CN216962963U

CN216962963U - Exoskeleton robot

Info

Publication number: CN216962963U
Application number: CN202122995957.2U
Authority: CN
Inventors: 韩青江
Original assignee: Wuhan Pole Technology Co ltd
Current assignee: Wuhan Pole Technology Co ltd
Priority date: 2021-11-30
Filing date: 2021-11-30
Publication date: 2022-07-15
Anticipated expiration: 2031-11-30

Abstract

The utility model discloses an exoskeleton robot, which comprises an upper supporting structure and a lower limb structure, wherein the lower limb structure comprises a thigh part and a shank part, the thigh part and the shank part respectively comprise a plate and a moving part, a strip-shaped groove is formed in the plate along the length direction, the moving part is positioned on the inner side of the plate, a plurality of circular positioning grooves are formed in the outer side of the plate corresponding to the edges of the strip-shaped grooves, bolts are arranged on the moving part and penetrate through the strip-shaped groove and the positioning grooves, nuts are arranged on the bolts and comprise positioning discs and rotating parts matched with the circular positioning grooves, and the rotating parts are fixed on the positioning discs.

Description

Exoskeleton robot

Technical Field

The utility model belongs to the technical field of auxiliary robots, and particularly relates to an exoskeleton robot.

Background

The rehabilitation exoskeleton robot is equipment for assisting a leg disabled person or a paraplegic patient to walk, can fix the paraplegic patient on the equipment through a strap or other parts, and helps the patient to walk again by means of the force of an exoskeleton.

Chinese patent application No. 2018214366873 discloses a prevent ectoskeleton robot of heeling, including upper portion supporting structure and low limbs structure, upper portion supporting structure includes the knapsack, the knapsack sets up the top of low limbs structure, the knapsack includes the laminating portion with the direct or indirect laminating of human upper portion trunk, laminating portion and the front side and/or the left and right sides looks adaptation of human upper portion trunk. A backpack for placing objects such as a controller, a sensor and a battery is placed on the front side and/or the left and right sides of the upper trunk of a human body.

Meanwhile, the lower limb structure also comprises a thigh part which is connected with the hip adjusting bracket through a rotatable thigh joint, a thigh bandage is arranged on the thigh part, the thigh part comprises a thigh plate part and a thigh moving part arranged in the thigh plate part, a track for the thigh moving part to slide up and down is also arranged in the thigh plate part, and an adjusting bolt is arranged between the thigh moving part and the thigh plate part; the lower limb structure also comprises a lower leg part connected with the lower end of the thigh part through a rotatable lower leg joint, a knee baffle is fixed on the lower leg joint, and the knee baffle is made of a hard material and can be opened and closed along the axial direction of the knee baffle; the calf part is provided with a calf bandage and comprises a calf plate and a calf moving part arranged inside the calf plate, a rail for the calf moving part to slide up and down is further arranged in the calf plate, and an adjusting bolt is arranged between the calf moving part and the calf plate.

With reference to fig. 2, the length of the thigh moving part extending out of the thigh plate part or the length of the shank moving part extending out of the shank plate part can be adjusted by adjusting bolts, so as to adapt to the lengths of the thigh and the shank of the human body with different heights.

For convenience of understanding and description, the thigh moving part and the shank moving part are collectively called as moving parts, and the thigh plate part and the shank plate part are collectively called as plate parts, and the above patent is not firm enough because the plate part and the moving part can only be fastened by a transverse bolt, but only by the friction force of the bolt fastening in the vertical direction, and particularly when the human body is supported, the supporting strength is easy to be insufficient, and a certain length cannot be stably maintained in use.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects of the prior art, the utility model provides the exoskeleton robot which is convenient to adjust the length of the lower limb structure, can keep the length when the exoskeleton robot is stressed after adjustment, does not change the length and has a stable structure.

In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides an ectoskeleton robot, includes upper portion bearing structure and low limbs structure, the low limbs structure includes thigh portion and shank portion, thigh portion and shank portion all include plate and moving part, the bar groove has been seted up along length direction on the plate, the moving part is located the inboard of plate, the edge that the outside of plate corresponds the bar groove is provided with a plurality of circular shape constant head tanks, be provided with the bolt on the moving part, the bolt passes bar groove and constant head tank, be provided with the nut on the bolt, the nut include with circular constant head tank complex positioning disk and rotating member, the rotating member is fixed in on the positioning disk.

Further the nut is in the shape of a cap.

Further the rotating member is strip-shaped or polygonal.

Further the bolt is provided with at least two, and the bolt is arranged downwards by the top of moving part.

Further two adjacent positioning grooves are partially overlapped.

Further the inboard of plate is provided with the backplate, backplate and plate form and hold the box, the moving part is arranged in holding the box, and its bottom is stretched out by holding the box bottom.

And an openable protective cover is arranged on the outer side of the plate.

Compared with the prior art, the utility model has the beneficial effects that: the moving part passes through the fastening of bolt and nut and is fixed with the plate, and the positioning disk of nut will block in the constant head tank after the fastening, makes its unable strip-shaped groove length direction removal of following, guarantees the relative fixation of moving part and plate promptly, and when needs are adjusted, only need loosen the nut make its positioning disk shift out the constant head tank can.

Drawings

FIG. 1 is a perspective view of the present invention with a protective cover;

FIG. 2 is a perspective view of the present invention without a protective cover;

FIG. 3 is a front view of the present invention without the protective cover;

fig. 4 is a cross-sectional view taken at a-a in fig. 3.

Reference numerals: 1. a plate member; 13. a strip-shaped groove; 131. positioning a groove; 2. a back plate; 3. a movable member; 31. a bolt; 4. a protective cover; 5. a nut; 51. positioning a plate; 52. a rotating member.

Detailed Description

Embodiments of the exoskeleton robot of the present invention are further described with reference to fig. 1 to 4.

In the description of the present invention, it should be noted that, for the terms of orientation, such as "central", "lateral (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate that the orientation and positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific scope of the present invention.

Furthermore, if the terms "first" and "second" are used for descriptive purposes only, they are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. Thus, a definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the features, and in the description of the utility model, "a number" or "a number" means two or more unless explicitly specified otherwise.

The utility model provides an exoskeleton robot, includes upper portion supporting structure and low limbs structure, the low limbs structure includes thigh portion and shank portion, thigh portion and shank portion all include plate 1 and moving part 3, strip groove 13 has been seted up along length direction on the plate 1, moving part 3 is located plate 1's inboard, the edge that the outside of plate 1 corresponds strip groove 13 is provided with a plurality of circular shape constant head tanks 131, be provided with bolt 31 on the moving part 3, bolt 31 passes strip groove 13 and constant head tank 131, be provided with nut 5 on the bolt 31, nut 5 include with circular constant head tank 131 complex positioning disk 51 and rotating member 52, rotating member 52 is fixed in on the positioning disk 51.

As shown in fig. 3, the strip-shaped groove 13 in this embodiment extends in the vertical direction, and when adjusting, the nut 5 is loosened to separate the positioning plate 51 from the positioning groove 131, and at this time, the moving member 3 can drive the bolt 31 and the nut 5 to move up and down to a proper position, and then the nut 5 is locked to embed the positioning plate 51 into the positioning groove 131, and at this time, the moving member 3 and the plate 1 are completely locked, wherein the rotating member 52 is strip-shaped or polygonal, and in this embodiment, it is strip-shaped, so that a person can directly grasp the rotating member to rotate with a hand, and the adjustment is convenient without using a special tool.

The nut 5 in the present embodiment is preferably in a cover shape, as shown in fig. 4, the inner side of the nut 5 in the present embodiment is a counterbore with threads, when the nut is matched with the bolt 31, the end of the bolt 31 extends into the counterbore, and after the nut 5 is locked, the bolt 31 is covered by the nut 5, so that the overall consistency is good.

In this embodiment, at least two bolts 31 are preferably arranged, and the bolts 31 are arranged downward from the top of the movable member 3, as shown in fig. 1 to 3, in this embodiment, taking two bolts 31 as an example, the distance between two bolts 31 is the same as the distance between two adjacent positioning grooves 131, and is close to the top of the movable member 3, and the arrangement of the plurality of bolts 31 can prevent the movable member 3 from rotating around the bolts 31.

In this embodiment, the bolt 31 and the movable member 3 may be completely fixed, so that they are not detachable from each other and are very firm.

It is preferable that the adjacent two positioning grooves 131 are partially overlapped, that is, the distance between the adjacent two positioning grooves 131 is smaller than the diameter of the positioning groove 131, so that the positioning grooves 131 can be more arranged to realize finer distance adjustment.

The inside of the plate 1 of the preferred embodiment is provided with a back plate 2, the back plate 2 and the plate 1 form a containing box, the movable part 3 is arranged in the containing box, and the bottom end of the movable part extends out from the bottom end of the containing box.

In this embodiment, the back plate 2 and the plate 1 may be fixed by screws or snaps.

In the preferred embodiment, an openable protective cover 4 is disposed on the outer side of the plate 1, as shown in fig. 1, one side of the protective cover 4 may be hinged to the plate 1, and the other side of the protective cover may be fixed to the plate 1 by magnet adsorption or by a snap, so as to shield the bolt 31, the nut 5, and the strip-shaped groove 13 and achieve a protective effect.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to those skilled in the art without departing from the principles of the present invention should also be considered as within the scope of the present invention.

Claims

1. The utility model provides an ectoskeleton robot, includes upper portion bearing structure and low limbs structure, the low limbs structure includes thigh portion and shank portion, thigh portion and shank portion all include plate and moving part, its characterized in that: the strip groove has been seted up along length direction on the plate, the moving part is located the inboard of plate, the edge that the outside of plate corresponds the strip groove is provided with a plurality of circular shape constant head tanks, be provided with the bolt on the moving part, the bolt passes strip groove and constant head tank, be provided with the nut on the bolt, the nut include with circular constant head tank complex positioning disk and rotating member, the rotating member is fixed in on the positioning disk.

2. The exoskeleton robot of claim 1, wherein: the nut is in a cover shape.

3. The exoskeleton robot of claim 2, wherein: the rotating piece is in a strip shape or a polygon prism shape.

4. The exoskeleton robot of claim 3, wherein: the bolt is provided with at least two, and the bolt is arranged downwards by the top of moving part.

5. The exoskeleton robot of claim 4, wherein: two adjacent locating grooves are partially overlapped.

6. The exoskeleton robot of claim 5, wherein: the movable part is arranged in the containing box, and the bottom end of the movable part extends out of the bottom end of the containing box.

7. The exoskeleton robot of claim 6, wherein: and an openable protective cover is arranged on the outer side of the plate.