CN111166613A - Locking mechanism and power exoskeleton rehabilitation robot - Google Patents
Locking mechanism and power exoskeleton rehabilitation robot Download PDFInfo
- Publication number
- CN111166613A CN111166613A CN202010068399.2A CN202010068399A CN111166613A CN 111166613 A CN111166613 A CN 111166613A CN 202010068399 A CN202010068399 A CN 202010068399A CN 111166613 A CN111166613 A CN 111166613A
- Authority
- CN
- China
- Prior art keywords
- connecting piece
- lower connecting
- channel
- limiting channel
- upper connecting
- 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.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 30
- 230000002093 peripheral effect Effects 0.000 claims abstract description 7
- 230000007704 transition Effects 0.000 claims description 11
- 230000000903 blocking effect Effects 0.000 claims description 8
- 229920001296 polysiloxane Polymers 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 6
- 208000029549 Muscle injury Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 206010010371 congenital aortic valve stenosis Diseases 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Images
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
- 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
-
- 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
-
- 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
- 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
- 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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a locking mechanism and a power exoskeleton rehabilitation robot, wherein the power exoskeleton rehabilitation robot comprises a robot main body and a waist assembly, the locking mechanism comprises an upper connecting piece, a lower connecting piece and a locking assembly, the upper connecting piece is used for connecting the waist assembly, a limiting channel is arranged on the upper connecting piece, one end of the lower connecting piece is used for connecting the robot main body, a notch is arranged on the side wall of the limiting channel, the other end of the lower connecting piece enters the limiting channel from the notch, the outer peripheral wall of the lower connecting piece is abutted against the inner side wall of the limiting channel so as to limit the lower connecting piece from falling from the limiting channel, the lower connecting piece and the upper connecting piece are fixed mutually in the transverse direction, and the locking assembly is assembled on the upper connecting piece so as. According to the technical scheme, the waist component of the power exoskeleton rehabilitation robot can be conveniently worn, and a good locking effect between the waist component and the robot main body can be guaranteed.
Description
Technical Field
The invention relates to the technical field of medical rehabilitation equipment, in particular to a locking mechanism and a powered exoskeleton rehabilitation robot.
Background
The power exoskeleton rehabilitation robot is medical rehabilitation equipment for helping people with muscle injury to exercise muscle strength due to congenital or diseases, and the weak body of the people with muscle injury is considered, usually, a waist component and a power exoskeleton rehabilitation robot body are detachably connected, so that the people with muscle injury sit down to fix the waist component on the waist, then the waist component and the power exoskeleton rehabilitation robot body are connected through a locking mechanism, but the locking mechanism for connecting the waist component and the power exoskeleton rehabilitation robot body in the related technology is too complex in operation and inconvenient to wear or poor in locking effect, and the good locking effect between the waist component and the robot body is difficult to guarantee on the premise that the waist component is worn conveniently.
Disclosure of Invention
The invention mainly aims to provide a locking mechanism, aiming at ensuring a good locking effect between a waist component and a robot main body on the premise of ensuring that the waist component is convenient to wear.
To achieve the above object, the present invention provides a locking mechanism for a powered exoskeleton rehabilitation robot, the powered exoskeleton rehabilitation robot including a robot body and a waist assembly, the locking mechanism comprising: the upper connecting piece is connected to a waist component of the power exoskeleton rehabilitation robot, and a limit channel is arranged on the upper connecting piece; one end of the lower connecting piece is connected to the robot main body, a notch is formed in the side wall of the limiting channel, the other end of the lower connecting piece enters the limiting channel from the notch, the outer peripheral wall of the lower connecting piece is abutted against the inner side wall of the limiting channel so as to limit the lower connecting piece from falling off the limiting channel, and the lower connecting piece and the upper connecting piece are fixed in the transverse direction; and the locking assembly is assembled on the upper connecting piece so as to limit the lower connecting piece to be separated from the limiting channel upwards.
In an embodiment, the limiting channel is arranged in a tapered manner from top to bottom, and one end of the lower connecting piece inserted into the limiting channel is matched with the limiting channel so as to prevent the lower connecting piece from dropping after being inserted into the limiting channel.
