CN209662128U - A kind of ectoskeleton leg mechanism, ectoskeleton leg device and exoskeleton system - Google Patents
A kind of ectoskeleton leg mechanism, ectoskeleton leg device and exoskeleton system Download PDFInfo
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- CN209662128U CN209662128U CN201920183544.4U CN201920183544U CN209662128U CN 209662128 U CN209662128 U CN 209662128U CN 201920183544 U CN201920183544 U CN 201920183544U CN 209662128 U CN209662128 U CN 209662128U
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Abstract
The utility model relates to a kind of ectoskeleton leg mechanisms, ectoskeleton leg device and exoskeleton system, ectoskeleton leg mechanism includes leg skeleton and telescopic device, the telescopic device includes flexible skeleton, fixing clamp and fixing seat, the fixing seat is connect with the leg skeleton, the flexible skeleton passes through the fixing seat, the fixing clamp holds the outer surface of the fixing seat tightly, lock the fixing clamp, the flexible skeleton and the fixing seat are relatively fixed, unclamp the fixing clamp, the flexible skeleton can be mobile relative to the fixing seat, ectoskeleton leg device includes no less than two ectoskeleton leg mechanisms, exoskeleton system includes ectoskeleton leg device.Ectoskeleton leg mechanism in the utility model is by adjusting the relative position between flexible skeleton and fixing seat, realize the variation of leg mechanism length, suitable for the wearer of different building shape, versatility is good, and structure is simple, improves the practicability of ectoskeleton leg device and exoskeleton system.
Description
Technical field
The utility model relates to technical field of medical equipment more particularly to a kind of ectoskeleton leg mechanisms, ectoskeleton leg
Device and exoskeleton system.
Background technique
Patient with leg diseases or spinal cord injury at present, because nerve or muscle damage are unable to normal walking, patient
Need by hospital or medical institutions rehabilitation appliances and specialized guidance under carry out rehabilitation training, with ectoskeleton skill
The continuous development of art, patient under the power-assisted effect of exoskeleton system, can be walked again, favorably by dressing exoskeleton system
Rehabilitation and psychological rehabilitation in patient, and complication can be prevented.
But the structure of existing exoskeleton system is typically more complicated, the inconvenient activity of user, only by bandage tie up in
Leg, dresses performance and comfort level is low, to keep user's walking more convenient, needs the wearer according to different height figures
Design the leg link of different length, poor universality.
Utility model content
The goal of the invention of the utility model is to provide a kind of ectoskeleton leg mechanism, ectoskeleton leg device and dermoskeleton
Bone system, to overcome existing exoskeleton robot, structure is complicated, the defect of poor universality.
The utility model solves technical solution used by above-mentioned technical problem:
A kind of ectoskeleton leg mechanism, including leg skeleton and telescopic device, the telescopic device include flexible skeleton, consolidate
Clamp and fixing seat, the fixing seat are connect with the leg skeleton, and the flexible skeleton passes through the fixing seat, the fixation
The outer surface for holding the tight fixing seat, locks the fixing clamp, and the flexible skeleton and the fixing seat are relatively fixed, unclamps
The fixing clamp, the flexible skeleton can be mobile relative to the fixing seat.
In a preferred embodiment, the telescopic device further includes positioning component, and the positioning component includes fixed
Position pin, the fixing seat are equipped with first positioning hole, and the leg skeleton is equipped with second location hole, and the positioning pin passes through institute
First positioning hole and second location hole are stated to position to the flexible skeleton.
In a preferred embodiment, the positioning component further includes abutment sleeve, and the abutment sleeve is installed on
In the fixing seat, the inside of the abutment sleeve is equipped with a through-hole, and the through-hole is connected to the first positioning hole, described fixed
Position pin is inserted into the first positioning hole and second location hole across the through-hole positions the flexible skeleton.
In a preferred embodiment, the positioning pin is equipped with a protrusion, is based on the oppositely extending shape of protrusion
At elastic portion and plug division, the elastic portion passes through the through-hole and can be mobile relative to the abutment sleeve, so that the grafting
It is inserted into or is detached from the first positioning hole and second location hole in portion.
