CN215425894U

CN215425894U - Leg length adjusting and locking device for rehabilitation exoskeleton robot

Info

Publication number: CN215425894U
Application number: CN202120403369.2U
Authority: CN
Inventors: 范振磊; 陈赞; 程爱平
Original assignee: Nanjing Vishee Medical Technology Co Ltd
Current assignee: Nanjing Vishee Medical Technology Co Ltd
Priority date: 2021-02-24
Filing date: 2021-02-24
Publication date: 2022-01-07
Anticipated expiration: 2031-02-24

Abstract

The utility model discloses a leg length adjusting and locking device of a rehabilitation exoskeleton robot, which comprises an adjusting toothed plate, a toothed pressing block, a locking pull rod, a pull rod base, an adjusting guide cover plate, a supporting base plate, a supporting block and a locking cam, wherein the adjusting toothed plate is arranged on the outer side of the locking pull rod; the pull rod base is fixed on the supporting bottom plate, the bottom end of the supporting block is fixed with the supporting bottom plate, and the top end of the supporting block is fixed with the adjusting guide cover plate; a pull rod hole is formed in the middle of the tooth-shaped pressing block, and the tooth-shaped pressing block is arranged in the adjusting guide cover plate; the bottom end of the locking pull rod is fixed on the pull rod base, the top end of the locking pull rod sequentially penetrates through a pull rod hole in the middle of the tooth-shaped pressing block, the disc spring and the locking washer, and the locking cam is installed on the locking pull rod and pressed on the locking washer; the adjusting toothed plate is arranged between the supporting base plate and the toothed pressing block, and the adjusting toothed plate is interfered with the toothed surface of the toothed pressing block. This practical structure is simple, convenient operation, realizes adjusting the fixed of dentate plate and adjusts fast through rotating the locking cam, and it is convenient to adjust.

Description

Leg length adjusting and locking device for rehabilitation exoskeleton robot

Technical Field

The utility model relates to a leg length adjusting and locking device of a rehabilitation exoskeleton robot, and belongs to medical rehabilitation equipment.

Background

The lower limbs mainly play three roles of supporting, stepping and balancing in the process of human body movement, when the functions are disordered, the human body has abnormal gait or can not walk, and the symptoms are aggravated along with time if the human body is not intervened in time. In order to restore these functions, the rehabilitation means widely used clinically at present is exercise training, and walking training is the most effective therapy accepted.

At present, the clinical rehabilitation requirements are continuously expanded, but professional rehabilitation personnel are quite lack, and the one-to-one rehabilitation training mode has high labor cost and wastes time and labor, so various types of rehabilitation equipment are urgently needed; in order to reduce the working strength of medical staff, the exoskeleton walking rehabilitation robot is produced by transportation.

In order to adapt to body parameters of people with different heights and weights, the exoskeleton walking rehabilitation robot usually adopts a design with adjustable leg length; the legs of the common exoskeleton walking robot are mostly in threaded connection, so that the length of the exoskeleton walking robot can be conveniently adjusted; however, the exoskeleton walking robot with the legs connected by the threads has 3 problems in the practical use process: 1. the locking of the screw thread is avoided, and the loosening and locking of the screw thread are easy to cause by vibration or impact in the using process of the exoskeleton walking rehabilitation robot; 2. the pre-tightening force required by thread locking is larger, and if the female medical staff can not lock the thread; 3. the thread locking stroke has no effective feedback, and the phenomenon of false locking can occur.

SUMMERY OF THE UTILITY MODEL

The purpose of the utility model is as follows: in order to overcome the defects in the prior art, the utility model provides a leg length adjusting and locking device for a rehabilitation exoskeleton robot, which achieves the purpose of locking a stroke by utilizing a cam structure and can ensure that the locking stroke is stable and feedback is generated when the locking is in place.

The technical scheme is as follows: in order to achieve the purpose, the utility model adopts the technical scheme that:

a leg length adjusting and locking device for a rehabilitation exoskeleton robot comprises an adjusting toothed plate, a toothed pressing block, a locking pull rod, a pull rod base, an adjusting guide cover plate, a supporting base plate, a supporting block and a locking cam;

the pull rod base is fixed on the supporting bottom plate, the bottom end of the supporting block is fixed with the supporting bottom plate, and the top end of the supporting block is fixed with the adjusting guide cover plate;

the longitudinal section of the tooth-shaped pressing block is of a T-shaped structure, a pull rod hole is formed in the middle of the tooth-shaped pressing block, and a tooth-shaped surface is arranged at the large end of the tooth-shaped pressing block; the cross section of the inner cavity of the adjusting guide cover plate is matched with the cross section of the large end of the tooth-shaped pressing block, a guide hole is formed in the top plate of the adjusting guide cover plate, and the guide hole is matched with the cross section of the small end of the tooth-shaped pressing block;

the bottom end of the locking pull rod is fixed on the pull rod base, the top end of the locking pull rod sequentially penetrates through a pull rod hole in the middle of the tooth-shaped pressing block, the disc spring and the locking washer, a rotating shaft hole is formed in the top end of the locking pull rod, the locking cam is installed on the locking pull rod through a cam rotating shaft and the rotating shaft hole, and the curved surface of the locking cam is pressed on the locking washer; a return spring is sleeved on the locking pull rod, and two ends of the return spring are respectively supported on the pull rod base and the tooth-shaped pressing block;

the adjusting toothed plate is arranged between the supporting base plate and the toothed pressing block, a toothed surface is arranged on the surface, facing the toothed pressing block, of the adjusting toothed plate, and the toothed surface of the adjusting toothed plate is interfered with the toothed surface of the toothed pressing block.

In the scheme, the length of the leg of the exoskeleton robot is adjusted by adjusting the relative position of the tooth-shaped pressing block for adjusting the relative position of the tooth-shaped plate and the supporting block, and the relative position of the tooth-shaped plate and the supporting block is locked and adjusted by the tooth-shaped pressing block; the locking cam is connected with the locking compression rod, can rotate around the locking compression rod and is used for setting the tooth-shaped compression block to move in the vertical direction so as to ensure that the tooth-shaped compression block is tightly meshed with the adjusting tooth-shaped plate when locked, the disc spring is used for converting structural part deformation of the tooth-shaped compression block when meshed with the adjusting tooth-shaped plate into self molding deformation, the spring is arranged between the tooth-shaped compression block and the adjusting tooth-shaped plate and is sleeved on the periphery of the locking pull rod, and the spring is in a compression state in a locking state. According to the scheme, the cam structure is adopted to provide the stroke of the mechanism during meshing and locking, so that the stability of the mechanism during locking can be ensured, and the mechanism cannot be loosened easily like thread locking; simultaneously, the present case utilizes the dish spring of big rigidity coefficient to provide the little stroke when locking, can prevent that the structure from producing non-plastic deformation.

Specifically, a gasket is arranged on the surface, facing the adjusting toothed plate, of the supporting bottom plate.

Specifically, a spring upper end containing cavity is formed in the large head end of the tooth-shaped pressing block, and the upper end of the return spring extends into the spring upper end containing cavity; the small end of the tooth-shaped pressing block is provided with a disc spring containing cavity, the disc spring is arranged in the disc spring containing cavity, and the cross section of the locking washer is matched with the disc spring containing cavity. This scheme carries out structural design to profile of tooth compact heap, makes it can realize multiple functions in step, has reduced the use of spare part, has guaranteed the intensity of structure.

Specifically, the pull rod base is provided with a spring lower end containing cavity, and the lower end of the reset spring extends into the spring lower end containing cavity. This scheme carries out structural design to the pull rod base, makes it can realize multiple functions in step, has reduced the use of spare part, has guaranteed the intensity of structure.

Specifically, when the handle of the locking cam rotates to be parallel to the adjusting toothed plate, the toothed surface of the adjusting toothed plate is meshed with the toothed surface of the toothed pressing block, the return spring is pressed between the pull rod base and the toothed pressing block, and the disc spring is pressed between the toothed pressing block and the locking washer; when the handle of the locking cam rotates towards the direction far away from the adjusting toothed plate to be vertical to the adjusting toothed plate, the return spring is supported between the pull rod base and the toothed pressing block, and the toothed surface of the adjusting toothed plate is disengaged from the toothed surface of the toothed pressing block. Through the stroke design of the locking cam, the locking stroke can be ensured to be stable, and feedback can be provided when the locking cam is locked in place.

Has the advantages that: the leg length adjusting and locking device for the rehabilitation exoskeleton robot is simple in structure and convenient to operate, the locking cam is rotated to quickly fix and adjust the adjusting toothed plate, and the convenience for adjusting the leg length of the lower limb exoskeleton robot can be improved; compared with the prior art, the scheme also has the following advantages: 1. the present case utilizes cam mechanism to provide the displacement that the profile of tooth compact heap needs when locking, and the stroke is stable and have the feedback, has avoided the false dead emergence of locking. (ii) a 2. According to the lever principle, the longer force arm can be selected by rotating the locking cam, so that the use is more labor-saving; 3. due to the self-locking characteristic of the cam, the structure cannot cause locking failure due to vibration, impact and the like after being locked.

Drawings

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a schematic side view of the present invention.

Detailed Description

The utility model is described in detail below with reference to the figures and the embodiments.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

As shown in fig. 1 and fig. 2, the leg length adjusting and locking device for the rehabilitation exoskeleton robot comprises an adjusting toothed plate 8, a toothed pressing block 6, a locking pull rod 1, a pull rod base 10, an adjusting guide cover plate 5, a supporting bottom plate, a supporting block 12 and a locking cam 2; the pull rod base 10 is fixed on the supporting bottom plate, the bottom end of the supporting block 12 is fixed with the supporting bottom plate, and the top end of the supporting block 12 is fixed with the adjusting guide cover plate 5;

the longitudinal section of the tooth-shaped pressing block 6 is of a T-shaped structure, a pull rod hole is formed in the middle of the tooth-shaped pressing block, and a tooth-shaped surface is arranged at the large end of the tooth-shaped pressing block 6; the big end of the tooth-shaped pressing block 6 is provided with a spring upper end containing cavity, and the small end is provided with a disc spring containing cavity; the cross section of the inner cavity of the adjusting guide cover plate 5 is matched with the cross section of the large end of the tooth-shaped pressing block 6, a guide hole is formed in the top plate of the adjusting guide cover plate 5, and the guide hole is matched with the cross section of the small end of the tooth-shaped pressing block 6;

the bottom end of the locking pull rod 1 is fixed on a pull rod base 10, the top end of the locking pull rod sequentially penetrates through a pull rod hole in the middle of the tooth-shaped pressing block 6, the disc spring 11 and the locking washer 4, the disc spring 11 of the tooth-shaped pressing block 6 is arranged in the disc spring accommodating cavity, and the cross section of the locking washer 4 is matched with the disc spring accommodating cavity; a rotating shaft hole is formed in the top end of the locking pull rod 1, the locking cam 2 is installed on the locking pull rod 1 through the cam rotating shaft 3 and the rotating shaft hole, and the curved surface of the locking cam 2 is pressed on the locking washer 4; a return spring 7 is sleeved on the locking pull rod 1, and two ends of the return spring 7 are respectively supported on the pull rod base 10 and the tooth-shaped pressing block 6; the pull rod base 10 is provided with a spring lower end containing cavity, the upper end of the reset spring 7 extends into the spring upper end containing cavity, and the lower end extends into the spring lower end containing cavity.

The adjusting toothed plate 8 is arranged between the supporting base plate and the toothed pressing block 6, a toothed surface is arranged on the surface, facing the toothed pressing block 6, of the adjusting toothed plate 8, and the toothed surface of the adjusting toothed plate 8 is interfered with the toothed surface of the toothed pressing block 6; the face of the support base plate facing the adjusting toothed plate 8 is provided with a gasket 9.

When the handle of the locking cam 2 rotates to be parallel to the adjusting toothed plate 8, the toothed surface of the adjusting toothed plate 8 is meshed with the toothed surface of the toothed pressing block 6, the return spring 7 is pressed between the pull rod base 10 and the toothed pressing block 6, and the disc spring 11 is pressed between the toothed pressing block 6 and the locking washer 4; when the handle of the locking cam 2 rotates towards the direction far away from the adjusting toothed plate 8 to be vertical to the adjusting toothed plate 8, the return spring 7 is supported between the pull rod base 10 and the toothed pressing block 6, and the toothed surface of the adjusting toothed plate 8 is disengaged from the toothed surface of the toothed pressing block 6.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.

Claims

1. The utility model provides a recovered ectoskeleton robot leg length adjusts locking device which characterized in that: the device comprises an adjusting toothed plate (8), a toothed pressing block (6), a locking pull rod (1), a pull rod base (10), an adjusting guide cover plate (5), a supporting base plate, a supporting block (12) and a locking cam (2);

the pull rod base (10) is fixed on the supporting bottom plate, the bottom end of the supporting block (12) is fixed with the supporting bottom plate, and the top end of the supporting block (12) is fixed with the adjusting guide cover plate (5);

the longitudinal section of the tooth-shaped pressing block (6) is of a T-shaped structure, a pull rod hole is formed in the middle of the tooth-shaped pressing block, and a tooth-shaped surface is arranged at the large end of the tooth-shaped pressing block (6); the cross section of the inner cavity of the adjusting guide cover plate (5) is matched with the cross section of the large end of the tooth-shaped pressing block (6), a guide hole is formed in the top plate of the adjusting guide cover plate (5), and the guide hole is matched with the cross section of the small end of the tooth-shaped pressing block (6);

the bottom end of the locking pull rod (1) is fixed on a pull rod base (10), the top end of the locking pull rod sequentially penetrates through a pull rod hole in the middle of the tooth-shaped pressing block (6), a disc spring (11) and a locking washer (4), a rotating shaft hole is formed in the top end of the locking pull rod (1), the locking cam (2) is installed on the locking pull rod (1) through a cam rotating shaft (3) and the rotating shaft hole, and the curved surface of the locking cam (2) is pressed on the locking washer (4); a return spring (7) is sleeved on the locking pull rod (1), and two ends of the return spring (7) are respectively supported on the pull rod base (10) and the tooth-shaped pressing block (6);

the adjusting toothed plate (8) is arranged between the supporting base plate and the toothed pressing block (6), a toothed surface is arranged on the surface, facing the toothed pressing block (6), of the adjusting toothed plate (8), and the toothed surface of the adjusting toothed plate (8) is interfered with the toothed surface of the toothed pressing block (6).

2. The rehabilitation exoskeleton robot leg length adjustment locking device of claim 1, wherein: and a gasket (9) is arranged on the surface of the supporting bottom plate facing the adjusting toothed plate (8).

3. The rehabilitation exoskeleton robot leg length adjustment locking device of claim 1, wherein: a spring upper end containing cavity is formed in the large end of the tooth-shaped pressing block (6), and the upper end of the reset spring (7) extends into the spring upper end containing cavity; the small end of the tooth-shaped pressing block (6) is provided with a disc spring accommodating cavity, a disc spring (11) is arranged in the disc spring accommodating cavity, and the cross section of the locking washer (4) is matched with the disc spring accommodating cavity.

4. The rehabilitation exoskeleton robot leg length adjustment locking device of claim 1, wherein: the pull rod base (10) is provided with a spring lower end containing cavity, and the lower end of the reset spring (7) extends into the spring lower end containing cavity.

5. The rehabilitation exoskeleton robot leg length adjustment locking device of claim 1, wherein: when a handle of the locking cam (2) rotates to be parallel to the adjusting toothed plate (8), the toothed surface of the adjusting toothed plate (8) is meshed with the toothed surface of the toothed pressing block (6), the return spring (7) is pressed between the pull rod base (10) and the toothed pressing block (6), and the disc spring (11) is pressed between the toothed pressing block (6) and the locking washer (4); when the handle of the locking cam (2) rotates towards the direction far away from the adjusting toothed plate (8) to be vertical to the adjusting toothed plate (8), the return spring (7) is supported between the pull rod base (10) and the toothed pressing block (6), and the toothed surface of the adjusting toothed plate (8) is disengaged from the toothed surface of the toothed pressing block (6).