CN206677944U - A kind of foot device for wearable lower limb exoskeleton robot - Google Patents
A kind of foot device for wearable lower limb exoskeleton robot Download PDFInfo
- Publication number
- CN206677944U CN206677944U CN201621418427.4U CN201621418427U CN206677944U CN 206677944 U CN206677944 U CN 206677944U CN 201621418427 U CN201621418427 U CN 201621418427U CN 206677944 U CN206677944 U CN 206677944U
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- CN
- China
- Prior art keywords
- lower limb
- limb exoskeleton
- sole
- exoskeleton robot
- foot device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of foot device for wearable lower limb exoskeleton robot, belong to wearable lower limb exoskeleton robotic technology field.The utility model includes：Shank link, steering wheel, front and rear control panel, M2 bolts, level control board, supporting plate, middle pin, rear sole, have strong market potential, forefoot plate, bolt, shaft coupling and disc type electric machine.It is technically characterized in that, the three degree of freedom of human body lower limbs ankle-joint, spacing processing has been carried out to each place direction of motion by the design in mechanical structure, then realize driving respectively by two steering wheels and a disc type electric machine.Using the adjustable mode of the installation of front and rear control panel and level control board, the flexibility of wearing ensure that.The characteristics of sole is divided into two parts, is coupled using hinging manner, and sole changes when meeting mankind's walking.The present apparatus is simple in construction, manufacture easy to process, and applicability is wide.
Description
Technical field
Wearable lower limb exoskeleton robotic technology field is the utility model is related to, is used for more particularly to one kind wearable
The foot device of lower limb exoskeleton robot.
Background technology
Existing wearable lower limb exoskeleton robot, applied to the device of foot, it is primarily present following shortcoming：1）It is existing
The foot device applied to wearable lower limb exoskeleton robot it is most there was only ones degree of freedom, freedom of movement is few, with people
Body coupling is poor, is put on uncomfortable, also influence walking；2）The existing foot applied to wearable lower limb exoskeleton robot
Device controlling in the free degree that it is realized is most for control electrically, and security is only in control system, without machinery
On safety guarantee；3) the existing foot device applied to wearable lower limb exoskeleton robot, foot supports are often all done
Into one flat plate, walk uncomfortable, influence to walk；4）The existing foot applied to wearable lower limb exoskeleton robot
Device is often to be fixed together with wearable lower limb exoskeleton robot, can not be adjusted, wearing inconvenience.It is therefore desirable to existing
The foot device for having wearable lower limb exoskeleton robot is suitably modified, and realization has multi freedom degree mechanical spacing and can
The requirement of walking is closed in adjustment.
The content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the utility model, which provides, a kind of is used for wearable lower limb exoskeleton machine
The foot device of device people, ankle three degree of freedom when can realize wearer's walking, and securely and reliably can cosily go
The requirement walked.
Technical scheme is used by the utility model：Provide a kind of foot for wearable lower limb exoskeleton robot
Part device, including with lower component：Shank link, steering wheel, front and rear control panel, M2 bolts, level control board, supporting plate, middle pin, the rear foot
Plate, have strong market potential, forefoot plate, bolt, shaft coupling and disc type electric machine.It is technically characterized in that, three of human body lower limbs ankle-joint
The free degree, by carried out spacing processing of the design in mechanical structure to each place direction of motion, then by two steering wheels and
One disc type electric machine realizes driving respectively, it is achieved thereby that the function of human body lower limbs ankle-joint safety movement.Using front and rear control
The adjustable mode of installation of plate and level control board, ensure that the flexibility of wearing.Sole is divided into two parts, using hinging manner
Connection, when more meeting the mankind's walking the characteristics of sole change.
Further, described front and rear control panel is arranged on level control board using the quiet connecting mode of bolt, can during installation
The two relative position of regulation.
Further, described disc type electric machine is bolted on shank link using M2, disc type electric machine by gear pair with
Front and rear control panel links together.
Further, described level control board and a steering wheel are fixedly connected by using M2 bolts, and steering wheel thereon leads to
Gear pair is crossed to link together with supporting plate.
Further, described supporting plate and another steering wheel are fixedly connected by using M2 bolts, and steering wheel thereon passes through connection
Axle device links together with rear sole.
Further, described level control board is L-type, and on the one hand the pedestal as one steering wheel of installation is used, on the other hand
A pair of spacing arc-shaped slots are provided with thereon.
Further, described supporting plate is U-shaped on the one hand to be used as the pedestal for installing another steering wheel, on the other hand thereon
It is provided with a pair of spacing arc-shaped slots.
Further, described front and rear control panel uses the quiet connecting mode of bolt with level control board, relative before debugging
Position front and rear can adjust, but after the completion of debugging, the two is relatively motionless.
Further, described rear sole and forefoot plate are all provided with U-type groove by hinge-coupled on rear sole and forefoot plate
Mouthful.
