CN110327189A - A kind of modularized joint for lower limb rehabilitation training ectoskeleton - Google Patents
A kind of modularized joint for lower limb rehabilitation training ectoskeleton Download PDFInfo
- Publication number
- CN110327189A CN110327189A CN201910759027.1A CN201910759027A CN110327189A CN 110327189 A CN110327189 A CN 110327189A CN 201910759027 A CN201910759027 A CN 201910759027A CN 110327189 A CN110327189 A CN 110327189A
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- Prior art keywords
- bottom plate
- gear
- rehabilitation training
- cover board
- connecting rod
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Classifications
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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
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0107—Constructive details modular
-
- 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
-
- 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
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
Abstract
A kind of modularized joint for lower limb rehabilitation training ectoskeleton, it is related to a kind of exoskeleton robot, it includes transmission and position-limit mechanism；The transmission and position-limit mechanism include cover board, driving motor, bracket, bottom plate, transmission component and output connecting rod；Driving motor, bracket, transmission component and output connecting rod are disposed with together with cover board is fastened and connected with bottom plate, between cover board and bottom plate；Driving motor is rack-mount, and bracket is mounted on bottom plate, and driving motor drives transmission component, and output connecting rod one end is connect with transmission component, and the output connecting rod other end stretches out cover board and bottom plate, transmission component driving output link rotatable；Arc-shaped slide rail and upright sliding rail are installed on the inside of bottom plate, the first limited block and the second limited block are can be slidably mounted at respectively on arc-shaped slide rail and upright sliding rail.Structure of the invention is compact, and length adjustment is flexible, and adaptability is good, is suitable for patient and receives, can targetedly train.
Description
Technical field
The present invention relates to a kind of exoskeleton robot, in particular to a kind of modularization for lower limb rehabilitation training ectoskeleton
Joint.
Background technique
Due to cerebral apoplexy, spinal cord injury, the diseases such as cerebral injury and brain tumor or accident cause mobility impairment with deflection
The patient of paralysis or paraplegia is more and more, and shows the trend that significantly becomes younger.More patients expect by rehabilitation training
Means alleviate illness and simultaneously improve locomitivity, but presently, there are rehabilitation mode there are certain drawbacks, be unable to get
It is effective to promote and apply.For example, there are inefficiency, movement control for traditional artificial rehabilitation therapy method and Physical rehabilitation treatment method
The problems such as system inaccuracy, rehabilitation efficacy assessment difficulty, rehabilitation efficacy differ greatly and are expensive, for rehabilitation or helps the elderly
The sitting and lying formula of walk help or stand-type exoskeleton robot have obtained extensive research, but that there is also equipment is heavy, wearing is complicated, adapts to
Property with the problems such as safety is poor, patient's acceptance is poor and expensive, and due to hemiplegia or paralytic patient often partial joint
Mobility impairment, the specific aim for carrying out rehabilitation training to disability joint by the ectoskeleton body of system is insufficient.
Summary of the invention
The present invention is in order to overcome the deficiencies of the prior art, to provide a kind of compact-sized and be used for lower limb suitable for what patient received
The modularized joint of rehabilitation training ectoskeleton.
The technical scheme is that
A kind of modularized joint for lower limb rehabilitation training ectoskeleton, it includes transmission and position-limit mechanism；The transmission
And position-limit mechanism includes cover board, driving motor, bracket, bottom plate, transmission component and output connecting rod；Cover board and bottom plate are fastened and connected
Together, driving motor, bracket, transmission component and output connecting rod are disposed between cover board and bottom plate；Driving motor is mounted on branch
On frame, bracket is mounted on bottom plate, and driving motor drives transmission component, and output connecting rod one end is connect with transmission component, and output connects
The bar other end stretches out cover board and bottom plate, transmission component driving output link rotatable；Arc-shaped slide rail and upright is installed on the inside of bottom plate
Sliding rail, the first limited block and the second limited block are can be slidably mounted at respectively on arc-shaped slide rail and upright sliding rail, the first limit
Block and the second limited block limit output link rotatable angle respectively.
