CN222533601U - Transverse ankle joint rotating device of exoskeleton robot - Google Patents
Transverse ankle joint rotating device of exoskeleton robot Download PDFInfo
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- CN222533601U CN222533601U CN202420648303.3U CN202420648303U CN222533601U CN 222533601 U CN222533601 U CN 222533601U CN 202420648303 U CN202420648303 U CN 202420648303U CN 222533601 U CN222533601 U CN 222533601U
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 22
- 210000003423 ankle Anatomy 0.000 claims abstract description 10
- 210000001503 joint Anatomy 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000012549 training Methods 0.000 abstract description 7
- 230000009471 action Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 230000000452 restraining effect Effects 0.000 abstract 4
- 238000013461 design Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 206010011985 Decubitus ulcer Diseases 0.000 description 1
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 208000001738 Nervous System Trauma Diseases 0.000 description 1
- 208000004210 Pressure Ulcer Diseases 0.000 description 1
- 230000002612 cardiopulmonary effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 201000000585 muscular atrophy Diseases 0.000 description 1
- 208000028412 nervous system injury Diseases 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
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- Rehabilitation Tools (AREA)
Abstract
本实用新型公开了一种外骨骼机器人踝关节横向转动装置，包括脚掌支板，脚掌支板的顶部设置有固定带，脚掌支板的顶部设置有圆弧支架，圆弧支架的一侧连接有束缚带，圆弧支架和脚掌支板之间设置有连接组件，圆弧支架的背面和脚掌支板之间设置有驱动组件，连接球转动连接于第二固定块的顶部，第一固定块通过连接球与第二固定块转动连接，使圆弧支架相对脚掌支板多方位运动。本实用新型利用脚掌支板、固定带、束缚带、圆弧支架、连接组件和驱动组件的配合使用方式，在连接组件的作用下，使束缚带和圆弧支架跟随脚踝扭转方向进行移动，从而在驱动组件驱动束缚带和圆弧支架移动时，其就可以带动患者脚踝处多方位活动训练。
The utility model discloses a lateral rotation device for the ankle joint of an exoskeleton robot, including a sole support plate, a fixing belt is arranged on the top of the sole support plate, an arc bracket is arranged on the top of the sole support plate, a restraining belt is connected to one side of the arc bracket, a connecting assembly is arranged between the arc bracket and the sole support plate, a driving assembly is arranged between the back of the arc bracket and the sole support plate, a connecting ball is rotatably connected to the top of a second fixing block, and the first fixing block is rotatably connected to the second fixing block through the connecting ball, so that the arc bracket can move in multiple directions relative to the sole support plate. The utility model utilizes the coordinated use of the sole support plate, the fixing belt, the restraining belt, the arc bracket, the connecting assembly and the driving assembly, and under the action of the connecting assembly, the restraining belt and the arc bracket are moved following the twisting direction of the ankle, so that when the driving assembly drives the restraining belt and the arc bracket to move, it can drive the multi-directional activity training of the patient's ankle.
Description
Technical Field
The utility model relates to the field of exoskeleton robots, in particular to an exoskeleton robot ankle joint transverse rotating device.
Background
The exoskeleton robot is an instrument for assisting patients with gait disorder in walking training by using an exoskeleton lower limb gait correction driving device, in the traditional rehabilitation therapy, the patients can perform walking training only by needing lower limb muscle strength to reach a certain level and a balance function to reach a standing position, meanwhile, because the patients need to reduce weight properly in early walking, the exoskeleton rehabilitation robot can provide weight reduction and enable the patients to feel the feeling of normal walking, the patient is helped to establish a normal movement mode, and the rehabilitation training is completed by providing assistance to hip joints and knee joints of the patients. More importantly, the exoskeleton robot can start walking training in early stage, so that the rehabilitation process is accelerated, the physical function and the cardiopulmonary function of a patient are better improved, pressure sores and muscular atrophy are prevented, and the walking capability of the patient with nervous system injury is effectively improved.
The ankle joint design of ectoskeleton robot should satisfy different patient's demand, when carrying out vertical removal, also should can carry out lateral shifting, and the natural motion scope of ankle joint has been restricted to the ankle joint design of present ectoskeleton robot, only the fixed extension board in the left and right sides of ankle joint realizes the upper and lower rotation of ankle joint, but the human ankle joint of reality is spherical, can realize the side-to-side movement of small circle, the design is likely to influence user's gait and balance like this, and lack the flexibility, can't satisfy different user's demand and physiological characteristics, can't satisfy the omnidirectional training of patient's ankle joint, many ectoskeleton robot ankle joint designs are too complicated simultaneously, manufacturing cost and maintenance degree of difficulty have been increased, the design is likely not comfortable enough, can lead to the user to feel uncomfortable when wearing for a long time.
Disclosure of utility model
The utility model aims to provide an exoskeleton robot ankle joint transverse rotating device which solves the problems in the background art.
The exoskeleton robot ankle joint transverse rotating device comprises a sole support plate, wherein a fixing belt is arranged at the top of the sole support plate, a connecting block is arranged at the end part of the fixing belt, and the fixing belt is connected with the sole support plate through the connecting block;
The top of sole extension board is provided with the circular arc support, one side of circular arc support is connected with the constraint area, be provided with coupling assembling between one side of circular arc support and the sole extension board, be provided with drive assembly between the back of circular arc support and the sole extension board, coupling assembling includes:
The first fixing block and the second fixing block are respectively connected to one side of the arc support and one side of the sole support plate;
The connecting ball is rotationally connected to the top of the second fixed block, and the first fixed block is rotationally connected with the second fixed block through the connecting ball, so that the arc support moves in multiple directions relative to the sole support plate.
Preferably, the bottom of the first fixed block is connected with a supporting shaft, the bottom of the supporting shaft is connected with a butt joint lantern ring, and the butt joint lantern ring is connected to the outer wall of the connecting ball.
Preferably, the top of second fixed block is offered and is connected with spacing lantern ring with connecting ball assorted recess, the top of second fixed block, spacing lantern ring cup joints in the top of connecting ball outer wall.
Preferably, the driving assembly includes:
The third fixing block is connected to the back surface of the arc bracket;
The driving motor is connected to the top of the third fixed block, the output end of the driving motor is in transmission connection with the driving shaft, and the driving motor drives the driving shaft to rotate, so that the bottom of the outer wall of the driving shaft and the sole support plate are in friction driving with the arc support to move.
Preferably, the back of the sole support plate is provided with a cutting surface, the cutting surface of the sole support plate is connected with a friction block, and the friction block is used for increasing friction force between the sole support plate and the driving shaft.
Preferably, the bottom of the outer wall of the driving shaft is fixedly sleeved with a fixing sleeve, the outer wall of the fixing sleeve is fixedly sleeved with a fixing collar corresponding to the friction block, and the back of the friction block is provided with a mounting groove.
Preferably, one side of the outer wall of the fixed lantern ring is positioned in the installation groove, the inner wall of the installation groove is connected with a limiting latch, the outer wall of the fixed lantern ring is connected with a connecting latch, and the connecting latch is meshed with the limiting latch.
The utility model has the technical effects and advantages that:
According to the ankle twisting device, the sole support plate, the fixing belt, the binding belt, the circular arc support, the connecting assembly and the driving assembly are matched, the binding belt and the circular arc support can bind the ankle of a patient under the action of the connecting assembly, and the binding belt and the circular arc support move along the ankle twisting direction, so that the driving assembly can drive the binding belt and the circular arc support to move, and the ankle of the patient can be trained in a multidirectional movement.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present utility model.
FIG. 2 is a schematic view of the overall structure of the back side of the present utility model.
Fig. 3 is a schematic view of the whole structure of the butt joint lantern ring and the connecting ball separated in the utility model.
FIG. 4 is a schematic view showing the structure of the sole support plate and the fixing collar of the present utility model.
FIG. 5 is a schematic view of the overall structure of the friction block according to the present utility model.
The sole support plate comprises a sole support plate 1, a fixing strap, a first fixing block 3, a supporting shaft 4, a butt joint sleeve ring 5, a limiting sleeve ring 6, a second fixing block 7, a connecting block 8, a connecting block 9, a binding strap 10, an arc support 11, a driving motor 12, a third fixing block 13, a driving shaft 14, a fixing sleeve 15, a fixing sleeve ring 16, a friction block 17, a connecting ball 18, a limiting latch 19, a connecting latch 20 and a cutting surface.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
The utility model provides an exoskeleton robot ankle joint transverse rotating device as shown in figures 1-5, which comprises a sole support plate 1, wherein the top of the sole support plate 1 is provided with a fixing band 2, the end part of the fixing band 2 is provided with a connecting block 8, the fixing band 2 is connected with the sole support plate 1 through the connecting block 8, the top of the sole support plate 1 is provided with an arc support 10, the sole support plate 1 and the arc support 10 are made of hard materials, the exoskeleton robot is structurally operated to provide support and stability, one side of the arc support 10 is connected with a binding band 9, under the action of the binding band 9 and the fixing band 2, the sole support plate 1 can be bound on the sole of a user, the fixing band 2 and the binding band 9 are made of flexible materials, soft, comfortable and good in air permeability, the binding band 9 and the arc support 10 are connected in a buckling or clamping mode, the ankle of the user is conveniently located on one side of the binding band 9 and the arc support 10, a connecting component is arranged between one side of the sole support 10 and the sole support plate 1, the back of the exoskeleton support 10 and a first ball support plate 1 and a second ball support 17 are connected with a first ball support block 7 and a second ball support 17, and a second ball support 17 can be connected with the first ball support plate 7 and a second ball support 17 and a first ball support 17 and a second ball support 17 can be connected with the ball support 1 in a relative mode, and a first ball support 17 is rotatably connected with the ball support 17 and a second ball support 17 is correspondingly arranged on the ball support is connected with the ball support 1.
Specifically, the bottom of first fixed block 3 is connected with back shaft 4, the bottom of back shaft 4 is connected with butt joint lantern ring 5, butt joint lantern ring 5 is connected in the outer wall of connecting ball 17, the recess with connecting ball 17 assorted is seted up at the top of second fixed block 7, connecting ball 17 rotates in the recess at second fixed block 7 top, just can make circular arc support 10 simulate patient ankle movement track, thereby make it follow patient ankle diversified removal, the top of second fixed block 7 is connected with spacing lantern ring 6, spacing lantern ring 6 cup joints in the top of connecting ball 17 outer wall, spacing lantern ring 6 can be limited connecting ball 17 joint, avoid connecting ball 17 and the separation of second fixed block 7.
In particular, the driving assembly comprises a third fixed block 12, a driving motor 11 and a driving shaft 13, wherein the third fixed block 12 is connected to the back surface of the arc support 10, the driving motor 11 is connected to the top of the third fixed block 12, the output end of the driving motor 11 is in transmission connection with the driving shaft 13, the driving motor 11 drives the driving shaft 13 to rotate, the bottom of the outer wall of the driving shaft 13 is in friction with the sole support plate 1 to drive the arc support 10 to move, and after the driving motor 11 is started, the driving shaft 13 can be in friction with the sole support plate 1 to drive the arc support 10 to move.
Further, a cut surface 20 is arranged on the back of the sole support plate 1, a friction block 16 is connected at the cut surface 20 of the sole support plate 1, the friction block 16 is used for increasing friction force between the sole support plate 1 and the driving shaft 13, a fixed sleeve 14 is fixedly sleeved at the bottom of the outer wall of the driving shaft 13, a fixed sleeve ring 15 corresponding to the friction block 16 is fixedly sleeved on the outer wall of the fixed sleeve 14, a connecting latch 19 of the outer wall of the fixed sleeve ring 15 is contacted with a limit latch 18, torque applied to the driving shaft 13 by a driving motor 11 can realize rotation between the connecting latch 19 of the outer wall of the fixed sleeve ring 15 and the limit latch 18, but the rotation only lasts within a certain range, after the connecting latch 19 is separated from contact with the limit latch 18, the sole support plate 1 connected with the fixed sleeve ring 15 can not rotate in the horizontal direction any more, and a maximum rotation range in one direction is realized, secondly, the high-frequency alternating current can be installed inside the driving motor 11, the connecting latch 19 is not in contact with the limiting latch 18, the rotating range in the smaller horizontal direction is realized, the two modes can be selected by patients, the training efficiency of the patients is improved, the special recovery is carried out according to different conditions of the patients more pertinently, the mounting groove is formed in the back surface of the friction block 16, one side of the outer wall of the fixed collar 15 is positioned inside the mounting groove, the limiting latch 18 is connected with the inner wall of the mounting groove, the connecting latch 19 is connected with the outer wall of the fixed collar 15, the connecting latch 19 is meshed and connected with the limiting latch 18, the fixed collar 15 is clamped inside the friction block 16 when the fixed collar 15 is installed, the condition that the connecting latch 19 and the limiting latch 18 deviate cannot occur, the sole structure only reciprocates in the horizontal direction, therefore, the special ability of recovering the rotation of the ankle joint of the patient in the horizontal direction is achieved, the mode that the fixed sleeve ring 15 is clamped to the friction block 16 can be the sliding block clamping, the sliding block is horizontally and slidably connected to the inside of the friction block 16, the outer wall of the sliding block can circumferentially slide relative to the fixed sleeve ring 15, and therefore the sliding block cannot influence the meshing movement of the connecting clamping teeth 19 of the outer wall of the fixed sleeve ring 15 and the limiting clamping teeth 18 of the inside of the friction block 16 when the fixed sleeve ring 15 rotates.
It should be noted that the foregoing description is only a preferred embodiment of the present utility model, and although the present utility model has been described in detail with reference to the foregoing embodiments, it should be understood that modifications, equivalents, improvements and modifications to the technical solution described in the foregoing embodiments may occur to those skilled in the art, and all modifications, equivalents, and improvements are intended to be included within the spirit and principle of the present utility model.
Claims (7)
1. The exoskeleton robot ankle joint transverse rotating device comprises a sole support plate (1), wherein a fixing belt (2) is arranged at the top of the sole support plate (1), a connecting block (8) is arranged at the end part of the fixing belt (2), and the fixing belt (2) is connected with the sole support plate (1) through the connecting block (8);
The sole support plate is characterized in that an arc support (10) is arranged at the top of the sole support plate (1), one side of the arc support (10) is connected with a binding belt (9), a connecting component is arranged between one side of the arc support (10) and the sole support plate (1), a driving component is arranged between the back of the arc support (10) and the sole support plate (1), and the connecting component comprises:
The first fixing block (3) and the second fixing block (7), wherein the first fixing block (3) and the second fixing block (7) are respectively connected to one side of the arc support (10) and one side of the sole support plate (1);
The connecting ball (17), connecting ball (17) rotate and connect in the top of second fixed block (7), first fixed block (3) are connected through connecting ball (17) and rotation of second fixed block (7), make circular arc support (10) diversified motion relative sole extension board (1).
2. The transverse rotation device of the exoskeleton robot ankle joint according to claim 1, wherein the bottom of the first fixing block (3) is connected with a supporting shaft (4), the bottom of the supporting shaft (4) is connected with a butt joint collar (5), and the butt joint collar (5) is connected to the outer wall of the connecting ball (17).
3. The transverse rotation device of the exoskeleton robot ankle joint of claim 1, wherein the top of the second fixing block (7) is provided with a groove matched with the connecting ball (17), the top of the second fixing block (7) is connected with a limit collar (6), and the limit collar (6) is sleeved on the top of the outer wall of the connecting ball (17).
4. The exoskeleton robot ankle lateral rotation device of claim 1, wherein the drive assembly comprises:
The third fixing block (12), the said third fixing block (12) connects to the back of the circular arc support (10);
The driving motor (11) and the driving shaft (13), the driving motor (11) is connected to the top of the third fixed block (12), the output end of the driving motor (11) is in transmission connection with the driving shaft (13), and the driving motor (11) drives the driving shaft (13) to rotate, so that the bottom of the outer wall of the driving shaft (13) and the sole support plate (1) are in friction driving to move the arc support (10).
5. The transverse rotation device for the ankle joint of the exoskeleton robot according to claim 4, wherein the back surface of the sole support plate (1) is provided with a cutting surface (20), a friction block (16) is connected to the cutting surface (20) of the sole support plate (1), and the friction block (16) is used for increasing friction force between the sole support plate (1) and the driving shaft (13).
6. The transverse rotation device for the ankle joint of the exoskeleton robot according to claim 5, wherein a fixing sleeve (14) is fixedly sleeved at the bottom of the outer wall of the driving shaft (13), a fixing collar (15) corresponding to a friction block (16) is fixedly sleeved on the outer wall of the fixing sleeve (14), and a mounting groove is formed in the back surface of the friction block (16).
7. The transverse rotation device for the ankle joint of the exoskeleton robot according to claim 6, wherein one side of the outer wall of the fixed collar (15) is located in the installation groove, a limiting latch (18) is connected to the inner wall of the installation groove, a connecting latch (19) is connected to the outer wall of the fixed collar (15), and the connecting latch (19) is meshed with the limiting latch (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420648303.3U CN222533601U (en) | 2024-04-01 | 2024-04-01 | Transverse ankle joint rotating device of exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420648303.3U CN222533601U (en) | 2024-04-01 | 2024-04-01 | Transverse ankle joint rotating device of exoskeleton robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN222533601U true CN222533601U (en) | 2025-02-28 |
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ID=94726174
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202420648303.3U Active CN222533601U (en) | 2024-04-01 | 2024-04-01 | Transverse ankle joint rotating device of exoskeleton robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN222533601U (en) |
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- 2024-04-01 CN CN202420648303.3U patent/CN222533601U/en active Active
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