CN111166614A - Leg limiting mechanism with knee hyperextension protection function and exoskeleton robot - Google Patents
Leg limiting mechanism with knee hyperextension protection function and exoskeleton robot Download PDFInfo
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- CN111166614A CN111166614A CN202010068492.3A CN202010068492A CN111166614A CN 111166614 A CN111166614 A CN 111166614A CN 202010068492 A CN202010068492 A CN 202010068492A CN 111166614 A CN111166614 A CN 111166614A
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- limiting
- leg
- hole
- rotating
- mounting hole
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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
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- 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
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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
- 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
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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
- 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
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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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/106—Leg for the lower legs
Abstract
The invention discloses a leg limiting mechanism with a knee hyperextension protection function and an exoskeleton robot. Wherein, shank stop gear with knee hyperextension safeguard function includes: a power assembly; one end of the base is connected with the thigh, the other end of the base is provided with a mounting hole, the base is provided with a first limiting piece and a second limiting piece at intervals in the circumferential direction of the mounting hole, and the power assembly is arranged on the base; and the output shaft of the power assembly penetrates through the mounting hole and is connected with the rotating part, the power assembly drives the rotating part to rotate, and the rotating part is located on the first limiting part and the second limiting part in the rotating direction of the rotating part. The leg limiting mechanism with the knee hyperextension protection function can limit the flexion and extension angles of the knee joint, so that the knee joint hyperextension phenomenon is avoided, the knee joint of a patient is protected, and the rehabilitation effect is improved.
Description
Technical Field
The invention relates to the technical field of exoskeleton robots, in particular to a leg limiting mechanism with a knee hyperextension protection function and an exoskeleton robot.
Background
In clinical rehabilitation, in early and acute rehabilitation stages of patients with stroke, cerebral palsy and the like, the cerebral nervous system interrupted and disordered due to brain tissue injury is often required to be awakened and remodeled through joint movement, and meanwhile, the muscle strength can be improved through the joint movement, and other diseases such as muscle atrophy, pressure sores generated on limbs and the like can be avoided. In the correlation technique, in order to make thigh and shank can free rotation, the range of bending and stretching of thigh and shank is wider promptly, relevant ectoskeleton robot does not often set up limit structure, the risk of knee joint hyperextension can appear at the in-process patient that so uses, knee joint hyperextension also is called the reversal of knee, in walking and the process of standing, the hyperextension of knee joint appears in the support phase in sick side low limbs, the health focus moves backward, sick side hip joint excessively buckles, the phenomenon of hypsokinesis trend appears in the health, cause the knee joint damage easily, influence patient's recovered effect.
The above is only for the purpose of assisting understanding of the technical solutions of the present application, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a leg limiting mechanism with a knee hyperextension protection function, aiming at limiting the extension angle of a knee joint and avoiding the occurrence of the knee joint hyperextension.
In order to achieve the above object, the present invention provides a leg position limiting mechanism with a knee hyperextension protection function, which is applied to an exoskeleton robot, the leg position limiting mechanism with the knee hyperextension protection function comprising:
a power assembly;
one end of the base is connected with the thigh, the other end of the base is provided with a mounting hole, the base is provided with a first limiting piece and a second limiting piece at intervals in the circumferential direction of the mounting hole, and the power assembly is arranged on the base; and
the rotating part, the output shaft of power component passes the mounting hole and with it is connected to rotate the piece, the output shaft of power component drives it rotates to rotate the piece, it is located in its direction of rotation upper limit to rotate the piece first locating part with the second locating part.
optionally, the rotation piece includes rotation portion and connecting portion, power component's output shaft passes the mounting hole and with rotation portion connects, connecting portion locate rotation portion's tip, rotation portion with during first locating part butt, the side of connecting portion with the extending direction of base is contained angle α, and α is not less than 5 and is not less than 15.
optionally, when the rotating portion abuts against the second limiting member, an included angle β is formed between the side surface of the connecting portion and the extending direction of the base, and β is greater than or equal to 15 degrees and less than or equal to 130 degrees.
