CN220446457U - Power-assisted exoskeleton instrument - Google Patents
Power-assisted exoskeleton instrument Download PDFInfo
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- CN220446457U CN220446457U CN202320676652.1U CN202320676652U CN220446457U CN 220446457 U CN220446457 U CN 220446457U CN 202320676652 U CN202320676652 U CN 202320676652U CN 220446457 U CN220446457 U CN 220446457U
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- waist
- adjusting box
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- 230000002457 bidirectional effect Effects 0.000 claims abstract description 16
- 210000001624 hip Anatomy 0.000 abstract description 53
- 230000000694 effects Effects 0.000 abstract description 8
- 210000004394 hip joint Anatomy 0.000 abstract description 6
- 210000002414 leg Anatomy 0.000 description 13
- 210000001015 abdomen Anatomy 0.000 description 7
- 230000036544 posture Effects 0.000 description 5
- 238000004146 energy storage Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 206010023230 Joint stiffness Diseases 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007850 degeneration Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
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Abstract
The utility model discloses a power-assisted exoskeleton device, which belongs to the technical field of hip joint rehabilitation assistance equipment and comprises an adjusting box, wherein a bidirectional screw rod is rotatably installed in the adjusting box, a driving assembly is arranged on the adjusting box, sliding blocks are installed on the outer surfaces of two sections of threads of the bidirectional screw rod in a threaded manner, a plurality of sliding rods are slidably installed on two sides of the adjusting box, waist frameworks are arranged on two sides of the adjusting box, one end of each sliding rod extends into the adjusting box and is fixedly connected with the sliding blocks on the same side, the other end of each sliding rod is fixedly connected with the waist frameworks on the same side, a waist guard plate is fixedly installed on the front surface of the adjusting box, binding belts are fixedly installed on two sides of the waist guard plate, one end of each binding belt far away from the waist guard plate is fixedly connected with the waist frameworks on the same side, and connecting rings are sleeved on the binding belts; therefore, the device is adapted and adjusted according to the body state of a wearer, and has good fixing effect and wide application range.
Description
Technical Field
The utility model belongs to the technical field of hip joint rehabilitation assistance equipment, and particularly relates to an assistance exoskeleton instrument.
Background
The old people often have problems of bone joint degeneration, muscle strength weakening and the like, the residual muscle strength of the old people is insufficient to support the old people for daily activities, and in rehabilitation training of the old people, exoskeleton apparatuses are often used for assisting the old people so as to improve the activity ability of the old people.
Chinese patent application number (CN 202021230901.7) discloses a passive variable stiffness energy storage helping hand hip joint exoskeleton, including waist and back fixed unit, left thigh fixed unit, right thigh fixed unit, left variable stiffness hip joint and right variable stiffness hip joint all include the cam dish, rotate the articular dish that sets up in the cam dish, set up the variable stiffness adjustment mechanism on the articular dish, a pair of spring energy storage mechanism and joint output end cover, the cam dish links to each other with waist and back fixed unit, this technical scheme stores the energy that produces in the people's walking process through spring energy storage mechanism and releases at certain time and reaches the helping hand purpose, adjust joint output moment in order to adjust joint output moment in real time through the integral compression volume of spring in the spring energy storage mechanism simultaneously, make it and normal people's hip joint moment phase-match, thereby reach the purpose of variable stiffness, but the disadvantage lies in only through the adjustment of adjusting the back baffle and the width adjustment spare between the adjustment exoskeleton, the adjustment of width is suitable for different type crowd, the operation is inconvenient, it is relatively poor to be fit with the person's of wearing person's walking, the comfort, the person is relatively poor in the adjustment of the state is convenient for the person's wearing the person is poor, the person is ill and is convenient to use.
Disclosure of Invention
The utility model aims to provide a power-assisted exoskeleton device, which solves the problems that the prior art has the defects that the width adjustment is carried out only by adjusting the fixed position between the back baffle plate and the width adjustment piece of the exoskeleton, so that the power-assisted exoskeleton device is suitable for people with different body types, the operation is relatively inconvenient, the fit degree with a wearer is relatively poor, the power-assisted exoskeleton device is inconvenient to adapt and adjust according to the body state of the wearer, the fixing effect is poor, the power-assisted exoskeleton device is inconvenient to use by the wearer with different heights and body types, and the universality is relatively poor.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a helping hand ectoskeleton apparatus, includes the regulation box, regulation box internal rotation installs two-way lead screw, be provided with actuating assembly on the regulation box, the surface of two sections screw threads of two-way lead screw is equal threaded mounting has the slider, the equal slidable mounting in both sides of regulation box has a plurality of slide bar, the both sides of regulation box all are provided with waist skeleton, the one end of slide bar extends to the slider fixed connection of homonymy in the regulation box, the other end and the waist skeleton fixed connection of homonymy of slide bar, the front fixed mounting of regulation box has waist backplate, the equal fixed mounting in both sides of waist backplate has the bandage, the one end and the waist skeleton fixed connection of homonymy that waist backplate was kept away from to the bandage, the cover is equipped with the go-between to ring is provided with the fastening assembly, articulated have the shank skeleton on the waist skeleton, slidable mounting has a plurality of sliding sleeve on the shank skeleton, be provided with the regulation assembly on the sliding sleeve, set up the hole that a plurality of cooperation shank skeleton used on the shank skeleton, fixed mounting has the shank hoop on the sliding sleeve, two in the same horizontal plane the symmetry is laid to the leg hoop.
By adopting the scheme, the bidirectional screw rod is in running fit with the guide rod to drive the sliding blocks to move on the sliding rods, and the two sliding blocks move mutually to drive the waist frameworks to move along with the sliding rods, so that the two waist frameworks can be driven to approach or separate from each other by rotating the hand wheel to be suitable for wearers in different postures.
As a preferred embodiment, the driving assembly comprises a worm rotatably mounted on the adjusting box, a worm wheel meshed with the worm is fixedly mounted in the middle of the bidirectional screw rod, and one end of the worm extends out of the adjusting box and is fixedly provided with a hand wheel.
By adopting the scheme, the rotating hand wheel drives the worm to rotate, the worm rotates to drive the bidirectional screw rod to rotate through the worm wheel, the self-locking characteristic of the worm wheel and the worm rod can be utilized to ensure the stability of the positions of the two waist skeletons after adjustment, and the operation is convenient.
As a preferable implementation mode, guide rods are fixedly arranged in the adjusting boxes at two sides of the bidirectional screw rod, and the sliding blocks slide on the outer surfaces of the two guide rods.
By adopting the scheme, the guide rod is arranged to guide and limit the sliding block, so that the sliding block is prevented from deviating and rotating in the process of moving on the bidirectional screw rod, and the stability of the sliding block is improved.
As a preferred implementation mode, the fastening assembly comprises a clamping sleeve, fastening belts are fixedly installed on two connecting rings, a plurality of clamping blocks are fixedly installed on one fastening belt, the clamping sleeve is fixedly connected with the other fastening belt, a rotating shaft is rotatably installed on the clamping sleeve, one end of the rotating shaft extends into the clamping sleeve and is fixedly provided with a supporting and fastening block matched with the clamping blocks, and a mounting plate pulling piece is fixed at the other end of the rotating shaft.
By adopting the scheme, the rotating pulling piece drives the rotating shaft to rotate so as to rotate the abutting block, then one of the tying belts passes through the clamping sleeve, then the tying belt is pulled so as to enable the tying belt to be attached to the abdomen of a wearer, and then the rotating handle is loosened so as to enable the abutting block to abut against the clamping block, so that the waist skeleton is worn, and the waist skeleton is adjusted in an adapting mode according to the body state of the wearer, and the waist skeleton tightening device has a good fixing effect and a wide application range.
As a preferred implementation mode, the adjusting component comprises an inserting rod, a jack is formed in the sliding sleeve, the inserting rod is inserted into the jack, the inserting rod is matched with the adjusting hole for use, a mounting disc is fixedly mounted at one end of the inserting rod, a spring is sleeved on the outer surface of the inserting rod, and two ends of the spring are fixedly connected with the mounting disc and the sliding sleeve at the same side respectively.
By adopting the scheme, the installation plate is pulled to pull out the inserted bar from the adjusting hole, at the moment, the spring is stressed and stretched, then the sliding sleeve is adjusted to a proper position, the installation plate is loosened, the spring ejects the inserted bar into a new adjusting hole under the elastic action of the spring, and the sliding sleeve is clamped and fixed, so that the sliding sleeve and the leg hoops can be adjusted to proper heights according to the body state of a wearer, users with different heights can wear the device conveniently, and the device is simple in structure and convenient to use.
As a preferred embodiment, an elastic cushion is fixedly mounted on the waist guard plate.
By adopting the scheme, the waist of the wearer can be protected, and the comfort of the waist of the wearer is improved.
Compared with the prior art, the utility model has the beneficial effects that:
according to the power-assisted exoskeleton device, the bidirectional screw rod, the driving assembly, the sliding blocks, the sliding rods, the waist skeleton, the fastening assembly, the binding bands and the connecting rings are arranged, the rotating hand wheel drives the worm to rotate, the worm rotates to drive the bidirectional screw rod to rotate, the bidirectional screw rod is matched with the guide rod to drive the sliding blocks to move on the sliding rods, the two sliding blocks move mutually to drive the waist skeleton to move along with the sliding rods, so that the two waist skeletons can be driven to be mutually close to or far away from each other through the rotating hand wheel to be suitable for wearers in different states, the rotating pulling piece drives the rotating shaft to rotate to enable the abutting blocks to rotate, one of the fastening bands penetrates through the clamping sleeve, then the fastening band is pulled to enable the fastening band to be attached to the abdomen of the wearer, then the rotating handle is loosened to enable the abutting blocks to abut against the clamping blocks, and wearing of the waist skeleton is completed, so that the fit adjustment is carried out according to the body states of the wearer, the fixing effect is good, and the application range is wide;
this helping hand ectoskeleton apparatus pulls out the inserted bar from the regulation hole through setting up adjusting part, leg hoop and sliding sleeve, and the pulling mounting disc is tensile with the inserted bar, and then after the slip sliding sleeve was adjusted to suitable position, unclamp the mounting disc, the spring is in the new regulation hole with the inserted bar bullet under self elastic action, and is fixed to the sliding sleeve chucking to can be according to the posture of wearer with sliding sleeve and leg hoop adjustment to suitable height, be convenient for dress the user of co-altitude, simple structure, convenient to use.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present utility model;
FIG. 2 is an enlarged schematic view of the structure of FIG. 1A according to the present utility model;
FIG. 3 is a schematic view of the strap of the present utility model;
FIG. 4 is an enlarged schematic view of the structure of FIG. 3B according to the present utility model;
fig. 5 is a schematic cross-sectional view of the adjusting box of the present utility model.
In the figure: 1. an adjustment box; 2. a two-way screw rod; 3. a drive assembly; 301. a worm; 302. a worm wheel; 303. a hand wheel; 304. a guide rod; 4. a slide block; 5. a slide bar; 6. a lumbar skeleton; 7. a waist guard board; 8. an adjustment assembly; 801. a rod; 802. a mounting plate; 803. a spring; 9. a tie-down assembly; 901. a cutting sleeve; 902. a tie-down strap; 903. a rotating shaft; 904. a clamping block; 905. a tightening block; 10. a strap; 11. a connecting ring; 12. a leg armature; 13. a sliding sleeve; 14. a leg cuff; 15. an elastic cushion.
Detailed Description
Referring to fig. 1-5, the utility model provides a power-assisted exoskeleton apparatus, which comprises an adjusting box 1, wherein a bidirectional screw rod 2 is rotatably installed in the adjusting box 1, a driving component 3 is arranged on the adjusting box 1, connecting rings 11 are sleeved on the two sides of the bidirectional screw rod 2, sliding blocks 4 are arranged on the outer surfaces of the two sections of threads of the bidirectional screw rod 2 in a threaded manner, a plurality of sliding rods 5 are slidably installed on two sides of the adjusting box 1, waist frameworks 6 are arranged on two sides of the adjusting box 1, one end of each sliding rod 5 extends into the adjusting box 1 and is fixedly connected with the sliding blocks 4 on the same side, the other end of each sliding rod 5 is fixedly connected with the waist frameworks 6 on the same side, a waist guard 7 is fixedly installed on the front surface of the adjusting box 1, two sides of the waist guard 7 are fixedly installed with binding bands 10, one end of each binding band 10 far from the waist guard 7 is fixedly connected with the waist frameworks 6 on the same side, connecting rings 11 are sleeved on the binding bands 10, a fastening component 9 is arranged between the two connecting rings 11, leg frameworks 12 are hinged on the waist frameworks 6, a plurality of sliding sleeves 13 are slidably installed on the leg frameworks 13, an adjusting component 8 is arranged on the leg frameworks 12, a plurality of matched leg frameworks 12 are fixedly connected with the sliding blocks 4, the two sliding sleeves 13 are fixedly connected with the sliding blocks, the two sliding sleeves 14 are matched with the leg frameworks 12, the two sliding sleeves are matched with the sliding blocks 4, and the two sliding rods are in a sliding rod 4 are in a sliding manner, and the sliding rod 4 can be matched with the two sliding frames 4, and can move along the two sides, and can move along the sliding rod 4, and can move along the two sides through the sliding frames, and can move along the sliding direction.
The driving assembly 3 comprises a worm 301 which is rotatably arranged on the adjusting box 1, a worm wheel 302 which is meshed with the worm 301 is fixedly arranged in the middle of the two-way screw rod 2, one end of the worm 301 extends out of the adjusting box 1 and is fixedly provided with a hand wheel 303, the hand wheel 303 is rotated to drive the worm 301 to rotate, the worm 301 rotates to drive the two-way screw rod 2 to rotate through the worm wheel 302, the self-locking characteristic of the worm 301 of the worm wheel 302 can be utilized to ensure the stability of the positions of the two waist frameworks 6 after adjustment, and the operation is convenient.
Wherein, all fixed mounting has guide arm 304 in the regulation box 1 of two sides of two-way lead screw 2, and slider 4 slides the surface at two guide arms 304, and guide arm 304 can lead spacing to slider 4, avoids slider 4 to take place the skew rotation at the in-process of two-way lead screw 2 motion, improves slider 4 motion's stability.
The fastening assembly 9 comprises a clamping sleeve 901, fastening belts 902 are fixedly arranged on two connecting rings 11, a plurality of clamping blocks 904 are fixedly arranged on one fastening belt 902, the clamping sleeve 901 is fixedly connected with the other fastening belt 902, a rotating shaft 903 is rotatably arranged on the clamping sleeve 901, one end of the rotating shaft 903 extends into the clamping sleeve 901 and is fixedly provided with a supporting and fastening block 905 matched with the clamping blocks 904, a mounting plate pulling piece is fixed at the other end of the rotating shaft 903, the rotating shaft 903 is driven by the pulling piece to rotate to enable the supporting and fastening block 905 to rotate, one fastening belt 902 penetrates through the clamping sleeve 901, then the fastening belt 902 is pulled to enable the fastening belt 902 to be attached to the abdomen of a wearer, then a rotating handle is loosened to enable the supporting and fastening block 905 to tightly support the clamping blocks 904, and therefore wearing of a waist skeleton 6 is completed, the waist skeleton is adjusted in a fit mode according to the body state of the wearer, the fastening assembly is good in fixing effect, and wide in application range.
Wherein, adjusting part 8 includes inserted bar 801, the jack has been seted up on the sliding sleeve 13, inserted bar 801 inserts and establishes in the jack, inserted bar 801 and regulation hole cooperation use, the one end fixed mounting of inserted bar 801 has mounting disc 802, the surface cover of inserted bar 801 is equipped with spring 803, the both ends of spring 803 respectively with the mounting disc 802 and the sliding sleeve 13 fixed connection of homonymy, pulling mounting disc 802 pulls out inserted bar 801 from the regulation hole, the spring 803 atress is tensile this moment, then after sliding sleeve 13 adjusts suitable position, loosen mounting disc 802, spring 803 spring inserted bar 801 into new regulation hole under self elasticity effect, fix the chucking of sliding sleeve 13, thereby can be according to the body state of wearer with sliding sleeve 13 and leg hoop 14 adjustment suitable height, be convenient for dress the user of different height, moreover, the steam generator is simple in structure, and convenient for use.
The elastic cushion 15 is fixedly installed on the waist guard plate 7, so that the waist of a wearer can be protected, and the comfort of the waist of the wearer is improved.
When the waist skeleton 6 support distance adjusting device is used, the distance between two waist skeleton 6 supports is adjusted according to the posture of a wearer, the rotating hand wheel 303 drives the worm 301 to rotate, the worm 301 rotates to drive the bidirectional screw rod 2 to rotate through the worm wheel 302, the bidirectional screw rod 2 rotates to match the guide rod 304 to drive the sliding blocks 4 to move on the sliding rods 5, the two sliding blocks 4 move mutually to drive the waist skeleton 6 to move along through the sliding rods 5, the two waist skeleton 6 can be driven to be close to or far away from each other to be suitable for wearers in different postures through the rotating hand wheel 303, then the mounting disc 802 is pulled to pull out the inserting rod 801 from the adjusting holes, at the moment, the spring 803 is stressed and stretched, then the sliding sleeve 13 is adjusted to a proper position, the mounting disc 802 is loosened, the spring 803 ejects the inserting rod 801 into a new adjusting hole under the elastic action of the spring 803, the sliding sleeve 13 is clamped and fixed to adjust the height of the sliding sleeve 13 and the leg hoops 14 to be convenient for the wearer, after the adjustment is completed, the rotating pulling disc drives the rotating shaft 903 to rotate to abut against the fastening blocks 902, then the fastening belt 902 is pulled 901 to be close to the fastening blocks 902, the fastening belt 902 to the abdomen blocks are pulled to each other, the fastening belt 902 is pulled to the abdomen body 902 to be attached to the wearer, the abdomen of the wearer is attached to the abdomen of the wearer, and then the fastening belt 902 is pulled to the waist skeleton is made to be suitable for the wearer to be in different postures, and the waist skeleton is tightly, and the waist skeleton is convenient to be matched with the waist, and the waist skeleton, and the waist is tightly to be matched with the waist skeleton, and convenient.
Claims (6)
1. A power assisted exoskeleton device, characterized in that: including adjusting box (1), two-way lead screw (2) are installed to regulation box (1) internal rotation, be provided with drive assembly (3) on adjusting box (1), the surface of two sections screw threads of two-way lead screw (2) is equal threaded and is installed slider (4), the both sides of adjusting box (1) are equal slidable mounting has a plurality of slide bar (5), the both sides of adjusting box (1) all are provided with waist skeleton (6), the one end of slide bar (5) extends to slider (4) fixed connection with the homonymy in adjusting box (1), the other end and the waist skeleton (6) fixed connection of homonymy of slide bar (5), the front fixed mounting of adjusting box (1) has waist backplate (7), waist backplate (7) both sides are equal fixed mounting and are taken care of bandage (10), waist skeleton (6) fixed connection of one end and homonymy of waist backplate (7) are kept away from to bandage (10), the cover is equipped with go-between connecting ring (11), two be provided with between connecting ring (11) and tie down the subassembly (9), shank (6) are articulated skeleton (12) have on slider (13), the leg framework (12) is provided with a plurality of adjusting holes matched with the leg framework (12), the sliding sleeve (13) is fixedly provided with leg hoops (14), and the two leg hoops (14) in the same horizontal plane are symmetrically distributed.
2. A power assisted exoskeleton device as claimed in claim 1 wherein: the driving assembly (3) comprises a worm (301) rotatably mounted on the adjusting box (1), a worm wheel (302) meshed with the worm (301) is fixedly mounted in the middle of the bidirectional screw rod (2), and one end of the worm (301) extends out of the adjusting box (1) and is fixedly provided with a hand wheel (303).
3. A power assisted exoskeleton device as claimed in claim 1 wherein: guide rods (304) are fixedly arranged in the adjusting boxes (1) at two sides of the two-way screw rod (2), and the sliding blocks (4) slide on the outer surfaces of the two guide rods (304).
4. A power assisted exoskeleton device as claimed in claim 1 wherein: the fastening assembly (9) comprises a clamping sleeve (901), two fastening belts (902) are fixedly arranged on the connecting rings (11), a plurality of clamping blocks (904) are fixedly arranged on one fastening belt (902), the clamping sleeve (901) is fixedly connected with the other fastening belt (902), a rotating shaft (903) is rotatably arranged on the clamping sleeve (901), one end of the rotating shaft (903) extends into the clamping sleeve (901) and is fixedly provided with a supporting and fastening block (905) matched with the clamping blocks (904), and a mounting plate pulling piece is fixed at the other end of the rotating shaft (903).
5. A power assisted exoskeleton device as claimed in claim 1 wherein: the adjusting component (8) comprises an inserting rod (801), a jack is formed in the sliding sleeve (13), the inserting rod (801) is inserted into the jack, the inserting rod (801) is matched with the adjusting hole for use, one end of the inserting rod (801) is fixedly provided with a mounting disc (802), the outer surface of the inserting rod (801) is sleeved with a spring (803), and two ends of the spring (803) are fixedly connected with the mounting disc (802) and the sliding sleeve (13) on the same side respectively.
6. A power assisted exoskeleton device as claimed in claim 1 wherein: an elastic cushion (15) is fixedly arranged on the waist guard board (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320676652.1U CN220446457U (en) | 2023-03-31 | 2023-03-31 | Power-assisted exoskeleton instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320676652.1U CN220446457U (en) | 2023-03-31 | 2023-03-31 | Power-assisted exoskeleton instrument |
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| Publication Number | Publication Date |
|---|---|
| CN220446457U true CN220446457U (en) | 2024-02-06 |
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ID=89731766
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320676652.1U Active CN220446457U (en) | 2023-03-31 | 2023-03-31 | Power-assisted exoskeleton instrument |
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| Country | Link |
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| CN (1) | CN220446457U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117817646A (en) * | 2024-03-04 | 2024-04-05 | 国网山西省电力公司太原供电公司 | Wearable exoskeleton shank locking adjustment mechanism |
-
2023
- 2023-03-31 CN CN202320676652.1U patent/CN220446457U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117817646A (en) * | 2024-03-04 | 2024-04-05 | 国网山西省电力公司太原供电公司 | Wearable exoskeleton shank locking adjustment mechanism |
| CN117817646B (en) * | 2024-03-04 | 2024-05-10 | 国网山西省电力公司太原供电公司 | Wearable exoskeleton shank locking adjustment mechanism |
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