus that adopts bent axle, chain etc. to form for paralytic's rehabilitation machines, be to aim at the motion mode that the handicapped non-healthy people of legs and feet provides, adopt this rehabilitation machines that paralytic's human leg, foot, arm are moved up and down, finger is done the opening and closing campaign.But paralytic's rehabilitation machines is a human body carries out lower limb rehabilitation training with the sitting posture state, and rehabilitation machines can not arbitrarily move, and only is applicable to indoor training, and function is single relatively; 2, number of patent application be 02239834.1 name to be called the hemiplegia walking aid be by left and right, back three vehicle frames that side supports connects and composes, bottom of frame is installed four castors for four jiaos, and the medicated cushion that can throw is installed in vehicle frame.It is characterized in that: symmetric position vertically connects one respectively and is used for the oxter support bracing frame identical with the crutch shape on the and arranged on left and right sides support; Preceding two castors are selected the universal wheel with braking function for use; Vehicle frame adopts the wide shape of middle part narrow lower portion.A protection thick stick is installed between the left and right support of vehicle frame front end; Opening one in the middle of the bottom medicated cushion can be for the oval-shaped hole of patient's defecation.The hemiplegia walking aid is mainly used in the hemiplegic patient, no loss of weight measure, and passive delivery, and the mobile of car body is that People's Bank of China walks to drive, and the seat that can overturn also will rely on staff to carry out, and shank does not have any supplemental training measure, and automaticity is not high.Training for like this patient alone makes troubles.

(3) summary of the invention

The object of the present invention is to provide a kind of not only had the versatility of general wheelchair but also can help paralytic patient or the walking disorder patient walk exercise, help the rehabilitation training functions such as training that the people with disability independently carries out the shank rehabilitation training and can carry out weight-losing, joint of the lower extremity and muscle, work and sit, squat down a kind of multi-functional robot that helps the disabled of living skill training such as (seat, sit sofa, go to toilet).

The object of the present invention is achieved like this: it comprises wheelchair frame, double differential actuation, shank thrust mechanism, pedal slew gear, seat slew gear and belt servomechanism, actuation comprises double differential actuation and freewheel auxiliary body, the double differential actuation has two groups, is separately fixed at the centre position of wheelchair both sides; Freewheel auxiliary body is made up of four freewheels, is arranged in the corner location of wheelchair; Shank thrust mechanism and seat slew gear are arranged on below the wheelchair frame, and the pedal slew gear is arranged on the wheelchair frame front end, and the belt servomechanism is arranged on wheelchair frame central authorities.

The present invention also has some architectural features like this:

1, described double differential actuation comprises direct current generator, turbine and worm decelerator, backing plate, rotating shaft, sprocket wheel and wheel, direct current generator links to each other with the turbine and worm decelerator, and link to each other with the wheelchair frame bottom by backing plate, rotating shaft is connected with the turbine and worm decelerator, and an end and the differential gear of rotating shaft are connected; The rotating shaft stage casing is connecting firmly sprocket wheel, and sprocket wheel is by the shank thrust mechanism on the chain connection wheelchair;

2, described shank thrust mechanism comprises hinge wheel, turning cylinder, rolling bearing, bearing block, sleeve, crank, bearing pin, connecting rod, rocking bar, rocking bar core and gripper shoe; The Dalian wheel links to each other with turning cylinder, bearing in turning cylinder and the bearing block is connected, one end is connected with hinge wheel, one end concrete mutually of the other end and crank, crank end links to each other with connecting rod one end by bearing pin, and the other end of connecting rod is connected with rocking bar by the axle of having strong market potential, the other end of rocking bar is fixed on by rocking bar core below the handrail of wheelchair, corresponding bearing block is fixed on the lateral short support of wheelchair, is connecting gripper shoe on the axle of having strong market potential of rocking bar end, and gripper shoe is connected by spherical hinge with connecting axle;

3, described pedal slew gear comprises DC speed-reducing, motor bracing frame, rolling bearing, bearing supporting frame and pedal, electric machine support and bearing supporting frame are fixed on the underframe of wheelchair, fixing and the motor bracing frame of direct current generator, the output shaft of direct current generator and pedal one end are fastening, and the other end and rolling bearing join;

4, described seat slew gear comprises DC speed-reducing, motor bracing frame, bevel-gear sett, bearing block, rolling bearing, back shaft and bearing, the motor bracing frame is fixed on the wheelchair side, DC speed-reducing is fixed in electric machine support, output shaft and bevel pinion are fastening, bearing block is fixed on the short bracing frame of wheelchair both sides, rolling bearing is housed in the bearing block, back shaft passes through bearing fixing, one end and the bevel gear wheel of back shaft are fastening, the other end is connected with seat, is provided with two bearings below the seat;

5, described belt servomechanism comprises DC speed-reducing, motor bracing frame, third wheel, rope, pneumatic spring, bearing, fixing head and belt, the motor bracing frame is fixed on the wheelchair back, on the DC speed-reducing fixing support rack, its output shaft is connected with third wheel, the wheelchair top is fixed with two third wheels, rope is walked around wheelchair by three third wheels, link to each other with the gripper shoe belt, pneumatic spring is fixed on the bracing frame of wheelchair by bearing, its outfan and gripper shoe spherical hinge are fixed, and belt and fixing head are fixed as one.

The present invention is theoretical and collaborative robot principle according to the human physiology, by Single-chip Controlling, differential by two differential gears rotates, reach the planned trajectory of expection, make the people with disability can be according to re-set target or the direction exercise of walking of oneself, thigh ground movement locus can give people with disability's lower limb certain auxiliary force when the particular organization on the wheelchair was simulated human body walking, helped the people with disability to carry out lower limb exercise smoothly.Owing to have power source, the people with disability can conveniently control robot makes the people with disability arrive the set goal position, the robot seat is undertaken freely overturning by automatic control, the belt servomechanism can help the people with disability to realize more flexibly standing, action such as sit down, therefore the multi-functional robot that helps the disabled can realize the rehabilitation training functions such as training of weight-losing, joint of the lower extremity and muscle, works and sit, squat down living skill training such as (seat, sit sofa, go to toilet).This disabled aiding robot also has the versatility of general wheelchair, has made things convenient for people with disability's daily life.

The mobile rotation by two differential gears of the present invention realized, and realized the change of robot motion's direction by the speed difference that differential gear rotates.Differential gear is arranged in the centre position of robot, can realize that the original place of robot is rotated.Freewheel mainly plays a supportive role.One ladder in double differential actuation rotating shaft stage casing is to be used for being connected with sprocket wheel, by the chain transmission, power is passed to shank thrust mechanism on the wheelchair.The double differential actuation has two groups, is separately fixed at the centre position of wheelchair both sides.Freewheel auxiliary body is made up of four freewheels, is arranged in the corner location of wheelchair.Freewheel auxiliary body is mainly used in the support and the assisted diversion of robot.The Dalian wheel of shank thrust mechanism links to each other with turning cylinder, be used for transmitting the power that provides by the differential gear drive motors, bearing in turning cylinder and the bearing block is connected, one end is connected with hinge wheel, the other end again with an end concrete mutually of crank, constitute the rotation of crank, crank end links to each other with connecting rod one end by bearing pin, the other end of connecting rod is connected with rocking bar by the axle of having strong market potential, the other end of rocking bar is fixed on by rocking bar core below the handrail of wheelchair, corresponding bearing block is fixed on the lateral short support of wheelchair, thereby constituted crank and rocker mechanism by the drive motors driving of differential gear, connecting gripper shoe on the axle of having strong market potential of rocking bar end, gripper shoe is that spherical hinge is connected with connecting axle.The electric machine support of pedal slew gear and bearing supporting frame are fixed on the underframe of wheelchair, the fixing and motor bracing frame of direct current generator, and the output shaft of direct current generator and pedal one end are fastening, and the other end and rolling bearing join, thereby have realized the revolution of pedal.The bearing block of seat slew gear is fixed on the short bracing frame of wheelchair both sides, and rolling bearing is housed in the bearing block, and back shaft passes through bearing fixing; can freely rotate; one end and the bevel gear wheel of back shaft are fastening, and the other end is connected with seat, have two bearings to protect support below the seat.The belt and the fixing head of belt servomechanism are considered as one.The effect of belt servomechanism is the support force that the rope by waist alleviates people's hands when walking, buffering and protection when walking that pneumatic spring is used for patient.

