CN219563079U - Automatic leg palm adjusting and telescoping mechanism of exoskeleton robot - Google Patents

Abstract

The utility model discloses an automatic adjusting and telescoping mechanism of an exoskeleton robot leg palm, which comprises a leg palm upper plate, a bottom plate and a motor; a folding device is arranged between the sole upper plate and the bottom plate, and the motor is positioned in the chassis and is fixedly connected with the folding device through a connecting rod; the bottom of the case is provided with a pair of idler wheels and a pair of directional wheels, the bottom plate is provided with a sliding rail, and the case and the folding device can slide along the sliding rail. The automatic sole adjusting and telescoping mechanism has the advantages that the length sensing device is utilized to measure the length of the feet of a user, and the sole upper board is adjustable.

Description

A self-adjusting telescopic mechanism for exoskeleton robot legs

technical field

The application belongs to the field of intelligent control, and in particular relates to an automatic adjusting telescopic mechanism for legs of an exoskeleton robot.

Background technique

Exoskeleton robot refers to a wearable electromechanical device that can enhance the ability of human beings to protect themselves. It has gradually developed from a single wearable electronic product to a fusion technology of electromechanical, intelligent and bionic. With the growth of medical needs, medical exoskeleton rehabilitation robots have become an important direction of rehabilitation robot research, and more and more research institutes and enterprises are investing in the research of medical exoskeleton robots. Exoskeleton rehabilitation robot is an important technical means and method for rehabilitation training of movement disorders caused by stroke and spinal cord injury.

At present, the lower extremity exoskeleton robot is in the stage of rapid development. The research direction focuses on improving intelligent control, but ignores some basic content. There is a big difference in the body shape of the users, and the length of the soles of the feet is also different, which makes the same equipment not suitable for everyone, and the rehabilitation effect for people with poor fit will be worse. How to make the same lower extremity exoskeleton robot meet the length of the soles of different people, that is, to realize the adjustable length of the soles of the lower limbs exoskeleton robot, is the purpose of this utility model.

Utility model content

Based on this, the utility model provides a lower extremity exoskeleton robot foot automatic adjustment telescopic mechanism to solve the problem of poor rehabilitation effect and achieve the purpose of reducing the overall cost.

Its technical content is,

An exoskeleton robot leg automatic adjustment telescopic mechanism, including sole upper plate, bottom plate and motor; a folding device is arranged between the sole upper plate and the bottom plate, the motor is located in the chassis, and is fixedly connected with the folding device through a connecting rod ; The bottom of the case is provided with a pair of rollers and a pair of directional wheels, and the bottom plate is provided with slide rails, and the case and the folding device can slide along the slide rails.

Preferably, the folding device includes a plurality of folding plates, four supporting rods are arranged between two adjacent folding plates, and a positioning cross is arranged between two supporting rods on the same side along the direction of the slide rail, and the positioning cross It is connected with the Y-shaped bracket through a supporting short plate, the two ends of the Y-shaped bracket are respectively hinged with two folding plates, and the bottom of the supporting rod is provided with rollers.

Preferably, the hollow structure between the upper plate and the bottom plate of the sole is used for setting the folding device and the motor, and the sole of the foot is divided into a solid structure.

Preferably, a length sensor is provided on the sole upper plate, the length sensor and the motor are both connected to the controller, and a latex pad is provided above the sole upper plate.

Compared with the prior art, the utility model has the advantages and positive effects as follows:

When the user is wearing the lower extremity exoskeleton robot, the length sensor will judge the user's foot length and send the signal to the controller, the controller will process the signal, and the processed signal will be transmitted to the motor device, which controls the box Start to move and drive the rear folding telescopic device to move to an appropriate position through the connecting rod, so that the soles of the rehabilitation robot can adapt to different groups of people, and at the same time save costs.

Description of drawings

Fig. 1 is the structural schematic diagram of the automatic adjustment telescoping mechanism of the foot of the lower limb exoskeleton robot of the embodiment of the present invention;

Fig. 2 is a schematic structural diagram of a folding telescopic device according to an embodiment of the present invention;

Fig. 3 is a schematic diagram of the structure of the folding telescopic mechanism of the embodiment of the utility model;

Fig. 4 is a schematic diagram of parts of the telescopic linkage mechanism implemented in the utility model;

Fig. 5 is the schematic diagram of implementing the motor device of the utility model;

Figure 6 is a sectional view of the motor device for implementing the utility model;

In the figure: 1. Folding device, 2. Foot upper plate, 3. Box body, 4. Slide rail, 5. Bottom plate, 6. Folding plate, 7. Round pin, 8. Roller, 9. Runner, 10. Support Rod, 11, positioning cross, 12, Y-shaped support, 13, short support plate, 14, motor, 15, connecting rod, 16, directional wheel, 17, connecting rod.

Detailed ways

It should be pointed out that the following detailed descriptions are all exemplary and are intended to provide further description of the present utility model. Unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by those of ordinary skill in the art to which this application belongs.

For the convenience of description, if the words "front", "rear", "left", "right", "upper" and "lower" appear in the utility model, it only means that it is consistent with the front, back, left and right directions of the accompanying drawings. , does not limit the structure, but is only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a Utility model restrictions.

As shown in Figures 1-6, an exoskeleton robot leg automatically adjusts the telescopic mechanism, including the sole upper plate 2, the bottom plate 5 and the motor 14; the hollow structure between the sole upper plate 2 and the bottom plate 5 is used to set the folding Device 1 and motor 14, the bottom of the foot is divided into solid structure. The motor 14 is located in the cabinet 3, and is fixedly connected with the leftmost connecting rod 17 of the folding device through the connecting rod 15; rail 4 , the cabinet 3 and the folding device 1 can slide along the slide rail 4 .

The folding device 1 includes a plurality of folding plates 6, two adjacent folding plates 6 are connected by round pins 7, and four support rods 10 are arranged between two adjacent folding plates 6, which are on the same side along the slide rail direction. A positioning cross 11 is arranged between the two support rods 10, and the positioning cross 11 is connected with the Y-shaped support 12 through a support short plate 13, and the two ends of the Y-shaped support 12 are hinged with two folding plates 6 respectively, so that The bottom of the support rod 10 is provided with a roller 8 . (the two support rods 10 at the far right of the folding device are fixed on the base plate 5).

The sole upper plate 2 is provided with a length sensor, and the length sensor and the motor are connected with a controller, and the controller is located inside the cabinet, and an latex pad is provided above the sole upper plate.

working principle

When the sole of the user's foot is placed on the foot plate 2, the length sensor will send the recognized signal to the controller, and the controller will process the signal and send it to the motor 14, the motor 14 is controlled by the controller to move and drive the folding and stretching Device movement.

The support bar stretches under the drive of the motor. When shrinking, the folding plate 6 can be folded into a V shape, and the folding plate device exposed by the support bar 10 can support the rear end 2 of the sole upper plate together with the rear box 3.

Claims (4)

1. The automatic leg palm adjusting and telescoping mechanism of the exoskeleton robot is characterized by comprising a sole upper plate, a bottom plate and a motor; a folding device is arranged between the sole upper plate and the bottom plate, and the motor is positioned in the chassis and is fixedly connected with the folding device through a connecting rod; the bottom of the case is provided with a pair of idler wheels and a pair of directional wheels, the bottom plate is provided with a sliding rail, and the case and the folding device can slide along the sliding rail.

2. The automatic leg palm adjusting and telescoping mechanism of the exoskeleton robot according to claim 1, wherein the folding device comprises a plurality of folding plates, four support rods are arranged between two adjacent folding plates, a positioning cross is arranged between two support rods on the same side along the direction of the sliding rail, the positioning cross is connected with a Y-shaped support through a support short plate, two ends of the Y-shaped support are hinged with the two folding plates respectively, and rollers are arranged at the bottoms of the support rods.

3. The automatic leg rest adjusting and telescoping mechanism of an exoskeleton robot of claim 1, wherein the hollowed structure between the sole plate and the bottom plate is used for arranging a folding device and a motor, and the sole part is of a solid structure.

4. The automatic leg palm adjusting and telescoping mechanism of the exoskeleton robot of claim 1, wherein the leg palm upper plate is provided with a length sensor, the length sensor and the motor are connected with a controller, and a rubber pad is arranged above the leg palm upper plate.