In an embodiment, go up the connecting piece and be the flat plate, it is equipped with two stoppers to go up the connecting piece and deviate from one side interval of human body, two the stopper has an at least inclined plane, at least two one of stopper is kept away from one side of going up the connecting piece is installed the baffle, the baffle with it sets up relatively to go up the connecting piece, perhaps, two the stopper have at least an inclined plane and at least one with the face that blocks that the connecting piece set up relatively, perhaps, two the stopper have at least one trapezoidal spacing portion and at least one with the face that blocks that the connecting piece set up relatively, in order to be two form between the stopper from last convergent to down spacing passageway.
In an embodiment, each of the two limiting blocks has an inclined surface disposed oppositely, and each of the two limiting blocks has a blocking surface disposed oppositely to the upper connecting member, so that the limiting channel gradually decreases from top to bottom is formed between the two limiting blocks.
In one embodiment, one end of the lower connecting piece, which is connected with the robot main body, and one end of the lower connecting piece, which is inserted into the limiting channel, are connected through a transition section, and the transverse size of the transition section is smaller than the minimum transverse distance between the two limiting blocks, so that the transition section can transversely enter the limiting channel.
In one embodiment, the locking assembly is a snap lock disposed above the spacing channel to limit the lower connector from disengaging the spacing channel from above the spacing channel in a locked state.
In one embodiment, an elastic buffer member is arranged on the locking assembly, and the elastic buffer member abuts against the upper end face of the lower connecting member.
In one embodiment, the elastic buffer is annularly arranged on the locking assembly.
In one embodiment, the elastic buffer member is a silicone block or a rubber block.
The invention also provides a powered exoskeleton rehabilitation robot, which comprises a waist component, a robot body and the locking mechanism in any one of the above schemes, wherein the locking mechanism is connected with the waist component and the robot body;
the locking mechanism comprises: the upper connecting piece is used for being connected with the waist component, and a limiting channel is arranged on the upper connecting piece; one end of the lower connecting piece is connected with the robot main body, a notch is formed in the side wall of the limiting channel, the other end of the lower connecting piece enters the limiting channel from the notch, the outer peripheral wall of the lower connecting piece is abutted against the inner side wall of the limiting channel so as to limit the lower connecting piece from falling off the limiting channel, and the lower connecting piece and the upper connecting piece are fixed in a transverse direction; and the locking assembly is assembled on the upper connecting piece so as to limit the lower connecting piece to be separated from the limiting channel upwards.
The technical proposal of the invention is that the upper connecting piece is connected to the waist component of the power exoskeleton rehabilitation robot by arranging the upper connecting piece, the lower connecting piece and the locking component, a limit channel is arranged on the upper connecting piece, a gap is arranged on the side wall of the limit channel, one end of the lower connecting piece is connected on the robot main body, the other end of the lower connecting piece enters the limit channel from the gap, so that the outer peripheral wall of the lower connecting piece is abutted against the inner side wall of the limit channel, so as to limit the lower connecting piece from falling from the limit channel, and realize the mutual fixation of the lower connecting piece and the upper connecting piece in the transverse direction, the operation is convenient, the locking component limits the lower connecting piece to be separated from the limiting channel upwards, so that the lower connecting piece is locked in the transverse direction and the longitudinal direction, thereby realize being connected and the locking between waist subassembly and the robot main part, and then reach good locking effect under the convenient prerequisite of dressing.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural diagram illustrating a locking state of a locking mechanism according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an open state of a locking mechanism according to an embodiment of the present invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | Upper connecting |
120 | |
| 110 | |
200 | Lower connecting |
| 111 | |
201 | |
| 112 | |
300 | |
| 113 | |
310 | Elastic buffer |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, if appearing throughout the text, "and/or" is meant to include three juxtaposed aspects, taking "A and/or B" as an example, including either the A aspect, or the B aspect, or both A and B satisfied aspects. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a locking mechanism which is used for a power exoskeleton rehabilitation robot.