Optionally, the leg limiting mechanism with the knee hyperextension protection function further includes a first buffering member, a first boss is arranged on the periphery of the rotating portion, a first groove is formed in the surface of the first boss facing the first limiting member, the first buffering member is limited in the first groove, and when the rotating portion abuts against the first limiting member, the first limiting member abuts against the first buffering member.
Optionally, the leg limiting mechanism with the knee hyperextension protection function further comprises a second buffer piece, a second boss is arranged at the periphery of the rotating portion, the first boss and the second boss are arranged at intervals, a second groove is formed in the surface, facing the second limiting piece, of the second boss, the second buffer piece is limited in the second groove, and when the rotating portion abuts against the second limiting piece, the second limiting piece abuts against the second buffer piece.
Optionally, the leg limiting mechanism with a knee hyperextension protection function further includes a first pin and a second pin, the first buffer member is provided with a first through hole, a groove wall of the first groove is provided with a first connection hole, and the first pin sequentially penetrates through the first connection hole and the first through hole to fixedly connect the first boss with the first buffer member;
the second buffer piece is provided with a second through hole, the groove wall of the second groove is provided with a second butt hole, and the second pin sequentially penetrates through the second butt hole and the second through hole to fixedly connect the second boss with the second buffer piece.
Optionally, the end of the connecting portion is provided with a mounting hole, and a connecting member passes through the mounting hole and is rotatably connected with the shank wearing portion.
Optionally, the leg limiting mechanism with the knee hyperextension protection function further comprises a wear-resistant part limited in the mounting hole, the wear-resistant part is provided with a connecting hole communicated with the mounting hole, and the connecting part penetrates through the connecting hole to be rotatably connected with the lower leg wearing part.
Optionally, the rotating part faces one side of the power assembly and is convexly provided with a step, the rotating part is provided with a plurality of through holes penetrating through the step at intervals, the tail end of an output shaft of the power assembly is provided with a power output part, and a screw penetrates through the through hole and the power output part to connect the rotating part and the power assembly in a fixed manner.
The invention also provides an exoskeleton robot which comprises the leg limiting mechanism with the knee hyperextension protection function.
The leg limiting mechanism with the knee hyperextension protection function comprises a power assembly, a base and a rotating piece, wherein one end of the base is connected with a thigh, the other end of the base is provided with a mounting hole, a first limiting piece and a second limiting piece are arranged on the base at intervals in the circumferential direction of the mounting hole, the power assembly is arranged on the base, an output shaft of the power assembly penetrates through the mounting hole to be connected with the rotating piece, the power assembly drives the rotating piece to rotate so as to drive a shank to realize flexion and extension, the rotating direction of the rotating piece is limited through the first limiting piece and the second limiting piece, the rotation angle limitation of an exoskeleton knee joint can be realized, good knee hyperextension protection is realized, and the knee joint damage caused by the knee hyperextension.
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 view of an embodiment of a leg positioning mechanism with knee hyperextension protection according to the present invention;
FIG. 2 is an exploded view of the leg stop mechanism of FIG. 1 with knee hyperextension protection;
FIG. 3 is a schematic structural view of a state of the leg position-limiting mechanism with knee hyperextension protection according to the present invention;
FIG. 4 is a schematic structural view of another state of the leg stop mechanism with knee hyperextension protection of the present invention;
FIG. 5 is a schematic structural view of another perspective of the leg stop mechanism with knee hyperextension protection of the present invention;
fig. 6 is a schematic structural view of the rotating member in fig. 1.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) | ||
| 10 | |
513 | |
||
| 11 | Power take-off | 5131 | |
||
| 20 | |
5131a | Second |
||
| 30 | |
53 | Connecting |
||
| | Mounting hole | | Mounting hole | ||
| 31 | First |
55 | |
||
| 33 | Second |
60 | Connecting |
||
| 40 | |
70 | |
||
| 50 | |
70a | The first through |
||
| 50a | Through |
80 | Wear- |
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| 51 | Rotating |
80a | Connecting |
||
| 511 | |
90 | |
||
| 5111 | The |
90a | Second through |
||
| 5111a | First butt- |
100 | Screw nail |
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 all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are 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, 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 leg limiting mechanism with a knee hyperextension protection function, which is applied to an exoskeleton robot, wherein the exoskeleton robot is a wearable device for assisting, is a typical man-machine hybrid system, has more man-machine interaction in function, and has wide application in the fields of medical treatment, military affairs and the like.
