CN105147500A - 一种外骨骼大腿连接装置 - Google Patents

一种外骨骼大腿连接装置 Download PDF

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CN105147500A
CN105147500A CN201510666045.7A CN201510666045A CN105147500A CN 105147500 A CN105147500 A CN 105147500A CN 201510666045 A CN201510666045 A CN 201510666045A CN 105147500 A CN105147500 A CN 105147500A
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王道臣
杜晓东
赵开宇
张利剑
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Beijing Machinery Equipment Research Institute
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    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
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    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
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    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
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    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
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    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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    • A—HUMAN NECESSITIES
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    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1238—Driving means with hydraulic or pneumatic drive
    • A61H2201/1246—Driving means with hydraulic or pneumatic drive by piston-cylinder systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1619—Thorax
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    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
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    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
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    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
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Abstract

本发明公开了一种外骨骼大腿连接装置，包括：腿部旋转关节（1）和髋部旋转轴（8），还包括：减振垫（2）、轴承（3）、螺母（4）、挡圈（5）、固定销（6）和限位块（7）。腿部旋转关节（1）为圆柱状，腿部旋转关节（1）上端有圆形阶梯沉孔，腿部旋转关节（1）上端圆周侧面均匀分布两个圆形通孔。外骨骼大腿连接装置工作时，髋部旋转轴（8）通过轴承（3）的中圈和滚珠将力传递到轴承（3）的座圈，轴承（3）的座圈通过减振垫（2）将力传递到腿部旋转关节（1），限位块（7）的槽限制髋部旋转轴（8）相对于腿部旋转关节（1）的内旋外旋角度。本发明易于实现髋部旋转轴相对于腿部旋转关节的内旋外旋角度调整。

Description

一种外骨骼大腿连接装置
技术领域
本发明涉及一种连接装置，特别是一种外骨骼大腿连接装置。
背景技术
外骨骼是通过可控关节驱动力来实现穿戴者对机动性和支撑性需要的智能装备。外骨骼包括：脚部、小腿、大腿、髋部和背部。大腿的作用是将髋部作用力传递到小腿，并实现大腿内旋外旋自由度。中国专利公开号：CN102098986A（申请号：20098028424.3）的“外骨骼和控制该外骨骼的迈步腿的方法”公开了一种大腿连接装置，由髋部旋转轴、腿部旋转关节、压缩-伸长机构、弹性元件组成，该装置没有内旋外旋最大角度调节机构，不便于实现不同穿戴者对不同内旋外旋最大角度的需求。
发明内容
本发明的目的在于提供一种外骨骼大腿连接装置，解决外骨骼大腿连接装置内旋外旋角度调节困难和减振结构复杂的问题。
一种外骨骼大腿连接装置，包括：腿部旋转关节和髋部旋转轴，还包括：减振垫、轴承、螺母、挡圈、固定销和限位块。
腿部旋转关节为圆柱状，腿部旋转关节上端有圆形阶梯沉孔，腿部旋转关节上端圆周侧面均匀分布两个圆形通孔。减振垫置于腿部旋转关节圆形阶梯沉孔最下端，轴承置于减振垫上方并压紧减振垫，限位块置于轴承上方，髋部旋转轴上有凸台，限位块的轴向有三个大小不等的槽，限位块的侧面有三组沉孔并按圆周方向均匀布置，髋部旋转轴的阶梯轴端穿过限位块和轴承，髋部旋转轴的凸台置于限位块的槽中，固定销置于腿部旋转关节上端圆周侧面的沉孔中，限位块与腿部旋转关节通过固定销连接，挡圈置于髋部旋转轴的阶梯轴上并通过螺母压紧轴承。
外骨骼大腿连接装置工作时，髋部旋转轴通过轴承的中圈和滚珠将力传递到轴承的座圈，轴承的座圈通过减振垫将力传递到腿部旋转关节，髋部旋转轴的凸台位于限位块槽中，限位块的槽限制髋部旋转轴相对于腿部旋转关节的内旋外旋角度。
本发明的减振垫为弹性材料，具有降低髋部旋转轴和腿部旋转关节之间的振动功能;通过改变限位块的初始安装固定销孔，易于实现髋部旋转轴相对于腿部旋转关节的内旋外旋角度调整。
附图说明
图1一种外骨骼大腿连接装置的剖面图；
图2一种外骨骼大腿连接装置的爆炸图。
1.腿部旋转关节2.减振垫3.轴承4.螺母5.挡圈6.固定销7.限位块8.髋部旋转轴。
具体实施方式
一种外骨骼大腿连接装置，包括：腿部旋转关节1和髋部旋转轴8，还包括：减振垫2、轴承3、螺母4、挡圈5、固定销6和限位块7。
腿部旋转关节1为圆柱状，腿部旋转关节1上端有圆形阶梯沉孔，腿部旋转关节1上端圆周侧面均匀分布两个圆形通孔。减振垫2置于腿部旋转关节1圆形阶梯沉孔最下端，轴承3置于减振垫2上方并压紧减振垫2，限位块7置于轴承3上方，髋部旋转轴8上有凸台，限位块7的轴向有三个大小不等的槽，限位块7的侧面有三组沉孔并按圆周方向均匀布置，髋部旋转轴8的阶梯轴端穿过限位块7和轴承3，髋部旋转轴8的凸台置于限位块7的槽中，固定销6置于腿部旋转关节1上端圆周侧面的沉孔中，限位块7与腿部旋转关节1通过固定销6连接，挡圈5置于髋部旋转轴8的阶梯轴上并通过螺母4压紧轴承3。
外骨骼大腿连接装置工作时，髋部旋转轴8通过轴承3的中圈和滚珠将力传递到轴承3的座圈，轴承3的座圈通过减振垫2将力传递到腿部旋转关节1，髋部旋转轴8的凸台位于限位块7槽中，限位块7的槽限制髋部旋转轴8相对于腿部旋转关节1的内旋外旋角度。

