CN110664589A - Locking device for length adjustment of exoskeleton robot leg - Google Patents
Locking device for length adjustment of exoskeleton robot leg Download PDFInfo
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- CN110664589A CN110664589A CN201910976479.5A CN201910976479A CN110664589A CN 110664589 A CN110664589 A CN 110664589A CN 201910976479 A CN201910976479 A CN 201910976479A CN 110664589 A CN110664589 A CN 110664589A
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- locking
- tooth
- pressing block
- adjusting
- toothed plate
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- 230000006835 compression Effects 0.000 claims abstract description 4
- 238000007906 compression Methods 0.000 claims abstract description 4
- 210000003141 lower extremity Anatomy 0.000 description 7
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010028289 Muscle atrophy Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000020763 muscle atrophy Effects 0.000 description 1
- 201000000585 muscular atrophy Diseases 0.000 description 1
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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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- 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
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Biophysics (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a locking device for adjusting the length of a leg of an exoskeleton robot, which comprises: the locking bolt passes through the locking cushion block, the toothed pressing block, the adjusting toothed plate and a fixing groove for arranging the adjusting toothed plate and then is screwed with the locking nut, the spring is arranged between the locking nut and the adjusting toothed plate and is simultaneously sleeved on the periphery of the locking bolt, and in a locking state, the spring is in a compression state. This practicality carries out simple structure, convenient operation, realizes fast through adjustment locking screw that the fixed of regulation dentate plate is adjusted and adjusts, has improved the convenience of the shank length adjustment of low limbs ectoskeleton robot.
Description
Technical Field
The invention relates to a leg length adjusting mechanism of an exoskeleton robot, in particular to a locking device of the leg length adjusting mechanism of the exoskeleton robot, and belongs to the technical field of medical instrument parts.
Background
The rehabilitation robot technology is an emerging robot technology which is rapidly developed in recent years, and is a new application of the robot technology in the medical field. At present, the rehabilitation robot becomes one of the hot spots of international social research, and has good treatment effect on patients with stroke, hemiplegia, lower limb motor function injury and the like. The lower limb exoskeleton robot is a man-machine integrated intelligent system which is worn on the lower limbs of a human body, helps the human body to bear a load and can move along with the human body. When the exoskeleton is worn on a human body and moves along with the human body, passive and active training can be realized, the problem of muscle atrophy caused by lack of movement of a wearer is effectively solved, the rehabilitation effect of the wearer is effectively improved, and in the prior art, the lower limb exoskeleton robot has some defects.
For different patients, the height is different, and the leg length is also different, so that the leg length of the lower limb exoskeleton robot needs to be adjusted, and how to realize quick adjustment and quick fixation is a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to provide the locking device which is simple in structure, convenient to operate and capable of quickly adjusting the leg length of the lower-limb exoskeleton robot.
In order to achieve the above object, the present invention adopts the following technical solutions:
a locking device for exoskeleton robot leg length adjustment, comprising: the locking bolt passes through the locking cushion block, the toothed pressing block, the adjusting toothed plate and a fixing groove for arranging the adjusting toothed plate and then is screwed with the locking nut, the spring is arranged between the locking nut and the adjusting toothed plate and is simultaneously sleeved on the periphery of the locking bolt, and in a locking state, the spring is in a compression state.
Furthermore, the locking device for adjusting the length of the leg of the exoskeleton robot further comprises a guide sleeve, the guide sleeve is fixedly connected with the fixing groove through a connecting screw, the guide sleeve is hollow, a through hole of the guide sleeve is consistent with the rear end part of the tooth-shaped pressing block and smaller than the front end part of the tooth-shaped pressing block, and a movable space at the front end part of the tooth-shaped pressing block is formed inside the guide sleeve.
The concrete structure sets up as: the rear end part of the tooth-shaped pressing block is inwards sunken to form a groove, the whole locking cushion block is of a step-shaped T-shaped structure, the front end part of the locking cushion block is in matched connection with the groove formed at the rear end part of the tooth-shaped pressing block, namely, the front end part of the locking cushion block is limited in the groove formed at the rear end part of the tooth-shaped pressing block, and the tooth-shaped pressing block is pressed while the front end part of the locking cushion block is limited.
