CN212947802U - Exoskeleton robot limb length adjusting device - Google Patents
Exoskeleton robot limb length adjusting device Download PDFInfo
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- CN212947802U CN212947802U CN202021221477.XU CN202021221477U CN212947802U CN 212947802 U CN212947802 U CN 212947802U CN 202021221477 U CN202021221477 U CN 202021221477U CN 212947802 U CN212947802 U CN 212947802U
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Abstract
The utility model relates to an ectoskeleton robot limb length adjustment device belongs to the robot field. The exoskeleton robot limb length adjusting device comprises a first connecting piece, a second connecting piece and a locking mechanism, wherein the first connecting piece and the second connecting piece are connected in a telescopic mode, the locking mechanism comprises a pressing block, a handle, a connecting rod and a locking spring, the handle and the pressing block are connected through the connecting rod, the connecting rod can penetrate through the first connecting piece in a sliding mode, and the locking spring is sleeved on the connecting rod and enables the pressing block to be connected to the second connecting piece in a clamping mode. The locking mechanism is movably connected to the first connecting piece and can be close to or far away from the second connecting piece, and the locking mechanism can be clamped to the second connecting piece or separated from the second connecting piece, so that the first connecting piece and the second connecting piece are relatively fixed, and the locking mechanism can be manually pulled away from the second connecting piece. The utility model provides an ectoskeleton robot limb length adjustment device simple structure, simple operation.
Description
Technical Field
The utility model belongs to the robot field, concretely relates to ectoskeleton robot limb length adjustment device.
Background
The lower limb exoskeleton robot is a man-machine integrated intelligent system which is worn on the lower limbs of a human body, helps the human body to bear weight and can move along with the human body, and has a good treatment effect on patients suffering from stroke, hemiplegia, upper limb movement function injury, lower limb movement function injury and the like. In addition, in military or civilian applications, exoskeletons can significantly increase the strength and endurance of the wearer. The related art develops rapidly in recent years, but the lower limb exoskeleton robot has some disadvantages and shortcomings in terms of the present.
For different wearers, the heights are different, and the lengths of limbs are different, so that the lengths of the limbs of the exoskeleton robot need to be adjusted, and the problems of complex structure, inconvenience in operation and the like generally exist in the exoskeleton length adjusting mode.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides an aim at provides an ectoskeleton robot limb length adjustment device, simple structure, convenient operation only needs manual pulling handle or loosens the handle and can realize can stretch out and draw back or lock between first connecting piece and the second connecting piece.
The embodiment of the utility model is realized like this:
the embodiment of the utility model provides an ectoskeleton robot limb length adjustment device, ectoskeleton robot limb length adjustment device includes first connecting piece, second connecting piece and locking mechanism, first connecting piece with the connection of second connecting piece telescopic.
The locking mechanism comprises a pressing block, a handle, a connecting rod and a locking spring, the handle is connected with the pressing block through the connecting rod, and the connecting rod can be slidably arranged in the first connecting piece in a penetrating mode so that the pressing block can be close to or far away from the second connecting piece; a first toothed surface is arranged on one side of the pressing block, a second toothed surface is arranged on one side of the second connecting piece, and the first toothed surface and the second toothed surface are oppositely arranged and can be mutually clamped; the locking spring is sleeved on the connecting rod and abutted against the pressing block, so that the pressing block has a tendency of moving towards the second toothed surface.
As an alternative to the above embodiment, each of the first toothed surface and the second toothed surface includes a plurality of strip-shaped teeth arranged at intervals, a strip-shaped groove is formed between two adjacent strip-shaped teeth, and an extending direction of the strip-shaped teeth is perpendicular to a telescopic direction of the first connecting member and the second connecting member.
As an alternative to the above embodiment, a T-shaped groove is provided on the first connecting member, the cross section of the second connecting member is T-shaped, and the second connecting member is slidably embedded in the T-shaped groove.
As an alternative to the above embodiment, a side of the second connecting member close to the pressing block is provided with a locking groove, and the second toothed surface is located at a bottom of the locking groove.
As an alternative to the above embodiment, one end of the link is provided with a threaded section, and the pull tab is in threaded engagement with the threaded section.
As an alternative of the above embodiment, the locking mechanism further includes a mounting seat, a stepped square hole is provided on the first connecting member, the stepped square hole includes a first section hole and a second section hole, the size of the first section hole is larger than that of the second section hole, the mounting seat is embedded in the first section hole and closes the first section hole, the pressing block is movably embedded in the second section hole, and the mounting seat and the first connecting member are detachably connected through a bolt.
As an alternative of the above embodiment, a limiting member is disposed on one side of the handle, a limiting groove is disposed on the mounting base, the limiting member is embedded in the limiting groove, and the handle is rotatably engaged with the connecting rod, so that the limiting member can be disengaged from the limiting groove and rotate around the axis of the connecting rod.
As the alternative of above-mentioned embodiment, the handle includes body, fixed block and nut, the body is provided with first step hole, be provided with a plurality of spherical holes that are annular distribution in the first step hole, the embedded ball that is equipped with in spherical hole, the fixed block is cylindrical and rotatable inlay and locates in the first step hole, the terminal surface of fixed block with ball rolling contact, the fixed block is provided with second step hole, the nut inlays and locates in the second step hole, the one end of connecting rod is worn to locate first step hole with second step hole and with nut thread engagement.
As an alternative to the above embodiment, the locking mechanism further includes a locking tab, a first fixing groove is disposed on the fixing block, a second fixing groove is disposed on the body, and the first fixing groove and the second fixing groove are correspondingly disposed, so that the locking tab has a synchronous motion state that is inserted into the first fixing groove and the second fixing groove at the same time and fixes the body and the fixing block, and a free state that is separated from the first fixing groove and/or the second fixing groove and allows the body to rotate relative to the fixing block.
The utility model has the advantages that:
the utility model provides an ectoskeleton robot limb length adjustment device, first connecting piece and second connecting piece telescopic are connected, locking mechanism is fixed with the form of second connecting piece joint, when ectoskeleton length is adjusted to needs, only need manual pulling handle, the handle can drive the compact heap motion through the connecting rod, the compression of locking spring, first profile of tooth breaks away from the second profile of tooth, thereby make the joint relation cancellation between compact heap and the second connecting piece, first connecting piece and second connecting piece can relative slip flexible. When the total length of first connecting piece and second connecting piece reached to predetermine vertically, loosen the handle can, the compact heap can move towards the second connecting piece under locking spring's effect, first profile of tooth and the contact of second profile of tooth and joint to make first connecting piece and second connecting piece relatively fixed.
The exoskeleton robot limb length adjusting device is simple in structure and convenient to operate.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and 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. The above and other objects, features and advantages of the present invention will become more apparent from the accompanying drawings. Like reference numerals refer to like parts throughout the drawings. The drawings are not intended to be drawn to scale in actual dimensions, emphasis instead being placed upon illustrating the principles of the invention.
Fig. 1 is a schematic structural diagram illustrating a limb length adjustment device of an exoskeleton robot according to a first embodiment of the present invention;
FIG. 2 shows one of the cross-sectional views of FIG. 1;
FIG. 3 shows another cross-sectional view of FIG. 1;
fig. 4 shows a cross-sectional view of a limb length adjustment device of an exoskeleton robot provided by a first embodiment of the present invention.
Icon:
10-exoskeleton robot limb length adjusting device;
11-a first connection member; 12-a second connector; 13-a locking mechanism;
130-a compact block; 131-a handle; 132-a connecting rod; 133-a locking spring; 134-a first toothed surface; 135-a second toothed surface; 136-T-shaped slot; 137-locking groove; 140-a mount; 141-a stepped square hole; 142-a stop; 143-a limit groove; 144-a body; 145-fixed block; 146-a nut; 147-first step hole; 148-balls; 149-second step hole; 150-locking tab.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
First embodiment
Referring to fig. 1, a first embodiment of the present invention provides a limb length adjustment device 10 for an exoskeleton robot, which is applied to a lower limb exoskeleton robot, so that the limb length of the exoskeleton robot can be adjusted, and the device has a simple structure and is easy and convenient to operate.
Specifically, the exoskeleton robot limb length adjusting device 10 comprises a first connecting piece 11, a second connecting piece 12 and a locking mechanism 13.
The structures of the first connecting member 11 and the second connecting member 12 are not limited, and the end portions of the first connecting member 11 and the second connecting member 12 each have a connecting portion for connecting other structures.
The first connecting member 11 and the second connecting member 12 are telescopically connected, that is, the total length of the first connecting member 11 and the second connecting member 12 is adjustable, in this embodiment, a T-shaped groove 136 is provided on the first connecting member 11, the cross section of the second connecting member 12 is T-shaped, and the second connecting member 12 is slidably embedded in the T-shaped groove 136.
The specific structure of the locking mechanism 13 is as follows: referring to fig. 2 and 3, the locking mechanism 13 includes a pressing block 130, a handle 131, a link 132 and a locking spring 133.
The pressing block 130 may be block-shaped, plate-shaped, and the like, the cross section of the pressing block 130 may be circular, rectangular, irregular, and the like, and in this embodiment, the pressing block 130 has a rectangular plate-shaped structure.
The structure of the handle 131 is not limited, the handle 131 is connected with the pressing block 130 through the connecting rod 132, in this embodiment, the connecting rod 132 and the pressing block 130 are integrally formed, one end of the connecting rod 132 is provided with a threaded section, and the handle 131 is in threaded engagement with the threaded section.
The connecting rod 132 slidably penetrates through the first connecting member 11, and when the connecting rod is connected to the second connecting member 12 to slide, the connecting rod can drive the pressing block 130 to approach or separate from the second connecting member 12,
one side of the pressing block 130 is provided with a first toothed surface 134, one side of the second connecting piece 12 close to the pressing block 130 is provided with a locking groove 137, the bottom of the locking groove 137 is provided with a second toothed surface 135, the first toothed surface 134 and the second toothed surface 135 both comprise a plurality of strip-shaped teeth arranged at intervals, a strip-shaped groove is formed between two adjacent strip-shaped teeth, and the extending direction of the strip-shaped teeth is perpendicular to the extending direction of the first connecting piece 11 and the second connecting piece 12.
The first toothed surface 134 and the second toothed surface 135 are oppositely arranged and can be clamped with each other, the width of a strip tooth of the first toothed surface 134 is matched with the width of a strip groove of the second toothed surface 135, and the width of a strip tooth of the second toothed surface 135 is matched with the width of a strip groove of the first toothed surface 134. The form of the snap between the first toothed surface 134 and the second toothed surface 135 is: the bar teeth of the first toothed surface 134 are engaged in the bar grooves of the second toothed surface 135, and the bar teeth of the second toothed surface 135 are engaged in the bar grooves of the first toothed surface 134.
The structure of the bar-shaped tooth is not limited, in this embodiment, the cross section of the bar-shaped tooth is rectangular, and it needs to be ensured that when the first toothed surface 134 and the second toothed surface 135 are clamped with each other, the first connecting member 11 and the second connecting member 12 are locked, and cannot slide and stretch relatively.
The locking spring 133 is sleeved on the connecting rod 132 and abuts against the pressing block 130, so that the pressing block 130 has a tendency to move toward the second toothed surface 135.
The exoskeleton robot limb length adjusting device 10 provided by the embodiment is used as follows:
after the assembly is completed, the second connecting piece 12 is inserted into the first connecting piece 11, the locking mechanism 13 is fixed to the first connecting piece 11, the locking spring 133 presses the pressing block 130 to the second connecting piece 12, that is, the first toothed surface 134 is clamped with the second toothed surface 135, and the first connecting piece 11 and the second connecting piece 12 cannot stretch;
when the length of the exoskeleton robot limb length adjusting device 10 needs to be adjusted, the handle 131 is grasped, the handle 131 is pulled outwards, the handle 131 drives the connecting rod 132 and the pressing block 130 to slide, the locking spring 133 is gradually compressed, the pressing block 130 is separated from the second connecting piece 12, the clamping state between the first toothed surface 134 and the second toothed surface 135 is released, and the first connecting piece 11 and the second connecting piece 12 can be stretched;
adjusting the total length of the first connecting member 11 and the second connecting member 12;
after the adjustment is completed, the handle 131 is released, and the locking spring 133 pushes the pressing block 130 to move towards the second connecting member 12 until the first toothed surface 134 is engaged with the second toothed surface 135, and the first connecting member 11 and the second connecting member 12 are locked and cannot stretch out and draw back.
Second embodiment
Referring to fig. 4, a second embodiment of the present invention further provides a device 10 for adjusting the limb length of an exoskeleton robot, which is different from the first embodiment in that:
the locking mechanism 13 also includes a mount 140.
The first connecting member 11 is provided with a stepped square hole 141, the stepped square hole 141 includes a first section of hole and a second section of hole, in this embodiment, the cross sections of the first section of hole and the second section of hole are both rectangular, the size of the first section of hole is larger than that of the second section of hole, that is, the width of the first section of hole is larger than that of the second section of hole, and the length of the first section of hole is larger than that of the second section of hole.
The mounting seat 140 is embedded in the first section hole and seals the first section hole, the pressing block 130 is movably embedded in the second section hole, and the mounting seat 140 and the first connecting piece 11 are detachably connected through a bolt.
When adjusting the length of first connecting piece 11 and second connecting piece 12, need to hold handle 131 all the time, ensure that compact heap 130 breaks away from second connecting piece 12 all the time, waste time and energy, in this embodiment, provide following improvement: one side of the handle 131 is provided with a limiting piece 142, the mounting base 140 is provided with a limiting groove 143, the limiting piece 142 is embedded in the limiting groove 143, and the handle 131 is rotatably matched with the connecting rod 132, so that the limiting piece 142 can be separated from the limiting groove 143 and rotate around the axis of the connecting rod 132.
Specifically, the handle 131 includes a body 144, a fixing block 145, and a nut 146.
The body 144 is provided with a first stepped hole 147, a plurality of spherical holes distributed annularly are arranged in the first stepped hole 147, and a ball 148 is embedded in the spherical hole.
The fixed block 145 is cylindrical and rotatably fitted in the first stepped hole 147, an end surface of the fixed block 145 is in rolling contact with the ball 148, and the fixed block 145 is provided with a second stepped hole 149.
The nut 146 is embedded in the second stepped hole 149, the cross sections of the nut 146 and the second stepped hole 149 are both hexagonal structures and are matched with each other, and after the nut 146 is embedded in the second stepped hole 149, the nut 146 and the second stepped hole 149 cannot rotate relatively.
One end of the link 132 is inserted through the first and second stepped holes 147 and 149 and is threadedly engaged with the nut 146.
The end of the connecting rod 132 can be in a stepped shaft shape, the body 144 is sleeved on the stepped shaft, and the fixed block 145 and the nut 146 limit the body 144 on the stepped shaft, so that the body 144 can only rotate around the axis of the connecting rod 132 and can not slide along the axis of the connecting rod 132.
Additionally, the locking mechanism 13 may also include a locking tab 150.
Wherein, the fixing block 145 is provided with a first fixing groove, the body 144 is provided with a second fixing groove, the first fixing groove and the second fixing groove are correspondingly arranged, so that the locking insertion piece 150 has a synchronous motion state of being simultaneously inserted into the first fixing groove and the second fixing groove and fixing the body 144 and the fixing block 145, and a free state of being separated from the first fixing groove and/or the second fixing groove and enabling the body 144 to rotate relative to the fixing block 145.
When the nut 146 needs to be screwed, the locking insertion pieces 150 are inserted into the first fixing groove and the second fixing groove, the body 144 and the fixing block 145 are integrated, and the nut 146 can be screwed by rotating the body 144. After the handle 131 is installed, the locking insertion piece 150 is taken down, the body 144 and the fixing block 145 can be in a free state, and the rotation of the body 144 cannot drive the fixing block 145 to rotate.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The exoskeleton robot limb length adjusting device is characterized by comprising a first connecting piece, a second connecting piece and a locking mechanism, wherein the first connecting piece and the second connecting piece are telescopically connected; the locking mechanism comprises a pressing block, a handle, a connecting rod and a locking spring, the handle is connected with the pressing block through the connecting rod, and the connecting rod can be slidably arranged in the first connecting piece in a penetrating mode so that the pressing block can be close to or far away from the second connecting piece; a first toothed surface is arranged on one side of the pressing block, a second toothed surface is arranged on one side of the second connecting piece, and the first toothed surface and the second toothed surface are oppositely arranged and can be mutually clamped; the locking spring is sleeved on the connecting rod and abutted against the pressing block, so that the pressing block has a tendency of moving towards the second toothed surface.
2. The exoskeleton robot limb length adjustment device as claimed in claim 1, wherein each of the first and second toothed surfaces comprises a plurality of spaced-apart bar-shaped teeth, a bar-shaped groove is formed between two adjacent bar-shaped teeth, and the extension direction of the bar-shaped teeth is perpendicular to the extension and retraction direction of the first and second connecting members.
3. The exoskeleton robot limb length adjustment device as claimed in claim 1, wherein the first link is provided with a T-shaped slot, the second link is T-shaped in cross section, and the second link is slidably inserted into the T-shaped slot.
4. The exoskeleton robot limb length adjustment device of claim 1, wherein a side of the second link close to the compression block is provided with a locking groove, and the second toothed surface is located at the bottom of the locking groove.
5. The exoskeleton robot limb length adjustment device of claim 1, wherein one end of the link is provided with a threaded section, and the pull handle is in threaded engagement with the threaded section.
6. The exoskeleton robot limb length adjustment device as claimed in any one of claims 1 to 5, wherein the locking mechanism further comprises a mounting seat, the first connecting member is provided with a stepped square hole, the stepped square hole comprises a first section of hole and a second section of hole, the size of the first section of hole is larger than that of the second section of hole, the mounting seat is embedded in the first section of hole and seals the first section of hole, the pressing block is movably embedded in the second section of hole, and the mounting seat and the first connecting member are detachably connected through a bolt.
7. The exoskeleton robot limb length adjustment device as claimed in claim 6, wherein a limit part is arranged on one side of the handle, a limit groove is arranged on the mounting base, the limit part is embedded in the limit groove, and the handle is rotatably matched with the connecting rod so that the limit part can be disengaged from the limit groove and rotate around the axis of the connecting rod.
8. The exoskeleton robot limb length adjustment device as claimed in claim 7, wherein the handle comprises a body, a fixing block and a nut, the body is provided with a first step hole, a plurality of spherical holes distributed in a ring shape are arranged in the first step hole, a ball is embedded in the spherical holes, the fixing block is cylindrically and rotatably embedded in the first step hole, the end face of the fixing block is in rolling contact with the ball, the fixing block is provided with a second step hole, the nut is embedded in the second step hole, and one end of the connecting rod is inserted in the first step hole and the second step hole and is in threaded engagement with the nut.
9. The exoskeleton robot limb length adjustment device as claimed in claim 8, wherein the locking mechanism further comprises a locking insertion sheet, the fixing block is provided with a first fixing groove, the body is provided with a second fixing groove, the first fixing groove and the second fixing groove are correspondingly arranged, so that the locking insertion sheet has a synchronous motion state of being simultaneously inserted into the first fixing groove and the second fixing groove and fixing the body and the fixing block, and a free state of being separated from the first fixing groove and/or the second fixing groove and enabling the body to rotate relative to the fixing block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021221477.XU CN212947802U (en) | 2020-06-28 | 2020-06-28 | Exoskeleton robot limb length adjusting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021221477.XU CN212947802U (en) | 2020-06-28 | 2020-06-28 | Exoskeleton robot limb length adjusting device |
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| Publication Number | Publication Date |
|---|---|
| CN212947802U true CN212947802U (en) | 2021-04-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021221477.XU Active CN212947802U (en) | 2020-06-28 | 2020-06-28 | Exoskeleton robot limb length adjusting device |
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| CN (1) | CN212947802U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113580101A (en) * | 2021-06-28 | 2021-11-02 | 北京机械设备研究所 | Exoskeleton joint with adjusting function, exoskeleton and assembly method of exoskeleton joint |
| CN116035709A (en) * | 2023-03-06 | 2023-05-02 | 首都医科大学附属北京朝阳医院 | Surgical robot |
-
2020
- 2020-06-28 CN CN202021221477.XU patent/CN212947802U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113580101A (en) * | 2021-06-28 | 2021-11-02 | 北京机械设备研究所 | Exoskeleton joint with adjusting function, exoskeleton and assembly method of exoskeleton joint |
| CN113580101B (en) * | 2021-06-28 | 2023-03-14 | 北京机械设备研究所 | Exoskeleton joint with adjusting function, exoskeleton and assembly method of exoskeleton joint |
| CN116035709A (en) * | 2023-03-06 | 2023-05-02 | 首都医科大学附属北京朝阳医院 | Surgical robot |
| CN116035709B (en) * | 2023-03-06 | 2023-06-16 | 首都医科大学附属北京朝阳医院 | Surgical robot |
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