CN209270246U - A kind of exoskeleton robot transfer - Google Patents
A kind of exoskeleton robot transfer Download PDFInfo
- Publication number
- CN209270246U CN209270246U CN201821433894.3U CN201821433894U CN209270246U CN 209270246 U CN209270246 U CN 209270246U CN 201821433894 U CN201821433894 U CN 201821433894U CN 209270246 U CN209270246 U CN 209270246U
- Authority
- CN
- China
- Prior art keywords
- sole
- exoskeleton robot
- robot transfer
- facies palmaris
- ground
- 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.)
- Withdrawn - After Issue
Links
- 208000035126 Facies Diseases 0.000 claims abstract description 50
- 241000411545 Punargentus Species 0.000 claims abstract description 50
- 210000002683 foot Anatomy 0.000 claims description 17
- 230000010355 oscillation Effects 0.000 claims description 11
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 7
- 239000007787 solid Substances 0.000 claims 1
- 230000005484 gravity Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 241000375392 Tana Species 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 210000004744 fore-foot Anatomy 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001769 paralizing effect Effects 0.000 description 1
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- Manipulator (AREA)
Abstract
A kind of exoskeleton robot transfer, including sole and steering mechanism, sole includes sole, sole include upper surface, with the lower surface of ground face contact and connect the side of the upper surface and the lower surface, lower surface includes preceding facies palmaris and rear root face, preceding facies palmaris and rear root face intersect and surface direction is mutually obtuse angle upwards, lower surface further includes the groove for embedding steering mechanism, steering mechanism includes turning platform and rotary part, the fixing end of rotary part connects turning platform, and the end that rotates freely of rotary part is directly or indirectly connected to groove；The rotation axis of rotary part and the intersection point of the lower surface are located at half sole face part and perpendicular to preceding facies palmaris；Rear root face when being contacted with ground, the lower surface of turning platform always with ground mutually from；When needing to turn to, human body adjusts center of gravity, and the lower surface of turning platform is parallel with preceding facies palmaris and protrudes from preceding facies palmaris and ground face contact, and sole can be completed smoothly to turn to around the axis rotation of turning platform.
Description
Technical field
The utility model relates to a kind of exoskeleton robot transfers, belong to human body auxiliary robot field, specifically relate to
And a kind of sole transfer for exoskeleton robot.
Background technique
It needs to drive entire ectoskeleton machine by power of waist when exoskeleton robot product currently on the market turns to
People's rotation, to realize turning function, not only structure is complicated, inconvenient, and there are security risks, do not have especially for waist
For strong paralytic patient, effective turning function can hardly be realized.
Utility model content
In order to solve the above-mentioned technical problem, the utility model, which provides one kind, can realize dermoskeleton without using power of waist
The exoskeleton robot transfer of the turning function of bone.
The utility model is achieved through the following technical solutions:
A kind of exoskeleton robot transfer, including sole and steering mechanism, the sole include sole, the foot
Bottom plate include for place the upper surface of shoes or foot, with ground face contact lower surface and connect the upper surface and the lower surface
Side, the lower surface includes preceding facies palmaris and rear root face, the preceding facies palmaris and rear root face intersection and surface direction is mutually upwards
Obtuse angle, the lower surface further include the groove for embedding the steering mechanism, and the steering mechanism includes turning platform and rotation
Component, the fixing end of the rotary part connect the turning platform, and the end that rotates freely of the rotary part directly or indirectly connects
It is connected to the groove；The rotation axis of the rotary part and the intersection point of the lower surface are located at half sole face part and vertical
In the preceding facies palmaris；The rear root face when being contacted with ground, the lower surface of the turning platform always with ground mutually from；The half sole
When face is parallel to the ground, the lower surface of the lower surface of the turning platform turning platform parallel and described with the preceding facies palmaris protrudes from institute
Facies palmaris and ground face contact before stating.
As a preferred option, the steering mechanism further includes tilting member, and the tilting member includes hinge and swing
The fixing end of disk, the hinge connects the groove, and the free end of the hinge connects the oscillation center axle of the swinging disc, institute
State rotary part fixing end be fixed on the swinging disc the corresponding lower surface of oscillation center axle center position, it is described
The direction that oscillation center axle is parallel to the preceding facies palmaris and advances perpendicular to the sole.