In a preferred embodiment, the positioning component further includes push rod and spring, the push rod and the bullet
Property portion's connection, the spring retention is in the through-hole and being set in the outer surface of the elastic portion, the both ends point of the spring
It is not supported with the protrusion and push rod, pulls the push rod, spring-compressed described in the protrusions press is so that the plug division is de-
From the first positioning hole, the push rod is discharged, the spring pushes the plug division to be inserted into the first positioning hole and second
Positioning hole.
In a preferred embodiment, the flexible skeleton is equipped with guide groove, and the positioning component includes guiding
Column, the guide post connect with the fixing seat and can move along the guide groove.
In a preferred embodiment, the end of the flexible skeleton is equipped with end cap.
The utility model additionally provides a kind of ectoskeleton leg device, the above-mentioned ectoskeleton leg machine including being no less than two
Structure further includes attachment device, and the attachment device, the attachment device packet are equipped between the different ectoskeleton leg mechanisms
Attachment base and output board are included, the both ends of the attachment base are connect with the flexible skeleton and output board respectively, the output board
The other end is connect with leg skeleton.
It in a preferred embodiment, further include driving device, the driving device is installed on the leg skeleton
On, and the output board is driven to rotate relative to the leg skeleton.
The utility model additionally provides a kind of exoskeleton system, including above-mentioned ectoskeleton leg device.
The beneficial effects of the utility model are: ectoskeleton leg mechanism in the utility model by adjust flexible skeleton with
The variation of leg mechanism length is realized in relative position between fixing seat, and suitable for the wearer of different building shape, versatility is good,
And structure is simple, improves the practicability of ectoskeleton leg device and exoskeleton system.
Detailed description of the invention
The utility model is described further with reference to the accompanying drawings and examples.
Fig. 1 is the stereoscopic schematic diagram of the utility model ectoskeleton leg mechanism；
Fig. 2 is the perspective view of the explosion of the utility model ectoskeleton leg mechanism；
Fig. 3 is the perspective view of the explosion of the utility model ectoskeleton leg mechanism other direction；
Fig. 4 is the perspective view of the explosion of the utility model positioning component；
Fig. 5 is the stereoscopic schematic diagram of the utility model ectoskeleton leg device.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to the design of the utility model, specific structure and generation
Clear, complete description, to be completely understood by the purpose of this utility model, scheme and effect.It should be noted that not conflicting
In the case where, the features in the embodiments and the embodiments of the present application can be combined with each other.
It should be noted that unless otherwise specified, when a certain feature referred to as " fixation ", " connection " are in another feature,
It can directly fix, be connected to another feature, and can also fix, be connected to another feature indirectly.In addition, this
The descriptions such as upper and lower, left and right used in utility model are only the phase relative to each component part of the utility model in attached drawing
For mutual positional relationship.
In addition, unless otherwise defined, the technology of all technical and scientific terms used herein and the art
The normally understood meaning of personnel is identical.Term used in the description is intended merely to description specific embodiment herein, without
It is to limit the utility model.Term " and or " used herein includes appointing for one or more relevant listed items
The combination of meaning.
Referring concurrently to Fig. 1 to Fig. 3, the ectoskeleton leg mechanism 200 in the utility model includes leg skeleton 210 and stretches
Device 220, telescopic device 220 are connect with leg skeleton 210, pass through the distance tune of 220 opposed legs skeleton 210 of telescopic device
It is whole, it realizes the adjustment of 200 length of ectoskeleton leg mechanism, is used with adapting to the wearer of different building shape and height.