Furthermore, the locking nut is fixedly connected with the fixing groove through the fixing screw, and the position fixing of the locking nut is realized.
In addition, foretell a locking device for ectoskeleton robot leg length is adjusted still includes the guiding mechanism who adjusts the dentate plate tip, guiding mechanism include direction locking screw, guide ring, guide pad and guiding axle, the direction locking screw pass and adjust the dentate plate tip, guide ring, fixed slot, guide pad back and the guiding axle screw, it is spacing in the fixed slot to adjust the dentate plate, has realized that it is spacing in the fixed slot to adjust the dentate plate, and can slide from top to bottom in the fixed slot.
The invention has the advantages that: the invention has simple structure and convenient operation, can quickly realize the fixation and adjustment of the adjusting toothed plate by adjusting the locking screw, and improves the convenience of the leg length adjustment of the lower limb exoskeleton robot.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
fig. 2 is a schematic view of a split structure according to an embodiment of the present invention.
The meaning of the reference symbols in the figures:
1-locking screw 2-locking washer 3-connecting screw 4-guide sleeve
5-tooth-shaped pressing block 6-guide locking screw 7-adjusting toothed plate 8-guide ring
9-fixed groove 10-guide pad 11-guide shaft 12-spring 13-locking nut
14-set screw.
Detailed Description
The invention is described in detail below with reference to the figures and the embodiments.
Examples
For the leg structure of the exoskeleton robot, in order to adjust the length of the leg, an adjusting toothed plate which can be adjusted up and down and a fixing groove for connecting and limiting the adjusting toothed plate are generally arranged, and certainly, the leg length adjusting structure based on the exoskeleton robot is a known technology and is not described in detail by the applicant.
The present application will focus on the fixation device for the leg adjustment structure.
FIG. 1 is a schematic structural diagram of an embodiment of the present invention; fig. 2 is a schematic view of a split structure according to an embodiment of the present invention.
Referring to fig. 1 and 2, a locking device for exoskeleton robot leg length adjustment comprises: the locking device comprises a locking screw 1, a locking washer 2, a connecting screw 3, a guide sleeve 4, a tooth-shaped pressing block 5, a guide locking screw 6, a guide ring 8, a guide pad 10, a guide shaft 11, a spring 12, a locking nut 13 and a fixing screw 14.
Wherein, the guide locking screw 6, the guide ring 8, the guide pad 10 and the guide shaft 11 form a guide mechanism for adjusting the end of the toothed plate 7, i.e. the guide locking screw 6 and the guide ring 8 are arranged at one end of the fixing groove 9, and the guide pad 10 and the guide shaft 11 are arranged at the other end of the fixing groove 9. The guide locking screw 6 penetrates through the end part of the adjusting toothed plate 7, the guide ring 8, the fixing groove 9 and the guide pad 10 in sequence and then is tightly screwed with the guide shaft 11, the adjusting toothed plate 7 is limited in the fixing groove 9, and the adjusting toothed plate 7 can slide up and down in the fixing groove 9.
The locking device comprises a locking screw 1, a locking washer 2, a connecting screw 3, a guide sleeve 4, a tooth-shaped pressing block 5, a spring 12, a locking nut 13 and a fixing screw 14.
Wherein, the locking screw 1, the locking washer 2, the connecting screw 3, the guide sleeve 4 and the tooth-shaped pressing block 5 are arranged at one end of the fixing groove 9, and the locking nut 13 and the fixing screw 14 are arranged at the other end of the fixing groove 9.
The concrete structure sets up as: the locking nut 13 is of a T-shaped structure, a through hole is formed in the locking nut 13, the aperture of the front end part of one end of the insertion fixing groove 9 is larger than that of the rear end part, threads are formed on the wall surface of the inner hole of the rear end part and matched with the threads of the locking screw 1 to form locking, a gap is formed between the inner wall of the front end part and the outer wall surface of the locking screw 1, and a spring 12 is arranged in the gap, namely the spring 12 is sleeved outside the locking screw 1 and is located in the through hole of the front end part of the locking nut 13.