As a preferred option, the rotary part is bearing, and the inner ring of the bearing is fixing end, the bearing it is outer
Circle is rotates freely end, and the rotation axis of the bearing is perpendicular to the preceding facies palmaris.
As a preferred option, the area of the rear root face is greater than the area of the preceding facies palmaris.
As a preferred option, the sole further includes being located at followed by direction is used to fix the sole baffle of heel position,
With the sole bandage for matching fixed shoes or foot with the sole baffle.
As a preferred option, the sole further includes the convex block for fixed feet bottom bandage and sole baffle, described convex
For block perpendicular to the upper surface, the sole bandage matches the length of the adjustable sole bandage with the convex block.
As a preferred option, the sole further includes being located at the side of the sole and being connected with ankle-joint convex
Platform.
As a preferred option, the rotary part and the tilting member are replaced by flexural pivot.
As a preferred option, the rotary part and the tilting member are replaced by universal joint.
As a preferred option, the rear root face when being contacted with ground, the upper surface from followed by direction to sole direction
It is micro- to be upturned.
The utility model is relative to existing exoskeleton robot transfer advantage:
Exoskeleton robot transfer described in the utility model, using sole preceding facies palmaris and rear root face intersection and to
Upper surface direction is mutually obtuse angle, only need to be by the way that center of gravity is adjusted to preceding facies palmaris from rear root face, without extra control when turning to
Then system drives steering mechanism's rotation of sole can be complete by the remaining part of exoskeleton robot by simply linking
At steering, and without using patient's waist strength, turn to exoskeleton robot more steadily, conveniently, safely, so that ectoskeleton
Robot function is more perfect.It saves the manufacturing cost of exoskeleton robot simultaneously and the weight of exoskeleton robot is greatly reduced
Amount.
Detailed description of the invention:
Fig. 1 is a kind of a kind of isometric drawing of embodiment of exoskeleton robot transfer；
Fig. 2 is that a kind of a kind of oblique two isogonisms axonometric drawing of embodiment of exoskeleton robot transfer is oblique；
Fig. 3 is a kind of a kind of bottom view of embodiment of exoskeleton robot transfer；
The main view of sole state when Fig. 4 is a kind of a kind of normal walking of embodiment of exoskeleton robot transfer；
The main view of sole state when Fig. 5 is a kind of a kind of steering of embodiment of exoskeleton robot transfer；
Fig. 6 is a kind of a kind of sectional perspective schematic diagram of the tilting member of embodiment of exoskeleton robot transfer；
Fig. 7 is a kind of a kind of front sectional view of embodiment of exoskeleton robot transfer；
Fig. 8 is a kind of a kind of preceding facies palmaris of embodiment of exoskeleton robot transfer, the position of heel-tap and turning platform
Relation schematic diagram between size.
Each label in figure are as follows:
1- sole, 2- steering mechanism, 11- sole, 12- sole baffle, 13- sole bandage, 14- convex block, 15- boss,
The upper surface 111-, the lower surface 112-, the side 113-, facies palmaris before 112a-, 112b- rear root face, 112c- groove, 21- turning platform,
22- rotary part, 23- tilting member, 231- hinge, 232- swinging disc, 2321- oscillation center axle.
