CN219250843U - Leg length adjusting mechanism of lower limb exoskeleton robot - Google Patents
Leg length adjusting mechanism of lower limb exoskeleton robot Download PDFInfo
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- CN219250843U CN219250843U CN202222413183.2U CN202222413183U CN219250843U CN 219250843 U CN219250843 U CN 219250843U CN 202222413183 U CN202222413183 U CN 202222413183U CN 219250843 U CN219250843 U CN 219250843U
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- leg
- thigh
- linear guide
- thigh sleeve
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
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Abstract
The utility model discloses a leg length adjusting mechanism of a lower limb exoskeleton robot, which comprises a thigh sleeve and a leg rod, wherein a thigh connecting plate is arranged at the upper end of the thigh sleeve, the upper end of the leg rod is inserted into the thigh sleeve through an opening at the lower end of the thigh sleeve, a pipe clamp for locking the leg rod is arranged at the opening at the lower end of the thigh sleeve, and the lower end of the leg rod is positioned outside the thigh sleeve and is provided with a shank connecting plate; the outer side wall of the thigh sleeve is provided with a linear guide rail and a constant force spring, a sliding table of the linear guide rail is connected with a leg rod positioned in the thigh sleeve through a leg rod connecting piece, a limiting opening is formed in the side wall of the thigh sleeve and used for connecting the leg rod connecting piece with a leg rod positioned in the thigh sleeve, and the free end of the constant force spring is connected with the sliding table of the linear guide rail; the utility model balances the dead weight of the lower leg by using the constant force spring, and the dead weight of the lower leg can not feel obvious resistance when the length of the lower leg is adjusted, so that a therapist can feel relaxed and labor-saving, and the fatigue and boredom of the therapist are greatly relieved.
Description
Technical Field
The utility model relates to a leg length adjusting mechanism of a lower limb exoskeleton robot, and belongs to the technical field of exoskeleton robots.
Background
At present, a large number of patients can not walk or stand on lower limbs caused by strokes, spinal cord injuries and various accidents in China every year, and the physical and mental health of the patients is seriously hit; in order to help the young and old people with impaired lower limb functions to recover leg functions and return to social life, the lower limb exoskeleton robot is developed and can help the old people to train and improve limb functions;
because the heights of all people are different, in order to improve the applicable crowd of the exoskeleton robot, a leg length adjusting mechanism is usually designed; the leg length adjusting mechanisms on the market mainly comprise two types:
the first is an electric adjusting mechanism, which has a complex structure and high manufacturing cost;
the second is a screw or press block locking adjusting mechanism, which has no calf dead weight balancing device, and a therapist is hard to adjust the leg length, and is easy to feel tired when the therapist uses the device for a long time in a hospital and frequent leg length adjustment.
Disclosure of Invention
Aiming at the problems in the prior art, the utility model provides the leg length adjusting mechanism of the lower limb exoskeleton robot, which balances the dead weight of the lower leg by using the constant force spring, and can not feel obvious resistance when the leg length is adjusted, so that the leg length adjusting process is smoother, a therapist feels relaxed and labor-saving, and the fatigue and tiredness of the therapist are greatly relieved; simple structure, convenient operation and low manufacturing cost.
In order to achieve the above object, the present utility model adopts the following technical scheme:
the leg length adjusting mechanism of the lower limb exoskeleton robot comprises a thigh sleeve and a leg rod, wherein a thigh connecting plate is arranged at the upper end of the thigh sleeve, the upper end of the leg rod is inserted into the thigh sleeve through an opening at the lower end of the thigh sleeve, a pipe clamp for locking the leg rod is arranged at the opening at the lower end of the thigh sleeve, and the lower end of the leg rod is positioned outside the thigh sleeve and is provided with a shank connecting plate;
be provided with linear guide and constant force spring on the telescopic lateral wall of thigh, linear guide arranges along the telescopic axial extension of thigh, and linear guide's slip table passes through leg pole connecting piece and is connected with the inside leg pole that is located the telescopic of thigh, is formed with the spacing mouth that extends along the telescopic axial of thigh on the telescopic lateral wall of thigh, spacing mouth is used for leg pole connecting piece to be connected with the inside leg pole that is located the telescopic of thigh, constant force spring's free end is connected with linear guide's slip table.
In order to reasonably arrange the constant force springs, the constant force springs and the limiting openings are respectively positioned at two sides of the linear guide rail; the constant force springs and the leg rods are respectively connected with the sliding tables of the linear guide rail at two sides of the linear guide rail, and apply acting force to the sliding tables of the linear guide rail at two sides of the linear guide rail, so that the stability of the sliding tables of the linear guide rail during sliding is ensured.
In order to ensure the movable effect of the free end of the constant force spring, the constant force spring is arranged on the outer side wall of the thigh sleeve through a bracket.
Further, the free end of the constant force spring is connected with the sliding table of the linear guide rail through a spring connecting piece; the spring connecting piece is of an L-shaped structure, a longitudinal plate of the L-shaped structure spring connecting piece is connected with the free end of the constant force spring through a screw, and a transverse plate of the L-shaped structure spring connecting piece is connected with the sliding table of the linear guide rail through a screw; is beneficial to reasonable arrangement and design of the thigh sleeve structure.
Preferably, the transverse plate of the L-shaped structure spring connecting piece is overlapped with one end of the leg rod connecting piece and then connected with the sliding table of the linear guide rail through a screw; therefore, the transverse plate of the L-shaped structure spring connecting piece and one end of the leg rod connecting piece can share one set of screws to be connected with the sliding table of the linear guide rail.
As a further preferable mode of the utility model, a lug is arranged on the outer circumferential surface of the leg rod positioned in the thigh sleeve, the lug is positioned in the limit opening, and the leg rod connecting piece is connected with the lug through a screw; the protruding blocks are matched with the limiting openings, so that the leg rods positioned in the thigh sleeves can only move along the limiting openings and cannot rotate; meanwhile, the design of the convex blocks is convenient for the leg rod connecting piece to be connected with the leg rod positioned in the thigh sleeve.
As a further preferred aspect of the present utility model, the pipe clamp is a quick release pipe clamp; the quick-release tube clamp is convenient for a therapist to operate.
The utility model has the advantages that:
(1) The linear guide rail is used as the sliding guide of the leg rod, so that the friction force between the leg rod and the thigh sleeve is reduced, and the leg length adjusting process is smoother;
(2) The dead weight of the lower leg is balanced by the constant force spring, and obvious resistance is not felt when the leg length is adjusted, so that the leg length is adjusted more easily and more easily;
(3) The shank is pulled by the constant force spring, the shank part cannot fall when the pipe clamp is loosened, and the risk of injury to people or equipment caused by falling of the shank part is eliminated;
(4) In the leg length adjusting process, a therapist feels relaxed and labor-saving, and the fatigue and boredom of the therapist are greatly relieved;
(5) Simple structure, convenient operation and low manufacturing cost.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a schematic illustration of the position of the present utility model in a lower extremity exoskeleton robot leg;
meaning of reference numerals in the drawings:
1-thigh sleeve, 2-leg pole, 3-thigh connecting plate, 4-pipe clamp, 5-shank connecting plate, 6-linear guide, 7-constant force spring, 8-leg pole connecting piece, 9-spacing mouth, 10-support, 11-spring connecting piece.
Detailed Description
The utility model is described in detail below with reference to the drawings and the specific embodiments.
As shown in fig. 1 and 2, the present embodiment is a leg length adjusting mechanism of a lower limb exoskeleton robot, comprising a thigh sleeve 1 and a leg rod 2, wherein a thigh connecting plate 3 is arranged at the upper end of the thigh sleeve 1, the upper end of the leg rod 2 is inserted into the thigh sleeve 1 through the lower end opening of the thigh sleeve 1, a pipe clamp 4 for locking the leg rod 2 is arranged at the lower end opening of the thigh sleeve 1, and the lower end of the leg rod 2 is positioned outside the thigh sleeve 1 and is provided with a shank connecting plate 5;
be provided with linear guide 6 and constant force spring 7 on the lateral wall of thigh sleeve 1, linear guide 6 extends along thigh sleeve 1 axial and arranges, and the slip table of linear guide 6 is connected with the inside leg pole 2 of being located thigh sleeve 1 through leg pole connecting piece 8, is formed with the spacing mouth 9 that extends along thigh sleeve 1 axial on the lateral wall of thigh sleeve 1, and spacing mouth 9 is used for leg pole connecting piece 8 to be connected with the inside leg pole 2 of being located thigh sleeve 1, and the free end of constant force spring 7 is connected with the slip table of linear guide 6.
In order to reasonably arrange the constant force springs 7, the constant force springs 7 and the limiting openings 9 are respectively positioned at two sides of the linear guide rail 6; the constant force springs 7 and the leg rods 2 are respectively connected with the sliding tables of the linear guide rail 6 at two sides of the linear guide rail 6, and the constant force springs 7 and the leg rods 2 respectively apply acting force to the sliding tables of the linear guide rail 6 at two sides of the linear guide rail 6, so that the stability of the sliding tables of the linear guide rail 6 during sliding is ensured; in order to ensure the active effect of the free end of the constant force spring 7, the constant force spring 7 is mounted on the outer side wall of the thigh sleeve 1 by means of a bracket 10.
In the embodiment, the free end of the constant force spring 7 is connected with the sliding table of the linear guide rail 6 through a spring connecting piece 11; the spring connecting piece 11 is of an L-shaped structure, a longitudinal plate of the L-shaped structure spring connecting piece 11 is connected with the free end of the constant force spring 7 through a screw, and a transverse plate of the L-shaped structure spring connecting piece 11 is connected with the sliding table of the linear guide rail 6 through a screw; the reasonable arrangement and design of the thigh sleeve 1 structure are facilitated; in the embodiment, a transverse plate of the L-shaped structure spring connecting piece 11 is overlapped with one end of the leg rod connecting piece 8 and then connected with a sliding table of the linear guide rail 6 through a screw; so that the transverse plate of the L-shaped structure spring connecting piece 11 and one end of the leg rod connecting piece 8 can share one set of screws to be connected with the sliding table of the linear guide rail 6.
In the embodiment, a bump is arranged on the outer circumferential surface of a leg rod 2 positioned in the thigh sleeve 1, the bump is positioned in a limit opening 9, and a leg rod connecting piece 8 is connected with the bump through a screw; the protruding blocks are matched with the limit openings 9, so that the leg rods 2 positioned in the thigh sleeve 1 can only move along the limit openings 9 and cannot rotate; at the same time, the design of the projection also facilitates the connection of the leg link 8 with the leg bar 2 inside the thigh sleeve 1.
The pipe clamp 4 in this embodiment is a quick release pipe clamp; the quick-release tube clamp is convenient for a therapist to operate.
In this embodiment, the leg rod 2 inside the thigh sleeve 1 is connected with the sliding table of the linear guide rail 6 through the leg rod connecting piece 8, and the free end of the constant force spring 7 is connected with the sliding table of the linear guide rail 6 through the spring connecting piece 11, so that the free end of the constant force spring 7, the sliding table of the linear guide rail 6 and the leg rod 2 inside the thigh sleeve 1 are connected together, and the leg rod 2 inside the thigh sleeve 1 is guided by the linear guide rail 6 and is under the tensile force of the constant force spring 7;
when the leg length is adjusted, the pipe clamp 4 is loosened, the shank drives the leg rod 2 to move, the tension of the constant force spring 7 balances with the dead weight of the shank, so that the position of the shank is kept unchanged, a therapist pulls or pushes the shank to move downwards or upwards by overcoming the friction force of the linear guide rail 6, the pipe clamp 4 is locked when the shank is adjusted to a specified position, the pipe clamp 4 locks the leg rod 2 at the specified position and does not move, and the leg length is adjusted; the friction force of the linear guide rail 6 is only needed to be overcome in the leg length adjusting process, and the required strength is small, so that obvious resistance is not felt when the leg length is adjusted, the leg length adjusting process is smoother, a therapist feels relaxed and labor-saving, and the fatigue and boredom of the therapist are greatly relieved.
This embodiment has the following advantages:
(1) The linear guide rail is used as the sliding guide of the leg rod, so that the friction force between the leg rod and the thigh sleeve is reduced, and the leg length adjusting process is smoother;
(2) The dead weight of the lower leg is balanced by the constant force spring, and obvious resistance is not felt when the leg length is adjusted, so that the leg length is adjusted more easily and more easily;
(3) The shank is pulled by the constant force spring, the shank part cannot fall when the pipe clamp is loosened, and the risk of injury to people or equipment caused by falling of the shank part is eliminated;
(4) In the leg length adjusting process, a therapist feels relaxed and labor-saving, and the fatigue and boredom of the therapist are greatly relieved;
(5) Simple structure, convenient operation and low manufacturing cost.
In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
In the description of the present utility model, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "configured" are to be construed broadly, and may be, for example, fixedly connected, configured, detachably connected, configured, or integrally connected, configured; can be mechanically or electrically connected; can be directly connected, can also be indirectly connected through an intermediate medium, and can also be the communication between the two elements; the specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
The foregoing has shown and described the basic principles, principal features and advantages of the utility model; it will be appreciated by persons skilled in the art that the above embodiments are not intended to limit the utility model in any way, and that all technical solutions obtained by means of equivalent substitutions or equivalent transformations fall within the scope of the utility model.
Claims (8)
1. Leg length adjustment mechanism of low limbs ectoskeleton robot, its characterized in that: the thigh sleeve comprises a thigh sleeve and a leg rod, wherein a thigh connecting plate is arranged at the upper end of the thigh sleeve, the upper end of the leg rod is inserted into the thigh sleeve through an opening at the lower end of the thigh sleeve, a pipe clamp for locking the leg rod is arranged at the opening at the lower end of the thigh sleeve, and the lower end of the leg rod is positioned outside the thigh sleeve and is provided with a shank connecting plate;
be provided with linear guide and constant force spring on the telescopic lateral wall of thigh, linear guide arranges along the telescopic axial extension of thigh, and linear guide's slip table passes through leg pole connecting piece and is connected with the inside leg pole that is located the telescopic of thigh, is formed with the spacing mouth that extends along the telescopic axial of thigh on the telescopic lateral wall of thigh, spacing mouth is used for leg pole connecting piece to be connected with the inside leg pole that is located the telescopic of thigh, constant force spring's free end is connected with linear guide's slip table.
2. The leg length adjustment mechanism of a lower extremity exoskeleton robot of claim 1 wherein said constant force springs and limiting ports are located on either side of the linear guide rail.
3. A leg length adjustment mechanism for a lower extremity exoskeleton robot as claimed in claim 1 or 2 wherein said constant force springs are mounted on the outer side wall of the thigh sleeve by brackets.
4. A leg length adjusting mechanism of a lower limb exoskeleton robot as claimed in claim 1 or 2, wherein the free end of the constant force spring is connected with the sliding table of the linear guide rail through a spring connector.
5. The leg length adjusting mechanism of the lower limb exoskeleton robot of claim 4, wherein the spring connector is of an L-shaped structure, a longitudinal plate of the spring connector of the L-shaped structure is connected with the free end of the constant force spring through a screw, and a transverse plate of the spring connector of the L-shaped structure is connected with the sliding table of the linear guide rail through a screw.
6. The leg length adjusting mechanism of the lower limb exoskeleton robot of claim 5, wherein the transverse plate of the L-shaped structure spring connector is overlapped with one end of the leg rod connector and then connected with the sliding table of the linear guide rail through a screw.
7. The leg length adjusting mechanism of the lower limb exoskeleton robot of claim 1, wherein the outer circumference of the leg rod located inside the thigh sleeve is provided with a bump, the bump is located in the limit opening, and the leg rod connecting piece is connected with the bump through a screw.
8. The leg length adjustment mechanism of a lower extremity exoskeleton robot of claim 1 wherein said tube clamps are quick release tube clamps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222413183.2U CN219250843U (en) | 2022-09-13 | 2022-09-13 | Leg length adjusting mechanism of lower limb exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222413183.2U CN219250843U (en) | 2022-09-13 | 2022-09-13 | Leg length adjusting mechanism of lower limb exoskeleton robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219250843U true CN219250843U (en) | 2023-06-27 |
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ID=86870943
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222413183.2U Active CN219250843U (en) | 2022-09-13 | 2022-09-13 | Leg length adjusting mechanism of lower limb exoskeleton robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219250843U (en) |
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2022
- 2022-09-13 CN CN202222413183.2U patent/CN219250843U/en active Active
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