阅读说明：本技术 一种用于外骨骼腿部调节的机构 (Mechanism for exoskeleton leg adjustment ) 是由 李刚 花鹏 包仁人 王禹 纪虹名 于 2021-07-30 设计创作，主要内容包括：本发明涉及一种用于外骨骼腿部调节的机构,其中调节套筒上端设有第一内螺纹段、下端设有第二内螺纹段,所述第一内螺纹段和第二内螺纹段旋向相反,且所述第一内螺纹段与上连杆螺纹连接,所述第二内螺纹段与下连杆螺纹连接,所述上连杆上设有上键槽,所述下连杆上设有下键槽,所述限位键设于所述调节套筒中且一端设于所述上键槽中、另一端设于所述下键槽中,所述调节套筒下端置于带夹爪的内锁紧套中,外锁紧套套装于所述内锁紧套上,且所述夹爪通过所述外锁紧套移动挤压闭合夹紧所述下连杆。本发明可有效提高下肢助力外骨骼的可操作性,降低使用难度,并且可以实现下肢长度的精确调整,降低外骨骼产品运行时与人体骨关节干涉的风险。(The invention relates to a mechanism for adjusting an exoskeleton leg, wherein a first internal thread section is arranged at the upper end of an adjusting sleeve, a second internal thread section is arranged at the lower end of the adjusting sleeve, the rotating directions of the first internal thread section and the second internal thread section are opposite, the first internal thread section is in threaded connection with an upper connecting rod, the second internal thread section is in threaded connection with a lower connecting rod, an upper key groove is arranged on the upper connecting rod, a lower key groove is arranged on the lower connecting rod, a limit key is arranged in the adjusting sleeve, one end of the limit key is arranged in the upper key groove, the other end of the limit key is arranged in the lower key groove, the lower end of the adjusting sleeve is arranged in an internal locking sleeve with a clamping jaw, an external locking sleeve is sleeved on the internal locking sleeve, and the clamping jaw moves, extrudes and clamps the lower connecting rod through the external locking sleeve. The invention can effectively improve the operability of the lower limb assistance exoskeleton, reduce the use difficulty, realize the accurate adjustment of the length of the lower limb and reduce the risk of interference between the exoskeleton product and human bone joints during operation.)

1. A mechanism for exoskeleton leg adjustment, characterized by: comprises an upper connecting rod (1), a lower connecting rod (6), a limiting key (2), an adjusting sleeve (3), an inner locking sleeve (4) and an outer locking sleeve (5), wherein the upper end of the adjusting sleeve (3) is provided with a first internal thread section, the lower end of the adjusting sleeve is provided with a second internal thread section, the rotating directions of the first internal thread section and the second internal thread section are opposite, the first internal thread section is in threaded connection with the upper connecting rod (1), the second internal thread section is in threaded connection with the lower connecting rod (6), the upper connecting rod (1) is provided with an upper key groove (101), the lower connecting rod (6) is provided with a lower key groove (601), the limiting key (2) is arranged in the adjusting sleeve (3), one end of the limiting key is arranged in the upper key groove (101), the other end of the limiting key is arranged in the lower key groove (601), the lower end of the adjusting sleeve (3) is arranged in the inner locking sleeve (4) with a clamping jaw (401), and the outer locking sleeve (5) is sleeved on the inner locking sleeve (4), and the clamping jaw (401) moves through the outer locking sleeve (5) to squeeze, close and clamp the lower connecting rod (6).

2. The mechanism for exoskeleton leg adjustment of claim 1, wherein: two ends of the limiting key (2) are respectively provided with a limiting folded plate (201), the limiting folded plate (201) is abutted against the end part of the adjusting sleeve (3) for limiting,

3. the mechanism for exoskeleton leg adjustment of claim 2, wherein: the limiting key (2) is an I-shaped key, and the surface of the limiting key (2) contacted with the inner surface of the adjusting sleeve (3) is arc-shaped and slides along the inner surface of the adjusting sleeve (3).

4. The mechanism for exoskeleton leg adjustment of claim 1, wherein: be equipped with a plurality of spacing keys (2) along the circumferencial direction equipartition in adjusting sleeve (3), it is equipped with a plurality of last keyway (101) along the circumferencial direction equipartition on connecting rod (1) to go up, be equipped with a plurality of lower keyway (601) along the circumferencial direction equipartition on connecting rod (6) down, during corresponding last keyway (101) was located to spacing key (2) upper end, during corresponding lower keyway (601) was located to the lower extreme.

5. The mechanism for exoskeleton leg adjustment of claim 1, wherein: the first internal thread section and the second internal thread section are both sawtooth-shaped internal thread sections, and sawtooth-shaped external threads are arranged at the end part of the upper connecting rod (1) and the end part of the lower connecting rod (6) and matched with the corresponding sawtooth-shaped internal thread sections.

6. The mechanism for exoskeleton leg adjustment of claim 1, wherein: the outer wall of the inner locking sleeve (4) is in threaded fit with the inner wall of the outer locking sleeve (5).

7. The mechanism for exoskeleton leg adjustment of claim 1, wherein: scales are arranged in any upper key groove (101) of the upper connecting rod (1).

Technical Field

The invention relates to the field of wearable robots, in particular to a mechanism for exoskeleton leg adjustment.

Background

In the wearable exoskeleton robot product in the prior art, the length of the leg of the lower limb is generally adjusted by adopting a screw fixing mode, a plurality of screw positioning holes are required to be processed on the leg connecting rod, and when the length is adjusted, a special tool is required to be adopted to lift off screws and adjust the position of the leg connecting rod, and then the screws are fixed again, so that the whole adjusting process is more complicated, and a professional tool is required, and the wearability of the lower limb assistance exoskeleton is greatly influenced. In addition, due to the fact that a certain interval is formed between the adjacent threaded positioning holes, when the length of the leg of the exoskeleton is adjusted, the length adjustment of a certain interval can be only achieved, the adjustment range is limited, and the requirement of users with large height and span can not be met at all.

Disclosure of Invention

The invention aims to provide a mechanism for adjusting an exoskeleton leg, which can effectively improve the adjustment operability of a lower limb assistance exoskeleton, reduce the use difficulty, improve the adjustment efficiency, realize the accurate adjustment of the length of the lower limb, reduce the risk of interference between an exoskeleton product and a human bone joint during operation and improve the operation safety of the exoskeleton product.

The purpose of the invention is realized by the following technical scheme:

the utility model provides a mechanism for ectoskeleton shank is adjusted, includes connecting rod, lower connecting rod, spacing key, adjusting sleeve, interior lock sleeve and outer lock sleeve, and wherein the adjusting sleeve upper end is equipped with first internal thread section, the lower extreme is equipped with second internal thread section, first internal thread section and second internal thread section revolve to opposite, just first internal thread section and last connecting rod threaded connection, second internal thread section and lower connecting rod threaded connection, be equipped with the keyway on the upper connecting rod, be equipped with down the keyway on the lower connecting rod, spacing key is located in the adjusting sleeve and one end is located in the keyway, the keyway is located down to the other end, the adjusting sleeve lower extreme is arranged in the interior lock sleeve that has the clamping jaw in, outer lock sleeve suit in on the interior lock sleeve, just the clamping jaw passes through outer lock sleeve removes the extrusion closure and presss from both sides tightly the lower connecting rod.

Two ends of the limiting key are respectively provided with a limiting folded plate which is propped against the end part of the adjusting sleeve for limiting,

the limiting key is an I-shaped key, and the surface of the limiting key, which is contacted with the inner surface of the adjusting sleeve, is arc-shaped and slides along the inner surface of the adjusting sleeve.

Be equipped with a plurality of spacing keys along the circumferencial direction equipartition in the adjusting sleeve, it is equipped with a plurality of keyways on the connecting rod to go up along the circumferencial direction equipartition, be equipped with a plurality of keyways down along the circumferencial direction equipartition on the connecting rod down, during the last keyway that corresponds was located to spacing key upper end, during the lower keyway that corresponds was located to the lower extreme.

The first internal thread section and the second internal thread section are both sawtooth-shaped internal thread sections, and sawtooth-shaped external threads are arranged at the end parts of the upper connecting rod and the lower connecting rod and matched with the corresponding sawtooth-shaped internal thread sections.

The outer wall of the inner locking sleeve is in threaded fit with the inner wall of the outer locking sleeve.

Scales are arranged in any upper key groove of the upper connecting rod.

The invention has the advantages and positive effects that:

1. according to the invention, the leg length is adjusted by rotating the adjusting sleeve, the whole mechanism is locked by the inner locking sleeve and the outer locking sleeve, and locking or unlocking can be realized by rotating the outer locking sleeve during operation, so that the operation is simple and convenient, the operability of the adjustment of the lower limb assistance exoskeleton is effectively improved, the use difficulty is reduced, and the adjustment efficiency is improved.

2. The invention realizes the synchronous extension and retraction of the upper connecting rod and the lower connecting rod by utilizing the matching of the zigzag internal threads with opposite rotation directions at the two ends of the adjusting sleeve and the corresponding connecting rod, and the zigzag threads have the characteristic of no clearance in the large diameter of the thread pair, so that the upper connecting rod and the lower connecting rod have better centering property, small mechanism clearance and no shaking.

3. The upper connecting rod and the lower connecting rod are uniformly distributed with a plurality of key grooves in the circumferential direction, and are connected through the arched I-shaped long limiting keys with arc-shaped surfaces, so that the upper connecting rod and the lower connecting rod have no relative rotation trend.

4. The scales are arranged in any upper key groove of the upper connecting rod so as to adjust the length of the upper connecting rod conveniently and confirm the length of the upper connecting rod, so that the length of the leg is accurately adjusted.

Drawings

FIG. 1 is a schematic view of the present invention adjusted to the longest state,

FIG. 2 is a schematic diagram of the present invention adjusted to the shortest state,

figure 3 is an exploded view of the structure of the present invention,

fig. 4 is a schematic view of the usage state of the present invention.

Wherein, 1 is the upper connecting rod, 101 is the keyway, 2 is the spacing key, 201 is spacing folded plate, 3 is adjusting sleeve, 4 is interior locking collar, 401 is the clamping jaw, 5 is outer locking collar, 6 is the lower connecting rod, 601 is the keyway down.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in figures 1-4, the invention comprises an upper connecting rod 1, a lower connecting rod 6, a limit key 2, an adjusting sleeve 3, an inner locking sleeve 4 and an outer locking sleeve 5, wherein the upper end of the adjusting sleeve 3 is provided with a first internal thread section, the lower end is provided with a second internal thread section, the rotating directions of the first internal thread section and the second internal thread section are opposite, the first internal thread section is in threaded connection with the upper connecting rod 1, the second internal thread section is in threaded connection with the lower connecting rod 6, the upper connecting rod 1 is provided with an upper key slot 101, the lower connecting rod 6 is provided with a lower key slot 601, the limit key 2 is arranged in the adjusting sleeve 3, one end of the limit key is arranged in the corresponding upper key groove 101, the other end of the limit key is arranged in the corresponding lower key groove 601, the lower end of the adjusting sleeve 3 is arranged in an inner locking sleeve 4 with a clamping jaw 401, an outer locking sleeve 5 is sleeved on the inner locking sleeve 4, and the clamping jaw 401 is moved by the outer locking sleeve 5 to press, close and clamp the lower connecting rod 6. When the adjusting mechanism is used, the internal threads at the upper end and the lower end of the adjusting sleeve 3 are opposite in rotating direction, the upper connecting rod 1 and the lower connecting rod 6 can be synchronously stretched by rotating the adjusting sleeve 3, the length adjusting purpose is realized, the two ends of the limiting key 2 are respectively arranged in the key grooves of the corresponding connecting rods, the upper connecting rod 1 and the lower connecting rod 6 are ensured not to rotate and only move in a stretching mode, after the positions of the upper connecting rod 1 and the lower connecting rod 6 are determined, the outer locking sleeve 5 is rotated, the outer locking sleeve 5 moves upwards and extrudes the clamping jaws 401 on the inner locking sleeve 4 to be closed to lock the lower connecting rod 6 in a locking mode, the lower connecting rod 6 cannot move, the adjusting sleeve 3 cannot rotate, meanwhile, the upper connecting rod 1 cannot move, and the whole mechanism is locked.

As shown in fig. 3, both ends of the limit key 2 are provided with limit flaps 201, and as shown in fig. 1, the limit flaps 201 abut against the end of the adjusting sleeve 3 for limiting, so that the limit key 2 is prevented from separating from the key groove of the connecting rod on either side. In this embodiment, the limiting keys 2 are i-shaped long keys, and the surfaces of the limiting keys contacting the inner surface of the adjusting sleeve 3 are arc-shaped and can be tightly attached to the inner surface of the adjusting sleeve 3, so that when the adjusting sleeve 3 rotates, each limiting key 2 does not interfere with the adjusting sleeve 3 to block the rotation of the adjusting sleeve 3.

As shown in fig. 3, a plurality of spacing keys 2 are uniformly distributed in the adjusting sleeve 3 along the circumferential direction, a plurality of upper key grooves 101 are uniformly distributed on the upper connecting rod 1 along the circumferential direction, a plurality of lower key grooves 601 are uniformly distributed on the lower connecting rod 6 along the circumferential direction, the upper ends of the spacing keys 2 are arranged in the corresponding upper key grooves 101, and the lower ends of the spacing keys are arranged in the corresponding lower key grooves 601. In this embodiment, three limiting keys 2 are provided, three upper key slots 101 are correspondingly provided on the upper connecting rod 1, and three lower key slots 601 are correspondingly provided on the lower connecting rod 6.

In the embodiment, the end parts of the upper connecting rod 1 and the lower connecting rod 6 are respectively provided with a sawtooth-shaped external thread which is matched with a sawtooth-shaped internal thread section of the corresponding end part of the adjusting sleeve 3, and the sawtooth-shaped threads have the characteristic of no clearance in the large diameter of the thread pair, so that the upper connecting rod 1 and the lower connecting rod 6 have good centering property, the mechanism clearance is small, and no shaking is generated.

In this embodiment, the inside of the inner locking sleeve 4 is fastened to the lower end of the adjusting sleeve 3 through super glue, the outer wall of the inner locking sleeve 4 is in threaded fit with the inner wall of the outer locking sleeve 5, when the outer locking sleeve 5 is screwed upwards, the outer locking sleeve 5 presses the clamping jaws 401 to be closed, and when the outer locking sleeve 5 is screwed downwards, the clamping jaws 401 are no longer pressed to be opened automatically, so that the lower connecting rod 6 is no longer locked, and the whole mechanism is unlocked.

As shown in fig. 1, a scale is provided in any upper key slot 101 to facilitate length confirmation during adjustment.

The working principle of the invention is as follows:

as shown in figure 4, the wearable exoskeleton leg adjustment device is used for wearable exoskeleton leg adjustment, when the wearable exoskeleton leg adjustment device is used, firstly, the outer locking sleeve 5 is rotated to move downwards to avoid pressing the clamping jaw 401 on the inner locking sleeve 4, the clamping jaw 401 automatically opens to avoid tightly holding the lower connecting rod 6 to realize unlocking, then the adjusting sleeve 3 is rotated, as the internal threads at the upper end and the lower end of the adjusting sleeve 3 are opposite in rotating direction, the adjusting sleeve 3 is rotated to enable the upper connecting rod 1 and the lower connecting rod 6 to be synchronously stretched and contracted, so that the purpose of adjusting the length of a leg is realized, in addition, the two ends of the limit key 2 are respectively arranged in the key grooves of the corresponding connecting rods to ensure that the upper connecting rod 1 and the lower connecting rod 6 cannot rotate and only move in a stretching and contracting manner, after the positions of the upper connecting rod 1 and the lower connecting rod 6 are determined, the outer locking sleeve 5 is rotated again to enable the outer locking sleeve 5 to move upwards and press the clamping jaw 401 on the inner locking sleeve 4 to be closed to tightly lock the lower connecting rod 6 again, and further realizing the locking of the whole mechanism, as shown in fig. 1, a scale is arranged in any upper key slot 101 of the upper connecting rod 1 for conveniently adjusting the confirmed length during adjustment, so that the accurate adjustment of the length of the leg part is realized.