It is additionally provided with bandage (not shown) on leg skeleton 210, is dressed convenient for user, realizes ectoskeleton leg mechanism
200 with relatively fixed, also settable dismountable eye-splice on bandage of human body, to improve the convenience of wearing.Ectoskeleton leg
Mechanism 200 further includes driving device 230, and driving device 230 is installed on leg skeleton 210, is also connected on leg skeleton 210
Output board 211, the opposed legs skeleton 210 under the drive of driving device 230 of output board 211 rotate.It is finished in user's wearing
Afterwards, ectoskeleton leg mechanism 200 and human body are relatively fixed, and driving device 230 provides the power of walking for user, drive patient
The posture for completing swing of leg realizes patient and stands or walk.
It is additionally provided with drive module 240, drive module 240 is installed on leg skeleton 210, and drive module 240 is to ectoskeleton
The motion state of leg mechanism 200 is measured and is fed back, and by the motion conditions of user in the process of walking, is adjusted in real time
The amplitude of fluctuation or speed of leg mechanism improve compactness and the patient of ectoskeleton leg mechanism 200 and patient motion state
Movable flexibility.
Specifically, telescopic device 220 includes flexible skeleton 221, fixing seat 222 and fixing clamp 223, fixing seat 222 and leg
Portion's skeleton 210 is fixedly connected, and flexible skeleton 221 is passed through from the inside of fixing seat 222, and the outer surface of flexible skeleton 221 is coated with
The upper end of fixing clamp 223, flexible skeleton 221 is hidden in 210 side of leg skeleton, and the lower end of the skeleton 221 that stretches is from leg skeleton
210 lower sections are stretched out, the entire length that the distance between the lower end of skeleton 221 and the upper end of leg skeleton 210 are leg of stretching.Lock
Fastening clamp 223 can make flexible skeleton 221 and fixing seat 222 relatively fixed；Fixing clamp 223 is unclamped, by adjusting flexible skeleton
221 with the relative position of fixing clamp 223, realize that flexible skeleton 221 changes from the length of 210 extension of leg skeleton, in turn
Achieve the purpose that adjust 200 length of ectoskeleton leg mechanism.
The top of flexible skeleton 221 is additionally provided with end cap 2213, prevents from adjusting between flexible skeleton 221 and fixing clamp 223
When position, flexible skeleton 221 is deviate from out of fixing clamp 223.
The structure of above-mentioned telescopic device 220 is simple, by locking or unclamping fixing clamp 223, adjusts flexible skeleton 221 and consolidates
The variation of leg length can be realized in the relative position of clamp 223, easy to operate, suitable for different users, improves outer
The versatility of bone leg mechanism 200.
Preferably, telescopic device 220 further includes positioning component 224, and positioning component 224 is for flexible skeleton 221 and admittedly
Relative position between clamp 223 is limited, and is accurately adjusted so as to the leg length to ectoskeleton, and flexible dress is improved
Set the convenience of 220 length adjustments.Specifically, positioning component 224 includes positioning pin 2241, it is fixed that fixing clamp 223 is equipped with first
Position hole 2231, the skeleton 221 that stretches are equipped with multiple second location holes 2211, and second location hole 2211 is on flexible skeleton 221
Linear type, equidistant arrangement.Positioning pin 2241 passes through first positioning hole 2231 and is inserted into second location hole 2211, to flexible skeleton
221 are positioned, by adjusting the relative position of flexible skeleton 221 and fixing clamp 223, make different second location hole 2211 with
The alignment connection of first positioning hole 2231 is realized after positioning pin 2241 is inserted into first positioning hole 2231 and second location hole 2211
The adjustment of flexible 221 different location of skeleton achievees the purpose that the extension end length variation of flexible skeleton 221.
Flexible skeleton 221 may be configured as hollow shape structure to mitigate the weight of ectoskeleton leg mechanism 200, to improve leg
The convenience of portion's movement.Telescopic device 220 further includes guide post 225, and fixing seat 222 is equipped with the fixation of installation guide post 225
Hole 2221, the skeleton 221 that stretches are equipped with guide groove 2212, when adjusting flexible skeleton 221 and the relative position of fixing seat 222,
Guide post 225 is slided along guide groove 2212.On the one hand, guide groove 2212 is oriented to the sliding of flexible skeleton 221, another party
Face prevents flexible skeleton 221 from rotating in sliding process relative to fixed seat 222, influences the cooperation of leg mechanism Yu other devices.
