CN209286071U - Transmission device, lower limb rehabilitation ectoskeleton and exoskeleton robot - Google Patents
Transmission device, lower limb rehabilitation ectoskeleton and exoskeleton robot Download PDFInfo
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- CN209286071U CN209286071U CN201821576617.8U CN201821576617U CN209286071U CN 209286071 U CN209286071 U CN 209286071U CN 201821576617 U CN201821576617 U CN 201821576617U CN 209286071 U CN209286071 U CN 209286071U
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Abstract
The utility model discloses a kind of transmission device, lower limb rehabilitation ectoskeleton and exoskeleton robot, wherein transmission device, applied to ectoskeleton, the ectoskeleton includes the first linking arm and the second linking arm of rotation connection, the transmission device includes: transmission mechanism, the transmission mechanism includes the both ends being oppositely arranged, one end of the transmission mechanism is set to the one end of first linking arm far from second linking arm, the other end of the transmission mechanism is hinged close to one end of second linking arm with first linking arm, and connect with second linking arm；And damping mechanism, the damper assembly connect first linking arm and transmission mechanism, and the transmission mechanism is followed to move.The speed that technical solutions of the utility model can relatively rotate convenient for the first linking arm of adjusting ectoskeleton and the second linking arm.
Description
Technical field
The utility model relates to ectoskeleton technical field, in particular to a kind of transmission device, lower limb rehabilitation ectoskeleton and outer
Bone robot.
Background technique
In clinical rehabilitation, in the rehabilitation early stage of the sufferers such as apoplexy, brain paralysis and acute stage, often need to call out by joint motion
It wakes up, remold because brain tissue impairment interrupts and the cerebral nervous system of disorder, while muscular strength can also be improved by joint motion, avoided
Muscular atrophy, limbs generate the other illnesss such as pressure sore.
It is mostly that rehabilitation teacher artificially helps patient to carry out corresponding rehabilitation movement in the rehabilitation department of existing clinic.Cause
To collapse from physical exhaustion the phase in patient, the active force of movement can not be provided, so needing to contribute by rehabilitation teacher to help patient at this time completely
It is trained, so greatly wastes manpower and time cost.Since the daily rehabilitation amount of every rehabilitation teacher is limited, so nothing
Method meets the needs of brain tissue impairment patient and injury of orthopaedics department patient's rapid growth.And pass through with artificially carrying out acute stage health
Refreshment is practiced, and cannot control rehabilitation modality well, such as carries out passive, active, effective switching of impedance mode, leads to rehabilitation efficacy
It is unsatisfactory.
Utility model content
The main purpose of the utility model is to provide a kind of transmission device, it is intended to convenient for adjusting the first linking arm of ectoskeleton
The speed relatively rotated with the second linking arm.
To achieve the above object, the utility model proposes a kind of transmission device, be applied to ectoskeleton, the ectoskeleton packet
The first linking arm and the second linking arm of rotation connection are included, the transmission device includes:
Transmission mechanism, the transmission mechanism include the both ends being oppositely arranged, and one end of the transmission mechanism is set to described the
The one end of one linking arm far from second linking arm, the other end of the transmission mechanism and first linking arm are close to described
One end of second linking arm is hinged, and connect with second linking arm；With
Damping mechanism, the damper assembly connects first linking arm and transmission mechanism, and follows the transmission mechanism
Movement.
Optionally, the transmission mechanism includes successively hinged first connecting rod, second connecting rod and third connecting rod, and described first
The one end of connecting rod far from the second connecting rod and first linking arm are hinged away from one end of second linking arm, and described the
Three-link is hinged close to one end of second linking arm away from one end of the second connecting rod and first linking arm, and with
The second linking arm connection, the damper assembly is connect with the second connecting rod, and the second connecting rod is followed to move.
Optionally, the first connecting rod, second connecting rod, third connecting rod and the first linking arm combine to form a parallelogram
Mechanism.
Optionally, the lenth ratio of the length of the first connecting rod and the second connecting rod is A, 1:4≤A≤2:5.
Optionally, the first linking arm described in the damping mechanism elastic connection and the second connecting rod, the transmission mechanism
The damper assembly can be driven to rotate relative to first linking arm.
Optionally, along the transmission direction of the second connecting rod, the angle of the first connecting rod and the second connecting rod is sharp
When angle, the damping that the damping mechanism provides is negative damping, when the angle of the first connecting rod and the second connecting rod is right angle,
The damping that the damping mechanism provides is 0, when the angle of the first connecting rod and the second connecting rod is obtuse angle, the resistance
The damping that Buddhist nun mechanism provides is positive damping.
Optionally, the damping mechanism includes damping ontology, and the damping ontology is equipped with spaced first connecting pin
And second connection end, first connecting pin and first linking arm are rotatablely connected, the second connection end and the damping
Ontology rotation connection, and is fixedly connected with second connecting rod, the damping ontology be resiliently attached to first connecting pin with it is described
Between second connection end.
Optionally, the damping ontology includes shell, damper rod and elastic component, and the middle part of the shell is equipped with accommodating cavity,
The outer surface of the shell is equipped with the opening being connected to the accommodating cavity, and the first end of the damper rod is set to the accommodating cavity
Interior, the elastic component is sheathed on the damper rod and is connected between the first end of the damper rod and the inner wall of accommodating cavity, institute
Second end and the second connection end for stating damper rod are hinged, and first connecting pin is set to the shell.