Specific embodiment
It as shown in figs. 1-7, is a kind of embodiment of exoskeleton robot transfer of the utility model, the utility model institute
A kind of exoskeleton robot transfer stated includes sole 1 and steering mechanism 2, and the sole 1 includes sole 11, described
Sole 11 include for place the upper surface 111 of shoes or foot, with ground face contact lower surface 112 and connect the upper surface and
The side 113 of the lower surface, the lower surface 112 include preceding facies palmaris 112a and rear root face 112b, the preceding facies palmaris 112a and
Rear root face 112b intersects and is mutually obtuse angle to 111 direction of upper surface, and the lower surface 112 further includes one for embedded described
The groove 112c of steering mechanism, the steering mechanism 2 include turning platform 21 and rotary part 22, and the rotary part 22 is consolidated
Fixed end connects the turning platform 21, and the end that rotates freely of the rotary part 22 is directly or indirectly connected to the groove 112c；
The intersection point of the rotation axis of the rotary part 22 and the lower surface 112 be located at the preceding part facies palmaris 112a and perpendicular to
The preceding facies palmaris 112a；Specifically, the turning platform 21 is cylinder, the corresponding groove 112c is hollow cylinder slot,
The rotation center overlapping of axles in the axle center of the turning platform 21 and the center of the groove 112c and rotary part 22；The heel
Face 112b when being contacted with ground, the turning platform 21 and ground mutually from；When the preceding facies palmaris 112a is parallel to the ground, the steering
The lower surface of the lower surface of platform 21 turning platform 21 parallel and described with the preceding facies palmaris 112a protrude from the preceding facies palmaris 112a with
Ground face contact；Specifically, when the rear root face 112b when being contacted with ground, due to the preceding facies palmaris 112a and rear root face 112b phase
It hands over and is mutually obtuse angle to 111 direction of upper surface, an angle A is presented in the preceding facies palmaris 112a and ground, as shown in figure 8, institute
Turning platform 21 is stated along its rotation axis or the rotation center axis direction of the rotary part 22 with a thickness of H；Cross the rotating part
The intersection point of the Pivot axle of part 22 and the preceding facies palmaris 112a, on the preceding facies palmaris 112a to the preceding facies palmaris 112a with after
The intersecting lens of heel 112b intersection makees vertical line L；Line L and the angle on ground are that there are following relationships: H < L by A, line L and thickness H
tanA。
As a preferred option, the sole 1 further includes being located at followed by direction is used to fix the sole baffle of heel position
12, and match with the sole baffle 12 the sole bandage 13 of fixed shoes or foot.Using the preceding facies palmaris 112a of sole 1 with after
Heel 112b intersects and is mutually obtuse angle to 111 direction of upper surface, when normal forward on foot, as shown in figure 4, rear root face 112b
Ground, at this time before facies palmaris 112a tilt, turning platform 21 and ground mutually from, do not hinder it is normal on foot；When needing to turn to, such as Fig. 5
Shown, center of gravity is adjusted to preceding facies palmaris 112a from rear root face 112b, at this time turning platform 21 by simply adjusting center of gravity by human body
The lower surface of the lower surface turning platform 21 parallel and described with the preceding facies palmaris 112a protrude from the preceding facies palmaris 112a and ground
Contact, at this point, turning platform 21 is motionless, the sole 1 is as rotary part 22 is around the axis rotation of the turning platform 21, nothing
Need extra control, so that it may complete smoothly to turn to；This kind is arranged so that exoskeleton robot function is more perfect, and saves
The manufacturing cost of exoskeleton robot and the weight that exoskeleton robot is greatly reduced.
Preferably, as shown in fig. 7, the rotary part 22 is bearing, the inner ring of the bearing is fixing end, the bearing
Outer ring be rotate freely end, or vice versa；The inner ring of the bearing is fixedly connected with the upper surface of the turning platform 21, the axis
The inner ring held is directly or indirectly connected to the groove 112c, and the rotation axis of the bearing is perpendicular to the preceding facies palmaris 112a.
In order to further mitigate the weight of the exoskeleton robot, enough support forces are provided to steering in the guarantee turning platform 21
Outside, the upper surface of the turning platform 21 of the cylinder can be outputed several hollow other than being fixedly connected with the part of the bearing
Groove body.
As a preferred option, the steering mechanism is further provided with tilting member 23, and the tilting member 23 includes
Hinge 231 and swinging disc 232, the fixing end of the hinge 231 connect the groove 112c, and the free end of the hinge 231 connects
The oscillation center axle 2321 of the swinging disc 232 is connect, the fixing end of the rotary part 22 is fixed on the swinging disc 232
The center position of the corresponding lower surface of oscillation center axle, the oscillation center axle 2321 be parallel to the preceding facies palmaris 112a and
The direction advanced perpendicular to the sole 1.The setting of the tilting member 23 can be such that the area of the turning platform 21 further increases
Greatly, so that the sole of exoskeleton robot rotate it is more steady；And the exoskeleton robot normal gait is when advancing, it is described
Turning platform 21 can make the lower surface of the turning platform 21 with the swinging disc 232 around 2321 swing of oscillation center axle
Always in ground mutually from state, be not in the case where stumbling.
In order to keep walking more steady, the area of the rear root face 112b is greater than the area of the preceding facies palmaris 112a, before making
The intersecting lens of facies palmaris 112a and rear root face 112b appear in the forefoot part of wearing, make wearer can not be by steering mechanism
2 influence, is normally walked.
Preferably, the area of the rear root face 112b is 1-2 times of the area of the preceding facies palmaris 112a.
