CN208511458U - A kind of width adjusting device of exoskeleton robot - Google Patents
A kind of width adjusting device of exoskeleton robot Download PDFInfo
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- CN208511458U CN208511458U CN201820013565.7U CN201820013565U CN208511458U CN 208511458 U CN208511458 U CN 208511458U CN 201820013565 U CN201820013565 U CN 201820013565U CN 208511458 U CN208511458 U CN 208511458U
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- connecting rod
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- ectoskeleton
- lower extremities
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Abstract
The utility model provides a kind of width adjusting device of exoskeleton robot, including ectoskeleton pedestal, driving part, connecting rod, connecting rod connector, first guide rail, second guide rail, ectoskeleton upper limb, exoskeleton lower limbs, upper and lower extremities connector, the driving part drives the connecting rod connector, the connecting rod connector carries out vertical direction reciprocating movement along the second guide rail, the connecting rod drives the ectoskeleton upper limb by the upper and lower extremities connector, the exoskeleton lower limbs carry out the relative movement of horizontal direction along the first guide rail, so that ectoskeleton has one section of variation range in width direction, and then it realizes and adjusts ectoskeleton width.The utility model is realized by the improvement in structure only drives bilateral ectoskeleton to carry out width adjusting with a push rod, meets different people bodily form requirement and carries out rehabilitation training；The utility model saves Material Cost, time, simplified control process.
Description
Technical field
The utility model relates to the devices in rehabilitation project field, and in particular, to a kind of width tune of exoskeleton robot
Regulating device.
Background technique
In recent years, because high-incidence trend, brain is presented in the dysbasia that the factors such as traffic accident, industrial accident, cerebral apoplexy cause
The Diseases crowd range such as stroke, spinal injury is gradually expanding.Such patient also needs in addition to performing the operation or drug therapy
The rehabilitation training help of science is wanted to restore limb activity ability.
Existing rehabilitation training machine is divided into two kinds: one is being fixed on a position to walk moonwalk, another is to set
It is mobile that the standby limbs for following human body and assisting people carry out space.The trained crowd that the latter is faced is to possess componental movement ability
Patient.But for the patient of early stage or extreme early, the locomitivity of itself is not enough to maintain equipment that human body is followed to instruct
Practice.
By retrieving to the prior art, discovery existing product cannot achieve width automatic adjustment, mostly use greatly manually
It adjusts, it is time-consuming and laborious, or push unilateral ectoskeleton to carry out width adjusting simultaneously using two push rods, structure is complicated, and some
Control wordy, higher cost.
Utility model content
For the defects in the prior art, the purpose of the utility model is to provide a kind of width adjustings of exoskeleton robot
Device carries out rehabilitation training to four limbs inconvenient activity patient according to neural plasticity principle, gradual by carrying out to patient
Functional training reaches expected rehabilitation efficacy.
In order to achieve the above object, the utility model provides a kind of width adjusting device of exoskeleton robot, including dermoskeleton
Bone pedestal, driving part, Y shape link mechanism, connecting rod connector, the first guiding parts, the second guiding parts, ectoskeleton upper limb,
Exoskeleton lower limbs, upper and lower extremities connector, in which:
First guiding parts is horizontally arranged on the ectoskeleton pedestal, the upper and lower extremities connector and described first
Guiding parts connect simultaneously can be moved along first guiding parts, the ectoskeleton upper limb, the exoskeleton lower limbs respectively with institute
The connection of upper and lower extremities connector is stated, the driving part is mounted on the ectoskeleton pedestal, and the output end of the driving part connects
The connecting rod connector is connect, multiple described connecting rod one end, which are connected on the connecting rod connector, forms Y shape, multiple connecting rods
The other end is connect with the upper and lower extremities connector；Second guiding parts is vertically installed on the ectoskeleton pedestal, described
Connecting rod connector connect with second guiding parts and moves along energy second guiding parts；
The driving part drives the connecting rod connector, and the connecting rod connector carries out vertical side along the second guiding parts
To reciprocating movement, the connecting rod being connected on the connecting rod connector drives the ectoskeleton by the upper and lower extremities connector
Upper limb, the exoskeleton lower limbs carry out the relative movement of horizontal direction along the first guiding parts, so that ectoskeleton is in width direction
With one section of variation range, and then realizes and adjust ectoskeleton width.
Preferably, the ectoskeleton upper limb, exoskeleton lower limbs respectively there are two, corresponding, the upper and lower extremities connector
There are two, the ectoskeleton upper limb, exoskeleton lower limbs, the upper and lower extremities connector are arranged on the left and right two of the ectoskeleton pedestal
Side.