During use, the people with disability can independent operation.Control panel on the disabled aiding robot can be controlled each action of robot.The people with disability can be sitting in earlier on the disabled aiding robot, and can control robot this moment, and seat is put down.After the people with disability is seated, can carry out associative operation, put down rope, make belt can arrive people with disability's waist, tighten the belt subsequently, the people with disability just can begin to walk to have taken exercise like this.After the people with disability operates, rope is slowly mentioned it, this moment, the people with disability also can slowly stand by arm strength, when arriving correct position (when the support of patient's hands does not feel to require great effort), draw on stopping to restrict, this moment, the people was in standing state, can seat be packed up by control panel, thereby get out of the way the space when walking to the people with disability.Because the gripper shoe of shank is that spherical hinge is fixed, its upright position is at the thigh end, so its position can freely be adjusted along with standing of people with disability, where necessary, the people with disability also can be adjusted by people oneself when sitting down.The people with disability carries out associative operation, and the people that starts the machine is along with slowly moving of robot, people with disability's exercise of can walking, thrust mechanism also can move back and forth along with moving of robot, thereby gives the certain auxiliary force of people with disability's thigh, is that the people with disability finishes lower limb exercise smoothly.The people with disability can be controlled the rotation of two differential gears by the guidance panel of disabled aiding robot, according to needs control wheel chair sport direction and the movement velocity of oneself.

When the people with disability needs rest, by guidance panel seat is put down, in addition, the pedal that is arranged on the wheelchair both sides can also be put down, the people with disability can sit down like this, and two lower limbs can be placed on the pedal, and patient then can control wheelchair and arrive some places easily at this moment, need go to toilet as the people with disability, can make robot fall back on the urinal position, the people with disability controls robot and helps oneself to stand up, and packs up seat, get out of the way the urinal position, the people with disability can be sitting on the urinal like this.

Beneficial effect of the present invention is:

1, the differential by two differential gears rotates, make the people with disability pass through loss of weight mechanism, with standing state, according to re-set target or the direction exercise of walking of oneself: the movement locus of thigh during shank thrust mechanism simulation human body walking on the wheelchair, can give people with disability's lower limb certain auxiliary force, help the people with disability to carry out lower limb exercise smoothly; The robot seat can freely overturn by automatic control, the belt servomechanism can help the people with disability to realize more flexibly standing, action such as sit down, therefore the multi-functional robot that helps the disabled can realize the rehabilitation training functions such as training of weight-losing, joint of the lower extremity and muscle, works and sit, squat down living skill training such as (seat, sit sofa, go to toilet); This disabled aiding robot also has the versatility of general wheelchair, has made things convenient for people with disability's daily life;

2, based on rope driving, wheel drive and the coefficient combined training platform of shank thrust mechanism: paralytic patient is in standing state, by the mobile drive patient of the robot exercise of walking, the shank thrust mechanism is according to the crank rocker principle, utilize its rocking bar end orbit, certain auxiliary force when giving patient and walking.This mechanism and driving wheel have used same drive source, when robot moves, the shank thrust mechanism moves back and forth with it, and can satisfy 180 degree phase contrasts (being the phase relation of normal person when walking) by adopting different control strategies, under the combined effect of several mechanisms, help the paralytic patient exercise of walking;

3, realize walking the training of exercise, weight-losing, joint of the lower extremity and muscle except that the control patient, also have seat, sit sofa, living skill training such as go to toilet: seat slew gear, pedal slew gear and rope driving mechanism can be total to the patient and finish the action of sitting down smoothly; When patient need go to toilet, can make robot move to the urinal top earlier, by control seat slew gear, its upset is packed up, get out of the way the space, thereby the patient can be sitting on the urinal directly.

