Rotation limiting joint device for exoskeleton robot
By using a semi-month motion limit slot in the hip rotation joint device of the exoskeleton robot, the problem of the inability to achieve hip abduction movement in the prior art is solved, the full-dimensional training function of the hip joint is realized, and the production cost is reduced. Improved security.
Patent Information
- Application Number
- CN202420292301.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-18
- Publication Date
- 2024-12-20
- Estimated Expiration
- 2034-02-18
AI Technical Summary
The existing exoskeleton robots’ hip rotating joint structure cannot achieve all-round hip joint training, especially abduction movement, and there are problems of complex limit structure and high production costs.
Design a rotating limit joint device including an outer spherical shell and an inner spherical sphere. By setting a half-moon-shaped movable limit groove on the outer spherical shell, the range of movement of the strand joint is achieved to achieve forward and backward bending of the hip joint. Extend and abduction move.
The exoskeleton robot's hip joint part is realized, which simplifies the structure, reduces production costs, and expands the scope of use, while ensuring the safety and reliability of the device.
Smart Images
Figure CN222195439U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of rehabilitation equipment, and in particular relates to a rotation limiting joint device for an exoskeleton robot. Background Art
[0002] The exoskeleton robot is an instrument that uses an exoskeleton-type lower limb gait correction drive device to help patients with gait disorders to perform walking training. In traditional rehabilitation treatment, patients need to reach a certain level of lower limb muscle strength and balance function to reach the standing position before they can perform walking training. At the same time, because patients need to lose weight appropriately in the early stages of walking, the exoskeleton rehabilitation robot can provide weight loss and allow patients to feel the feeling of normal walking. It not only helps patients establish normal movement patterns, but also completes rehabilitation training by providing assistance to the patient's hip and knee joints. More importantly, the use of exoskeleton robots allows walking training to begin at an early stage, thereby accelerating the rehabilitation process, better helping patients improve their physical functions and cardiopulmonary function, preventing pressure sores and muscle atrophy, and effectively improving the walking ability of patients with nervous system injuries.
[0003] The joints of the exoskeleton robot need to use rotatable joints to simulate the rotating joint parts of the human body and better help patients perform rehabilitation exercises. The rotating joints on the hip joints of existing exoskeleton robots generally use single-axis rotation, and the shaft is connected to the thigh part of the exoskeleton robot. By setting a limiting long groove for the shaft to pass through, the shaft can only move in one direction, which also makes the thigh part of the exoskeleton robot only move in the front and back directions. However, in reality, the thigh part at the human hip joint can not only rotate back and forth relative to the pelvis, but also expand outward. This joint structure makes the application scope of the exoskeleton robot too narrow, and it is not convenient for patients to perform all-round overall training of the hip joint and thigh. Some rotating joints on the hip joint are realized by using or splicing multiple joints to achieve multi-directional rotation, but this structure has the defects of a large number of parts, complex assembly, and high production cost, and is not conducive to large-scale promotion and use.
[0004] In view of the above problems, it is necessary to design a simple rotation limit joint device to solve the problem of complex limit structure and inability to achieve abduction movement of the hip joint. To this end, the applicant has made active and effective explorations and finally formed the technical solution to be introduced below. Utility Model Content
[0005] The purpose of the utility model is to provide a rotation limit joint device for an exoskeleton robot which has a compact and exquisite structure, is safe and reliable, and has a low production cost. It helps to limit the movement of the femoral handle connecting axis and meet the activity limit requirements of the hip joint of the exoskeleton robot by setting a semi-lunar movable limit groove on the outer spherical shell, which is beneficial to realize the flexion, extension and abduction movement of the hip joint of the exoskeleton robot, thereby facilitating the patient's further rehabilitation and expanding the scope of use.