As a preferred option, the sole 1 further includes the convex block for fixed feet bottom bandage 13 and sole baffle 12
14, the convex block 14 matches the adjustable foot with the convex block 14 perpendicular to the upper surface, the sole bandage 13
The length of bottom bandage 13.Specifically, the convex block 14 can have two pieces of left and right sides for being symmetrically distributed in the sole 11.
As a preferred option, the sole 1 further includes being located at the side 113 of the sole 11 and being connected with ankle-joint
Boss 15.
As a preferred option, the rotary part and tilting member can be the same component, such as spherical hinge structure or universal
The component that section etc. can not only make 21 swing of turning platform but also turning platform 21 can be made axially to rotate around it.The spherical hinge structure or
The component that universal joint etc. can not only make 21 swing of turning platform but also turning platform 21 can be made axially to rotate around it, one end is fixed
To at the center of the upper surface of the turning platform 21, the other end is connected to the center of the groove 112c.The spherical hinge structure or
The component that universal joint etc. can not only make 21 swing of turning platform but also turning platform 21 can be made axially to rotate around it is being not subject to press
When power, groove 14 in it can swing around the axle center by the cylindrical turning platform 21 and perpendicular to the axis of preceding line direction,
When bearing pressure, it can be rotated around the axle center of the cylindrical turning platform 21.
As a preferred option, the rear root face 112b when being contacted with ground, the upper surface 111 from followed by direction to foot
Direction is micro- is upturned for the palm, to obtain better walking step state.
As a preferred option, the rest part of the sole 1 and the exoskeleton robot links, and completes to turn to
Movement.
It should be pointed out that those skilled in the art can be made to be more fully understood is practical for specific embodiment described above
It is novel, but the utility model is not limited in any way.Therefore, although this specification is practical new to this referring to drawings and examples
Type has been carried out detailed description, it will be understood by those skilled in the art, however, that still can modify to the utility model
Or equivalent replacement, in short, the technical solution and its change of all spirit and scope for not departing from the utility model, should all contain
It covers in the protection scope of the utility model patent.
Claims (23)
1. a kind of exoskeleton robot transfer, which is characterized in that including sole and steering mechanism, the sole includes sole
Plate, the sole include for place the upper surface of shoes or foot, with ground face contact lower surface and connect the upper surface and
The side of the lower surface, the lower surface include preceding facies palmaris and rear root face, the preceding facies palmaris and rear root face intersection and upward table
Face direction is mutually obtuse angle, and the lower surface further includes the groove for embedding the steering mechanism, and the steering mechanism includes turning
To platform and rotary part, the fixing end of the rotary part connects the turning platform, and the rotary part rotates freely end directly
Connect or be connected indirectly to the groove；The rotation axis of the rotary part and the intersection point of the lower surface are located at the preceding facies palmaris
Partially and perpendicular to the preceding facies palmaris；The rear root face when being contacted with ground, the lower surface of the turning platform always with ground phase
From；When the preceding facies palmaris is parallel to the ground, under the turning platform parallel and described with the preceding facies palmaris of the lower surface of the turning platform
Surface protrudes from the preceding facies palmaris and ground face contact.
2. exoskeleton robot transfer as described in claim 1, which is characterized in that the steering mechanism further includes swinging
Component, the tilting member include hinge and swinging disc, and the fixing end of the hinge connects the groove, the freedom of the hinge
End connects the oscillation center axle of the swinging disc, and the fixing end of the rotary part is fixed on the oscillation center axle of the swinging disc
The center position of corresponding lower surface, the oscillation center axle are parallel to the preceding facies palmaris and advance perpendicular to the sole
Direction.
3. exoskeleton robot transfer as claimed in claim 2, which is characterized in that the rotary part and the swing
Component is replaced by flexural pivot.
4. exoskeleton robot transfer as claimed in claim 2, which is characterized in that the rotary part and the swing
Component is replaced by universal joint.
5. the exoskeleton robot transfer as described in one of claim 1-4, which is characterized in that the rotary part is axis
Hold, the inner ring of the bearing is fixing end, and the outer ring of the bearing is to rotate freely end, the rotation axis of the bearing perpendicular to
The preceding facies palmaris.
6. the exoskeleton robot transfer as described in one of claim 1-4, which is characterized in that the area of the rear root face
Greater than the area of the preceding facies palmaris.
7. exoskeleton robot transfer as claimed in claim 5, which is characterized in that the area of the rear root face is greater than institute
The area of facies palmaris before stating.