The utility model also proposes a kind of lower limb rehabilitation ectoskeleton, the first linking arm and the second connection including rotation connection
Arm and transmission device.Wherein, the transmission device, comprising:
Transmission mechanism, the transmission mechanism include the both ends being oppositely arranged, and one end of the transmission mechanism is set to described the
The one end of one linking arm far from second linking arm, the other end of the transmission mechanism and first linking arm are close to described
One end of second linking arm is hinged, and connect with second linking arm；With
Damping mechanism, the damper assembly connects first linking arm and transmission mechanism, and follows the transmission mechanism
Movement.
The utility model also proposes a kind of exoskeleton robot, including lower limb rehabilitation ectoskeleton.The lower limb rehabilitation ectoskeleton
The first linking arm and the second linking arm and transmission device including rotation connection.
Scheme of the technical solutions of the utility model by using transmission mechanism in conjunction with damping mechanism is moved in transmission mechanism
During, damping mechanism movement is driven, using the movement velocity of the damping characteristic auxiliary adjustment transmission mechanism of damping mechanism, is made
Obtain the physiological property that transmission mechanism drives the speed of related movement of the first linking arm and the second linking arm to be more bonded human body.
In use, passing through the thigh of bundled piece and human body and small respectively with the first linking arm and the second linking arm of ectoskeleton
For leg connection, transmission device is connect with power device, the second linking arm can be driven to rotate relative to the first linking arm, and then band
Dynamic shank is moved with respect to thigh, realizes the rehabilitation exercise of lower limb.Since the lower limb of human body are when being in different states, movement
Speed is also different, therefore for the ease of adjusting movement velocity of second linking arm with respect to the first linking arm, using first
The scheme of damping mechanism is set between linking arm and transmission mechanism, with the damping in adjusting transmission mechanism motion process, Jin Erfu
The speed for adjusting the first linking arm and the second linking arm relative motion is helped, so that the first linking arm and second that transmission device drives
The movement velocity of linking arm more meets the physiological property of human body, preferably to assist human body recovery.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, the structure that can also be shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the structural schematic diagram of one embodiment of the utility model lower limb rehabilitation ectoskeleton；
Fig. 2 is the structural schematic diagram at the one another visual angle of embodiment of the utility model lower limb rehabilitation ectoskeleton；
Fig. 3 is the structural schematic diagram at the one another visual angle of embodiment of the utility model lower limb rehabilitation ectoskeleton；
Fig. 4 is the first linking arm and power device and transmission mechanism in one embodiment of the utility model lower limb rehabilitation ectoskeleton
Structural schematic diagram；
Fig. 5 is the decomposition diagram of Fig. 4；
Fig. 6 is that the first linking arm and the second linking arm are set in angle in one embodiment of the utility model lower limb rehabilitation ectoskeleton
The structural schematic diagram set；
Fig. 7 is the attachment structure schematic diagram of the utility model the second linking arm and guiding device and ankle-joint regulating device；
Fig. 8 is the decomposition diagram of length adjustment device in the utility model；
Fig. 9 is the structural schematic diagram of ankle-joint regulating device in the utility model；
Figure 10 is the decomposition diagram of Fig. 9；
Figure 11 is the decomposition diagram of damping mechanism.
Drawing reference numeral explanation:
The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, fall within the protection scope of the utility model.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute in the utility model embodiment
It is only used for explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, such as
When the fruit particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In the present invention unless specifically defined or limited otherwise, term " connection ", " fixation " etc. should do broad sense reason
Solution, for example, " fixation " may be a fixed connection, may be a detachable connection, or integral；It can be mechanical connection, it can also
To be electrical connection；It can be directly connected, the connection inside two elements can also be can be indirectly connected through an intermediary
Or the interaction relationship of two elements, unless otherwise restricted clearly.It for the ordinary skill in the art, can be with
The concrete meaning of above-mentioned term in the present invention is understood as the case may be.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, and cannot manage
Solution is its relative importance of indication or suggestion or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include at least one of the features.In addition, the skill between each embodiment
Art scheme can be combined with each other, but must be based on can be realized by those of ordinary skill in the art, when technical solution
It will be understood that the combination of this technical solution is not present in conjunction with there is conflicting or cannot achieve when, also not in the utility model
It is required that protection scope within.
The utility model proposes a kind of lower limb rehabilitation ectoskeletons 100, it is intended to be easy to implement the lower limb rehabilitation of patient.
In the utility model embodiment, the lower limb rehabilitation ectoskeleton 100, as shown in Figure 1 to 11, comprising: joint group
Part 10, joint assembly 10 include the first linking arm 11 and the second linking arm 12 being oppositely arranged, the first linking arm 11 or first
Linking arm 11 and the second linking arm 12 are equipped with fixing piece 13；Transmission mechanism 20, transmission mechanism 20 include the both ends being oppositely arranged, and are passed
One end of motivation structure 20 is set to the one end of the first linking arm 11 far from the second linking arm 12, the other end of transmission mechanism 20 and first
Linking arm 11 is hinged close to one end of the second linking arm 12, and connect with the second linking arm 12；With power device 30, power device
30 are set to the one end of the first linking arm 11 far from the second linking arm 12, and connect with the end of transmission mechanism 20, power device 30
The second linking arm 12 is driven to rotate relative to the first linking arm 11 by transmission mechanism 20.
In the present embodiment, the first linking arm 11 and the second linking arm 12 all can be the structures such as rod-shaped or tabular,
In order to mitigate the weight of the first linking arm 11 and the second linking arm 12, can be set on the first linking arm 11 and the second linking arm 12
Set engraved structure.And the material of the first linking arm 11 and the second linking arm 12 can select carbon fiber, aluminium alloy, stainless steel etc..
Technical solutions of the utility model are set to the first linking arm 11 far from the second linking arm 12 by using power device 30
One end, avoid power device 30 and self gravity overcome to do work, reduce the waste of the energy.
In use, being passed through with the first linking arm 11, fixing piece 13 is connect with the thigh of human body or the second linking arm 12 is logical
It crosses for fixing piece 13 connect with the shank of human body, power device 30 is set to one of the first linking arm 11 far from the second linking arm 12
End, that is, power device 30 is set at the hip joint of human body.Power device 30 is driving the second linking arm 12 by transmission device
When rotation, the second linking arm 12 drives shank movement, and human body is made to complete the movement such as bend the knee, stretch, and when completing these movements, moves
The change in location amplitude of power device 30 is very little, therefore can reduce or even avoid power device 30 that self gravity is overcome to do
Function.Also avoid because 10 weight distribution of joint assembly unevenly caused by leg rotation, joint be misaligned the problem of, with better
Assist user's rehabilitation.Ectoskeleton is dressed for the ease of patient, it, can using power device 30 and the first linking arm 11 in the present embodiment
The scheme of dismantling connection can first remove power device 30 when dressing ectoskeleton to patient, ectoskeleton when mitigating wearing
Weight, it is good and then power device 30 is mounted on the first linking arm 11 in the wearing of joint assembly 10.In the utility model
Other embodiments in, the scheme that power device 30 is fixedly connected with the first linking arm 11 can also be used, to reduce wearing dermoskeleton
Process when bone.Power device 30 is either set to other positions for being convenient for recovering aid.
In the present embodiment, fixing piece 13 is set to the upside of the first linking arm 11 and the second linking arm 12, such as Fig. 1 to Fig. 3 institute
Show, when lower limb rehabilitation ectoskeleton 100 is connect with human body, fixing piece 13 is correspondingly arranged on front side of thigh and on front side of joint, is being dressed
When ectoskeleton, patient may be at the state of prone position either sitting posture, and ectoskeleton can dress ectoskeleton from the front side of patient
In the leg of patient, the lower limb of patient and ectoskeleton are fixed together subsequently through bandage, are dressed convenient for patient.In order to
Joint play and torsion are prevented, is connected in the close one end of the first linking arm 11 and the second linking arm 12 for fixing joint
Fixing piece 13, which connect with the first linking arm 11, and the other end is connect with the second linking arm 12, and this is fixed
The corresponding knee joint of part 13 is equipped with fixation hole 131.In use, the joint of patient is equipped with the fixation hole 131, so that joint group
Part 10 is bonded to the greatest extent with human synovial, effectively improves the drag efficiency of joint assembly 10, while also making the rehabilitation of patient
Effect is more preferable.Wherein, the material of fixing piece 13 can be rubber, latex elastomeric material, can also be by multilayer cloth and/or cotton
Yarn is made, and to increase its gas permeability, patient is facilitated to use.
Further, in this embodiment transmission mechanism 20 includes head and the tail successively hinged first connecting rod 21, second connecting rod 22
With third connecting rod 23, the one end of first connecting rod 21 far from second connecting rod 22 is connect with power device 30, and third connecting rod 23 is away from the
One end of two connecting rods 22 is hinged close to one end of the second linking arm 12 with the first linking arm 11, and connect with the second linking arm 12.
Wherein, power device 30 is motor 31, and motor 31 is connect by electric machine support 32 with the first linking arm 11, the output end of motor 31
It is connect with the end of first connecting rod 21.In order to reduce the width of lower limb rehabilitation ectoskeleton 100, the output end direction first of motor 31
Linking arm 11 is arranged, and first connecting rod 21 is set between motor 31 and the first linking arm 11.The output end and first connecting rod of motor 31
The form of 21 connections can connect for the output shaft of motor 31 with first connecting rod 21, and output shaft rotation is to drive first connecting rod 21 to transport
It is dynamic, meanwhile, shaft hole is correspondingly arranged on the first linking arm 11, the output shaft and shaft hole of motor 31 are rotatablely connected, so as to increase
The coupling stiffness of output shaft.Either the output end of motor 31 is equipped with ring flange, and ring flange is connect with first connecting rod 21, ring flange
It is moved under the action of motor 31, while first connecting rod 21 being driven to move.
For the ease of the assembling of ectoskeleton, in the present embodiment, pass through screw between electric machine support 32 and the first linking arm 11
Connection.Electric machine support 32 is cylindrical shape, and motor 31 is connected to the bottom of electric machine support 32, and the bottom of electric machine support 32 is equipped with installation
The mounting hole of fixed motor 31 is equipped with perforative notch in the side wall of electric machine support 32, and the notch runs through the electric machine support 32
End face, first connecting rod 21 be set to the notch in, in order to be driven by motor 31.It, can in order to reduce the weight of electric machine support 32
Multiple perforative notches to be arranged on the side wall of electric machine support 32, it need to only guarantee the support stiffness of electric machine support 32.Together
When in the end of electric machine support 32, flange is set, flange is equipped with through-hole, setting company corresponding with flange on the first linking arm 11
Access slot 111 is equipped with the through-hole through 11 thickness direction of the first linking arm in the slot bottom of link slot 111.Electric machine support 32 and first
When linking arm 11 connects, the flange of electric machine support 32 is plugged in link slot 111, is realized later using the cooperation of bolt and through-hole
The connection of electric machine support 32 and the first linking arm 11.
In the application, power device 30 is preferably servo motor 31, in order to control the first linking arm 11 and the second connection
The speed that arm 12 is relatively rotated in different angles makes it more meet the physiological property of human motion, and then preferably assists using
Family rehabilitation.Hydraulic motor equal power device 30 also can be selected in certain power device 30.And first connecting rod 21 in the present embodiment,
The structure of two connecting rods 22 and third connecting rod 23 is not limited to direct rod shape, and structure is set according to the specific requirement in application.The
The material of one connecting rod 21, second connecting rod 22 and third connecting rod 23 can select carbon fiber, aluminium alloy, stainless steel etc..
In order to preferably assist user's rehabilitation, while convenient for controlling and adjusting the movement effects of the second linking arm 12, this reality
It applies in example, first connecting rod 21, second connecting rod 22, third connecting rod 23 and the combination of the first linking arm 11 form a parallelogram machine
Structure.That is, first connecting rod 21 is identical with the length of third connecting rod 23, second connecting rod 22 is identical with the length of the first linking arm 11, on
The identical theoretical length for referring to each connecting rod in four-bar mechanism of the length stated, rather than the physical length of each connecting rod.Due to
Four-bar mechanism is suitable for transmitting biggish power, can be realized determining motion profile, and remote convenient for manufacturing and can be realized
The advantages of distance transmitting, therefore, four-bar mechanism is selected in the present embodiment.Simultaneously as first connecting rod in parallelogram mechanism
21 with the movement of third connecting rod 23 be it is synchronous, therefore, the movement that power device 30 sets first connecting rod 21 can be passed through
It determines the movement of third connecting rod 23, and then can determine the movement of the second linking arm 12, in order to user's use, be also convenient for producing
Processing.In the other embodiments of the utility model, transmission mechanism 20 can also be passed using belt wheel transmission device either gear
Dynamic device, belt wheel or gear set on the first linking arm 11 close to 12 one end of the second linking arm are connect with the second linking arm 12.
When doing rehabilitation exercise, in order to guarantee that the motion amplitude in the case where not interfering of transmission mechanism 20 is minimum, this
In embodiment, the ratio between the length of first connecting rod 21 and the length of second connecting rod 22 is A, 1:4≤A≤2:5.That is, first
Ratio range between the length of connecting rod 21 and the length of second connecting rod 22 is 0.25 to 0.4, in practical applications, first connecting rod
Ratio between 21 length and the length of second connecting rod 22 can select 0.25,0.28,0.3,0.32,0.35,0.37 or
0.4 etc..
In the present embodiment, transmission mechanism 20 connect to form transmission device 70 with damping mechanism 40.Specially damping mechanism 40
The first linking arm 11 and transmission mechanism are connected, and transmission mechanism 20 is followed to move.During transmission mechanism 20 moves, drive
Damping mechanism 40 moves, using the movement velocity of the damping characteristic auxiliary adjustment transmission mechanism 20 of damping mechanism 40, so that transmission
The speed of related movement of the first linking arm 11 of drive of mechanism 20 and the second linking arm 12 is more bonded the physiological property of human body.
Further, along the transmission direction of second connecting rod 22, when first connecting rod 21 and the angle of second connecting rod 22 are acute angle,
The damping that damping mechanism 40 provides is negative damping, when first connecting rod 21 and the angle of second connecting rod 22 are right angle, damping mechanism 40
The damping of offer is 0, and when the angle of first connecting rod 21 and second connecting rod 22 is obtuse angle, the damping that damping mechanism 40 provides is positive resistance
Buddhist nun.In use, with the first linking arm 11 of ectoskeleton and the second linking arm 12 respectively by the thigh of bundled piece and human body and small
For leg connection, transmission device 70 is connect with power device, and the second linking arm 12 can be driven to rotate relative to the first linking arm 11,
And then shank is driven to move with respect to thigh, realize the rehabilitation exercise of lower limb.Since the lower limb of human body are when being in different states,
Its movement velocity is also different, therefore for the ease of adjusting the movement speed of opposite first linking arm 11 of the second linking arm 12
Degree, using the scheme that damping mechanism 40 is arranged between the first linking arm 11 and transmission mechanism 20, with the movement of adjusting transmission mechanism 20
Damping in the process, and then the speed of 12 relative motion of auxiliary adjustment the first linking arm 11 and the second linking arm, so that transmission dress
The movement velocity of the first linking arm 11 and the second linking arm 12 of setting 70 drives more meets the physiological property of human body, with preferably auxiliary
Help human body recovery.In the application, transmission device 70 can also be used for the rehabilitation exercise of auxiliary upper limb.In the present embodiment, connect along second
When the angle of the transmission direction of bar 22, first connecting rod 21 and second connecting rod 22 is 0 ° to 30 °, the damping that damping mechanism 40 provides is
Negative damping is equivalent to the application of second connecting rod 22 along the power of its direction of motion, and first connecting rod 21 and the angle of second connecting rod 22 are
At 30 ° to 90 °, the damping that damping mechanism 40 provides is 0, does not apply external force, first connecting rod 21 and second connecting rod to second connecting rod
When 22 angle is 90 ° to 120 °, the damping that damping mechanism 40 provides is positive damping, is equivalent to the application of second connecting rod 22 and its
The opposite power of the direction of motion, to slow down the movement velocity of second connecting rod 22.In practical applications, can according to actual demand,
Other are set convenient for the angle of adjusting.
Since four-bar mechanism is when moving to extreme position, it may appear that the spacing of the first linking arm 11 and second connecting rod 22
From minimum phenomenon, even the first linking arm 11 is abutted with second connecting rod 22, leads to the appearance of movement dead, if without external force
Auxiliary, four-bar mechanism is difficult to move, for this purpose, connecting between the first linking arm 11 and second connecting rod 22 in the present embodiment
There is damping mechanism 40, as shown in Figures 1 to 6, damping mechanism 40 is flexibly supported between the first linking arm 11 and second connecting rod 22.