[0006] The purpose of the utility model is achieved in this way. A rotation limit joint device for an exoskeleton robot comprises: an outer spherical shell and an inner sphere; wherein the outer spherical shell is hollow inside and forms a shell inner cavity, and a circle of outer spherical shell connecting ring plates is convexly formed on the outer peripheral side wall of the outer spherical shell; the inner sphere is cooperatively arranged in the shell inner cavity and the outer surface of the inner sphere is in contact with the inner cavity wall of the shell inner cavity, the inner sphere can rotate relative to the outer spherical shell, a handle connecting shaft is convexly formed on the outer peripheral side wall of the inner sphere, and a movable limit groove with a semi-lunar shape is correspondingly opened on the outer spherical shell, the handle connecting shaft passes through the movable limit groove outwardly, and the movable limit groove is used to limit the movable range of the handle connecting shaft.
[0007] In a specific embodiment of the present invention, the movable limit groove includes a movable limit groove vertical surface and a movable limit groove arc surface, the movable limit groove arc surface is formed on one side of the movable limit groove vertical surface, and the two connection points of the movable limit groove vertical surface and the movable limit groove arc surface are respectively formed as a first connection point I and a second connection point II, and the middle vertex of the movable limit groove arc surface constitutes an outward limit point.
[0008] In another specific embodiment of the utility model, the line between the first connection point I on the movable limit groove and the center of the outer spherical shell is the first limit connection line I, and the line between the second connection point II on the movable limit groove and the center of the outer spherical shell is the second limit connection line II, and an angle α is formed between the first limit connection line I and the second limit connection line II, and the value range of the angle α is 145° to 155°.
[0009] In another specific embodiment of the utility model, the line connecting the outward extension limit point on the movable limit groove and the center of the outer spherical shell is the outward extension limit connecting line, and the line connecting the center of the outer spherical shell to the midpoint of the vertical surface of the movable limit groove is the vertical surface connecting line of the movable limit groove, and an angle β is formed between the outward extension limit connecting line and the vertical surface connecting line of the movable limit groove, and the value range of the angle β is 10° to 25°.
[0010] In another specific embodiment of the present invention, a plurality of outer spherical shell plug-in blocks are formed on the outer peripheral wall of the outer spherical shell and on the side opposite to the movable limiting groove, and the plurality of outer spherical shell plug-in blocks are used to connect with the pelvic component of the exoskeleton robot.
[0011] In another specific embodiment of the utility model, the outer spherical shell connecting ring plate of the outer spherical shell is also provided with a plurality of outer spherical shell connecting ring plate clamping grooves spaced evenly along its circumference.
[0012] In a further specific embodiment of the present invention, the material of the outer spherical shell and the inner sphere is preferably PEEK material or 6061 aluminum alloy plate.
[0013] In a further specific embodiment of the present invention, the outer spherical shell and the inner sphere are in interference fit.
[0014] After the utility model adopts the above structure, it has the following beneficial effects: First, by opening a semi-lunar movable limit groove on the outer spherical shell, the thigh handle connecting shaft on the inner sphere can move within the limit range of the movable limit groove, preventing the inner sphere from rotating relative to the outer spherical shell beyond the rotation limit of the human body, so that the thigh drive component of the exoskeleton robot can only move within the limit range, meeting the limit requirements for hip joint activity, ensuring safe and reliable use, avoiding harm to the human body, and at the same time low production cost, and the specifications of the outer spherical shell and the inner sphere can be adaptively adjusted according to actual work requirements, so that it can be suitable for most exoskeleton robot joint assembly requirements; second, the semi-lunar movable limit groove is used to realize the up and down and lateral movement of the thigh handle connecting shaft, and the thigh drive component of the exoskeleton robot connected to the inner sphere can not only realize the flexion and extension function of the hip joint, but also assist the hip joint to be able to move outward, greatly expanding the scope of use. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 This is a schematic diagram of the three-dimensional structure of an embodiment of the utility model;
[0016] Figure 2 for Figure 1 A side cross-sectional view of the outer spherical shell in the illustrated embodiment;
[0017] Figure 3 for Figure 1 A top cross-sectional view of the outer spherical shell in the illustrated embodiment.