Preferably, referring to Fig. 4, positioning pin 2241 is equipped with a protrusion 2242, and the protrusion 2242 is along the outer of positioning pin 2241
Surface was enclosed equipped with one week, and the oppositely extending formation elastic portion 2243 of protrusion 2242 and plug division 2244 are based on.Positioning component 224 is also
Including abutment sleeve 2246, the inside of abutment sleeve 2246 is equipped with perforative through-hole 2247, and abutment sleeve 2246 is installed on fixation
On folder 223, it is connected to the through-hole 2247 with first positioning hole 2231, plug division 2244 passes through through-hole 2247 and is inserted into first positioning hole
2231 and second location hole 2211 after, realize the relatively fixed of flexible skeleton 221 and fixing seat 222.
Positioning component 224 further includes push rod 2245, and push rod 2245 is connected to the one end of elastic portion 2243 far from protrusion 2242,
It pushes push rod 2245 that plug division 2244 can be made to be inserted into or be detached from first positioning hole 2231, realizes positioning pin 2241 to flexible skeleton
221 positioning and disengaging.Positioning component 224 further includes spring (not shown), and spring retention is sheathed on bullet in through-hole 2247
The outer surface in property portion 2243, is located at spring between the outer surface of elastic portion 2243 and the inner wall of abutment sleeve 2246, spring
Both ends are supported with protrusion 2242 and push rod 2245 respectively.Push rod 2245 is pulled, protrusion 2242 makes with 2245 synergy of push rod
Spring-compressed realizes positioning pin 2241 so that plug division 2244 is withdrawn from from first positioning hole 2231 and second location hole 2211
With the disengaging of flexible skeleton 221, the position of flexible skeleton 221 can be adjusted at this time；Discharge push rod 2245, the spring of compression
Restore extended state, elastic force is applied to boss, plug division 2244 is pushed to be inserted into first positioning hole 2231 and second location hole
In 2211, flexible skeleton 221 is positioned.
The utility model additionally provides a kind of ectoskeleton leg device, referring to Fig. 5 and combines Fig. 3 comprising no less than two
A ectoskeleton leg mechanism 200, further includes attachment device 250, and attachment device 250 is located at two different ectoskeleton leg machines
Between structure 200, the movement transmitting of two ectoskeleton leg mechanisms 200 is realized.Specifically, attachment device 250 includes attachment base 251
With retaining ring 252, the both ends of attachment base 251 are separately connected flexible skeleton 221 and output in different ectoskeleton leg mechanisms 200
Plate 211, the output board 211 in Fig. 4 in lower end ectoskeleton leg mechanism 200 are rotated under the drive of driving device 230, and
It drives the flexible skeleton 221 in the ectoskeleton leg mechanism 200 of top to rotate, realizes the phase of two ectoskeleton leg mechanisms 200
To rotation.
Two above-mentioned ectoskeleton leg mechanisms 200 can respectively correspond the huckle and calf of human body, outer by two
The relative rotation of bone leg mechanism 200 makes patient realize the mutual swing between thigh and shank, and patient is helped to squat down
Or other leg action.
Attachment base 251 is equipped with a mounting groove, and the end of flexible skeleton 221 is inserted into the mounting groove, and stretch skeleton 221
In end, mounting groove and retaining ring 252 is equipped with the screw thread matched, and tightening retaining ring 252 can be realized flexible skeleton 221
It is relatively fixed with attachment base 251；The fixation of the two can also be realized by other means, such as uses positioning pin 2241.
The utility model additionally provides a kind of exoskeleton system, which includes above-mentioned ectoskeleton leg dress
It sets.