The present invention can be used for the congenital shank posteriority shank disability disabled and that caused by cerebral infarction sequela, spinal cord injury, cerebral palsy, amyotrophy, contingency etc. or the shank training of paralytic patient.

(4) description of drawings

Fig. 1 is the multi-functional robot front view of helping the disabled of the present invention;

Left view when Fig. 2 helps the disabled the state of robot lifting rope and fixing head disengaging for the present invention is multi-functional;

Fig. 3 is the multi-functional robot vertical view of helping the disabled.

(5) specific embodiment

The present invention is further illustrated to provide the drawings and specific embodiments below:

In conjunction with Fig. 1-3, present embodiment comprises actuation, shank thrust mechanism, pedal slew gear, seat slew gear, belt servomechanism.Sleeve mechanism is installed on the wheelchair frame.Actuation comprises double differential actuation and freewheel auxiliary body.

The double differential actuation comprises directcurrent generator 10, turbine andworm decelerator 11,backing plate 12,rotating shaft 13,sprocket wheel 14 andwheel 15 compositions.Directcurrent generator 10 links to each other with turbine andworm decelerator 11, remedy difference in height after directcurrent generator 10 is installed withdecelerator 11 by abacking plate 12, and be connected mutually with the wheelchair frame bottom bybacking plate 12, the rotating shaft of differential gear is by fixed with decelerator, give differential gear with transmission of power, the bearing pin in rotatingshaft 13 1 ends and the differential gear is fastenedly connected.There is a ladder in rotatingshaft 13 stage casings in addition, are used for being connected withminor sprocket 14, by the chain transmission, power are passed to crank and rocker mechanism on the wheelchair.The double differential actuation has two groups, is separately fixed at the centre position of wheelchair both sides.

Freewheel auxiliary body is made up of four freewheels, is arranged in the corner location of wheelchair.Freewheel auxiliary body is mainly used in the support and the assisted diversion of robot.

In conjunction with Fig. 3, the pedal slew gear comprises rotatingshaft 30, bearing supporting frame 31,pedal 32,motor bracing frame 33 and DC speed-reducing 34.Electric machine support 33 and bearing supporting frame 31 are fixed on the underframe of wheelchair, DC speed-reducing 34 fixing andmotor bracing frames 33, the output shaft of DC speed-reducing 34 andpedal 32 1 ends are fixed, one end ofpedal 32 other ends and rotatingshaft 30 is fastening, the other end of rotatingshaft 30 is connected with rolling bearing finishes axial restraint, thereby has realized the revolution ofpedal 32.

As Figure 1-3, the shank thrust mechanism compriseshinge wheel 40, turningcylinder 41,crank 42, connectingrod 43,rocking bar 44,rocking bar core 45 and gripper shoe 46.Crank and rocker mechanism adopts symmetrical arrangement in the wheelchair both sides.Dalianwheel 40 is connected with turningcylinder 41, is used for transmitting the power that is provided by the differential gear drive motors, and turningcylinder 41 is by the location of the bearing in the bearing block, and energy freely rotate.Turningcylinder 41 again with an end concrete mutually ofcrank 42, constitute the rotation ofcrank 42,crank 41 ends link to each other with connectingrod 43 1 ends by bearing pin, connectingrod 43 andcrank 42 can freely relatively rotate.The other end of connectingrod 43 is connected withrocking bar 44 by bearing pin, the other end of rockingbar 44 is fixed on by rockingbar core 45 below the handrail of wheelchair, corresponding bearing block is fixed on the lateral short support of wheelchair, thereby constituted crank and rocker mechanism by the drive motors driving of differential gear, on the bearing pin of rocking bar end, connectinggripper shoe 46,gripper shoe 46 is that spherical hinge is connected with connecting axle, and promptlygripper shoe 46 can freely be rotated relative to connecting axle.Connecting axle is that hinge is connected with bearing pin, thereby gripper shoe, connecting axle can be rotated relative to bearing pin.The power of lower limb step thrust mechanism is to be provided by the drive motors that double differential is taken turns, by chain transmission transferring power.Owing to adopt Single-chip Controlling, can guarantee 180 degree phase relations, the phase relation of two lower limbs when promptly the people walks.Adopt crank and rocker mechanism, the track of thigh when utilizing the arc trajectory anthropomorphic dummy of rocking bar end to walk, thereby the promotion auxiliary force when realizing patient walked.

In conjunction with Fig. 1-3, the seat slew gear comprises DC speed-reducing 50,motor bracing frame 51, large bevel gear 52, cone pinion 53,back shaft 54,back shaft 55 and seat 56.Seat 56 adopts one-sided driving, and bilateral supports.Motor bracing frame 51 is fixed on wheelchair one side; DC speed-reducing 50 is fixed inelectric machine support 51; output shaft and pinion 53 tight fits; bearing block is fixed on the short bracing frame of wheelchair both sides, and rolling bearing is housed in the bearing block, andback shaft 54 passes through bearing fixing; can freely rotate; one end ofback shaft 54 and gear wheel 52 tight fits, the other end andseat 56 tight fits have two bearings to protect below the seat.Opposite side at wheelchair is fixed with bearing block, andback shaft 55 is by the location of the bearing in the bearing block and realize rotation, and the extension ofback shaft 55 andseat 56 tight fits have realized that like this bilateral ofseat 56 supports one-sided driving.

In conjunction with Fig. 1-3, the belt servomechanism comprises DC speed-reducing 60,motor bracing frame 61, third wheel 62-64,rope 65,pneumatic spring 66, bearing 67, fixinghead 68 and belt 69.Motor bracing frame 61 is fixed on wheelchair behind, DC speed-reducing 60 is fixed on themotor bracing frame 61, its output shaft is connected withthird wheel 62, the wheelchair top is fixed with twothird wheels 63,64 in addition,rope 65 is walked around wheelchair by three third wheels, links to each other withgripper shoe belt 69, andpneumatic spring 66 is fixed on the bracing frame of wheelchair by bearing 67, its outfan and fixinghead 68 spherical hinges are fixed, and belt 69 and fixinghead 68 are considered as one.

During use, people with disability 0 can independent operation.Control panel on the disabled aiding robot can be controlled each action of robot.People with disability 0 can be sitting in earlier on the disabled aiding robot, can control robot this moment,seat 56 is put down, after the people with disability is seated, can carry out associative operation, put downrope 65, makebelt 69 can arrive patient's waist, tighten thebelt 69 subsequently, the people with disability just can begin to walk to have taken exercise like this.After people with disability 0 operates,rope 65 is slowly mentioned it, this moment, patient also can slowly stand by arm strength, when arriving correct position (when the support of patient's hands does not feel to require great effort), make onrope 65 stop and drawing, this moment, the people was in standing state, can seat 56 be packed up by control panel, thereby get out of the way the space when walking to patient.Because thegripper shoe 46 of shank is that spherical hinge is fixed, its upright position is at the thigh end, so its position can freely be adjusted along with standing of patient, where necessary, patient also can be adjusted by patient oneself when sitting down.Patient carries out associative operation, and the people that starts the machine is along with slowly moving of robot, patient's exercise of can walking, thrust mechanism also can move back and forth along with moving of robot, thereby gives the certain auxiliary force of patient upper leg, is that patient finishes lower limb exercise smoothly.The people with disability can be controlled the rotation of two differential gears by the guidance panel of disabled aiding robot, according to needs control wheelchair direction of advance and the movement velocity of oneself.The people with disability can be controlled the running of two differential gears by the guidance panel on the wheelchair, according to the needs control disabled aiding robot direction of motion and the movement velocity of oneself.