The front end face of the tooth-shaped pressing block 5 is a tooth-shaped face and is meshed with the adjusting tooth-shaped plate 7, in order to ensure that the adjusting tooth-shaped plate 7 can be pressed at any position of the tooth-shaped pressing block 5 in the adjusting tooth-shaped plate 7, the tooth shape of the tooth-shaped pressing block 5 is the same as that of the adjusting tooth-shaped plate 7, and the intervals of the teeth are also the same. The tooth-shaped pressing block 5 is also provided with a through hole for the locking screw 1 to pass through, the front end part of the tooth-shaped pressing block 5 is recessed inwards to form a head part of the locking nut 13, matching is formed, meanwhile, a setting space of the spring 12 is formed together with the through hole at the front end part of the locking nut 13, and in a locking state, the spring 12 is in a compression state and abuts against the tooth-shaped pressing block 5. The rear end part of the tooth-shaped pressing block 5 is also inwards recessed to form a groove, the whole locking cushion block 2 is of a step-shaped T-shaped structure, the front end part of the locking cushion block 2 is in matched connection with the groove formed at the rear end part of the tooth-shaped pressing block 5, namely the front end part of the locking cushion block 2 is limited in the groove formed at the rear end part of the tooth-shaped pressing block 5, and the tooth-shaped pressing block 5 is pressed while limiting.
The uide bushing 4 is through connecting screw 3 and fixed slot 9 fixed connection, specifically is: the guide sleeve 4 is hollow, the size of a through hole of the guide sleeve 4 is consistent with the size of the rear end part of the tooth-shaped pressing block 5 and smaller than the front end part of the tooth-shaped pressing block 5, a movable space of the front end part of the tooth-shaped pressing block 5 is formed inside the guide sleeve 4, and meanwhile, the front end part of the tooth-shaped pressing block 5 can be limited. In this embodiment, four corners of the tail of the guide sleeve 4 are recessed inward to form four small mounting holes, that is, four connecting screws 3 fix the guide sleeve 4 on the fixing groove 9 through the four small mounting holes.
The locking screw 1 penetrates through the locking cushion block 2, the guide sleeve 4, the tooth-shaped pressing block 5, the adjusting tooth-shaped plate 7 and the fixing groove 9 and then is tightly connected with the locking nut 13. In this embodiment, the locking nut 13 is fixedly connected to the fixing groove 9 by the fixing screw 14, so that the locking nut 13 is fixed in position.
The operation process of the invention is as follows: when the length is adjusted, the locking screw 1 is firstly loosened by a tool, when the locking screw 1 is loosened, the spring 12 ejects the tooth-shaped pressing block 5 out, the tooth-shaped pressing block 5 is separated from the adjusting tooth-shaped plate 7, the adjusting tooth-shaped plate 7 can be pulled out, when the adjusting tooth-shaped plate 7 is pulled out to the use length, the locking screw 1 is screwed by the tool, the locking screw 1 presses the locking washer 2 and the tooth-shaped pressing plate 5, the locking screw 1 is locked with the locking nut 13, and the tooth-shaped pressing plate 5 is tightly buckled with the adjusting tooth-shaped plate 7 to prevent the adjusting tooth-shaped plate 7 from sliding up and down.
The invention is used for quickly adjusting the leg length/leg length of the robot, so that the size and length of the leg of the robot are the same as the size of the leg of a person wearing the robot.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.
Claims (5)
1. A locking device for exoskeleton robot leg length adjustment, comprising: the locking bolt passes through the locking cushion block, the toothed pressing block, the adjusting toothed plate and a fixing groove for arranging the adjusting toothed plate and then is screwed with the locking nut, the spring is arranged between the locking nut and the adjusting toothed plate and is simultaneously sleeved on the periphery of the locking bolt, and in a locking state, the spring is in a compression state.
