CN208926966U - The long stretching structure of limb for intelligent exoskeleton robot - Google Patents
The long stretching structure of limb for intelligent exoskeleton robot Download PDFInfo
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- CN208926966U CN208926966U CN201820258487.7U CN201820258487U CN208926966U CN 208926966 U CN208926966 U CN 208926966U CN 201820258487 U CN201820258487 U CN 201820258487U CN 208926966 U CN208926966 U CN 208926966U
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Abstract
The utility model relates to medical robot fields, the long stretching structure of the limb of more particularly, to intelligent exoskeleton robot, including the first limb part and the second limb part, first limb part is equipped with the first connecting pin connecting with the second limb part, second limb part is equipped with the second connection end connecting with the first limb part, first connecting pin is equipped with the screw rod being threadedly coupled with second connection end, drive the motor cabinet for adjusting motor and secured adjusted motor of screw rod rotation, motor cabinet stretches out the guide post for guiding the second limb part to move to length direction to the first limb part and the second limb part connection direction, first connecting pin is additionally provided with the sliding slot moved for second connection end in length direction.Limb long stretching structure provided by the utility model for intelligent exoskeleton robot, not only it is able to achieve step-less adjustment, also structure basis is provided for long automatically control of the limb of exoskeleton robot, in addition, also make the exoskeleton robot versatility using the long stretching structure of limb stronger, can adapt to more crowds.
Description
[technical field]
The utility model relates to medical robot fields, the more particularly, to long flexible knot of the limb of intelligent exoskeleton robot
Structure.
[background technique]
Exoskeleton robot is a kind of machine dress that the frame by hard materials such as metals constitutes and people can be allowed to put on
It sets, this equipment, which can provide additional energy, to be come for quadruped locomotion.
For spinal cord injury and cerebral apoplexy (apoplexy) patient, a walking seemingly dream being unable to reach of standing
Think, and the birth of exoskeleton robot, this dream will be made to come true.In addition, aging process in China's aggravates at present, limbs
Disabled person's quantity increases, the more aobvious protrusion of the effect of exoskeleton robot.
However, a problem existing for exoskeleton robot is, and since the limb of different human body is long general different, and it is existing
Some exoskeleton robots are that limb length is nonadjustable, cause its versatility very low, some are then that the long adjustment structure of limb is very thick
It is rough, the adjusting of several gears can only be met.
[summary of the invention]
In order to solve the above technical problems, the purpose of this utility model is to provide the limb for intelligent exoskeleton robot is long
Stretching structure is not only able to achieve step-less adjustment by the motor, the isostructural mutual cooperation of the screw rod, is also ectoskeleton
Long automatically control of the limb of robot provides structure basis.In addition, also making the ectoskeleton machine using the long stretching structure of the limb
Device people's versatility is stronger, can adapt to more crowds.
The utility model is achieved through the following technical solutions:
The long stretching structure of limb for intelligent exoskeleton robot, including the first limb part and the second limb part, first limb
Part is equipped with the first connecting pin for connect with the second limb part, and the second limb part with the first limb part equipped with connecting
Second connection end, first connecting pin is equipped with the screw rod being threadedly coupled with the second connection end, the driving screw rod turns
Dynamic to adjust motor and the fixed motor cabinet for adjusting motor, the motor cabinet is to the first limb part and second limb
Part connects guide post of the direction stretching for guiding the second limb part to move to length direction, and first connecting pin is additionally provided with use
In the sliding slot that the second connection end is moved in length direction.
Optionally, it is used for the long stretching structure of limb of intelligent exoskeleton robot as described above, the guide post to be equipped with two.
Optionally, it is used for the long stretching structure of limb of intelligent exoskeleton robot as described above, the sliding slot to be described the
The end of one connecting pin is equipped with the block for limiting the second connection end movement travel.
Optionally, it is used for the long stretching structure of limb of intelligent exoskeleton robot as described above, the block to be described
The flange that first limb part side is vertically protruded.
Optionally, it is used for the long stretching structure of limb of intelligent exoskeleton robot, the first limb part and institute as described above
Stating the second limb part is aluminum alloy materials.
Optionally, it is used for the long stretching structure of limb of intelligent exoskeleton robot as described above, the first limb part to be remote
One end from the second limb part is equipped with the driving motor for connecting with exoskeleton robot joint.
Optionally, it is used for the long stretching structure of limb of intelligent exoskeleton robot as described above, which is characterized in that described the
Two connecting pins are equipped with bending part, and the bending part is equipped with through-hole compatible with the guide post and mutually fits with the screw rod
The threaded hole matched.
Optionally, it is used for the long stretching structure of limb of intelligent exoskeleton robot as described above, the first limb part to have
The similar shape with human body limb portion bone.
Optionally, it is used for the long stretching structure of limb of intelligent exoskeleton robot as described above, is additionally provided with for controlling
The switch button for adjusting motor action is stated, the switch button is electrically connected with the adjusting motor.
Compared with prior art, the utility model has the following advantages:
1, by the motor, the isostructural mutual cooperation of the screw rod, it is not only able to achieve step-less adjustment, is also ectoskeleton
Long automatically control of the limb of robot provides structure basis.In addition, also making the ectoskeleton machine using the long stretching structure of the limb
Device people's versatility is stronger, can adapt to more crowds.
[Detailed description of the invention]
It, below will be to required in embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the utility model
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is structural representation Fig. 1 of the long stretching structure of limb described in the utility model embodiment；
Fig. 2 is structural representation Fig. 2 of the long stretching structure of limb described in the utility model embodiment；
Fig. 3 is the structural schematic diagram of intelligent exoskeleton robot described in the utility model embodiment；
Fig. 4 is the usage state diagram of intelligent exoskeleton robot described in the utility model embodiment；
Fig. 5 is the structural schematic diagram of ectoskeleton structure described in the utility model embodiment；
Fig. 6 is the structural schematic diagram of lower limb structure component described in the utility model embodiment；
Fig. 7 is the structural schematic diagram of Arm structure component described in the utility model embodiment；
Fig. 8 is the structural schematic diagram of Arm structure described in the utility model embodiment；
Fig. 9 is the structural schematic diagram of foot fixing device described in the utility model embodiment；
Figure 10 is the structural schematic diagram of the first locking buckle described in the utility model embodiment；
Figure 11 is that the first locking buckle described in the utility model embodiment hides the structural schematic diagram after first Ka Gai；
Figure 12 is the decomposition texture schematic diagram of the first locking buckle described in the utility model embodiment；
Figure 13 is the cross-sectional view of the first locking buckle described in the utility model embodiment；
Figure 14 is the structural schematic diagram of object wearing device described in the utility model embodiment.
[specific embodiment]
The technical issues of in order to keep the utility model solved, technical solution and beneficial effect are more clearly understood, below
In conjunction with accompanying drawings and embodiments, the present invention will be further described in detail.It should be appreciated that specific implementation described herein
Example is only used to explain the utility model, is not used to limit the utility model.
As shown in Figure 1 to Figure 2, the utility model embodiment proposes a kind of long stretching structure of limb comprising the first limb part 122
With the second limb part 123, the first limb part 122 is equipped with the first connecting pin for connecting with the second limb part 123, and described second
Limb part 123 is equipped with the second connection end connecting with the first limb part 122, and first connecting pin is equipped with and described second
The adjusting motor 125 and the fixed adjusting motor of screw rod 124, the driving rotation of screw rod 124 that connecting pin is threadedly coupled
125 motor cabinet 126, the motor cabinet 126 are stretched out and are used to the first limb part 122 and the second limb part 123 connection direction
In the guide post 127 for guiding the second limb part 123 to move to length direction, first connecting pin is additionally provided with for described second
The sliding slot that connecting pin is moved in length direction.Specifically, the long stretching structure of the limb is additionally provided with for controlling the adjusting motor
The switch button of 125 movements, the switch button are electrically connected with the adjusting motor 125.Pass through the motor, described screw rod etc.
The mutual cooperation of structure is not only able to achieve step-less adjustment, also provides structure base for long automatically control of the limb of exoskeleton robot
Plinth.In addition, also making the exoskeleton robot versatility using the long stretching structure of the limb stronger, it can adapt to more crowds.
Specifically, the guide post 127 is equipped with two.The sliding slot is equipped in the end of first connecting pin for limiting
The block 128 of the second connection end movement travel.
Further, the block 128 is the flange vertically protruded in 122 side of the first limb part.
Further, the first limb part 122 and the second limb part 123 are aluminum alloy materials.
Preferably, the first limb part 122 far from the second limb part 123 one end be equipped with for ectoskeleton machine
The driving motor of person joint's connection.
Correspondingly, the second connection end is equipped with bending part 123a, and the bending part is adapted with the block 128.
The bending part 123a is equipped with through-hole compatible with the guide post 127 and threaded hole compatible with the screw rod 124.
In addition, the first limb part 122 has the shape similar with human body limb portion bone.
In use, the motor 125 that adjusts drives the screw rod 124 being threadedly coupled with the second connection end to rotate, it is described
Second connection end moves in a straight line under the guiding of guide post 127, to drive the second limb part 123 separate towards the first limb part 122
Or close direction is mobile, realizes that limb is long and stretches, can make the limb of the exoskeleton robot using the long stretching structure of the limb
Body can adapt to the individual of different flange by stepless adjustment telescopic.One of embodiment is the ectoskeleton machine
People is equipped with the controller being electrically connected with the adjusting motor 125, and operator by inputting parameter such as human body not on the controller
Limb with position is long, the length for adjusting motor 125 and automatically adjusting the long stretching structure of the limb according to the parameter of input.It is another
Kind embodiment is that the exoskeleton robot is equipped with the controller being electrically connected with the adjusting motor 125, and operator passes through
" adding " for being arranged on the controller, " subtracting " button control the positive and negative rotation for adjusting motor 125, finely tune the long flexible knot of the limb
Structure is elongated or shortened to adapt to the crowd of different flange.The long stretching structure of limb has greatly reinforced the versatility of exoskeleton robot
And intelligence
The other structures of exoskeleton robot are described further below, the long stretching structure of limb is suitable for following institute
Big the upper arm member 12, small the upper arm member 13, thigh parts 22 and the lower leg component 23 stated:
As shown in Fig. 3 to Fig. 7, intelligent exoskeleton robot provided by the embodiment of the utility model, including ectoskeleton structure,
The ectoskeleton structure includes the Arm structure 1 for fixing human upper limb, the lower limb structure 2 for fixing human lower limb and uses
In the back structures 3 for connecting the Arm structure 1 and the lower limb structure 2, the Arm structure 1, the lower limb structure 2 or institute
Back structures 3 are stated equipped with power interface；The exoskeleton robot further includes cable 4, battery and for following institute automatically
The wheelchair 5 of ectoskeleton structure walking is stated, the battery is located on the wheelchair 5, and the battery passes through 4 electricity of cable
It is connected on the power interface.Pass through the ingenious of wheelchair 5 in the exoskeleton robot and the ectoskeleton that is worn on human body
In conjunction with, by be used for power battery be arranged in wheelchair 5, greatly reduce the weight bearing of ectoskeleton, reduce to a certain extent
Energy loss, the battery being on the other hand arranged on wheelchair can manufacture into the battery of larger capacity, further be promoted
The cruising ability of whole equipment provides beneficial conditions in the universal of medical field for exoskeleton robot.It is envisioned that working as
Human body dress the ectoskeleton structure take a walk etc. daily use when, encounter human body and want the case where sitting down, can be very convenient
Ground selects wheelchair as thing to sit on so that the use of exoskeleton robot it is more practical with it is humanized.
Follow technology as follows in the embodiments of the present invention automatically: tracking module there are three installations on the wheelchair 5,
Three tracking modules include the first module, the second module and third module, first module, second module and institute
It states third module to be mounted on the wheelchair 5 in horizontal plane at equilateral triangle shape, three modules are as base station and three
There is certain spacing between module.Hold or be arranged on outer skeletal structure the transmitting that signal is sent to three modules
Source.First module, second module and the third module receive the time difference of transmitting source signal by comparison, can
To calculate the angle of the emission source.By the electromagnetic wave skyborne flight time, can calculate the emission source away from
From.Between three modules and the emission source by wireless communication, emission source is measured respectively to the first module, the second module and
Range information and angle information are given to master control borad by serial ports by the distance between three modules, third module.Master control borad is receiving
After distance and angle information: when emission source is at 5 left side of wheelchair, wheelchair 5 is turned left.When emission source is at 5 the right of wheelchair, wheelchair
5 turn right.When emission source is at 5 front of wheelchair, wheelchair 5 is gone ahead.When wheelchair 5 reaches the following distance set, wheel
5 stop motion of chair.Certainly, the utility model can also such as pass through camera shooting using other embodiment and carry out vision positioning or pass through
Ultrasonic wave etc. carries out positioning and follows.
In the present embodiment, the Arm structure component includes the back structures 3 for being worn on human body back, is worn on human body
The Arm structure of left-hand side and the Arm structure for being worn on right human hand side, are worn on the Arm structure and wearing of human body left-hand side
Arm structure in right human hand side has basically same structure and relative to each other bilateral symmetry.Below with regard to the upper limb
One of Arm structure of construction package is illustrated the Arm structure 1 of the present embodiment.
The Arm structure 1 includes shoulder member 11, big the upper arm member 12, small the upper arm member 13 and palm component 14, the shoulder
Part 11 cuts with scissors the upper end for being located at the back structures 3, and the shoulder member 11 is being equipped with the first driving far from described 3 one end of back structures
Motor, the output end of first driving motor are fixedly connected with one end of the big the upper arm member 12, the big the upper arm member 12
The other end is equipped with the second driving motor, the fixed company in one end of the output end of second driving motor and the small the upper arm member 13
It connects, the other end of the small the upper arm member 13 and the palm component 14 are hinged.Specifically, first driving motor, described
Two driving motors can be used cooperatively for servo motor with harmonic speed reducer.
Referring to Fig. 8, the big the upper arm member 12 is equipped with the first raised inwardly fixed part 121, and the small the upper arm member 13 is set
Second fixed part 132 of oriented inner bulge is equipped between first fixed part 121 and second fixed part 132 and is used for
The pallet 6 of support human body ancon, described 6 one end of pallet are equipped with for the first bullet with 121 elastic connection of the first fixed part
Property part 61,6 other end of pallet be equipped with for the second elastic component 62 with 132 elastic connection of the second fixed part.Specifically
Ground, first elastic component 61 and second elastic component 62 are extension spring.In the prior art, by the Arm structure 1
It is general that only human body large arm and forearm are fixed when being worn on human arm, and consider human body comfort, so not
Human body large arm and forearm can fetter to tension, therefore to be easy to appear human body during exercise opposite with the Arm structure 1 for human body
Sliding and generate dislocation, cause ectoskeleton structure to be difficult to that human body is driven to make more accurate movement, summer due to being warm, people
Body perspiration causes a possibility that such case occur higher.The joint position that the pallet 6 is mounted on human body is then by joint position
It sets also close to the turned position of the Arm structure 1, in order to enable the pallet 6 and the motion tension of human body are more in line with, also
It is resetted provided with the first elastic component 61 connected to it and the second elastic component 62.The support of support human body ancon is used for by increasing
Disk, the pallet are elastic connection, so that human body ancon is obtained certain fixation, and be flexible fastening due to being the pallet, because
This does not influence the movement of ancon again, may also help in elbow joint do it is after bending stretch reset, it is simple and practical in structure.Certainly,
It may be provided for the sucker for making the pallet 6 close to human skin on the pallet 6.
In the present embodiment, the lower limb structure component includes being worn on the lower limb structure of the left leg side of human body and being worn on people
The lower limb structure of the right leg side of body, the lower limb structure for being worn on the left leg side of human body and the lower limb structure for being worn on the right leg side of human body have
Basically same structure and relative to each other bilateral symmetry.Below with regard to one of lower limb knot of the lower limb structure component
Structure is illustrated the lower limb structure 2 of the present embodiment.
The lower limb structure 2 includes hip component 21, thigh parts 22, lower leg component 23 and foot fixing device 24, described
Hip component 21 is mounted on the lower end of the back structures 3, and the hip component 21 is equipped with the in one end far from the back structures 3
Three driving motors, the output end of the third driving motor are fixedly connected with 22 upper end of thigh parts, the thigh parts
22 lower ends are equipped with the 4th driving motor, the fixed company of the output end of the 4th driving motor and the upper end of the lower leg component 23
It connects, the lower end of the lower leg component 23 and the foot fixing device 24 are hinged.The hip component 21 includes connecting the thigh
The interconnecting piece 211 of component 22, the interconnecting piece 211 extend upwards and around rearward connecting with 3 lower end of back structures
Lateral adjustments portion 212 is horizontally arranged with several adjustment hole 212a in the lateral adjustments portion 212, and 3 lower end of back structures is set
Have and be adapted with the adjustment hole 212a to adjust the location hole 31 of 21 lateral position of hip component, the adjustment hole 212a and
It is equipped between the location hole 31 for passing through the location hole 31 and the single adjustment hole 212a with the fixation hip component
21 pin shaft.Specifically, the third driving motor, the 4th driving motor can match for servo motor and harmonic speed reducer
It closes and uses.It when wearing, can be adjusted according to the body width of different human body, i.e., by passing through location hole 31 and corresponding with pin shaft
The lateral position of the lower limb structure 2 is adjusted in adjustment hole 212a, it is of course also possible to process on the adjustment hole 212a
Internal screw thread, and change the pin shaft into bolt and initially pass through location hole 31 and be locked on adjustment hole 212a again and fasten.Above-mentioned use
The target user of the lower limb structure 2 is expanded in the structure of adjusting, keeps it general between different fat or thin individuals.
Preferably, the big the upper arm member 12, the small the upper arm member 13, the thigh parts 22 and the lower leg component 23 are equal
For hollow rod-like structure.And the big the upper arm member 12, the small the upper arm member 13, the thigh parts 22 and the lower leg component 23
Material be aluminium alloy.The weight bearing for greatly reducing ectoskeleton structure further reduces exoskeleton robot at work
Weight bearing loss, extend the cruise duration of battery.
As shown in Fig. 9 to Figure 13, the foot fixing device 24 includes foot pad 241, and front end is equipped with the arc being upturned
Shape portion 41a, the front and rear of 241 upper surface of foot pad are respectively provided with one group of detection switch 41b acted for detecting sole,
Every group of detection switch 41b is at least provided with a microswitch；The 241 top two sides of foot pad are respectively equipped with bionic curved surface
First patch foot 242 and the second patch foot 243, the first patch foot 242 and second patch foot 243 are oppositely arranged simultaneously court
Top forms the first opening, and the first patch foot 242 and second patch foot 243 are equipped with described for adjusting between upward
The upper puller strap 244 of first openings of sizes, described upper 244 one end of puller strap are hinged with first patch foot 242, and described the
Two patch foots 243 are equipped with the first locking buckle 245, and upper 244 other end of puller strap passes through first locking buckle 245
Be locked at it is described second patch foot 243 on, first locking buckle 245 include the first block button base 45a, first card lid 45b,
It is equipped in first rotating shaft 45c and third elastic component 45d, the first block button base 45a for by the upper puller strap 244
First card slot, first card slot are equipped on the surface close to second patch foot 243 for upper puller strap 244 described in clamping
First latching tooth section 246, the upper puller strap 244 towards it is described second patch foot 243 surface be equipped with and it is described first card
Second latch section 247 of the mutual clamping of tooth section 246, the first card lid 45b are connected to described the by the first rotating shaft 45c
Seesaw type movement, described first card lid one end 45b are done above one block button base 45a and by fulcrum of the first rotating shaft 45c
It is tilted by being located at the third elastic component 45d of the first block button base 45a by fulcrum of the first rotating shaft 45c, described the
The one card lid 45b other end compresses the upper puller strap 244 so that 247 clamping of the second latch section is bonded the first latching tooth section
246；The first patch foot 242 and second patch foot 243, which are oppositely arranged and form second towards the rear, to be open, and described first
Patch foot 242 and second patch foot 243 are equipped with the rear puller strap for adjusting second openings of sizes between backwards
248, described rear 248 one end of puller strap is hinged with first patch foot 242, and second patch foot 243 is equipped with second
Locking buckle 249, rear 248 other end of puller strap pass through second locking buckle 249 and are locked at second patch foot
On 243, second locking buckle 249 includes the second block button base, the second Ka Gai, the second shaft and the 4th elastic component, described
It is equipped in second block button base for the second card slot by puller strap 248 after described, second card slot is close to described the
The surface of two patch foots 243 is equipped with the third latch section for rear puller strap 248 described in clamping, and the rear puller strap 248 is in face
The 4th latch section with the mutual clamping of third latch section, second card are equipped with to the surface of second patch foot 243
Lid is connected to above second block button base by second shaft and does seesaw type using second shaft as fulcrum
Movement, the one end second Ka Gai is by being located at the 4th elastic component of second block button base using second shaft as fulcrum
It tilts, the second card lid other end compresses the rear puller strap 248 so that the 4th latch section clamping is bonded the third
Latch section.
Foot fixing device passes through for example described first locking buckle of buckle structure and the upper puller strap cooperation, described second
Locking buckle and the rear puller strap cooperate, and dexterously human foot can be fixed on the foot fixing device, and can
Tonality is strong, simple and reliable for structure, and can be high with shoes fitness.In addition, the front and rear of the foot pad upper surface is respectively set
Have one group for detecting the detection switch of sole movement, when human body, which wears shoes, to land completely, before detection switch at sole
In normally off, behind at heel detection switch be in normally open, system detection is person upright, and shoes land completely,
Otherwise detection switch be in normally open at sole, behind heel be in normally off, system detection is lifts foot, ectoskeleton machine
Device people is equipped with controller, and detection switch is electrically connected to transmit data with the controller, on the one hand can collect the dynamic of human body
Make data convenient for post analysis, on the one hand provides basis of signals for intelligentized control method.
It is as shown in figure 14 the structural schematic diagram of object wearing device described in the utility model embodiment, the big the upper arm member 12,
The small the upper arm member 13, the thigh parts 22 and the lower leg component 23 are respectively equipped at least one and are used for the ectoskeleton
Robot is worn on the object wearing device 7 on human body.Specifically, the object wearing device 7 includes arc connector 71 and flexible bandage
72, the fixed flexible bandage 72 in the inside of the arc connector 71, outside and the large arm of the arc connector 71
Component 12, the small the upper arm member 13, the thigh parts 22 or 23 phase of the lower leg component are fixed.Preferably, the flexibility is tied up
Band 72 is that velcro is called magic tape or tri-glide, it might even be possible to be wide shape rope, and the flexible bandage has elasticity, wearing
It is relatively reliable comfortable.Preferably, the object wearing device 7 is ring-type, it is surround when 7 inner ring of object wearing device is equipped with for dressing
Human body large arm, forearm, thigh or shank annular air-pocket 73, be equipped with for detecting the annular air-pocket in the annular air-pocket 73
The baroceptor of 73 air pressure insides, the annular air-pocket 73 are equipped with the deflation for the inflating port of inflation and for deflation
Mouthful.Certainly, the annular air-pocket 73 is not totally enclosed ring structure, and the annular air-pocket 73 is equipped with to put on human body
The notch of limb or lower limb.73 outer surface of annular air-pocket is fixed on the object wearing device 7 in a manner of being bonded etc., gas when use
Capsule surrounds human body large arm, forearm, thigh or shank in a ring, can make that cladding face between object wearing device 7 and human body is bigger, pressure
Qiang Geng little is dressed more comfortable.Operation is inflated after dressing using electric air pump when inflation and by exoskeleton robot again,
A kind of embodiment is that controller is additionally provided on the exoskeleton robot, the controller be equipped with for control with it is described
The inflation button inflated into the annular air-pocket 73 of electric inflating pump of controller electrical connection is equipped in the annular air-pocket 73
For detecting the baroceptor of 73 air pressure inside of annular air-pocket, the baroceptor be electrically connected with the controller with
The barometric information that the baroceptor detects is recorded in the controller.With the control being arranged on exoskeleton robot
The gas outlet of the electric air pump of device electrical connection is connect with the inflating port on the annular air-pocket 73, and operator is by pressing controller
On inflation button control electric air pump inflate to the annular air-pocket 73, the inflation button be put a dynamic formula, operator one side
Button press, wearer determines whether that inflation is completed by the pressure size of autonomous induction annular air-pocket 73, when feeling ring
Air pressure in shape air bag 73 stops inflation when reaching certain comfort level, the baroceptor incudes the air pressure of the comfort level and will
The data transfer record on the controller, is additionally provided with display screen, the baroceptor induction on the exoskeleton robot
On the display screen, certainly, the controller can also remember the barometric information, inflate when next time for the air pressure meeting instant playback arrived
When can control and stop inflation when electric air pump is inflated to the air pressure.By this human-computer interaction, so that exoskeleton robot
Wearing it is more comfortable, it is reliable with it is humanized.
It should be noted that the route that the exoskeleton robot can both have been set according to plan is acted, can also adopt
The movement tendency of human body is incuded with myoelectric sensor, so that the driving element such as first controlled on the exoskeleton robot drives
Motor, second driving motor etc. are acted, and realize good human-computer interaction, and the crowd of limbs inconvenience is helped to realize walking, lift
The movement such as hand, and assist rehabilitation.
In conclusion the utility model is had the advantages that by the improvement in structure
1, by the motor, the isostructural mutual cooperation of the screw rod, it is not only able to achieve step-less adjustment, is also ectoskeleton
Long automatically control of the limb of robot provides structure basis.In addition, also making the ectoskeleton machine using the long stretching structure of the limb
Device people's versatility is stronger, can adapt to more crowds.
It is the one or more embodiments provided in conjunction with particular content as described above, does not assert the tool of the utility model
Body implementation is only limited to these instructions.It is all approximate with the method for the utility model, structure etc., identical or practical new for this
It makes several technologies under type concept thereof to deduce, or replacement all should be considered as the protection scope of the utility model.
Claims (9)
1. being used for the long stretching structure of limb of intelligent exoskeleton robot, which is characterized in that including the first limb part (122) and the second limb
Part (123), the first limb part (122) are equipped with the first connecting pin connecting with the second limb part (123), second limb
Part (123) is equipped with the second connection end that connect with the first limb part (122), and first connecting pin is equipped with described the
Described in the adjusting motor (125) of screw rod (124), driving screw rod (124) rotation that two connecting pins are threadedly coupled and fixation
Adjust the motor cabinet (126) of motor (125), motor cabinet (126) Xiang Suoshu the first limb part (122) and the second limb part
(123) guide post (127) of the connection direction stretching for guiding the second limb part (123) to move to length direction, described first
Connecting pin is additionally provided with the sliding slot moved for the second connection end in length direction.
2. the limb long stretching structure according to claim 1 for intelligent exoskeleton robot, which is characterized in that described to lead
Column (127) is equipped with two.
3. the limb long stretching structure according to claim 1 for intelligent exoskeleton robot, which is characterized in that the cunning
Slot is equipped with the block (128) for limiting the second connection end movement travel in the end of first connecting pin.
4. the limb long stretching structure according to claim 3 for intelligent exoskeleton robot, which is characterized in that the gear
Block (128) is the flange vertically protruded in the first limb part (122) side.
5. the limb long stretching structure according to claim 1 for intelligent exoskeleton robot, which is characterized in that described
One limb part (122) and the second limb part (123) are aluminum alloy materials.
6. the limb long stretching structure according to claim 1 for intelligent exoskeleton robot, which is characterized in that described
One limb part (122) is equipped with the driving for connecting with exoskeleton robot joint in one end far from the second limb part (123)
Motor.
7. the limb long stretching structure according to claim 1-6 for intelligent exoskeleton robot, feature exist
Be equipped with bending part in, the second connection end, the bending part be equipped with the guide post (127) compatible through-hole and
The compatible threaded hole with the screw rod (124).
8. the limb long stretching structure according to claim 1 for intelligent exoskeleton robot, which is characterized in that described
One limb part (122) has the shape similar with human body limb portion bone.
9. the limb long stretching structure according to claim 1 for intelligent exoskeleton robot, which is characterized in that be additionally provided with
For controlling the switch button of adjusting motor (125) movement, the switch button is electrically connected with the adjusting motor (125)
It connects.
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| CN201820258487.7U CN208926966U (en) | 2018-02-13 | 2018-02-13 | The long stretching structure of limb for intelligent exoskeleton robot |
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| CN201820258487.7U CN208926966U (en) | 2018-02-13 | 2018-02-13 | The long stretching structure of limb for intelligent exoskeleton robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114888783A (en) * | 2022-05-17 | 2022-08-12 | 煤炭科学研究总院有限公司 | Wearable exoskeleton mechanical arm for emergency rescue |
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2018
- 2018-02-13 CN CN201820258487.7U patent/CN208926966U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114888783A (en) * | 2022-05-17 | 2022-08-12 | 煤炭科学研究总院有限公司 | Wearable exoskeleton mechanical arm for emergency rescue |
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Address after: 528400 Zhongshan, Guangdong Torch Development Zone Central Town, Xiang Hing Road 6, number of trade tower 6 meters south 642 card. Patentee after: Zhongshan Wabet Intelligent Medical Devices Co.,Ltd. Address before: 528400 Zhongshan, Guangdong Torch Development Zone Central Town, Xiang Hing Road 6, number of trade tower 6 meters south 642 card. Patentee before: ZHONGSHAN WOBEITE INTELLIGENT MEDICAL ROBOT CO.,LTD. |
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