CN106090127B - 用于医疗辅助装置的低摩擦齿轮箱 - Google Patents

用于医疗辅助装置的低摩擦齿轮箱 Download PDF

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CN106090127B
CN106090127B CN201610533896.9A CN201610533896A CN106090127B CN 106090127 B CN106090127 B CN 106090127B CN 201610533896 A CN201610533896 A CN 201610533896A CN 106090127 B CN106090127 B CN 106090127B
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worm
lower limb
worm gear
limb support
adapter
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CN106090127A (zh
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D·C·西蒙
P·M·赖恩
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Steering Solutions IP Holding Corp
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Abstract

本发明涉及用于医疗辅助装置的低摩擦齿轮箱。在本发明的一个示例性实施方式中，提供一种用于具有马达组件和下肢支撑件的医疗辅助装置的齿轮箱组件。所述齿轮箱组件包括：配置为可操作地联接到所述马达组件的蜗杆；以及与所述蜗杆啮合的蜗轮。所述蜗轮配置为可操作地联接到所述下肢支撑件，并且所述蜗杆和所述蜗轮配置为在力开始施加到所述下肢支撑件时从所述马达组件向所述下肢支撑件传递旋转运动。

Description

用于医疗辅助装置的低摩擦齿轮箱
技术领域
以下说明涉及医疗辅助装置，并且更具体地涉及一种用于医疗辅助装置的低摩擦齿轮箱。
背景技术
一些外骨骼装置可以用于辅助医疗患者的一种或多种活动。例如，外骨骼装置可以被提供给用户的上臂或下肢。在用户具有由外骨骼装置支撑的肢体的全部用途的情况下，可使用外骨骼装置来提升例如承载的本能。在用户具有由外骨骼装置支撑的肢体的受损用途的情况下，外骨骼装置可被用于复健目的或再造完全物理功能。这种装置可以由一个或多个联接到齿轮或滑轮的马达供能，该齿轮或滑轮配置为以期望的运动(例如行走)使用户的肢体移动。
一些外骨骼装置可以由液压泵或者具有行星齿轮系统的电力马达供能。然而，液压部件可能泄漏并且需要通气阀。具有行星齿轮系统的电力马达可能具有高摩擦使其难以反向驱动，并且可能在运行时具有导致噪音和不良用户体验的甩动。因此，希望提供一种给外骨骼装置供能的新方法。
发明内容
在本发明的一个示例性实施方式中，提供一种用于具有马达组件和下肢支撑件的医疗辅助装置的齿轮箱组件。所述齿轮箱组件包括：配置为可操作地联接到所述马达组件的蜗杆；并且包括与所述蜗杆啮合的蜗轮。所述蜗轮配置为可操作地联接到所述下肢支撑件，并且所述蜗杆和所述蜗轮配置为在力开始施加到所述下肢支撑件时从所述马达组件向所述下肢支撑件传递旋转运动。
在本发明的另一个示例性实施方式中，提供一种医疗辅助装置。所述医疗辅助装置包括：支撑框架，所述支撑框架包括由所述支撑框架延伸的支撑臂；联接到所述支撑框架的齿轮箱，所述齿轮箱包括蜗杆以及与所述蜗杆啮合的蜗轮；以及可操作地联接到所述蜗轮的下肢支撑件，所述齿轮箱配置为提供旋转力到所述下肢支撑件。
在本发明的又一个示例性实施方式中，提供一种医疗辅助装置。所述医疗辅助装置包括：支撑框架，所述支撑框架包括由所述支撑框架延伸的支撑臂；联接到所述支撑框架的齿轮箱；以及可操作地联接到所述齿轮箱的下肢支撑件。所述齿轮箱配置为提供旋转力到所述下肢支撑件，并且能够通过比来自所述齿轮箱的力更大的来自所述下肢支撑件的力被反向驱动。
根据以下结合附图进行的详细描述，这些以及其他优点和特征将会更加清楚。
附图说明
在说明书的结论部分的权利要求中特别指出和清楚地请求保护作为本发明的主题。本发明前述的和其他特征以及优点根据以下结合附图进行的详细描述将会清楚，这些附图中：
图1是一个示例性可调节医疗辅助装置的透视图；
图2是图1所示装置的示例性齿轮箱组件的部分截面图；
图3是图1和图2所示的齿轮箱组件的示例性蜗杆的透视图；
图4是图1和图2所示的齿轮箱组件的示例性蜗轮的透视图。
具体实施方式
现在参考附图，其中将参考特定实施方式来描述本发明而不限制本发明，图1说明了一种示例性可调节的外骨骼或者医疗辅助装置10。在示例性实施方式中，可调节装置10通常包括支撑框架12、一对马达组件14以及一对下肢支撑件18，每个马达组件14分别连接齿轮箱16。
在所显示的实施方式中，马达组件14是可反向驱动的。将如下文所描述的，这允许了装置10的用户给予马达组件14过强的能量以通过用户来帮助实现装置10的舒适度和控制。此外，由于马达组件14是“辅助”马达，它可以比先前已知的那些更小并且更安静。本发明帮助用户但是总是允许用户保持控制，并且仅当用户首先发动引起马达组件14从事用户移动和/或帮助用户移动时被激活。
支撑框架12配置为放置在用户的躯干或臀部附近并且包括背部支撑件20、一个或多个能量源22(例如，电池)、控制器(未显示)以及一对从背部支撑件20延伸的臀部支撑件或支撑臂24。背部支撑件20配置为抵靠在用户的背部，能量源22配置为向马达组件14供能，并且控制器配置为选择性地控制马达组件14和/或齿轮箱16的移动。在此使用的术语控制器涉及专用集成电路(ASIC)、电子电路、处理器(共享式、专用式或群组式)以及执行一个或多个软件或固件程序的存储器、组合逻辑电路、和/或其他提供所述功能的合适的部件。
支撑臂24各自包括近端26和远端28。近端26联接到背部支撑件20，并且远端28包括多个形成于其中的调整凹口或槽30。远端28沿着纵轴线32延伸并且具有圆形或大致圆形的横截面。
进一步参考图2，在示例性实施方式中，马达组件14包括外壳34、一个或多个马达36以及与齿轮箱16可操作地联接的输出轴38。如本文更加详细描述的，马达组件14配置为对齿轮箱16施加扭矩以选择生地旋转下肢支撑件18，因此使用户的髋关节能够被延伸或弯曲。
再参考图2，齿轮箱16配置为帮助和支撑用户的臀部移动并且通常包括外壳40、蜗杆42、轴承44、蜗轮46以及适配器48。轴承44可旋转地支撑蜗杆42，其啮合于蜗轮46以从马达36通过适配器48向下肢支撑件18传递旋转运动。蜗杆42配置为绕轴线50旋转，轴线50平行或大致平行于纵轴线32。蜗轮46以及下肢支撑件18配置为绕轴线52旋转，轴线52与轴线50正交或大致正交。齿轮箱16配置为绕相关支撑臂24的纵轴线32旋转以易于臀部的弯曲和伸展同时枢轴允许但是不强制臀部内收和外展。
齿轮箱16配置为通过来自下肢支撑件18的比齿轮箱16产生的力更大的力是可逆转的或可反向驱动的。例如，齿轮箱16可以产生绕轴线52逆时针方向的第一力。齿轮箱16(包括蜗杆42和蜗轮46)配置为通过来自下肢支撑件18(例如，用户下肢的移动)的比第一力更大的第二力而在绕轴线52顺时针方向上是可逆转的。照这样，用户可以通过装置供给齿轮箱16过强的力以保持控制，而不是装置支配用户的移动。
如图3所示，蜗杆42包括第一端54和相对的第二端56。在示例性的实施方式中，第一端54是带花键的并且配置为联接到马达输出轴38。第二端56可以是有键的用于联接相邻部件(未显示)。
如图4所示，蜗轮46包括外直径和内直径，外直径具有多个配置为啮合蜗杆42的轮齿58，内直径定义了适配器孔60，适配器孔60是有键的以接收适配器48。在示例性实施方式中，适配器48尺寸设置为并且被键固为接收下肢支撑件18的一部分(见图2)。
在示例性实施方式中，下肢支撑件18配置为支撑用户大腿并且包括近端62、远端64、以及下肢夹具66。近端62联接到齿轮箱16的适配器48，如此下肢支撑件18可绕轴线52旋转，并且下肢夹具66联接至远端64。下肢夹具66配置为例如通过直接连接到夹具66的带而连接至用户的下肢。
一种组装医疗辅助装置10的方法包括提供支撑框架12、马达组件14、齿轮箱16以及下肢支撑件18。马达组件14以及下肢支撑件18可操作地联接到齿轮箱16的齿轮系统从而在二者之间传递旋转运动。齿轮系统包括蜗杆42、蜗轮46以及适配器48。支撑臂远端28插入到齿轮箱16。
本文所述的是为医疗辅助装置供能的系统和方法。系统包括具有在马达和蜗轮之间联接的蜗杆的齿轮箱以旋转医疗辅助装置的下肢支撑件。照这样，系统使小马达的使用成为可能，其减少装置的重量和费用。低摩擦、包括高齿轮比率的齿轮箱的齿轮系统是安静的并且可反向驱动的。附加地，相比于先前已知的系统，该齿轮系统提供了一种小轮廓的齿轮箱。
虽然仅结合有限数量的实施方式对本发明进行了详细描述，但应易于理解的是，本发明不限于这些公开的实施方式。相反，可对本发明进行修改，以引入以上未描述但与本发明精神和范围相称的任何数量的变化、改变、替代或等同布置。另外，虽然已描述了本发明的各种实施方式，但应理解的是，本发明的各个方面可仅包括所述实施方式中的一些。因此，本发明不应被视为受限于前面的描述。

