CN110013424A - A kind of regulating mechanism of healing robot ectoskeleton - Google Patents
A kind of regulating mechanism of healing robot ectoskeleton Download PDFInfo
- Publication number
- CN110013424A CN110013424A CN201910329208.0A CN201910329208A CN110013424A CN 110013424 A CN110013424 A CN 110013424A CN 201910329208 A CN201910329208 A CN 201910329208A CN 110013424 A CN110013424 A CN 110013424A
- Authority
- CN
- China
- Prior art keywords
- sliding block
- screw rod
- slide unit
- hand
- operated wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 230000007246 mechanism Effects 0.000 title claims abstract description 19
- 230000001105 regulatory effect Effects 0.000 title claims abstract description 19
- 230000035876 healing Effects 0.000 title claims abstract description 14
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 238000000034 method Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
- A61H2003/046—Wheeled walking aids for patients or disabled persons with braking means
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of regulating mechanism of healing robot ectoskeleton, including vertical slide unit and horizontal slide unit, the vertical slide unit is equipped with guide rail a and sliding block a, and sliding block a is socketed on guide rail a, while the sliding block a is socketed on screw rod a；The vertical slide unit both ends are equipped with opening, and open interior installs screw rod a by bearing block a, and the lower end screw rod a passes through vertical slide unit and connect with hand-operated wheel a, and hand-operated wheel a rotation drives screw rod a to rotate；The horizontal slide unit is equipped with guide rail b and sliding block b, sliding block b is socketed on guide rail b, the sliding block b is socketed on screw rod b simultaneously, the horizontal slide unit both ends are equipped with opening, open interior installs screw rod b by bearing block b, one end of screw rod b passes through horizontal slide unit and connect with hand-operated wheel b, and hand-operated wheel b rotation drives screw rod b to rotate；Wherein, the sliding block a is fixedly connected with sliding block b.The regulating mechanism can reduce the inadaptability that patient dresses ectoskeleton in rehabilitation, improve rehabilitation efficacy.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of regulating mechanism of healing robot ectoskeleton.
Background technique
Currently, most of ectoskeleton and rack connection type use direct welding method, ectoskeleton is directly anchored to rack
On, it cannot be adjusted according to the width of the height of Human Height and crotch, or provide the single degree of freedom by slide bar and adjust, office
It is sex-limited strong, it is not fine to the effect that patient dresses ectoskeleton, because under conditions of outer skeletal fixation formula, ectoskeleton and rack
The design of height-width must have general applicability, be not applicable in targetedly, this will receive one to Rehabilitation effect
Fixed influence, and difficulty is increased to the disassembly of ectoskeleton daily maintenance.
Summary of the invention
In view of the above shortcomings of the prior art, in order to avoid can not be according to outside the wide adjusting of height and hip of people in rehabilitation course
The difficulty of the height and the width of bone, the present invention provides a kind of regulating mechanism of healing robot ectoskeleton, the regulating mechanisms
The inadaptability that patient dresses ectoskeleton in rehabilitation can be reduced, rehabilitation efficacy is improved, makes ectoskeleton and patient's form fit degree
Preferably.And by increasing screw structure, adjustment process of being more convenient for and guarantee degree of regulation.And modularized design can add and subtract or
Person replaces modules, when damage parts also replaceable respective modules occur, reduces maintenance time, and can also be according to the later period
It needs to increase supplementary module, such as electric drive, increases subsequent development possibility of the invention.
The specific technical solution that the present invention takes is:
A kind of regulating mechanism of healing robot ectoskeleton, including vertical slide unit and horizontal slide unit, on the vertical slide unit
Equipped with guide rail a and sliding block a, sliding block a is socketed on guide rail a, while the sliding block a is socketed on screw rod a；The vertical slide unit two
End is equipped with opening, and open interior installs screw rod a by bearing block a, and the lower end screw rod a passes through vertical slide unit and connect with hand-operated wheel a, hand
Rolled round a rotation drives screw rod a to rotate；The horizontal slide unit is equipped with guide rail b and sliding block b, and sliding block b is socketed on guide rail b, simultaneously
The sliding block b is socketed on screw rod b, and the horizontal slide unit both ends are equipped with opening, and open interior installs screw rod b by bearing block b,
One end of screw rod b passes through horizontal slide unit and connect with hand-operated wheel b, and hand-operated wheel b rotation drives screw rod b to rotate；Wherein, the sliding block a
It is fixedly connected with sliding block b.
Preferably, the screw rod a is connect by a diverter with hand-operated wheel a, the axis of specially described screw rod a and diverter
It is connected by shaft machine, the axis connection of hand-operated wheel a and diverter, the diverter steering makes the handle on hand-operated wheel a towards machine
On the outside of frame, operated convenient for user.
Preferably, the diverter is equipped with brake, and the brake is equipped with brake handle, tightens brake handle, can fix
The axis of diverter 16.
Preferably, the sliding block a is connect with sliding block b by connector, and specially connector leads to respectively with sliding block a, sliding block b
It crosses and is bolted.
Preferably, described hand-operated wheel a, b are replaced with motor, and screw rod rotation is driven by motor.
Preferably, the regulating mechanism is made of new-type aluminium alloy.
Compared with prior art, the invention has the following advantages:
1, the present invention uses sliding block, guide rail, slide unit complexes, and modularized design compact and reasonable is easily installed maintenance；
2, the present invention can be adjusted according to Human Height, crotch width, meet the use demand of different crowd.
3, the vertical slide unit screw rod of the present invention by commutator make the handle on hand-operated wheel a towards shell outside convenient for users to
Operation.
4, the present invention installs brake additional on commutator, it is ensured that vertical slide unit position is fixed.
5, the present invention is designed using screw rod and guide rail slide unit, is operated by hand-operated wheel, and user's physical strength is saved, convenient
User's operation, improves degree of regulation.
6, the present invention, which is all made of, is detachably connected, the adjusting during being easily installed.
7, the present invention uses new-type aluminium alloy, under the premise of intensity and rigidity meet requirement, greatly reduces and sets
Standby weight.
Detailed description of the invention
Fig. 1,2 be regulating mechanism of the present invention structural schematic diagram；
Fig. 3 is scheme of installation of the regulating mechanism of the present invention in healing robot ectoskeleton.
Specific embodiment
Technology contents, construction feature, the objects and the effects for detailed description technical solution, below in conjunction with specific reality
It applies example and attached drawing is cooperated to be explained in detail.
Embodiment 1
As shown in Figure 1, 2, a kind of regulating mechanism of healing robot ectoskeleton, including vertical slide unit 1 and horizontal slide unit 2,
The vertical slide unit is equipped with guide rail a11 and sliding block a12, and sliding block a12 is socketed on guide rail a11, while the sliding block a12 is socketed
On screw rod a13；1 both ends of vertical slide unit are equipped with opening, and open interior installs screw rod a13, screw rod by bearing block a14
The lower end a13 passes through vertical slide unit 1 and is connect by a diverter 16 with hand-operated wheel a15, the specially described screw rod a13 and diverter
16 axis is connected by shaft machine 17, the axis connection of hand-operated wheel a15 and diverter 16, and hand-operated wheel a15 rotation drives screw rod a13 to turn
Dynamic, the diverter 16, which turns to, makes the handle on hand-operated wheel a15 towards shell outside, operates convenient for user, the diverter
16 are equipped with brake 161, and the brake is equipped with brake handle 162, tighten brake handle 162, can stationary deflector 16 axis, into
And fix screw rod and no longer rotate, final sliding block a12 is no longer moved；The horizontal slide unit is equipped with guide rail b21 and sliding block b22,
Sliding block b22 is socketed on guide rail b21, while the sliding block b22 is socketed on screw rod b23, and 2 both ends of horizontal slide unit are equipped with and open
Mouthful, open interior installs screw rod b23 by bearing block b24, and one end of screw rod b23 passes through horizontal slide unit 2 and hand-operated wheel b25 connects
It connects, hand-operated wheel b25 rotation drives screw rod b23 to rotate；Wherein, the sliding block a12 is connect with sliding block b22 by connector 3, specifically
It is bolted respectively for connector 3 and sliding block a13, sliding block b23.
In use, as shown in figure 3, vertical slide unit 1, diverter 16 in regulating mechanism C are connect with rack A, laterally sliding 2 with
Hand-operated wheel a15 is shaken in ectoskeleton B connection, and screw rod a13 rotation band movable slider a12 is moved up and down along guide rail a11, and then is driven
Horizontal slide unit 2 moves up and down, and after being moved to suitable position, stops shaking, sliding block a12 is fixed position；At this point, shaking hand-operated wheel
B25, hand-operated wheel b25 rotation drive screw rod b23 rotation that horizontal slide unit 2 is driven to move left and right required position (at this point, sliding block a12
Position is fixed, and sliding block b22 is fixedly connected with sliding block a12, and sliding block b22 is also fixed position, therefore screw rod b rotation drives horizontal slide unit 2
It is mobile).
Embodiment 2
It is directly connect with hand-operated wheel a the difference from embodiment 1 is that the lower end the screw rod a passes through vertical slide unit.
Embodiment 3
The difference from embodiment 1 is that described hand-operated wheel a, b are replaced with motor, screw rod rotation is driven by motor.
Although above-described embodiment is described, created once a person skilled in the art knows basic
Property concept, then additional changes and modifications can be made to these embodiments, so the above description is only an embodiment of the present invention, and
Non- therefore limitation scope of patent protection of the invention, it is all using equivalent structure made by description of the invention and accompanying drawing content or
Equivalent process transformation, being applied directly or indirectly in other relevant technical fields, similarly includes protecting in patent of the invention
Within the scope of shield.