Further, the modularized joint for lower limb rehabilitation training ectoskeleton further includes length adjustment mechanism, institute
Stating length adjustment mechanism includes hollow bush, adjusting knob, wheel shaft, gear and rack gear；Hollow bush is arranged in cover board and bottom plate
Between, and hollow bush can slide on cover board and bottom plate, and strip hole is provided in mesoporous bushing one side wall, and it is logical that one is provided on bottom plate
Hole, wheel shaft are threaded through in through-hole and strip hole, and wheel shaft is fixed on bottom plate and is able to rotate, and the end in plate outer side of wheel shaft is pacified
Equipped with adjusting knob, gear is fixed on one in hollow bush section of wheel shaft, rack gear is packed on hollow bush inner sidewall,
Rack gear is identical with the length direction of strip hole, gear and rack gear engagement.
The present invention has the effect that compared with prior art
1, the modularized joint of rehabilitation training ectoskeleton is devised, the need of different parts simple joint athletic rehabilitation have both been able to satisfy
It wants, by transmission and the design of position-limit mechanism and length adjustment mechanism, also can assemble integral lower limb dermoskeleton by formation
Bone robot is needed for functions such as the rehabilitation needs of multi-joint mutual cooperation movement or walk help power-assisteds, compact-sized, cost
Lower, shape is flexibly small and exquisite, lighter weight, is suitable for patient and receives.
2, it exports connecting rod by limit confinement end to rotate in suitable angle, the training suitable for the different rehabilitation stages
Activity, adjustment is flexible and convenient, and mechanical position limitation guarantees the safety of articulation.
3, the length that rehabilitation training unit is adjusted using rack-and-pinion principle, the patient articular for meeting different heights cooperate fortune
Dynamic rehabilitation needs, and can also promote and apply to the rehabilitation training of ankle-joint, upper limb elbow joint, shoulder joint, and length adjustment is flexible and convenient,
Safety and adaptability are good.
4, rehabilitation training is carried out to patient by control system control rehabilitation training joint, efficiency is higher, and can pass through
Human-computer interaction power Real-time Feedback kinematics and mechanical information are detected, rehabilitation training effect is made and is accurately and effectively evaluated, is stablized
Property is preferable with training effect.
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
Detailed description of the invention
Fig. 1 is the overall structure figure of the modularized joint for lower limb rehabilitation training ectoskeleton of the invention；
Fig. 2 is the assembling schematic diagram of transmission and position-limit mechanism and length adjustment mechanism after removing cover board；
Fig. 3 is the explosive view of transmission and position-limit mechanism after removing cover board；
Fig. 4 is the assembling schematic diagram of transmission component A after removing cover board；
Fig. 5 is the first limited block to angle limit layout drawing；
Fig. 6 is the second limited block to angle limit layout drawing；
Fig. 7 is transmission and position-limit mechanism back view；
Fig. 8 is the explosive view of length adjustment mechanism；
Fig. 9 is adjusting knob, wheel shaft, gear and rack gear assembling schematic diagram；
When Figure 10 is that adjusting knob does not rotate, the hollow bush location drawing；
Figure 11 is the location drawing that hollow bush moves down after adjusting knob rotates；
Figure 12 is the schematic diagram of two lower limb exoskeleton rehabilitation training joints connection；
Figure 13 is the schematic diagram that ectoskeleton is assembled into for the modularized joint and assembly of lower limb rehabilitation training ectoskeleton.
