CN109304706A - Flexible lower limb exoskeleton with support performance of squatting - Google Patents
Flexible lower limb exoskeleton with support performance of squatting Download PDFInfo
- Publication number
- CN109304706A CN109304706A CN201811481972.1A CN201811481972A CN109304706A CN 109304706 A CN109304706 A CN 109304706A CN 201811481972 A CN201811481972 A CN 201811481972A CN 109304706 A CN109304706 A CN 109304706A
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- Prior art keywords
- shank
- bar
- thigh
- shell
- straight
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 29
- 210000001699 lower leg Anatomy 0.000 claims abstract description 90
- 210000000689 upper leg Anatomy 0.000 claims abstract description 84
- 210000002414 leg Anatomy 0.000 claims abstract description 18
- 244000309466 calf Species 0.000 claims abstract description 5
- 210000003127 knee Anatomy 0.000 claims description 27
- 238000012876 topography Methods 0.000 claims description 6
- 239000004743 Polypropylene Substances 0.000 claims description 4
- 238000003780 insertion Methods 0.000 claims description 4
- 230000037431 insertion Effects 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- -1 polypropylene Polymers 0.000 claims description 4
- 229920001155 polypropylene Polymers 0.000 claims description 4
- 239000004677 Nylon Substances 0.000 claims description 2
- 210000000629 knee joint Anatomy 0.000 claims description 2
- 229920001778 nylon Polymers 0.000 claims description 2
- 239000004033 plastic Substances 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 206010016256 fatigue Diseases 0.000 description 4
- 230000008961 swelling Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 210000000988 bone and bone Anatomy 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001739 rebound effect Effects 0.000 description 2
- 206010046996 Varicose vein Diseases 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C9/00—Stools for specified purposes
- A47C9/02—Office stools not provided for in main groups A47C1/00, A47C3/00 or A47C7/00; Workshop stools
- A47C9/025—Stools for standing or leaning against, e.g. in a semi-standing or half-seated position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of flexible lower limb exoskeleton with support performance of squatting, thigh connection shell and shank connection shell fit with thigh and shank, thigh is connected shell and connects shell with shank by thigh bandage, shank bandage, waistband and connecting band comfortably to be bound on user's leg, support member support on the ground, helps user to be rested.Beneficial effect is: the movement of flexible lower limb exoskeleton is flexible, thigh connection shell connects the motion requirement that shell is able to satisfy plastic deformation with shank, adapt to the wearer of different calf circumferences, it can reduce the weight bearing of wearer, length is adjustable, adapt to the wearer of different heights, it is compact-sized, easy to operate, convenient for assembling and disassembling, be easy to carry about with one.
Description
Technical field
The invention belongs to wearable intelligent equipment fields, more particularly to the flexible lower limb dermoskeleton with support performance of squatting
Bone.
Background technique
In many career fields, such as medical field, product production line field, doctor, nurse or product line worker,
It needs to stand for a long time during work, leg cannot rest, and often feel body and ache, easily cause lower extremity swelling and distension and vein
Varicose；In addition, being continuously increased with the working time, causes working efficiency to gradually decrease.The Work places in these fields, are made
The limitation in industry space can not provide rest facility for worker.
To solve the above problems, the prior art take allow operating personnel leg on dress lower limb exoskeleton, serve as wearer
Ectoskeleton, help wearer can take a load off one's feet, alleviate the joint of lower extremity load of wearer, reduce the fatigue of leg muscle,
Lower extremity swelling and distension and varication are avoided, the working efficiency of wearer is improved.
The lower limb exoskeleton of the prior art generallys use rigid structure, and deficiency is: being put on than cumbersome, shortage is soft
Toughness and ductility limit the flexibility of wearer and elegance, easily cause serious pose deviation, wearer's fatiguability
Property, comfort is poor.
Summary of the invention
The purpose of the invention is to overcome the deficiencies of the prior art and provide under a kind of flexibility with support performance of squatting
Limb ectoskeleton can reduce the weight of flexible lower limb exoskeleton, delay using bionics principle according to the athletic posture that human body is squatted
The joint of lower extremity load for solving wearer, improves the working efficiency of wearer.
The present invention takes technical solution below: a kind of flexible lower limb exoskeleton with support performance of squatting, including leg
Portion's connecting elements, binding structural member and supporting member, it is characterised in that: the leg connecting elements includes thigh connection shell and small
Leg connects shell, and the thigh connection shell is the shell with back of thighs topographies, and shell is made of polypropylene material, and thigh connects
The left side edge of body contact is equipped with thigh bolt, and thigh connects position among the right side of shell and is equipped with thigh connecting bracket；The shank
Connection shell is the shell with posterior calf topographies, and shank connects shell and is equipped with shank connecting bracket；The binding structural member packet
Thigh bandage, shank bandage, waistband and connecting band are included, thigh bandage, shank bandage, waistband and connecting band are flexible-belts, connection
One end of band is vertically fixedly connected on the middle part of waistband, and the other end is vertically fixed on edge on thigh connection shell；The waistband
Both ends are latched with nylon；One end of the thigh bandage is fixedly connected on the right side edge of thigh connection shell；The shank is taut
One end of band is fixedly connected on the right side edge of shank connection shell；The supporting member includes thigh bolt, thick link, knee pass
It saves component, caging bolt, connecting rod, shank connecting bracket, shank link, shank bolt, thigh connecting bracket, thigh and connects spiral shell
Bolt, pneumatic spring constrictor, limiting device, constrictor connection bolt, spring, support rod, support rod connect bolt, turning set
Cylinder, baffle, baffle connection bolt and shank stretch out connecting rod, and the thick link is straight-bar, and the lower end of straight-bar is equipped with spacing bayonet,
Central part is provided with to be bolted to thigh by thigh and connects shell left side with knee components connecting hole, the upper end of thick link
Portion；The connecting rod is straight-bar, and the upper end of straight-bar is a disk, and disc centre sets knee components connecting hole, disk along knee
Joint component connecting hole even circumferential is equipped with caging bolt, the knee components connecting hole and thigh of connecting rod upper end disc centre
The knee components connecting hole of connecting rod lower end is connected by knee components, and connecting rod lower end is connected to the left side of shank connection shell
Edge；The pole that the shank link is made of one section of vertical bar and one section of brace, the angle between vertical bar and brace are
150 degree, vertical bar is connected to the left side edge of shank connection shell, connect shell junction same position in shank with connecting rod, tiltedly
Bar lower end surface is concordant with human foot bottom surface；The thigh attachment device is a connecting plate, and connection front edge of board is fixedly connected on thigh
Connect the right side edge of shell；The knee components are a connection bolts, and the pneumatic spring constrictor includes a spring pocket
Cylinder and a straight-bar, spring built in spring spool, straight-bar lower end are sleeved in spring spool, and the upper end of straight-bar is connected by thigh
Bolt is connected with thigh attachment device rear end；The support rod is straight-bar, and the upper position of straight-bar is provided with limiting device jack, under
2~4 pin holes are provided on half section, the upper end of straight-bar is connect with the lower end of the spring spool of pneumatic spring constrictor；Described turn
Moving sleeve is round buss, and rotational sleeve place suitable for reading is equipped with support rod and connects bolt, and it is suitable for reading interior that rotational sleeve is inserted into support rod lower end；
It is straight-bar that the shank, which stretches out connecting rod, and one end of straight-bar is connected by the brace of shank bolt and shank link, and the other end passes through
Baffle connection bolt is connect with rotational sleeve lower end, and the baffle is plate, and baffle is bolted to shank by baffle connection
It stretches out on connecting rod；The limiting device includes adjusting rod, push rod, fastening screw, telescopic rod and sleeve, the sleeve bottom center
Place is provided with circular hole, and middle part is provided with push-rod hole, and the telescopic rod is to follow closely font bar, in the diameter and sleeve for following closely font bar top disc
Diameter matches, and bolt hole is provided on disk, and fastening screw is tightened in bolt hole, follows closely the straight-bar lower end of font bar from sleeve bottom
Circular hole stretch out, be placed in the limiting device jack on support rod, the push rod be nail font bar, follow closely font bar straight-bar lower end from
In push-rod hole insertion sleeve in the middle part of sleeve, push rod is fixed on telescopic rod by fastening screw, and the adjusting rod is straight-bar, straight-bar
On open there are three adjustment hole, the upper end of straight-bar is provided with connecting hole, and the diameter of straight-bar is matched with sleeve diameter, and adjusting rod is mounted on
Sleeve it is suitable for reading in, the connecting hole of adjusting rod upper end connect shell top with shank and connects, and the spring one end is connected to support rod
Upper end, the other end are connected to the lower part of the sleeve of limiting device.
In use, measuring the length of wearer's thigh first, the connection length that thick link connect shell with thigh is adjusted, is surveyed
The length of wearer's shank is measured, connecting rod is adjusted and shank link connect the connection length of shell with shank, measurement wearer's knee closes
It is kneed in the wrong to adjust flexible lower limb exoskeleton in the fixation position of knee components for the rotational angle of section, adjustment caging bolt
Bent angle and stretching angle adapt to the kneed slewing area of wearer, measure the optimal angle of squatting of wearer, adjust sleeve
With the connection length of adjusting rod, the connection length of support rod and rotational sleeve is adjusted, regulating fender stretches out consolidating for connecting rod with shank
Determine angle, adjust the fixed angle of pneumatic spring constrictor and support rod, adapts to the posture of squatting of wearer's the most comfortable.Then,
Waistband and connecting band are tied up into the waist in wearer, adjust the tightness degree that thigh bandage connect shell with thigh, it is taut to adjust shank
Band connect the tightness degree of shell with shank, and thigh connection shell is allowed to connect the leg that shell is closely attached to wearer with shank.
When wearer needs to squat, push rod is stirred downwards, is allowed in the hole of telescopic rod insertion support rod, is limited support rod
Rotate counterclockwise, spring is in tensional state, while baffle limitation support rod rotates clockwise, and realizes flexible lower limb dermoskeleton
Bone stablizes support, adapts to the posture of squatting of wearer, and helps wearer that can take a load off one's feet, alleviates the joint of lower extremity of wearer
Load reduces the fatigue of leg muscle, avoids lower extremity swelling and distension and varication, improves the working efficiency of wearer.
When wearer needs to stand, push rod is dialed up, telescopic rod is allowed to be detached from the hole of support rod, releases support rod
Limit counterclockwise, under the rebound effect of spring, support rod, which rotates, is attached to the shank of wearer, realizes flexible lower limb exoskeleton
Posture restore, take up space smaller, facilitate wearing walk.
Compared with prior art, the invention has the following advantages:
1. in the process of movement, the topological structure and freedom degree of changing mechanism mention using the structural shape of metamorphic mechanisms
The kinematic dexterity of high flexibility lower limb exoskeleton.
2. the thigh connection shell of flexible lower limb exoskeleton connects shell with shank and carries out processing and forming using polypropylene material, full
The motion requirement of sufficient plastic deformation is adapted to the wearer of different calf circumferences, can reduce the weight bearing of wearer, breaks through rigid body knot
Structure limits the movement of wearer, increases flexibility and elegance.
3. flexible lower limb exoskeleton can adjust the length of thick link and shank link, it is adapted to wearing for different heights
Wearer guarantees the flexible joint rotary shaft of lower limb exoskeleton and the joint overlapping of axles of wearer, improves the comfort of wearer, has
There is the characteristics of compact-sized, easy to operate, convenient for assembling and disassembling, being easy to carry about with one.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of midstance of the present invention.
Fig. 2 is the structural schematic diagram of posture of the invention of squatting.
Fig. 3 is the partial enlarged view of knee components of the present invention.
Fig. 4 is the structural schematic diagram of limiting device of the present invention.
In Fig. 1: 1- thigh bolt, 2- thigh bandage, 3- thick link, 4- knee components, 5- caging bolt, 6- connection
Bar, 7- shank connecting bracket, 8- shank bandage, 9- shank connect shell, 10- shank link, 11- shank bolt, 12- waistband, 13-
Connecting band, 14- thigh connect shell, 15- thigh connecting bracket, and 16- thigh connects bolt, 17- pneumatic spring constrictor, 18- limit
Position device, 181- adjusting rod, 182- push rod, 183- fastening screw, 184- telescopic rod, 185- sleeve, 19- constrictor connect spiral shell
Bolt, 20- spring, 21- support rod, 22- support rod connection bolt, 23- rotational sleeve, 24- baffle, 25- baffle connect bolt,
26- shank stretches out connecting rod.
Specific embodiment
Following further describes the present invention with reference to the drawings.
A kind of flexible lower limb exoskeleton with support performance of squatting, including leg connecting elements, binding structural member and support
Component, the leg connecting elements include that thigh connection shell 14 connect shell 9 with shank, and thigh, which connects shell 14, is and back of thighs
The shell of topographies, shell are made of polypropylene material, and the left side edge that thigh connects shell 14 is equipped with thigh bolt 1, thigh
It connects position among the right side of shell 14 and is equipped with thigh connecting bracket 15；Shank connection shell 9 is the shell with posterior calf topographies
Body, shank connect shell 9 and are equipped with shank connecting bracket 7；Binding structural member includes thigh bandage 2, shank bandage 8, waistband 12 and connection
Band 13, thigh bandage 2, shank bandage 8, waistband 12 and connecting band 13 are flexible-belt, the vertical fixed company of one end of connecting band 13
It connects in the middle and back of waistband 12, the other end is vertically fixed on edge on thigh connection shell 14；The both ends of the waistband 12 have Buddhist nun
Dragon lock；One end of thigh bandage 2 is fixedly connected on the right side edge of thigh connection shell 14；One end of shank bandage 8 is fixed to be connected
Connect the right side edge in shank connection shell；Supporting member includes thigh bolt 1, thick link 3, knee components 4, caging bolt
5, connecting rod 6, shank connecting bracket 7, shank link 10, shank bolt 11, thigh connecting bracket 15, thigh connection bolt 16,
Pneumatic spring constrictor 17, limiting device 18, constrictor connection bolt 19, spring 20, support rod 21, support rod connect bolt
22, rotational sleeve 23, baffle 24, baffle connection bolt 25 and shank stretch out connecting rod 26, and thick link 3 is straight-bar, under straight-bar
End is equipped with spacing bayonet, and central part, which is provided with, to be connected with 4 connecting hole of knee components, the upper end of thick link 3 by thigh bolt 1
14 left side edge of shell is connected in thigh；Connecting rod 6 is straight-bar, and the upper end of straight-bar is a disk, and disc centre sets knee components
Connecting hole, disk are equipped with caging bolt 5, the knee of 6 upper end disc centre of connecting rod along knee components connecting hole even circumferential
Joint component connecting hole is connect with the knee components connecting hole of 3 lower end of thick link by knee components 4, under connecting rod 6
End is connected to the left side edge of shank connection shell 9；The pole that shank link 10 is made of one section of vertical bar and one section of brace erects
Angle between straight-bar and brace is 150 degree, and vertical bar is connected to the left side edge of shank connection shell 9, with connecting rod 6 in shank
9 junction same position of shell is connected, brace lower end surface is concordant with human foot bottom surface；The thigh connecting bracket 15 is a connection
Plate, connection front edge of board are fixedly connected on the right side edge of thigh connection shell 14；The knee components 4 are a connection bolt, institute
Stating pneumatic spring constrictor 17 includes that a spring spool and a straight-bar, spring built in spring spool, straight-bar lower end are sleeved on
In spring spool, the upper end of straight-bar connects bolt 16 by thigh and is connected with 15 rear end of thigh connecting bracket；Support rod 21 is straight
Bar, the upper position of straight-bar are provided with limiting device jack, and 2~4 pin holes, the upper end of straight-bar and pneumatic bomb are provided on lower semisection
The lower end of the spring spool of spring constrictor 17 connects；The rotational sleeve 23 is round buss, and the place suitable for reading of rotational sleeve 23 is equipped with branch
Strut connects bolt, and it is suitable for reading interior that rotational sleeve 23 is inserted into 21 lower end of support rod；It is straight-bar that the shank, which stretches out connecting rod 26, straight-bar
One end is connect by shank bolt 11 with the brace of shank link 10, and the other end connects bolt 25 and rotational sleeve 23 by baffle
Lower end connection, baffle 24 are plates, and baffle 24 connects bolt 25 by baffle and is connected on shank stretching connecting rod 26；Limiting device
18 include adjusting rod 181, push rod 182, fastening screw 183, telescopic rod 184 and sleeve 185, and 185 bottom center of sleeve is provided with
Circular hole, middle part are provided with push-rod hole, and telescopic rod 184 is nail font bar, follow closely the diameter and 185 internal diameter phase of sleeve of font bar top disc
Cooperation is provided with bolt hole on disk, and fastening screw 183 is tightened in bolt hole, follows closely the straight-bar lower end of font bar from 185 bottom of sleeve
Portion's circular hole stretches out, and is placed in the limiting device jack on support rod 21, and push rod 182 is to follow closely font bar, under the straight-bar for following closely font bar
It holds out of, 185 middle part of sleeve push-rod hole insertion sleeve, push rod 182 is fixed on telescopic rod 184 by fastening screw 183, is adjusted
Bar 181 is straight-bar, is opened on straight-bar there are three adjustment hole, and the upper end of straight-bar is provided with connecting hole, the diameter and 185 internal diameter of sleeve of straight-bar
It matches, adjusting rod 181 is mounted on the suitable for reading interior of sleeve 185, and the connecting hole of 181 upper end of adjusting rod connect 9 top of shell with shank
Connection, described 20 one end of spring are connected to 21 upper end of support rod, and the other end is connected to the lower part of the sleeve 185 of limiting device 18.
In use, measuring the length of wearer's thigh first, the connection that adjusting thick link 3 connect shell 14 with thigh is long
Degree measures the length of wearer's shank, adjusts connecting rod 6 and shank link 10 connect the connection length of shell 9 with shank, measurement is worn
The kneed rotational angle of wearer, adjustment caging bolt 5 adjust flexible lower limb exoskeleton in the fixation position of knee components 4
Kneed flexion angle and stretching angle adapt to the kneed slewing area of wearer, measure the optimal angle of squatting of wearer
Degree adjusts the connection length of sleeve 185 and adjusting rod 181, adjusts the connection length of support rod 21 and rotational sleeve 23, adjustment gear
Plate 24 and shank stretch out the fixed angle of connecting rod 26, adjust the fixed angle of pneumatic spring constrictor 17 and support rod 21, adapt to
The posture of squatting of wearer's the most comfortable.Then, waistband and connecting band are tied up into the waist in wearer, adjusts thigh bandage 2 and big
Leg connects the tightness degree of shell 14, adjusts shank bandage 8 and connect the tightness degree of shell 9 with shank, and thigh is allowed to connect shell 14 and small
Leg connection shell 9 is closely attached to the leg of wearer.
When wearer needs to squat, push rod 182 is stirred downwards, and telescopic rod 184 is allowed to be inserted into the hole of support rod 21, limit
Support rod 21 processed rotates counterclockwise, and spring 20 is in tensional state, while baffle 24 limits rotating clockwise for support rod 21,
That realizes flexible lower limb exoskeleton stablizes support, adapts to the posture of squatting of wearer, and helps wearer that can take a load off one's feet, and alleviates
The joint of lower extremity load of wearer, reduces the fatigue of leg muscle, avoids lower extremity swelling and distension and varication, improves the work of wearer
Make efficiency.
When wearer needs to stand, push rod 182 is dialed up, telescopic rod 184 is allowed to be detached from the hole of support rod 21, solution
Except the limit counterclockwise of support rod 21, under the rebound effect of spring 20, support rod 21 rotates the shank for being attached to wearer, such as schemes
Shown in 1, realizes that the posture of flexible lower limb exoskeleton is restored, take up space smaller, wearing is facilitated to walk.
Claims (1)
1. a kind of flexible lower limb exoskeleton with support performance of squatting, including leg connecting elements, binding structural member and support structure
Part, it is characterised in that: the leg connecting elements includes that thigh connection shell (14) connects shell (9) with shank, and the thigh connects
Body contact (14) is the shell with back of thighs topographies, and shell is made of polypropylene material, and thigh connects the left side of shell (14)
Edge is equipped with thigh bolt (1), and thigh connects position among the right side of shell (14) and is equipped with thigh connecting bracket (15)；The shank
Connection shell (9) is the shell with posterior calf topographies, and shank connects shell (9) and is equipped with shank connecting bracket (7)；The binding
Component includes thigh bandage (2), shank bandage (8), waistband (12) and connecting band (13), thigh bandage (2), shank bandage (8),
Waistband (12) and connecting band (13) are flexible-belts, and one end of connecting band (13) is vertically fixed on the middle part of waistband (12), the other end
It is vertically fixed on edge in thigh connection shell (14)；The both ends of the waistband (12) are latched with nylon；The thigh bandage (2)
One end be fixedly connected on thigh connection shell (14) right side edge；One end of the shank bandage (8) is fixedly connected on shank
Connect the right side edge of shell；The supporting member includes thigh bolt (1), thick link (3), knee components (4), limit spiral shell
It is bolt (5), connecting rod (6), shank connecting bracket (7), shank link (10), shank bolt (11), thigh connecting bracket (15), big
Leg connects bolt (16), pneumatic spring constrictor (17), limiting device (18), constrictor connection bolt (19), spring (20), branch
Strut (21), support rod connection bolt (22), rotational sleeve (23), baffle (24), baffle connection bolt (25) and shank stretch out
Connecting rod (26), the thick link (3) are straight-bars, and the lower end of straight-bar is equipped with spacing bayonet, and central part is provided with and knee components
(4) upper end of connecting hole, thick link (3) is connected to edge on the left of thigh connection shell (14) by thigh bolt (1)；The company
Extension bar (6) is straight-bar, and the upper end of straight-bar is a disk, and disc centre sets knee components connecting hole, disk along knee joint part
Part connecting hole even circumferential is equipped with caging bolt (5), the knee components connecting hole and thigh of connecting rod (6) upper end disc centre
The knee components connecting hole of connecting rod (3) lower end is connected by knee components (4), and connecting rod (6) lower end is connected to shank company
The left side edge of body contact (9)；The pole that the shank link (10) is made of one section of vertical bar and one section of brace, vertical bar with
Angle between brace is 150 degree, and vertical bar is connected to the left side edge of shank connection shell (9), is connected with connecting rod (6) in shank
Body contact (9) junction same position, brace lower end surface are concordant with human foot bottom surface；The thigh connecting bracket (15) is a connection
Plate, connection front edge of board are fixedly connected on the right side edge of thigh connection shell (14)；The knee components (4) are a connection spiral shells
Bolt, the pneumatic spring constrictor (17) include a spring spool and a straight-bar, spring built in spring spool, straight-bar lower end
It is sleeved in spring spool, the upper end of straight-bar is connected by thigh connection bolt (16) with thigh attachment device (15) rear end；Institute
Stating support rod (21) is straight-bar, and the upper position of straight-bar is provided with limiting device jack, 2~4 pin holes is provided on lower semisection, directly
The upper end of bar is connect with the lower end of the spring spool of pneumatic spring constrictor (17)；The rotational sleeve (23) is round buss, is turned
Moving sleeve (23) place suitable for reading is equipped with support rod and connects bolt, and it is suitable for reading interior that rotational sleeve (23) are inserted into support rod (21) lower end；It is described
It is straight-bar that shank, which stretches out connecting rod (26), and one end of straight-bar is connect by shank bolt (11) with the brace of shank link (10), separately
One end is connect by baffle connection bolt (25) with rotational sleeve (23) lower end, and the baffle (24) is plate, and baffle (24) is logical
Baffle connection bolt (25) is crossed to be connected in shank stretching connecting rod (26)；The limiting device (18) includes adjusting rod (181), pushes away
Bar (182), fastening screw (183), telescopic rod (184) and sleeve (185), sleeve (185) bottom center are provided with circular hole,
Middle part is provided with push-rod hole, and the telescopic rod (184) is nail font bar, follows closely in diameter and sleeve (185) of font bar top disc
Diameter matches, and bolt hole is provided on disk, and fastening screw (183) is tightened in bolt hole, follows closely the straight-bar lower end of font bar from set
Cylinder (185) bottom circular aperture is stretched out, and is placed in the limiting device jack on support rod (21), and the push rod (182) is nail font bar,
The straight-bar lower end of font bar is followed closely out of, push-rod hole insertion sleeve in the middle part of sleeve (185), fastening screw (183) is by push rod
(182) be fixed on telescopic rod (184), the adjusting rod (181) is straight-bar, opened on straight-bar there are three adjustment hole, straight-bar it is upper
End is provided with connecting hole, and the diameter of straight-bar is matched with sleeve (185) internal diameter, and adjusting rod (181) is mounted on the suitable for reading of sleeve (185)
Interior, the connecting hole of adjusting rod (181) upper end connect the connection of shell (9) top with shank, and described spring (20) one end is connected to support
Bar (21) upper end, the other end are connected to the lower part of the sleeve (185) of limiting device (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811481972.1A CN109304706B (en) | 2018-12-05 | 2018-12-05 | Flexible lower limb exoskeleton with squatting and sitting support performance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811481972.1A CN109304706B (en) | 2018-12-05 | 2018-12-05 | Flexible lower limb exoskeleton with squatting and sitting support performance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109304706A true CN109304706A (en) | 2019-02-05 |
| CN109304706B CN109304706B (en) | 2021-06-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811481972.1A Expired - Fee Related CN109304706B (en) | 2018-12-05 | 2018-12-05 | Flexible lower limb exoskeleton with squatting and sitting support performance |
Country Status (1)
| Country | Link |
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| CN (1) | CN109304706B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111329720A (en) * | 2020-02-29 | 2020-06-26 | 同济大学 | Air-supported passive lower limb assistance exoskeleton device |
| CN111329721A (en) * | 2020-02-29 | 2020-06-26 | 同济大学 | Lower limb assistance exoskeleton device with spring energy storage and rapid unloading |
| CN111728798A (en) * | 2020-06-28 | 2020-10-02 | 扬州大学 | Exoskeleton appliance assisting human body in supporting and helping people sit up |
| CN112914805A (en) * | 2021-01-21 | 2021-06-08 | 韩红英 | Traction-preventing fixing rehabilitation device for surgical mouth of hand-foot department |
| CN113199459A (en) * | 2021-05-20 | 2021-08-03 | 东莞市三航军民融合创新研究院 | Exoskeleton supporting structure and exoskeleton system with same |
| CN113232009A (en) * | 2021-05-21 | 2021-08-10 | 河北工业大学 | Multi-position auxiliary support exoskeleton |
| CN113829333A (en) * | 2021-11-01 | 2021-12-24 | 北京航空航天大学 | Wearable exoskeleton seat with additional auxiliary supporting device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111329720A (en) * | 2020-02-29 | 2020-06-26 | 同济大学 | Air-supported passive lower limb assistance exoskeleton device |
| CN111329721A (en) * | 2020-02-29 | 2020-06-26 | 同济大学 | Lower limb assistance exoskeleton device with spring energy storage and rapid unloading |
| CN111728798A (en) * | 2020-06-28 | 2020-10-02 | 扬州大学 | Exoskeleton appliance assisting human body in supporting and helping people sit up |
| CN112914805A (en) * | 2021-01-21 | 2021-06-08 | 韩红英 | Traction-preventing fixing rehabilitation device for surgical mouth of hand-foot department |
| CN112914805B (en) * | 2021-01-21 | 2022-09-30 | 韩红英 | Traction-preventing fixing rehabilitation device for surgical mouth of hand-foot department |
| CN113199459A (en) * | 2021-05-20 | 2021-08-03 | 东莞市三航军民融合创新研究院 | Exoskeleton supporting structure and exoskeleton system with same |
| CN113232009A (en) * | 2021-05-21 | 2021-08-10 | 河北工业大学 | Multi-position auxiliary support exoskeleton |
| CN113232009B (en) * | 2021-05-21 | 2022-10-11 | 河北工业大学 | Multi-position auxiliary support exoskeleton |
| CN113829333A (en) * | 2021-11-01 | 2021-12-24 | 北京航空航天大学 | Wearable exoskeleton seat with additional auxiliary supporting device |
| CN113829333B (en) * | 2021-11-01 | 2023-05-23 | 北京航空航天大学 | Wearable exoskeleton seat with auxiliary supporting device |
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