CN211244404U - Leg flexion and extension device and power exoskeleton - Google Patents
Leg flexion and extension device and power exoskeleton Download PDFInfo
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- CN211244404U CN211244404U CN201921652656.6U CN201921652656U CN211244404U CN 211244404 U CN211244404 U CN 211244404U CN 201921652656 U CN201921652656 U CN 201921652656U CN 211244404 U CN211244404 U CN 211244404U
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- connecting rod
- thigh
- sleeve
- shank
- extension device
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Abstract
The utility model relates to a leg flexion and extension device and a power exoskeleton, wherein the leg flexion and extension device comprises a thigh connecting rod, a shank connecting rod and a driving mechanism, and the shank connecting rod is rotatably arranged on the thigh connecting rod; the driving mechanism comprises a sleeve, a screw rod and a micro driving piece, the sleeve is rotatably arranged on the shank connecting rod, the screw rod penetrates through the sleeve and is screwed with the sleeve, and the micro driving piece is rotatably arranged on the thigh connecting rod and is in transmission connection with the screw rod; the micro driving piece is used for driving the screw rod to rotate around the axial direction of the micro driving piece, so that the sleeve is driven to move along the axial direction of the screw rod relative to the screw rod, and the shank connecting rod is driven to rotate relative to the thigh connecting rod. The driving mechanism formed by the miniature driving piece of the leg flexion and extension device, the sleeve screwed with the miniature driving piece and the screw rod is light in weight, so that the overall weight of the leg flexion and extension device can be effectively reduced, the acting force borne by a wearer can be effectively reduced, the wearing comfort of the wearer is improved, and the rehabilitation training effect of the wearer is improved.
Description
Technical Field
The utility model relates to a wearable mechanical mechanism technical field especially relates to a shank bends and stretches device and power ectoskeleton.
Background
The traditional power exoskeleton usually adopts a hydraulic driving system as a power unit of a leg flexion and extension mechanism, and the weight of the hydraulic driving system is heavier, so that the whole weight of the power exoskeleton is heavier, the acting force born by a wearer in the process of wearing the power exoskeleton is larger, the wearer is uncomfortable in the process of rehabilitation training, and the rehabilitation training effect of the wearer is influenced.
SUMMERY OF THE UTILITY MODEL
In view of the above, there is a need for a leg flexion and extension device and powered exoskeleton that can effectively reduce the forces experienced by the wearer.
A leg flexion and extension device comprising:
a thigh link;
the shank connecting rod is rotatably arranged on the thigh connecting rod; and
the driving mechanism comprises a sleeve, a screw rod and a miniature driving piece, the sleeve is rotatably arranged on the shank connecting rod, the screw rod penetrates through the sleeve and is screwed with the sleeve, and the miniature driving piece is rotatably arranged on the thigh connecting rod and is in transmission connection with the screw rod; the micro driving piece is used for driving the screw rod to rotate around the axial direction of the screw rod, so that the sleeve is driven to move relative to the screw rod along the axial direction of the screw rod, and the shank connecting rod is driven to rotate relative to the thigh connecting rod.
In one embodiment, the micro-actuator is a micro-motor.
In one embodiment, the driving mechanism further comprises a coupler, and the micro driving member is connected with the screw rod through the coupler.
In one embodiment, the micro driving member is rotatably connected to the thigh connecting rod through the coupling.
In one embodiment, the micro-driving device further comprises a first connecting head, the first connecting head is sleeved on the thigh connecting rod, and the thigh connecting rod is rotatably connected with the micro-driving piece through the first connecting head.
In one embodiment, the first link head is movable relative to the thigh link rod along an axial direction of the thigh link rod, so that a connection position of the first link head and the thigh link rod is adjustable along the axial direction of the thigh link rod.
In one embodiment, the thigh connecting rod is provided with a first connecting hole, the first connecting head is provided with a second connecting hole, and the leg bending and stretching device further comprises a fastener, wherein the fastener is arranged through the second connecting hole and the first connecting hole to fixedly connect the first connecting head and the thigh connecting rod.
In one embodiment, the shank connecting rod is sleeved with the first connector, and the shank connecting rod is rotatably connected with the sleeve through the first connector.
In one embodiment, the second connector can move relative to the shank connecting rod along the axial direction of the shank connecting rod, so that the connection position of the second connector and the shank connecting rod is adjustable along the axial direction of the shank connecting rod.
A powered exoskeleton comprises the leg flexion and extension device.
When the wearer dresses above-mentioned shank and bends and stretch the device and carry out the rehabilitation training, shank miniature driving piece can drive the lead screw and rotate around the axial of self, in order to drive the relative lead screw of sleeve and follow the axial displacement of lead screw, and then drive the relative thigh connecting rod of shank connecting rod and rotate, realize the extension and the helping hand of shrink to the shank of wearer, because the miniature driving piece of above-mentioned shank is bent and is stretched the device and the sleeve that closes mutually and the actuating mechanism self light in weight that the lead screw constitutes, thereby can effectively reduce shank and bend and stretch the holistic weight of device, and then can effectively alleviate the effort that the wearer bore, improve the dressing travelling comfort of wearer, help improving wearer's rehabilitation training effect.
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 structural view of a leg flexion-extension apparatus in one embodiment;
fig. 2 is a cross-sectional view of the leg curl device shown in fig. 1.
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 and fig. 2, the leg flexion and extension device 100 in one embodiment includes a thigh connecting rod 110, a shank connecting rod 120 and a driving mechanism 130, wherein the shank connecting rod 120 is rotatably disposed on the thigh connecting rod 110; the driving mechanism 130 comprises a sleeve 131, a screw rod 132 and a micro-driving piece 133, the sleeve 131 is rotatably arranged on the shank connecting rod 120, the screw rod 132 is arranged on the sleeve 131 in a penetrating way and is screwed with the sleeve 131, and the micro-driving piece 133 is rotatably arranged on the thigh connecting rod 110 and is in transmission connection with the screw rod 132; the micro driving element 133 is used for driving the screw rod 132 to rotate around its own axial direction, so as to drive the sleeve 131 to move along the axial direction of the screw rod 132 relative to the screw rod 132, and further drive the shank connecting rod 120 to rotate relative to the thigh connecting rod 110.
When a wearer wears the leg bending and stretching device 100 to perform rehabilitation training, the leg micro-driving piece 133 can drive the screw rod 132 to rotate around the axial direction of the leg micro-driving piece 132 so as to drive the sleeve 131 to move along the axial direction of the screw rod 132 relative to the screw rod 132 and further drive the shank connecting rod 120 to rotate relative to the thigh connecting rod 110, so that the assistance to the extension and contraction of the leg of the wearer is realized, and the driving mechanism 130 formed by the micro-driving piece 133 of the leg bending and stretching device 100, the sleeve 131 and the screw rod 132 which are screwed with each other, is light in weight, so that the overall weight of the leg bending and stretching device 100 can be effectively reduced, the acting force borne by the wearer can be effectively reduced, the wearing comfort of the wearer is improved, and the.
In the present embodiment, the micro actuator 133 is a micro motor. In one embodiment, the driving mechanism 130 further comprises a coupling 134, and the micro-driving member 133 is connected to the screw 132 through the coupling 134. Further, the micro-actuator 133 is rotatably connected to the thigh link 110 by a coupling 134.
As shown in fig. 1 and fig. 2, in an embodiment, the leg stretching device 100 further includes a first connector 140, the first connector 140 is sleeved on the thigh link 110, and the thigh link 110 is rotatably connected to the micro-driver 133 through the first connector 140. Specifically, in the present embodiment, the first connecting joint 140 is rotatably connected to the coupling 134, so as to rotatably connect the thigh connecting rod 110 to the micro driving element 133.
Further, the first connecting rod 140 can move along the axial direction of the thigh connecting rod 110 relative to the thigh connecting rod 110, so that the connecting position of the first connecting rod 140 and the thigh connecting rod 110 can be adjusted along the axial direction of the thigh connecting rod 110, and further, the position adjustment of the rotating connecting point of the thigh connecting rod 110 and the micro-actuator 133 is realized.
Further, the thigh connecting rod 110 is provided with a first connecting hole 112, the first connecting head 140 is provided with a second connecting hole 142, and the leg flexion and extension device 100 further includes a fastener, wherein the fastener is disposed through the second connecting hole 142 and the first connecting hole 112 to fixedly connect the first connecting head 140 and the thigh connecting rod 110. In the present embodiment, the first connection holes 112 and the second connection holes 142 each include a plurality of first connection holes 112 disposed at intervals on the thigh connecting rod 110, and a plurality of second connection holes 142 disposed at intervals on the first connection head 140.
Further, the leg flexion and extension device 100 further includes a second connector 150, the second connector 150 is sleeved on the shank link 120, and the shank link 120 is rotatably connected to the sleeve 131 through the second connector 150. In one embodiment, the second connector 150 can move relative to the shank link 120 along the axial direction of the shank link 120, so that the connection position between the second connector 150 and the shank link 120 can be adjusted along the axial direction of the shank link 120, thereby achieving the position adjustment of the rotational connection point between the shank link 120 and the sleeve 131. It should be noted that in the present embodiment, the second connector 150 is fixed to the shank link 120 in the same manner as the first connector 140 is fixed to the thigh link 110, and the description thereof is omitted.
It should be noted that in one embodiment, the present invention also provides a powered exoskeleton including the above-described leg flexion and extension device 100.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only represent some embodiments of the present invention, and the description thereof is more 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 (10)
1. A leg flexion and extension device, comprising:
a thigh link;
the shank connecting rod is rotatably arranged on the thigh connecting rod; and
the driving mechanism comprises a sleeve, a screw rod and a miniature driving piece, the sleeve is rotatably arranged on the shank connecting rod, the screw rod penetrates through the sleeve and is screwed with the sleeve, and the miniature driving piece is rotatably arranged on the thigh connecting rod and is in transmission connection with the screw rod; the micro driving piece is used for driving the screw rod to rotate around the axial direction of the screw rod, so that the sleeve is driven to move relative to the screw rod along the axial direction of the screw rod, and the shank connecting rod is driven to rotate relative to the thigh connecting rod.
2. The leg flexion and extension device according to claim 1, wherein the micro drive is a micro motor.
3. The leg flexion and extension device according to claim 1, wherein the driving mechanism further comprises a coupling, and the micro driving member is connected with the lead screw through the coupling.
4. The leg flexion and extension device according to claim 3, wherein the micro-driving member is rotatably connected to the thigh connecting rod via the coupling.
5. The leg flexion and extension device according to claim 1, further comprising a first joint sleeved on the thigh connecting rod, wherein the thigh connecting rod is rotatably connected to the micro driving member through the first joint.
6. The leg flexion and extension device according to claim 5, wherein the first joint is movable relative to the thigh link along an axial direction of the thigh link so that a connection position of the first joint and the thigh link is adjustable along the axial direction of the thigh link.
7. The device for bending and stretching legs as claimed in claim 6, wherein the thigh connecting rod is provided with a first connecting hole, the first connecting rod is provided with a second connecting hole, and the device for bending and stretching legs further comprises a fastening member, the fastening member is inserted into the second connecting hole and the first connecting hole to fixedly connect the first connecting rod and the thigh connecting rod.
8. The leg flexion and extension device according to claim 3, further comprising a second connector, wherein the second connector is sleeved on the shank connecting rod, and the shank connecting rod is rotatably connected with the sleeve through the second connector.
9. The leg flexion and extension device according to claim 8, wherein the second connector is capable of moving relative to the shank link rod in the axial direction of the shank link rod, so that the connection position of the second connector and the shank link rod is adjustable in the axial direction of the shank link rod.
10. A powered exoskeleton, comprising: a leg flexion and extension device according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921652656.6U CN211244404U (en) | 2019-09-28 | 2019-09-28 | Leg flexion and extension device and power exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921652656.6U CN211244404U (en) | 2019-09-28 | 2019-09-28 | Leg flexion and extension device and power exoskeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211244404U true CN211244404U (en) | 2020-08-14 |
Family
ID=71962517
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921652656.6U Active CN211244404U (en) | 2019-09-28 | 2019-09-28 | Leg flexion and extension device and power exoskeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211244404U (en) |
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2019
- 2019-09-28 CN CN201921652656.6U patent/CN211244404U/en active Active
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