Specific embodiment
Referring to shown in Fig. 1, Fig. 2 and Fig. 4, a kind of modularized joint for lower limb rehabilitation training ectoskeleton, it includes passing
Dynamic and position-limit mechanism；
The transmission and position-limit mechanism include cover board 1, driving motor 2, bracket 3, bottom plate 5, transmission component A and output connecting rod
21；Together with cover board 1 is fastened and connected with bottom plate 5, driving motor 2, bracket 3, transmission component A are disposed between cover board 1 and bottom plate 5
And output connecting rod 32；Driving motor 2 is mounted on bracket 3, and bracket 3 is mounted on bottom plate 5, and driving motor 2 drives transmission group
Part A, output 21 one end of connecting rod are connect with transmission component A, and output 21 other end of connecting rod stretches out cover board 1 and bottom plate 5, transmission component A
Driving output connecting rod 21 rotates；Arc-shaped slide rail 51 and upright sliding rail 52, the first limited block 11-1 and are installed on the inside of bottom plate 5
Two limited block 11-2 are can be slidably mounted at respectively on arc-shaped slide rail 51 and upright sliding rail 52, the first limited block 11-1 and second
Limited block 11-2 limits output 32 rotational angle of connecting rod respectively.Connecting rod 32 is exported suitable by limit design limitation end
Rotation in angle, suitable for the training activity in different rehabilitation stages, adjustment is flexible and convenient, and mechanical position limitation guarantees the peace of articulation
Quan Xing.
Further, shown in Figure 3, the transmission component A includes gear shaft 19, bevel gear pair and spur gear pair；Cone
Gear pair includes bevel pinion 4 and bevel gear wheel 18, and spur gear pair includes small Spur gear 8 and large straight gear 10；Bevel pinion 4 is pacified
On the output shaft of driving motor 2,19 both ends of gear shaft are fixed with bevel gear wheel 18 and small Spur gear 8, gear shaft 19 respectively
It is rotatably installed on cover board 1 and bottom plate 5, bevel pinion 4 and bevel gear wheel 18 engage, and large straight gear 10 is rotatably installed in cover board 1
On bottom plate 5, small Spur gear 8 and large straight gear 10 are engaged, and output connecting rod 32 is packed on 10 lateral surface of large straight gear.
In above scheme, driving motor 2 is fixed by screws on bracket 3, and bracket 3 is fixed by screws on bottom plate 5,
Bevel pinion 4 is connect by key with driving motor 2.18 side of bevel gear wheel is connected by the ring flange of four pins 17 and gear shaft 19
It is circumferentially positioned to tap into row, the other side is mounted on bottom plate 5 by bearing 6, is equipped with bearing gasket between bevel gear wheel 18 and bearing 6
Piece 7, bevel gear wheel 18 and the intermeshing of bevel pinion 4 are driven.What gear shaft 19 was connect by four pins 17 with bevel gear wheel 18
One end and 18 inner hole of bevel gear wheel are in clearance fit, and the other end is connect by key 20 with small Spur gear 8.Small Spur gear 8 passes through axis
It holds 6 to be mounted on cover board 1, bearing shim 7 is installed between small Spur gear 8 and bearing 6.10 one end of large straight gear passes through bearing 6
It is mounted on cover board 1, the other end is mounted on bottom plate 5 by bearing 6.It is shown in Figure 3, the lower limb exoskeleton rehabilitation training
Joint further includes encoder 14, and encoder 14 is arranged in 5 outside of bottom plate, encoder 14 be mounted on the side of large straight gear 10 and
The two is coaxial.Encoder 14 is used to detect the rotational angle of large straight gear 10, and feeds back to controller and realize accurate angle control
System.Incremental encoder can be used in encoder 14.
Referring to shown in Fig. 3, Fig. 4 and Fig. 7, the first limited block 11-1 and the second limited block 11-2 install bottom by sliding slot
On arc-shaped slide rail 51 and upright sliding rail 52 on plate 5, fastened by screw 12.Limited block is divided into the second of buckling direction
The first limited block 11-1 of limited block 11-2 and direction of extension, under non-locking state, manually adjustable direction of extension
Arc-shaped slide rail 51 of the first limited block 11-1 on bottom plate 5 slides, and manually adjusts the second limited block 11- of buckling direction
The 2 upright sliding rail 52 on bottom plate 5 slides, and the joint angles according to needed for rehabilitation training select suitable position to make direction of extension
The middle line of the first limited block 11-1 be aligned with the arc-shaped slide rail limit threaded hole 5-3 on bottom plate 5, and make the of buckling direction
The middle line of two limited block 11-2 is aligned with the upright sliding rail limit threaded hole 5-4 on bottom plate 5, is fixed respectively with screw, thus
The output connecting rod 32 for limiting the end of large straight gear 10 rotates in suitable angular range, and as shown in Figure 5 and Figure 6, output connects
Bar 32 is limited at the first limited block 11-1 and the second limited block 11-2 respectively.The periphery of bottom plate 5 have with
Limit screw thread hole site marks correspondingly, facilitates observation and adjusting.