Claims (1)

1.一种外骨骼大腿连接装置，包括：腿部旋转关节（1）和髋部旋转轴（8），其特征在于还包括：减振垫（2）、轴承（3）、螺母（4）、挡圈（5）、固定销（6）和限位块（7）；
腿部旋转关节（1）为圆柱状，腿部旋转关节（1）上端有圆形阶梯沉孔，腿部旋转关节（1）上端圆周侧面均匀分布两个圆形通孔；减振垫（2）置于腿部旋转关节（1）圆形阶梯沉孔最下端，轴承（3）置于减振垫（2）上方并压紧减振垫（2），限位块（7）置于轴承（3）上方，髋部旋转轴（8）上有凸台，限位块（7）的轴向有三个大小不等的槽，限位块（7）的侧面有三组沉孔并按圆周方向均匀布置，髋部旋转轴（8）的阶梯轴端穿过限位块（7）和轴承（3），髋部旋转轴（8）的凸台置于限位块（7）的槽中，固定销（6）置于腿部旋转关节（1）上端圆周侧面的沉孔中，限位块（7）与腿部旋转关节（1）通过固定销（6）连接，挡圈（5）置于髋部旋转轴（8）的阶梯轴上并通过螺母（4）压紧轴承（3）；
外骨骼大腿连接装置工作时，髋部旋转轴（8）通过轴承（3）的中圈和滚珠将力传递到轴承（3）的座圈，轴承（3）的座圈通过减振垫（2）将力传递到腿部旋转关节（1），髋部旋转轴（8）的凸台位于限位块（7）槽中，限位块（7）的槽限制髋部旋转轴（8）相对于腿部旋转关节（1）的内旋外旋角度。
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CN105798886A (zh) * 2016-05-23 2016-07-27 成都润惠科技有限公司 一种具有半环状髋部结构的人体下肢外骨骼
CN106109185A (zh) * 2016-08-01 2016-11-16 江苏怡龙医疗科技有限公司 一种用于协助病人行走的装置
CN114770478A (zh) * 2022-05-18 2022-07-22 南京航空航天大学 一种远端变刚度可重构模块化外骨骼及其控制系统和控制方法

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