Automatic reset mechanical power-assisted exoskeleton
By introducing automatic reset function and rapid assembly and disassembly design into the mechanically assisted exoskeleton, the problems of personalized adaptation and replacement of traditional exoskeletons are solved, and the efficiency of use and rehabilitation training are improved.
Patent Information
- Application Number
- CN202420941375.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-30
- Publication Date
- 2025-01-10
- Estimated Expiration
- 2034-04-30
AI Technical Summary
Traditional mechanical exoskeletons lack personalized adaptation solutions, and the shoe holder replacement process is cumbersome and complicated, which affects the efficiency of use.
An automatic reset mechanical power-assisted exoskeleton is designed, using an electric hinge device and an elastic mechanism to realize automatic adjustment and reset of the angle between the leg support mechanism and the waist support mechanism, the leg support mechanism and the foot support mechanism, and is disassembled through rapid assembly. Shoe holder design, suitable for different shoe sizes.
It realizes rapid assembly and disassembly of shoe holders, simplifies the replacement process, improves wear comfort and walking assistance effects, reduces the work burden of nursing staff, and improves the rehabilitation training effect.
Smart Images
Figure CN222323860U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of mechanical power-assisted exoskeletons, in particular to an automatic resetting mechanical power-assisted exoskeleton. Background Art
[0002] As we all know, a mechanical exoskeleton is a mechanical device made of a steel frame and can be worn by people. This equipment can be combined with rehabilitation medicine to provide upright walking rehabilitation treatment for patients with paraplegia, hemiplegia, cerebral palsy and the elderly who have lost the ability to stand or walk. It can help patients maintain humanoid walking exercise training at a high frequency and for a long time, and help patients with lower limb motor dysfunction to carry out rehabilitation training more effectively.
[0003] Traditional exoskeleton systems often lack personalized adaptation solutions for patients with different shoe sizes, and the shoe support replacement process may be cumbersome and complicated, affecting the efficiency of use. Therefore, it is necessary to propose a solution to this technical problem. Utility Model Content
[0004] In order to solve the above technical problems, the utility model provides an automatic resetting mechanical assisted exoskeleton, including a waist support mechanism, leg support mechanisms are arranged on both sides of the bottom end of the waist support mechanism, a foot support mechanism is arranged on the leg support mechanism, and electric hinge devices are arranged between the leg support mechanism, the waist support mechanism and the foot support mechanism, and the bottom end of the foot support mechanism is provided with a mounting frame, the mounting frame is provided with a fixing box, the bottom end of the fixing box is provided with a docking groove, the docking groove is provided with a docking column, the bottom end of the docking column is provided with a shoe support, and the shoe support is provided with a tensioning mechanism, a screw hole is provided at one end of the fixing box, a through groove is provided between one end of the screw hole and the docking groove, a screw rod is provided on the screw hole, a bearing is provided between the screw and the through groove, an inclined block is provided between the bearing and the through groove, an inclined groove is provided on one side of the docking column, an iron plate is provided on the through groove, and an electromagnetic lock is provided on the inclined block.
[0005] The utility model discloses an automatic resetting mechanical power-assisted exoskeleton, wherein the tensioning mechanism comprises an elastic band and a fixing band, wherein the elastic band is installed on one side of the shoe support, and the fixing band is installed on the other side of the shoe support, the elastic band is provided with a male Velcro, and the fixing band is provided with a female Velcro.
[0006] The utility model provides an automatic resetting mechanical power-assisted exoskeleton, wherein the electric hinge device is an electric servo hinge device.
[0007] The utility model provides an automatic resetting mechanical power-assisted exoskeleton, wherein the docking column is matched with the docking groove.
[0008] The utility model discloses an automatic resetting mechanical power-assisted exoskeleton, wherein the top of the shoe tray is provided with anti-skid patterns.
[0009] The utility model provides an automatic resetting mechanical power-assisted exoskeleton, wherein the bottom end of the fixing belt is provided with an anti-slip strip, and the anti-slip strips are provided in plurality and are cross-arranged.
[0010] The utility model provides an automatic resetting mechanical power-assisted exoskeleton, wherein a plurality of tensioning mechanisms are provided.
[0011] The utility model discloses an automatic resetting mechanical power-assisted exoskeleton, wherein a screw block is arranged on the screw rod.
[0012] Compared with the prior art, the utility model has the following beneficial effects: it realizes the rapid assembly and disassembly of the shoe tray, is easy to operate, and does not require complicated tools, which helps medical staff or the patient's family members to complete the replacement of the shoe tray in a short time, thereby improving the convenience of use. By replacing the shoe tray with a corresponding size range, the exoskeleton system can adapt to patients with different shoe sizes, thereby improving the wearing comfort and walking assistance effect.
