一种三自由度踝关节辅助运动外骨骼

Exoskeleton with three degree of freedom for auxiliary ankle joint exercises

Abstract

本实用新型的三自由度踝关节辅助运动外骨骼,包括脚底板(1),固定在脚底板前端的第一支架(2),固定在脚底板后端的第二支架(9),依次同轴叠置的上圆环(14)、环形齿轮(7)和下圆环(13),上、下圆环(14、13)通过两个带轴的连接件(15、18)固定成相对于环形齿轮(7)转动的整体,第一支架(2)和第二支架(9)分别通过轴承与两个连接件(15、18)的轴连接,两个连接件(15、18)的轴在X方向同轴,在环形齿轮(7)上固定有两个带轴的U形连接块(16、20),两个小腿板支架(5、6)的一端分别通过轴承与两个U形连接块(16、20)的轴连接,两个U形连接块(16、20)的轴在Y轴方向同轴,两个小腿板支架(5、6)的另一端与小腿板横梁(21)相连,小腿板(4)与小腿板横梁(21)固定。
The utility model discloses an exoskeleton with three degree of freedom for auxiliary ankle joint exercises. The exoskeleton comprises a sole plate (1), a first bracket (2) fixed at the front end of the sole plate, a second bracket (9) fixed at the rear end of the sole plate, as well as an upper ring (14), a ring-shaped gear (7) and a lower ring (13) which are coaxially superposed in sequence, wherein the upper and the lower rings (14 and 13) are fixed through two connecting pieces (15 and 18) into an integral body which can rotate relative to the ring-shaped gear (7), the two connecting pieces (15 and 18) are provided with a shaft respectively, the first bracket (2) and the second bracket (9) are connected with the shafts of the two connecting pieces (15 and 18) through bearings, the shafts of the two connecting pieces (15 and 18) are coaxial in the X direction, two U-shaped connecting blocks (16 and 20) which are provided with a shaft respectively are fixed on the ring-shaped gear (7), two shank plate brackets (5 and 6) are connected with the shafts of the two U-shaped connecting blocks (16 and 20) at one end through bearings respectively, the shafts of the U-shaped connecting blocks (16 and 20) are coaxial in the Y direction, the two shank plate brackets (5 and 6) are connected with a shank plate crossbeam (21) at the other end, and a shank plate (4) is fixed with the shankplate crossbeam (21).

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Cited By (9)

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    CN-101596139-BJanuary 12, 2011浙江大学Assistant movement exoskeleton of three-degree of freedom ankle joint
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    CN-103211670-AJuly 24, 2013西南交通大学一种助力型外骨骼用踝关节联结装置
    CN-103211670-BJanuary 28, 2015西南交通大学Assistant exoskeleton ankle joint joining device
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