Referring to fig. 1 to 4, in an embodiment of the present invention, the leg position limiting mechanism with knee hyperextension protection function includes:
a power assembly 10;
the power assembly comprises a base 30, one end of the base 30 is connected with a thigh, the other end of the base 30 is provided with a mounting hole 30a, the base 30 is provided with a first limiting piece 31 and a second limiting piece 33 at intervals in the circumferential direction of the mounting hole 30a, and the power assembly 10 is arranged on the base 30; and
the output shaft of the power assembly 10 passes through the mounting hole 30a and is connected to the rotating member 50, the power assembly 10 drives the rotating member 50 to rotate, and the rotating member 50 is located on the first limiting member 31 and the second limiting member 33 in the rotating direction.
Specifically, the power assembly 10 is mainly used for providing power to drive the rotating part 50 to rotate, the power assembly 10 can be a motor, in order to improve the accuracy of the rotating angle of the rotating part 50, the power assembly 10 is a motor series speed reducer, and the speed reducer plays a role in matching rotating speed and transmitting torque between a prime motor and a working machine or an actuating mechanism. Wherein, the output shaft of the power assembly 10 passes through the mounting hole 30a and is connected with the rotating member 50 through the power output member 11, and the power output member 11 of the power assembly 10 drives the rotating member 50 to rotate.
For example, when the exoskeleton assists the lower limb rehabilitation of the human body, one end of the base 30 is fixed to the thigh of the human body through a thigh supporting member (not shown), one end of the rotating member 50 away from the base 30 is fixed to the calf of the human body through a calf supporting member (not shown), and the power assembly 10 drives the rotating member 50 to rotate so as to drive the calf to make flexion and extension movements. The first limiting member 31 and the second limiting member 33 are disposed at intervals in the circumferential direction of the mounting hole 30a, when the shank makes flexion and extension movements, the rotating member 50 can rotate between the first limiting member 31 and the second limiting member 33, and abut against the end portions of the first limiting member 31 and the second limiting member 33 at the maximum rotation position or the minimum rotation position, so that the flexion and extension movements of the shank can be stopped. So limbs accomplish the motion of stretching under thigh support piece and shank support piece's supplementary effect, through the limiting displacement of first locating part 31 and second locating part 33, restrict shank support piece's rotation for the angle of the motion of stretching of limbs remains throughout in certain threshold value, can avoid the in-process user that uses to take place the condition that the knee excessively buckles and the knee overextension, thereby the recovered effect of assurance. Meanwhile, as the first limiting member 31 and the second limiting member 33 are arranged in the circumferential direction of the mounting hole 30a, the space in the circumferential direction of the mounting hole 30a of the base 30 is fully utilized for mounting and fixing the first limiting member 31 and the second limiting member 33, so that the structure of the leg limiting mechanism with the knee hyperextension protection function is more compact.
In an embodiment, the first limiting member 31 and the second limiting member 33 may be made of a metal material, the rotating member 50 repeatedly abuts against the first limiting member 31 and the second limiting member 33, and the first limiting member 31 and the second limiting member 33 made of the metal material may have high impact resistance, so as to ensure the service life of the exoskeleton. The cross section shape of the first limiting part 31 and/or the second limiting part 33 is matched with the end surface shape of the abutting part of the rotating part 50, so that the stress is more uniform and the structure is stable when the two abut. The first limiting member 31 and the second limiting member 33 are detachably connected to the base 30 by screws for convenient installation.