Transmission and position-limit mechanism working principle: the work of driving motor 2 drives bevel pinion 4 to rotate, and bevel gear wheel 18 passes through
Commutation vertical with the intermeshing realization of bevel pinion 4 rotates, and is rotated by pin 17 with movable gear shaft 19, and gear shaft 19 passes through key
Transmission drives small Spur gear 8 to rotate, and large straight gear 10 and the intermeshing transmission of small Spur gear 8 generate rotation, to realize big straight
The rotation output of the output connecting rod 32 of 10 end of gear.
As in one embodiment, as shown in figure 3, the large straight gear 10 is semicircle spur gear, output connecting rod 21 inclines
Tiltedly it is packed in the diameter poles of semicircle spur gear.So set, it is compact-sized, it occupies little space, meets joint extension and song is bent
Needs.
In another embodiment, as shown in Figure 8 and Figure 9, lower limb exoskeleton rehabilitation training joint further includes length
Regulating mechanism, the length adjustment mechanism include hollow bush 21, adjusting knob 22, wheel shaft 27, gear 29 and rack gear 31；It is hollow
Bushing 21 is arranged between cover board 1 and bottom plate 5, and hollow bush 21 can slide on cover board 1 and bottom plate 5, mesoporous bushing 21 1
It is provided with strip hole 21-1 on side wall, a through-hole 5-1 is provided on bottom plate 5, wheel shaft 27 is threaded through in through-hole 5-1 and strip hole 21-1,
Wheel shaft 27 is fixed on bottom plate 5 and is able to rotate, and the end in 5 outside of bottom plate of wheel shaft 27 is equipped with adjusting knob 22, wheel shaft 27
One in hollow bush 21 section on be fixed with gear 29, rack gear 31 is packed on 21 inner sidewall of hollow bush, 31 He of rack gear
The length direction of strip hole 21-1 is identical, and gear 29 and rack gear 31 engage.
In above scheme, hollow bush 21 is mounted between bottom plate 5 and cover board 1 by sliding slot, and rack gear 31 is solid by screw
It is scheduled on 21 inner side of hollow bush, 27 one end of wheel shaft is connected on support baseboard 5 by bearing 25, and bearing 25 passes through bearing rib
Circle 26 carries out axially position, and 27 other end of wheel shaft is connect by taking turns axle key 28 with gear 29, and gear 29 passes through in 27 end of wheel shaft
Shaft end ring 30 is installed and carries out axially position, gear 29 and the intermeshing of rack gear 31 are driven, and wheel shaft 27 is embedded in hollow bush 21 1
In the through-hole 5-1 of side, adjusting knob 22 is connect by fastening screw 23 with wheel shaft 27, is connect by lock-screw 24 with bottom plate 5,
Bottom plate 5 is linked together with cover board 1 by screw fastening.The length of rehabilitation training unit is adjusted using rack-and-pinion principle, it is full
The patient articular cooperative movement rehabilitation of foot difference heights needs, and can also promote and apply to ankle-joint, upper limb elbow joint, shoulder joint
Rehabilitation training, length adjustment is flexible and convenient, and adaptability and safety are good.
As one embodiment of above embodiment, the center of adjusting knob 22 is machined with along axial fixing screwed hole
22-1, the end center in 27 outside of wheel shaft are machined with installation threaded hole 27-1, and 22 sets of adjusting knob logical in 27 outboard end of wheel shaft
It is fixed to cross the fastening screw 23 for being screwed in fixing screwed hole 22-1 and installing in threaded hole 27-1.