Connect it is highly preferred that an ectoskeleton upper limb and the exoskeleton lower limbs are fixed on the upper and lower extremities
On fitting, another described ectoskeleton upper limb and another described exoskeleton lower limbs are fixed on another upper and lower extremities connector
On；The driving part drives the connecting rod connector and the connecting rod, and drives two upper and lower extremities connectors described in
First guiding parts relative direction is mobile, to realize the ectoskeleton that two upper and lower extremities connectors are respectively connected and fixed
Horizontal direction displacement occurs for upper limb, the exoskeleton lower limbs.
Preferably, the connecting rod is two or more, in which: one end of every two connecting rods is connected to the connecting rod connector
Same place forms a Y shape, and the centre of multiple Y shapes is the same connecting rod connector, so that more connecting rods, the connecting rod connect
Fitting constitutes Y shape link mechanism, and the other end of this two connecting rods is connect with one in two upper and lower extremities connectors respectively,
Multiple parallelogram mechanisms are formed between multiple connecting rods, the connecting rod connector and two upper and lower extremities connectors.
Preferably, the first sliding block is fixed on the upper and lower extremities connector, the first sliding block and the second guiding parts cooperate, from
And it limits upper and lower extremities connector and is only moved back and forth along the first guiding parts horizontal direction.
Preferably, the second sliding block is fixed on the connecting rod connector, the second sliding block and the second guiding parts cooperate, thus
Connecting rod connector is limited only to pump along the second guiding parts vertical direction.
Preferably, first guiding parts and the second guiding parts are linear guide.
Device described in the utility model is lower reciprocal in the vertical direction by the flexible drive connecting rod connector of driving part
Movement, due to limiting the freedom degree of Y shape link mechanism so that the connecting rod of Y shape link mechanism, connecting rod connector and two sides it is upper
Lower limb connector separately constitutes parallelogram mechanism, by the up and down motion of drive link connector to drive the upper of two sides
Lower limb connector generates horizontal direction relative motion, and then realizes the ectoskeleton being fixed on upper and lower extremities connector in width direction
Adjusting.
Compared with prior art, the utility model have it is following the utility model has the advantages that
The utility model is to carry out outside one kind of rehabilitation training according to neural plasticity principle to four limbs inconvenient activity patient
Bone device carries out physical therapy suitable for the patient because of inconvenient walking caused by the various factors such as cerebral apoplexy, brain trauma, by right
Patient carries out gradual functional training and reaches expected rehabilitation efficacy.
The utility model drives two sides ectoskeleton to relatively move simultaneously by a push rod (connecting rod connector), makes ectoskeleton
There is the variation range of width direction, and then can satisfy different people bodily form requirement and carry out rehabilitation training；The utility model saves object
Expect cost, time, simplified control process.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model
Sign, objects and advantages will become more apparent upon:
Fig. 1 is the ectoskeleton structural schematic diagram of one preferred embodiment of the utility model；
Fig. 2 is the ectoskeleton base structure schematic diagram of one preferred embodiment of the utility model；
Fig. 3 is the guide rail structure schematic diagram of one preferred embodiment of the utility model；
In figure: ectoskeleton upper limb 1, exoskeleton lower limbs 2, upper and lower extremities connector 3, ectoskeleton pedestal 4, motor 5, linear guide
6, connecting rod 7, upright guide rail 8, connecting rod connector 9.
Specific embodiment
The utility model is described in detail combined with specific embodiments below.Following embodiment will be helpful to this field
Technical staff further understands the utility model, but does not limit the utility model in any form.It should be pointed out that ability
For the those of ordinary skill in domain, without departing from the concept of the premise utility, various modifications and improvements can be made.
These are all within the protection scope of the present invention.
It as shown in Figure 1-Figure 3, is a kind of preferred implementation knot of the width adjusting device of exoskeleton robot of the utility model
Structure, including ectoskeleton upper limb 1, exoskeleton lower limbs 2, upper and lower extremities connector 3, ectoskeleton pedestal 4, driving part, connecting rod 7, first
Guiding parts, the second guiding parts, connecting rod connector 9.
In following embodiment:
First guiding parts uses linear guide 6；
Second guiding parts uses upright guide rail 8；
The driving part uses motor 5；
It is hinged between the connecting rod connector 9 and the connecting rod 7；
It is hinged between the connecting rod 7 and the upper and lower extremities connector 3；
The linear guide 6 is horizontally arranged on the ectoskeleton pedestal 4, the upper and lower extremities connector 3 and the straight line
Guide rail 6 connect simultaneously can be moved along the linear guide 6, the ectoskeleton upper limb 1, the exoskeleton lower limbs 2 respectively with it is described on
Lower limb connector 3 is connected and fixed, and the motor 5 is fixed on the ectoskeleton pedestal 4, and the connecting rod connector 9 is fixed
In the output end of the motor 5, multiple described 7 one end of connecting rod are connected on the connecting rod connector 9, and the vertical guide rail 8 is perpendicular
It is directly mounted on the ectoskeleton pedestal 4, the connecting rod connector 9 connect with the vertical guide rail 8 and along described vertical capable of leading
Rail 8 is mobile, and the other end of multiple connecting rods 7 is connect with the upper and lower extremities connector 3；
The motor 5 drives the connecting rod connector 9, and the connecting rod connector 9 carries out vertical side along the vertical guide rail 8
To reciprocating movement, the connecting rod 7 that the mobile drive of the connecting rod connector 9 is connected thereto is mobile, 7 other end of connecting rod
The upper and lower extremities connector 3 is driven, the upper and lower extremities connector 3 drives the ectoskeleton upper limb 1,2 edge of the exoskeleton lower limbs
Linear guide 6 carries out the relative movement of horizontal direction, so that ectoskeleton has one section of variation range in width direction, and then realizes
Adjust ectoskeleton width.
In the embodiment shown in fig. 1, there are two the upper and lower extremities connectors 3, two upper and lower extremities connectors 3 divide column respectively
In the left and right sides of ectoskeleton pedestal 4, it is symmetrical arranged.
The ectoskeleton upper limb 1 is two, is left outside bone upper limb and right ectoskeleton upper limb respectively, is reduced to bilateral hand
Arm；Left outside bone upper limb, right ectoskeleton upper limb are separately fixed at the upper end of upper and lower extremities connector 3；The exoskeleton lower limbs 2, which divide, is
Two, respectively left exoskeleton lower limbs and right exoskeleton lower limbs, left exoskeleton lower limbs, right exoskeleton lower limbs are separately fixed at up and down
The lower end of limb connector 3；The left outside bone upper limb and right ectoskeleton upper limb are symmetrical arranged, likewise, under the left outside bone
Limb, right exoskeleton lower limbs are also symmetrical arranged.
Unilateral ectoskeleton, i.e., left outside bone upper limb, left exoskeleton lower limbs and right ectoskeleton upper limb, right exoskeleton lower limbs point
It is not linked together by the upper and lower extremities connector 3 of arranged on left and right sides, passes through the movement of the upper and lower extremities connector 3 of driving left and right side
Left outside bone upper limb, left exoskeleton lower limbs and right ectoskeleton upper limb, the movement of right exoskeleton lower limbs are driven respectively.
In the utility model, the connecting rod is two or more, such as two, four, even more.Wherein: every two companies
One end connection and the same place of the connecting rod connector 9 of bar 7, form a Y shape, the other end of this two connecting rods 7 respectively with
A connection in two upper and lower extremities connectors 3, multiple connecting rods 7, the connecting rod connector 9 and two are described upper and lower
Multiple parallelogram mechanisms are formed between limb connector 3.Specifically, as shown in Figs. 1-2, being adopted in embodiment shown in this Fig
With four connecting rods 7, in which: one end of two connecting rods 7 is connect with the same place of the connecting rod connector 9, the two connecting rods 7 with
The connecting rod connector 9 forms a Y shape, the other end of this two connecting rods 7 respectively with two upper and lower extremities connectors 3 one
A connection；One end of another two connecting rods 7 is connect with the same place of the connecting rod connector 9, forms another Y shape, and this another two
The other end of connecting rod 7 is connect with one of two upper and lower extremities connectors 3 respectively.The centre of above-mentioned two Y shape is same
Connecting rod connector 9, so that four connecting rods 7 and a connecting rod connector 9 constitute Y shape link mechanism.
In the embodiment, in four connecting rods 7: respectively there are two connecting rods 7 in the two sides of the connecting rod connector 9, and the two of the same side
Root connecting rod 7 is parallel, and two connecting rods 7 of side, connecting rod connector 9, side upper and lower extremities connector 3 form parallel four side
Shape, the connecting rod 7 of the other side two, the other side upper and lower extremities connector 3 of connecting rod connector 9 also form a parallelogram.In this way,
Two parallelogram mechanisms are formed between 9, two connecting rod, connecting rod connector upper and lower extremities connectors 3.
The case where figure 1 above, 2 are only the utility model one embodiment, in other embodiments, 7 number of connecting rod
It is also possible to other even numbers greater than 2, such as six, eight ... ..., this can be according to the length and adjusting of entire robot
Requirement be configured.The setting of connecting rod and connection type are similar with above-mentioned four connecting rods, i.e. two in the connecting rod connector 9
Side is distributed equal number of connecting rod, and every two connecting rods and the connecting rod connector 9 form a Y shape.Further, in portion
Divide in embodiment, the number of the connecting rod 7 is also possible to the odd number greater than 2, at this time the two sides distribution of the connecting rod connector 9
Connecting rod number it is not identical, other connection types are identical.The stability of connecting rod 7 described in odd number may be than connecting rod described in even number
7 is slightly worse, but the technical purpose of the utility model also may be implemented.
Further, motor 5 is fixed on the ectoskeleton pedestal 4, motor 5 and connecting rod connector 9 are hinged, the connecting rod
It is fixed with linear slider on connector 9 and the linear slider and upright guide rail 8 cooperate, enables connecting rod connector 9 along vertical
8 direction of guide rail moves back and forth；At the same time, the other end of four connecting rods 7 is hinged with the upper and lower extremities connector 3 of two sides respectively,
Because four-point articulated, four connecting rods 7 form parallel four side with the upper and lower extremities connector 3 of the left and right sides and connecting rod connector 9 respectively
Shape.
As shown in figure 3, being the guide rail structure schematic diagram of a preferred embodiment, it is fixed on the upper and lower extremities connector 3 straight
Line sliding block, linear guide 6 are mounted on ectoskeleton pedestal 4, and linear slider and linear guide 6 cooperate, so that upper and lower extremities connect
The movement of part 3 can only be carried out along the direction of linear guide 6.
To sum up, connecting rod connector 9 is pushed by motor 5, the more connecting rods 7 fixed on connecting rod connector 9 are upper and lower with two sides
The parallelogram angle that limb connector 3 forms changes, so that 3 left side of upper and lower extremities connector being hinged on four connecting rods 7,
Right relative movement, while the ectoskeleton upper limb 1 being fixed on upper and lower extremities connector 3,2 generation level of exoskeleton lower limbs being driven to move
It is dynamic, and then realize the function of adjusting ectoskeleton width.
The width adjusting device of the above-mentioned exoskeleton robot of the utility model, it is real using a push rod, that is, connecting rod connector 9
The continuous transformation of existing ectoskeleton or so width adjusting, meanwhile, it is made up of connecting rod connector 9 and connecting rod 7, upper and lower extremities connector 3
Parallelogram, using the constraint ectoskeleton movement of double parallel quadrilateral frame.Certainly, in other embodiments, it is also possible to more
Parallelogram.Therefore, the utility model by improvement in structure realize only with a push rod driving bilateral ectoskeleton into
Line width is adjusted, and without complicated structure, is just able to satisfy different people bodily form requirement and is carried out rehabilitation training, and can save material at
Originally, time, simplified control process.
In the utility model foregoing description, it is to be understood that term " on ", "lower", "front", "rear", " left side ",
The orientation or positional relationship of the instructions such as " right side ", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on the figure
Orientation or positional relationship is merely for convenience of the utility model simplification and describes, rather than the device or member of indication or suggestion meaning
Part must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
The foregoing is merely the section Examples of the utility model, not appoint to the technical scope of the utility model
What is limited, any modification made within the spirit and principle of the utility model, and equivalent replacement and improvement etc. should be included in
Within the protection scope of the utility model.
Claims (9)
1. a kind of width adjusting device of exoskeleton robot, which is characterized in that including ectoskeleton pedestal, driving part, multiple
Connecting rod, connecting rod connector, the first guiding parts, the second guiding parts, ectoskeleton upper limb, exoskeleton lower limbs, upper and lower extremities connector,
Wherein:
First guiding parts is horizontally arranged on the ectoskeleton pedestal, the upper and lower extremities connector and first guiding
Component connect simultaneously can be moved along first guiding parts, the ectoskeleton upper limb, the exoskeleton lower limbs respectively with it is described on
The connection of lower limb connector, the driving part are mounted on the ectoskeleton pedestal, and the output end of the driving part connects institute
State connecting rod connector, multiple described connecting rod one end, which are connected on the connecting rod connector, forms Y shape, multiple connecting rods it is another
End is connect with the upper and lower extremities connector；Second guiding parts is vertically installed on the ectoskeleton pedestal, the connecting rod
Connector connect with second guiding parts and moves along energy second guiding parts；
The driving part drives the connecting rod connector, and the connecting rod connector is past along the second guiding parts progress vertical direction
It is multiple mobile, it is connected to the connecting rod on the connecting rod connector and is driven on the ectoskeleton by the upper and lower extremities connector
Limb, the exoskeleton lower limbs carry out the relative movement of horizontal direction along the first guiding parts, so that ectoskeleton has in width direction
There is one section of variation range, and then realizes and adjust ectoskeleton width.
2. a kind of width adjusting device of exoskeleton robot according to claim 1, which is characterized in that the ectoskeleton
Upper limb, exoskeleton lower limbs respectively there are two, it is corresponding, the upper and lower extremities connector also there are two, the ectoskeleton upper limb, dermoskeleton
Bone lower limb, the upper and lower extremities connector are arranged on the left and right sides of the ectoskeleton pedestal.
3. a kind of width adjusting device of exoskeleton robot according to claim 2, which is characterized in that one described outer
Bone upper limb and the exoskeleton lower limbs are fixed on the upper and lower extremities connector, another described ectoskeleton upper limb
It is fixed on another described upper and lower extremities connector with exoskeleton lower limbs described in another；
The driving part drives the connecting rod connector and the connecting rod, and drives two upper and lower extremities connectors described in
First guiding parts relative direction is mobile, to realize the ectoskeleton that two upper and lower extremities connectors are respectively connected and fixed
Horizontal direction displacement occurs for upper limb, the exoskeleton lower limbs.
4. a kind of width adjusting device of exoskeleton robot according to claim 2, which is characterized in that the connecting rod is
Two or more, in which: the same place of one end connection and the connecting rod connector of every two connecting rods forms a Y shape, and this two
The other end of connecting rod is connect with one in two upper and lower extremities connectors respectively, multiple connecting rods, connecting rod connection
Multiple parallelogram mechanisms are formed between part and two upper and lower extremities connectors.
5. a kind of width adjusting device of exoskeleton robot according to claim 1, which is characterized in that the upper and lower extremities
The first sliding block is fixed on connector, first sliding block and second guiding parts cooperate, to limit the upper and lower extremities
Reciprocating movement of the connector along the first guiding parts horizontal direction.
6. a kind of width adjusting device of exoskeleton robot according to claim 1, which is characterized in that the connecting rod connects
The second sliding block is fixed on fitting, second sliding block and second guiding parts cooperate, to limit the connecting rod connection
Part pumps along the second guiding parts vertical direction.
7. a kind of width adjusting device of exoskeleton robot according to claim 1-6, which is characterized in that institute
It is hinged for stating between connecting rod connector and the connecting rod.
8. a kind of width adjusting device of exoskeleton robot according to claim 1-6, which is characterized in that institute
It is hinged for stating between connecting rod and the upper and lower extremities connector.
9. a kind of width adjusting device of exoskeleton robot according to claim 1-6, which is characterized in that institute
Stating the first guiding parts and the second guiding parts is linear guide.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820013565.7U CN208511458U (en) | 2018-01-04 | 2018-01-04 | A kind of width adjusting device of exoskeleton robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820013565.7U CN208511458U (en) | 2018-01-04 | 2018-01-04 | A kind of width adjusting device of exoskeleton robot |
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| CN208511458U true CN208511458U (en) | 2019-02-19 |
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| CN201820013565.7U Active CN208511458U (en) | 2018-01-04 | 2018-01-04 | A kind of width adjusting device of exoskeleton robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108095982A (en) * | 2018-01-04 | 2018-06-01 | 掣京机器人科技（上海）有限公司 | A kind of width adjusting device of exoskeleton robot |
| CN113942961A (en) * | 2020-07-15 | 2022-01-18 | 沈阳新松机器人自动化股份有限公司 | Ox carrier with adjustable width |
-
2018
- 2018-01-04 CN CN201820013565.7U patent/CN208511458U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108095982A (en) * | 2018-01-04 | 2018-06-01 | 掣京机器人科技（上海）有限公司 | A kind of width adjusting device of exoskeleton robot |
| CN113942961A (en) * | 2020-07-15 | 2022-01-18 | 沈阳新松机器人自动化股份有限公司 | Ox carrier with adjustable width |
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| TR01 | Transfer of patent right |
Effective date of registration: 20191216 Address after: 201615 building B, No.8 Chaofu Road, Jiuting Town, Songjiang District, Shanghai Patentee after: Faroche (Shanghai) Medical Technology Co., Ltd. Address before: 201206 Shanghai, Pudong New Area, China (Shanghai) free trade zone, new Jinqiao Road, No. 13, building 2, floor 27 Patentee before: Jijing Robot Technology (Shanghai) Co., Ltd. |