2. The locking device for leg length adjustment of exoskeleton robot as claimed in claim 1 further comprising a guide sleeve, wherein the guide sleeve is fixedly connected with the fixing groove by a connecting screw, and the guide sleeve is hollow, the through hole of the guide sleeve is consistent with the rear end of the tooth-shaped pressing block and smaller than the front end of the tooth-shaped pressing block, and the guide sleeve forms a movable space inside the guide sleeve at the front end of the tooth-shaped pressing block.
3. The locking device for the length adjustment of the legs of the exoskeleton robot as claimed in claim 1 or 2, wherein the rear end of the tooth-shaped pressing block is recessed inwards to form a groove, the locking cushion block is integrally of a step-shaped T-shaped structure, and the front end of the locking cushion block is in fit connection with the groove formed at the rear end of the tooth-shaped pressing block.
4. The locking device for exoskeleton robot leg length adjustment as claimed in claim 1 or claim 2 wherein the locking nut is fixedly connected to the fixing groove by a fixing screw.
5. The locking device for exoskeleton robot leg length adjustment according to claim 1, further comprising a guiding mechanism for adjusting the end of the toothed plate, wherein the guiding mechanism comprises a guiding locking screw, a guiding ring, a guiding pad and a guiding shaft, the guiding locking screw passes through the end of the adjusting toothed plate, the guiding ring, the fixing groove and the guiding pad and then is screwed with the guiding shaft, and the adjusting toothed plate is limited in the fixing groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910976479.5A CN110664589A (en) | 2019-10-15 | 2019-10-15 | Locking device for length adjustment of exoskeleton robot leg |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910976479.5A CN110664589A (en) | 2019-10-15 | 2019-10-15 | Locking device for length adjustment of exoskeleton robot leg |
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| Publication Number | Publication Date |
|---|---|
| CN110664589A true CN110664589A (en) | 2020-01-10 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910976479.5A Pending CN110664589A (en) | 2019-10-15 | 2019-10-15 | Locking device for length adjustment of exoskeleton robot leg |
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| Country | Link |
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| CN (1) | CN110664589A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113580101A (en) * | 2021-06-28 | 2021-11-02 | 北京机械设备研究所 | Exoskeleton joint with adjusting function, exoskeleton and assembly method of exoskeleton joint |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109091354A (en) * | 2017-06-21 | 2018-12-28 | 上海傅利叶智能科技有限公司 | A kind of lower limbs rehabilitation training robot and its leg length regulating mechanism |
| CN209083783U (en) * | 2018-09-28 | 2019-07-09 | 上海京扬紧固件有限公司 | A kind of screw assemblies |
| KR20190090589A (en) * | 2018-01-25 | 2019-08-02 | 부산대학교 산학협력단 | Three-legged walking robot |
| CN211560949U (en) * | 2019-10-15 | 2020-09-25 | 南京伟思医疗科技股份有限公司 | Locking device for length adjustment of exoskeleton robot leg |
-
2019
- 2019-10-15 CN CN201910976479.5A patent/CN110664589A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109091354A (en) * | 2017-06-21 | 2018-12-28 | 上海傅利叶智能科技有限公司 | A kind of lower limbs rehabilitation training robot and its leg length regulating mechanism |
| KR20190090589A (en) * | 2018-01-25 | 2019-08-02 | 부산대학교 산학협력단 | Three-legged walking robot |
| CN209083783U (en) * | 2018-09-28 | 2019-07-09 | 上海京扬紧固件有限公司 | A kind of screw assemblies |
| CN211560949U (en) * | 2019-10-15 | 2020-09-25 | 南京伟思医疗科技股份有限公司 | Locking device for length adjustment of exoskeleton robot leg |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113580101A (en) * | 2021-06-28 | 2021-11-02 | 北京机械设备研究所 | Exoskeleton joint with adjusting function, exoskeleton and assembly method of exoskeleton joint |
| CN113580101B (en) * | 2021-06-28 | 2023-03-14 | 北京机械设备研究所 | Exoskeleton joint with adjusting function, exoskeleton and assembly method of exoskeleton joint |
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