CN109304706B - Flexible lower limb exoskeleton with squatting and sitting support performance - Google Patents
Flexible lower limb exoskeleton with squatting and sitting support performance Download PDFInfo
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- CN109304706B CN109304706B CN201811481972.1A CN201811481972A CN109304706B CN 109304706 B CN109304706 B CN 109304706B CN 201811481972 A CN201811481972 A CN 201811481972A CN 109304706 B CN109304706 B CN 109304706B
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- 210000003141 lower extremity Anatomy 0.000 title abstract description 21
- 210000000689 upper leg Anatomy 0.000 claims abstract description 91
- 210000001699 lower leg Anatomy 0.000 claims abstract description 89
- 210000002414 leg Anatomy 0.000 claims abstract description 12
- 210000000629 knee joint Anatomy 0.000 claims description 33
- 238000007906 compression Methods 0.000 claims description 16
- 230000006835 compression Effects 0.000 claims description 15
- 210000003414 extremity Anatomy 0.000 claims description 9
- 239000004743 Polypropylene Substances 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 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 206010046996 Varicose vein Diseases 0.000 description 4
- 230000008961 swelling Effects 0.000 description 4
- 210000003205 muscle Anatomy 0.000 description 3
- 238000003756 stirring Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 208000027499 body ache Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001739 rebound effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 208000027185 varicose disease Diseases 0.000 description 1
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
- Rehabilitation Tools (AREA)
Abstract
A thigh connecting shell and a shank connecting shell are attached to thighs and shanks, the thigh bandage, the shank bandage, a waistband and a connecting band enable the thigh connecting shell and the shank connecting shell to be comfortably bound to legs of a user, and a supporting component is supported on the ground to help the user to rest. The beneficial effects are that: the flexible lower limb exoskeleton is flexible in movement, the thigh connecting shell and the shank connecting shell can meet the movement requirements of flexible deformation, the flexible lower limb exoskeleton is suitable for wearers with different leg circumferences, the load of the wearers can be reduced, the length is adjustable, the flexible lower limb exoskeleton can be suitable for wearers with different heights, and the flexible lower limb exoskeleton is compact in structure, simple to operate, convenient to assemble and disassemble and easy to carry.
Description
Technical Field
The invention belongs to the field of wearable intelligent equipment, and particularly relates to a flexible lower limb exoskeleton with squatting and sitting support performance.
Background
In many fields of work, such as medical fields, product line fields, doctors, nurses or production line workers, it is necessary to stand for a long time during work, legs cannot be rested, body ache is often felt, and lower limb swelling and varicosity are easily caused; in addition, the work efficiency is gradually reduced along with the continuous increase of the work time. The work places in these fields are limited by the work space, and cannot provide resting facilities for workers.
In order to solve the problems, the prior art adopts the technical scheme that the lower limb exoskeleton is worn on legs of an operator and serves as the exoskeleton of a wearer, so that the wearer can sit down to have a rest, the lower limb joint load of the wearer is relieved, the fatigue of leg muscles is reduced, the lower limb swelling and varicose veins are avoided, and the working efficiency of the wearer is improved.
The lower limb exoskeleton in the prior art usually adopts a rigid structure, and has the following defects: the wearing is heavy, the flexibility and the extensibility are lacked, the flexibility and the ingenuity of a wearer are limited, serious pose deviation is easily caused, the wearer is easy to fatigue, and the comfort is poor.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides the flexible lower limb exoskeleton with the squatting support performance.
The invention adopts the following technical scheme: the utility model provides a flexible low limbs ectoskeleton with support performance squats, includes shank connecting elements, ligature component and supporting member, its characterized in that: the leg connecting component comprises a thigh connecting shell and a shank connecting shell, the thigh connecting shell is a shell which is attached to the shape of the rear part of a thigh, the shell is made of polypropylene materials, a thigh bolt is arranged on the left side part of the thigh connecting shell, and a thigh connecting support is arranged in the middle of the right side of the thigh connecting shell; the shank connecting shell is a shell body which is fit with the shape of the rear part of the shank, and a shank connecting bracket is arranged on the shank connecting shell; the binding component comprises a thigh bandage, a shank bandage, a waistband and a connecting band, wherein the thigh bandage, the shank bandage, the waistband and the connecting band are flexible bands, one end of the connecting band is vertically and fixedly connected to the middle part of the waistband, and the other end of the connecting band is vertically fixed to the upper edge part of the thigh connecting shell; the two ends of the waistband are provided with nylon lock catches; one end of the thigh bandage is fixedly connected to the right side part of the thigh connecting shell; one end of the shank bandage is fixedly connected to the right side part of the shank connecting shell; the supporting component comprises a thigh bolt, a thigh connecting rod, a knee joint part, a limiting bolt, a connecting rod, a shank connecting bracket, a shank connecting rod, a shank bolt, a thigh connecting bracket, a thigh connecting bolt, a pneumatic spring compression rod, a limiting device, a compression rod connecting bolt, a spring, a supporting rod connecting bolt, a rotating sleeve, a baffle connecting bolt and a shank extending connecting rod, wherein the thigh connecting rod is a straight rod, the lower end of the straight rod is provided with a limiting bayonet, the central part of the limiting bayonet is provided with a knee joint part connecting hole, and the upper end of the shank connecting rod is connected to the left side edge part of a thigh; the connecting rod is a straight rod, the upper end of the straight rod is a disc, a knee joint part connecting hole is formed in the center of the disc, limiting bolts are uniformly arranged on the disc along the circumference of the knee joint part connecting hole, the knee joint part connecting hole in the center of the disc at the upper end of the connecting rod is connected with the knee joint part connecting hole at the lower end of the thigh connecting rod through a knee joint part, and the lower end of the connecting rod is connected to the left side edge of; the shank connecting rod is a folding rod consisting of a section of vertical rod and a section of inclined rod, the included angle between the vertical rod and the inclined rod is 150 degrees, the vertical rod is connected to the left side edge part of the shank connecting shell and is at the same position as the connecting rod at the joint of the shank connecting shell, and the lower end surface of the inclined rod is flush with the bottom surface of the human foot; the thigh connecting device is a connecting plate, and the front end of the connecting plate is fixedly connected to the right side edge part of the thigh connecting shell; the knee joint part is a connecting bolt, the pneumatic spring compression rod comprises a spring sleeve and a straight rod, a spring is arranged in the spring sleeve, the lower end of the straight rod is sleeved in the spring sleeve, and the upper end of the straight rod is connected with the rear end of the thigh connecting device through a thigh connecting bolt; the support rod is a straight rod, the middle upper part of the straight rod is provided with a limiting device jack, the lower half section of the straight rod is provided with 2-4 bolt holes, and the upper end of the straight rod is connected with the lower end of a spring sleeve of the pneumatic spring compression rod; the rotary sleeve is a round sleeve, a support rod connecting bolt is arranged at the upper opening of the rotary sleeve, and the lower end of the support rod is inserted into the upper opening of the rotary sleeve; the shank extending connecting rod is a straight rod, one end of the straight rod is connected with the inclined rod of the shank connecting rod through a shank bolt, the other end of the straight rod is connected with the lower end of the rotating sleeve through a baffle connecting bolt, the baffle is a flat plate, and the baffle is connected to the shank extending connecting rod through a baffle connecting bolt; the limiting device comprises an adjusting rod, a push rod, a fastening screw, a telescopic rod and a sleeve, wherein a round hole is formed in the center of the bottom of the sleeve, a push rod hole is formed in the middle of the sleeve, the telescopic rod is a nail-shaped rod, the diameter of a disc at the top of the nail-shaped rod is matched with the inner diameter of the sleeve, bolt holes are formed in the disc, the fastening screw is screwed in the bolt holes, the lower end of a straight rod of the nail-shaped rod extends out of the round hole in the bottom of the sleeve and is arranged in a limiting device inserting hole in the supporting rod, the push rod is the nail-shaped rod, the lower end of the straight rod of the nail-shaped rod is inserted into the sleeve from a push rod hole in the middle of the sleeve, the fastening screw fixes the push rod on the telescopic rod, the adjusting rod is a straight rod, three adjusting holes are formed in the straight rod, connecting, one end of the spring is connected to the upper end of the supporting rod, and the other end of the spring is connected to the lower portion of the sleeve of the limiting device.
During the use, at first measure the length of wearing person's thigh, adjust the length of being connected of thigh connecting rod and thigh connecting shell, measure the length of wearing person's shank, adjust the connecting length of connecting rod and shank connecting shell, measure the turned angle of wearing person's knee joint, adjust the fixed position of spacing bolt at knee joint part, adjust the bucking angle and the extension angle of flexible low limbs ectoskeleton knee joint, adapt to the turned range of wearing person's knee joint, measure the best angle of squatting of wearing person, adjust the length of being connected of sleeve and regulating lever, adjust the bracing piece and the length of being connected of rotating sleeve, the fixed angle that the connecting rod was stretched out to regulating baffle and shank, the fixed angle of adjustment pneumatic spring compression bar and bracing piece, adapt to the most comfortable posture of squatting of wearing person. Then, the waist belt and the connecting belt are tied on the waist of a wearer, the tightness degree of the thigh bandage and the thigh connecting shell is adjusted, the tightness degree of the shank bandage and the shank connecting shell is adjusted, and the thigh connecting shell and the shank connecting shell are tightly attached to the legs of the wearer.
When the wearer need squat and sit, stir the push rod downwards, let the telescopic link insert in the hole of bracing piece, the anticlockwise rotation of restriction bracing piece, the spring is in tensile state, baffle restriction bracing piece's clockwise rotation simultaneously, realize the stable support of flexible low limbs ectoskeleton, adapt to the wearer's the gesture of squatting, help the wearer can sit down and have a rest, alleviate the low limbs joint load of wearer, reduce the fatigue of shank muscle, avoid low limbs swelling and varicosity, improve the work efficiency of wearer.
When the wearer need stand, stir the push rod upwards, let the telescopic link break away from the hole of bracing piece, it is spacing anticlockwise to remove the bracing piece, under the rebound effect of spring, the bracing piece rotates the shank of pasting the wearer, realizes that the gesture of flexible low limbs ectoskeleton recovers, and it is less to occupy the space, conveniently dresses the walking.
Compared with the prior art, the invention has the following beneficial effects:
1. the metamorphic mechanism is adopted, so that the topological structure and the degree of freedom of the mechanism are changed in the process of movement, and the movement flexibility of the flexible lower limb exoskeleton is improved.
2. The thigh connecting shell and the shank connecting shell of the flexible lower limb exoskeleton are molded by polypropylene materials, so that the flexible deformation motion requirement is met, the flexible exoskeleton can adapt to wearers with different leg circumferences, the load of the wearers can be reduced, the motion limitation of a rigid body structure to the wearers is broken through, and the flexibility and the ingenuity are increased.
3. The length of the thigh connecting rod and the shank connecting rod can be adjusted by the flexible lower limb exoskeleton, the exoskeleton can adapt to wearers with different heights, the joint rotating shaft of the flexible lower limb exoskeleton is enabled to coincide with the joint shaft of the wearer, the comfort of the wearer is improved, and the exoskeleton has the characteristics of compact structure, simplicity in operation, convenience in assembly and disassembly and easiness in carrying.
Drawings
Fig. 1 is a schematic structural view of a standing posture of the present invention.
Fig. 2 is a schematic structural view of the squatting position of the invention.
FIG. 3 is an enlarged partial view of a knee joint component of the present invention.
Fig. 4 is a schematic structural view of the limiting device of the present invention.
In fig. 1: 1-thigh bolt, 2-thigh bandage, 3-thigh link, 4-knee joint component, 5-limit bolt, 6-connecting rod, 7-shank connecting bracket, 8-shank bandage, 9-shank connecting shell, 10-shank link, 11-shank bolt, 12-waistband, 13-connecting band, 14-thigh connecting shell, 15-thigh connecting bracket, 16-thigh connecting bolt, 17-pneumatic spring compression rod, 18-limit device, 181-adjusting rod, 182-push rod, 183-fastening screw, 184-telescopic rod, 185-sleeve, 19-compression rod connecting bolt, 20-spring, 21-supporting rod, 22-supporting rod connecting bolt, 23-rotating sleeve, 24-baffle, 25-baffle connecting bolt and 26-shank extending connecting rod.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
A flexible lower limb exoskeleton with squatting and sitting support performance comprises leg connecting members, binding members and support members, wherein the leg connecting members comprise thigh connecting shells 14 and shank connecting shells 9, the thigh connecting shells 14 are shells attached to the shapes of the rear parts of thighs, the shells are made of polypropylene materials, thigh bolts 1 are arranged on the left side edge parts of the thigh connecting shells 14, and thigh connecting supports 15 are arranged in the middle parts of the right sides of the thigh connecting shells 14; the shank connecting shell 9 is a shell body which is fit with the shape of the rear part of the shank, and the shank connecting shell 9 is provided with a shank connecting bracket 7; the binding component comprises a thigh bandage 2, a shank bandage 8, a waist belt 12 and a connecting belt 13, wherein the thigh bandage 2, the shank bandage 8, the waist belt 12 and the connecting belt 13 are flexible belts, one end of the connecting belt 13 is vertically and fixedly connected to the middle rear part of the waist belt 12, and the other end of the connecting belt is vertically fixed on the upper edge part of a thigh connecting shell 14; the two ends of the waistband 12 are provided with nylon lock catches; one end of the thigh bandage 2 is fixedly connected to the right side part of the thigh connecting shell 14; one end of the crus bandage 8 is fixedly connected with the right side part of the crus connecting shell; the supporting component comprises a thigh bolt 1, a thigh connecting rod 3, a knee joint part 4, a limiting bolt 5, a connecting rod 6, a shank connecting support 7, a shank connecting rod 10, a shank bolt 11, a thigh connecting support 15, a thigh connecting bolt 16, a pneumatic spring compression rod 17, a limiting device 18, a compression rod connecting bolt 19, a spring 20, a supporting rod 21, a supporting rod connecting bolt 22, a rotating sleeve 23, a baffle plate 24, a baffle plate connecting bolt 25 and a shank extending connecting rod 26, the thigh connecting rod 3 is a straight rod, the lower end of the straight rod is provided with a limiting bayonet, the central part of the limiting bayonet is provided with a knee joint part 4 connecting hole, and the upper end of the thigh connecting rod 3 is connected to the left side part of the thigh connecting; the connecting rod 6 is a straight rod, the upper end of the straight rod is a disc, a knee joint part connecting hole is formed in the center of the disc, limiting bolts 5 are uniformly arranged on the disc along the circumference of the knee joint part connecting hole, the knee joint part connecting hole in the center of the disc at the upper end of the connecting rod 6 is connected with the knee joint part connecting hole at the lower end of the thigh connecting rod 3 through a knee joint part 4, and the lower end of the connecting rod 6 is connected to the left side part of; the shank connecting rod 10 is a folding rod consisting of a section of vertical rod and a section of diagonal rod, the included angle between the vertical rod and the diagonal rod is 150 degrees, the vertical rod is connected to the left side part of the shank connecting shell 9 and is at the same position as the connecting rod 6 at the joint of the shank connecting shell 9, and the lower end surface of the diagonal rod is flush with the bottom surface of the human foot; the thigh connecting bracket 15 is a connecting plate, and the front end of the connecting plate is fixedly connected with the right side part of the thigh connecting shell 14; the knee joint part 4 is a connecting bolt, the pneumatic spring compression rod 17 comprises a spring sleeve and a straight rod, a spring is arranged in the spring sleeve, the lower end of the straight rod is sleeved in the spring sleeve, and the upper end of the straight rod is connected with the rear end of the thigh connecting bracket 15 through a thigh connecting bolt 16; the support rod 21 is a straight rod, the middle upper part of the straight rod is provided with a limiting device jack, the lower half section of the straight rod is provided with 2-4 bolt holes, and the upper end of the straight rod is connected with the lower end of a spring sleeve of the pneumatic spring compression rod 17; the rotating sleeve 23 is a round sleeve, a support rod connecting bolt is arranged at the upper opening of the rotating sleeve 23, and the lower end of the support rod 21 is inserted into the upper opening of the rotating sleeve 23; the shank extension connecting rod 26 is a straight rod, one end of the straight rod is connected with the inclined rod of the shank connecting rod 10 through a shank bolt 11, the other end of the straight rod is connected with the lower end of the rotating sleeve 23 through a baffle connecting bolt 25, the baffle 24 is a flat plate, and the baffle 24 is connected to the shank extension connecting rod 26 through the baffle connecting bolt 25; the limiting device 18 comprises an adjusting rod 181, a push rod 182, a fastening screw 183, an expansion rod 184 and a sleeve 185, a round hole is formed in the center of the bottom of the sleeve 185, a push rod hole is formed in the middle of the sleeve 185, the expansion rod 184 is a nail-shaped rod, the diameter of a disc at the top of the nail-shaped rod is matched with the inner diameter of the sleeve 185, a bolt hole is formed in the disc, the fastening screw 183 is screwed in the bolt hole, the lower end of a straight rod of the nail-shaped rod extends out of the round hole in the bottom of the sleeve 185 and is arranged in a limiting device inserting hole in the supporting rod 21, the push rod 182 is a nail-shaped rod, the lower end of the straight rod of the nail-shaped rod is inserted into the sleeve from a push rod hole in the middle of the sleeve 185, the push rod 182 is fixed on the expansion rod 184 by the fastening screw 183, the adjusting rod 181 is a straight rod, three adjusting holes are formed in the straight rod, the spring 20 has one end connected to the upper end of the support rod 21 and the other end connected to the lower portion of the sleeve 185 of the stopper 18.
When the device is used, firstly, the length of the thigh of a wearer is measured, the connection length of the thigh connecting rod 3 and the thigh connecting shell 14 is adjusted, the length of the shank of the wearer is measured, the connection length of the connecting rod 6, the shank connecting rod 10 and the shank connecting shell 9 is adjusted, the rotation angle of the knee joint of the wearer is measured, the fixed position of the limiting bolt 5 on the knee joint part 4 is adjusted, the flexion angle and the extension angle of the flexible lower limb exoskeleton knee joint are adjusted to adapt to the rotation range of the knee joint of the wearer, the optimal squatting angle of the wearer is measured, the connection length of the adjusting sleeve 185 and the adjusting rod 181 is adjusted, the connection length of the supporting rod 21 and the rotating sleeve 23 is adjusted, the fixed angle of the baffle plate 24 and the shank extending out of the connecting rod 26 is adjusted, the fixed angle of the pneumatic spring compression rod. Then, the waist belt and the connecting band are tied on the waist of the wearer, the tightness degree of the thigh bandage 2 and the thigh connecting shell 14 and the tightness degree of the shank bandage 8 and the shank connecting shell 9 are adjusted, and the thigh connecting shell 14 and the shank connecting shell 9 are tightly attached to the leg of the wearer.
When the wearer need squat, stir push rod 182 downwards, let telescopic link 184 insert in the hole of bracing piece 21, restriction bracing piece 21's anticlockwise rotation, spring 20 is in tensile state, baffle 24 restricts the clockwise rotation of bracing piece 21 simultaneously, realize the stable support of flexible low limbs ectoskeleton, adapt to the wearer's the gesture of squatting, help the wearer can sit down the rest, alleviate the lower limbs joint load of wearer, reduce the fatigue of shank muscle, avoid low limbs swelling and varicosity, improve the work efficiency of wearer.
When a wearer needs to stand, the push rod 182 is shifted upwards, the telescopic rod 184 is separated from the hole of the support rod 21, the anticlockwise limiting of the support rod 21 is removed, the support rod 21 rotates to be attached to the shank of the wearer under the resilience effect of the spring 20, as shown in fig. 1, the posture recovery of the flexible lower limb exoskeleton is realized, the occupied space is small, and the wearing and the walking are convenient.
Claims (1)
1. The utility model provides a flexible low limbs ectoskeleton with support performance squats, includes shank connecting elements, ligature component and supporting member, its characterized in that: the leg connecting component comprises a thigh connecting shell (14) and a shank connecting shell (9), the thigh connecting shell (14) is a shell which is attached to the shape of the rear part of a thigh, the shell is made of polypropylene materials, a thigh bolt (1) is arranged on the left side edge part of the thigh connecting shell (14), and a thigh connecting support (15) is arranged in the middle of the right side of the thigh connecting shell (14); the shank connecting shell (9) is a shell body which is attached to the shape of the rear part of the shank, and the shank connecting shell (9) is provided with a shank connecting bracket (7); the binding component comprises a thigh bandage (2), a shank bandage (8), a waistband (12) and a connecting band (13), the thigh bandage (2), the shank bandage (8), the waistband (12) and the connecting band (13) are flexible bands, one end of the connecting band (13) is vertically fixed in the middle of the waistband (12), and the other end of the connecting band is vertically fixed on the upper edge of the thigh connecting shell (14); the two ends of the waistband (12) are provided with nylon lock catches; one end of the thigh bandage (2) is fixedly connected with the right side part of the thigh connecting shell (14); one end of the shank bandage (8) is fixedly connected to the right side part of the shank connecting shell; the supporting component comprises a thigh bolt (1), a thigh connecting rod (3), a knee joint part (4), a limiting bolt (5), a connecting rod (6), a shank connecting support (7), a shank connecting rod (10), a shank bolt (11), a thigh connecting support (15), a thigh connecting bolt (16), a pneumatic spring compression rod (17), a limiting device (18), a compression rod connecting bolt (19), a spring (20), a supporting rod (21), a supporting rod connecting bolt (22), a rotating sleeve (23), a baffle (24), a baffle connecting bolt (25) and a shank extending connecting rod (26), the thigh connecting rod (3) is a straight rod, a limiting bayonet is arranged at the lower end of the straight rod, a knee joint part (4) connecting hole is formed in the center of the limiting bayonet, and the upper end of the thigh connecting rod (3) is connected to the left side edge of a thigh connecting shell (14) through a thigh bolt (1); the connecting rod (6) is a straight rod, the upper end of the straight rod is a disc, a knee joint part connecting hole is formed in the center of the disc, limiting bolts (5) are uniformly arranged on the disc along the circumference of the knee joint part connecting hole, the knee joint part connecting hole in the center of the disc at the upper end of the connecting rod (6) is connected with the knee joint part connecting hole at the lower end of the thigh connecting rod (3) through a knee joint part (4), and the lower end of the connecting rod (6) is connected to the left side portion of the shank connecting; the shank connecting rod (10) is a folding rod consisting of a section of vertical rod and a section of diagonal rod, the included angle between the vertical rod and the diagonal rod is 150 degrees, the vertical rod is connected to the left side part of the shank connecting shell (9), the vertical rod and the connecting rod (6) are in the same position at the joint of the shank connecting shell (9), and the lower end surface of the diagonal rod is flush with the bottom surface of the human foot; the thigh connecting bracket (15) is a connecting plate, and the front end of the connecting plate is fixedly connected with the right side part of the thigh connecting shell (14); the knee joint part (4) is a connecting bolt, the pneumatic spring compression rod (17) comprises a spring sleeve and a straight rod, a spring is arranged in the spring sleeve, the lower end of the straight rod is sleeved in the spring sleeve, and the upper end of the straight rod is connected with the rear end of the thigh connecting support (15) through a thigh connecting bolt (16); the support rod (21) is a straight rod, a limiting device jack is formed in the middle upper portion of the straight rod, 2-4 bolt holes are formed in the lower half section of the straight rod, and the upper end of the straight rod is connected with the lower end of a spring sleeve of the pneumatic spring