CN210872824U - Hip adjustable device for exoskeleton robot - Google Patents
Hip adjustable device for exoskeleton robot Download PDFInfo
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- CN210872824U CN210872824U CN201921306200.4U CN201921306200U CN210872824U CN 210872824 U CN210872824 U CN 210872824U CN 201921306200 U CN201921306200 U CN 201921306200U CN 210872824 U CN210872824 U CN 210872824U
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Abstract
The utility model discloses a hip adjustable device for ectoskeleton robot, including hip width section, the both ends of hip width section are equipped with hip thickness section respectively, be equipped with hip joint connecting piece on the hip thickness section, the first end of hip thickness section through profile of tooth cooperation telescopically connect in the tip of hip width section, hip joint connecting piece through profile of tooth cooperation telescopically connect in the second end of hip thickness section. The utility model provides a hip adjustable device for ectoskeleton robot, its structure is exquisite, and the flexibility is good, adjusts the precision height.
Description
Technical Field
The utility model relates to a hip adjustable device for ectoskeleton robot.
Background
Currently, exoskeleton robots are commonly used in modern rehabilitation treatment. The exoskeleton rehabilitation robot device is directly contacted with limbs of a human, the structure and the motion characteristics of the exoskeleton rehabilitation robot device are required to be consistent with the human body rehabilitation motion mechanism, and the exoskeleton rehabilitation robot device is required to be controllable, safe, bearable in weight and capable of meeting the basic motion requirements of the human body in terms of joint mobility.
The existing exoskeleton robot for lower limbs of a human body is applied to a hip connecting device, and often has the problem that the size (including the thickness and the width of the hip) cannot be flexibly and precisely adjusted, so that the defects of small application range, uncomfortable wearing and the like are caused.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the defects in the prior art and providing a hip adjustable device for an exoskeleton robot.
In order to achieve the purpose, the method is realized by the following technical scheme:
a hip adjustable device for an exoskeleton robot comprises a hip width section, wherein a hip thickness section is arranged at each end of the hip width section, a hip joint connecting piece is arranged on each hip thickness section, a first end of each hip thickness section is telescopically connected to the end of the hip width section through tooth-shaped matching, and the hip joint connecting piece is telescopically connected to a second end of the hip thickness section through tooth-shaped matching.
Preferably, a steering transition section is arranged between the first end and the second end of the hip thickness section, the first end of the hip thickness section is arranged at the end of the hip width section in a penetrating manner, the second end of the hip thickness section extends in the thickness direction of the hip, a first rack is arranged inside the first end of the hip thickness section, the first rack extends in the length direction of the hip width section, a width adjusting bolt is arranged at the end of the hip width section, a first adjusting notch parallel to the first rack is formed in the first end of the hip thickness section, the width adjusting bolt penetrates into the hip thickness section from the first adjusting notch, a first gear is arranged on the width adjusting bolt, and the first gear is meshed with the first rack.
Preferably, a first adjusting hole for the width adjusting bolt to penetrate through is formed in the hip width section, the first adjusting hole corresponds to the first adjusting notch, and the first adjusting notch is oblong.
Preferably, a width fixing bolt penetrates through the hip width section, a width fixing nut is fixedly arranged inside the first end of the hip thickness section, and the width fixing bolt penetrates through the hip thickness section and is screwed with the width fixing nut.
Preferably, a first fixing notch is formed in the length direction of the hip width section, and the width fixing bolt penetrates through the first fixing notch, the first fixing notch extends inward from the end of the hip width section, a first fixing hole is formed in the first end of the hip thickness section, and the first fixing notch corresponds to the first fixing hole.
Preferably, a protruding block is arranged on the hip joint connecting piece, the protruding block is arranged in the second end of the hip thickness section in a penetrating mode, a second rack extends out of the protruding block, the second rack is arranged along the extending direction of the second end of the hip thickness section, a thickness adjusting bolt is arranged at the second end of the hip thickness section, the thickness adjusting bolt penetrates into the hip thickness section through a second adjusting hole, a second gear is arranged on the thickness adjusting bolt, and the second gear is meshed with the second rack.
Preferably, the protruding block and the second end of the hip thickness section are fixed to each other by a thickness fixing bolt.
Preferably, a second fixing notch parallel to the second rack is formed in the second end of the hip thickness section, a second fixing hole is formed in the protruding block, the second fixing notch corresponds to the second fixing hole, the thickness fixing bolt penetrates into the second fixing hole through the second fixing notch, and the second fixing notch is oblong.
Preferably, the hip joint connector is a detachable member and is arranged in the width direction of the hip thickness section.
Preferably, the hip joint connecting piece comprises an outer cylinder section and a connecting section, the protruding extension block is fixedly arranged on the outer wall of the outer cylinder section along the axial direction of the outer cylinder section, the connecting section penetrates through the outer cylinder section through a mandrel, the mandrel is connected with the cylinder wall of the outer cylinder section through a radial pin, and the outer end of the connecting section is provided with a connecting lug.
The utility model discloses hip adjustable device's beneficial effect includes:
the first end of the hip thickness section is telescopically connected with the end of the hip width section through a bolt matched with a gear rack, and the hip joint connecting piece is also telescopically connected with the second end of the hip thickness section through a bolt matched with a gear rack, so that the whole hip device can be flexibly and precisely adjusted, the application range of the hip device is improved, and a user feels more comfortable.
Drawings
Fig. 1 is a schematic view of the overall structure of the hip adjustable device of the present invention.
Fig. 2 is a schematic structural view of a hip width segment corresponding to fig. 1.
Fig. 3 is a perspective exploded view of the hip thickness segment and hip joint connector of fig. 1.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings:
as shown in fig. 1, a hip adjustable device for an exoskeleton robot comprises a hip width section 1 (corresponding to the width of a hip of a human body, and likewise "shoulder width"), two ends of the hip width section 1 are respectively provided with a hip thickness section 2 (corresponding to the thickness of the hip of the human body, and likewise "waist thickness"), each hip thickness section 2 is provided with a hip joint connector 3, a first end of the hip thickness section 2 is telescopically connected to an end of the hip width section 1 through a tooth-shaped fit, and the hip joint connector 3 is telescopically connected to a second end of the hip thickness section 2 through a tooth-shaped fit. Preferably, the hip width section 1 and the hip thickness section 2 are both hollow sleeves/tubes.
Specifically, as shown in fig. 1 to 3, an arc-shaped turning transition section is provided between the first end and the second end of the hip thickness section 2, the first end of the hip thickness section 2 is inserted into the end of the hip width section 1, and the second end of the hip thickness section 2 extends in the thickness direction of the hip.
For achieving adjustment of hip width (as indicated by arrow a in fig. 1): a first rack 20 is fixedly arranged inside a first end of the hip thickness section 2, the first rack 20 extends along the length direction of the hip width section 1, a width adjusting bolt 16 is arranged at the end of the hip width section 1, a first adjusting notch 22 parallel to the first rack 20 is formed in the first end of the hip thickness section 2, the width adjusting bolt 16 penetrates into the hip thickness section 2 through the first adjusting notch 22, a first gear 23 is arranged on the width adjusting bolt 16, and the first gear 23 is meshed with the first rack 20. Therefore, the first gear 23 is rotated by rotating the width adjusting bolt 16, so as to drive the first rack 20 to translate, and the first end of the hip thickness section 2 is pushed to extend back and forth at the end of the hip width section 1, thereby realizing the variable adjustment of the hip width.
Preferably, as shown in fig. 2, a first adjusting hole 10 is formed in the hip width section 1, through which the width adjusting bolt 16 passes, the first adjusting hole 10 corresponds to the first adjusting notch 22, and the first adjusting notch 22 is oblong, so that a length stroke required for translation is provided through the first adjusting notch 22.
Furthermore, a width fixing bolt 14 penetrates through the hip width section 1, a width fixing nut 26 is fixedly arranged inside the first end of the hip thickness section 2, and the width fixing bolt 14 penetrates through the hip thickness section 2 and is screwed to the width fixing nut 26. A first fixing notch 12 for the width fixing bolt 14 to penetrate through is formed in the length direction of the hip width section 1, the first fixing notch 12 extends inward from the end of the hip width section 1, a first fixing hole 24 for the width fixing bolt 14 to penetrate through is formed in the first end of the hip thickness section 2, and the first fixing notch 12 corresponds to the first fixing hole 24. Therefore, in the process of telescopic translation, the width fixing bolt 14 can be always arranged on the hip width section 1 in a non-fastening mode without causing obstruction to translation, and after adjustment is completed, the width fixing bolt is fastened. Of course, after the width adjustment is completed, the fixing can be directly performed by the width fixing bolt 14, and the arrangement of the first fixing notch 12 is omitted.
For achieving adjustment of hip thickness (as indicated by the arrow B in fig. 1): referring to fig. 1 and 3, a protruding block 30 is arranged on the hip joint connector 3, the protruding block 30 is arranged in the second end of the hip thickness section 2 in a penetrating manner, a second rack 31 is fixedly extended from the protruding block 30, the second rack 31 is arranged along the extending direction of the second end of the hip thickness section 2, a thickness adjusting bolt 27 is arranged at the second end of the hip thickness section 2, the thickness adjusting bolt 27 penetrates into the hip thickness section 2 through a second adjusting hole 28, a second gear 29 is arranged on the thickness adjusting bolt 27, and the second gear 29 is engaged with the second rack 31. Therefore, by rotating the thickness adjusting bolt 27, the second gear 29 is rotated to drive the second rack 31 to translate, and the hip joint connector 3 is pushed to extend back and forth at the second end of the hip thickness section 2. The principle of adjusting the thickness of the hip is basically the same as that of adjusting the width of the hip, and the adjustment is realized by tooth-shaped matching.
Further, the protruding block 30 and the second end of the hip thickness section 2 are fixed to each other by a thickness fixing bolt 25. As shown in fig. 3, a second fixing notch 21 parallel to the second rack 31 is formed on a second end of the hip thickness section 2, a second fixing hole 32 is formed on the protruding block 30, the second fixing notch 21 corresponds to the second fixing hole 32, the thickness fixing bolt 25 penetrates into the second fixing hole 32 from the second fixing notch 21 to form fastening, the second fixing notch 21 is oblong, the thickness fixing bolt 25 can always pass through the hip width section 1 without fastening in the process of telescopic translation without causing obstruction to translation, and after the adjustment is completed, the hip thickness fixing bolt is fastened.
On the other hand, the hip joint connector 3 is a detachable member and is provided along the width direction of the hip thickness section 2. Specifically, the hip joint connector 3 includes an outer cylinder section 33 and a connection section 34, the protruding extension block 30 is fixedly arranged on the outer wall of the outer cylinder section 33 along the axial direction of the outer cylinder section 33, the connection section 34 is arranged in the outer cylinder section 33 in a penetrating manner through a mandrel 35, the mandrel 35 is connected with the cylinder wall of the outer cylinder section 33 through a radial pin 36, and the outer end of the connection section 34 is provided with a connection lug 37. Thus, the hip height direction connection can be provided.
The utility model provides a hip adjustable device for ectoskeleton robot, its structure is exquisite, and the flexibility is good, adjusts the precision height.
The embodiments of the present invention are only used for illustration, and do not limit the scope of the claims, and other substantially equivalent alternatives that may be conceived by those skilled in the art are within the scope of the present invention.
Claims (10)
1. The hip adjustable device for the exoskeleton robot is characterized by comprising a hip width section, wherein a hip thickness section is arranged at each of two ends of the hip width section, a hip joint connecting piece is arranged on the hip thickness section, a first end of the hip thickness section is telescopically connected to the end of the hip width section through tooth-shaped matching, and the hip joint connecting piece is telescopically connected to a second end of the hip thickness section through tooth-shaped matching.
2. The hip adjustable device according to claim 1, wherein a turning transition section is disposed between the first end and the second end of the hip thickness section, the first end of the hip thickness section is inserted into the end of the hip width section, and the second end of the hip thickness section extends along the thickness direction of the hip, a first rack is disposed inside the first end of the hip thickness section, the first rack extends along the length direction of the hip width section, a width adjusting bolt is disposed at the end of the hip width section, a first adjusting slot parallel to the first rack is disposed on the first end of the hip thickness section, the width adjusting bolt is inserted into the hip thickness section through the first adjusting slot, a first gear is disposed on the width adjusting bolt, and the first gear is engaged with the first rack.
3. The hip adjustable device of claim 2, wherein the hip width section defines a first adjustment hole for the width adjustment bolt to pass through, the first adjustment hole corresponding to the first adjustment notch, and the first adjustment notch is oblong.
4. The hip adjustable device of claim 2, wherein a width fixing bolt is inserted into the hip width section, a width fixing nut is fixed inside the first end of the hip thickness section, and the width fixing bolt passes through the hip thickness section and is screwed into the width fixing nut.
5. The hip adjustable device according to claim 4, wherein the hip width section has a first fixing notch formed in a length direction thereof for receiving the width fixing bolt, the first fixing notch extends inward from an end of the hip width section, the hip thickness section has a first fixing hole formed at a first end thereof for receiving the width fixing bolt, and the first fixing notch corresponds to the first fixing hole.
6. The hip adjustable device of claim 1, wherein a turning transition section is disposed between the first end and the second end of the hip thickness section, the first end of the hip thickness section is disposed through the end of the hip width section, and the second end of the hip thickness section extends along the thickness direction of the hip, a protruding block is disposed on the hip joint connecting member, the protruding block is disposed through the second end of the hip thickness section, a second rack extends from the protruding block, the second rack is disposed along the extension direction of the second end of the hip thickness section, a thickness adjusting bolt is disposed at the second end of the hip thickness section, the thickness adjusting bolt penetrates through the hip thickness section through a second adjusting hole, a second gear is disposed on the thickness adjusting bolt, and the second gear is engaged with the second rack.
7. The hip adjustable device of claim 6, wherein the protrusion block and the second end of the hip thickness section are secured to each other by a thickness fixing bolt.
8. The hip adjustable device of claim 7, wherein the second end of the hip thickness section defines a second fixing slot parallel to the second rack, the protruding block defines a second fixing hole, the second fixing slot corresponds to the second fixing hole, the thickness fixing bolt passes through the second fixing slot into the second fixing hole, and the second fixing slot is oblong.
9. The hip adjustable device of claim 6, wherein the hip joint connector is a detachable member and is disposed along the width of the hip thickness section.
10. The hip adjustable device of claim 9, wherein the hip joint connector comprises an outer tube section and a connection section, the protruding block is fixedly disposed on an outer wall of the outer tube section along an axial direction of the outer tube section, the connection section is inserted into the outer tube section through a mandrel, the mandrel is connected with a wall of the outer tube section through a radial pin, and an outer end of the connection section is provided with a connection lug.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921306200.4U CN210872824U (en) | 2019-08-13 | 2019-08-13 | Hip adjustable device for exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921306200.4U CN210872824U (en) | 2019-08-13 | 2019-08-13 | Hip adjustable device for exoskeleton robot |
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| Publication Number | Publication Date |
|---|---|
| CN210872824U true CN210872824U (en) | 2020-06-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921306200.4U Active CN210872824U (en) | 2019-08-13 | 2019-08-13 | Hip adjustable device for exoskeleton robot |
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| Country | Link |
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| CN (1) | CN210872824U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112716756A (en) * | 2020-10-28 | 2021-04-30 | 浙江大学台州研究院 | Multifunctional rehabilitation robot |
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2019
- 2019-08-13 CN CN201921306200.4U patent/CN210872824U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112716756A (en) * | 2020-10-28 | 2021-04-30 | 浙江大学台州研究院 | Multifunctional rehabilitation robot |
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