In the embodiment of the present invention, as shown in fig. 1 and 2, the locking mechanism includes an upper connecting member 100, a lower connecting member 200, and a locking assembly 300, wherein the upper connecting member 100 is used for connecting with a lumbar component, one end of the lower connecting member 200 is used for connecting with a robot main body, and the locking between the lumbar component and the robot main body can be realized by locking the upper connecting member 100 and the lower connecting member 200; the upper connecting piece 100 is provided with a limiting channel 112, the side wall of the limiting channel 112 is provided with a notch 113, the other end of the lower connecting piece 200 enters the limiting channel 112 from the notch 113, the outer peripheral wall of the lower connecting piece 200 is abutted against the inner side wall of the limiting channel 112, the other end of the lower connecting piece 200 is longitudinally inserted into the limiting channel 112, the upper connecting piece 100 and the lower connecting piece 200 are transversely fixed with each other, and the lower connecting piece 200 is limited to fall from the limiting channel 112 by the limiting channel 112, it can be understood that in order to achieve the purpose of limiting the lower connecting piece 200 to fall from the limiting channel 112 by the limiting channel 112, the transverse size of at least one part of the limiting channel 112 is smaller than the minimum transverse size of one end of the lower connecting piece 200 inserted; the locking assembly 300 is assembled to the upper connector 100 to restrict the lower connector 200 from moving upward out of the position-restricting passage 112, and the lower connector 200 is restricted from moving upward out of the position-restricting passage 112 by the locking assembly 300 being stopped above the position-restricting passage 112.
In this scheme, set up breach 113 on spacing passageway 112's lateral wall, solved because the lower extreme and the robot main part of lower connecting piece 200 are connected, be not convenient for insert the problem in spacing passageway 112 from last to bottom with the lower extreme of lower connecting piece 200, earlier transversely insert spacing passageway 112 with lower connecting piece 200, make lower connecting piece 200 fall to the periphery wall of lower connecting piece 200 and the inside wall butt of spacing passageway 112 along the direction of gravity again, thereby the link drops from spacing passageway 112 under the restriction, and, lower connecting piece 200 can support tightly with spacing passageway 112's inside wall under self action of gravity, make to be connected more stably between lower connecting piece 200 and the last connecting piece 100.
The technical scheme of the invention is that an upper connecting piece 100 is connected to a waist component of the power exoskeleton rehabilitation robot by arranging an upper connecting piece 100, a lower connecting piece 200 and a locking component 300, a limit channel 112 is arranged on the upper connecting piece 100, a notch 113 is arranged on the side wall of the limit channel 112, one end of the lower connecting piece 200 is connected to a robot body, the other end of the lower connecting piece 200 enters the limit channel 112 from the notch 113, the peripheral wall of the lower connecting piece 200 is abutted against the inner side wall of the limit channel 112 to limit the lower connecting piece 200 from falling from the limit channel 112, and the lower connecting piece 200 and the upper connecting piece 100 are fixed in the transverse direction, the operation is convenient, the locking component 300 limits the lower connecting piece 200 to be separated from the limit channel 112 upwards, the transverse and longitudinal locking of the lower connecting piece 200 is realized, and the connection and locking between the waist component and the robot body are realized, and then reach good locking effect under the convenient prerequisite of wearing.
In some embodiments, the limiting channel 112 is tapered from top to bottom, and the end of the lower connector 200 inserted into the limiting channel 112 matches with the limiting channel 112 to prevent the lower connector 200 from falling off after being inserted into the limiting channel 112. The specific implementation manner of the limiting channel 112 may be to set a stopper on one side of the upper connecting member 100, set the stopper in an L shape or a semi-cylindrical shape or set a step on a sidewall of the stopper, and surround the limiting channel 112 tapered from top to bottom by using the stopper to cooperate with the sidewall of the upper connecting member 100.
In an embodiment, the upper connecting member 100 is a flat plate, two limit blocks 110 are arranged at intervals on one side of the upper connecting member 100 away from the human body, one of the two limit blocks 110 has an inclined surface 111, a baffle 120 is arranged on one side of the upper connecting member 100 away from the upper connecting member 100, and the baffle 120 is arranged opposite to the upper connecting member 100, so that a limit channel 112 which is tapered from top to bottom is formed between the two limit blocks 110, the baffle 120 and the upper connecting member 100, and the lower connecting member 200 is limited from falling off from the limit channel 112. In one embodiment, the baffle 120 and the upper connecting member 100 are fixed by screws, so that the baffle 120 is stably mounted on the stopper.