When the position of parallel motion to mechanism dead point, the negative damping that damping mechanism 40 applies second connecting rod 22 is equivalent to
To the pulling force that second connecting rod 22 applies, when power device 30 drives first connecting rod 21 to move, second connecting rod 22 is incessantly by the
One connecting rod 21 while being damped mechanism 40 and second connecting rod 22 in angle setting along the driving force of 22 extending direction of second connecting rod
Pulling force, then the synthesis Impact direction of second connecting rod 22 and its extending direction are inconsistent, thus second connecting rod 22 can first connect
It is moved under the driving of bar 21, avoids the presence of movement dead.
Simultaneously as damping mechanism 40 can move the pulling force that second connecting rod 22 applies with partial offset second connecting rod 22
Friction between the gravity for the human body for needing to overcome in the process, the weight and foot and bed surface or ground of joint assembly 10
Deng, therefore the energy consumption of power device 30 can be reduced.In the present embodiment, damping mechanism 40 includes damping ontology 41, is being hindered
Buddhist nun's ontology 41 is equipped with two spaced first connecting pins 42 and second connection end 43, the first connecting pin 42 and the first linking arm
11 rotation connections, second connection end 43 are rotatablely connected with damping ontology 41 and are fixedly connected with second connecting rod 22.Second connecting rod 22
When moving under the action of power device 30, while second connection end 43 being driven to move, second connection end 43 can be with dynamic damping sheet
Body 41 is rotated relative to the first linking arm 11.Due to the spacing between the first linking arm 11 in the process of movement of second connecting rod 22
It is variation, therefore damping mechanism 40 can occur extending or shorten under the action of second connecting rod 22 and the first linking arm 11
The phenomenon that.When can design the spacing maximum between the first linking arm 11 and second connecting rod 22 in the application, damping mechanism 40
Damping is zero, later in the reduction with spacing between the first linking arm 11 and second connecting rod 22, the damping of damping mechanism 40 by
It is cumulative big.
Figure 11 is please referred to, damping ontology 41 includes shell 411, and the first connecting pin 42 is set to the outer surface of shell 411, shell
411 middle part is equipped with accommodating cavity, is equipped with an opening being connected to accommodating cavity in the outer surface of shell 411, damping ontology 41 also wraps
Damper rod 412 is included, one end of damper rod 412 is set in accommodating cavity, and the other end and second connection end 43 are hinged, on damper rod 412
It is arranged with spring 413, is located at one end in accommodating cavity equipped with stopper 4121 in damper rod 412, stopper 4121 is for stopping spring
413, prevent spring 413 from falling off from damper rod 412, naturally it is also possible to the side directly connecting with damper rod 412 using spring 413
Case, and spring 413 can be replaced using elastic components such as resilient sleeve 1243 or disc springs.End is equipped in the opening of shell 411
Lid 414, end cap 414 are equipped with resigning mouthful 641 for covering opening on end cap 414, and damper rod 412 is from resigning mouthful 641
It stretches out, when second connection end 43 is under the action of second connecting rod 22, pulls damper rod 412 mobile to the outside of shell 411, bullet
Spring 413 follows damper rod 412 to move under the action of stopper 4121, at the same be connected under the action of end cap 414 end cap 414 with
Between stopper 4121, to increase the damping force of damper rod 412.For the ease of connecting damping mechanism 40 on transmission mechanism 20, together
When be also convenient for the folding of transmission device, in the present embodiment, damper rod 412 is threadedly coupled with second connection end 43, such as damper rod
412 be equipped with external screw thread, second connection end 43 be equipped with matched threaded hole or damper rod 412 be equipped with threaded hole, second
Connecting pin 43 is equipped with matched external screw thread.It, can be with rotary damping bar when not needing using lower limb rehabilitation ectoskeleton 100
412, separate it with second connection end 43, and then the external force being applied on second connecting rod 22 can be removed, in order to adjust down
The state of limb ectoskeleton.It is of course also possible to by damping due to rotation bar 412, and then the damping force of damping mechanism 40 is adjusted, in order to
Patient suitable for different weight.
Due to need lower limb rehabilitation user or patient leg power be it is very weak, power device 30 drive
When joint assembly 10 drives lower extremity movement, the movement of lower limb will appear hip outward turning, put outside ankle etc. other freedom degrees, but in brain
It is to prevent patient from hip outward turning, the ankle postures such as pendulum, drop foot outside occur by brace during apoplexy patient bed rehabilitation
, if once limbs are formed in acute stage, it will to later period patient stand walking and other normal activities, cause extremely serious
Influence.So it is very necessary for carrying out the freedom degree constraint of associated joint during the rehabilitation of acute stage.For this purpose, this reality
It applies in example, increases guiding device 50, guiding device 50 is connected to one end that the second linking arm 12 deviates from the first linking arm 11.?
When second linking arm 12 moves, guiding device 50 plays the role of guiding, while playing limit to joint assembly 10, keeps away
Exempt from the phenomenon that joint assembly 10 rotates, to guarantee the rehabilitation efficacy of patient.
Further, as shown in fig. 7, guiding device 50 includes deviating from the one of the first linking arm 11 set on the second linking arm 12
The guide wheel 51 at end.Guide wheel 51 can be connected directly between on the second linking arm 12 by the shaft in the middle part of it, can also be in the second linking arm
12 are arranged connecting plate 52 away from one end of the first linking arm 11, and guide wheel 51 is connect with connecting plate 52, meanwhile, patient can also be by foot
Portion is placed on connecting plate 52, preferably to assist patient.In this implementation, connecting plate 52 is vertically arranged with the second linking arm 12,
And the side connecting to the second linking arm 12 with user extends, in order to which foot is placed on connecting plate 52 by user.Guide wheel 51
The two sides of connecting plate 52 are set, or the lower section of connecting plate 52 is set.Since the structure of guide wheel 51 is relatively easy and accounts for
Space is few, therefore, when the ectoskeleton in the present embodiment is conveniently used for patient and is in bed state, carries out rehabilitation on one's sick bed
Movement.In the other embodiments of the utility model, guiding device 50 can also connect to deviate from first set on the second linking arm 12
Guide rail of the end of arm 11 either screw mechanism etc., guide rail or screw mechanism the space occupied are larger, but its movement
Track determines, can reduce patient and the phenomenon that hip outward turning occurs.
For the ease of the assembling and transport of ectoskeleton, the second linking arm 12 includes the be detachably connected in the present embodiment
One seperated section 121 and the second seperated section 122, one end of the first seperated section 121 are connect with transmission mechanism 20, the other end and second point
One end of body section 122 connects, and the other end of the second seperated section 122 is equipped with guiding device 50.It, can when dressing ectoskeleton to patient
First to dress the first linking arm 11 and the first seperated section 121, the second seperated section 122 is dressed later, can be dressed convenient for patient.And
First seperated section 121 and the second seperated section 122, also can be convenient for the first seperated section 121 and the using the scheme being detachably connected
The connection of diad section 122.
Since the height of patient is inconsistent, in order to increase the general of the product for using technical solutions of the utility model to produce
Property, in order to which guiding device 50 plays the role of auxiliary to patient, in the present embodiment, the second linking arm 12 includes sequentially connected
The first seperated section 122 of seperated section 121, second and third fission section 123, one end of the first seperated section 121 and transmission mechanism 20 connect
It connects, the other end section 122 seperated with second of the first seperated section 121 is detachably connected, the other end and third of the second seperated section 122
Length adjustment device 124 is connected between one end of seperated section 123.It is used between second fission section 122 section 123 seperated with third
Length adjustment device 124 connects, and therefore, the spacing between the second fission section 122 section 123 seperated with third can pass through length adjustment
Device 124 adjust, and then extend the second linking arm 12 length, in order to patient in use, guiding device 50 always with bed surface
Or ground is kept in contact.
In the present embodiment, as shown in figure 8, length adjustment device 124 is section seperated with third set on the second fission section 122
Screw rod 1241 between 123 is equipped in the second seperated section 122 and adjusts screwed pipe 1242, adjusts screwed pipe 1242 and screw rod
1241 one end connection, the other end of screw rod 1241 section 123 seperated with third connect, and rotation adjusts screwed pipe 1242 and can drive
The distance between screw rod 1241 is mobile, and then adjust the second fission section 122 section 123 seperated with third, that is, adjust the second linking arm
12 length.When for the ease of adjusting the second 12 length of linking arm, the steady movement of the second linking arm 12 and stress equalization, second
It is additionally provided with guide rod 1244 between seperated section 122 section 123 seperated with third, is additionally provided with sleeve 1243, guide rod in the second seperated section 122
1244 one end is set in sleeve 1243, and the other end of guide rod 1244 section 123 seperated with third connects, to connect in adjusting second
When 12 length of arm, play the role of guiding.In the other embodiments of the utility model, length adjustment device 124 can also be
Gear and rack teeth mechanism between the second fission section 122 section 123 seperated with third.
In another embodiment of the utility model, the second linking arm 12 includes that the first seperated section 121 is detachably connected
Second seperated section 122 deviates from the second seperated section 122 and is equipped with length adjustment device 124, length adjustment dress to one end of seperated section
124 are set directly to connect with guiding device 50.To simplify the structure of the second linking arm 12, while the use of raw material can be saved
Amount.
Meanwhile in the present embodiment, the first seperated section 121 and the second seperated section 122 are using the scheme being detachably connected, under
Limb rehabilitation ectoskeleton 100 when not in use, can by from the junction of the first seperated section 121 and the second seperated section 122 by part the
Two linking arms 12 and the guiding device 50 of lower section disassemble from the first seperated section 121 together, in order to store and transport.Its
In, the scheme of the first seperated section 121 and the second seperated section 122 being detachably connected can be the first seperated section 121 and second point
The scheme that body section 122 is connected by screw to, the scheme etc. that the scheme of plug connection is either threadedly coupled.
For the ease of the connection of the first fission section 121 section 122 seperated with second, as shown in Fig. 4, Fig. 5 and Fig. 7, first point
One surface of body section 121 towards the second seperated section 122 is equipped with inserting groove 1211, and the opposite two sidewalls of inserting groove 1211 are equipped with and pass through
The through-hole worn, when the second fission section 122 section 121 seperated with first connects, the second seperated section 122 is away from third fission section 123
End is plugged in inserting groove 1211, meanwhile, through-hole is corresponded in the second seperated section 122 equipped with connecting hole 611, first is seperated later
Section 121 and the second seperated section 122 are realized by the cooperation of bolt and through-hole and connecting hole 611 and are connected.For the ease of the first fission
The cooperation of 121 sections 122 seperated with second of section, in the present embodiment, one end of the second fission section 122 connection of section 121 seperated with first
Two opposite surfaces are all provided with fluted 1221, and groove 1221 is arranged through the end face of the second seperated section 122, the second seperated section 122
End when being plugged in inserting groove 1211, the end of the first seperated section 121 is extend into groove 1221, the first seperated section 121
Side surface abutted with the side wall of groove 1221, the end face of the second seperated section 122 need to be only pushed to and inserting groove 1211 later
Bottom wall abut, that is, realize being correspondingly arranged for through-hole and connecting hole 611, only first point of bolt realization need to be set in through-hole later
The connection of body section 121 and the second seperated section 122.
Since patient is also required to resume training the muscle of ankle-joint in rehabilitation, in order to restore the flesh of muscle
Power, for this purpose, being additionally provided with ankle joint angle in the present embodiment away from one end of the first linking arm 11 in the second linking arm 12 and adjusting dress
It sets, ankle joint angle regulating device is set to guiding device 50.Ankle joint angle regulating device is for adjusting between shank and foot
Angle, in order to adjust the muscular strength of ankle-joint and foot's different location.As shown in Fig. 1, Fig. 7, Fig. 9 and Figure 10, ankle-joint angle
Degree regulating device includes the support plate 61 set on guiding device 50, is rotatably connected to angle adjustment plate 62, angle in support plate 61
Adjustable plate 62 is used to support the foot of patient, in order to keep the foot of patient to be kept in contact with angle adjustment plate 62, by angle tune
Section plate 62 is fixedly connected with the foot of patient by bandage.One of support plate 61 and angle adjustment plate 62 are equipped with angle tune
Knothole 6221, wherein another be equipped with connecting hole 611 corresponding with angle adjustment holes 6221, support plate 61 and angle adjustment plate 62
It is connected by fastener 63.In the present embodiment, support plate 61 is equipped with a circular through hole connecting with fastener 63, angular adjustment
Plate 62 be equipped with it is multiple at support plate 61 and 62 rotation connection of angle adjustment plate centered on and spaced angle adjustment holes
6221, for the ease of the muscle strength of even regulation ankle, adjacent angular adjustment hole 6221 respectively with support plate 61 and angle
The angle being formed by between line at degree 62 rotation connection of adjustable plate is 10 °.As multiple angle adjustment holes 6221 respectively correspond
The back song angle of foot is 20 °, 10 ° and toe song angle is 0 °, -10 °, -20 ° and -30 °.It in practical applications, can also be with
Setting adjacent angular adjustment hole 6221 is formed by between line at 62 rotation connection of support plate 61 and angle adjustment plate respectively
Angle be 5 ° or other convenient for adjust ankle-joint foot muscles angles.The angle in the other embodiments of the utility model
Regulating tank is strip-shaped hole, which is preferably the arcuation item centered at support plate 61 and 62 rotation connection of angle adjustment plate
Shape hole, connecting hole 611 can be circular through hole, may be set to be structure identical with 6221 shape of angle adjustment holes.Wherein,
Fastener 63 can be pin, screw either bolt, and fastener 63 selects wing bolt in the present embodiment, in order to adjust manually
Section.
In the present embodiment, angle adjustment plate 62 is including foot's fixed plate 621 and is set to 621 opposite sides of foot's fixed plate
Adjustable plate 622, adjustable plate 622 be equipped with multiple angle adjustment holes 6221, guiding device 50 be equipped with two branch being oppositely arranged
Fagging 61, two support plates 61 are connect with two adjustable plates 622 respectively.Wherein, support plate 61 is set to the connecting plate 52 of guiding device 50
Upper surface.Ankle-joint is preferably adjusted for the ease of ankle-joint regulating device 60, shank is additionally provided on connecting plate 52 and fixes
Part 6413, shank fixing piece 6413 with shank for connecting, the phenomenon that fix shank, it is avoided to reverse.It is small in order to make
It is more comfortable when leg bundled fixed, resigning mouthful 641 corresponding with calf protrusion can be offered on shank fixing piece 6413,
Keep shank fixing piece 6413 and the compactness of shank more preferable, while the versatility of shank fixing piece 6413 can also be improved.This reality
It applies in example, shank fixing piece 6413 is flat, while being arranged at the arcuation being bonded with shank.In other realities of the utility model
It applies in example, shank fixing piece 6413 can also be made using elastic material.
Ankle joint angle regulating device is arranged in the present embodiment realizes the fixed constraint to ankle-joint.Doctor or family members
Ankle joint angle can be quickly adjusted manually according to the practical muscular strength situation of patient, realize the corresponding rehabilitation and protection of ankle-joint.It keeps away
The additional complexity using power mechanism is exempted from, the generation of the diseases such as drop foot, strephenopodia, the strephexopodia can be effectively prevent.Pass through letter
Single structure realizes the fixation of ankle joint angle, can be effectively improved the muscular strength of ankle-joint Surrounding muscles, facilitate cranial nerve weight
Modeling.And do not need to introduce power source in ankle, system complexity is reduced, system weight is reduced.
The utility model also proposes a kind of exoskeleton robot (not shown), which includes outside lower limb rehabilitation
Bone 100, the specific structure of the lower limb rehabilitation ectoskeleton 100 is referring to above-described embodiment, since this exoskeleton robot uses
Whole technical solutions of above-mentioned all embodiments, thus it is at least all beneficial brought by the technical solution with above-described embodiment
Effect, this is no longer going to repeat them.Wherein, a kind of lower limb rehabilitation ectoskeleton 100 characterized by comprising
Joint assembly 10, joint assembly 10 include the first linking arm 11 and the second linking arm 12 being oppositely arranged, and first connects
It connects arm 11 or the first linking arm 11 and the second linking arm 12 is equipped with fixing piece 13；
Transmission mechanism 20, transmission mechanism 20 include the both ends being oppositely arranged, and one end of transmission mechanism 20 is set to the first connection
The one end of arm 11 far from the second linking arm 12, the other end of transmission mechanism 20 and the first linking arm 11 are close to the second linking arm 12
One end is hinged, and connect with the second linking arm 12；With
Power device 30, power device 30 be set to the one end of the first linking arm 11 far from the second linking arm 12, and with transmission
The end of mechanism 20 connects, and power device 30 passes through opposite 11 turns of first linking arm of second linking arm of the driving of transmission mechanism 20 12
It is dynamic.