[0018] In the figure: 1. outer spherical shell, 11. shell cavity, 12. outer spherical shell connecting ring plate, 121. outer spherical shell connecting ring plate clamping groove, 13. movable limit groove, 131. movable limit groove vertical surface, 132. movable limit groove arc surface, 133. first connection point I, 1331. first limit connection line I, 134. second connection point II, 1341. second limit connection line II, 135. outward limit point, 1351. outward limit connection line, 136. movable limit groove vertical surface connection line, 14. outer spherical shell plug-in block. 2. inner sphere, 21. femoral handle connecting shaft. DETAILED DESCRIPTION
[0019] The following will be described in detail in the form of embodiments, but the description of the embodiments is not a limitation on the technical solution of the utility model. Any equivalent changes made based on the concept of the utility model that are merely formal but not substantial should be regarded as within the scope of the technical solution of the utility model.
[0020] In the following description, all concepts related to up, down, left, right, front and back directions or orientations are based on Figure 1 The positions shown are for reference only and thus cannot be understood as a special limitation on the technical solution provided by the present utility model.
[0021] See also Figures 1 to 3, shows a rotation limit joint device for an exoskeleton robot, which is specifically installed at the hip joint of the exoskeleton robot; it includes: an outer spherical shell 1 and an inner sphere 2 arranged concentrically, the outer spherical shell 1 is connected to the pelvic component of the exoskeleton robot, and the inner sphere 2 is connected to the thigh drive component of the exoskeleton robot, and the specifications of the outer spherical shell 1 and the inner sphere 2 can be adaptively adjusted according to actual work requirements, so that it can be suitable for most joint assembly requirements of exoskeleton robots; wherein the outer spherical shell 1 is hollow inside and forms a shell cavity 11, and a circle of outer spherical shell connecting ring plate 12 is convexly formed on the outer peripheral side wall of the outer spherical shell 1, the outer spherical shell connecting ring plate 12 is annular and is used to realize the positioning and clamping of the outer spherical shell 1, so as to facilitate the clamping of the outer spherical shell 1 and the subsequent movement; the inner sphere 2 is cooperatively arranged in the shell cavity 11 and the outer surface of the inner sphere 2 is in contact with the inner cavity of the shell cavity 11 The inner sphere 2 is in contact with the outer spherical shell 1, and the inner sphere 2 can rotate relative to the outer spherical shell 1. A handle connecting shaft 21 is convexly formed on the outer peripheral side wall of the inner sphere 2. The handle connecting shaft 21 is arranged parallel to the radial axis of the inner sphere 2, and the handle connecting shaft 21 can be connected to the thigh driving component of the exoskeleton robot. Correspondingly, a movable limiting groove 13 with a semi-lunar shape is opened on the outer spherical shell 1. The handle connecting shaft 21 passes through the movable limiting groove 13 outwardly, and the movable limiting groove 13 is used to limit the movable range of the handle connecting shaft 21. When in use, the handle connecting shaft 21 can only move in the semi-lunar movable limiting groove 13, thereby preventing the inner sphere 2 from rotating relative to the outer spherical shell 1 beyond the physiological limit of the human body, and making the thigh driving component of the exoskeleton robot connected to the inner sphere 2 not only realize the flexion and extension function, but also can perform abduction movement compared with the existing limiting joint device, which simplifies the structure and greatly expands the scope of use.
[0022] In this embodiment, the aforementioned movable limit groove 13 includes a movable limit groove vertical surface 131 and a movable limit groove arc surface 132, the aforementioned movable limit groove arc surface 132 is formed on one side of the aforementioned movable limit groove vertical surface 131, and the two connection points of the aforementioned movable limit groove vertical surface 131 and the movable limit groove arc surface 132 are respectively formed as a first connection point Ⅰ133 and a second connection point Ⅱ134, and the middle vertex of the aforementioned movable limit groove arc surface 132 constitutes an outward limit point 135.
[0023] Please see the Figure 2, the line between the first connection point I133 on the aforementioned movable limiting groove 13 and the center of the outer spherical shell 1 is the first limiting connection line I1331, and the line between the second connection point II134 on the aforementioned movable limiting groove 13 and the center of the outer spherical shell 1 is the second limiting connection line II1341, and an angle α is formed between the aforementioned first limiting connection line I1331 and the second limiting connection line II1341, and the value range of the angle α is 145° to 155°, and the value range can be adjusted accordingly according to the actual use needs of the user; in this embodiment, the angle α is preferably 150°, when the outer spherical shell 1 After being connected to the pelvic component of the exoskeleton robot and the inner sphere 2 being connected to the thigh driving component of the exoskeleton robot, by presetting the initial position of the thigh handle connecting shaft 21, the thigh handle connecting shaft 21 can move in the semi-lunar movable limit groove 13 and its limit points for forward and backward rotation are the first connection point Ⅰ133 and the second connection point Ⅱ134, so that the inner sphere 2 can rotate forward 130° and backward 20° relative to the outer spherical shell 1, so that the thigh driving component of the exoskeleton robot can bend forward 130° and extend backward 20°, while reliably limiting, effectively meeting the forward and backward movement requirements of the thigh at the hip joint of the human body.
[0024] Please see the Figure 3 , the line between the outward extension limit point 135 on the aforementioned movable limit groove 13 and the center of the outer spherical shell 1 is the outward extension limit connection line 1351, and the line connecting the center of the aforementioned outer spherical shell 1 to the middle point of the vertical surface 131 of the movable limit groove is the vertical surface connection line 136 of the movable limit groove, and an angle β is formed between the aforementioned outward extension limit connection line 1351 and the vertical surface connection line 136 of the movable limit groove, and the value range of the angle β is 10° to 25°, and the value range can be adjusted accordingly according to the actual use needs of the user; In this embodiment, the angle β is preferably 20°. When the outer spherical shell 1 is connected to the pelvic component of the exoskeleton robot and the inner sphere 2 is connected to the thigh driving component of the exoskeleton robot, the thigh handle connecting shaft 21 can move in the semi-lunar movable limit groove 13. When the thigh handle connecting shaft 2 moves laterally to the abduction limit point 135 on the movable limit groove 13, the thigh handle connecting shaft 21 can drive the thigh driving component of the exoskeleton robot to abduct 20°, thereby realizing the abduction limit function and effectively meeting the movement requirements of the thigh abduction at the hip joint of the human body.
[0025] Please continue to see Figure 1 A plurality of outer spherical shell plug-in blocks 14 are formed on the outer peripheral wall of the aforementioned outer spherical shell 1 and on the side opposite to the aforementioned movable limiting groove 13. The plurality of aforementioned outer spherical shell plug-in blocks 14 are used to connect with the pelvic component of the exoskeleton robot.
[0026] In this embodiment, the outer spherical shell connecting ring plate 12 of the aforementioned outer spherical shell 1 is also provided with a plurality of outer spherical shell connecting ring plate clamping grooves 121 spaced evenly along its circumference; after the clamping tool is matched with the outer spherical shell connecting ring plate clamping grooves 121 for assembly, the clamping tool can be used to clamp and move the outer spherical shell 1.
[0027] Preferably, the aforementioned outer spherical shell 1 and the inner sphere 2 are preferably made of PEEK material (Polyetheretherketone), the scientific name of the material is polyetheretherketone material, which has the advantages of high mechanical strength, high temperature resistance, impact resistance, flame retardancy, acid and alkali resistance, and hydrolysis resistance, thereby ensuring that the inner sphere 2 has better wear resistance, reducing the amount of wear on the surface of the inner sphere 2 while improving the service life of the overall device; and the PEEK material has the characteristic of penetrating X-rays, is invisible during CT, C-arm and MRI scanning, and has no shadow, which makes it more convenient for doctors to operate, assemble and perform surgery.
[0028] Furthermore, the material of the aforementioned outer spherical shell 1 and the inner sphere 2 can also be selected from other alloy materials, such as 6061 aluminum alloy plate. Specifically, the 6061 aluminum alloy plate material is a precipitation hardened aluminum alloy and a high-quality aluminum alloy product produced by a heat treatment pre-stretching process. It has the advantages of good corrosion resistance, excellent weldability and good cold workability, and has the advantages of medium strength, high toughness and no deformation after processing.
[0029] In this embodiment, the outer spherical shell 1 and the inner sphere 2 are interference fit; the interference fit connection between the two can further strengthen the assembly force between the outer spherical shell 1 and the inner sphere 2, while further avoiding the situation where the exoskeleton robot becomes loose when in use, thereby effectively improving the safety of use.
[0030] In summary, the technical solution provided by the utility model makes up for the shortcomings of the existing technology, successfully completes the invention task, and faithfully realizes the technical effects stated by the applicant in the technical effect column above.
Claims
1. A rotation limit joint device for an exoskeleton robot, characterized in that: include: An outer spherical shell (1) and an inner spherical body (2); wherein the outer spherical shell (1) is hollow inside and forms a shell inner cavity (11), and a circle of outer spherical shell connecting ring plate (12) is convexly formed on the outer peripheral side wall of the outer spherical shell (1); the inner spherical body (2) is arranged in the shell inner cavity (11) and the outer surface of the inner spherical body (2) contacts the inner cavity wall of the shell inner cavity (11); the inner spherical body (2) can rotate relative to the outer spherical shell (1), a handle connecting shaft (21) is convexly formed on the outer peripheral side wall of the inner spherical body (2), and a movable limiting groove (13) with a semi-lunar structure is correspondingly opened on the outer spherical shell (1), the handle connecting shaft (21) passes through the movable limiting groove (13) outwardly, and the movable limiting groove (13) is used to limit the movable range of the handle connecting shaft (21).
2. A rotation limiting joint device for an exoskeleton robot according to claim 1, characterized in that: The movable limit groove (13) comprises a movable limit groove vertical surface (131) and a movable limit groove arc surface (132), wherein the movable limit groove arc surface (132) is formed on one side of the movable limit groove vertical surface (131), and two connection points of the movable limit groove vertical surface (131) and the movable limit groove arc surface (132) are respectively formed as a first connection point I (133) and a second connection point II (134), and the middle vertex of the movable limit groove arc surface (132) is formed as an outward extension limit point (135).
3. A rotation limiting joint device for an exoskeleton robot according to claim 2, characterized in that: The line connecting the first connection point I (133) on the movable limit groove (13) and the center of the outer spherical shell (1) is the first limit connection line I (1331), and the line connecting the second connection point II (134) on the movable limit groove (13) and the center of the outer spherical shell (1) is the second limit connection line II (1341), and an angle α is formed between the first limit connection line I (1331) and the second limit connection line II (1341), and the value range of the angle α is 145° to 155°.
4. A rotation limiting joint device for an exoskeleton robot according to claim 2, characterized in that: The line connecting the outward extension limit point (135) on the movable limit groove (13) and the center of the outer spherical shell (1) is the outward extension limit connection line (1351), and the line connecting the center of the outer spherical shell (1) to the middle point of the vertical surface (131) of the movable limit groove is the vertical surface connection line (136) of the movable limit groove. An angle β is formed between the outward extension limit connection line (1351) and the vertical surface connection line (136) of the movable limit groove, and the value range of the angle β is 10° to 25°.
5. A rotation limiting joint device for an exoskeleton robot according to claim 1, characterized in that: A plurality of outer spherical shell plug-in blocks (14) are formed on the outer peripheral wall of the outer spherical shell (1) and on a side opposite to the movable limiting groove (13); the plurality of outer spherical shell plug-in blocks (14) are used to connect with the pelvic component of the exoskeleton robot.
6. A rotation limiting joint device for an exoskeleton robot according to claim 1, characterized in that: The outer spherical shell connecting ring plate (12) of the outer spherical shell (1) is also provided with a plurality of outer spherical shell connecting ring plate clamping grooves (121) spaced evenly along its circumference.
7. A rotation limiting joint device for an exoskeleton robot according to claim 1, characterized in that: The outer spherical shell (1) and the inner sphere (2) are made of PEEK material or 6061 aluminum alloy plate.
8. The rotation limiting joint device for an exoskeleton robot according to claim 1, characterized in that: The outer spherical shell (1) and the inner sphere (2) are in interference fit.