In an embodiment, the upper connecting member 100 is a flat plate, two limiting blocks 110 are arranged at intervals on one side of the upper connecting member 100, which is away from the human body, one of the two limiting blocks 110 has an inclined surface 111, and one of the two limiting blocks 110 has a blocking surface which is arranged opposite to the upper connecting member 100, the two limiting blocks 110 and the upper connecting member 100 are matched to enclose a limiting channel 112, the upper-lower tapered setting of the limiting channel 112 is realized through the inclined surface, not only is the limitation that the lower connecting member 200 falls from the limiting channel 112 realized, but also the upper connecting member 100 is a flat plate, so that the volume and the weight of the upper connecting member 100 are smaller, and the load of the human body is reduced.
In some embodiments, the position limiting channel 112 is a flat channel, and the lower connecting member 200 is also provided with a flat shape, so as to reduce the volume and weight of the lower connecting member 200, and further reduce the load on the human body.
In an embodiment, the upper connecting member 100 is a flat plate, two limit blocks 110 are arranged at intervals on one side of the upper connecting member 100 away from the human body, each of the two limit blocks 110 has an inclined surface 111 arranged oppositely, each of the two limit blocks 110 has a blocking surface arranged oppositely to the upper connecting member 100, the two limit blocks 110 and the upper connecting member 100 are matched to enclose a limit channel 112, the two inclined surfaces 111 arranged oppositely are arranged on the two limit blocks 110 respectively, so that the lower connecting member 200 is inserted into the limit channel 112 and then supported by the two inclined surfaces 111 arranged oppositely, and the two inclined surfaces 111 arranged oppositely simultaneously limit the lower connecting member 200 from falling out of the limit channel 112, so that the lower connecting member 200 is inserted into the limit channel 112 more stably; in addition, the two limit blocks 110 are provided with blocking surfaces opposite to the connecting pieces, so that the contact area between the lower connecting frame and the inner side wall of the limit channel 112 is increased, and the lower connecting piece 200 is further stably inserted into the limit channel 112.
In one embodiment, the blocking surface is provided as an inclined surface inclined with respect to the longitudinal direction, further increasing the inclined surface supporting the lower connector 200 upward, so that the lower connector 200 is difficult to fall from the spacing channel 112 even if it is worn after a long-term use.
In one embodiment, the middle of the lower connecting member 200 is provided with a transition section 201, that is, the transition section 201 is connected between one end of the lower connecting member 200 connected with the powered exoskeleton rehabilitation robot and one end of the lower connecting member 200 inserted into the limit channel 112, and the transverse dimension of the transition section 201 is smaller than the minimum transverse distance between the two limit blocks 110, so that the transition section 201 can transversely enter the limit channel 112. Through setting up changeover portion 201, need not to restrict down the horizontal size of the one end that connecting piece 200 inserted in spacing passageway 112 and can make lower connecting piece 200 get into in spacing passageway 112 more easily to can the adaptability increase the horizontal size of the one end that connecting piece 200 inserted in spacing passageway 112 down, make lower connecting piece 200 insert more steadily and establish and be difficult to drop in spacing passageway 112.
In some embodiments, the locking assembly 300 is a snap lock that is disposed above the spacing channel 112 such that the lower connector 200 is restricted from exiting the spacing channel 112 above the spacing channel 112 when the snap lock is in a locked state. The specific structure and principle of the snap lock refer to the structure and principle of the snap lock in the prior art, and are not described in detail herein.
In some embodiments, an elastic buffer 310 is disposed on the locking assembly 300, and the elastic buffer 310 abuts against the upper end surface of the lower link 200. On one hand, the elastic buffer 310 abuts against the upper end surface of the lower connecting piece 200, so that the lower connecting piece 200 abuts against the inner side wall of the limiting channel 112 more tightly, and the upper connecting piece 100 and the lower connecting piece 200 are locked without loosening and do not move relatively; on the other hand, the elastic buffer 310 serves to buffer between the locking assembly 300 and the lower link 200, so that neither the locking assembly 300 nor the lower link 200 is not easily worn.