Claims (6)
1. a kind of regulating mechanism of healing robot ectoskeleton, it is characterised in that described perpendicular including vertical slide unit and horizontal slide unit
It is equipped with guide rail a and sliding block a to slide unit, sliding block a is socketed on guide rail a, while the sliding block a is socketed on screw rod a；It is described perpendicular
It is equipped with opening to slide unit both ends, open interior installs screw rod a by bearing block a, and the lower end screw rod a passes through vertical slide unit and hand-operated wheel
A connection, hand-operated wheel a rotation drive screw rod a to rotate；The horizontal slide unit is equipped with guide rail b and sliding block b, and sliding block b is socketed in guide rail
On b, while the sliding block b is socketed on screw rod b, and the horizontal slide unit both ends are equipped with opening, and open interior is pacified by bearing block b
Screw rod b is filled, one end of screw rod b passes through horizontal slide unit and connect with hand-operated wheel b, and hand-operated wheel b rotation drives screw rod b to rotate；Wherein, institute
Sliding block a is stated to be fixedly connected with sliding block b.
2. a kind of regulating mechanism of healing robot ectoskeleton according to claim 1, it is characterised in that the screw rod a passes through
One diverter is connect with hand-operated wheel a, and the axis of the specially described screw rod a and diverter is connected by shaft machine, hand-operated wheel a and steering
The axis connection of device, the diverter, which turns to, makes the handle on hand-operated wheel a towards shell outside, operates convenient for user.
3. a kind of regulating mechanism of healing robot ectoskeleton according to claim 2, it is characterised in that the diverter peace
Equipped with brake, it is described brake be equipped with brake handle, tighten brake handle, can stationary deflector 16 axis.
4. a kind of regulating mechanism of healing robot ectoskeleton according to claim 1 or claim 2, it is characterised in that the sliding block a
It is connect with sliding block b by connector, specially connector is bolted respectively with sliding block a, sliding block b.
5. a kind of regulating mechanism of healing robot ectoskeleton according to claim 1 or claim 2, it is characterised in that the hand-operated wheel
A, b is replaced with motor, and screw rod rotation is driven by motor.
6. a kind of regulating mechanism of healing robot ectoskeleton according to claim 1 or claim 2, it is characterised in that the adjusting machine
Structure is made of new-type aluminium alloy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910329208.0A CN110013424A (en) | 2019-04-23 | 2019-04-23 | A kind of regulating mechanism of healing robot ectoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910329208.0A CN110013424A (en) | 2019-04-23 | 2019-04-23 | A kind of regulating mechanism of healing robot ectoskeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110013424A true CN110013424A (en) | 2019-07-16 |
Family
ID=67192195
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910329208.0A Pending CN110013424A (en) | 2019-04-23 | 2019-04-23 | A kind of regulating mechanism of healing robot ectoskeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110013424A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112587385A (en) * | 2021-01-05 | 2021-04-02 | 石家庄熙美科技有限公司 | Special equipment for leg recovery walking |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101862256A (en) * | 2010-06-13 | 2010-10-20 | 上海交通大学 | Vehicle-mounted movable type walk-assisting exoskeleton rehabilitation robot |
| CN105167965A (en) * | 2015-10-10 | 2015-12-23 | 合肥工业大学 | Linkage type walking-aiding rehabilitation robot with joint rotation center taken into consideration |
| CN105832496A (en) * | 2016-03-17 | 2016-08-10 | 合肥工业大学 | Novel lower extremity exoskeleton rehabilitation training device and training method |
| CN205892180U (en) * | 2016-08-23 | 2017-01-18 | 湖北艾瑞博特机器人工程技术有限公司 | Claw device is embraced to adjustable pile up neatly of intelligence |
| CN107361996A (en) * | 2017-08-11 | 2017-11-21 | 哈工大机器人（合肥）国际创新研究院 | A kind of stepless adjustment device suitable for healing robot four limbs length |
| CN210644530U (en) * | 2019-04-23 | 2020-06-02 | 广西科技大学 | Adjusting mechanism for exoskeleton of rehabilitation robot |
-
2019
- 2019-04-23 CN CN201910329208.0A patent/CN110013424A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101862256A (en) * | 2010-06-13 | 2010-10-20 | 上海交通大学 | Vehicle-mounted movable type walk-assisting exoskeleton rehabilitation robot |
| CN105167965A (en) * | 2015-10-10 | 2015-12-23 | 合肥工业大学 | Linkage type walking-aiding rehabilitation robot with joint rotation center taken into consideration |
| CN105832496A (en) * | 2016-03-17 | 2016-08-10 | 合肥工业大学 | Novel lower extremity exoskeleton rehabilitation training device and training method |
| CN205892180U (en) * | 2016-08-23 | 2017-01-18 | 湖北艾瑞博特机器人工程技术有限公司 | Claw device is embraced to adjustable pile up neatly of intelligence |
| CN107361996A (en) * | 2017-08-11 | 2017-11-21 | 哈工大机器人（合肥）国际创新研究院 | A kind of stepless adjustment device suitable for healing robot four limbs length |
| CN210644530U (en) * | 2019-04-23 | 2020-06-02 | 广西科技大学 | Adjusting mechanism for exoskeleton of rehabilitation robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112587385A (en) * | 2021-01-05 | 2021-04-02 | 石家庄熙美科技有限公司 | Special equipment for leg recovery walking |
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