Claims (11)

1.一种用于具有马达组件和下肢支撑件的医疗辅助装置的齿轮箱组件，所述齿轮箱组件包括：
蜗杆，所述蜗杆配置为可操作地联接到所述马达组件；以及
与所述蜗杆啮合的蜗轮，所述蜗轮配置为可操作地联接到所述下肢支撑件，其中所述蜗杆和所述蜗轮配置为在力开始施加到所述下肢支撑件时从所述马达组件向所述下肢支撑件传递旋转运动，所述蜗轮限定适配器孔；
适配器，布置在所述适配器孔中并且至少部分地联接到所述蜗轮，使得键凸起布置在限定了所述适配器孔的壁的凹槽中，所述适配器配置成可操作地联接到所述下肢支撑件。
2.如权利要求1所述的齿轮箱组件，还包括外壳，所述蜗轮和所述蜗杆放置于所述外壳中。
3.如权利要求1所述的齿轮箱组件，其中，所述蜗轮和所述蜗杆配置为通过比来自所述齿轮箱组件的第三力更大的来自所述下肢支撑件的第二力是能够反转的。
4.如权利要求1所述的齿轮箱组件，其中，所述蜗杆绕第一轴线旋转并且所述蜗轮绕第二轴线旋转，所述第二轴线大致正交于所述第一轴线。
5.一种医疗辅助装置，包括：
支撑框架，所述支撑框架包括由所述支撑框架延伸的支撑臂；
联接到所述支撑框架的齿轮箱组件，所述齿轮箱组件包括：
蜗杆；以及
与所述蜗杆啮合的蜗轮，所述蜗轮限定适配器孔；以及
适配器，布置在所述适配器孔中并且至少部分地联接到所述蜗轮，使得键凸起布置在限定了所述适配器孔的壁的凹槽中，所述适配器配置成可操作地联接到下肢支撑件；以及
马达组件，所述马达组件可操作地联接到所述齿轮箱组件以向所述蜗杆传递旋转运动；
所述下肢支撑件可操作地联接到所述蜗轮，其中所述蜗杆和所述蜗轮配置为在力开始施加到所述下肢支撑件时从所述马达组件向所述下肢支撑件传递旋转运动。
6.如权利要求5所述的装置，其中，所述齿轮箱还包括外壳，所述蜗轮和所述蜗杆放置于所述外壳中。
7.如权利要求5所述的装置，其中，所述蜗轮和所述蜗杆配置为通过比来自所述齿轮箱的力更大的来自所述下肢支撑件的力是能够反转的。
8.如权利要求5所述的装置，其中，所述蜗杆绕第一轴线旋转并且所述蜗轮绕第二轴线旋转，所述第二轴线大致正交于所述第一轴线。
9.一种医疗辅助装置，包括：
支撑框架，所述支撑框架包括由所述支撑框架延伸的支撑臂；
联接到所述支撑框架的齿轮箱组件，所述齿轮箱组件包括
蜗杆以及
与所述蜗杆啮合的蜗轮，所述蜗轮限定适配器孔；以及
适配器，布置在所述适配器孔中并且至少部分地联接到所述蜗轮，使得键凸起布置在限定了所述适配器孔的壁的凹槽中，所述适配器配置成可操作地联接到下肢支撑件；以及
所述下肢支撑件可操作地联接到所述齿轮箱，所述齿轮箱配置为提供旋转力到所述下肢支撑件，并且能够通过比来自所述齿轮箱的力更大的来自所述下肢支撑件的力被反向驱动。
10.如权利要求9所述的装置，其中，所述齿轮箱还包括外壳，所述蜗轮和所述蜗杆放置于所述外壳中。
11.如权利要求9所述的装置，还包括能够反向驱动的马达组件，所述马达组件可操作地联接到所述齿轮箱以向所述蜗杆传递旋转运动。
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