CN217256284U

CN217256284U - Connecting assembly, exoskeleton robot and auxiliary support

Info

Publication number: CN217256284U
Application number: CN202220933550.9U
Authority: CN
Inventors: 熊军; 邓覃慧; 王普
Original assignee: Changsha Youlong Robot Co ltd
Current assignee: Changsha Youlong Robot Co ltd
Priority date: 2022-04-21
Filing date: 2022-04-21
Publication date: 2022-08-23
Anticipated expiration: 2032-04-21

Abstract

The utility model discloses a connecting assembly, an exoskeleton robot and an auxiliary bracket, wherein the connecting assembly comprises a first body and a second body, the first body is arranged on the external exoskeleton robot, the first body is provided with a sliding cover, a guide rail, a limiting part and a first sub-part, and the sliding cover can do reciprocating motion along the length direction of the guide rail; the limiting piece is configured to limit the position of the sliding cover; the second body is arranged on an external auxiliary support, the second body is matched with the first body, the second body is provided with a second sub-portion matched with the first sub-portion, under the mutual matching of the first sub-portion and the second sub-portion, the sliding cover of the first body moves towards the second body along the length direction of the guide rail by a preset distance, and under the limiting action of the limiting part, the first body is connected to the second body, so that the exoskeleton robot is connected to the auxiliary support. The utility model discloses can adjust waist mechanism, simple structure, convenient to use more convenient and fast ground.

Description

Connecting assembly, exoskeleton robot and auxiliary support

Technical Field

The utility model relates to the field of medical equipment, in particular to coupling assembling, ectoskeleton robot and auxiliary stand.

Background

When a patient suffering from paralysis, myasthenia or lower limb mobility inconvenience caused by other reasons uses the lower limb assisting exoskeleton robot, the exoskeleton robot auxiliary bracket is required to be used for matching training. In the training process, the exoskeleton robot and the auxiliary support need to be fixedly connected together, and basically all exoskeleton robots are telescopically adjustable in order to adapt to patients with different body sizes, and most of the connection modes of the exoskeleton robots and the auxiliary supports on the market at present are that the connection points of the exoskeleton robot and the auxiliary supports are arranged at the waist area, generally speaking, the auxiliary supports and the exoskeleton robot are fixed at two points, and the fixed positions are arranged at two ends of a waist telescopic piece, so that when the waist telescopic piece of the exoskeleton robot needs to be adjusted, the exoskeleton robot is separated from the auxiliary supports firstly, and then the exoskeleton robot is butted with the auxiliary supports after the telescopic mechanism is adjusted, or a similar telescopic structure is made at the auxiliary supports, when the telescopic structure of the exoskeleton robot is debugged, adjust the extending structure on the auxiliary stand simultaneously, but these two kinds of modes all have the drawback, and the former makes waist extensible member adjust more complicated and complex operation, and the latter has increased mechanical structure's complexity although having made things convenient for a lot of compared with the former, has still increased mechanical cost simultaneously.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a coupling assembling, ectoskeleton robot and auxiliary stand of convenient to use.

In order to achieve the purpose, the utility model adopts the technical proposal as follows:

a coupling assembly for coupling an external exoskeleton robot to an auxiliary frame, comprising:

the exoskeleton robot comprises a first body, a second body and a control module, wherein the first body is arranged on an external exoskeleton robot and is provided with a sliding cover, a guide rail, a limiting piece and a first sub-part, and the guide rail and the sliding cover are arranged in a matched manner so that the sliding cover can reciprocate along the length direction of the guide rail; the limiting piece is matched with the sliding cover, so that the limiting piece is configured to limit the position of the sliding cover;

the second body is arranged on an external auxiliary support, the second body is matched with the first body, a second sub-portion matched with the first sub-portion is arranged on the second body, under the mutual matching of the first sub-portion and the second sub-portion, the sliding cover of the first body moves towards the second body along the length direction of the guide rail for a preset distance, and under the limiting action of the limiting piece, the first body is connected to the second body, so that the exoskeleton robot is connected to the auxiliary support.

Further, the guide rail, the limiting member and the sliding cover are located on the same side of the first body, and the guide rail is arranged on two sides of the limiting member.

Further, the first sub-portion has a convex portion, the second sub-portion has a concave portion, and the convex portion is matched with the concave portion, and under the action of external force, the first sub-portion and the second sub-portion can be combined with each other or separated from each other.

Preferably, the convex part is a bump, and the concave part is a groove.

Preferably, the stopper has a slope structure.

Further, a connecting piece is arranged on the first body, and the connecting piece is configured to be detachably connected to an external exoskeleton robot.

An exoskeleton robot comprising a robot body and the first body described above.

Further, the exoskeleton robot further comprises a waist adjusting device arranged on the robot body, and the first body is connected to the waist adjusting device.

An auxiliary support for an exoskeleton robot comprises a support body and the second body.

Further, the auxiliary stand further includes a sliding member provided on the stand body, and the second body is connected to the sliding member.

The utility model has the advantages that: when the waist telescopic mechanism of the exoskeleton robot needs to be adjusted, the waist telescopic mechanism can be adjusted more conveniently and rapidly through the connecting assembly, the mechanical mechanism is simpler, the cost is lower, and the convenience of the exoskeleton robot and the auxiliary support in butt joint is ensured.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of 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 it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic perspective view of a connection assembly according to an exemplary embodiment of the present invention;

fig. 2 is a schematic perspective view of a connection assembly for an exoskeleton robot and an auxiliary frame according to an exemplary embodiment of the present invention;

fig. 3 is a top view of the connection assembly for the exoskeleton robot and the auxiliary stand according to an exemplary embodiment of the present invention.

Wherein the reference numerals include: 11-first body, 110-connecting piece, 111-sliding cover, 112-guide rail, 113-limiting piece, 12-second body, 120-groove, 2-robot body, 21-lumbar adjusting device, 3-bracket body, 31-sliding piece.

Detailed Description

In order to make the technical solution of the present invention better understood, the technical solution of 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 only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.

In an embodiment of the present invention, a connection assembly for connecting an external exoskeleton robot and an auxiliary stand is provided, the connection assembly includes a first body 11 and a second body 12 detachably corresponding to each other and disposed on the exoskeleton robot and the auxiliary stand, wherein the exoskeleton robot includes a robot body 2 and a waist adjusting device 21 disposed on the robot body 2, and the auxiliary stand includes a stand body 3 and a sliding member 31 disposed on the stand body 3.

Specifically, as shown in fig. 1, the first body 11 is provided with a connecting member 110, a sliding cover 111, a guide rail 112, a limiting member 113 and a first sub-portion. The guide rail 112, the limiting member 113 and the sliding cover 111 are located on the same side of the first body 11, and the guide rail 112 is disposed on two sides of the limiting member 113. The guide rail 112 and the sliding cover 111 are cooperatively disposed such that the sliding cover 111 can reciprocate along a length direction of the guide rail 112. The coupling 110 is configured to be removably coupled to an external exoskeleton robot, and may be magnetically attracted or otherwise attached. For example, in the present embodiment, the limiting member 113 has an inclined surface structure, as shown in fig. 2, the direction from the sliding member 31 to the lumbar adjustment device 21 of the limiting member 113 is an inclined direction, so that when the sliding member 111 approaches the limiting member 113, the limiting member 113 will not affect the sliding member 111, and when the sliding member 111 wants to slide toward the lumbar adjustment device 21, the limiting member 113 having the inclined surface structure will limit the sliding member 111, thereby avoiding the sliding member 111 from sliding back and forth during the use process of the user. The first sub-portion has a protrusion, which is a bump (not shown) in the present embodiment.

As shown in fig. 1, the second body 12 is adapted to the first body 11 so that the first body 11 can be connected to the second body 12. The second body 12 is provided with a second sub-portion matching with the first sub-portion, the second sub-portion has a concave portion, in this embodiment, the concave portion is a groove 120, and the convex portion matches with the concave portion, so that under the action of external force, the first sub-portion and the second sub-portion can be combined with each other or separated from each other, that is, the protrusion can be inserted into the groove 120 or separated from the groove 120.

As shown in fig. 2 and 3, the first body 11 is connected to the back of the waist adjusting device 21 of the exoskeleton robot through the connecting member 110, the second body 12 is disposed on the sliding member 31 of the auxiliary bracket, such that under the mutual cooperation or combination of the first sub-portion, i.e. the protrusion, and the second sub-portion, i.e. the groove 120, the sliding cover 111 of the first body 11 moves towards the second body 12 along the length direction of the guide rail 112 by a preset distance to integrate the first body 11 and the second body 12, and under the limiting action of the limiting member 113, the first body 11 is connected to the second body 12, such that the exoskeleton robot is connected to the auxiliary bracket, such that when a user needs to adjust the waist, the exoskeleton robot does not need to be detached from the auxiliary bracket for adjustment and then installed on the bracket, and can directly adjust the waist, which is more convenient and fast.

In addition, it should be noted that the protrusion and the groove 120 in the embodiment are only examples, and other combinations may be selected in specific applications, which does not limit the protection scope of the present invention.

In an embodiment of the present invention, an exoskeleton robot is provided, which includes a robot body 2, a waist adjusting device 21 disposed on the robot body 2, and the first body 11, wherein the first body 11 is connected to the waist adjusting device 21.

The idea of the exoskeleton robot embodiment is the same as the working process of the connecting assembly in the embodiment, and the whole content of the connecting assembly embodiment is incorporated into the exoskeleton robot embodiment by way of full citation, which is not described again.

In an embodiment of the present invention, an auxiliary stand for an exoskeleton robot is provided, the auxiliary stand includes a stand body 3, a sliding member 31 disposed on the stand body 3, and the second body 12 described above, wherein the second body 12 is connected to the sliding member 31.

The idea of this auxiliary stand embodiment and the working process of coupling assembling in above-mentioned embodiment belong to same idea, incorporate this auxiliary stand embodiment with the whole content of above-mentioned coupling assembling embodiment through the mode that cites throughout, no longer describe again.

The utility model discloses a make waist extending structure can conveniently adjust, simplify mechanical structure simultaneously, reduce mechanical cost, with the position design that is connected with the auxiliary stand on the ectoskeleton robot at waist extending structure's back, when adjusting ectoskeleton robot waist extending mechanism like this, can directly adjust, need not separate robot and auxiliary stand. The connecting assembly is composed of two parts, one part can be directly fixed on the auxiliary support, the other part can be installed on the exoskeleton robot when in use, the two parts are only needed to be in butt joint when in connection, and then the sliding cover 111 is slid to the position closest to the auxiliary support to complete the connection.

The sequence of the embodiments of the present invention is only for description, and does not represent the advantages and disadvantages of the embodiments.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. A coupling assembly for coupling an external exoskeleton robot to an auxiliary support, comprising:

the exoskeleton robot comprises a first body (11) arranged on an external exoskeleton robot, wherein a sliding cover (111), a guide rail (112), a limiting piece (113) and a first sub-part are arranged on the first body (11), the guide rail (112) and the sliding cover (111) are arranged in a matched mode, so that the sliding cover (111) can reciprocate along the length direction of the guide rail (112); the limiting piece (113) is matched with the sliding cover (111) to be arranged, so that the limiting piece (113) is configured to limit the position of the sliding cover (111);

the second body (12) is arranged on an external auxiliary support, the second body (12) is matched with the first body (11), a second sub-portion matched with the first sub-portion is arranged on the second body (12), under the mutual matching of the first sub-portion and the second sub-portion, the sliding cover (111) of the first body (11) moves towards the second body (12) along the length direction of the guide rail (112) for a preset distance, and under the limiting action of the limiting piece (113), the first body (11) is connected to the second body (12), so that the exoskeleton robot is connected to the auxiliary support.

2. The connecting assembly according to claim 1, characterized in that the guide (112), the stop (113) and the sliding cover (111) are located on the same side of the first body (11), the guide (112) being arranged on both sides of the stop (113).

3. The connecting assembly of claim 1, wherein the first sub-portion has a protrusion, the second sub-portion has a depression, and the protrusion is adapted to fit into the depression, and the first sub-portion and the second sub-portion can be combined with or separated from each other by an external force.

4. The connection module according to claim 3, wherein the protrusion is a bump and the recess is a groove (120).

5. The connecting assembly according to claim 1, characterized in that the stop (113) has a ramp structure.

6. The coupling assembly of claim 1, wherein the first body (11) further comprises a coupling member (110), the coupling member (110) being configured to be removably coupled to an external exoskeleton robot.

7. An exoskeleton robot, characterized in that it comprises a robot body (2) and a first body (11) according to any one of claims 1 to 6.

8. An exoskeleton robot as claimed in claim 7, further comprising a lumbar adjustment device (21) provided on said robot body (2), said first body (11) being connected at said lumbar adjustment device (21).

9. An auxiliary support for an exoskeleton robot, characterized in that it comprises a support body (3) and a second body (12) according to any one of claims 1 to 6.

10. The auxiliary stand according to claim 9, further comprising a slide (31) provided on the stand body (3), the second body (12) being connected at the slide (31).