CN210081733U

CN210081733U - Lower limb bionic mechanical exoskeleton

Info

Publication number: CN210081733U
Application number: CN201920767154.1U
Authority: CN
Inventors: 李鑫磊
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-05-27
Filing date: 2019-05-27
Publication date: 2020-02-18
Anticipated expiration: 2029-05-27

Abstract

The utility model discloses a lower limb bionic mechanical exoskeleton, which belongs to the field of mechanical exoskeletons and comprises two mechanical exoskeletons, wherein clamping belts are fixedly connected between the upper end and the lower end of the two mechanical exoskeletons, a vertical chute is arranged at the outer end of the mechanical exoskeletons, a plurality of horizontal chutes are arranged on the left end wall and the right end wall of the vertical chute, a slide bar is connected in the vertical chute in a sliding way and matched with the horizontal chutes, a groove is arranged at the front end of the slide bar, a hemispherical block is rotationally connected on the outer end wall of the groove, a circular supporting block is fixedly connected at the outer end of the hemispherical block, and connecting rods are fixedly connected at the left end and the right end of the circular supporting block respectively. The use of the mechanical exoskeleton body by different users is facilitated.

Description

Lower limb bionic mechanical exoskeleton

Technical Field

The utility model relates to a machinery ectoskeleton field, more specifically say, relate to a bionical mechanical ectoskeleton of low limbs.

Background

Exoskeleton robots were originally derived from the military field. As early as 2000, the United states department of defense proposed the concept of "exoskeleton robots" in order to enhance physical abilities of soldiers and improve operational capabilities of individual soldiers. We can simply understand that it is an "artificial intelligence" attached to the outside of the human body. The novel mechanical joint provides protection for a wearer, senses and drives the mechanical joint to perform actions according to the limb activities of the wearer, and helps the user run faster, jump higher and bear more weight. Due to the development of aging population, the extension of human life and the improvement of medical level, the medical rehabilitation exoskeleton robot can meet the disappearance of population dividend in a small outbreak period in the coming years, the application of the industrial exoskeleton robot is promoted, and the medical rehabilitation exoskeleton robot has primary application in the aspects of helping human reduce load, improve strength, improve working efficiency and the like. Use of an exoskeleton in combination with a specific target population. The exoskeleton device may be used for education, sports, etc., such as learning motor skills via the exoskeleton. At present, the number of people with physical disabilities in China is over 2000 thousands, cerebrovascular diseases are increasing at a rate of 9% per year under the aging trend, and 3177 thousands of stroke patients are expected to appear on 2030. However, the number of the rehabilitation institutions for the disabled in China is less than 1 ten thousand, and the number of the professional rehabilitation physical therapists is only about 2 ten thousand, so that only about 5 percent of patients in the whole country obtain basic rehabilitation services. Therefore, the national demand for auxiliary medical rehabilitation equipment is very strong, and the appearance of the exoskeleton robot can benefit the disabled and the patients.

At present, most national scientific research institutions are still in the basic starting stage for exoskeletons, commercial products are still few, the main application fields are military, civil and medical treatment, wherein the leading countries are mainly America and Japan, and countries such as Law, Russia, Korea, Israel and the like are also technically established, various Chinese research institutions are also in research and development, the initiation of China in the exoskeletons field is late, but the research and development are being pursued, and national natural science fund, 863 plan, scientific and technological support plan and the like in China all start corresponding research.

The existing bionic mechanical exoskeleton needs to be in contact with a patient to help the patient to realize corresponding functions, the bionic mechanical exoskeleton is generally provided with an anti-abrasion pad at a possible contact point, but because the sizes of the lower limbs of different patients are different, the contact point of the bionic mechanical exoskeleton and the lower limb of the patient is different, the positions of the lower limb which are abraded are also different, and the existing product cannot be widely applied to different patients.

SUMMERY OF THE UTILITY MODEL

1. Technical problem to be solved

To the problem that exists among the prior art, the utility model aims to provide a bionical mechanical ectoskeleton of low limbs, it can be according to different users' demand, adjusts the level of circular supporting shoe and auxiliary supporting shoe and the ascending position of vertical side, makes the application crowd scope of mechanical ectoskeleton body more extensive, is convenient for different users to the use of mechanical ectoskeleton body.

2. Technical scheme

In order to solve the above problems, the utility model adopts the following technical proposal.