It is to be illustrated to the preferable implementation of the utility model, but the invention is not limited to the reality above
Example is applied, those skilled in the art can also make various equivalent variations without departing from the spirit of the present invention
Or replacement, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. a kind of ectoskeleton leg mechanism, which is characterized in that including leg skeleton and telescopic device, the telescopic device includes stretching
Contracting skeleton, fixing clamp and fixing seat, the fixing seat are connect with the leg skeleton, and the flexible skeleton passes through the fixation
Seat, the fixing clamp hold the outer surface of the fixing seat tightly, lock the fixing clamp, the flexible skeleton and the fixing seat phase
To fixation, the fixing clamp is unclamped, the flexible skeleton can be mobile relative to the fixing seat.
2. ectoskeleton leg mechanism according to claim 1, which is characterized in that the telescopic device further includes positioning group
Part, the positioning component include positioning pin, and the fixing seat is equipped with first positioning hole, and it is fixed that the leg skeleton is equipped with second
Position hole, the positioning pin pass through the first positioning hole and second location hole to position to the flexible skeleton.
3. ectoskeleton leg mechanism according to claim 2, which is characterized in that the positioning component further includes positioning sleeve
Cylinder, the abutment sleeve is installed in the fixing seat, and the inside of the abutment sleeve is equipped with a through-hole, the through-hole with it is described
First positioning hole connection, the positioning pin passes through the through-hole and is inserted into the first positioning hole and second location hole to be stretched to described
Contracting skeleton is positioned.
4. ectoskeleton leg mechanism according to claim 3, which is characterized in that the positioning pin is equipped with a protrusion, base
In the oppositely extending formation elastic portion of the protrusion and plug division, the elastic portion passes through the through-hole and can the relatively described positioning sleeve
Cylinder is mobile, so that the first positioning hole and second location hole are inserted into or are detached from the plug division.
5. ectoskeleton leg mechanism according to claim 4, which is characterized in that the positioning component further includes push rod and bullet
Spring, the push rod are connect with the elastic portion, and the spring retention is in the through-hole and being set in the appearance of the elastic portion
Face, the both ends of the spring are supported with the protrusion and push rod respectively, pull the push rod, spring pressure described in the protrusions press
It contracts so that the plug division disengaging first positioning hole, discharges the push rod, the spring pushes the plug division to be inserted into institute
It states in first positioning hole and second location hole.
6. ectoskeleton leg mechanism according to any one of claims 2 to 5, which is characterized in that set on the flexible skeleton
There is guide groove, the positioning component includes guide post, and the guide post connect with the fixing seat and can move along the guide groove
It is dynamic.
7. ectoskeleton leg mechanism according to any one of claims 1 to 5, which is characterized in that the end of the flexible skeleton
Portion is equipped with end cap.
8. a kind of ectoskeleton leg device, which is characterized in that including be no less than two as described in any one of claim 1 to 7
Ectoskeleton leg mechanism, further include attachment device, between the different ectoskeleton leg mechanisms be equipped with the attachment device,
The attachment device includes attachment base and output board, and the both ends of the attachment base connect with the flexible skeleton and output board respectively
It connects, the other end of the output board is connect with leg skeleton.
9. ectoskeleton leg according to claim 8 device, which is characterized in that it further include driving device, the driving dress
It sets and is installed on the leg skeleton, and the output board is driven to rotate relative to the leg skeleton.
10. a kind of exoskeleton system, which is characterized in that including ectoskeleton leg as claimed in claim 8 or 9 device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920183544.4U CN209662128U (en) | 2019-01-31 | 2019-01-31 | A kind of ectoskeleton leg mechanism, ectoskeleton leg device and exoskeleton system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920183544.4U CN209662128U (en) | 2019-01-31 | 2019-01-31 | A kind of ectoskeleton leg mechanism, ectoskeleton leg device and exoskeleton system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209662128U true CN209662128U (en) | 2019-11-22 |
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ID=68568372
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920183544.4U Active CN209662128U (en) | 2019-01-31 | 2019-01-31 | A kind of ectoskeleton leg mechanism, ectoskeleton leg device and exoskeleton system |
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| Country | Link |
|---|---|
| CN (1) | CN209662128U (en) |
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- 2019-01-31 CN CN201920183544.4U patent/CN209662128U/en active Active
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