The leg limiting mechanism with the knee hyperextension protection function comprises a power assembly 10, a base 30 and a rotating piece 50, wherein one end of the base 30 is connected with a thigh, the other end of the base 30 is provided with a mounting hole 30a, a first limiting piece 31 and a second limiting piece 33 are arranged on the base 30 at intervals in the circumferential direction of the mounting hole 30a, the power assembly 10 is arranged on the base 30, an output shaft of the power assembly 10 penetrates through the mounting hole 30a to be connected with the rotating piece 50, the power assembly 10 drives the rotating piece 50 to rotate, so that the shank is driven to realize flexion and extension, the rotating direction of the rotating piece 50 is limited through the first limiting piece 31 and the second limiting piece 33, the rotation angle limitation of an exoskeleton knee joint can be realized, good knee hyperextension protection is realized, and the knee joint damage caused by the knee.
referring to fig. 3, in a further embodiment of the present invention, the rotating member 50 includes a rotating portion 51 and a connecting portion 53, the output shaft of the power assembly 10 passes through the mounting hole 30a and is connected to the rotating portion 51, the connecting portion 53 is disposed at an end of the rotating portion 51, when the rotating portion 51 abuts against the first limiting member 31, an included angle α is formed between a side surface of the connecting portion 53 and an extending direction of the base 30, and α is greater than or equal to 5 ° and less than or equal to 15 °.
it can be understood that when the rotating portion 51 abuts against the first limiting member 31, the side surface of the connecting portion 53 is parallel to the central axis of the lower leg, and the extending direction of the base 30 is parallel to the central axis of the upper leg, i.e. the included angle α is also the included angle between the central axis of the upper leg and the central axis of the lower leg, in a normal state, the included angle formed by the lower leg and the upper leg is approximately 180 ° and, in a bent state, the included angle formed by the lower leg and the upper leg is approximately 165 °, so that the angle of rotation of the upper leg support and the lower leg support is more consistent with the actual laws of limb movements, in one embodiment, when the rotating portion 51 abuts against the first limiting member 31, the side surface of the connecting portion 53 forms an included angle α with the extending direction of the base 30, the included angle α is in the range of 5 ° or more than 15 °, that when α is 5 °, the lower leg and the upper leg are in a half-knee-bent state under the guidance of the upper leg support and the lower leg support, the included angle formed by 165 ° and the lower leg support is 175 °, so that the lower leg and the lower leg can be prevented from being bent and the lower leg can be bent over-bent during the normal bending of the patient, and the lower leg-bending angle of the lower leg can be increased by the lower leg-bending angle of the lower leg-bending mechanism.
referring to fig. 4, in a further embodiment, when the rotating portion 51 abuts against the second limiting member 33, an included angle β is formed between a side surface of the connecting portion 53 and an extending direction of the base 30, and β is greater than or equal to 15 ° and less than or equal to 130 °.
similarly, when the rotating part 51 abuts against the second limiting part 33, an included angle β is formed between the side surface of the connecting part 53 and the extending direction of the base 30, the range value of the included angle β is not less than 15 ° and not more than 130 °, that is, when β is 15 °, the lower leg and the upper leg are in a half-bending state under the guiding of the thigh supporting part and the lower leg supporting part, and form an included angle of 165 °, when α is 130 °, the lower leg and the upper leg are in a half-bending state under the guiding of the thigh supporting part and the lower leg supporting part, and form an included angle of 50 °.
the first limiting part 31 and the second limiting part 33 are used for limiting the rotation angle of the exoskeleton knee joint, the limited angle range is more than or equal to β degrees and less than or equal to 15 degrees, and more than or equal to 15 degrees and less than or equal to 130 degrees, so that the exoskeleton can accord with the human body biological structure characteristics, and can be used for the lower limb dynamic rehabilitation exoskeleton suitable for stroke patients.
Referring to fig. 2, in an embodiment, the leg position-limiting mechanism with knee hyperextension protection function further includes a first buffer 70, a first boss 511 is disposed on a periphery of the rotating portion 51, a first groove 5111 is disposed on a surface of the first boss 511 facing the first position-limiting member 31, the first buffer 70 is limited in the first groove 5111, and when the rotating portion 51 abuts against the first position-limiting member 31, the first position-limiting member 31 abuts against the first buffer 70.
Specifically, the first boss 511 is disposed on the periphery of the rotating portion 51, and the shape of the outer end face of the first boss 511 is matched with the shape of the outer end face of the first limiting member 31, so that the first limiting member and the first limiting member are stressed uniformly when abutted against each other, the overall strength of the first limiting member is better, and the first limiting member has better impact resistance. The first protrusion 511 is provided with a first groove 5111, the first buffer member 70 is limited in the first groove 5111, wherein a portion of the first buffer member 70 is exposed out of the first groove 5111, and when the first limiting member 31 abuts against the first buffer member 70, the first buffer member 70 can effectively prevent the impact of the rotation portion 51 reaching the limiting position from affecting the knee joint of the patient. In order to improve the buffering effect, the first buffering member 70 is made of rubber having a certain plasticity, or polyurethane having a shore hardness of 80A to 90A.
Further, the leg limiting mechanism with the knee hyperextension protection function further comprises a second buffering member 90, a second boss 513 is arranged on the periphery of the rotating portion 51, the first boss 511 and the second boss 513 are arranged at intervals, a second groove 5131 is formed in the surface, facing the second limiting member 33, of the second boss 513, the second buffering member 90 is limited in the second groove 5131, and when the rotating portion 51 abuts against the second limiting member 33, the second limiting member 33 abuts against the second buffering member 90.
Similarly, the second boss 513 is disposed on the periphery of the rotating portion 51 and spaced from the first boss 511, and the outer end surface of the second boss 513 is matched with the outer end surface of the second limiting member 33 in shape, so as to ensure that the two members are stressed uniformly when abutted against each other, and therefore, the strength of the whole structure is better, and the structure has better impact resistance. The second protrusion 513 is provided with a second groove 5131, and the second buffer 90 is limited in the second groove 5131, wherein a portion of the second buffer 90 is exposed out of the second groove 5131, and when the second limiting member 33 abuts against the second buffer 90, the second buffer 90 can effectively avoid the impact of the rotation portion 51 reaching the limiting position on the knee joint of the patient. In order to improve the cushioning effect, the second cushioning material 90 is made of rubber having a certain plasticity, polyurethane having a shore hardness of 80A to 90A, or the like.
Referring to fig. 2 again, in an embodiment, the leg position limiting mechanism with knee hyperextension protection function further includes a first pin 20 and a second pin 40, the first buffer 70 is provided with a first through hole 70a, a groove wall of the first groove 5111 is provided with a first connection hole 5111a, and the first pin 20 sequentially passes through the first connection hole 5111a and the first through hole 70a to fixedly connect the first boss 511 with the first buffer 70;
the second buffer 90 is provided with a second through hole 90a, a second connection hole 5131a is formed in a groove wall of the second groove 5131, and the second pin 40 sequentially passes through the second connection hole 5131a and the second through hole 90a to fixedly connect the second boss 513 and the second buffer 90.
The specific way of limiting the first buffer member 70 in the first groove 5111 is to provide a first through hole 70a in the first buffer member 70, the first through hole 70a is provided on a side surface of the first buffer member 70, a first butt hole 5111a is provided on a groove wall of the first groove 5111, two first butt holes 5111a are provided, and the two first butt holes 5111a are oppositely disposed to ensure the firmness of connection between the first buffer member 70 and the first boss 511. The first pin 20 is a spring pin, which can ensure that the first buffer member 70 is reliably installed in the first groove 5111, and avoid the first buffer member 70 from falling off in the process of repeated collision with the first limiting member 31.
The specific way that the second buffer 90 is limited in the second groove 5131 is that the second buffer 90 is provided with a second through hole 90a, the second through hole 90a is formed in the side surface of the second buffer 90, the groove wall of the second groove 5131 is provided with two second aligning holes 5131a, the two second aligning holes 5131a are arranged oppositely, so that the firmness of connection between the second buffer 90 and the second boss 513 is ensured. The second pin 40 is a spring pin, which can ensure that the second buffer 90 is reliably installed in the second groove 5131, and avoid the second buffer 90 falling off during the repeated collision with the second limit 33.
Referring to fig. 5, further, the end of the connecting portion 53 is provided with a mounting hole 53a, and a connecting member 60 passes through the mounting hole 53a to be rotatably connected with the lower leg wearing portion.
In this embodiment, in order to facilitate the rotation of the lower leg, the lower leg wearing portion (not shown) is rotatably connected to the connecting portion 53, the rotation of the rotating member 50 drives the lower leg wearing portion to rotate, and the lower leg wearing portion is fixedly connected to the lower leg, thereby ensuring the rehabilitation effect. The connecting member 60 is a bolt, which facilitates disassembly and assembly.
Furthermore, because the shank is required to be subjected to flexion and extension movement continuously in the rehabilitation process of the patient, the connection part 53 and the shank wearing part rotate relatively frequently, the connection part between the connection part 53 and the shank wearing part is likely to be worn, the rotation part 53 or the connection part 60 needs to be replaced when the wear is severe, in order to prolong the service life of the rotation part 50, the leg limiting mechanism with the knee over-extension protection function further comprises a wear-resistant part 80 limited in the installation hole 30a, the wear-resistant part 80 is provided with a connection hole 80a communicated with the installation hole 30a, and the connection part 60 penetrates through the connection hole 80a to be rotatably connected with the shank wearing part. The wear-resistant part 80 is made of a material added with a lubricant, such as metal added with graphite, in order to simplify the installation structure, the wear-resistant part 80 is in interference fit with the inner wall of the installation hole 30a to realize limitation, the connecting part 60 penetrates through the connecting hole 80a to be rotatably connected with the lower leg wearing part, the connecting part 60 is prevented from being in direct contact with the connecting part 53 by arranging the wear-resistant part 80, and the service life of the rotating part 50 can be effectively prolonged.
Referring to fig. 6, in a further embodiment, a step 55 is convexly provided on a side of the rotating member 50 facing the power assembly 10, a plurality of through holes 50a penetrating through the step 55 are formed at intervals on the rotating member 50, a power output member 11 is provided at a terminal of an output shaft of the power assembly 10, and a screw 100 penetrates through one of the through holes 50a and the power output member 11 to fixedly connect the rotating member 50 and the power assembly 10.
It can be understood that, in order to facilitate the disassembly and assembly of the overall structure, the rotatable member 50 is detachably connected to the output shaft of the power assembly 10, for example, by a screw connection, and the screw 100 passes through a through hole 50a and the power output member 11 to fixedly connect the rotatable member 50 to the power assembly 10, so that the structure is stable. The step 55 and the pto 11 are coaxially mounted in a mating relationship to ensure proper alignment of the power joint assembly 10 and the rotational member 50.
The invention further provides an exoskeleton robot, which comprises a leg limiting mechanism with a knee hyperextension protection function, and the specific structure of the leg limiting mechanism with the knee hyperextension protection function refers to the embodiments.
The above description is only a preferred embodiment of the present invention, and is 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 leg limiting mechanism with a knee hyperextension protection function is applied to an exoskeleton robot and is characterized in that the leg limiting mechanism with the knee hyperextension protection function comprises:
a power assembly;
one end of the base is connected with the thigh, the other end of the base is provided with a mounting hole, the base is provided with a first limiting piece and a second limiting piece at intervals in the circumferential direction of the mounting hole, and the power assembly is arranged on the base; and
the rotating part, the output shaft of power component passes the mounting hole with it is connected to rotate the piece, power component's drive rotate the piece and rotate, it is located in its direction of rotation upper limit to rotate the piece first locating part with the second locating part.