Further, locking screw pit 5-2 is provided on the bottom plate 5 on the outside of through-hole 5-1, on the end face of adjusting knob 22
It is provided with along its axial mounting hole 22-2, when hollow bush 21 is moved to the position of suitable human body limb length, hollow bush
21 are through mounting hole 22-2, and simultaneously knob is fixed in the lock-screw 24 in locking screw pit 5-2.
The working principle of length adjustment mechanism: when lock-screw 24 does not screw in locking screw pit 5-2, adjusting knob 22 not with
Bottom plate 5 is connected, and drives wheel shaft 27 to rotate by screwing adjusting knob 22 manually, and then by wheel axle key 28 with 29 turns of moving gear
Dynamic, rack gear 31 generates straight-line displacement under the action of gear 29 is intermeshed and is driven, and drives hollow bush 21 to move along the chute, stretches
Rehabilitation training joint out, change screw direction, hollow bush 21 are made to retract rehabilitation training joint again.When hollow bush 21 is mobile
To the position for being suitble to human body limb length, installation locking screw 24 makes adjusting knob 22 and the connected realization locking of bottom plate 5.Such as Figure 10
It is that hollow bush 21 does not move, as shown in figure 11, when rotated, hollow bush 21 moves down adjusting knob 22, realizes
Adjust the length of rehabilitation training unit.
In above-mentioned transmission and position-limit mechanism and length adjustment mechanism, when the extended or retracted position to terminal of hollow bush 21,
It is limited using the postive stop baffle on bottom plate 5, prevents hollow bush 21 from generating over-travel.Driving is reasonably selected according to demand
The proportion of motor 2, bevel pinion 4, bevel gear wheel 18, small Spur gear 8, large straight gear 10 adjusts whole transmission ratio, Jin Erman
The demand of sufficient load outputs revolving speed and torque.Overcome traditional artificial rehabilitation therapy method low efficiency, rehabilitation efficacy difference compared with
The problems such as big and rehabilitation exoskeleton robot is heavy numerous and jumbled, wearing is inconvenient, adaptability and safety are poor.
As the improvement project of above embodiment, as shown in figure 12, the lower end of the hollow bush 21 is fixed with one and connects
Oral area 21-1, two neighboring lower limb exoskeleton rehabilitation training joint are linked together by interface portion 21-1 and output connecting rod 51.
So set, by the output connecting rod 32 of 10 end of large straight gear in a rehabilitation training joint and another rehabilitation training joint
The interface portion 21-1 of 21 end of hollow bush is bolted to form assembly.It can be realized simultaneously lower limb hip by assembly
Joint and kneed movement make hip, knee joint cooperate and carry out rehabilitation training.Meanwhile as shown in figure 13, by assembly with
Orthopedic remedy instrument for foot, bandage, waist bracket etc. are assembled together, and the functions such as walk help power-assisted may be implemented.Devise rehabilitation training dermoskeleton
The modularized joint of bone had both been able to satisfy the needs of different parts simple joint athletic rehabilitation, passed through transmission and position-limit mechanism and length
Multifunctional modular design is realized in the design of regulating mechanism, also can assemble integral lower limb exoskeleton machine by formation
People needs for functions such as the rehabilitation needs of multi-joint mutual cooperation movement or walk help power-assisteds, and compact-sized, cost is relatively low, outside
Shape is flexibly small and exquisite, lighter weight, is suitable for patient and receives.Transmission and position-limit mechanism and for example above-mentioned institute of length adjustment mechanism working principle
It states, transmission and position-limit mechanism in assembly and length adjustment mechanism can work independently or work in combination.Namely in output connecting rod
While 32 rotation, hollow bush 21 is scalable or motionless, or output connecting rod 32 and hollow bush 21 work at the same time.
As the another improvement project of above embodiment, cover board 1 and bottom plate 5 are slot type strip hierarchic structure, one end
Section is greater than another end section, driving motor 2, bracket 3, transmission component A, output connecting rod 32, arc-shaped slide rail 51 and upright sliding rail
52 are arranged in the slot at the big section end of bottom plate 5 and cover board 1, and adjusting knob 22 is arranged in the small bore end of bottom plate 1.1 He of cover board
Bottom plate 5 is made with reeded strip hierarchic structure.One end section is big, and an end section is small, driving motor 2, bracket 3, transmission group
Part A, output connecting rod 32, arc-shaped slide rail 51 and upright sliding rail 52 are arranged in heavy in section slot, compact-sized, are occupied little space,
It is suitble to the use in joint to need.
The present invention is disclosed as above with preferable case study on implementation, and however, it is not intended to limit the invention, any to be familiar with this profession
Technical staff, without departing from the scope of the present invention, according to the technical essence of the invention to the above case study on implementation institute
Any simple modification, equivalent change and modification done still belong to technical solution of the present invention range.
Claims (9)
1. a kind of modularized joint for lower limb rehabilitation training ectoskeleton, it is characterised in that: it includes transmission and position-limit mechanism；
The transmission and position-limit mechanism include cover board (1), driving motor (2), bracket (3), bottom plate (5), transmission component (A) and defeated
Connecting rod (21) out；Cover board (1) and bottom plate (5) are fastened and connected together, are disposed with driving motor between cover board (1) and bottom plate (5)
(2), bracket (3), transmission component (A) and output connecting rod (32)；
Driving motor (2) is mounted on bracket (3), and bracket (3) is mounted on bottom plate (5), and driving motor (2) drives transmission component
(A), output connecting rod (21) one end is connect with transmission component (A), and output connecting rod (21) other end stretches out cover board (1) and bottom plate (5),
Transmission component (A) driving output connecting rod (21) rotation；
Arc-shaped slide rail (51) and upright sliding rail (52), the first limited block (11-1) and the second limit are installed on the inside of bottom plate (5)
Block (11-2) is can be slidably mounted at respectively on arc-shaped slide rail (51) and upright sliding rail (52), the first limited block (11-1) and
Two limited blocks (11-2) limit output connecting rod (32) rotational angle respectively.
2. a kind of modularized joint for lower limb rehabilitation training ectoskeleton according to claim 1, it is characterised in that: described
Transmission component (A) includes gear shaft (19), bevel gear pair and spur gear pair；Bevel gear pair includes bevel pinion (4) and auger tooth
It takes turns (18), spur gear pair includes small Spur gear (8) and large straight gear (10)；
Bevel pinion (4) is mounted on the output shaft of driving motor (2), and gear shaft (19) both ends are fixed with bevel gear wheel respectively
(18) it is rotatably installed on cover board (1) and bottom plate (5) with small Spur gear (8), gear shaft (19), bevel pinion (4) and auger tooth
(18) engagement is taken turns, large straight gear (10) is rotatably installed on cover board (1) and bottom plate (5), small Spur gear (8) and large straight gear (10)
Engagement, output connecting rod (32) are packed on large straight gear (10) lateral surface.
3. a kind of modularized joint for lower limb rehabilitation training ectoskeleton according to claim 2, it is characterised in that: described
Large straight gear (10) is semicircle spur gear, and output connecting rod (21) inclination is packed in the diameter poles of semicircle spur gear.
4. a kind of modularized joint for lower limb rehabilitation training ectoskeleton according to Claims 2 or 3, it is characterised in that:
Lower limb exoskeleton rehabilitation training joint further includes length adjustment mechanism, and the length adjustment mechanism includes hollow bush
(21), adjusting knob (22), wheel shaft (27), gear (29) and rack gear (31)；
Hollow bush (21) is arranged between cover board (1) and bottom plate (5), and hollow bush (21) can be in cover board (1) and bottom plate (5)
Upper sliding is provided with strip hole (21-1) in mesoporous bushing (21) one side wall, is provided on bottom plate (5) through-hole (5-1), wheel shaft (27)
Be threaded through in through-hole (5-1) and strip hole (21-1), wheel shaft (27) is fixed on bottom plate (5) and is able to rotate, wheel shaft (27)
End on the outside of bottom plate (5) is equipped with adjusting knob (22), is fixed on one section in hollow bush (21) of wheel shaft (27)
Gear (29), rack gear (31) are packed on hollow bush (21) inner sidewall, the length direction of rack gear (31) and strip hole (21-1)
It is identical, gear (29) and rack gear (31) engagement.