When the people with disability needs rest, by guidance panel robot is stopped, and get back to original state (rockingbar 44 is got back to plumb position),seat 56 is put down, in addition, thepedal 32 that is arranged on the robot both sides can be put down, patient can be sitting on the seat like this, and two lower limbs can be placed on thepedal 32, the people with disability then can control disabled aiding robot and arrive some places easily at this moment, has made things convenient for people with disability's daily life.Need go to toilet as the people with disability, can make robot fall back on the urinal position, the people with disability controls robot and helps oneself to stand up, and packs upseat 56, gets out of the way the urinal position, and the people with disability just can be sitting on the urinal.

Claims (6)

Translated fromChinese

1.一种多功能助残机器人，它包括轮椅架和驱动机构，其特征在于它还包括腿部推力机构、踏板回转机构、坐椅回转机构和腰带助力机构，所述的驱动机构包括双差动轮驱动机构和自由轮辅助机构，双差动轮驱动机构共有两组，分别固定在轮椅两侧的中间位置；自由轮辅助机构由四个自由轮组成，分别布置在轮椅的四角位置；腿部推力机构和坐椅回转机构设置在轮椅架下面，踏板回转机构设置在轮椅架前端，腰带助力机构设置在轮椅架中央。1. A multifunctional robot for assisting the disabled, which includes a wheelchair frame and a drive mechanism, is characterized in that it also includes a leg thrust mechanism, a pedal rotation mechanism, a seat rotation mechanism and a belt power assist mechanism, and the drive mechanism includes a double differential Wheel drive mechanism and free wheel auxiliary mechanism, there are two sets of double differential wheel drive mechanism, which are respectively fixed at the middle positions on both sides of the wheelchair; the free wheel auxiliary mechanism is composed of four free wheels, which are respectively arranged at the four corners of the wheelchair; the legs The thrust mechanism and the seat turning mechanism are arranged under the wheelchair frame, the pedal turning mechanism is arranged at the front end of the wheelchair frame, and the waist belt assisting mechanism is arranged at the center of the wheelchair frame.2.根据权利要求1所述的多功能助残机器人，其特征在于所述的双差动轮驱动机构包括直流电机、涡轮蜗杆减速器、垫板、转轴、链轮和轮子，直流电机与涡轮蜗杆减速器相连，并且通过垫板与轮椅框架底部相连，转轴与涡轮蜗杆减速器连接，转轴的一端与差动轮固连；转轴中段固联着链轮，链轮通过链条连接轮椅上的腿部推力机构。2. The multifunctional robot for assisting the disabled according to claim 1, wherein the double differential wheel drive mechanism comprises a DC motor, a worm gear reducer, a backing plate, a rotating shaft, a sprocket and wheels, and the DC motor and the worm gear The reducer is connected, and connected to the bottom of the wheelchair frame through the backing plate, the rotating shaft is connected to the worm reducer, and one end of the rotating shaft is fixedly connected to the differential wheel; the middle part of the rotating shaft is fixedly connected to the sprocket, and the sprocket is connected to the legs of the wheelchair through a chain thrust mechanism.3.根据权利要求2所述的多功能助残机器人，其特征在于所述的腿部推力机构包括大链轮、转动轴、滚动轴承、轴承座、套筒、曲柄、销轴、连杆、摇杆、摇杆座和支撑板；大连轮与转动轴相连，转动轴与轴承座内的轴承连接，一端连有大链轮，另一端与曲柄的一端相固结，曲柄末端通过销轴与连杆一端相连，连杆的另一端通过长销轴与摇杆连接，摇杆的另一端通过摇杆座固定在轮椅的扶手下面，相应的轴承座固定在轮椅侧面的短支架上，在摇杆末端的长销轴上连接着支撑板，支撑板与连接轴通过球铰链连接。