CN210790965U

CN210790965U - Adjusting device

Info

Publication number: CN210790965U
Application number: CN201921742437.7U
Authority: CN
Inventors: 冯佳林; 陈功; 叶晶; 张旭; 贺桂华
Original assignee: Shenzhen Milebot Robot Technology Co ltd
Current assignee: Shenzhen Milebot Robot Technology Co ltd
Priority date: 2019-10-16
Filing date: 2019-10-16
Publication date: 2020-06-19
Anticipated expiration: 2029-10-16

Abstract

The utility model relates to an adjusting device, include: the base is used for being mounted on a lumbar support structure of the powered exoskeleton; a first telescoping assembly extends into the base from one end portion of the base; the second telescopic assembly extends into the base from the other end part of the base; the adjusting component is linked with the first telescopic component and the second telescopic component, and the adjusting component can drive the first telescopic component and the second telescopic component to move reversely and synchronously relative to the base, so that the lengths of the first telescopic component and the second telescopic component extending out of the base are synchronously adjustable. The adjusting device can realize symmetrical adjustment of the sizes of the two ends of the base through the adjusting assembly, so that the size of the waist supporting mechanism of the power exoskeleton can be adjusted according to the waistline of a wearer, the actual use requirements of the wearers with different waistlines can be met, and the waist supporting structure of the wearer relative to the power exoskeleton can be positioned in the middle in a symmetrical mode.

Description

Adjusting device

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to an adjusting device.

Background

Powered exoskeletons, also known as powered armor, are wearable mobile machines that support a user's body part and move a user's limbs. The size of the waist supporting structure of the existing power exoskeleton can not be adjusted, so that the waist supporting structure can not be well suitable for users with different waistlines.

SUMMERY OF THE UTILITY MODEL

In view of this, there is a need for an adjustment device that facilitates adjustment of the size of the lumbar support mechanism of a powered exoskeleton.

An adjustment device, comprising:

a base for mounting on a lumbar support structure of the powered exoskeleton;

a first telescoping assembly extending into the base from an end portion of the base;

a second telescopic assembly extending into the base from the other end part of the base; and

the adjusting assembly is linked with the first telescopic assembly and the second telescopic assembly, and the adjusting assembly can drive the first telescopic assembly and the second telescopic assembly to move oppositely and synchronously to enable the first telescopic assembly and the second telescopic assembly to extend out of the base to be synchronously adjustable in length.

In one embodiment, the adjustment assembly comprises:

the first rack is arranged in the base and is connected with one end of the first telescopic component;

the second rack is arranged in the base and is connected with one end of the second telescopic component; and

the pivot, the one end of pivot is followed one side of base stretches into in the base, just the one end of pivot is equipped with the gear, the both sides of gear respectively with first rack with the second rack meshes mutually, the pivot can be relative the base rotates around the axial of self, in order to pass through the gear with first rack with the meshing transmission of second rack drives first rack with the second rack is in reverse synchronous motion in the base, thereby drive first flexible subassembly with the flexible subassembly of second is relative the reverse synchronous motion of base, and then so that first flexible subassembly with the flexible subassembly of second stretches out to the outside length synchronous adjustability of base.

In one embodiment, the adjusting assembly further includes a knob for facilitating application of an external force for rotating the rotating shaft relative to the base around its own axial direction, and the knob is sleeved on one end of the rotating shaft away from the gear.

In one embodiment, a through hole is formed in one side of the base, the knob penetrates through the through hole and extends into the base, a convex column is arranged on one side, facing the gear, of the knob, a supporting frame is further arranged in the base, a plurality of inserting holes are formed in the supporting frame and surround the rotating shaft at intervals in the axial direction, the knob can move relative to the rotating shaft and the base along the axial direction of the rotating shaft to drive the convex column to move towards the direction close to or away from the inserting holes, so that the convex column is matched with or separated from the inserting holes, and the knob is locked around the axial rotation of the rotating shaft or the locking of the knob around the axial rotation of the rotating shaft is released.

In one embodiment, a step is formed in the knob, the adjusting assembly further includes a limiting member, the limiting member is sleeved in the knob and fixed to one end of the rotating shaft, which is far away from the gear, and the limiting member can abut against the step to limit the axial movement of the knob relative to the rotating shaft and the base along the rotating shaft.

In one embodiment, a through groove is further formed in one side of the base, the through groove extends along the extension direction of the first telescopic assembly, a clamping groove is formed in the circumferential direction of the knob, the adjusting device further comprises a propping assembly, the propping assembly comprises a propping member and an elastic member, the propping member penetrates through the through groove and extends into the base, the elastic member elastically props against one end, away from the clamping groove, of the propping member, the propping member can move towards the direction close to or far away from the clamping groove relative to the through groove to be matched with or separated from the clamping groove, so that the knob is locked or unlocked to move along the axial direction of the rotating shaft or move along the axial direction of the rotating shaft, and the elastic member is used for providing restoring force for the propping member to move towards the direction close to the clamping groove.

In one embodiment, the abutting assembly further includes a toggle member for conveniently applying an external force for moving the abutting member relative to the through groove, and the toggle member is disposed at one end of the abutting member exposed out of the base.

In one embodiment, the first retraction assembly comprises:

the sliding block is fixed in the base;

the sliding rail extends into the base from one end part of the base and is in sliding fit with the sliding block; the adjusting component is linked with the slide rail; and

the fixing piece is arranged at one end of the sliding rail exposed out of the base.

In one embodiment, a ball is arranged in the sliding block and used for reducing the friction force between the sliding block and the sliding rail.

In one embodiment, the sliding blocks and the sliding rails are arranged in pairs, the two sliding blocks are arranged in the base at intervals, the two sliding rails and the two sliding blocks correspond to each other one by one, and the fixing part is connected with one end of the two sliding rails exposed out of the base.

Above-mentioned adjusting device, its base is used for installing on the lumbar support structure of helping hand ectoskeleton, because adjusting part can drive the relative base reverse synchronous motion of first flexible subassembly and the flexible subassembly of second, so that first flexible subassembly and the flexible subassembly of second stretch out to the outside synchronous adjustable length of base, thereby adjust with the symmetry of the size that realizes the base both ends, and then make the lumbar support mechanism's of helping hand ectoskeleton size can adjust according to wearer's waistline, in order to adapt to the actual use demand of the wearer of different waistlines, and can ensure that the lumbar support structure symmetry of the relative helping hand ectoskeleton of wearer is fixed a position between two parties, promote the performance of the lumbar support structure of helping hand ectoskeleton.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings 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 these drawings without creative efforts.

FIG. 1 is a schematic diagram of an embodiment of an adjustment device;

FIG. 2 is a schematic view of a portion of the adjustment device of FIG. 1;

FIG. 3 is a partial schematic view of another perspective of the adjustment apparatus of FIG. 1;

FIG. 4 is a partial schematic view of the adjustment apparatus of FIG. 1 from a further perspective;

FIG. 5 is a cross-sectional view of the adjustment device of FIG. 1;

fig. 6 is an enlarged schematic view of a point a in fig. 5.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "inner", "outer", "left", "right" and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

As shown in FIG. 1, the adjustment device 10 in one embodiment comprises a base 100, a first telescoping assembly 200, a second telescoping assembly 300, and an adjustment assembly 400, the base 100 being adapted to be mounted to a lumbar support structure of a power assisted exoskeleton; the first telescopic assembly 200 extends into the base 100 from one end portion of the base 100; the second telescopic assembly 300 extends into the base 100 from the other end portion of the base 100; the adjusting assembly 400 is linked with the first telescopic assembly 200 and the second telescopic assembly 300, and the adjusting assembly 400 can drive the first telescopic assembly 200 and the second telescopic assembly 300 to move reversely and synchronously relative to the base 100, so that the lengths of the first telescopic assembly 200 and the second telescopic assembly 300 extending out of the base 100 are synchronously adjustable.

Above-mentioned adjusting device 10, its base 100 is used for installing on the lumbar support structure of helping hand ectoskeleton, because adjusting part 400 can drive first flexible subassembly 200 and the flexible subassembly 300 of second relative base 100 reverse synchronous motion, so that first flexible subassembly 200 and the flexible subassembly 300 of second stretches out to the outside synchronous adjustable length of base 100, thereby in order to realize the symmetric adjustment of the size at base 100 both ends, and then make the lumbar support mechanism's of helping hand ectoskeleton size can adjust according to the waistline of wearer, in order to adapt to the actual use demand of the wearer of different waistlines, and can ensure that the waist support structure symmetry of the relative helping hand ectoskeleton of wearer is fixed a position in the middle, promote the performance of the lumbar support structure of helping hand ectoskeleton.

As shown in fig. 2 and 3, further, the adjusting assembly 400 includes a first rack 410, a second rack 420 and a rotating shaft 430, wherein the first rack 410 is disposed in the base 100 and connected to one end of the first telescopic assembly 200; the second rack 420 is arranged in the base 100 and connected with one end of the second telescopic assembly 300; one end of the rotating shaft 430 extends into the base 100 from one side of the base 100, and one end of the rotating shaft 430 is provided with a gear 440, two sides of the gear 440 are respectively engaged with the first rack 410 and the second rack 420, the rotating shaft 430 can rotate around its own axial direction relative to the base 100, so that the first rack 410 and the second rack 420 are driven to move in the base 100 in opposite directions synchronously by the meshing transmission of the gear 440 with the first rack 410 and the second rack 420, thereby driving the first telescopic assembly 200 and the second telescopic assembly 300 to move reversely and synchronously relative to the base 100, so that the lengths of the first telescopic assembly 200 and the second telescopic assembly 300 extending out of the base 100 can be synchronously adjusted, the symmetrical adjustment of the sizes of the two ends of the base 100 can be realized, and then the size of the waist supporting mechanism of the power-assisted exoskeleton can be adjusted according to the waistline of the wearer, so that the practical use requirements of the wearers with different waistlines can be met.

As shown in FIG. 4, in one embodiment, the first rack 410 includes an auxiliary portion 412 and a rack portion 414, the auxiliary portion 412 is coupled to an end of the first telescoping assembly 200, and the rack portion 414 is coupled to a side of the auxiliary portion 412 remote from the first telescoping assembly 200 and is engaged with a gear 440. Through the axial rotation of drive pivot 430 around self, the meshing transmission of the rack portion 414 of accessible gear 440 and first rack 410 drives first rack 410 and wholly moves towards or keeps away from the one end that base 100 supplied first flexible subassembly 200 to wear to establish the removal to drive the wearing of the one end of first flexible subassembly 200 relative to base 100, realize that first flexible subassembly 200 stretches out to the outside length adjustment of base 100.

In the present embodiment, the auxiliary portion 412 and the rack portion 414 are integrally formed. Further, in the present embodiment, the structure of the second rack 420 is the same as that of the first rack 410, and a description thereof will not be provided.

As shown in fig. 5, in an embodiment, the adjusting assembly 400 further includes a bearing 450, the bearing 450 is disposed in the base 100, and the rotating shaft 430 is rotatably disposed in the base 100 through the bearing 450. Further, the bearing 450 includes a plurality of bearings 450, and the plurality of bearings 450 are spaced apart from the rotating shaft 430 in the axial direction of the rotating shaft 430. In this embodiment, the number of the bearings 450 is two, and the two bearings 450 are spaced apart from the rotating shaft 430 along the axial direction of the rotating shaft 430, and it is understood that in other embodiments, the number of the bearings 450 may be one or more than three, and the specific arrangement manner may be reasonably selected according to actual situations.

Further, the adjusting assembly 400 further includes a knob 460 for facilitating application of an external force for rotating the rotating shaft 430 relative to the base 100 around its axial direction, and the knob 460 is sleeved on an end of the rotating shaft 430 far away from the gear 440.

As shown in fig. 6, further, a through hole 110 is disposed on one side of the base 100, the knob 460 penetrates through the through hole 110 and extends into the base 100, a protruding pillar 462 is disposed on one side of the knob 460 facing the gear 440, a supporting frame 500 is further disposed in the base 100, a plurality of insertion holes 520 are disposed on the supporting frame 500, the plurality of insertion holes 520 are disposed at intervals in the axial direction of the rotating shaft 430, and the knob 460 can move in the axial direction of the rotating shaft 430 and the base 100 along the rotating shaft 430 to drive the protruding pillar 462 to move towards a direction close to or away from the insertion hole 520, so that the protruding pillar 462 is engaged with or separated from the insertion hole 520, thereby locking the rotation of the knob 460 around the axial direction of the rotating shaft 430 or releasing the locking of the rotation of the.

Specifically, initially, the protruding pillar 462 on the knob 460 is engaged with a certain insertion hole 520 on the supporting frame 500, so that the knob 460 is locked and cannot rotate around the axial direction of the rotating shaft 430, when the size of the lumbar supporting mechanism of the assisting exoskeleton needs to be adjusted, at this time, the knob 460 is pulled out along the axial direction of the rotating shaft 430 and towards the outside of the base 100, so as to drive the protruding pillar 462 to move along the axial direction of the rotating shaft 430 and towards the direction far away from the current insertion hole 520 on the supporting frame 500, so that the protruding pillar 462 is separated from the current insertion hole 520 on the supporting frame 500, thereby releasing the locking of the axial rotation of the knob 460 around the rotating shaft 430, at this time, the rotating shaft 430 can be driven to rotate by rotating the knob 460, and then the first telescopic assembly 200 and the second telescopic assembly 300 are driven to reversely and synchronously move relative to the base 100 by the meshing transmission of the gear 440 and the first rack 410 and the second, the size of the waist supporting mechanism of the power-assisted exoskeleton can be adjusted.

After the size of the lumbar support mechanism of the assisting exoskeleton is adjusted, the knob 460 is pressed towards the inside of the base 100 along the axial direction of the rotating shaft 430 to drive the protruding post 462 to move along the axial direction of the rotating shaft 430 and towards the direction close to the other inserting hole 520 on the supporting frame 500, so that the protruding post 462 on the knob 460 is matched with the other inserting hole 520 on the supporting frame 500, thereby realizing the relocking of the axial rotation of the knob 460 around the rotating shaft 430, improving the use safety of the adjusting device 10, and ensuring that the size of the lumbar support mechanism of the assisting exoskeleton is not changed after being adjusted.

It should be noted that in the present embodiment, the supporting frame 500 is provided with a bearing mounting hole 540, the plurality of insertion holes 520 are spaced around the bearing mounting hole 540, and one of the two bearings 450, which is relatively close to the knob 460, is mounted in the bearing mounting hole 540 of the supporting frame 500.

As shown in fig. 6, further, a through groove 120 is further disposed on one side of the base 100, the through groove 120 extends along the extending and retracting direction of the first extending and retracting component 200, a clamping groove 464 is disposed on the circumference of the knob 460, the adjusting device 10 further includes a supporting component 600, the supporting component 600 includes a supporting member 620 and an elastic member 640, the supporting member 620 passes through the through groove 120 and extends into the base 100, the elastic member 640 elastically abuts against one end of the supporting member 620 facing away from the clamping groove 464, the supporting member 620 can move towards the direction close to or away from the clamping groove 464 relative to the through groove 120 to be matched with or separated from the clamping groove 464, so as to lock or unlock the knob 460 along the axial direction of the rotating shaft 430 or to move the knob 460 along the axial direction of the rotating shaft 430, and the elastic member 640 is configured to provide a restoring force to the supporting member 620 towards the direction close to the clamping groove.

Initially, the propping element 620 is engaged with the engaging groove 464 on the circumference of the knob 460, and the convex pillar 462 on the knob 460 is engaged with a certain inserting hole 520 on the supporting frame 500, so that the knob 460 is locked against movement in the axial direction of the rotation shaft 430 and rotation about the axial direction of the rotation shaft 430, when it is desired to rotate knob 460 to effect size adjustment of the lumbar support mechanism of the assisted exoskeleton, the propping element 620 is driven by external force to move relative to the through groove 120 in a direction away from the locking groove 464 on the circumference of the knob 460, so as to be separated from the locking groove 464 on the circumference of the knob 460, thereby realizing the unlocking of the movement locking of the knob 460 along the axial direction of the rotating shaft 430, at this time, the knob 460 can be driven to move along the axial direction of the rotating shaft 430, so as to realize the subsequent unlocking of the axial rotation locking of the knob 460 around the rotating shaft 430, further, the size of the lumbar support mechanism of the assisted exoskeleton is adjusted by rotating the knob 460;

after the size of the lumbar support mechanism of the power-assisted exoskeleton is adjusted and the knob 460 is locked again in the axial direction around the rotating shaft 430, the external force acting on the propping member 620 is released, the propping member 620 automatically resets in the direction close to the clamping groove 464 in the circumferential direction of the knob 460 relative to the through groove 120 under the action of the restoring force provided by the elastic member 640, the propping member 620 is matched with the clamping groove 464 in the circumferential direction of the knob 460 again, and the knob 460 is locked again in the axial direction of the rotating shaft 430, so that the convex column 462 on the knob 460 cannot be accidentally separated from the other insertion hole 520 matched with the support frame 500 at present, the use safety of the adjusting device 10 is further improved, and the size of the lumbar support mechanism of the power-assisted exoskeleton is not changed after being adjusted.

In an embodiment, the abutting assembly 600 further includes a shifting element 660 for facilitating application of an external force for moving the abutting element 620 relative to the through slot 120, wherein the shifting element 660 is disposed at an end of the abutting element 620 exposed from the base 100.

As shown in fig. 5 and 6, a step 466 is formed in the knob 460, and the adjusting assembly 400 further includes a limiting member 470, the limiting member 470 is sleeved in the knob 460 and fixed at an end of the rotating shaft 430 far from the gear 440, and the limiting member 470 can abut against the step 466 to limit the axial movement of the knob 460 relative to the rotating shaft 430 and the base 100 along the rotating shaft 430, so as to prevent the knob 460 from being accidentally disengaged from the rotating shaft 430.

As shown in fig. 3 and 4, further, the first telescopic assembly 200 includes a sliding block 210, a sliding rail 220 and a fixing member 230, wherein the sliding block 210 is fixed in the base 100; the slide rail 220 extends into the base 100 from one end portion of the base 100 and is in sliding fit with the slider 210; the adjusting assembly 400 is linked with the slide rail 220; the fixing member 230 is disposed at one end of the slide rail 220 exposed out of the base 100, and the adjusting assembly 400 can drive the slide rail 220 to move back and forth relative to the slider 210 along the extending direction of the slide rail 220, so as to drive the fixing member 230 to move toward the end close to or away from the base 100 where the slide rail 220 is inserted, thereby achieving the size adjustment of the end of the base 100 where the slide rail 220 is inserted.

Specifically, the first rack 410 of the adjusting assembly 400 is connected to one end of the slide rail 220 far away from the fixing element 230, and more specifically, the fixing portion 412 of the first rack 410 is connected to one end of the slide rail 220 far away from the fixing element 230, and the driving shaft 430 rotates around the axial direction of the driving shaft, so that the first rack 410 is driven by the meshing transmission of the gear 440 and the first rack 410 to move toward the end close to or far away from the base 100 where the slide rail 220 is provided for the penetration of the slide rail 220, thereby driving the slide rail 220 to reciprocate relative to the slider 210 along the extending direction of the slide rail 220, and further driving the fixing element 230 to move toward the end close to or far away from the base 100 where the slide rail 220 is provided for the penetration of the.

As shown in fig. 3 and 4, in the present embodiment, the sliding blocks 210 and the sliding rails 220 are arranged in pairs, the two sliding blocks 210 are arranged in the base 100 at intervals, specifically, the two sliding blocks 210 are respectively arranged on two opposite inner side walls of the base 100, the two sliding rails 220 correspond to the two sliding blocks 210 one to one, the fixing member 230 is connected to one end of the two sliding rails 220 exposed out of the base 100, the first rack 410 of the adjusting assembly 400 is connected to one end of the two sliding rails 220 far away from the fixing member 230, and more specifically, the fixing portion 412 of the first rack 410 is connected to one end of the two sliding rails 220 far away from the fixing member 230.

Further, be equipped with the ball in the slider 210, the ball is used for reducing the frictional force between slider 210 and the slide rail 220 for the size adjustment of the lumbar support mechanism of helping hand ectoskeleton is more laborsaving, improves user experience, reduces the noise. It should be noted that in the present embodiment, the structure of the second telescopic assembly 300 is the same as that of the first telescopic assembly 200, and the description thereof is omitted.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. An adjustment device, comprising:

a base for mounting on a lumbar support structure of the powered exoskeleton;

2. The adjustment device of claim 1, wherein the adjustment assembly comprises:

3. The adjustment device of claim 2, wherein the adjustment assembly further comprises a knob for facilitating application of an external force for rotating the shaft relative to the base in an axial direction thereof, the knob being sleeved on an end of the shaft away from the gear.

4. The adjusting device according to claim 3, wherein a through hole is formed in one side of the base, the knob penetrates through the through hole and extends into the base, a protruding column is arranged on one side of the knob facing the gear, a support frame is further arranged in the base, a plurality of insertion holes are formed in the support frame and are arranged at intervals around the axial direction of the rotating shaft, and the knob can move relative to the rotating shaft and the base along the axial direction of the rotating shaft to drive the protruding column to move towards a direction close to or far away from the insertion holes so as to enable the protruding column to be matched with or separated from the insertion holes, so that the knob can be locked or unlocked to rotate around the axial direction of the rotating shaft.

5. The adjusting device according to claim 4, wherein a step is formed in the knob, the adjusting assembly further includes a limiting member, the limiting member is sleeved in the knob and fixed to an end of the rotating shaft away from the gear, and the limiting member can abut against the step to limit the axial movement of the knob relative to the rotating shaft and the base along the rotating shaft.

6. The adjustment device of claim 4, wherein one side of the base is further provided with a through slot, the through groove extends along the extension direction of the first extension component, a clamping groove is arranged on the circumference of the knob, the adjusting device also comprises a propping component, the propping component comprises a propping piece and an elastic piece, the propping piece penetrates through the through groove and extends into the base, the elastic piece is elastically abutted against one end of the propping piece, which is far away from the clamping groove, the propping piece can move towards the direction close to or far away from the clamping groove relative to the through groove so as to be matched with or separated from the clamping groove, so as to lock or unlock the movement of the knob along the axial direction of the rotating shaft, the elastic piece is used for providing restoring force for the propping piece to move towards the direction close to the clamping groove.

7. The adjusting device according to claim 6, wherein the abutting assembly further comprises a toggle member for facilitating application of an external force for moving the abutting member relative to the through slot, and the toggle member is disposed at an end of the abutting member exposed from the base.

8. The adjustment device of claim 1, wherein the first retraction assembly comprises:

the sliding block is fixed in the base;

the fixing piece is arranged at one end of the sliding rail exposed out of the base, and the adjusting component can drive the sliding rail to move back and forth relative to the sliding block along the extending direction of the sliding rail, so that the fixing piece is driven to move towards or away from the base, and the sliding rail penetrates through the end of the fixing piece.

9. The adjustment device of claim 8, wherein a ball is disposed within the slider for reducing friction between the slider and the slide.

10. The adjusting device according to claim 8, wherein the sliding blocks and the sliding rails are arranged in pairs, two sliding blocks are arranged in the base at intervals, two sliding rails are in one-to-one correspondence with the two sliding blocks, and the fixing member is connected to one end of the two sliding rails exposed out of the base.