[0013] Through the electric hinge device, the angles between the leg support mechanism and the waist support mechanism, as well as the leg support mechanism and the foot support mechanism can be automatically adjusted and reset, which helps assist patients to walk in a natural and smooth gait, reduces the workload of nursing staff, and improves the effect of rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 It is a structural schematic diagram of the utility model;
[0015] Figure 2 It is a structural schematic diagram of the utility model;
[0016] Figure 3 This utility model Figure 1 The enlarged structure of the middle shoe sole is a half-section front view;
[0017] Figure 4 This utility model Figure 1 An enlarged front view of the structure of the fixed box;
[0018] 1. Lumbar support mechanism; 2. Leg support mechanism; 3. Foot support mechanism; 4. Electric hinge device; 5. Mounting frame; 6. Fixing box; 7. Docking column; 8. Shoe support; 9. Screw; 10. Bearing; 11. Oblique block; 12. Iron plate; 13. Electromagnetic lock; 14. Elastic belt; 15. Fixing belt; 16. Twist block. DETAILED DESCRIPTION
[0019] The following is a further detailed description of the specific implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
[0020] like Figures 1 to 4As shown, an automatic resetting mechanical power-assisted exoskeleton of the utility model comprises a waist support mechanism 1, leg support mechanisms 2 are arranged on both sides of the bottom end of the waist support mechanism 1, a foot support mechanism 3 is arranged on the leg support mechanism 2, an electric hinge device 4 is arranged between the leg support mechanism 2 and the waist support mechanism 1 and the foot support mechanism 3, a mounting frame 5 is arranged at the bottom end of the foot support mechanism 3, a fixing box 6 is arranged on the mounting frame 5, a docking groove is opened at the bottom end of the fixing box 6, a docking column 7 is arranged on the docking groove, a shoe support 8 is arranged at the bottom end of the docking column 7, a tightening mechanism is arranged on the shoe support 8, a screw hole is opened at one end of the fixing box 6, a through groove is opened between one end of the screw hole and the docking groove, a screw hole is provided Rod 9, a bearing 10 is provided between the screw rod 9 and the through groove, an inclined block 11 is provided between the bearing 10 and the through groove, an inclined groove is opened on one side of the docking column 7, an iron plate 12 is provided on the through groove, and an electromagnetic lock 13 is provided on the inclined block 11. In this embodiment, by using an electric hinge device 4, the angle between the leg support mechanism 2 and the waist support mechanism 1 can be adjusted, and the angle between the leg support mechanism 2 and the foot support mechanism 3 can be adjusted. The electric hinge device 4 can realize automatic resetting of the angles of the leg support mechanism 2 and the foot support mechanism 3, thereby realizing assisting the patient in walking. The fixed box 6 can realize rapid assembly or disassembly of the shoe support 8, so that the shoe support 8 of the corresponding size range can be replaced according to the patient's shoe size, thereby assisting the patient in walking.
[0021] The utility model discloses an automatic resetting mechanical power-assisted exoskeleton, wherein the tensioning mechanism comprises an elastic band 14 and a fixing band 15, wherein the elastic band 14 is mounted on one side of the shoe tray 8, and the fixing band 15 is mounted on the other side of the shoe tray 8, and a male Velcro is provided on the elastic band 14, and a female Velcro is provided on the fixing band 15, wherein the fixing band 15 is pressed against the top of the shoe, and then the elastic band 14 is pulled, and the elastic band 14 tightens the shoe to the shoe tray 8, and then the male Velcro is attached to the female Velcro of the fixing band 15, so that the shoe is fastened to the shoe tray 8.
[0022] The utility model provides an automatic resetting mechanical power-assisted exoskeleton, wherein the electric hinge device 4 is an electric servo hinge device. Through the electric servo hinge device, the servo drive mode has the characteristic of high precision, so that the angles of the leg support mechanism 2 and the foot support mechanism 3 can be adjusted with higher precision, which is convenient for the patient to walk.
[0023] In the automatic resetting mechanical power-assisted exoskeleton of the utility model, the docking post 7 is adapted to the docking slot. By adapting the docking post 7 to the docking slot, the docking post 7 can be more stably abutted against the docking slot.
[0024] The utility model provides an automatic resetting mechanical power-assisted exoskeleton, wherein the top of the shoe tray 8 is provided with anti-skid patterns, which can improve the anti-skid performance of the shoe tray 8 and enable the shoes to be placed on the shoe tray 8 more stably.
[0025] The utility model provides an automatic resetting mechanical power-assisted exoskeleton, wherein the bottom end of the fixing belt 15 is provided with an anti-skid strip, wherein a plurality of anti-skid strips are provided and cross-arranged, and the anti-skid effect of the fixing belt 15 on the shoes can be improved by the plurality of cross-arranged anti-skid strips.
[0026] The utility model provides an automatic resetting mechanical power-assisted exoskeleton, wherein a plurality of tensioning mechanisms are provided, and the shoes can be fixed more stably through the plurality of tensioning mechanisms.
[0027] In the automatic resetting mechanical power-assisted exoskeleton of the utility model, a screw block 16 is provided on the screw rod 9 , and the screw rod 9 can be easily screwed by holding the screw block 16 .
[0028] The utility model discloses an automatic resetting mechanical power-assisted exoskeleton, which, when working, is supported at the patient's waist by a waist support mechanism 1, supported at the patient's thigh by a leg support mechanism 2, and then supported at the patient's calf by a foot support mechanism 3. The patient's shoes are placed on the shoe supports 8, and then the shoes are fixed to the shoe supports 8 by an elastic mechanism. By using an electric hinge device 4, the angle between the leg support mechanism 2 and the waist support mechanism 1, and the angle between the leg support mechanism 2 and the foot support mechanism 3 can be adjusted. The electric hinge device 4 can realize automatic resetting of the angles of the leg support mechanism 2 and the foot support mechanism 3, thereby realizing assisting the patient in walking. Controlling the electric hinge device 4 is a control system commonly used for mechanical power-assisted exoskeletons in existing life, and is not described in detail in this structure. When used for patients with different shoe sizes, it is necessary to replace the shoe supports 8 of the corresponding size range. At this time, the electromagnetic lock 13 on the inclined block 11 is closed. The electromagnetic lock 13 stops adsorbing the iron plate 12, and the screw rod 9 is rotated and the screw rod 9 rotates and moves in the screw hole. The screw rod 9 drives the inclined block 11 to move through the bearing 10, and the inclined block 11 moves linearly in the through groove. The inclined block 11 leaves the inclined groove, thereby removing the shoe tray 8, and then inserting the docking column 7 on the shoe tray 8 of the corresponding size range into the docking groove, and then rotating the screw rod 9 in the opposite direction to insert the inclined block 11 into the inclined groove. The docking column 7 can be stably inserted into the docking groove through the inclined block 11 and the inclined part of the inclined groove, and then the electromagnetic lock 13 is opened. The electromagnetic lock 13 adsorbs the iron plate 12, so that the inclined block 11 is firmly fixed. When the shoe tray 8 is in use, the shaking caused by the shoe tray 8 contacting the ground will not cause the shoe tray 8 to separate from the fixing box 6, ensuring that the docking column 7 is firmly located in the docking groove, realizing rapid assembly or disassembly of the shoe tray 8, and facilitating replacement of the shoe tray 8 of the corresponding size range according to the patient's shoe size, so as to facilitate the patient's walking.
[0029] The utility model provides an automatic resetting mechanical power-assisted exoskeleton, and its installation method, connection method or setting method are all common mechanical methods, and can be implemented as long as it can achieve its beneficial effects; technicians in this industry only need to install and operate it according to the accompanying instruction manual.
[0030] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.
Claims
1. An automatic resetting mechanical power-assisted exoskeleton, comprising a waist support mechanism (1), a leg support mechanism (2) is provided on both sides of the bottom end of the waist support mechanism (1), and a foot support mechanism (3) is provided on the leg support mechanism (2), characterized in that: An electric hinge device (4) is provided between the leg support mechanism (2) and the waist support mechanism (1) and the foot support mechanism (3); a mounting frame (5) is provided at the bottom end of the foot support mechanism (3); a fixing box (6) is provided on the mounting frame (5); a docking groove is provided at the bottom end of the fixing box (6); a docking column (7) is provided on the docking groove; a shoe support (8) is provided at the bottom end of the docking column (7); a tensioning mechanism is provided on the shoe support (8); a screw hole is provided at one end of the fixing box (6); a through groove is provided between one end of the screw hole and the docking groove; a screw rod (9) is provided on the screw hole; a bearing (10) is provided between the screw rod (9) and the through groove; an inclined block (11) is provided between the bearing (10) and the through groove; an inclined groove is provided on one side of the docking column (7); an iron plate (12) is provided on the through groove; and an electromagnetic lock (13) is provided on the inclined block (11).
2. The automatic repositioning mechanical power-assisted exoskeleton according to claim 1, characterized in that: The elastic mechanism comprises an elastic band (14) and a fixing band (15), wherein the elastic band (14) is installed on one side of the shoe tray (8), and the fixing band (15) is installed on the other side of the shoe tray (8), and the elastic band (14) is provided with a male Velcro, and the fixing band (15) is provided with a female Velcro.
3. The automatic repositioning mechanical power-assisted exoskeleton according to claim 2, characterized in that: The electric hinge device (4) is an electric servo hinge device.
4. The automatic repositioning mechanical power-assisted exoskeleton according to claim 3, characterized in that: The docking column (7) is matched with the docking groove.
5. The automatic repositioning mechanical power-assisted exoskeleton according to claim 4, characterized in that: The top of the shoe tray (8) is provided with anti-slip grooves.
6. The automatic repositioning mechanical power-assisted exoskeleton according to claim 5, characterized in that: The bottom end of the fixing belt (15) is provided with an anti-slip strip, and a plurality of the anti-slip strips are provided and cross-arranged.
7. The automatic repositioning mechanical power-assisted exoskeleton according to claim 6, characterized in that: The tensioning mechanism is provided in plurality.
8. The automatic repositioning mechanical power-assisted exoskeleton according to claim 7, characterized in that: The screw rod (9) is provided with a screw block (16).