CN114734429A - Length adjustment mechanism and ectoskeleton robot - Google Patents
Length adjustment mechanism and ectoskeleton robot Download PDFInfo
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- CN114734429A CN114734429A CN202210450035.XA CN202210450035A CN114734429A CN 114734429 A CN114734429 A CN 114734429A CN 202210450035 A CN202210450035 A CN 202210450035A CN 114734429 A CN114734429 A CN 114734429A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 58
- 210000000629 knee joint Anatomy 0.000 claims description 35
- 210000004394 hip joint Anatomy 0.000 claims description 32
- 210000003141 lower extremity Anatomy 0.000 claims description 14
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 12
- 210000002414 leg Anatomy 0.000 description 8
- 210000001503 joint Anatomy 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 240000007643 Phytolacca americana Species 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052755 nonmetal Inorganic materials 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a length adjusting mechanism and an exoskeleton robot. The length adjusting mechanism comprises an inner connecting rod and an outer hollow connecting rod sleeved outside the inner connecting rod, and a first locking assembly, a pushing pin and a second locking assembly are sequentially arranged on the outer surface of the outer hollow connecting rod along the length direction; the outer hollow connecting rod is provided with an adjusting hole extending along the length direction, the inner connecting rod is provided with a pin hole, and the pushing pin is used for driving the inner connecting rod to move relative to the adjusting hole through the pin hole; the first locking assembly and the second locking assembly are used for being connected with the pushing pin at least after the pushing pin is adjusted to a preset position so as to limit the pushing pin to move. The exoskeleton robot adopts the length adjusting mechanism to adjust the length, can be manually and quickly adjusted, does not need an external tool, is simple and convenient, and can reduce the difficulty of adjusting the length of the exoskeleton robot.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a length adjusting mechanism and an exoskeleton robot.
Background
With the development of science and technology, research on exoskeleton robot technology is greatly improved, for example, a household auxiliary exoskeleton robot can assist the old and the weak to walk normally, a medical rehabilitation exoskeleton robot can help a patient to stand up again and perform rehabilitation training like a normal person, and in some occasions, the exoskeleton robot can be used for moving heavy objects to reduce the physical burden of the person, so that the exoskeleton robot has high application value and a wide development prospect.
At present, the exoskeleton robot is in an early and rapid development stage, when the length of a combined structure of joint modules of the exoskeleton robot is adjusted (especially the leg length is adjusted), an operator needs to additionally use a special tool for adjustment and fixation, and the operation is very inconvenient for inexperienced operators and users. In addition, the wiring of the lower limb exoskeleton adopted by the existing exoskeleton robot is exposed, so that the exoskeleton robot is easy to wind, low in safety, untidy and unattractive in appearance and influences the comfort of wearing of a patient.
The problems with exoskeleton robots as described above are also present in other products where length adjustment is required.
Disclosure of Invention
The invention provides a length adjusting mechanism which can reduce the difficulty of length adjustment. The invention further provides an exoskeleton robot.
In one aspect, the invention provides a length adjustment mechanism, which comprises an inner side connecting rod and an outer side hollow connecting rod sleeved outside the inner side connecting rod; the outer surface of the outer hollow connecting rod is sequentially provided with a first locking assembly, a pushing pin and a second locking assembly along the length direction of adjustment; the outer hollow connecting rod is provided with an adjusting hole extending along the length direction, the inner connecting rod is provided with a pin hole, and the pushing pin is used for driving the inner connecting rod to move relative to the adjusting hole through the pin hole; the first locking assembly and the second locking assembly are used for being connected with the pushing pin at least after the pushing pin is adjusted to a preset position so as to limit the pushing pin to move.
Optionally, the first locking assembly and the second locking assembly are both locking knobs and are in threaded connection with the outer surface of the outer hollow connecting rod.
Optionally, at least one of the first locking assembly and the second locking assembly is a clip.
Optionally, the outer surface cover of the hollow connecting rod in outside is equipped with first promotion gasket and second promotion gasket length direction, first promotion gasket is located first locking subassembly with promote between the round pin, the second promotes the gasket with be located promote between the round pin with the second locking subassembly.