5. a kind of modularized joint for lower limb rehabilitation training ectoskeleton according to claim 4, it is characterised in that: described
Lower limb exoskeleton rehabilitation training joint further includes encoder (14), and encoder (14) is arranged on the outside of bottom plate (5), encoder (14)
It is mounted on the side of large straight gear (10) and the two is coaxial.
6. a kind of modularized joint for lower limb rehabilitation training ectoskeleton according to claim 5, it is characterised in that: adjust
The end center that the center of knob (22) is machined on the outside of axial fixing screwed hole (22-1), wheel shaft (27) is machined with installation
Threaded hole (27-1), adjusting knob (22) are covered in wheel shaft (27) outboard end by being screwed in fixing screwed hole (22-1) and installation
Fastening screw (23) in threaded hole (27-1) is fixed.
7. according to a kind of modularized joint for lower limb rehabilitation training ectoskeleton of claim 5 or 6, it is characterised in that:
It is provided with locking screw pit (5-2) on the bottom plate (5) on the outside of through-hole (5-1), is provided on the end face of adjusting knob (22) along it
Axial mounting hole (22-2), when hollow bush (21) is moved to the position of suitable human body limb length, hollow bush (21)
It is through mounting hole 22-2 and knob is fixed in the lock-screw (24) in locking screw pit (5-2).
8. a kind of modularized joint for lower limb rehabilitation training ectoskeleton according to claim 7, it is characterised in that: described
The lower end of hollow bush (21) is fixed with an interface portion (21-1), and two neighboring lower limb exoskeleton rehabilitation training joint passes through interface
Portion (21-1) links together with output connecting rod (51).
9. a kind of modularized joint for lower limb rehabilitation training ectoskeleton according to claim 8, it is characterised in that: cover board
(1) and bottom plate (5) is slot type strip hierarchic structure, and an end section is greater than another end section, driving motor (2), bracket (3),
Transmission component (A), output connecting rod (32), arc-shaped slide rail (51) and upright sliding rail (52) are arranged in the big of bottom plate (5) and cover board (1)
In the slot at section end, adjusting knob (22) is arranged in the small bore end of bottom plate (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910759027.1A CN110327189A (en) | 2019-08-16 | 2019-08-16 | A kind of modularized joint for lower limb rehabilitation training ectoskeleton |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910759027.1A CN110327189A (en) | 2019-08-16 | 2019-08-16 | A kind of modularized joint for lower limb rehabilitation training ectoskeleton |
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| CN110327189A true CN110327189A (en) | 2019-10-15 |
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| CN201910759027.1A Pending CN110327189A (en) | 2019-08-16 | 2019-08-16 | A kind of modularized joint for lower limb rehabilitation training ectoskeleton |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11148279B1 (en) | 2020-06-04 | 2021-10-19 | Dephy, Inc. | Customized configuration for an exoskeleton controller |
| US11173093B1 (en) | 2020-09-16 | 2021-11-16 | Dephy, Inc. | Systems and methods for an active exoskeleton with local battery |
| US11298287B2 (en) | 2020-06-02 | 2022-04-12 | Dephy, Inc. | Systems and methods for a compressed controller for an active exoskeleton |
| US11389367B2 (en) | 2020-06-05 | 2022-07-19 | Dephy, Inc. | Real-time feedback-based optimization of an exoskeleton |
| IT202100002450A1 (en) | 2021-02-04 | 2022-08-04 | Fondazione St Italiano Tecnologia | MOTORIZED MODULAR JOINT FOR EXOSKELETON |
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