In the application, exoskeleton robot may include two lower limb rehabilitation ectoskeletons 100 and other with outside lower limb rehabilitation
The mechanism that bone 100 connects, in order to carry out rehabilitation simultaneously to two lower limb of patient simultaneously.
The above is only the preferred embodiment of the present invention, and therefore it does not limit the scope of the patent of the utility model,
Under all utility models in the utility model are conceived, equivalent structure made based on the specification and figures of the utility model
Transformation, or directly/be used in other related technical areas indirectly and be included in the scope of patent protection of the utility model.
Claims (10)
1. a kind of transmission device, is applied to ectoskeleton, the ectoskeleton includes the first linking arm and the second connection of rotation connection
Arm, which is characterized in that the transmission device includes:
Transmission mechanism, the transmission mechanism include the both ends being oppositely arranged, and one end of the transmission mechanism is set to described first and connects
The one end of arm far from second linking arm is connect, the other end of the transmission mechanism and first linking arm are close to described second
One end of linking arm is hinged, and connect with second linking arm；With
Damping mechanism, the damping mechanism connect first linking arm and transmission mechanism, and the transmission mechanism is followed to move.
2. transmission device as described in claim 1, which is characterized in that the transmission mechanism includes the first successively hinged company
Bar, second connecting rod and third connecting rod, the one end of the first connecting rod far from the second connecting rod deviate from first linking arm
One end of second linking arm is hinged, and the third connecting rod is leaned on away from one end of the second connecting rod with first linking arm
One end of nearly second linking arm is hinged, and connect with second linking arm, the damping mechanism and the second connecting rod
Connection, and the second connecting rod is followed to move.
3. transmission device as claimed in claim 2, which is characterized in that the first connecting rod, second connecting rod, third connecting rod and
One linking arm combines to form a parallelogram mechanism.
4. transmission device as claimed in claim 3, which is characterized in that the length of the first connecting rod and the second connecting rod
Lenth ratio is A, 1:4≤A≤2:5.
5. the transmission device as described in any in claim 2 to 4, which is characterized in that described in the damping mechanism elastic connection
First linking arm and the second connecting rod, the transmission mechanism can drive relatively described first linking arm of the damping mechanism to turn
It is dynamic.
6. transmission device as claimed in claim 5, which is characterized in that along the transmission direction of the second connecting rod, described first
When the angle of connecting rod and the second connecting rod is acute angle, the damping that the damping mechanism provides is negative damping, the first connecting rod
When angle with the second connecting rod is right angle, the damping that the damping mechanism provides is 0, the first connecting rod and described second
When the angle of connecting rod is obtuse angle, the damping that the damping mechanism provides is positive damping.
7. transmission device as claimed in claim 5, which is characterized in that the damping mechanism includes damping ontology, the damping
Ontology is equipped with spaced first connecting pin and second connection end, and first connecting pin and first linking arm rotation connect
It connects, the second connection end and the damping ontology are rotatablely connected, and are fixedly connected with second connecting rod, described this body elasticity of damping
It is connected between first connecting pin and the second connection end.
8. transmission device as claimed in claim 7, which is characterized in that the damping ontology includes shell, damper rod and elasticity
Part, the middle part of the shell are equipped with accommodating cavity, and the outer surface of the shell is equipped with the opening being connected to the accommodating cavity, the resistance
The first end of Buddhist nun's bar is set in the accommodating cavity, and the elastic component is sheathed on the damper rod and is connected to the of the damper rod
Between one end and the inner wall of accommodating cavity, the second end of the damper rod and the second connection end are hinged, first connecting pin
Set on the shell.
9. a kind of lower limb rehabilitation ectoskeleton, which is characterized in that the first linking arm and the second linking arm including rotation connection, and
Transmission device as described in any in claim 1 to 8.
10. a kind of exoskeleton robot, which is characterized in that including lower limb rehabilitation ectoskeleton as described in claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821576617.8U CN209286071U (en) | 2018-09-25 | 2018-09-25 | Transmission device, lower limb rehabilitation ectoskeleton and exoskeleton robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821576617.8U CN209286071U (en) | 2018-09-25 | 2018-09-25 | Transmission device, lower limb rehabilitation ectoskeleton and exoskeleton robot |
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| CN209286071U true CN209286071U (en) | 2019-08-23 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109124989A (en) * | 2018-09-25 | 2019-01-04 | 深圳市丞辉威世智能科技有限公司 | Transmission device, lower limb rehabilitation ectoskeleton and exoskeleton robot |
| WO2021057191A1 (en) * | 2019-09-25 | 2021-04-01 | 深圳市丞辉威世智能科技有限公司 | Limb rehabilitation exoskeleton and limb rehabilitation system |
-
2018
- 2018-09-25 CN CN201821576617.8U patent/CN209286071U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109124989A (en) * | 2018-09-25 | 2019-01-04 | 深圳市丞辉威世智能科技有限公司 | Transmission device, lower limb rehabilitation ectoskeleton and exoskeleton robot |
| CN109124989B (en) * | 2018-09-25 | 2024-03-19 | 深圳市丞辉威世智能科技有限公司 | Transmission device, lower limb rehabilitation exoskeleton and exoskeleton robot |
| WO2021057191A1 (en) * | 2019-09-25 | 2021-04-01 | 深圳市丞辉威世智能科技有限公司 | Limb rehabilitation exoskeleton and limb rehabilitation system |
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