Optionally, the outer surface of the inner connecting rod is provided with scale marks along the length direction.
Optionally, the inner connecting rod is a hollow connecting rod, and the inner portion of the inner connecting rod is used for cable routing.
Optionally, a gap between the outer hollow link and the inner link is used for cable routing.
In one aspect, the present invention provides an exoskeleton robot comprising a first joint module, a second joint module and the length adjustment mechanism, wherein the outer hollow link is connected to the first joint module, the inner link is connected to the second joint module, and the length adjustment mechanism is used for adjusting the distance between the first joint module and the second joint module.
Optionally, the exoskeleton robot further comprises a first output link and a second output link, the first output link is used for connecting the first joint module and the outer hollow link, and the second output link is used for connecting the second joint module and the inner link.
Optionally, the exoskeleton robot further comprises a plurality of joint shields for protecting the first joint module, the second joint module, the first output link and the second output link.
Optionally, the lower limb of the exoskeleton robot is provided with a hip joint module, a knee joint module and an ankle joint module; the length adjusting mechanism is used for adjusting the length of the combined structure of the hip joint module and the knee joint module, and/or the length adjusting mechanism is used for adjusting the length of the combined structure of the knee joint module and the ankle joint module.
The length adjusting mechanism provided by the invention comprises an inner connecting rod and an outer hollow connecting rod sleeved outside the inner connecting rod, wherein a first locking component, a pushing pin and a second locking component are sequentially arranged on the outer surface of the outer hollow connecting rod along the length direction; the outer hollow connecting rod is provided with an adjusting hole extending along the length direction, the inner connecting rod is provided with a pin hole, and the pushing pin is used for driving the inner connecting rod to move relative to the adjusting hole through the pin hole; the first locking assembly and the second locking assembly are used for being connected with the pushing pin at least after the pushing pin is adjusted to a preset position so as to limit the pushing pin to move. The length adjusting mechanism can adjust the length of the combination of the outer hollow connecting rod and the inner connecting rod by enabling the inner connecting rod to move relative to the adjusting hole, the length of the combination structure of the assembly connected with the outer hollow connecting rod and the assembly connected with the inner connecting rod can be fixed by utilizing the length adjusting mechanism, manual quick adjustment can be adopted in the adjusting process, an external tool is not needed, simplicity and convenience are achieved, and the length adjusting difficulty is reduced.
The exoskeleton robot provided by the invention comprises a first joint module, a second joint module and the length adjusting mechanism, wherein an outer hollow connecting rod in the length adjusting mechanism is connected with the first joint module, and an inner connecting rod in the length adjusting mechanism is connected with the second joint module. Owing to adopted length adjustment mechanism can make inboard connecting rod drive the second joint module and keep away from or be close to first joint module under the drive that promotes the round pin to the adjustment first joint module and the integrated configuration's of second joint module length, the regulation degree of difficulty is low, also can promote user's travelling comfort, helps improving patient's recovered effect.
Drawings
Fig. 1 is a schematic view of a lower limb structure of an exoskeleton robot according to an embodiment of the present invention.
Fig. 2 is an exploded view of the lower limb structure of the exoskeleton robot according to the embodiment of the present invention.
Fig. 3 is a schematic longitudinal sectional view of a length adjustment mechanism in the exoskeleton robot in accordance with an embodiment of the present invention.
Description of the reference numerals:
100-a length adjustment mechanism; 1-a hip joint module; 2-a hip joint connection plate; 3-a first output link; 4-outer hollow connecting rod; 4 a-a conditioning aperture; 5-an inner connecting rod; 6-first push pad; 7-pushing the pin; 8-a second push pad; 9-cotter pin; 10-a second locking assembly; 11-a first locking assembly; 12-knee joint module; 13-a second output link; 14-knee left side shield; 15-knee joint right side shield; 16-knee joint small shield; 17-hip joint left side shield; 18-hip joint small shield; 19-hip joint right side shield; 20-ankle joint module.
Detailed Description
The length adjustment mechanism and exoskeleton robot of the present invention are further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description. It is to be understood that the drawings in the specification are in simplified form and are not to be taken in a precise scale, for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
The embodiment of the invention relates to a length adjusting mechanism which comprises an inner side connecting rod and an outer side hollow connecting rod sleeved outside the inner side connecting rod; the outer surface of the outer hollow connecting rod is sequentially provided with a first locking assembly, a pushing pin and a second locking assembly along the length direction; the outer hollow connecting rod is provided with an adjusting hole extending along the length direction, the inner connecting rod is provided with a pin hole, and the pushing pin is used for driving the inner connecting rod to move relative to the adjusting hole through the pin hole; the first locking component and the second locking component are used for being connected with the pushing pin (directly or through an intermediate component) at least after the pushing pin is adjusted to a preset position so as to limit the movement of the pushing pin.
The length adjusting mechanism provided by the embodiment of the invention can be applied to various medical equipment which needs to adjust the length of a combined structure of two components, and can reduce the adjusting difficulty. For ease of understanding, the length adjustment mechanism is still described in the context of an exoskeleton robot in accordance with embodiments of the present invention.
Fig. 1 is a schematic view of a lower limb structure of an exoskeleton robot according to an embodiment of the present invention. Referring to fig. 1, in the present embodiment, the lower limb of the exoskeleton robot includes a hip joint module 1 and a knee joint module 12, the length adjustment mechanism 100 is disposed between the hip joint module 1 and the knee joint module 12, that is, the hip joint module 1 is used as the first joint module, the knee joint module 12 is used as the second joint module, and the same lower limb of the exoskeleton robot may further include an ankle joint module 20, the exoskeleton robot may further include another length adjustment mechanism 100 which adopts the same working method between the knee joint module 12 and the ankle joint module 20, wherein the knee joint module 12 is used as the first joint module, and the ankle joint module 20 is used as the second joint module. In consideration of the change in the total length between the hip joint module 1 and the ankle joint module 20, when the length adjustment is performed, only the length adjustment mechanism 100 between the hip joint module 1 and the knee joint module 12 or only the length adjustment mechanism 100 between the knee joint module 12 and the ankle joint module 20 may be adjusted, as needed, or both may be adjusted. In other embodiments, the length adjustment mechanism may be provided only between the hip joint module 1 and the knee joint module 12 or only between the knee joint module 12 and the ankle joint module 20.
Fig. 2 is an exploded view of the lower limb structure of the exoskeleton robot according to the embodiment of the present invention. Fig. 3 is a schematic longitudinal sectional view of a length adjustment mechanism in the exoskeleton robot in accordance with an embodiment of the present invention. Referring to fig. 2 and 3, the length adjustment mechanism of the present embodiment includes an inner link 5 and an outer hollow link 4 sleeved outside the inner link 5; the outer surface of the outer hollow connecting rod 4 is sequentially provided with a first locking component 11, a pushing pin 7 and a second locking component 10 along the length direction (the length direction is the length direction of the inner connecting rod 5 and the outer hollow connecting rod 4 and is also the direction of the length to be adjusted), the outer hollow connecting rod 4 is provided with an adjusting hole 4a extending along the length direction, the side wall of the inner connecting rod 5 is provided with a pin hole, and the pushing pin 7 is used for driving the inner connecting rod 5 to move relative to the adjusting hole 4a through the pin hole; the first locking component 11 and the second locking component 10 are used for being connected with the pushing pin 7 at least after the pushing pin 7 is adjusted to a preset position so as to limit the pushing pin 7 to move.
Specifically, a first pushing gasket 6 and a second pushing gasket 8 can be further sleeved on the outer surface of the outer hollow connecting rod 4, in the length direction, the first pushing gasket 6 is located between the first locking component 11 and the pushing pin 7, and the second pushing gasket 8 is located between the pushing pin 7 and the second locking component 10. After the pushing pin 7 is adjusted to a preset position, when the first locking component 11 and the second locking component 10 are used for limiting the movement of the pushing pin 7, the first locking component 11 is connected with the pushing pin 7 through the first pushing gasket 6, and the second locking component 10 is connected with the pushing pin 7 through the second pushing gasket 8.
Illustratively, movable gaps are formed between the first pushing gasket 6 and the second pushing gasket 8 and the outer surface of the outer hollow connecting rod 4, when the first locking component 11 and the second locking component 10 are loosened so that the first pushing gasket 6 and the pushing pin 7 can be pushed up and down, the pushing pin 7 can be driven by the first pushing gasket 6 and the second pushing gasket 8 to move up and down freely on the outer surface of the outer hollow connecting rod 4, when the first locking component 11 and the second locking component 10 are screwed, the first pushing gasket 6 is clamped between the first locking component 11 and the pushing pin 7 to form buffering, and the second pushing gasket 8 is clamped between the pushing pin 7 and the second locking component 10 to form buffering, so that the locking state is more reliable. The first push washer 6 and the second push washer 8 may be provided on the outer surface of the outer hollow link 4 in other manners (e.g., threaded connection). The first pushing pad 6 and the second pushing pad 8 are made of metal or nonmetal (e.g., ceramic or plastic), such as aluminum.
A push pin 7 is located between the first push pad 6 and the second push pad 8 in the length direction to be adjusted, said push pin 7 for example passing through the adjustment hole 4a on the outer hollow link 4 and being inserted in said pin hole on the inner link 5, the outward end of the push pin 7 being exposed outside the adjustment hole 4a for adjustment. The inner link 5 is provided with two symmetrical pin holes in the diameter direction, for example, and the pushing pin 7 can be inserted through and into the adjusting hole 4a of the outer hollow link 4 perpendicularly to the longitudinal direction of the inner link 5. The pushing pin 7 is, for example, a round pin, and a split pin 9 may be provided at a pin head of the pushing pin 7 to increase safety reliability. The first and second push pads 6 and 8 may be provided with notches matching the shape of the push pin 7 so as to fix the position of the push pin 7 when the push pin 7 is clamped and moved up or down.
In order to realize the length adjustment, when the operator moves the first pushing pad 6 and the second pushing pad 8 up or down along the length direction on the outer hollow connecting rod 4, the pushing pin 7 clamped between the first pushing pad 6 and the second pushing pad 8 can be driven to move along the length direction, and since the pushing pin 7 penetrates through the pin hole on the inner connecting rod 5, the pushing pin 7 can drive the inner connecting rod 5 to move along the length direction, so that the components (in this embodiment, the knee joint module 12 and the second output connecting rod 13) connected with the inner connecting rod 5 move up or down. The first locking assembly 11 is located above the first push pad 6 and can be used to block the upward movement of the first push pad 6. The second locking assembly 10 is located below the second pushing pad 8 and can be used to block the downward movement of the second pushing pad 8. The specific moving direction can be specifically set according to the requirements of length adjustment or short adjustment. It should be noted that in the embodiment shown in fig. 2, in order to allow both sides of the pushing pin 7 to be stably locked by the second locking assembly 10 and the first locking assembly 11 and to allow for adjustment, the first pushing pad 6 and the second pushing pad 8 are provided, and in other embodiments, the second locking assembly 10 and the first locking assembly 11 may be provided with grooves or holes matching the shape of the pushing pin 7 to achieve stable and detachable connection with the pushing pin 7.
Illustratively, the outer surface of the outer hollow link 4 is formed with threads, and the insides of the first and second locking members 11 and 10 may be provided with threads matching the threads of the outer surface of the outer hollow link 4, so that the first and second locking members 11 and 10 may be threadedly coupled with the outer surface of the outer hollow link 4. The first locking assembly 11 and the second locking assembly 10 are for example each a locking knob which can be manually operated, by rotation, to adjust its position on the outer surface of the outer hollow link 4. The first locking assembly 11 is screwed, for example, from the end connected to the first output link 3 onto the outer hollow link 4, and the second locking assembly 10 is screwed, for example, from the end of the second output link 13 onto the outer hollow link 4. The pushing pin 7 is switched between the adjusting state and the fixing state by cooperation of the first locking assembly 11 and the second locking assembly 10. The first locking assembly 11 and the second locking assembly 10 may be otherwise disposed on the outer surface of the outer hollow link 4, for example, in one embodiment, at least one of the first locking assembly 11 and the second locking assembly 10 is a clip.
In order to facilitate observation of the length adjustment and to improve the accuracy of the length adjustment, for example, when the length adjustment is performed on the lower limb of the exoskeleton robot, to facilitate comparison of the lengths of the left and right legs, and to avoid the occurrence of a difference in the lengths of the left and right legs, the outer surface of the inner link 5 may be provided with scale marks along the length direction to be adjusted (here, the length direction of the inner link 5), and the scale marks may be located on at least one side of the pin holes, as shown in fig. 2 and 3, and the scale marks may be located above and/or below the pin holes. In this way, at the time of length adjustment, the operator can read out, from the outer surface of the inner link 5 exposed by the adjustment hole 4a, a scale value in which the position of the present pushing pin 7 corresponds to a mark position of the edge of the adjustment hole 4a, which mark position may be located at the top (highest scale), the bottom (lowest scale) or in a range between the top and the bottom of the adjustment hole 4 a. For example, when the first push pad 6, the push pin 7, and the second push pad 8 are pushed as a whole, the lowest scale or the highest scale exposed through the adjustment hole 4a is observed, and the movement amount can be obtained by simple calculation. For example, when the device is used for adjusting the lengths of the left leg and the right leg, the consistency adjustment of the lengths of the legs on two sides can be quickly realized by comparing the movement amounts.
The inner link 5 may be a hollow structure or a solid structure, and when a hollow structure is adopted, the inside thereof may be provided with a cavity extending along the length direction thereof, and the cavity may communicate with the outside through at least one end of the inner link 5. The inner link 5 may also be hollow for a portion of its length and solid for a portion of its length, and may be configured according to the product structure of a particular application. In this embodiment, the inner connecting rod 5 is, for example, a hollow connecting rod, and the inner connecting rod 5 can be used for cable routing to solve the problems that some existing medical devices with length adjustment function are exposed and the routing is exposed (such as easy winding, low safety, untidy and unaesthetic appearance, and the wearing comfort of users is affected). Also, the space between the outer hollow link 4 and the inner link 5 can be used for cable routing in order to route the cable.
By utilizing the length adjusting mechanism provided by the embodiment of the invention, the length of the combination of the outer side hollow connecting rod and the inner side connecting rod can be adjusted by enabling the inner side connecting rod to move relative to the adjusting hole of the outer side hollow connecting rod, and the length can be fixed.
The embodiment of the invention also relates to an exoskeleton robot, which can be an auxiliary exoskeleton robot designed for the elderly and the infirm, or a medical rehabilitation exoskeleton robot designed for rehabilitation training of patients, or an exoskeleton robot designed for assisting in moving heavy objects, or an exoskeleton robot designed for other purposes.
The exoskeleton robot in the embodiment of the invention comprises a first joint module, a second joint module and the length adjusting mechanism described in the embodiment, wherein an outer hollow connecting rod 4 in the length adjusting mechanism is connected with the first joint module, and an inner connecting rod 5 in the length adjusting mechanism is connected with the second joint module. The length adjusting mechanism can be used for adjusting the length of the combined structure of the first joint module and the second joint module, and the length direction can be adjusted through a connecting rod assembly connected with the first joint module and the second joint module. The first joint module and the second joint module may adopt a structure disclosed in the art, and may include components such as a motor and a cable therein to perform functions of the exoskeleton robot, and the first joint module and the second joint module are, for example, commercially available modules, and are not limited thereto.
In the exoskeleton robot according to the embodiment of the present invention, the length adjustment mechanism may be used in an upper limb or a lower limb, and one or two or more length adjustment mechanisms may be provided in the upper limb or the lower limb as necessary. For clarity, the following embodiments are described primarily in terms of the length adjustment mechanism applied between the hip and knee modules in the lower extremities. Those skilled in the art will appreciate that the length adjustment mechanism can be applied to other positions of the exoskeleton robot where length adjustment is desired.
Referring to fig. 1 to 3, the lower limbs of the exoskeleton robot have a hip joint module 1, a knee joint module 12 and an ankle joint module 20; the length adjusting mechanism is used for adjusting the distance between the hip joint module 1 and the knee joint module 12, and/or the length adjusting mechanism is used for adjusting the distance between the knee joint module 12 and the ankle joint module 20.
In this embodiment, the exoskeleton robot includes a hip joint module 1, a knee joint module 12 and the above length adjustment mechanism, wherein an outer hollow link 4 of the length adjustment mechanism is connected to the hip joint module 1, an inner link 5 is connected to the knee joint module 12, and the outer hollow link 4 is sleeved on the inner link 5, that is, the inner link 5 is located inside the outer hollow link 4.
The exoskeleton robot may comprise a first output link 3 and a second output link 13, wherein two ends of the first output link 3 are respectively connected with a first joint module (here, the hip joint module 1) and the outer hollow link 4, and two ends of the second output link 13 are respectively connected with a second joint module (here, the knee joint module 12) and the inner link 5.
The exoskeleton robot can further comprise a joint connection plate to facilitate connection of the first joint module or the second joint module with other components (e.g., control components) of the exoskeleton robot. The joint connection plate is disposed between the first output link 3 and the first joint module or between the second output link 13 and the second joint module, as required. Illustratively, a hip joint connection plate 2 is provided between the hip joint module 1 and the first output link 3, and the hip joint module 1 and the hip joint connection plate 2 are fixed by screws, for example; the length direction of the first output connecting rod 3 is axially vertical to the front end of the hip joint module 1, one end of the first output connecting rod 3 is axially matched and positioned with the front end of the hip joint module 1 and fixed through screws, the length direction of the outer hollow connecting rod 4 is the same as that of the first output connecting rod 3, and the outer side of the other end of the first output connecting rod 3 is inserted into the inner side of the outer hollow connecting rod 4 and fixed through screws; the length direction of the second output link 13 is axially perpendicular to the front end of the knee joint module 12, one end of the second output link 13 is axially positioned with the knee joint module 12 and fixed with the knee joint module 12 through a screw, and the outer side of the other end of the second output link 13 is inserted into the inner side of the inner link 5 and fixed with the inner link 5 through a screw.
The exoskeleton robot may further comprise a plurality of joint shields to protect the length adjustment mechanism and joint modules, for example, to protect the first joint module, the second joint module, the first output link, and the second output link. Specifically, the exoskeleton robot may include a plurality of first joint shields and a plurality of second joint shields, and the first joint shields may be installed on a side of the first output link 3 away from the first joint module (here, the hip joint module 1), a side of the first output link 3 facing the first joint module, and a side of the first joint module away from the first output link 3. The second joint shield may be mounted on a side of the second output link 13 remote from the second joint module (here, the knee joint module 12), on a side of the second output link 13 facing the second joint module, and on a side of the second joint module remote from the second output link 13. Referring to fig. 2, in this embodiment, the first joint shield may include a hip joint left side shield 17, a hip joint right side shield 19, and a hip joint small shield 18, wherein the hip joint left side shield 17 is fixed to the first output link 3 by screws, the hip joint right side shield 19 is fixed to the hip joint module 1 by screws, and the hip joint small shield 18 is fixed to the first output link 3 by screws. The second joint shield can comprise a knee joint left side shield 14, a knee joint right side shield 15 and a knee joint small shield 16, wherein the knee joint left side shield 14 is fixed with the second output connecting rod 13 and the inner side connecting rod 5 through screws respectively, the knee joint right side shield 15 is fixed with the knee joint module 12 through screws, and the knee joint small shield 16 is fixedly connected with the inner side connecting rod 5 and a hole on the second output connecting rod 13 through screws respectively.
In order to avoid some problems caused by the exposed routing wires (such as easy winding, low safety, untidy and unaesthetic appearance, and influence on the wearing comfort of the user), in this embodiment, the gap inside the inner link 5 is utilized to arrange the cable of a part of the length connected to the second joint module inside the inner link 5. For example, after the second output link 13 is inserted from the lower end of the inner link 5, a notch may be provided in the surface of the second output link 13 facing the lower end of the inner link 5, and a cable connected to the knee joint module 12 may be passed through the notch into the inner link 5, may be routed from the inner side of the inner thigh link 5, may be passed through a gap between the first output link 3 and the outer hollow link 4 or through the adjustment hole 4a, and may be covered by the joint guard. According to needs, certain regulation length can be reserved to the cable that sets up in inboard connecting rod 5 for thereby still can drive inboard connecting rod 5 through adjusting first locking Assembly 11, second locking Assembly 10, first promotion gasket 6, promotion round pin 7 and second promotion gasket 8 and slide from top to bottom, realize the regulation of leg length, in addition, the scale mark observation both sides leg length on the inboard thigh connecting rod 5 of accessible adjusts the uniformity. In another embodiment, when the cable at the first joint module needs to extend to one side of the second joint module, the cable can be routed from the inside link 5, so as to improve safety and cleanliness.
By using the length adjusting mechanism shown in fig. 2 and 3, when the length of the combined structure of the hip joint module 1 and the knee joint module 12 needs to be adjusted, the first locking component 11 and the second locking component 10 can be rotated upwards and downwards to be loosened, then the operator can poke the first pushing gasket 6 and/or the second pushing gasket 8 and drive the pushing pin 7 to move upwards or downwards, so that the pushing pin 7 drives the inner connecting rod 5 to move upwards or downwards, the shape of the adjusting hole 4a formed in the outer hollow connecting rod 4 is consistent with the moving direction, when the length required by the user is adjusted, the first locking component 11 is screwed downwards, the second locking component 10 is screwed upwards, and the use length of the adjusted exoskeleton robot is fixed.
The exoskeleton robot provided by the embodiment of the invention can drive the second joint module and the first joint module to move relatively under the driving of the pushing pin by utilizing the length adjusting mechanism, so that the length of the combined structure of the first joint module and the second joint module can be adjusted. When the length is adjusted, the length adjusting mechanism does not need to adopt a special tool to adjust and fix, can be manually and quickly adjusted, is simple and convenient, can accurately adjust the length even for inexperienced operators or users, can reduce the difficulty of adjusting the length of the exoskeleton robot, is convenient to operate, can improve the comfort of the users, and is also beneficial to improving the rehabilitation effect of rehabilitation patients using the exoskeleton robot.
The above description is only for the purpose of describing preferred embodiments of the present invention and is not intended to limit the scope of the claims of the present invention, and any person skilled in the art may make possible variations and modifications of the technical solution of the present invention using the method and technical content disclosed above without departing from the spirit and scope of the present invention, and therefore, any simple modifications, equivalent changes and modifications of the above embodiments according to the technical essence of the present invention shall fall within the protection scope of the technical solution of the present invention.
Claims (10)
1. A length adjusting mechanism is characterized by comprising an inner side connecting rod and an outer side hollow connecting rod sleeved outside the inner side connecting rod; the outer surface of the outer hollow connecting rod is sequentially provided with a first locking assembly, a pushing pin and a second locking assembly along the length direction; the outer hollow connecting rod is provided with an adjusting hole extending along the length direction, the inner connecting rod is provided with a pin hole, and the pushing pin is used for driving the inner connecting rod to move relative to the adjusting hole through the pin hole; the first locking component and the second locking component are used for being connected with the pushing pin at least after the pushing pin is adjusted to a preset position so as to limit the pushing pin to move.
2. The length adjustment mechanism of claim 1, wherein the first locking assembly and the second locking assembly are each a locking knob and are each threadably connected to an outer surface of the outer hollow link.
3. The length adjustment mechanism of claim 1, wherein at least one of the first locking assembly and the second locking assembly is a clip.
4. The length adjustment mechanism of claim 1, wherein an outer surface of the outer hollow link is sleeved with a first push washer and a second push washer, the first push washer being located between the first locking assembly and the push pin and the second push washer being located between the push pin and the second locking assembly in the length direction.
5. The length adjustment mechanism of claim 1, wherein an outer surface of the inner link is provided with graduation marks along the length direction.
6. The length adjustment mechanism of claim 1, wherein the inner link is a hollow link, and a gap between the outer hollow link and the inner link and/or an interior of the inner link is accessible for cable routing.
7. An exoskeleton robot comprising a first joint module, a second joint module and a length adjustment mechanism as claimed in any one of claims 1 to 6, wherein the outer hollow link is connected to the first joint module and the inner link is connected to the second joint module.
8. An exoskeleton robot as claimed in claim 7 further comprising:
the first output connecting rod is used for connecting the first joint module and the outer side hollow connecting rod;
and the second output connecting rod is used for connecting the second joint module and the inner connecting rod.
9. An exoskeleton robot as claimed in claim 8 further comprising a plurality of joint shields for protecting the first joint module, the second joint module, the first output link and the second output link.
10. An exoskeleton robot as claimed in any one of claims 7 to 9 wherein the lower limbs of the exoskeleton robot have a hip joint module, a knee joint module and an ankle joint module; the length adjusting mechanism is used for adjusting the length of the combined structure of the hip joint module and the knee joint module, and/or the length adjusting mechanism is used for adjusting the length of the combined structure of the knee joint module and the ankle joint module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210450035.XA CN114734429A (en) | 2022-04-26 | 2022-04-26 | Length adjustment mechanism and ectoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210450035.XA CN114734429A (en) | 2022-04-26 | 2022-04-26 | Length adjustment mechanism and ectoskeleton robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114734429A true CN114734429A (en) | 2022-07-12 |
Family
ID=82284082
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210450035.XA Withdrawn CN114734429A (en) | 2022-04-26 | 2022-04-26 | Length adjustment mechanism and ectoskeleton robot |
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| Country | Link |
|---|---|
| CN (1) | CN114734429A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2698902Y (en) * | 2004-03-05 | 2005-05-11 | 丘雪 | Telescopic steel pipe support |
| CN201152030Y (en) * | 2007-12-28 | 2008-11-19 | 王雄文 | Aluminium alloy strong strut rod |
| CN112720566A (en) * | 2020-12-31 | 2021-04-30 | 安杰莱科技(杭州)有限公司 | Bionic joint mechanism and exoskeleton robot |
| CN113002656A (en) * | 2019-12-20 | 2021-06-22 | 北京大艾机器人科技有限公司 | Length-adjustable lower limb structure and robot lower limb using same |
| KR20220045844A (en) * | 2020-10-06 | 2022-04-13 | 김준영 | Pipe support for earth pressure separation type geosynthetic reinforced soil abutment |
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2022
- 2022-04-26 CN CN202210450035.XA patent/CN114734429A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2698902Y (en) * | 2004-03-05 | 2005-05-11 | 丘雪 | Telescopic steel pipe support |
| CN201152030Y (en) * | 2007-12-28 | 2008-11-19 | 王雄文 | Aluminium alloy strong strut rod |
| CN113002656A (en) * | 2019-12-20 | 2021-06-22 | 北京大艾机器人科技有限公司 | Length-adjustable lower limb structure and robot lower limb using same |
| KR20220045844A (en) * | 2020-10-06 | 2022-04-13 | 김준영 | Pipe support for earth pressure separation type geosynthetic reinforced soil abutment |
| CN112720566A (en) * | 2020-12-31 | 2021-04-30 | 安杰莱科技(杭州)有限公司 | Bionic joint mechanism and exoskeleton robot |
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Application publication date: 20220712 |