CN210335948U - Wearable robot waist back width adjustment mechanism - Google Patents
Wearable robot waist back width adjustment mechanism Download PDFInfo
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- CN210335948U CN210335948U CN201921232981.7U CN201921232981U CN210335948U CN 210335948 U CN210335948 U CN 210335948U CN 201921232981 U CN201921232981 U CN 201921232981U CN 210335948 U CN210335948 U CN 210335948U
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- waist support
- waist
- guard plate
- gear
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Abstract
The utility model discloses a wearable robot waist and back width adjusting mechanism, which comprises a back guard plate, a linkage adjusting device arranged on the back guard plate, and a first waist support and a second waist support symmetrically arranged at two sides of the back guard plate, wherein the first waist support and the second waist support are respectively linked with the linkage adjusting device; when the linkage adjusting device rotates towards a first direction under the action of external force, the first waist support and the second waist support are driven to synchronously move towards the back guard plate; when the linkage adjusting device rotates towards the second direction under the action of external force, the first waist support and the second waist support are driven to synchronously move away from the back guard plate. Compared with the prior art, the utility model discloses the reduction of very big degree the complexity of waist width regulation has effectively reduced wearable robot's the use degree of difficulty.
Description
Technical Field
The utility model relates to a wearable robot technical field, in particular to wearable robot waist back width adjustment mechanism.
Background
In the existing wearable exoskeleton robot products, most waist width adjusting mechanisms of the existing wearable exoskeleton robot products adopt split structures, namely, the left side and the right side are respectively adjusted, and after the adjustment is finished, rigid components such as screws and nuts are used for fastening. When the user needs to carry out waist width adjustment, need adjust left and right sides mechanism and ensure left and right side symmetry, the accommodation process is loaded down with trivial details relatively. Due to the fact that the bolt and the nut are adopted for locking, the use of a special tool cannot be avoided during adjustment, even the adjustment can be completed by a professional, and the popularization of wearable robots such as the exoskeleton in the market of China is seriously influenced.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a wearable robot waist back width adjustment mechanism aims at reducing the complexity that waist width was adjusted, effectively reduces the use degree of difficulty of wearable robot equipment.
In order to achieve the purpose, the utility model provides a wearable robot waist back width adjusting mechanism, which comprises a back guard plate, a linkage adjusting device arranged on the back guard plate, and a first waist support and a second waist support which are symmetrically arranged at two sides of the back guard plate, wherein the first waist support and the second waist support are respectively linked with the linkage adjusting device;
when the linkage adjusting device rotates towards a first direction under the action of external force, the first waist support and the second waist support are driven to synchronously move towards the back guard plate;
when the linkage adjusting device rotates towards the second direction under the action of external force, the first waist support and the second waist support are driven to synchronously move away from the back guard plate.
The utility model discloses a further technical scheme is, the back backplate is hollow structure, linkage adjusting device including install in driving gear in the back backplate, first waist support include first waist support body, with first connecting strip that the upper end of first waist support body is connected, with the first rack that the lower extreme of first waist support body is connected, the second waist support include the second waist support body, with the second rack that the upper end of second waist support body is connected, with the second connecting strip that the lower extreme of first waist support body is connected, first rack with the lower limb profile of tooth meshing of driving gear, the second rack with the upper limb profile of tooth meshing of driving gear.
The utility model discloses a further technical scheme is, linkage adjusting device still include with the driving gear links mutually, is used for the drive driving gear pivoted gear drive axle, the back backplate and seted up on the driving gear and supply to wear to establish gear drive axle's through-hole.
The utility model discloses a further technical scheme is, gear drive axle card is located on the driving gear.
The utility model discloses a further technical scheme is, the outer wall of gear drive shaft's mid portion is provided with a plurality of archs, the through-hole of driving gear be provided with all around a plurality of with a plurality of archs are corresponding, are used for the card to establish a plurality of bellied a plurality of draw-in grooves.
The utility model discloses a further technical scheme is, the coordinated regulation device still include with the one end fixed connection's of gear drive axle positioning disk and right the positioning disk carries out spacing axle head cover, the other end of gear drive axle is worn to locate in the through-hole, the axle head cover pass through locking screw with back backplate fixed connection, the axle head cover pass through positioning screw with the connection can be dismantled to the positioning disk.
The further technical scheme of the utility model is, the positioning disk with gear drive axle integrated into one piece.
The technical scheme of the utility model is, wearable robot waist back width adjustment mechanism still include with this body coupling's of first waist support first waist handrail, with this body coupling's of second waist support second waist handrail.
The utility model has the advantages that: the utility model discloses wearable robot waist back width adjustment mechanism's beneficial effect is: the utility model discloses a linkage adjusting device drives when rotating to the first direction under the exogenic action first waist support, second waist support are towards in step the back backplate motion, when rotating to the second direction under the exogenic action, drive first waist support, second waist support are kept away from in step the back backplate motion, the complexity of the reduction waist width of very big degree is adjusted effectively reduces wearable robot equipment's the use degree of difficulty.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is an exploded view of a preferred embodiment of the waist-back width adjusting mechanism of the wearable robot of the present invention;
fig. 2 is a schematic overall structure diagram of a preferred embodiment of the waist and back width adjusting mechanism of the wearable robot of the present invention;
fig. 3 is a front view of a preferred embodiment of the waist and back width adjusting mechanism of the wearable robot of the present invention;
fig. 4 is a rear view of the preferred embodiment of the waist and back width adjusting mechanism of the wearable robot of the present invention;
fig. 5 is a sectional view taken in the direction of a-a in fig. 4.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 1 | |
6 | |
| 2 | |
7 | |
| 3 | |
8 | |
| 4 | Driving gear | 9 | |
| 5 | Gear drive shaft | 10 | Second waist armrest |
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that, if directional indications (such as upper, lower, left, right, front and rear … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1 to 5, the present invention provides a mechanism for adjusting the width of the waist and back of a wearable robot, and the present invention relates to a synchronous structure for adjusting the width of the waist and back of a wearable robot, which can be used for exoskeleton and other wearable robots, and can simultaneously realize the synchronous opposite movement of the left and right sides by an adjusting knob. When adjusting the waist width, because left and right sides simultaneous movement, can guarantee left and right sides symmetry, the reduction waist width of very big degree is adjusted's complexity, effectively reduces wearable robot's the use degree of difficulty.
As shown in fig. 1 to 5, in a preferred embodiment of the wearable robot waist back width adjusting mechanism of the present invention, the wearable robot waist back width adjusting mechanism comprises a back guard plate 1, a linkage adjusting device installed on the back guard plate 1, and a first waist support 2 and a second waist support 3 symmetrically installed on two sides of the back guard plate 1, wherein the first waist support 2 and the second waist support 3 are linked with the linkage adjusting device respectively.
When the linkage adjusting device rotates towards the first direction under the action of external force, the first waist support 2 and the second waist support 3 are driven to synchronously move towards the back guard plate 1.
When the linkage adjusting device rotates towards the second direction under the action of external force, the first waist support 2 and the second waist support 3 are driven to synchronously move away from the back guard plate 1.
Specifically, back backplate 1 is hollow structure, linkage adjusting device is including installing driving gear 4 in back backplate 1, first waist support 2 includes first waist support 2 body, the first connecting strip of being connected with the upper end of first waist support 2 body, the first rack of being connected with the lower extreme of first waist support 2 body, second waist support 3 includes second waist support 3 body, the second rack of being connected with the upper end of second waist support 3 body, the second connecting strip of being connected with the lower extreme of first waist support 2 body, the meshing of the lower limb profile of first rack and driving gear 4, the meshing of the upper limb profile of second rack and driving gear 4.
Further, the linkage adjusting device further comprises a gear driving shaft 5 which is linked with the driving gear 4 and used for driving the driving gear 4 to rotate, and through holes for penetrating the gear driving shaft 5 are formed in the back guard plate 1 and the driving gear 4.
In specific implementation, the gear driving shaft 5 can be clamped on the driving gear 4.
For example, as an embodiment, a plurality of protrusions may be disposed on an outer wall of a middle portion of the gear driving shaft 5, and a plurality of slots corresponding to the plurality of protrusions and configured to engage the plurality of protrusions may be disposed around the through hole of the driving gear 4.
Furthermore, the linkage adjusting device further comprises a positioning disc fixedly connected with one end of the gear driving shaft 5 and a shaft end cover 6 for limiting the positioning disc, the other end of the gear driving shaft 5 penetrates through the through hole, and the shaft end cover 6 is fixedly connected with the back guard plate 1 through a locking screw 7 and is detachably connected with the positioning disc through a positioning screw 8.
Wherein, the positioning disc and the gear driving shaft 5 can adopt an integrated molding design.
Furthermore, in the present embodiment, the wearable robot back width adjustment mechanism further includes a first waist armrest 9 connected to the first waist support 2, and a second waist armrest 10 connected to the second waist support 3.
It is following right the utility model discloses wearable robot waist back width adjustment mechanism's assembly relation and theory of operation do further elaboration.
The utility model comprises a lateral waist device, a back device and a linkage adjusting device. Wherein the lateral lumbar device comprises a first waist support 2 and a second waist support 3; the back device comprises a back guard plate 1; the linkage adjusting device comprises a driving gear 4, a gear driving shaft 5, a shaft end cover 6, a positioning screw 8 and a locking screw 7. The above devices include, but are not limited to, such components. The gear driving shaft 5 passes through a central circular hole of the driving gear 4 and is matched with the driving gear 4 to synchronously rotate through a cross groove. One end of the gear driving shaft 5 is arranged in a round hole at one side inside the back guard plate 1 in a penetrating way, and the other end of the gear driving shaft 5 passes through a round hole at the other side of the back guard plate 1. The shaft end cover 6 covers one side of the gear driving shaft 5 with the positioning hole, and the positioning disc on the gear driving shaft 5 is clamped between the shaft end cover 6 and the back guard plate 1. The shaft end cover 6 is fixed with the back guard plate 1 through a locking screw 7, and the positioning screw 8 is screwed into a positioning hole in the shaft end cover 6 and penetrates through a round hole in a positioning disc of the gear driving shaft 5 to realize the positioning of the gear driving shaft 5. The first connecting strip and the first rack of the first waist support 2 and the second connecting strip and the second rack of the second waist support 3 are respectively inserted into the upper and lower gaps of the back guard plate 1 from the left side and the right side of the back guard plate 1, the rack parts on the first rack and the second rack are respectively meshed with the lower edge tooth form and the upper edge tooth form of the driving gear 4, and the first waist support 2 and the second waist support 3 on the left side and the right side need to be ensured to be symmetrical in size during assembly.
When the user needs to adjust the waist width, the positioning screw 8 is firstly screwed down manually, then the gear driving shaft 5 is rotated, and as the gear driving shaft 5 is matched with the cross groove of the driving gear 4 through the cross structure, the driving gear 4 also rotates synchronously when the gear driving shaft 5 rotates. Because the upper and lower edges of the driving gear 4 are respectively meshed with the racks on the second waist support 3 and the first waist support 2, when the driving gear 4 rotates along one direction, the first waist support 2 and the second waist support 3 move towards the middle or both sides simultaneously, and the left and right sides are synchronously adjusted. After the user adjusts the width, the positioning screw 8 is screwed into the threaded hole to complete the waist width adjustment.
The utility model provides a back width adjustment mechanism is constituteed jointly to side direction waist device, back device and coordinated control device, carries out the mechanism drive through special design's gear drive axle 5 to whole coordinated control device is fixed to the mode of circumference location. The whole mechanism has uniqueness and originality.
The utility model discloses wearable robot waist back width adjustment mechanism's beneficial effect is: the utility model discloses a linkage adjusting device drives first waist support, second waist support and moves towards back backplate in step when rotating to first direction under the exogenic action, when rotating to the second direction under the exogenic action, drives first waist support, second waist support and keeps away from back backplate motion in step, the reduction of very big degree the complexity of waist width regulation has effectively reduced the use degree of difficulty of wearable robot equipment.
The above only is the preferred embodiment of the present invention, not so limiting the patent scope of the present invention, all under the concept of the present invention, the equivalent structure transformation made by the contents of the specification and the drawings is utilized, or the direct/indirect application is included in other related technical fields in the patent protection scope of the present invention.
Claims (8)
1. The mechanism for adjusting the waist and back width of the wearable robot is characterized by comprising a back guard plate, a linkage adjusting device arranged on the back guard plate, a first waist support and a second waist support, wherein the first waist support and the second waist support are symmetrically arranged on two sides of the back guard plate and are respectively linked with the linkage adjusting device;
when the linkage adjusting device rotates towards a first direction under the action of external force, the first waist support and the second waist support are driven to synchronously move towards the back guard plate;
when the linkage adjusting device rotates towards the second direction under the action of external force, the first waist support and the second waist support are driven to synchronously move away from the back guard plate.
2. The wearable robot waist back width adjustment mechanism of claim 1, wherein the back guard plate is of a hollow structure, the linkage adjustment device comprises a driving gear installed in the back guard plate, the first waist support comprises a first waist support body, a first connecting strip connected with an upper end of the first waist support body, and a first rack connected with a lower end of the first waist support body, the second waist support comprises a second waist support body, a second rack connected with an upper end of the second waist support body, and a second connecting strip connected with a lower end of the first waist support body, the first rack is in tooth-type engagement with a lower edge of the driving gear, and the second rack is in tooth-type engagement with an upper edge of the driving gear.
3. The wearable robot waist and back width adjusting mechanism of claim 2, wherein the linkage adjusting device further comprises a gear driving shaft which is linked with the driving gear and used for driving the driving gear to rotate, and the back guard plate and the driving gear are provided with through holes for the gear driving shaft to pass through.
4. The wearable robot lumbar-back width adjustment mechanism of claim 3, wherein the gear drive shaft is engaged with the drive gear.
5. The wearable robot waist and back width adjusting mechanism according to claim 4, wherein a plurality of protrusions are arranged on the outer wall of the middle portion of the gear driving shaft, and a plurality of clamping grooves corresponding to the protrusions and used for clamping the protrusions are arranged around the through hole of the driving gear.
6. The wearable robot lumbar back width adjustment mechanism of claim 3, further comprising a positioning plate fixedly connected to one end of the gear driving shaft, and a shaft end cover for limiting the positioning plate, wherein the other end of the gear driving shaft is inserted into the through hole, the shaft end cover is fixedly connected to the back guard plate through a locking screw, and the shaft end cover is detachably connected to the positioning plate through a positioning screw.
7. The wearable robot lumbar back width adjustment mechanism of claim 6, wherein the puck is integrally formed with the geared drive shaft.
8. The wearable robot lumbar back width adjustment mechanism of any of claims 1-7, further comprising a first lumbar armrest connected to the first lumbar support body, a second lumbar armrest connected to the second lumbar support body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921232981.7U CN210335948U (en) | 2019-07-31 | 2019-07-31 | Wearable robot waist back width adjustment mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921232981.7U CN210335948U (en) | 2019-07-31 | 2019-07-31 | Wearable robot waist back width adjustment mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN210335948U true CN210335948U (en) | 2020-04-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921232981.7U Active CN210335948U (en) | 2019-07-31 | 2019-07-31 | Wearable robot waist back width adjustment mechanism |
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| CN (1) | CN210335948U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110370249A (en) * | 2019-07-31 | 2019-10-25 | 深圳职业技术学院 | Wearable robot waist back width adjustment mechanism |
| CN114102556A (en) * | 2021-10-27 | 2022-03-01 | 北京机械设备研究所 | Wearing device |
-
2019
- 2019-07-31 CN CN201921232981.7U patent/CN210335948U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110370249A (en) * | 2019-07-31 | 2019-10-25 | 深圳职业技术学院 | Wearable robot waist back width adjustment mechanism |
| CN114102556A (en) * | 2021-10-27 | 2022-03-01 | 北京机械设备研究所 | Wearing device |
| CN114102556B (en) * | 2021-10-27 | 2024-05-10 | 北京机械设备研究所 | Wearing device |
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