2. the leg limiting mechanism with knee hyperextension protection as claimed in claim 1, wherein the rotating member comprises a rotating portion and a connecting portion, the output shaft of the power assembly passes through the mounting hole and is connected with the rotating portion, the connecting portion is disposed at an end of the rotating portion, when the rotating portion abuts against the first limiting member, a side surface of the connecting portion forms an angle α with an extending direction of the base, and the angle α is greater than or equal to 5 ° and less than or equal to 15 °.
3. the leg-restraining mechanism with knee hyperextension protection according to claim 2, wherein when the rotating part abuts against the second restraining part, the side surface of the connecting part forms an angle β with the extending direction of the base, and the angle β is not less than 15 ° and not more than 130 °.
4. The leg positioning device with knee hyperextension protection as claimed in claim 2, further comprising a first buffer member, wherein a first boss is provided around the rotating portion, a first groove is provided on a surface of the first boss facing the first limiting member, the first buffer member is limited in the first groove, and when the rotating portion abuts against the first limiting member, the first limiting member abuts against the first buffer member.
5. The leg positioning device with knee hyperextension protection as claimed in claim 4, further comprising a second buffer member, wherein a second boss is provided around the rotation portion, the first boss and the second boss are spaced apart from each other, a second groove is provided on a surface of the second boss facing the second limiting member, the second buffer member is limited in the second groove, and when the rotation portion abuts against the second limiting member, the second limiting member abuts against the second buffer member.
6. The leg stop mechanism with knee hyperextension protection as claimed in claim 5, further comprising a first pin and a second pin, wherein the first buffer member has a first through hole, the wall of the first groove has a first connection hole, and the first pin passes through the first connection hole and the first through hole in sequence to fixedly connect the first boss and the first buffer member;
the second buffer piece is provided with a second through hole, the groove wall of the second groove is provided with a second butt hole, and the second pin sequentially penetrates through the second butt hole and the second through hole to fixedly connect the second boss with the second buffer piece.
7. A leg stop mechanism with knee hyperextension protection function according to any one of claims 2 to 6, wherein the connecting part is provided with a mounting hole at its end, and a connecting piece is rotatably connected with the lower leg wearing part through the mounting hole.
8. The leg position limiting mechanism with knee hyperextension protection as claimed in claim 7, further comprising a wear-resistant member retained in the mounting hole, wherein the wear-resistant member is provided with a connecting hole communicating with the mounting hole, and the connecting member passes through the connecting hole and is rotatably connected with the lower leg wearing part.
9. The leg limiting mechanism with knee hyperextension protection as claimed in claim 1, wherein the rotating member has a step protruding from a side thereof facing the power assembly, the rotating member has a plurality of through holes formed at intervals therethrough, the power assembly has a power output member at a distal end of an output shaft thereof, and a screw passing through one of the through holes and the power output member fixedly connects the rotating member and the power assembly.
10. An exoskeleton robot comprising the leg position limiting mechanism with a knee hyperextension protection function as claimed in any one of claims 1 to 9.
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| CN202010068492.3A CN111166614A (en) | 2020-01-20 | 2020-01-20 | Leg limiting mechanism with knee hyperextension protection function and exoskeleton robot |
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| CN202010068492.3A CN111166614A (en) | 2020-01-20 | 2020-01-20 | Leg limiting mechanism with knee hyperextension protection function and exoskeleton robot |
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| CN202010068492.3A Pending CN111166614A (en) | 2020-01-20 | 2020-01-20 | Leg limiting mechanism with knee hyperextension protection function and exoskeleton robot |
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Application publication date: 20200519 |