A lower limb bionic mechanical exoskeleton comprises two mechanical exoskeleton bodies, clamping belts are fixedly connected between the upper end and the lower end of each of the two mechanical exoskeleton bodies, a vertical chute is formed in the outer end of each mechanical exoskeleton body, a plurality of horizontal chutes are formed in the left end wall and the right end wall of each vertical chute, a sliding rod is connected in each vertical chute in a sliding mode, the sliding rod is matched with each horizontal chute, a groove is formed in the front end of each sliding rod, a hemispherical block is rotatably connected to the outer end wall of the groove, a circular supporting block is fixedly connected to the outer end of the hemispherical block, connecting rods are fixedly connected to the left end and the right end of each circular supporting block, an auxiliary supporting block is fixedly connected to one end, away from the circular supporting block, of each connecting rod, a limiting block is fixedly connected to the front end of each sliding rod, the utility model discloses can adjust the level and the ascending position of vertical side of circular supporting shoe and auxiliary supporting shoe according to different users' demand, make the applicable crowd scope of machinery ectoskeleton body more extensive, be convenient for different users to the use of machinery ectoskeleton body.

Furthermore, the inner end wall of the groove is rotatably connected with a small steel ball, the small steel ball is in contact with the hemispherical block, friction between the groove and the hemispherical block can be reduced under the action of the small steel ball, and the flexibility of the hemispherical block rotating in the groove is improved.

Further, nut outer end fixedly connected with plastic pad, the plastic pad outer end is dug there is the sharp groove, under the mating reaction in plastic pad and sharp groove, can increase the friction between nut and the user, and the staff of being convenient for twists the nut to convenience of customers is as required to the regulation of slide bar position.

Further, two the one end that machinery ectoskeleton body is close to each other all is equipped with the perforated plate, perforated plate outer end bonds and has ventilative cotton pad, under the mating reaction of perforated plate and ventilative cotton pad, can improve the user and contact between the machinery ectoskeleton body use experience.

Furthermore, a plurality of air holes are drilled at the outer end of the mechanical exoskeleton body and are uniformly distributed at the outer end of the mechanical exoskeleton body, and certain air circulation can be performed at the inner end of the mechanical exoskeleton body under the action of the air holes and the porous plate, so that the daily use of the mechanical exoskeleton body by a user is facilitated.

Furthermore, two the mechanical ectoskeleton body all excavates in the one end that is close to each other and accomodates the groove, accomodate inslot end wall fixedly connected with compression spring, compression spring keeps away from the one end and the perforated plate fixed connection of mechanical ectoskeleton body, under compression spring's effect, can fix the outer end at mechanical ectoskeleton body with the perforated plate on the one hand, and on the other hand can make the perforated plate remove when the perforated plate is touch to the user for this internal circulation of air speed of mechanical ectoskeleton.

3. Advantageous effects

Compared with the prior art, the utility model has the advantages of:

(1) this scheme is compared in prior art, can not carry out the regulative mode to the abrasionproof pad of machinery ectoskeleton, the utility model discloses can adjust circular supporting shoe and auxiliary supporting shoe's level and the ascending position of vertical side according to different users' demand, make the application crowd scope of machinery ectoskeleton body more extensive, be convenient for different users to the use of machinery ectoskeleton body.

(2) The inner end wall of the groove is rotatably connected with a small steel ball, the small steel ball is in contact with the hemispherical block, and under the action of the small steel ball, friction between the groove and the hemispherical block can be reduced, and the flexibility of the hemispherical block rotating in the groove is increased.

(3) The outer end of the nut is fixedly connected with a plastic pad, a linear groove is formed in the outer end of the plastic pad, friction between the nut and a user can be increased under the matching effect of the plastic pad and the linear groove, and the nut is convenient to twist by a worker, so that the user can conveniently adjust the position of the sliding rod as required.

(4) Two mechanical ectoskeleton bodies all are equipped with the perforated plate in the one end that is close to each other, and perforated plate outer end bonds has ventilative cotton to fill up, under the mating reaction of perforated plate and ventilative cotton pad, can improve the user and contact between the mechanical ectoskeleton body use experience.

(5) The outer end of the mechanical exoskeleton body is provided with a plurality of air holes, the plurality of air holes are uniformly distributed at the outer end of the mechanical exoskeleton body, and under the action of the air holes and the porous plate, the inner end of the mechanical exoskeleton body can realize certain air circulation, so that a user can conveniently use the mechanical exoskeleton body in daily life.

(6) Two mechanical ectoskeleton bodies all dig the one end that is close to each other and have accomodate the groove, accomodate inslot end wall fixedly connected with compression spring, compression spring keeps away from the one end and the perforated plate fixed connection of mechanical ectoskeleton body, under compression spring's effect, can fix the outer end at mechanical ectoskeleton body with the perforated plate on the one hand, and on the other hand can make the perforated plate remove when the perforated plate is touch to the user for this internal circulation of air speed of mechanical ectoskeleton.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic structural view of the mechanical exoskeleton body part of the present invention;

FIG. 3 is a schematic view of the cross-sectional structure of the circular support block before position adjustment;

FIG. 4 is a schematic view of the overlooked cross-sectional structure of the circular supporting block after the position adjustment;

FIG. 5 is a schematic structural view of the porous plate portion of the present invention;

fig. 6 is a schematic top view of the porous plate portion of the present invention.