In some embodiments, the elastic buffer 310 is looped around the locking assembly 300 in such a way that the elastic buffer 310 is not easily released, thereby functioning better.
In one embodiment, the elastic buffer 310 is a silica gel block, which has small changes in chemical and physical mechanical properties with temperature, and thus is not easily damaged during use.
In another embodiment, the elastic buffer 310 is a rubber block, which has good elasticity and high strength and can perform a buffering function well.
In an embodiment, the locking assembly 300 has a straight rod overlapping the upper end surface of the lower connecting member 200, a limiting groove is formed in the middle of the straight rod, and the elastic buffer 310 is disposed in the limiting groove, so as to prevent the elastic buffer 310 from displacing on the straight rod, thereby better functioning.
The invention further provides a powered exoskeleton rehabilitation robot, which comprises a waist component, a robot main body and a locking mechanism, wherein the specific structure of the locking mechanism refers to the above embodiments. Wherein, the locking metal hook is connected with the waist component and the robot main body.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A locking mechanism for a powered exoskeleton rehabilitation robot including a robot body and a waist assembly, the locking mechanism comprising:
the upper connecting piece is used for being connected with the waist component, and a limiting channel is arranged on the upper connecting piece;
one end of the lower connecting piece is connected with the robot main body, a notch is formed in the side wall of the limiting channel, the other end of the lower connecting piece enters the limiting channel from the notch, the outer peripheral wall of the lower connecting piece is abutted against the inner side wall of the limiting channel so as to limit the lower connecting piece from falling off the limiting channel, and the lower connecting piece and the upper connecting piece are fixed in a transverse direction;
and the locking assembly is assembled on the upper connecting piece so as to limit the lower connecting piece to be separated from the limiting channel upwards.
2. The locking mechanism according to claim 1, wherein the limiting channel is tapered from top to bottom, and one end of the lower connecting piece inserted into the limiting channel is matched with the limiting channel so as to prevent the lower connecting piece from falling off after being inserted into the limiting channel.
3. The locking mechanism according to claim 2, wherein the upper connecting member is a flat plate, two stoppers are spaced apart from one side of the upper connecting member away from the human body, each of the stoppers has at least one inclined surface, and a baffle is installed on one side of at least one of the stoppers away from the upper connecting member, the baffle is disposed opposite to the upper connecting member, or each of the stoppers has at least one inclined surface and at least one blocking surface disposed opposite to the upper connecting member, or each of the stoppers has at least one stepped limiting portion and at least one blocking surface disposed opposite to the upper connecting member, so that a limiting channel is formed between the two stoppers, the channel is tapered from top to bottom.
4. The locking mechanism according to claim 3, wherein each of the two stoppers has an inclined surface facing each other and a blocking surface facing the upper connecting member, so as to form the stopper passage between the two stoppers, which is tapered from top to bottom.
5. The locking mechanism according to claim 3, wherein the end of the lower connecting piece connected with the robot main body and the end of the lower connecting piece inserted into the limiting channel are connected through a transition section, and the transverse dimension of the transition section is smaller than the minimum transverse distance between the two limiting blocks, so that the transition section can transversely enter the limiting channel.
6. The locking mechanism of any one of claims 1 to 5 wherein the locking assembly is a snap lock, the snap lock being located above the spacing channel to restrict the lower connector from disengaging the spacing channel from above the spacing channel in the locked condition.
7. A locking mechanism as claimed in any one of claims 1 to 5, wherein a resilient bumper is provided on the locking assembly, the resilient bumper abutting an upper end face of the lower link.
8. The locking mechanism of claim 7, wherein said elastomeric bumper is annularly disposed on said locking assembly.
9. The latch mechanism according to claim 7 wherein said elastomeric bumper is a silicone block or a rubber block.
10. A powered exoskeleton rehabilitation robot comprising a lumbar assembly, a robot body and a locking mechanism as claimed in any one of claims 1 to 9 connecting the lumbar assembly and the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010068399.2A CN111166613B (en) | 2020-01-20 | 2020-01-20 | Locking mechanism and power exoskeleton rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010068399.2A CN111166613B (en) | 2020-01-20 | 2020-01-20 | Locking mechanism and power exoskeleton rehabilitation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111166613A true CN111166613A (en) | 2020-05-19 |
| CN111166613B CN111166613B (en) | 2022-05-27 |
Family
ID=70646789
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010068399.2A Active CN111166613B (en) | 2020-01-20 | 2020-01-20 | Locking mechanism and power exoskeleton rehabilitation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111166613B (en) |
Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4597551A (en) * | 1985-03-08 | 1986-07-01 | Rockwell International Corporation | Vacuum wand holder |
| US4718928A (en) * | 1987-01-13 | 1988-01-12 | Itt Corporation | Quick access contact mounting fixture |
| TW435621U (en) * | 2000-04-05 | 2001-05-16 | Jan Yi Shiun | Fastener with wedge shape |
| WO2005073032A1 (en) * | 2004-01-27 | 2005-08-11 | Joy Gregory T | Portable tripod and universal mounting assembly for an object |
| CN201074290Y (en) * | 2007-07-30 | 2008-06-18 | 福建省九龙建设集团有限公司 | Grid section fixing structure |
| CN201859988U (en) * | 2010-09-03 | 2011-06-08 | 中国计量学院 | Safety socket with magnetic-control blind guide sliding slot |
| CN103075060A (en) * | 2013-01-23 | 2013-05-01 | 董广凤 | Plastic sealing mark |
| CN203353542U (en) * | 2013-07-30 | 2013-12-25 | 苏青山 | Movable hanging rack for poultry feather removal processing |
| CN203372329U (en) * | 2013-07-11 | 2014-01-01 | 天心工业股份有限公司 | Rapid disassembly structure of bicycle accessory |
| CN203809024U (en) * | 2014-02-10 | 2014-09-03 | 扬州中矿矿业技术发展有限公司 | Novel tail fastening device for threaded anchor rod |
| CN204126060U (en) * | 2014-10-17 | 2015-01-28 | 钟智谦 | A kind of concrete precast element syndeton, connector |
| CN204163286U (en) * | 2014-10-17 | 2015-02-18 | 钟智谦 | A kind of prestressed concrete connector |
| CN205053040U (en) * | 2015-09-15 | 2016-03-02 | 台湾扣具工业股份有限公司 | Single rope tail is detained |
| CN206238891U (en) * | 2016-08-30 | 2017-06-13 | 嘉兴维特拉电气科技有限公司 | The backrest eye-splice of Massage sofa |
| CN107283393A (en) * | 2016-03-31 | 2017-10-24 | 深圳光启合众科技有限公司 | Exoskeleton robot and its hip joint |
| CN206873640U (en) * | 2017-04-17 | 2018-01-12 | 天元建设集团有限公司 | The side bar Column border node and assembled connector of a kind of quadrate steel pipe column and H profile steel |
| CN207005019U (en) * | 2017-04-02 | 2018-02-13 | 苏州安耐驰汽车科技有限公司 | A kind of fixed connection structure |
| CN208072776U (en) * | 2018-04-09 | 2018-11-09 | 林基 | Connect the upset locking type concrete component joint structure of end bar |
| CN110025458A (en) * | 2019-04-23 | 2019-07-19 | 广西科技大学 | A kind of fast assembly and disassembly mechanism for healing robot ectoskeleton |
| CN209341538U (en) * | 2018-11-07 | 2019-09-03 | 刘雪仁 | Mounting suspension member and wind deflector |
-
2020
- 2020-01-20 CN CN202010068399.2A patent/CN111166613B/en active Active
Patent Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4597551A (en) * | 1985-03-08 | 1986-07-01 | Rockwell International Corporation | Vacuum wand holder |
| US4718928A (en) * | 1987-01-13 | 1988-01-12 | Itt Corporation | Quick access contact mounting fixture |
| TW435621U (en) * | 2000-04-05 | 2001-05-16 | Jan Yi Shiun | Fastener with wedge shape |
| WO2005073032A1 (en) * | 2004-01-27 | 2005-08-11 | Joy Gregory T | Portable tripod and universal mounting assembly for an object |
| CN201074290Y (en) * | 2007-07-30 | 2008-06-18 | 福建省九龙建设集团有限公司 | Grid section fixing structure |
| CN201859988U (en) * | 2010-09-03 | 2011-06-08 | 中国计量学院 | Safety socket with magnetic-control blind guide sliding slot |
| CN103075060A (en) * | 2013-01-23 | 2013-05-01 | 董广凤 | Plastic sealing mark |
| CN203372329U (en) * | 2013-07-11 | 2014-01-01 | 天心工业股份有限公司 | Rapid disassembly structure of bicycle accessory |
| CN203353542U (en) * | 2013-07-30 | 2013-12-25 | 苏青山 | Movable hanging rack for poultry feather removal processing |
| CN203809024U (en) * | 2014-02-10 | 2014-09-03 | 扬州中矿矿业技术发展有限公司 | Novel tail fastening device for threaded anchor rod |
| CN204126060U (en) * | 2014-10-17 | 2015-01-28 | 钟智谦 | A kind of concrete precast element syndeton, connector |
| CN204163286U (en) * | 2014-10-17 | 2015-02-18 | 钟智谦 | A kind of prestressed concrete connector |
| CN205053040U (en) * | 2015-09-15 | 2016-03-02 | 台湾扣具工业股份有限公司 | Single rope tail is detained |
| CN107283393A (en) * | 2016-03-31 | 2017-10-24 | 深圳光启合众科技有限公司 | Exoskeleton robot and its hip joint |
| CN206238891U (en) * | 2016-08-30 | 2017-06-13 | 嘉兴维特拉电气科技有限公司 | The backrest eye-splice of Massage sofa |
| CN207005019U (en) * | 2017-04-02 | 2018-02-13 | 苏州安耐驰汽车科技有限公司 | A kind of fixed connection structure |
| CN206873640U (en) * | 2017-04-17 | 2018-01-12 | 天元建设集团有限公司 | The side bar Column border node and assembled connector of a kind of quadrate steel pipe column and H profile steel |
| CN208072776U (en) * | 2018-04-09 | 2018-11-09 | 林基 | Connect the upset locking type concrete component joint structure of end bar |
| CN209341538U (en) * | 2018-11-07 | 2019-09-03 | 刘雪仁 | Mounting suspension member and wind deflector |
| CN110025458A (en) * | 2019-04-23 | 2019-07-19 | 广西科技大学 | A kind of fast assembly and disassembly mechanism for healing robot ectoskeleton |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111166613B (en) | 2022-05-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2015119403A1 (en) | Health pillow capable of body type correction | |
| CN111166613B (en) | Locking mechanism and power exoskeleton rehabilitation robot | |
| CN204562597U (en) | A kind of transportation trolley of patients in cardiovascular internal medicine department | |
| CN207523526U (en) | Automobile and its saucer | |
| CN107091027B (en) | A kind of concealed hinge of internal-open and inner tilt | |
| CN114712173B (en) | Medical surgical human body exoskeleton waist support mechanism and human body exoskeleton device | |
| CN210258138U (en) | Automobile cushion with waist electric massage function | |
| CN207409983U (en) | A kind of two-conductor line conductor spacer | |
| CN206553836U (en) | One kind is adjustable to have quarrel to have shoulder block high ferro fastener | |
| CN210554361U (en) | Guide sleeve assembling structure for four-way adjustment of automobile seat headrest | |
| CN210301328U (en) | Medical thyroid gland postoperative protection holds in palm | |
| WO2013103188A1 (en) | User-tailored seating device | |
| CN113908489B (en) | Dyskinesia rehabilitation training device | |
| WO2020122305A1 (en) | Coupling-type functional pillow | |
| CN107252260B (en) | Oven slide rail installation mechanism | |
| CN207360175U (en) | A kind of multifunction seat stent | |
| CN216962871U (en) | Bed guardrail extender | |
| CN220046988U (en) | Postpartum crotch exerciser | |
| CN206525819U (en) | A kind of automatic telescopic waist holder structure on seat | |
| CN210990639U (en) | Obstetric apparatus for obstetrics and gynecology department | |
| CN220801190U (en) | Sitting posture correcting device and seat | |
| CN210228558U (en) | Medical suspension bridge | |
| US20110114683A1 (en) | Carry sling with auxiliary carry structure | |
| CN209111997U (en) | A kind of automotive seat back board structure | |
| CN215691331U (en) | Hula hoop |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |