CN108145693A - Pivot structure and use its robot lower limb - Google Patents

Abstract

The invention discloses a kind of pivot structure and its robot lower limb is used, robot lower limb includes leg structure and foot structure, and foot structure is rotatably connected at leg structure by pivot structure, and pivot structure includes：Pedestal, fixed seat and rotor；Pedestal connects foot mechanism；Fixed seat is connected to leg structure；Rotor is installed on pedestal, and the other end of fixed seat is sheathed on rotor, and rotor is rotated relative to fixed seat to be rotated with band moving base.

Description

Pivot structure and robot lower limb using it

technical field

The present invention relates to a pivoting structure, in particular, to a pivoting structure applied to the lower limbs of a robot.

Background technique

The invention aims at restoring and improving the walking ability of patients with chronic bone and joint diseases, patients with spinal and hip injuries and patients with brain injuries. At present, among patients with lower limb dysfunction, most of them are caused by bone and joint diseases, and the rest are mainly caused by spinal and hip injuries and brain injuries. At present, exoskeleton robots suitable for these patients have also appeared in the market to help them recover their lower limb mobility. The lower limbs of exoskeleton robots in the prior art include legs and feet, and the feet are connected to the legs through connectors. After the connection, the position of the feet has been fixed and cannot be adjusted. In use, when the patient wears the lower limbs of the exoskeleton robot, it is necessary to carefully bypass the position of the foot, which brings inconvenience to the patient. Therefore, it is urgent to develop a pivoting structure that overcomes the above defects, so that The portion is rotatably connected to the leg.

Contents of the invention

The technical problem to be solved by the present invention is to provide a pivoting structure, which is applied to the lower limbs of the robot, wherein the lower limbs of the robot also include a leg structure and a foot structure, and the foot structure can be controlled by the pivoting structure. rotationally connected to the leg structure, the pivot structure comprising:

a base connected to the foot mechanism;

a fixing seat, one end of which is connected to the leg structure;

The rotating body is installed on the base, and the other end of the fixing base is sleeved on the rotating body, and the rotating body rotates relative to the fixing base to drive the base to rotate.

The above-mentioned pivoting structure, wherein, the fixed seat includes a first top wall and a first circumferential wall connected to the outer periphery of the first top wall, and the first top wall and the first circumferential wall are surrounded by a The first accommodating portion, the fixed seat is sleeved on the rotating body, and the rotating body is located in the first accommodating portion.

In the above-mentioned pivoting structure, wherein, the fixing base further includes a connection part, the connection part is installed on the first top wall, and the connection part is detachably connected to the leg structure.

In the above-mentioned pivoting structure, a plurality of grooves are opened on the first circumferential wall, and the direction of each of the grooves is extending from the bottom of the first circumferential wall to the first top wall, and the The pivoting structure further includes a releasable fastening mechanism. After the rotating body is rotated, the fastening mechanism is clamped to the first circumferential wall to fix the fixed seat on the rotating body.

The above-mentioned pivoting structure, wherein, the middle part of the first top wall shrinks downward to form a notch, and a first through hole is opened on the concave surface of the notch, and the first through hole communicates with the first accommodating department.

The pivoting structure above, wherein, the connecting part is a connecting pipe, the connecting part is a connecting pipe, the connecting pipe is installed on the first top wall, and the first through hole communicates with the The first accommodating part and the hollow part of the connecting pipe, the connecting pipe is connected to the leg structure.

The above-mentioned pivoting structure, wherein, the rotating body includes a second top wall and a second circumferential wall connected to the outer periphery of the second top wall, and the second top wall and the second circumferential wall are surrounded to form The second accommodating part, the second top wall is provided with a second through hole, the second through hole communicates with the second accommodating part, and the fixing seat is sleeved on the rotating body. The upper end surface of the first accommodating portion is attached to the upper end surface of the second top wall.

In the above-mentioned pivoting structure, wherein the rotating body further includes a bottom plate, the lower end surface of the second circumferential wall is connected to the bottom plate, and a third through hole is opened on the bottom plate, and the third through hole communicates with the In the second accommodating part, the bottom plate is connected to the upper end surface of the base.

The above-mentioned pivoting structure further includes a connecting shaft located in the second accommodating portion, and the connecting shaft detachably connects the first through hole and the second through hole.

In the aforementioned pivoting structure, stop structures are installed on the upper end surface of the first accommodating portion and the upper end surface of the second top wall respectively, and when the rotating body rotates to a position, the stop structure The retaining structures abut against each other.

In the above-mentioned pivoting structure, a connection groove is opened on one end surface of the base, and the foot structure is detachably installed in the connection groove.

The above-mentioned pivoting structure further includes a spring pin, the upper end surface of the base is provided with a fourth through hole passing through the base and the connecting groove, and the part of the foot structure is provided with corresponding holes. The connecting hole of the fourth through hole, the part of the foot structure is inserted into the connecting groove, the spring pin is inserted into the fourth through hole and the connecting hole, so that the foot structure is connected to the the pivoting structure.

The present invention also provides a robot lower limb, which includes:

leg structure;

foot structure;

The pivot structure according to any one of the above, wherein the foot structure is rotatably connected to the leg structure through the pivot structure.

The present invention is aimed at the prior art, and its effect is that the foot is rotatably connected to the leg, so that the patient does not need to bypass the position of the foot to wear the lower limb of the robot very conveniently, and at the same time the foot structure is detachably connected to the robot through the spring pin The pivoting structure also has the effect of convenient disassembly and assembly.

Description of drawings

Fig. 1 is the assembly drawing of pivot structure of the present invention;

Fig. 2 is an exploded view of the pivoting structure of the present invention;

Fig. 3 is a sectional view of the pivoting structure of the present invention;

Fig. 4 is a schematic diagram of the lower limb structure of the robot of the present invention.

Detailed ways

Herein, the detailed content and technical description of the present invention will be further described with a preferred embodiment, but it should not be construed as a limitation to the implementation of the present invention.

Please refer to Figures 1-4, Figure 1 is an assembly diagram of the pivoting structure of the present invention; Figure 2 is an exploded view of the pivoting structure of the present invention; Figure 3 is a cross-sectional view of the pivoting structure of the present invention; Figure 4 is the lower limb structure of the robot of the present invention schematic diagram. As shown in Figures 1-4, the pivoting structure of the present invention is applied to the lower limb 1 of the robot. The lower limb of the robot also includes a leg structure 11 and a foot structure 12, and the foot structure 12 is rotatably connected to the leg through a pivoting structure 13. The internal structure 11, the pivoting structure 13 includes: a base 131, a fixed seat 132 and a rotating body 133; the base 131 is connected to the foot mechanism 12; one end of the fixed seat 132 is connected to the leg structure 11; the rotating body 133 is installed on the base On the seat 131 , the other end of the fixed seat 132 is sheathed on the rotating body 133 , and the rotating body 133 rotates relative to the fixed seat 132 to drive the base 131 to rotate.

Furthermore, the fixing base 132 includes a first top wall 1321 and a first circumferential wall 1322 connected to the outer periphery of the first top wall 1321, the first top wall 1321 and the first ring wall portion 1322 are surrounded to form a first cover body, the first There is a first accommodating part 1323 in the cover, and the fixed seat 132 is sleeved on the rotating body 133. The rotating body 133 is located in the first accommodating part 1323. In this embodiment, the fixing seat 132 is cylindrical, but the present invention does not As a limit, the fixing seat 132 also includes a connecting pipe 1324 installed on the first top wall 1321, and the connecting pipe 1324 is detachably connected to the leg structure 11. In this embodiment, the connecting part is a connecting pipe, but the present invention is not limited thereto.

The first circumferential wall 1322 is provided with a plurality of grooves 13221, the direction of the plurality of grooves 13221 is extending from the bottom of the first circumferential wall 1322 to the first top wall 1321, and the pivot structure 13 also includes a releasable fastening mechanism 134. After the rotation of the rotating body 133 is completed, the fastening mechanism 134 is clamped to the first circumferential wall 1322 to fix the fixed seat 132 on the rotating body 133. In this embodiment, the fastening mechanism 134 is a seat pipe clamp, but this The invention is not limited thereto.

Furthermore, the middle part of the first top wall 1321 shrinks downward to form a notch 13211, the concave surface S of the notch 13211 is provided with a first through hole S1, and the first through hole S1 communicates with the first accommodating part 1323; the connecting pipe 1324 Installed on the first top wall 1321, the first through hole S1 communicates with the hollow part of the first accommodating portion 1323 and the connecting pipe 1324, and the connecting pipe 1324 is connected to the leg structure 11; the rotating body 133 includes the second top wall 1331 and The second ring wall 1332 connected to the outer periphery of the second top wall 1331, the second top wall 1331 and the second ring wall portion 1332 are surrounded to form a second cover body, the second cover body has a second accommodating portion 1333, the second top wall A second through hole S2 is opened on the wall 1331, and the second through hole S2 communicates with the second accommodating part 1333. When the fixed seat 132 is sleeved on the rotating body 133, the upper end surface of the first accommodating part 1323 is attached to the second top. The upper end surface of the wall 1331, in this embodiment, the rotating body 133 is cylindrical but the present invention is not limited thereto; the rotating body 133 also includes a bottom plate 1334, and the lower end surface of the second circumferential wall 1332 is connected to the bottom plate 1334, and the bottom plate 1334 A third through hole S3 is opened on the top, and the third through hole S3 communicates with the second accommodating portion 1333 , and the bottom plate 1334 is bolted to the upper surface of the base 131 .

The pivoting structure 13 further includes a connecting shaft 135 installed in the second accommodating portion 1333, and the connecting shaft 135 penetrates into the second accommodating portion 1333 from the third through hole S3 and then passes through the first through hole S1 and the second through hole S2, a nut L is installed in the notch 13211 and screwed to the connecting shaft 135, so that the rotating seat 132 and the rotating body 133 are connected together; the upper end surface of the first accommodation part 1323 is connected to the The upper end surfaces of the second top wall 1331 are respectively provided with stop structures 136 , and the stop structures 136 abut against each other when the rotating body 133 rotates to a certain position.

Furthermore, a connection groove 1311 is formed on one end surface of the base 131, and the pivot structure 13 further includes a spring pin 137. The upper end surface of the base 131 is provided with a fourth through hole S4 passing through the base 131 and the connection groove 1311. The part of the foot structure 12 is provided with a connection hole corresponding to the fourth through hole S4, the part of the foot structure 12 is inserted into the connection groove 1311, and the spring pin 137 is inserted into the fourth through hole S4 and the connection hole, so that the foot structure 12 Connected to the pivoting structure 13, the spring pin 137 makes it easier to install or disassemble the foot structure 12. The bottom plate 1334 is provided with at least one first threaded hole, and the base 131 is provided with a corresponding first threaded hole of the bottom plate 1334. At least one second threaded hole and at least one bolt are correspondingly connected to at least one first threaded hole and at least one second threaded hole.

It is worth noting that, in this embodiment, the connecting pipe is integrated with the first cover, the bottom plate and the second cover, but the present invention is not limited thereto. In other embodiments, the connecting pipe and the first The cover body, the bottom plate and the second cover body can also be separate parts.

The above are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding adjustments according to the present invention. Changes and modifications, but these corresponding changes and modifications should belong to the scope of protection of the appended claims of the present invention.

Claims (13)

1. a kind of pivot structure, applied on the lower limb of robot, which is characterized in that the robot lower limb is also tied comprising leg Structure and foot structure, the foot structure are rotatably connected at the leg structure, the pivot by the pivot structure Structure includes：

Pedestal connects the foot mechanism；

Fixed seat, one end are connected to the leg structure；

Rotor is installed on the pedestal, and the other end of the fixed seat is sheathed on the rotor, the rotor phase The fixed seat is rotated the pedestal is driven to rotate.

2. pivot structure as described in claim 1, which is characterized in that the fixed seat includes the first roof and is connected to described First peripheral wall of the first roof periphery, first roof and first rampart portion, which enclose, to be set to form the first holding part, described Fixed seating is set on the rotor on the rotor and is located in first holding part.

3. pivot structure as claimed in claim 2, which is characterized in that the fixed seat is also comprising connecting portion, the connecting portion It is installed on first roof, the connecting portion is removably attachable to the leg structure.

4. pivot structure as claimed in claim 2, which is characterized in that offer multiple grooves on first peripheral wall, often The direction of one groove is to extend to first roof from the first peripheral wall bottom, and the pivot structure also includes can The retention mechanism of release, after the completion of the rotor rotation, the retention mechanism is clamped in first peripheral wall to fix Fixed seat is stated on the rotor.

5. pivot structure as claimed in claim 2, which is characterized in that the middle part retracted downward of first roof forms recessed Mouthful, first through hole is offered on the concave surface of the recess, the first through hole connects first holding part.

6. pivot structure as claimed in claim 3, which is characterized in that the connecting portion is a connecting tube, the connecting tube dress On first roof, the first through hole connects the hollow portion of first holding part and the connecting tube, the company It takes over and is connected to the leg structure.

7. pivot structure as claimed in claim 5, which is characterized in that the rotor includes the second roof and is connected to described Second peripheral wall of the second roof periphery, second roof and second rampart portion, which enclose, to be set to form the second holding part, described The second through-hole is offered on second roof, second through-hole is communicated in second holding part, and the fixed seating is set on institute The upper surface of first holding part described in when stating on rotor is bonded the upper surface of second roof.

8. pivot structure as claimed in claim 7, which is characterized in that rotor also includes bottom plate, second peripheral wall Lower face is connected to the bottom plate, third through-hole is offered on the bottom plate, it is accommodating that the third through-hole is communicated in described second Portion, the bottom plate are connected on the upper surface of the pedestal.

9. pivot structure as claimed in claim 7, which is characterized in that also comprising connecting shaft, in second holding part, The detachably connected first through hole of connecting shaft and second through-hole.

10. pivot structure as claimed in claim 7, which is characterized in that on the upper surface of first holding part and described Be installed with stop configurations on the upper surface of two roofs respectively, the rotor when turning to a position stop configurations mutually support It leans on.

11. pivot structure as described in claim 1, which is characterized in that link slot is offered on a side end face of the pedestal, The foot structure is detachably mounted in the link slot.

12. pivot structure as claimed in claim 11, which is characterized in that also comprising spring catch, the upper surface of the pedestal is opened Equipped with the fourth hole through the pedestal and the link slot, the corresponding described 4th is offered on the part of the foot structure The connecting hole of through-hole, link slot described in the partial insertion of the foot structure, the spring catch are inserted into the fourth hole And the connecting hole, the foot structure is made to be connected to the pivot structure.

13. a kind of robot lower limb, which is characterized in that include：

Leg structure；

Foot structure；

Pivot structure described in any one of the claims 1-12, the foot structure are rotatable by the pivot structure Ground is connected to the leg structure.