The reference numbers in the figures illustrate:

the device comprises a mechanical exoskeleton body 1, a horizontal sliding groove 2, a vertical sliding groove 3, a clamping belt 4, a sliding rod 5, a groove 6, a hemispherical block 7, a limiting block 8, a circular supporting block 9, a connecting rod 10, an auxiliary supporting block 11, a plastic ring 12, a nut 13, a porous plate 14, an air hole 15, a receiving groove 16 and a compression spring 17.

Detailed Description

The technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiment of the present invention; obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention based on the embodiments of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "provided", "sleeved/connected", "connected", and the like are to be understood in a broad sense, such as "connected", which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1:

a lower limb bionic mechanical exoskeleton, please refer to figure 1, comprises two mechanical exoskeleton bodies 1, clamping belts 4 are fixedly connected between the upper and lower ends of the two mechanical exoskeleton bodies 1, the two mechanical exoskeleton bodies 1 can be fixed on the lower limbs of a user under the action of the clamping belts 4, the use of the mechanical exoskeleton bodies 1 by the user is facilitated, a vertical chute 3 is formed in the outer end of each mechanical exoskeleton body 1, a plurality of horizontal chutes 2 are formed in the left and right end walls of the vertical chute 3, a sliding rod 5 is slidably connected in each vertical chute 3, the sliding rod 5 is matched with each horizontal chute 2, a groove 6 is formed in the front end of each sliding rod 5, a hemispherical block 7 is rotatably connected to the outer end wall of each groove 6, a small steel ball is rotatably connected to the inner end wall of each groove 6, the small steel ball is in contact with the hemispherical block 7, and under the action of the small steel ball, the friction between the groove 6 and, increase the flexibility ratio of hemisphere piece 7 at the recess 6 internal rotation, hemisphere 7 outer end fixedly connected with circular supporting shoe 9, the equal fixedly connected with connecting rod 10 in both ends about circular supporting shoe 9, the one end fixedly connected with auxiliary stay 11 of circular supporting shoe 9 is kept away from to connecting rod 10, under the mating reaction between recess 6 and hemisphere piece 7, can make hemisphere piece 7 drive circular supporting shoe 9 rotate along recess 6 wantonly, the in-process that is removing when user's low limbs, circular supporting shoe 9 can carry out the free regulation of angle according to the removal of user's low limbs with auxiliary stay 11, convenience of customers is to mechanical ectoskeleton body 1's use.

Referring to fig. 3, a limiting block 8 is fixedly connected to the front end of a sliding rod 5, a plurality of plastic rings 12 are sleeved at the rear end of the limiting block 8, under the action of the limiting block 8, the position of the adjusted plastic ring 12 can be limited, so that the position of the plastic ring 12 is always located at the rear end of the hemispherical block 7, the free rotation of the hemispherical block 7 is not affected, the flexibility of the lower limbs of a user on the mechanical exoskeleton body 1 is increased, the user can adjust the distance between the circular supporting block 9 and the mechanical exoskeleton body 1 by adjusting the position of the plastic ring 12 on the sliding rod 5, the use of the mechanical exoskeleton body 1 by different users is facilitated, a nut 13 is connected to the outer end of the sliding rod 5 through a thread, the position of the sliding rod 5 can be fixed in the mechanical exoskeleton body 1 through the cooperation between the nut 13 and the sliding rod 5, a plastic pad is fixedly connected to the outer end of the nut, under the cooperation of the plastic pad and the linear groove, the friction between the nut 13 and a user can be increased, so that the nut 13 can be conveniently screwed by a worker, and the position of the sliding rod 5 can be conveniently adjusted by the user according to the requirement.

Referring to fig. 5, the two mechanical exoskeleton bodies 1 are respectively provided with a porous plate 14 at one end close to each other, a breathable cotton pad is bonded at the outer end of the porous plate 14, under the cooperation effect of the porous plate 14 and the breathable cotton pad, the use experience of a user when the user contacts the mechanical exoskeleton bodies 1 can be improved, the outer end of the mechanical exoskeleton body 1 is provided with a plurality of vent holes 15, the vent holes 15 are uniformly distributed at the outer end of the mechanical exoskeleton body 1, under the action of the vent holes 15 and the porous plate 14, the inner end of the mechanical exoskeleton body 1 can carry out certain air circulation, so that the user can conveniently use the mechanical exoskeleton body 1 daily, the two mechanical exoskeleton bodies 1 are respectively provided with a storage groove 16 at one end close to each other, the inner end wall of each storage groove 16 is fixedly connected with a compression spring 17, one end of each compression spring 17 far away from the mechanical exoskeleton body 1 is fixedly connected, under the action of the compression spring 17, on one hand, the porous plate 14 can be fixed at the outer end of the mechanical exoskeleton body 1, and on the other hand, when a user touches the porous plate 14, the porous plate 14 can be moved, so that the air circulation rate in the mechanical exoskeleton body 1 is increased.

When a user needs to wear the mechanical exoskeleton body 1, please refer to fig. 1, firstly, the user opens the buckles of the clamp belt 4 to enable the mechanical exoskeleton body 1 and the lower limbs at two ends to be mutually attached, please refer to fig. 3, the user screws out the nuts 13 from the slide bars 5 to enable the slide bars 5 to slide along the vertical chutes 3 or the horizontal chutes 2 until the most comfortable positions of the user are adjusted, so that the circular support blocks 9 and the auxiliary support blocks 11 are mutually contacted with the easily worn positions of the user, meanwhile, the user can adjust the distance between the mechanical exoskeleton body 1 and the lower limbs of the user by moving the positions of the plastic rings 12 according to the fastening degree of the mechanical exoskeleton body 1 and the lower limbs, under the action of the circular support blocks 9 and the auxiliary support blocks 11, on one hand, the mechanical exoskeleton body 1 and the user can be connected into a whole, on the other hand, under the premise that the mechanical exoskeleton body 1 plays a role in supporting the lower, can increase the flexibility ratio of user's low limbs in mechanical ectoskeleton body 1, compare in prior art, can not adjust the mode to the abrasionproof pad of mechanical ectoskeleton, the utility model discloses can adjust the level of circular supporting shoe 9 and auxiliary supporting shoe 11 and the ascending position of vertical side according to different user's demand, make the applicable crowd scope of mechanical ectoskeleton body 1 more extensive, be convenient for different users to the use of mechanical ectoskeleton body 1.

The above description is only the preferred embodiment of the present invention; the scope of the present invention is not limited thereto. Any person skilled in the art should also be able to cover the technical scope of the present invention by replacing or changing the technical solution and the improvement concept of the present invention with equivalents and modifications within the technical scope of the present invention.

Claims

1. The utility model provides a bionical mechanical ectoskeleton of low limbs, includes two machinery ectoskeleton bodies (1), two equal fixedly connected with cassette tape (4), its characterized in that between the upper and lower both ends of machinery ectoskeleton body (1): the outer end of the mechanical exoskeleton body (1) is provided with a vertical chute (3), the left end wall and the right end wall of the vertical chute (3) are respectively provided with a plurality of horizontal chutes (2), the vertical chute (3) is internally connected with a slide bar (5), the slide bar (5) is matched with the horizontal chutes (2), the front end of the slide bar (5) is provided with a groove (6), the outer end wall of the groove (6) is rotatably connected with a hemispherical block (7), the outer end of the hemispherical block (7) is fixedly connected with a circular supporting block (9), the left end and the right end of the circular supporting block (9) are respectively fixedly connected with a connecting rod (10), one end of the connecting rod (10) far away from the circular supporting block (9) is fixedly connected with an auxiliary supporting block (11), the front end of the slide bar (5) is fixedly connected with a limiting block (8), and the rear end, the outer end of the sliding rod (5) is connected with a nut (13) in a threaded manner.

2. The lower limb biomimetic mechanical exoskeleton of claim 1, wherein: the inner end wall of the groove (6) is rotatably connected with a small steel ball, and the small steel ball is contacted with the hemispherical block (7).

3. The lower limb biomimetic mechanical exoskeleton of claim 1, wherein: the outer end of the nut (13) is fixedly connected with a plastic pad, and a straight line groove is cut in the outer end of the plastic pad.

4. The lower limb biomimetic mechanical exoskeleton of claim 1, wherein: two machinery ectoskeleton body (1) all are equipped with perforated plate (14) in the one end that is close to each other, perforated plate (14) outer end bonding has ventilative cotton pad.

5. The lower limb biomimetic mechanical exoskeleton of claim 1, wherein: the outer end of the mechanical exoskeleton body (1) is provided with a plurality of air holes (15), and the plurality of air holes (15) are uniformly distributed at the outer end of the mechanical exoskeleton body (1).

6. The lower limb biomimetic mechanical exoskeleton of claim 1 or 4, wherein: the mechanical exoskeleton body is characterized in that one end, close to each other, of each of the two mechanical exoskeleton bodies (1) is provided with a containing groove (16), the inner end wall of each containing groove (16) is fixedly connected with a compression spring (17), and one end, far away from the mechanical exoskeleton body (1), of each compression spring (17) is fixedly connected with a perforated plate (14).