CN207044164U - The ankle-joint boosting mechanism that a kind of ectoskeleton uses - Google Patents
The ankle-joint boosting mechanism that a kind of ectoskeleton uses Download PDFInfo
- Publication number
- CN207044164U CN207044164U CN201720736807.0U CN201720736807U CN207044164U CN 207044164 U CN207044164 U CN 207044164U CN 201720736807 U CN201720736807 U CN 201720736807U CN 207044164 U CN207044164 U CN 207044164U
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- China
- Prior art keywords
- ankle
- joint
- force
- transmission
- screw mandrel
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Abstract
The ankle-joint boosting mechanism that a kind of ectoskeleton uses, including motor (1), decelerator (2), driving force arm component (3), transmission fixed structure (4), ankle-joint transmission component (5), screw mandrel lifting assembly (6), sole (7), it is characterized in that, the moment of torsion of motor (1) output drives ankle-joint transmission component (5) to rotate by decelerator (2), driving force arm component (3), and can adjust ankle-joint transmission component (5) and sole by the screw mandrel lifting assembly (6) with Telescopic（7）Distance, with adapt to the ankle of different wearers height.
Description
Technical field
The ankle-joint boosting mechanism that a kind of ectoskeleton uses is the utility model is related to, belongs to wearable mechanical device field.
Background technology
Ectoskeleton is widely used in rehabilitation training, walking of helping the disabled, auxiliary as a kind of wearable lower limb exoskeleton device
The fields such as medical care.However, the ankle-joint of most of exoskeleton device is simply directly solid with ectoskeleton in structure at present
It is fixed, power drive is not provided, belongs to drive lacking pattern, its ankle joint angle is unable to autonomous control, and this not only lowers wearing
The comfort level of person, and it is larger to cause ectoskeleton to be impacted when landing, and reduces the stability of ectoskeleton in the process of walking；It is another
Aspect, due to the difference of wearer's height, its ankle-joint is also different apart from the height of sole, to obtain more preferable control performance
With comfortableness, the ankle-joint rotary shaft of exoskeleton device should be maintained at same height with model of human ankle, therefore how by changing
Enter the ankle joint structure of ectoskeleton to improve the stability and comfortableness of ectoskeleton walking, be current ectoskeleton equipment manufacturing neck
The major issue that domain is needed badly.
The content of the invention
The utility model provides a kind of design for the ankle-joint boosting mechanism that ectoskeleton uses, and the program is completely newly set
A kind of ankle-joint boosting mechanism has been counted, the rotation of exoskeleton ankle joint is driven by motor, and exoskeleton ankle joint can be adjusted
Highly, with adapt to the ankle of different wearers height.
The technical solution adopted in the utility model is the ankle-joint boosting mechanism that a kind of ectoskeleton uses, including motor (1),
Decelerator (2), driving force arm component (3), transmission fixed structure (4), ankle-joint transmission component (5), screw mandrel lifting assembly (6),
Sole (7).Wherein, the moment of torsion of motor (1) output drives ankle-joint transmission component by decelerator (2), driving force arm component (3)
(5) rotate, and ankle-joint transmission component (5) and sole can be adjusted by the screw mandrel lifting assembly (6) with Telescopic（7）'s
Distance, to adapt to the ankle of different wearers height.
Driving force arm component (3) includes transmission arm of force shell（31）, shaft coupling (32), transmission the arm of force (33), rotary shaft
Pedestal (34), transmission arm of force rotary shaft (35)；Wherein, rotary shaft pedestal (34) is fixed by screws in shell（31）On, and prop up
The transmission arm of force rotary shaft (35) of its embedded groove of support；Transmission arm of force rotary shaft (35) passes through shell（31）On mounting hole with subtracting
Fast device (2) is coaxially connected；It is driven arm of force rotary shaft（35）It provided with selenodont breach, can be meshed, and join with shaft coupling (32)
Axle device（32）Mutually fixed with the transmission arm of force (33), therefore be driven arm of force rotary shaft (35) and rotate and turn the drive transmission arm of force (33)
It is dynamic.
For the driving force of motor is passed into ankle-joint, the transmission arm of force (33) one end and transmission arm of force rotary shaft (35）Even
Connect, the other end is connected with ankle-joint transmission component (5), and motor (1) drives transmission arm of force rotary shaft (35) to turn by decelerator (2)
It is dynamic, and the transmission arm of force (33) is imparted power to, so as to drive the rotation of ankle-joint transmission component (5)；As shown in figure 1, shell
（31）Pass through screw and decelerator（2）Mutually fixed with transmission fixed structure (4).
Ankle-joint transmission component (5) includes ankle-joint drive shaft（51）, ankle-joint upper connecting rod（52）, ankle-joint lower link
（53）, ankle-joint bearing（54）；Wherein, it is driven the arm of force (33) and power is passed through into ankle-joint drive shaft（51）Output, and drive
Ankle-joint lower link（53）Rotate；Ankle-joint lower link（53）Pass through ankle-joint drive shaft（51）And ankle-joint bearing（54）With
Ankle-joint upper connecting rod（52）Connection.Ankle-joint drive shaft（51）Provided with axle key, and with ankle-joint lower link（53）Keyway phase
Engagement, therefore ankle-joint drive shaft（51）Can be with movable joint lower link（53）Rotation；Ankle-joint drive shaft（51）Axle
Provided with selenodont breach, can be meshed with shaft coupling (32).
Screw mandrel lifting assembly (6) with elevating function, including screw mandrel（61）, screw mandrel lifting assembly lid（62）, gear
（63）, screw mandrel lifting assembly set casing（64）, worm screw（65）；Wherein, screw mandrel（61）Pass through welding manner and joint lower link
（53）Connection；Screw mandrel（61）With gear（63）, screw mandrel lifting assembly set casing（64）Hole screw thread be meshed；Screw mandrel lifting assembly
Set casing（64）To gear（63）Play a supportive role, its bottom surface and sole（7）Bottom surface be maintained at same plane；Worm screw（65）With
Gear（63）Drive connection, worm screw（65）Rotation can be with moving gear（63）Rotate, and then to screw mandrel（61）Move up and down；
And in worm screw（65）On devise hand handle, convenient use person is to worm screw（65）Rotated.
Brief description of the drawings
Fig. 1 is the ankle-joint boosting mechanism overall schematic that a kind of ectoskeleton uses.
Fig. 2 is the configuration schematic diagram of ankle-joint boosting mechanism shown in Fig. 1.
Fig. 3 is the CONSTRUCTED SPECIFICATION figure with the power arm component for transmitting kinetic energy of ankle-joint boosting mechanism shown in Fig. 2.
Fig. 4 is the ankle-joint transmission component structure detail view of ankle-joint boosting mechanism in Fig. 2.
Fig. 5 is the screw mandrel lifting assembly CONSTRUCTED SPECIFICATION figure of ankle-joint boosting mechanism in Fig. 2.
Embodiment
Implementation process of the present utility model is further illustrated with reference to the accompanying drawings and examples.
As depicted in figs. 1 and 2, the ankle-joint boosting mechanism that a kind of ectoskeleton in the utility model embodiment uses, bag
Include motor (1), decelerator (2), driving force arm component (3), transmission fixed structure (4), ankle-joint transmission component (5), screw mandrel liter
Come down to a lower group part (6), sole (7).
As shown in figure 3, the driving force arm component (3) that having in the utility model embodiment transmits kinetic energy function includes passing
Power arm shell（31）, shaft coupling (32), transmission the arm of force (33), rotary shaft pedestal (34), transmission arm of force rotary shaft (35)；
Rotary shaft pedestal (34) is fixed by screws in shell（31）On, it can support and the transmission arm of force of its fixedly embedded groove rotates
Axle (35), transmission arm of force rotary shaft (35) are directly coaxially connected with decelerator (2) through the mounting hole on shell (31)；Transmission
Arm of force rotary shaft (35) is provided with selenodont breach, can be meshed with shaft coupling (32), and shaft coupling（32）With being driven the arm of force
(33) mutually fix, therefore being driven arm of force rotary shaft (34) rotation will drive the transmission arm of force (33) to rotate, by driving force arm component
（3）Transmission agency, the driving force of motor has effectively been delivered to ankle-joint transmission component (5).Shell（31）Pass through screw
Mutually fixed with transmission fixed structure (4), effect attractive in appearance and dust-proof can be played.
As shown in figure 4, the ankle-joint transmission component (5) in the utility model embodiment, including ankle-joint drive shaft
（51）, ankle-joint upper connecting rod（52）, ankle-joint lower link（53）, ankle-joint bearing（54）；The transmission arm of force (33) passes through power
Ankle-joint drive shaft (51) exports, and drives ankle-joint lower link (53) to rotate, and ankle-joint lower link (53) passes through ankle-joint
Drive shaft (51) and ankle-joint bearing (54) are connected with ankle-joint upper connecting rod (52)；To realize the purpose of kinetic energy transmission, ankle closes
Save drive shaft（51）One end passes through selenodont breach and shaft coupling（32）Engagement, the other end pass through axle key and ankle-joint lower link
（53）Keyway be meshed;This design causes the transmission arm of force (33) that the output torque of motor has been delivered into ankle-joint transmission and turned
Axle（51）On, so as to drive ankle-joint lower link（53）Rotate.
As shown in figure 5, the screw mandrel lifting assembly (6) with elevating function in the utility model embodiment, including screw mandrel
（61）, screw mandrel lifting assembly lid（62）, gear（63）, screw mandrel lifting assembly set casing（64）, worm screw（65）；Screw mandrel（61）Pass through
Welding manner and joint lower link（53）Connection；Screw mandrel（61）With gear（63）, screw mandrel lifting assembly set casing（64）Hole spiral shell
Line is meshed；In order to gear（63）More preferable supporting role is provided, by screw mandrel lifting assembly set casing（64）Bottom surface with ground
Face contacts, and its bottom surface is turned into supporting surface；Worm screw（65）With gear（63）Drive connection, worm screw（65）Rotation can be with moving gear
（63）Rotate, and then to screw mandrel（61）Move up and down, play a part of adjusting ankle-joint height；For convenience of operation, in snail
Bar（65）Provided with hand handle, user can be to worm screw by hand handle（65）Complete rotational action；To improve screw mandrel lifting assembly（6）
Steadiness, by screw mandrel lifting assembly set casing by the way of welding（64）It is fixed together with sole (7).
Claims (5)
1. the ankle-joint boosting mechanism that a kind of ectoskeleton uses, including motor (1), decelerator (2), driving force arm component (3), biography
Dynamic fixed structure (4), ankle-joint transmission component (5), screw mandrel lifting assembly (6), sole (7), it is characterised in that the motor
(1) moment of torsion of output is driven ankle-joint transmission component (5) to rotate, and can passed through by decelerator (2), driving force arm component (3)
The distance of screw mandrel lifting assembly (6) regulation ankle-joint transmission component (5) and sole (7) with Telescopic, to adapt to difference
The ankle height of wearer.
2. the ankle-joint boosting mechanism that a kind of ectoskeleton according to claim 1 uses, it is characterised in that described that there is biography
The driving force arm component (3) of graduating energy function includes transmission arm of force shell (31), shaft coupling (32), the transmission arm of force (33), rotation
Axle pedestal (34), transmission arm of force rotary shaft (35)；The rotary shaft pedestal (34) is fixed by screws in shell（31）On, and prop up
The transmission arm of force rotary shaft (35) of its embedded groove of support；The transmission arm of force rotary shaft (35) passes through shell（31）On mounting hole
It is coaxially connected with decelerator (2)；Transmission arm of force rotary shaft (35) is provided with selenodont breach, can be meshed with shaft coupling (32),
And shaft coupling (32) is mutually fixed with the transmission arm of force (33), therefore it is driven arm of force rotary shaft (35) and rotates and will drive the transmission arm of force (33)
Rotate.
3. the ankle-joint boosting mechanism that a kind of ectoskeleton according to claim 2 uses, it is characterised in that the driving force
Arm (33) one end and transmission arm of force rotary shaft (35）Connection, the other end are connected with ankle-joint transmission component (5), and motor (1) passes through
Decelerator (2) driving transmission arm of force rotary shaft (35) rotates, and imparts power to the transmission arm of force (33), drives ankle-joint transmission
The rotation of component (5);The shell（31）Mutually fixed by screw and transmission fixed structure (4).
4. the ankle-joint boosting mechanism that a kind of ectoskeleton according to claim 1 uses, it is characterised in that the ankle-joint
Transmission component (5) includes ankle-joint drive shaft（51）, ankle-joint upper connecting rod（52）, ankle-joint lower link（53）, ankle-joint axle
Hold（54）；Power is passed through ankle-joint drive shaft by the transmission arm of force (33)（51）Output, and drive ankle-joint lower link
（53）Rotate；The ankle-joint lower link (53) passes through ankle-joint drive shaft（51）And ankle-joint bearing（54）With on ankle-joint
Connecting rod（52）Connection；The ankle-joint drive shaft（51）Be provided with axle key, and with ankle-joint lower link（53）Keyway mutually nibble
Close, therefore ankle-joint drive shaft（51）Can be with movable joint lower link（53）Rotation；The ankle-joint drive shaft（51）
Axle is provided with selenodont breach, can be meshed with shaft coupling (32).
5. the ankle-joint boosting mechanism that ectoskeleton according to claim 1 uses, it is characterised in that there is elevating function
Screw mandrel lifting assembly (6) includes screw mandrel（61）, screw mandrel lifting assembly lid（62）, gear（63）, screw mandrel lifting assembly set casing
（64）, worm screw（65）；The screw mandrel（61）Pass through welding manner and joint lower link（53）Connection；The screw mandrel（61）With gear
（63）, screw mandrel lifting assembly set casing（64）Hole screw thread be meshed；The screw mandrel lifting assembly set casing（64）To gear
（63）Play a supportive role, its bottom surface and the bottom surface of sole (7) are maintained at same plane；The worm screw（65）With gear（63）Transmission
Connection, worm screw（65）Rotation can be with moving gear（63）Rotate, and then make screw mandrel（61）Move up and down；The worm screw（65）It is provided with
Hand handle, convenient use person is to worm screw（65）Rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720736807.0U CN207044164U (en) | 2017-06-23 | 2017-06-23 | The ankle-joint boosting mechanism that a kind of ectoskeleton uses |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720736807.0U CN207044164U (en) | 2017-06-23 | 2017-06-23 | The ankle-joint boosting mechanism that a kind of ectoskeleton uses |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207044164U true CN207044164U (en) | 2018-02-27 |
Family
ID=61492444
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720736807.0U Expired - Fee Related CN207044164U (en) | 2017-06-23 | 2017-06-23 | The ankle-joint boosting mechanism that a kind of ectoskeleton uses |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207044164U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107127739A (en) * | 2017-06-23 | 2017-09-05 | 电子科技大学中山学院 | The ankle-joint boosting mechanism that a kind of ectoskeleton is used |
-
2017
- 2017-06-23 CN CN201720736807.0U patent/CN207044164U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107127739A (en) * | 2017-06-23 | 2017-09-05 | 电子科技大学中山学院 | The ankle-joint boosting mechanism that a kind of ectoskeleton is used |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180227 Termination date: 20190623 |
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| CF01 | Termination of patent right due to non-payment of annual fee |