CN203710191U - Assisted exoskeleton rehabilitation device - Google Patents
Assisted exoskeleton rehabilitation device Download PDFInfo
- Publication number
- CN203710191U CN203710191U CN201320567040.5U CN201320567040U CN203710191U CN 203710191 U CN203710191 U CN 203710191U CN 201320567040 U CN201320567040 U CN 201320567040U CN 203710191 U CN203710191 U CN 203710191U
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- China
- Prior art keywords
- joint
- ectoskeleton
- outside
- central shaft
- thigh
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- 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.)
- Expired - Lifetime
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 210000000689 upper leg Anatomy 0.000 claims description 17
- 210000003205 muscle Anatomy 0.000 claims description 12
- 208000034657 Convalescence Diseases 0.000 claims description 8
- 239000000203 mixture Substances 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Abstract
The utility model discloses a design of a driving structure of an assisted exoskeleton rehabilitation device. The assisted exoskeleton rehabilitation device comprises a direct current motor, a pair of bevel gears, a straight gear, an inner rack, a transmission shaft and a fixed plate, wherein the bevel gears are used for changing a power transmission direction; the straight gear and one of the bevel gears form a coaxial transmission device; the straight gear and the inner rack are meshed with each other; a part at the lower end of an outer joint is fixed at one end of the inner rack. Compared with the prior art, the assisted exoskeleton rehabilitation device has the advantages that the motor is vertically placed; conventional requirements for the size of the motor are reduced. In addition, the assisted exoskeleton rehabilitation device is simple in mechanical structure, high in control accuracy, large in transmission torque and high in safety.
Description
Technical field:
This utility model relates to ectoskeleton technical field, relates in particular to the design of the powerdriven frame for movement of ectoskeleton joint.
Background technology:
The main type of drive of power-assisted rehabilitation ESD mainly contains three kinds at present: driven by servomotor, and hydraulic-driven, air pressure drives.Air pressure drives because thereby the larger control accuracy that causes of compressibility of gas is relatively low; Hydraulic-driven is owing to will having hydraulic oil as medium, and its sealing difficulty is relatively large, and high pressure liquid force feed is revealed and can be formed potential threat to human body in addition.Adopt driven by servomotor control accuracy relatively high, simple for structure.
The ectoskeleton power-assisted convalescence device of existing employing driven by servomotor, mostly adopting, servomotor is laterally placed, the oversize horizontal placement of motor like this length of servomotor just had to very high requirement, if just may produce and hinder to human normal walking.If motor is too little, can cannot realize assist function because producing enough torques again.
Utility model content:
This utility model object is to solve existing ectoskeleton power transmission part-structure complexity, volume and weight the problem large and particular/special requirement to motor while using motor as power source.
This utility model comprises thigh ectoskeleton, shank ectoskeleton, foot's ectoskeleton, ectoskeleton joint, L-type fixing head, ectoskeleton gripper shoe, direct current generator, drive bevel gear, driven wheel of differential, spur gear, inner rack, muscle, power transmission shaft, the plate of fixed conveyor axle, the L-type plate of fixing direct current generator, Electromagnetic bolt.Described ectoskeleton joint comprises lower end, joint, outside part, upper end, joint, outside part, upper end, joint, inner side part, lower end, joint, inner side part.Described joint, outside upper end part and thigh ectoskeleton lateral branch fagging are fixed together, outside lower end, joint part and shank ectoskeleton lateral branch fagging are fixed together, inner side upper end, joint part and thigh ectoskeleton medial branch fagging are fixed together, and joint, inner side lower end part and shank ectoskeleton medial branch fagging are fixed together.Described joint, inner side upper end part and lower end, joint, inner side part form rotary mechanism by connecting axle; Described joint, outside upper end part and lower end, joint, outside part form rotary mechanism by connecting axle; Its lower end of described inner rack and lower end, joint, outside part fix, and its other end fixes through the arcuate socket of upper end, joint, outside part and one end of muscle; The other end of described muscle is fixed on central shaft and can freely rotates.Described direct current generator also comprises decelerator, encoder; Direct current generator is vertically fixed on thigh ectoskeleton outside by L-type fixing head, and motor output shaft and drive bevel gear are fixed together, and drive bevel gear and driven wheel of differential cooperatively interact; Described driven wheel of differential is by power transmission shaft and spur gear composition coaxial gear set; Described spur gear and inner rack are intermeshing; Described power transmission shaft is located by fixing head.
The utlity model has following beneficial effect: one, this utility model is owing to motor vertical direction being placed and being horizontal direction by bevel-gear sett by the rotational transform of the motor of vertical direction, so just can reduce the requirement to motor volume, the range of choice of motor is expanded greatly.Two, worm screw is compared in employing gear drive, sector gear transmission can obtain larger torque.Three, compare hydraulic pressure, this structure of Pneumatic power device more succinctly reliably.
Brief description of the drawings:
Fig. 1 is the side view of single unit system;
Fig. 2 is Fig. 1 decomposition view;
Fig. 3 is that joint is specifically schemed;
Fig. 4 is that joint prevents the position limiting structure figure that the twisting of joints occurs;
Detailed description of the invention:
In conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, detailed description of the invention of the present utility model is described, this ectoskeleton power-assisted convalescence device is made up of thigh ectoskeleton (11), ectoskeleton joint (12), shank ectoskeleton (13), foot's ectoskeleton (14), fixed connection apparatus, actuating unit, Electromagnetic bolt (215).Described actuating unit comprises direct current generator (21), driving bevel gear (22), driven bevel pinion (23), power transmission shaft (24), spur gear (25), inner rack (26); Driving bevel gear (22) and driven bevel pinion (23) are intermeshing, driven bevel pinion is by power transmission shaft (24) and spur gear (25) composition coaxial rotation device, and spur gear (25) and inner rack (26) are intermeshing.Inner rack (26) lower end and lower end, joint, outside part (29) fix, and the other end fixes through the arcuate socket (217) on upper end, joint, outside part (214) and one end of muscle (210).The other end of muscle (210) and lower end, joint, outside part (29) are fixed together; Central shaft (19) through muscle (210) thus the centre bore of one end can make muscle (210) freely rotate within the specific limits.Described direct current generator also comprises encoder (31), motor part (32), decelerator (33).It is upper that direct current generator (21) is fixed on thigh ectoskeleton (11) by L-type fixing head (36) on vertical direction, and motor output shaft and driving bevel gear (22) are fixed together.Described fixed connection apparatus comprises: L-type fixing head (36), power transmission shaft location-plate (34), central shaft (28), muscle (210).Described ectoskeleton joint comprises: upper end, joint, outside part (214), lower end, joint, outside part (29), upper end, joint, inner side part (213), lower end, joint, inner side part (212), Electromagnetic bolt (215), gripper shoe (27), central shaft (28); Outside upper end, joint part (16) and lower end, joint, outside part (11) form rotary mechanism by center (28), and upper end, joint, inner side part (213) and lower end, joint, inner side part (212) form rotary mechanism by central shaft (28); Inner side upper end, joint part (213) and thigh ectoskeleton medial branch fagging (35) fix, inner side lower end, joint part (212) and shank ectoskeleton medial branch fagging (211) fix, outside upper end, joint part (214) and thigh ectoskeleton outside-supporting steel plate (216) are fixed together, and lower end, joint, outside part (29) and shank ectoskeleton lateral branch fagging (218) are fixed together.Gripper shoe is separately fixed on corresponding thigh ectoskeleton (11) and shank ectoskeleton (13).Described upper end, joint, outside part (214) and lower end, joint, outside part (29) also comprise the position limiting structure (41) that prevents twisting of joints danger.Described thigh ectoskeleton (11) is made up of the shell being processed into by thigh shape.Described shank ectoskeleton (13), foot's ectoskeleton (14) are made up of the shell being processed into by the shape of shank shape and foot.
Operation principle:
This structural design is vertically fixed on motor on thigh ectoskeleton (11), convert the rotation of vertical direction to lateral rotation cleverly by drive bevel gear (22) and driven wheel of differential (23), and drive spur gear (25) to rotate and then drive inner rack (26) to rotate by power transmission shaft (24), because lower end and lower end, joint, the outside part (29) of inner rack (26) are fixed together, in the time that inner rack (26) rotates, inner rack (26) will drive outside lower end, joint part (29) to move together, and lower end, joint, outside part (29) and respective support plate (27) are fixed together, gripper shoe (27) and shank ectoskeleton (13) are fixed together, therefore outside lower end, joint part (29) motion will drive shank ectoskeleton (13) to move together.If when inner rack (26) rotates and can drive shank curved in the wrong along a direction, be to drive shank to stretch when inner rack (26) rotates in the opposite direction so like this.Direct current generator (21) when along where to rotation by control device control, gait information when control device gathers human body walking by signal pickup assembly, judge that through processing human body is to stretch out shank or shrinking shank, and then drive direct current generator (21) to make it that rotation along respective direction, the assist function while so just having realized human body walking occur.Another feature of this Design of Mechanical Structure is that the danger for preventing the human body twisting of joints designs, the position limiting structure (41) adopting when upper end, joint, the outside part (214) that this mainly refers to and lower end, joint, outside part (29) design, in the time that human body shank swings to the support phase, due to stopping of position limiting structure (41), shank ectoskeleton (13) can not continue to continue to swing to equidirectional, even if now could not stop in time while controlling fault to the support phase appears in direct current generator (21), but because joint limited location structure (41) can well be protected human body too, prevent the appearance of twisting of joints danger.
Above content is only embodiment of the present utility model, and its object is not the restriction of the system and method for this utility model is proposed, and protection domain of the present utility model is as the criterion with claim.In the situation that not departing from spirit and scope of the present utility model, within all apparent amendment about form and details that it is carried out or variation all should drop on protection domain of the present utility model.
Claims (5)
1. ectoskeleton power-assisted convalescence device, is characterized in that: comprise thigh ectoskeleton (youngster) ectoskeleton joint (12), shank ectoskeleton (13), foot's ectoskeleton (14), actuating unit, Electromagnetic bolt (215); Described actuating unit comprises direct current generator (21), drive bevel gear (22), driven wheel of differential (23), power transmission shaft (24), spur gear (25), inner rack (26); Drive bevel gear (22) and driven wheel of differential (23) are intermeshing by fixture, driven wheel of differential (23) is by power transmission shaft (24) and spur gear (25) composition coaxial rotation device, and spur gear (25) and inner rack (26) are intermeshing; Inner rack (26) lower end and lower end, joint, outside part (29) are fixed together; It is upper that one end of muscle (210) is fixed on central shaft (28), and the other end fixes through the arcuate socket (217) on upper end, joint, outside part (216) and the other end of muscle (210); Central shaft (28) thus can make muscle (210) freely rotate within the specific limits through Jin center.
2. ectoskeleton power-assisted convalescence device as claimed in claim 1 also comprises: muscle (210), central shaft (28), power transmission shaft location-plate (34), L-type fixing head (36); Intermeshing by fixed connection apparatus drive bevel gear (22) and driven wheel of differential (23), driven wheel of differential (23) is again by power transmission shaft (24) and spur gear (25) composition coaxial transmision.
3. ectoskeleton power-assisted convalescence device as claimed in claim 1 also comprises: encoder (31), motor part (32), decelerator (33); Direct current generator is fixed on thigh by L-type fixing head (36) on vertical direction, and motor output shaft and drive bevel gear (22) are fixed together.
4. ectoskeleton power-assisted convalescence device as claimed in claim 1 comprises: upper end, joint, outside part (214), lower end, joint, outside part (29), lower end, joint, inner side part (212), upper end, joint, inner side part (213), Electromagnetic bolt (215), central shaft (28), gripper shoe (27); Outside upper end, joint part (214) and lower end, joint, outside part (29) form rotary structure by central shaft (28); Inner side upper end, joint part (213) and lower end, joint, inner side part (212) form rotary structure by central shaft (28); Inner side upper end, joint part (213) and thigh ectoskeleton inner top side gripper shoe (35) are fixing, inner side lower end, joint part (212) and shank ectoskeleton medial branch fagging (211) are fixing, outside upper end, joint part (214) and thigh ectoskeleton lateral branch fagging (216) are fixing, and lower end, joint, outside part (29) and shank ectoskeleton lateral branch fagging (218) are fixing; Gripper shoe (27) is separately fixed on corresponding thigh ectoskeleton (youngster) and shank ectoskeleton (13).
5. ectoskeleton power-assisted convalescence device as claimed in claim 4, upper end, joint, described outside part (214) and lower end, joint, outside part (29) also comprise the position limiting structure (41) that prevents the twisting of joints.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320567040.5U CN203710191U (en) | 2014-02-27 | 2014-02-27 | Assisted exoskeleton rehabilitation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320567040.5U CN203710191U (en) | 2014-02-27 | 2014-02-27 | Assisted exoskeleton rehabilitation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203710191U true CN203710191U (en) | 2014-07-16 |
Family
ID=51149397
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320567040.5U Expired - Lifetime CN203710191U (en) | 2014-02-27 | 2014-02-27 | Assisted exoskeleton rehabilitation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203710191U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104398368A (en) * | 2014-12-10 | 2015-03-11 | 电子科技大学 | Walking assistance outer skeleton robot with transversely-arranged motors |
| CN105617668A (en) * | 2014-10-30 | 2016-06-01 | 深圳宝葫芦机器人有限公司 | Waist joint device |
| CN107661192A (en) * | 2017-08-24 | 2018-02-06 | 深圳市罗伯医疗科技有限公司 | A kind of assistant robot |
| CN114469654A (en) * | 2020-11-13 | 2022-05-13 | 复旦大学 | Stepless-adjustment hand-free lower limb walking rehabilitation assistive device |
-
2014
- 2014-02-27 CN CN201320567040.5U patent/CN203710191U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105617668A (en) * | 2014-10-30 | 2016-06-01 | 深圳宝葫芦机器人有限公司 | Waist joint device |
| CN105617668B (en) * | 2014-10-30 | 2018-01-02 | 深圳宝葫芦机器人有限公司 | Waist joint arrangement |
| CN104398368A (en) * | 2014-12-10 | 2015-03-11 | 电子科技大学 | Walking assistance outer skeleton robot with transversely-arranged motors |
| CN107661192A (en) * | 2017-08-24 | 2018-02-06 | 深圳市罗伯医疗科技有限公司 | A kind of assistant robot |
| CN114469654A (en) * | 2020-11-13 | 2022-05-13 | 复旦大学 | Stepless-adjustment hand-free lower limb walking rehabilitation assistive device |
| CN114469654B (en) * | 2020-11-13 | 2024-02-13 | 复旦大学 | Stepless regulation's hand-free low limbs walking Kang Fufu utensil |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140716 |
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| CX01 | Expiry of patent term |