Compared with prior art, the beneficial effects of the utility model are：The function of ankle three degree of freedom is realized,
And spacing processing has been carried out in mechanical structure where each free degree, more securely and reliably.Foot device can be with respect to shank link
Position is adjustable, the problem of having adapted to the wearing of different wearers.Sole is divided into two parts, more meets the sole of human body walking
Rule.Overall structure is simple, easy for installation, applied widely.
Brief description of the drawings
Fig. 1 and Fig. 2 is the utility model overall structure diagram.
Accompanying drawing marks：1. shank link, 2. steering wheels, control panel before and after 3., 4.M2 bolts, 5. level control boards, 6. supporting plates,
Sold in 7., sole after 8., 9. have strong market potential, 10. forefoot plates, 11. bolts, 12. shaft couplings, 13. disc type electric machines.
Embodiment
The utility model is further illustrated below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, a kind of foot device for wearable lower limb exoskeleton robot, including with lower component：
Shank link（1）, steering wheel（2）, front and rear control panel（3）, M2 bolts（4）, level control board（5）, supporting plate（6）, middle pin（7）, after
Sole（8）, have strong market potential（9）, forefoot plate（10）, bolt（11）, shaft coupling（12）And disc type electric machine（13）.Front and rear control panel
（3）And supporting plate（6）On be all provided with spacing arc-shaped slot.Disc type electric machine（13）Pass through M2 bolts（4）It is fixedly mounted on shank company
Bar（1）On.Disc type electric machine（13）Pass through gear pair and front and rear control panel（3）Connection.Front and rear control panel（3）Pass through the quiet connection of bolt
Mode and level control board（5）Connection.Steering wheel（2）Pass through M2 bolts（4）It is fixedly mounted on level control board（5）On, and with support
Plate（6）With linking together for gear pair.Steering wheel（2）Pass through M2 bolts（4）It is fixedly mounted on supporting plate, and passes through shaft coupling
（12）With rear sole（8）Link together.Sole afterwards（8）By having strong market potential（9）And forefoot plate（10）Link together.
The technical solution of the utility model is not restricted in the range of embodiment described in the utility model.This practicality is new
The technology contents of the not detailed description of type are known technology.
Claims (5)
1. a kind of foot device for wearable lower limb exoskeleton robot, including with lower component：It is shank link, steering wheel, preceding
Rear control plate, M2 bolts, level control board, supporting plate, middle pin, rear sole, have strong market potential, forefoot plate, bolt, shaft coupling and disc type
Motor；It is technically characterized in that, the three degree of freedom of human body lower limbs ankle-joint, by the design in mechanical structure to each place
The direction of motion has carried out spacing processing, then realizes driving respectively by two steering wheels and a disc type electric machine；Using front and rear control
The adjustable mode of installation of plate and level control board；Sole is divided into two parts, is coupled using hinging manner.
A kind of 2. foot device for wearable lower limb exoskeleton robot according to claim 1, it is characterised in that
Described level control board is L-type, and on the one hand the pedestal as one steering wheel of installation is used, and is on the other hand provided with spacing one thereon
To arc-shaped slot.
A kind of 3. foot device for wearable lower limb exoskeleton robot according to claim 1, it is characterised in that：
Described supporting plate is U-shaped, is on the one hand used as the pedestal for installing another steering wheel, is on the other hand provided with a pair of spacing arcs thereon
Shape slotted eye.
A kind of 4. foot device for wearable lower limb exoskeleton robot according to claim 1, it is characterised in that：
Front and rear control panel uses the quiet connecting mode of bolt with level control board, and relative position front and rear can adjust before debugging, but adjust
After the completion of examination, the two is relatively motionless.
A kind of 5. foot device for wearable lower limb exoskeleton robot according to claim 1, it is characterised in that：
Sole and forefoot plate are all provided with U type slot by hinge-coupled on rear sole and forefoot plate afterwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621418427.4U CN206677944U (en) | 2016-12-22 | 2016-12-22 | A kind of foot device for wearable lower limb exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621418427.4U CN206677944U (en) | 2016-12-22 | 2016-12-22 | A kind of foot device for wearable lower limb exoskeleton robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206677944U true CN206677944U (en) | 2017-11-28 |
Family
ID=60395423
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621418427.4U Expired - Fee Related CN206677944U (en) | 2016-12-22 | 2016-12-22 | A kind of foot device for wearable lower limb exoskeleton robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206677944U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109223451A (en) * | 2018-09-26 | 2019-01-18 | 北京精密机电控制设备研究所 | A kind of lower limb assistance exoskeleton robot carries shoes |
-
2016
- 2016-12-22 CN CN201621418427.4U patent/CN206677944U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109223451A (en) * | 2018-09-26 | 2019-01-18 | 北京精密机电控制设备研究所 | A kind of lower limb assistance exoskeleton robot carries shoes |
| CN109223451B (en) * | 2018-09-26 | 2021-03-26 | 北京精密机电控制设备研究所 | Lower limb assistance exoskeleton robot bearing shoe |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171128 Termination date: 20181222 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |