CN107735056A - 用于有效地穿上和脱下外骨骼的机构 - Google Patents
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Abstract
本发明的手动装置能够快速地连接和分开外骨骼腿部与外骨骼的剩余主体。该装置包括:由联接至外骨骼的剩余主体的壳体限定的腔;联接至外骨骼的剩余主体的锁闩,该锁闩包括锁闩部件;夹子主体,其包括从其端部延伸的突出元件,夹子主体联接至外骨骼腿部;可旋转地联接至夹子主体上的夹子基部的手柄;以及可旋转地联接至手柄的钩。当钩与锁闩部件接合并且手柄从第一解锁位置旋转到第二锁闭位置时,突出元件在腔内移动。
Description
技术领域
本发明属于医疗外骨骼的领域。更具体而言,本发明描述一种允许改进医疗外骨骼的穿上和脱下的机构。
背景技术
医疗外骨骼通常被分为两个部分:外骨骼腿部(其支撑使用者的腿部)以及外骨骼的剩余主体(其支撑使用者的上身)。外骨骼腿部与外骨骼的剩余主体连接的位置被称为躯干-腿部界面。如果外骨骼不能在躯干-腿部界面处分离,则穿上和脱下过程可能相当困难,并且可能需要其他个体的帮助。然而,如果外骨骼为组合式的并因此可以在躯干-腿部界面处分离,则已经表明穿上和脱下过程可以通过外骨骼的使用者更容易地独立进行。
组合式医疗外骨骼的例子包括美国专利第7190141B2号和第9101451B2号以及美国专利申请公开第2015/0351995A1号。这三个例子均明确地讨论了能够被分成多个部件并且以多个实施方式构造(即,组合式)的外骨骼的概念。然而,美国专利第7190141B2号和第9101451B2号没有关于连接和分开组合式外骨骼的多个部件所需的实际装置的细节。美国申请公开第2015/0351995A1号提及了组合式外骨骼的多个部件可以通过使用者“即时”连接和分开。然而,该申请公开提供的有关这种连接/分开装置的结构的细节非常少,仅仅简单地提及存在连接界面并且该连接界面“由简单的螺栓连接件构成”。因此,虽然上述专利文献教导了对组合式外骨骼的普遍需求,但是它们没有教导机械地连接和分开组合式外骨骼的部件所需的基础设施。
发明内容
在实施方式中,手动装置提供了外骨骼腿部与外骨骼的剩余主体的快速连接和分开。该手动装置包括:由联接至外骨骼的剩余主体的壳体限定的腔;联接至外骨骼的剩余主体的锁闩,该锁闩包括锁闩部件;夹子主体,其包括从其端部延伸的突出元件,夹子主体联接至外骨骼腿部;可旋转地联接至夹子主体上的夹子基部的手柄;以及可旋转地联接至手柄的钩。当钩与锁闩部件接合且手柄从第一解锁位置旋转到第二锁闭位置时,突出元件在腔内移动。
附图说明
图1为处于分开位置的医疗外骨骼的实施方式;
图2为处于分开位置的用于医疗外骨骼的手动连接和分开装置的近视图;
图3为处于连接位置的医疗外骨骼的实施方式;
图4为用于医疗外骨骼的手动连接和分开装置的分解视图;
图5为脱下期间用于医疗外骨骼的手动连接和分开装置的孤立视图;
图6为用于医疗外骨骼的手动连接和分开装置的手柄、钩、锁闩和基部的侧面轮廓;
图7为示出的处于连接位置的图5所示的手柄、钩、锁闩和基部的等角视图;
图8为示出的处于分开位置的图5所示的手柄、钩、锁闩和基部的等角视图;
图9为示出的处于连接位置的用于医疗外骨骼的手动连接和分开装置的配合界面的侧面轮廓;以及
图10为示出的处于分离位置的图9所示的配合界面的侧面轮廓。
具体实施方式
图1示出了用于快速地连接和分开外骨骼腿部102与外骨骼的剩余主体(用104表示)的手动装置101。外骨骼腿部102与外骨骼的剩余主体104构成整个外骨骼100。通常,如图1所示,整个外骨骼100由使用者106穿着。
图2示出了图1所提及的装置101的近视图。如图2所示,装置101包括由联接至外骨骼的剩余主体104(在图1中示出)的壳体109限定的腔108。本领域普通技术人员将认识到,壳体109可以是联接至外骨骼100的另一个元件的其自身独立的部件,或者被制成外骨骼100的已经用于预定功能的另一个部件的一部分。装置101还包括形成在壳体109上的锁闩110。在本发明的一些实施方式中,锁闩110包括从壳体109延伸的锁闩部件(例如,凸缘)112。类似地,本领域普通技术人员将认识到,锁闩110可以是联接至外骨骼100的另一个元件的其自身独立的部件,或者被制成外骨骼100的已经用于预定功能的另一个部件的一部分。除了腔108和锁闩110之外,外骨骼的剩余主体104还包括骨盆支撑件114(在图1中示出)和髋部致动器116。
图2还示出了装置101的夹子主体117,其联接至外骨骼腿部102(在图1中示出)。在本发明的一些实施方式中,夹子主体117形成在外骨骼腿部102上。本领域普通技术人员将认识到,夹子主体117可以是联接至外骨骼100的另一个元件的其自身独立的部件,或者被制成外骨骼100的已经用于预定功能的另一个部件的一部分。夹子主体117包括从其端部延伸的突出元件118以及可旋转地联接至夹子基部121的手柄120,夹子基部121从其第一端部122安装在夹子主体117上。
图1还示出了外骨骼102如何包括膝部关节126、大腿撑条128、小腿撑条130、大腿侧支撑杆132和小腿侧支撑杆134。在图1中,外骨骼腿部102和外骨骼的剩余主体104尚未连接。因此,图1代表使用者106在穿上外骨骼100的过程期间的可能取向。处于该构造时,使用者106已经逐一穿上了外骨骼腿部102和外骨骼的剩余主体104,但是尚未将外骨骼腿部102与外骨骼的剩余主体104连接在一起。为了完全穿好外骨骼100,使用者106必须将外骨骼腿部102与外骨骼的剩余主体104连接在一起。这样做时,钩124被置于锁闩部件112上方(即,当钩124接合锁闩部件112时),突出元件118被***腔108内,并且手柄120被使用者106向下推动,从而将手柄120从第一解锁位置旋转到第二锁闭位置,由此引起钩124钩住锁闩部件112并且朝向壳体109拉动夹子主体117,使得突出元件118移动到并保持在腔108内。
图3示出了外骨骼腿部102与外骨骼的剩余主体104连接在一起时外骨骼100的实施方式。在图3中,突出元件118紧紧地保持在腔108内。处于这种构造时,使用者106完成了穿上过程,并且能够站立并行走。手动装置101为允许突出元件118与腔108连接的装置。
图4示出了手动装置101’的分解视图。手动装置101’包括限定腔108的壳体109,该壳体为髋部致动器116在外骨骼的剩余主体104上的延伸部(图1所示)。另外,手动装置101包括为外骨骼腿部102上大腿撑条128形式的夹子主体117。夹子主体117包括从其端部延伸的突出元件118,该突出元件为大腿撑条128的延伸部。在外骨骼腿部102与外骨骼的剩余主体104的连接和分开期间,手动装置101通过为使用者106提供明显的机械优势而起作用。
如图4所示,手动装置101’为三杆式机构,其包括可旋转地联接至夹子基部121的手柄120,其中夹子基部适于从其第一端部122安装至夹子主体117。装置101’另外包括钩124(第三连接件),其在手柄120的中部123处可旋转地联接至手柄120。装置101还包括联接至外骨骼的剩余主体104的锁闩110。锁闩110包括锁闩部件112(在图5中示出)。当使用者试图将突出元件118拉入腔108中时,该使用者可以利用手动装置101来帮助将突出元件118容易地拉入腔108中。为了使手动装置101有效,锁闩110通过延伸穿过壳体109中的通孔136的紧固件(没有示出)被固定到外骨骼的剩余主体104上的壳体109上。另外,第一端部122通过延伸穿过夹子主体117中的通孔138的紧固件(没有示出)被固定到外骨骼腿部102上的夹子主体117上。一旦使用者106将钩124置于锁闩110的锁闩部件112上,手动装置101就可用于通过对手柄120施加适当的力来将突出元件118简单地拉入腔108中。这一旦完成,手动装置101的过心设计(over-center design)就能够限制突出元件118和腔108,使得不出现相对运动并且突出元件118保持在腔108内。
图4还示出了盖板140如何固定到外骨骼的剩余主体104并且包围腔108的内侧。盖板140将手动装置101限制为一个自由度(突出元件118滑入和滑出腔108)。如果没有盖板140,突出元件118可以容易地脱离腔108。盖板140通过紧固件(没有示出)被固定到外骨骼的剩余主体104上。最后,挡块142被固定到外骨骼的剩余主体104上的孔144中。在突出元件118脱离腔108时,挡块142用作供钩124压靠的硬性止动件。在图5中更清楚地说明挡块142的目的。
图5仅示出了手动装置101’并且排除了包括外骨骼100的其他部件。提供图5是为了更好地表明挡块142在脱下外骨骼100的过程期间的目的。在脱下期间,使用者106试图通过将突出元件118移出腔108来将外骨骼的剩余主体104与外骨骼腿部102分离。尽管手动装置101’提供了帮助穿上过程的明显机械优势,但是如果没有挡块142,手动装置101’在脱下过程期间不提供任何机械优势。图5模拟了使用者106试图脱下外骨骼100的情况。示出了手动装置101’的钩124已经与手动装置101’的锁闩110分离。现在,手动装置101’的钩124压靠在挡块142上。由于挡块142固定在外骨骼的剩余主体104上,因此挡块142在脱下过程期间用作钩124的硬性止动件。因此,通过在手柄120处施加箭头146方向的力,使用者102在分开突出元件118(阳性构件)和壳体109(阴性构件)的同时能够感受到机械优势。这种机械优势是一个重要特性,因为摩擦力时常使得难以分开阳性构件118与阴性构件119。如果没有用作锁闩124的硬性止动件的挡块142,脱下期间的这种机械优势将是不可能的。
为了清楚起见,图6、图7和图8示出了手动装置101’的不同视图。图7和图8为手动装置101’分别处于连接构造和分开构造的等角视图。图6示出了手动装置101’的侧视图,并且还描绘了箭头146和148。这些箭头被设计成指示可能施加到手动装置101’的手柄120上的力的方向。如果在箭头148的方向上施加足够的力,手动装置101’将外骨骼腿部102的突出元件118拉入外骨骼的剩余主体104的腔108内。因此,在箭头148的方向上的力在穿上外骨骼100期间将是有用的。如果在箭头146的方向上施加足够的力,手动装置101’将外骨骼腿部102的突出元件118拉出外骨骼的剩余主体104的腔108(使用前述挡块142)。因此,在箭头146方向上的力在脱下期间将是有用的。总之,使用者106沿箭头148的方向朝自身(即,朝向它们腿部的外表面)推动手柄120,以将突出元件118***腔108中。另外,使用者106在箭头146的方向上远离自身(即,远离它们腿部的外表面)推动手柄120,以将突出元件118移出腔108。
图9和图10示出了突出元件118与腔108的配合界面的侧视图。图9示出了突出元件118完全***腔108内时的连接位置。图10示出了突出元件118完全在腔108的外部时的分开位置。在这种实施方式中,手动装置101的配合界面利用楔形轮廓。这种设计的目的在于,确保突出元件118完全***腔108中时突出元件118与腔108之间不发生相对运动。突出元件118与腔108之间的相对运动将造成行走期间髋部致动器116与外骨骼腿部102之间扭矩的低效传递。通过使角度150(腔108的轮廓角)与角度152(突出元件118的轮廓角)相等,在行走期间突出元件118与腔108之间出现明显的区域接触。该区域接触有助于散布来自不同负荷的压力,这有助于防止局部屈曲。如果角度150与角度152不相等,则负荷压力不能散布,这在行走期间可能造成局部屈曲。
Claims (19)
1.一种手动装置,其用于快速连接和分开外骨骼腿部与外骨骼的剩余主体,所述手动装置包括:
腔,其由联接至外骨骼的剩余主体的壳体限定;
锁闩,其联接至外骨骼的剩余主体,所述锁闩包括锁闩部件;
夹子主体,其包括从其端部延伸的突出元件,所述夹子主体联接至外骨骼腿部;
手柄,其可旋转地联接至夹子主体上的夹子基部;以及
钩,其可旋转地联接至手柄;
其中,当钩与锁闩部件接合并且手柄从第一解锁位置旋转到第二锁闭位置时,突出元件在腔内移动。
2.根据权利要求1所述的手动装置,其中,手动装置能够通过外骨骼的使用者用一只手将外骨骼腿部附接至外骨骼的剩余主体。
3.根据权利要求1所述的手动装置,其中,手柄被构造为使得使用者朝向使用者的腿部的外表面推动手柄,以将突出元件***腔内。
4.根据权利要求1所述的手动装置,其中,手柄被构造为使得使用者将手柄远离使用者的腿部的外表面推动,以将突出元件移出腔。
5.根据权利要求1所述的手动装置,其中,突出元件被制成外骨骼腿部的一部分。
6.根据权利要求1所述的手动装置,其中,壳体被制成外骨骼的剩余主体的一部分。
7.根据权利要求1所述的手动装置,其中,锁闩被制成外骨骼的剩余主体的一部分。
8.一种手动装置,其用于快速地连接和分开第一部件与第二部件,所述手动装置包括:
腔,其由联接至外骨骼的第二部件的壳体限定;
锁闩,其联接至外骨骼的第二部件,所述锁闩包括锁闩部件;
夹子主体,其包括从其延伸的突出元件,所述夹子主体联接至第一部件;
手柄,其可旋转地联接至夹子主体上的夹子基部;以及
钩,其可旋转地联接至手柄;
其中,当钩与锁闩部件接合并且手柄从第一解锁位置旋转到第二锁闭位置时,突出元件在腔内移动。
9.根据权利要求8所述的手动装置,其中,第一部件为外骨骼腿部,并且第二部件为外骨骼的剩余主体。
10.根据权利要求8所述的手动装置,其中,第二部件为外骨骼腿部,并且第一部件为外骨骼的剩余主体。
11.根据权利要求8所述的手动装置,其中,突出元件被制成第一部件的一部分。
12.根据权利要求8所述的手动装置,其中,壳体被制成第二部件的一部分。
13.根据权利要求8所述的手动装置,其中,锁闩被制成第二部件的一部分。
14.一种手动装置,其用于快速地连接和分开外骨骼的第一部件与第二部件,所述手动装置包括:
腔,其由联接至外骨骼的第一部件的壳体限定;
锁闩,其联接至外骨骼的第二部件,所述锁闩包括锁闩部件;
夹子主体,其包括从其延伸的突出元件,所述夹子主体联接至第二部件;
手柄,其可旋转地联接至夹子主体上的夹子基部;以及
钩,其可旋转地联接至手柄;
其中,当钩与锁闩部件接合并且手柄从第一解锁位置移动到第二锁闭位置时,突出元件在腔内移动。
15.根据权利要求14所述的手动装置,其中,第一部件为外骨骼腿部,并且第二部件为外骨骼的剩余主体。
16.根据权利要求14所述的手动装置,其中,第二部件为外骨骼腿部,并且第一部件为外骨骼的剩余主体。
17.根据权利要求14所述的手动装置,其中,突出元件被制成第二部件的一部分。
18.根据权利要求14所述的手动装置,其中,腔被制成第一部件的一部分。
19.根据权利要求14所述的手动装置,其中,锁闩被制成第二部件的一部分。
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CN109223450A (zh) * | 2018-08-30 | 2019-01-18 | 广东宏穗晶科技服务有限公司 | 一种便于病人安装的机器人 |
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CN107735056B (zh) | 2018-12-14 |
JP2018521750A (ja) | 2018-08-09 |
KR20180053637A (ko) | 2018-05-23 |
US9987151B2 (en) | 2018-06-05 |
JP6670861B2 (ja) | 2020-04-01 |
US20160374836A1 (en) | 2016-12-29 |
EP3313331A4 (en) | 2019-04-24 |
WO2016210117A1 (en) | 2016-12-29 |
EP3313331A1 (en) | 2018-05-02 |
US20180110632A1 (en) | 2018-04-26 |
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