8. exoskeleton robot transfer as claimed in claim 5, which is characterized in that the sole further includes being located at heel
Direction is used to fix the sole baffle of heel position, and the sole bandage of fixed shoes or foot is matched with the sole baffle.
9. exoskeleton robot transfer as claimed in claim 6, which is characterized in that the sole further includes being located at heel
Direction is used to fix the sole baffle of heel position, and the sole bandage of fixed shoes or foot is matched with the sole baffle.
10. the exoskeleton robot transfer as described in one of claim 1-4,7, which is characterized in that the sole also wraps
It includes and is located at followed by direction is used to fix the sole baffle of heel position, and match the foot of fixed shoes or foot with the sole baffle
Bottom bandage.
11. exoskeleton robot transfer as claimed in claim 8 or 9, which is characterized in that the sole further includes being used for
The convex block of fixed feet bottom bandage and sole baffle, the convex block is perpendicular to the upper surface, the sole bandage and the convex block
Match the length of the adjustable sole bandage.
12. exoskeleton robot transfer as claimed in claim 10, which is characterized in that the sole further includes for solid
Determine the convex block of sole bandage and sole baffle, the convex block is perpendicular to the upper surface, the sole bandage and the convex block phase
Cooperate the length of the adjustable sole bandage.
13. the exoskeleton robot transfer as described in one of claim 1-4,7-9,12, which is characterized in that the sole
The boss for further including the side positioned at the sole and being connected with ankle-joint.
14. exoskeleton robot transfer as claimed in claim 5, which is characterized in that the sole further includes being located at institute
The boss stating the side of sole and being connected with ankle-joint.
15. exoskeleton robot transfer as claimed in claim 6, which is characterized in that the sole further includes being located at institute
The boss stating the side of sole and being connected with ankle-joint.
16. exoskeleton robot transfer as claimed in claim 10, which is characterized in that the sole further includes being located at institute
The boss stating the side of sole and being connected with ankle-joint.
17. exoskeleton robot transfer as claimed in claim 11, which is characterized in that the sole further includes being located at institute
The boss stating the side of sole and being connected with ankle-joint.
18. the exoskeleton robot transfer as described in one of claim 1-4,7-9,12,14-17, which is characterized in that institute
State rear root face when being contacted with ground, the upper surface from followed by direction be upturned to sole direction is micro-.
19. exoskeleton robot transfer as claimed in claim 5, which is characterized in that the rear root face and ground face contact
When, the upper surface from followed by direction be upturned to sole direction is micro-.
20. exoskeleton robot transfer as claimed in claim 6, which is characterized in that the rear root face and ground face contact
When, the upper surface from followed by direction be upturned to sole direction is micro-.
21. exoskeleton robot transfer as claimed in claim 10, which is characterized in that the rear root face and ground face contact
When, the upper surface from followed by direction be upturned to sole direction is micro-.
22. exoskeleton robot transfer as claimed in claim 11, which is characterized in that the rear root face and ground face contact
When, the upper surface from followed by direction be upturned to sole direction is micro-.
23. exoskeleton robot transfer as claimed in claim 13, which is characterized in that the rear root face and ground face contact
When, the upper surface from followed by direction be upturned to sole direction is micro-.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821433894.3U CN209270246U (en) | 2018-09-03 | 2018-09-03 | A kind of exoskeleton robot transfer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821433894.3U CN209270246U (en) | 2018-09-03 | 2018-09-03 | A kind of exoskeleton robot transfer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209270246U true CN209270246U (en) | 2019-08-20 |
Family
ID=67599026
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821433894.3U Withdrawn - After Issue CN209270246U (en) | 2018-09-03 | 2018-09-03 | A kind of exoskeleton robot transfer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209270246U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109044744A (en) * | 2018-09-03 | 2018-12-21 | 杭州程天科技发展有限公司 | A kind of exoskeleton robot transfer |
-
2018
- 2018-09-03 CN CN201821433894.3U patent/CN209270246U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109044744A (en) * | 2018-09-03 | 2018-12-21 | 杭州程天科技发展有限公司 | A kind of exoskeleton robot transfer |
| CN109044744B (en) * | 2018-09-03 | 2024-01-02 | 杭州程天科技发展有限公司 | Exoskeleton robot steering device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190820 Effective date of abandoning: 20240102 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20190820 Effective date of abandoning: 20240102 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |