WO2017204684A1 - Actuator for a link of an active leg orthosis - Google Patents

Actuator for a link of an active leg orthosis Download PDF

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Publication number
WO2017204684A1
WO2017204684A1 PCT/RU2017/000323 RU2017000323W WO2017204684A1 WO 2017204684 A1 WO2017204684 A1 WO 2017204684A1 RU 2017000323 W RU2017000323 W RU 2017000323W WO 2017204684 A1 WO2017204684 A1 WO 2017204684A1
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WO
WIPO (PCT)
Prior art keywords
ball screw
crank
slider
screw
arm
Prior art date
Application number
PCT/RU2017/000323
Other languages
French (fr)
Russian (ru)
Inventor
Андрей Викторович ИВАНОВ
Кирилл Михайлович ТОЛСТОВ
Алексей Андреевич КОСТЕНКО
Original Assignee
Общество С Ограниченной Ответственностью "Экзоатлет"
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Publication date
Application filed by Общество С Ограниченной Ответственностью "Экзоатлет" filed Critical Общество С Ограниченной Ответственностью "Экзоатлет"
Priority to CN201790000893.7U priority Critical patent/CN209301641U/en
Priority to JP2019600042U priority patent/JP3223716U/en
Priority to DE212017000149.6U priority patent/DE212017000149U1/en
Publication of WO2017204684A1 publication Critical patent/WO2017204684A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024—Knee
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0244—Hip
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1436—Special crank assembly
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0406—Standing on the feet
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg

Definitions

  • the inventive utility model relates to the field of medical technology, in particular to wearable aids that promote human motor activity, for example, such as the exoskeleton of the lower extremities.
  • a drive of the exoskeleton of the lower extremities is known, described in published application US 2015/0025423, A61NZ / 00, 2015, including a bevel gear motor located on the femoral link of the leg orthosis.
  • the output shaft of the bevel gear through the gear reducer is connected with the mating link of the exoskeleton leg - the hip or millet link.
  • the disadvantage of this drive is its large size and weight, as well as high power consumption.
  • the drive of the exoskeleton of the lower extremities is also known, described in the journal Aktualne Problemy Biomechaniki, nr 6/2012, pp 43-50.
  • This drive contains a base located on the femoral link of the leg orthosis with an electric motor, ball screw and linear guide with carriage.
  • the electric motor is connected to a ball screw by means of a gear-belt drive.
  • a ball screw nut is mounted on a carriage, to which, in turn, a transmission belt is connected with a flexible coupling comprising an output pulley and guide rollers.
  • the output moment of the drive is removed from the output pulley associated with the response link of the exoskeleton leg orthosis - hip or lower leg link.
  • the disadvantage of this drive is the large linear dimensions, creating difficulties with the placement of several drives simultaneously on the femoral link of the leg orthosis.
  • the technical result of the proposed utility model is to expand the arsenal of technical means of drives for auxiliary devices to promote human motor activity by increasing the output torque of the drive.
  • the technical result is also the improvement of overall dimensions, i.e. weight reduction and reduction in the size of devices, with an increase in the angle of rotation of the crank and maintaining the remaining capabilities and technical characteristics of the devices.
  • the drive link of the active leg orthosis contains a base, designed to be placed on one of the links of the orthosis, as well as an electric motor, ball screw drive and a linear guide with a slider mounted on the base.
  • the ball screw nut is fixed to the slider, and the ball screw screw is connected to the electric motor by a belt drive.
  • the electric motor is parallel to the ball screw, which reduces the axial dimensions (length) of the drive. Reducing the torque in the belt drive allows the use of a smaller motor, which in turn leads to a reduction in the transverse dimensions (height, width) of the drive.
  • a crank made in the form of a two-shouldered lever is mounted based on a rotatable base.
  • the first shoulder of the two shoulders of the lever is structurally designed so that its parts are located on both sides of the ball screw.
  • it can be in the form of a plug, covering the ball screw of the screw drive on both sides.
  • the second shoulder is intended for installation on the mating link of the leg orthosis.
  • Two connecting rods are located on both sides of the ball screw, each of which is pivotally connected to the slider at one end and pivotally connected to the corresponding side of the first crank arm at the other end.
  • the axis of rotation of the crank is located within (dimensions) of the ball screw in a plane perpendicular to the axis of the ball screw, so that the hinge connecting the connecting rod to the first arm of the crank crosses the specified plane during operation of the drive.
  • This embodiment and the location of the crank can reduce the overall dimensions of the drive and get the angle of rotation of the output link, corresponding to the angles of rotation of the lower extremities in the joints of a person. In addition, this embodiment allows you to get almost constant (slightly changing) maximum torque at a sufficiently large angle of rotation of the crank.
  • Figure 1 shows a General view of the exoskeleton of the lower extremities with the claimed drive (fasteners on a human carrier are conventionally not shown).
  • Figure 2 shows a General view of the orthosis of the leg.
  • FIG. 3 shows a general view of the inventive drive in its first extreme position.
  • Figure 4 shows a General view of the inventive drive in the second extreme position.
  • Figure 5 shows a diagram of the operation of the drive.
  • Figure 1 shows a human carrier 1 with the mentioned active exoskeleton 2, consisting of a waist part 3 and two orthoses of 4 legs. Like human legs, orthoses 4 of the active exoskeleton of the 2 lower limbs are mirror images of each other.
  • the 4 leg orthosis includes a femoral link 5 and an ankle link 6.
  • two actuators 7 are installed with control controllers 8.
  • the axis of rotation of the femur link 5 relative to the waist part 3 of the active exoskeleton 2 corresponds the hip joint.
  • the axis 10 of rotation of the tibia 6 relative to the femur 5 corresponds to the knee joint.
  • a drive 7 is shown that rotates the femur 5 relative to the waist part 3 of the active exoskeleton 2.
  • This drive contains a housing 11 (in Fig. 3, the housing is conventionally shown transparent) with an electric motor mounted on it 12. Inside the housing 11 is a linear guide 13 along which the slider 14 moves. [0024] In the bearing assembly 15 mounted on the housing 11, a ball screw 16 is provided. The ball screw nut 17 is mounted on the slider 14 and can move along it along the guide 13.
  • the electric motor 12 is connected to the ball screw screw 16 by means of a belt-gear transmission 18.
  • crank 19 made in the form of a two-shouldered lever.
  • the first shoulder A of the two shoulders of the lever is structurally designed so that its parts are located on both sides of the ball screw 16.
  • the second shoulder B is intended for mounting on the reciprocal link, in this case, on the belt link 3.
  • the axis 9 of rotation of the crank 19 is located in the dimensions of the screw 16 of the ball screw in the plane S (see Fig. 5), perpendicular to the axis of the screw 16 of the ball screw transmission.
  • Two connecting rods 20 are located on both sides of the ball screw 16, each of which is pivotally connected to the slider 14 at one end and pivotally connected to the corresponding side of the first arm A of the crank 19 at the other end.
  • the slider 14 pulls the connecting rods 20 that move from position 20a to position 20b.
  • the connecting rods 20, in turn, pull the first arm A of the crank 19, which rotates from position 19a to position 19b by an angle corresponding to the angle of rotation of the human hip joint.
  • hinges connecting the connecting rods 20 to the first crank arm L intersects a plane S perpendicular to the axis of the ball screw 16. This allows you to get almost constant (variable within small limits) the maximum torque at the output link of the drive - the crank - at a significant angle of rotation.

Landscapes

  • Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Epidemiology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
  • Orthopedics, Nursing, And Contraception (AREA)

Abstract

The invention relates to medical technology, and more particularly to actuators for wearable auxiliary appliances for assisting the mobility of the wearer. An actuator for a link of an active leg orthosis comprises a base, disposed on one of the links of an orthosis, and, mounted on said base, an electric motor, a linear guide with a slider, and a ball screw, the nut of which is fastened to the slider. A toothed belt drive connects the electric motor to the screw of the ball screw. Rotatably mounted on the base is a crank in the form of a two-armed lever, the first arm of which is situated on either side of the screw of the ball screw, and the second arm of which is intended for attachment to a mating link of the orthosis. Two connecting rods are disposed one on either side of the screw of the ball screw, each being pivotally connected by one end to the slider and pivotally connected by the other end to the corresponding side of the first arm of the lever. A pivot pin of the crank lies within the limits of the screw of the ball screw in a plane perpendicular to the axis thereof, such that a hinge connecting a connecting rod to the first arm of the crank is able to intersect said plane as the slider moves along the linear guide.

Description

ПРИВОД ЗВЕНА АКТИВНОГО ОРТЕЗА НОГИ  ACTIVE FOOT LINK DRIVE
[0001] Заявляемая полезная модель относится к области медицинской техники, в частности к носимым вспомогательным средствам, содействующим двигательной активности человека, например таким, как экзоскелет нижних конечностей. [0001] The inventive utility model relates to the field of medical technology, in particular to wearable aids that promote human motor activity, for example, such as the exoskeleton of the lower extremities.
[0002] Известен привод звеньев экзоскелета нижних конечностей, описанный в опубликованной заявке US 2015/0025423, А61НЗ/00, 2015, включающий расположенный на бедренном звене ортеза ноги электродвигатель с конической зубчатой передачей. Выходной вал конической зубчатой передачи через зубчатый редуктор связан с ответным звеном ортеза ноги экзоскелета - тазобедренным или пшенным звеном. Недостатком данного привода являются его большие габариты и масса, а также высокое энергопотребление. [0002] A drive of the exoskeleton of the lower extremities is known, described in published application US 2015/0025423, A61NZ / 00, 2015, including a bevel gear motor located on the femoral link of the leg orthosis. The output shaft of the bevel gear through the gear reducer is connected with the mating link of the exoskeleton leg - the hip or millet link. The disadvantage of this drive is its large size and weight, as well as high power consumption.
[0003] Известен также привод звеньев экзоскелета нижних конечностей, описанный в журнале Aktualne Problemy Biomechaniki, nr 6/2012, p.p. 43- 50. Данный привод содержит располагаемое на бедренном звене ортеза ноги основание с установленными на нем электродвигателем, шарико- винтовой передачей и линейной направляющей с кареткой. Электродвигатель связан с винтом шарико-винтовой передачи при помощи зубчато-ременной передачи. Гайка шарико-винтовой передачи закреплена на каретке, с которой, в свою очередь, связан ремень передачи с гибкой связью, содержащей выходной шкив и направляющие ролики. Выходной момент привода снимается с выходного шкива, связанного с ответным звеном ортеза ноги экзоскелета - тазобедренным или голенным звеном. Недостатком данного привода являются большие линейные габариты, создающие сложности с размещением нескольких приводов одновременно на бедренном звене ортеза ноги. [0003] The drive of the exoskeleton of the lower extremities is also known, described in the journal Aktualne Problemy Biomechaniki, nr 6/2012, pp 43-50. This drive contains a base located on the femoral link of the leg orthosis with an electric motor, ball screw and linear guide with carriage. The electric motor is connected to a ball screw by means of a gear-belt drive. A ball screw nut is mounted on a carriage, to which, in turn, a transmission belt is connected with a flexible coupling comprising an output pulley and guide rollers. The output moment of the drive is removed from the output pulley associated with the response link of the exoskeleton leg orthosis - hip or lower leg link. The disadvantage of this drive is the large linear dimensions, creating difficulties with the placement of several drives simultaneously on the femoral link of the leg orthosis.
[0004] Наиболее близким к заявляемому является привод активного ортеза, описанный в опубликованной международной заявке WO2016/034755, А61НЗ/00, 2016. Данный привод содержит основание, размещаемое на одном из элементов активного ортеза. На основании установлены электродвигатель, шарико-винтовая передача и линейная направляющая с ползуном. Электродвигатель установлен соосно с винтом шарико-винтовой передачи и соединен с ним напрямую. Гайка шарико-винтовой передачи закреплена на ползуне. На основании также установлен поворотный кривошип, связываемый с ответным звеном активного ортеза. Поворот кривошипа осуществляется шатуном, шарнирно связанным с ползуном и кривошипом. Недостатком данного привода являются ограниченный угол поворота кривошипа, увеличенная длина, невысокий выходной крутящий момент. [0004] Closest to the claimed is an active orthosis actuator described in published international application WO2016 / 034755, A61NZ / 00, 2016. This actuator contains a base placed on one of the elements of the active orthosis. Based on the installed electric motor, ball screw and linear guide with a slider. The electric motor is mounted coaxially with the ball screw and is connected directly to it. The ball screw nut is mounted on the slider. A rotary crank connected with the active link of the active orthosis has also been installed on the base. The crank is rotated by a connecting rod pivotally connected to the slider and crank. The disadvantage of this drive is the limited angle of rotation of the crank, increased length, low output torque.
[0005] Технический результат предлагаемой полезной модели заключается в расширении арсенала технических средств приводов для вспомогательных устройств содействия двигательной активности человека за счет увеличения выходного крутящего момента привода.  [0005] The technical result of the proposed utility model is to expand the arsenal of technical means of drives for auxiliary devices to promote human motor activity by increasing the output torque of the drive.
[0006] Кроме того, техническим результатом также является улучшение массогабаритных характеристик, т.е. снижение массы и уменьшении размеров устройств, при увеличении угла поворота кривошипа и сохранении остальных возможностей и технических характеристик устройств.  [0006] In addition, the technical result is also the improvement of overall dimensions, i.e. weight reduction and reduction in the size of devices, with an increase in the angle of rotation of the crank and maintaining the remaining capabilities and technical characteristics of the devices.
[0007] Указанный технический результат достигается за счет того, что привод звена активного ортеза ноги, содержит основание, предназначенное для размещения на одном из звеньев ортеза, а также установленные на основании электродвигатель, шарико-винтовую передачу и линейную направляющую с ползуном. [0007] The specified technical result is achieved due to the fact that the drive link of the active leg orthosis contains a base, designed to be placed on one of the links of the orthosis, as well as an electric motor, ball screw drive and a linear guide with a slider mounted on the base.
[0008] Гайка шарико-винтовой передачи закреплена на ползуне, а винт шарико-винтовой передачи связан с электродвигателем посредством зубчато-ременной передачи. Таким образом, электродвигатель располагается параллельно винту шарико-винтовой передачи, что позволяет уменьшить осевые габариты (длину) привода. Редуцирование крутящего момента в зубчато-ременной передаче позволяет использовать электродвигатель меньших габаритов, что, в свою очередь приводит к уменьшению поперечных габаритов (высота, ширина) привода. [0008] The ball screw nut is fixed to the slider, and the ball screw screw is connected to the electric motor by a belt drive. Thus, the electric motor is parallel to the ball screw, which reduces the axial dimensions (length) of the drive. Reducing the torque in the belt drive allows the use of a smaller motor, which in turn leads to a reduction in the transverse dimensions (height, width) of the drive.
[0009] На основании с возможностью поворота установлен кривошип, выполненный в виде двуплечего рычага. Первое плечо двуплечего рычага конструктивно выполнено так, что его части расположены с обеих сторон винта шарико-винтовой передачи. Например, он может быть в виде вилки, охватывающей винт шарико-винтовой передачи с обеих сторон. Второе плечо предназначено для установки на ответном звене ортеза ноги. [0009] A crank made in the form of a two-shouldered lever is mounted based on a rotatable base. The first shoulder of the two shoulders of the lever is structurally designed so that its parts are located on both sides of the ball screw. For example, it can be in the form of a plug, covering the ball screw of the screw drive on both sides. The second shoulder is intended for installation on the mating link of the leg orthosis.
[0010] По обеим сторонам винта шарико-винтовой передачи расположены два шатуна каждый из которых одним концом шарнирно соединен с ползуном, а другим концом шарнирно соединен с соответствующей стороной первого плеча кривошипа.  [0010] Two connecting rods are located on both sides of the ball screw, each of which is pivotally connected to the slider at one end and pivotally connected to the corresponding side of the first crank arm at the other end.
[ООП] Ось вращения кривошипа расположена в пределах (габаритах) винта шарико-винтовой передачи в плоскости, перпендикулярной оси винта шарико-винтовой передачи, таким образом, что шарнир, соединяющий шатун с первым плечом кривошипа, пересекает указанную плоскость в процессе работы привода. [0012] Такое выполнение и расположение кривошипа позволяет уменьшить общие габариты привода и получить угол поворота выходного звена, соответствующий углам поворота нижних конечностей в суставах человека. Кроме того, такое выполнение позволяет получить практически постоянный (мало меняющийся) максимальный момент на достаточно большом угле поворота кривошипа. [OOP] The axis of rotation of the crank is located within (dimensions) of the ball screw in a plane perpendicular to the axis of the ball screw, so that the hinge connecting the connecting rod to the first arm of the crank crosses the specified plane during operation of the drive. [0012] This embodiment and the location of the crank can reduce the overall dimensions of the drive and get the angle of rotation of the output link, corresponding to the angles of rotation of the lower extremities in the joints of a person. In addition, this embodiment allows you to get almost constant (slightly changing) maximum torque at a sufficiently large angle of rotation of the crank.
[0013] Вышеизложенное представляет собой краткое изложение сущности полезной модели и, таким образом, может содержать упрощения, обобщения, включения и/или исключения подробностей; следовательно, специалистам в данной области техники следует принять во внимание, что данное краткое изложение сущности полезной модели является только иллюстративным и не подразумевает какое-либо ограничение.  [0013] The foregoing is a summary of the essence of the utility model and, thus, may contain simplifications, generalizations, inclusion and / or exclusion of details; therefore, those skilled in the art should take into account that this summary of the utility model is illustrative only and does not imply any limitation.
[0014] Для лучшего понимания сути предлагаемого технического решения ниже приводится описание конкретного примера выполнения изобретения, не являющееся ограничительным примером практической реализации привода звена активного ортеза ноги в соответствии с данной полезной моделью со ссылками на чертежи, на которых представлено следующее. [0014] For a better understanding of the essence of the proposed technical solution, a specific embodiment of the invention is described below, which is not a restrictive example of the practical implementation of the drive of an active leg orthosis in accordance with this utility model with reference to the drawings, which show the following.
[0015] На фиг.1 изображен общий вид экзоскелета нижних конечностей с заявляемым приводом (элементы крепления на человеке - носителе условно не показаны).  [0015] Figure 1 shows a General view of the exoskeleton of the lower extremities with the claimed drive (fasteners on a human carrier are conventionally not shown).
[0016] На фиг.2 изображен общий вид ортеза ноги. [0016] Figure 2 shows a General view of the orthosis of the leg.
[0017] На фиг.З изображен общий вид заявляемого привода в первом крайнем положении. [0018] На фиг.4 изображен общий вид заявляемого привода во втором крайнем положении. [0017] FIG. 3 shows a general view of the inventive drive in its first extreme position. [0018] Figure 4 shows a General view of the inventive drive in the second extreme position.
[0019] На фиг.5 изображена схема работы привода. [0019] Figure 5 shows a diagram of the operation of the drive.
[0020] Следует учесть, что на чертежах представлены только те детали, которые необходимы для понимания существа предложения, а сопутствующее оборудование, хорошо известное специалистам в данной области, на чертежах не представлено. [0020] It should be noted that the drawings show only those details that are necessary for understanding the essence of the proposal, and related equipment, well known to specialists in this field, is not shown in the drawings.
[0021] Как указывалось ранее основным назначением заявляемого привода является перемещение звеньев активных экзоскелетов нижних конечностей. На фиг.1 показан человек - носитель 1 с упомянутым активным экзоскелетом 2, состоящим из поясной части 3 и двух ортезов 4 ног. Как и ноги человека, ортезы 4 активного экзоскелета 2 нижних конечностей являются зеркальным отражением друг друга. [0021] As previously indicated, the main purpose of the claimed drive is to move the links of the active exoskeletons of the lower extremities. Figure 1 shows a human carrier 1 with the mentioned active exoskeleton 2, consisting of a waist part 3 and two orthoses of 4 legs. Like human legs, orthoses 4 of the active exoskeleton of the 2 lower limbs are mirror images of each other.
[0022] Как показано на фиг.2 ортез 4 ноги включает в себя бедренное звено 5 и голенное звено 6. На бедренном звене 5 установлены два привода 7 с управляющими контроллерами 8. Ось 9 поворота бедренного звена 5 относительно поясной части 3 активного экзоскелета 2 соответствует тазобедренному суставу. Ось 10 поворота голенного звена 6 относительно бедренного звена 5 соответствует коленному суставу. [0022] As shown in FIG. 2, the 4 leg orthosis includes a femoral link 5 and an ankle link 6. On the femoral link 5, two actuators 7 are installed with control controllers 8. The axis of rotation of the femur link 5 relative to the waist part 3 of the active exoskeleton 2 corresponds the hip joint. The axis 10 of rotation of the tibia 6 relative to the femur 5 corresponds to the knee joint.
[0023] На фиг.З и фиг.4 показан привод 7, осуществляющий поворот бедренного звена 5 относительно поясной части 3 активного экзоскелета 2. Указанный привод содержит корпус 11 (на фиг.З, 4 корпус условно изображен прозрачным) с установленным на нем электродвигателем 12. Внутри корпуса 11 расположена линейная направляющая 13 по которой перемещается ползун 14. [0024] В установленном на корпусе 11 подшипниковом узле 15 размещен винт 16 шарико-винтовой передачи. Гайка 17 шарико-винтовой передачи закреплена на ползуне 14 и имеет возможность перемещения вместе с ним по направляющей 13. Электродвигатель 12 связан с винтом 16 шарико- винтовой передачи посредством зубчато-ременной передачи 18. [0023] In Fig. 3 and Fig. 4, a drive 7 is shown that rotates the femur 5 relative to the waist part 3 of the active exoskeleton 2. This drive contains a housing 11 (in Fig. 3, the housing is conventionally shown transparent) with an electric motor mounted on it 12. Inside the housing 11 is a linear guide 13 along which the slider 14 moves. [0024] In the bearing assembly 15 mounted on the housing 11, a ball screw 16 is provided. The ball screw nut 17 is mounted on the slider 14 and can move along it along the guide 13. The electric motor 12 is connected to the ball screw screw 16 by means of a belt-gear transmission 18.
[0025] В корпусе 11 с возможностью поворота на оси 9 установлен кривошип 19, выполненный в виде двуплечего рычага. Первое плечо А двуплечего рычага конструктивно выполнено так, что его части расположены с обеих сторон винта 16 шарико-винтовой передачи. Второе плечо В предназначено для крепления на ответном звене, в данном случае на поясном звене 3. Ось 9 вращения кривошипа 19 расположена в габаритах винта 16 шарико-винтовой передачи в плоскости S (см. фиг.5), перпендикулярной оси винта 16 шарико-винтовой передачи. [0025] In the housing 11 with the possibility of rotation on the axis 9 is installed the crank 19, made in the form of a two-shouldered lever. The first shoulder A of the two shoulders of the lever is structurally designed so that its parts are located on both sides of the ball screw 16. The second shoulder B is intended for mounting on the reciprocal link, in this case, on the belt link 3. The axis 9 of rotation of the crank 19 is located in the dimensions of the screw 16 of the ball screw in the plane S (see Fig. 5), perpendicular to the axis of the screw 16 of the ball screw transmission.
[0026] По обеим сторонам винта 16 шарико-винтовой передачи расположены два шатуна 20 каждый из которых одним концом шарнирно соединен с ползуном 14, а другим концом шарнирно соединен с соответствующей стороной первого плеча А кривошипа 19. [0026] Two connecting rods 20 are located on both sides of the ball screw 16, each of which is pivotally connected to the slider 14 at one end and pivotally connected to the corresponding side of the first arm A of the crank 19 at the other end.
[0027] Работа привода 7 звена активного ортеза ноги осуществляется следующим образом. По команде с контроллера 8 включается двигатель 12, который через ременную передачу 18 передает вращение на винт 16 шарико-винтовой передачи. Ползун 14 перемещается из положения 14а в положение 14Ь (см. фиг.5).  [0027] The operation of the actuator 7 of the link of the active leg orthosis is as follows. On command from the controller 8, the engine 12 is turned on, which, through the belt drive 18, transmits the rotation to the screw 16 of the ball screw transmission. The slider 14 moves from position 14a to position 14b (see FIG. 5).
[0028] Ползун 14 тянет за собой шатуны 20, которые перемещаются из положения 20а в положение 20Ь. Шатуны 20, в свою очередь, тянут за собой первое плечо А кривошипа 19, который поворачивается из положения 19а в положение 19Ь на угол , соответствующий углу поворота тазобедренного сустава человека. [0029] В процессе работы привода шарниры, соединяющие шатуны 20 с первым плечом Л кривошипа, пересекает плоскость S, перпендикулярную оси винта 16 шарико-винтовой передачи. Это позволяет получить практически постоянный (изменяемый в небольших пределах) максимальный крутящий момент на выходном звене привода - кривошипе - на значительном угле его поворота. [0028] The slider 14 pulls the connecting rods 20 that move from position 20a to position 20b. The connecting rods 20, in turn, pull the first arm A of the crank 19, which rotates from position 19a to position 19b by an angle corresponding to the angle of rotation of the human hip joint. [0029] During the operation of the drive, hinges connecting the connecting rods 20 to the first crank arm L intersects a plane S perpendicular to the axis of the ball screw 16. This allows you to get almost constant (variable within small limits) the maximum torque at the output link of the drive - the crank - at a significant angle of rotation.
[0030] Хотя в данном документе были описаны различные стороны осуществления заявленной полезной модели, специалистам в данной области техники понятно, что возможны другие подходы к осуществлению данной полезной модели. Различные стороны и реализация данной полезной модели изложены в настоящем описании в иллюстративных целях и не подразумевают ограничения, причем объем защиты настоящей полезной модели указан в нижеследующей формуле полезной модели. [0030] Although various aspects of the implementation of the claimed utility model have been described herein, those skilled in the art will appreciate that other approaches to implementing this utility model are possible. The various aspects and implementation of this utility model are set forth herein for illustrative purposes and are not intended to be limiting, and the scope of protection of the present utility model is indicated in the following utility model formula.

Claims

ФОРМУЛА ПОЛЕЗНОЙ МОДЕЛИ USEFUL MODEL FORMULA
Привод звена активного ортеза ноги, содержащий основание, предназначенное для размещения на одном из звеньев ортеза, установленные на основании электродвигатель, линейную направляющую с ползуном и шарико-винтовую передачу, гайка которой закреплена на ползуне, а винт связан с электродвигателем, и установленный на основании с возможностью поворота кривошип, связанный с ползуном, отличающийся тем, что электродвигатель связан с винтом шарико-винтовой передачи при помощи зубчато-ременной передачи, кривошип выполнен в виде двуплечего рычага, первое плечо которого расположено с обеих сторон винта шарико-винтовой передачи, а второе плечо предназначено для установки на ответном звене ортеза ноги, кривошип связан с ползуном двумя шатунами, расположенными по обеим сторонам винта шарико-винтовой передачи, каждый из которых одним концом шарнирно соединен с ползуном, а другим концом шарнирно соединен с соответствующей стороной первого плеча кривошипа, при этом ось вращения кривошипа расположена в пределах винта шарико-винтовой передачи в плоскости, перпендикулярной оси винта шарико-винтовой передачи, таким образом, что шарнир, соединяющий шатун с первым плечом кривошипа, имеет возможность пересечения указанной плоскости при перемещении ползуна по линейной направляющей. An actuator for an active leg orthosis unit containing a base intended for placement on one of the orthosis links, an electric motor mounted on the base, a linear guide with a slider and a ball screw transmission, the nut of which is fixed on the slider and the screw is connected to the electric motor, and mounted on the base with the ability to rotate the crank associated with the slider, characterized in that the electric motor is connected to the ball screw by means of a gear-belt transmission, the crank is made in the form of a two-shouldered lever , the first shoulder of which is located on both sides of the ball screw, and the second shoulder is designed to be mounted on the foot link, the crank is connected to the slider by two connecting rods located on both sides of the ball screw, each of which is pivotally connected at one end with a slider and the other end pivotally connected to the corresponding side of the first shoulder of the crank, while the axis of rotation of the crank is located within the screw of a ball screw in a plane perpendicular to the axis of the screw PPI-helical gear, so that the hinge connecting the crank arm to the first arm of the crank, has the possibility of intersection of said plane when the slider is moved along the linear guide.
PCT/RU2017/000323 2016-05-23 2017-05-19 Actuator for a link of an active leg orthosis WO2017204684A1 (en)

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CN201790000893.7U CN209301641U (en) 2016-05-23 2017-05-19 Active lower limb orthosis chain is driver connected
JP2019600042U JP3223716U (en) 2016-05-23 2017-05-19 Actuators for active leg brace links
DE212017000149.6U DE212017000149U1 (en) 2016-05-23 2017-05-19 Drive of the limb of an active leg orthosis

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