3. The multifunctional robot for assisting the disabled according to claim 2, characterized in that the leg thrust mechanism comprises a large sprocket, a rotating shaft, a rolling bearing, a bearing seat, a sleeve, a crank, a pin, a connecting rod, and a rocker , rocker seat and support plate; the Dalian wheel is connected to the rotating shaft, the rotating shaft is connected to the bearing in the bearing seat, one end is connected to a large sprocket, the other end is consolidated with one end of the crank, and the end of the crank is connected to the connecting rod through the pin shaft One end is connected, the other end of the connecting rod is connected with the rocker through a long pin, the other end of the rocker is fixed under the armrest of the wheelchair through the rocker seat, and the corresponding bearing seat is fixed on the short bracket on the side of the wheelchair, at the end of the rocker The support plate is connected on the long pin shaft, and the support plate and the connecting shaft are connected by a ball hinge.4.根据权利要求3所述的多功能助残机器人，其特征在于所述的踏板回转机构包括直流减速电机、电机支撑架、滚动轴承、轴承支撑架和踏板，电机支架和轴承支撑架固定在轮椅的底架上，直流电机固定与电机支撑架，直流电机的输出轴与踏板一端紧固，另一端与滚动轴承相接。4. The multifunctional robot for assisting the disabled according to claim 3, wherein the pedal turning mechanism includes a DC geared motor, a motor support frame, a rolling bearing, a bearing support frame and a pedal, and the motor support and the bearing support frame are fixed on the wheelchair. On the bottom frame, the DC motor is fixed to the motor support frame, the output shaft of the DC motor is fastened to one end of the pedal, and the other end is connected to the rolling bearing.5.根据权利要求4所述的多功能助残机器人，其特征在于所述的坐椅回转机构包括直流减速电机、电机支撑架、一对锥齿轮、轴承座、滚动轴承、支撑轴和支座，电机支撑架固定在轮椅侧面，直流减速电机固定于电机支架，输出轴与小锥齿轮紧固，轴承座固定在轮椅两侧的短支撑架上，轴承座内装有滚动轴承，支撑轴通过轴承固定，支撑轴的一端与大锥齿轮紧固，另一端与坐椅连接，坐椅下面设置有两支座。5. The multifunctional robot for assisting the disabled according to claim 4, characterized in that the seat turning mechanism includes a DC geared motor, a motor support frame, a pair of bevel gears, a bearing seat, a rolling bearing, a support shaft and a support, and the motor The support frame is fixed on the side of the wheelchair, the DC deceleration motor is fixed on the motor bracket, the output shaft is fastened to the small bevel gear, and the bearing seat is fixed on the short support frame on both sides of the wheelchair. Rolling bearings are installed in the bearing seat, and the support shaft is fixed through the bearing. One end of the shaft is fastened with the large bevel gear, and the other end is connected with the seat, and two supports are arranged under the seat.6.根据权利要求5所述的多功能助残机器人，其特征在于所述的腰带助力机构包括直流减速电机、电机支撑架、过轮、绳、气动弹簧、支座、固定板和腰带，电机支撑架固定在轮椅后面，直流减速电机固定支撑架上，其输出轴与过轮连接，轮椅顶部固定有两过轮，绳通过三个过轮绕过轮椅，与支撑板腰带相连，气动弹簧通过支座固定在轮椅的支撑架上，其输出端与支撑板球铰链固定，腰带和固定板固定为一体。6. The multifunctional robot for assisting the disabled according to claim 5, characterized in that the belt booster mechanism includes a DC geared motor, a motor support frame, a wheel, a rope, a pneumatic spring, a bearing, a fixed plate and a belt, and the motor supports The frame is fixed on the back of the wheelchair, the DC geared motor is fixed on the support frame, and its output shaft is connected with the wheel. The top of the wheelchair is fixed with two wheels. The seat is fixed on the support frame of the wheelchair, its output end is fixed with the support cricket hinge, and the waist belt and the fixed plate are fixed as one.

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