compression rod (17); the rotary sleeve (23) is a round sleeve, a support rod connecting bolt is arranged at the upper opening of the rotary sleeve (23), and the lower end of the support rod (21) is inserted into the upper opening of the rotary sleeve (23); the shank extending connecting rod (26) is a straight rod, one end of the straight rod is connected with an inclined rod of the shank connecting rod (10) through a shank bolt (11), the other end of the straight rod is connected with the lower end of the rotating sleeve (23) through a baffle connecting bolt (25), the baffle (24) is a flat plate, the baffle (24) is connected to the shank extending connecting rod (26) through the baffle connecting bolt (25), and the baffle (24) limits clockwise rotation of the supporting rod (21); the limiting device (18) comprises an adjusting rod (181), a push rod (182), a fastening screw (183), an expansion rod (184) and a sleeve (185), wherein a round hole is formed in the center of the bottom of the sleeve (185), a push rod hole is formed in the middle of the sleeve (185), the expansion rod (184) is a nail-shaped rod, the diameter of a disc at the top of the nail-shaped rod is matched with the inner diameter of the sleeve (185), a bolt hole is formed in the disc, the fastening screw (183) is screwed in the bolt hole, the lower end of a straight rod of the nail-shaped rod extends out of the round hole in the bottom of the sleeve (185), the lower end of the straight rod is placed in a limiting device inserting hole in the supporting rod (21), the push rod (182) is a nail-shaped rod, the lower end of the straight rod of the nail-shaped rod is inserted into the sleeve from the push rod hole in the middle of the sleeve (185), the fastening screw (183), the upper end of the straight rod is provided with a connecting hole, the diameter of the straight rod is matched with the inner diameter of the sleeve (185), the adjusting rod (181) is installed in the upper opening of the sleeve (185), the connecting hole in the upper end of the adjusting rod (181) is connected with the upper part of the shank connecting shell (9), one end of the spring (20) is connected to the upper end of the supporting rod (21), and the other end of the spring is connected to the lower part of the sleeve (185) of the 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 |
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| 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 |
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| CN109304706A CN109304706A (en) | 2019-02-05 |
| CN109304706B true CN109304706B (en) | 2021-06-29 |
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| CN201811481972.1A Expired - Fee Related CN109304706B (en) | 2018-12-05 | 2018-12-05 | Flexible lower limb exoskeleton with squatting and sitting support performance |
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| CN111329720B (en) * | 2020-02-29 | 2021-10-08 | 同济大学 | Air-supported passive lower limb assistance exoskeleton device |
| CN111329721B (en) * | 2020-02-29 | 2021-10-08 | 同济大学 | Lower limb assistance exoskeleton device with spring energy storage and rapid unloading |
| CN111728798B (en) * | 2020-06-28 | 2021-08-06 | 扬州大学 | Exoskeleton appliance assisting human body in supporting and helping people sit up |
| CN112914805B (en) * | 2021-01-21 | 2022-09-30 | 韩红英 | Traction-preventing fixing rehabilitation device for surgical mouth of hand-foot department |
| CN113199459B (en) * | 2021-05-20 | 2022-07-15 | 东莞市三航军民融合创新研究院 | Exoskeleton supporting structure and exoskeleton system with same |
| CN113232009B (en) * | 2021-05-21 | 2022-10-11 | 河北工业大学 | Multi-position auxiliary support exoskeleton |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| US768478A (en) * | 1904-03-03 | 1904-08-23 | Peter Nash | Stool. |
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| CN107252210A (en) * | 2017-05-12 | 2017-10-17 | 武汉理工大学 | A kind of wearable seat automatically controlled and application method |
| CN107744277A (en) * | 2017-08-17 | 2018-03-02 | 杭州壕车科技有限公司 | A kind of cylinder supports formula ectoskeleton seat |
| CN108477904A (en) * | 2018-05-29 | 2018-09-04 | 深圳市丞辉威世智能科技有限公司 | Ectoskeleton seat |
| EP3375414A1 (en) * | 2017-03-17 | 2018-09-19 | noonee AG | Wearable sitting posture assisting device |
| CN108670733A (en) * | 2018-06-13 | 2018-10-19 | 苏州拓品微信息科技有限公司 | A kind of shank separate type wearing ectoskeleton seat unit |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5048589B2 (en) * | 2008-05-22 | 2012-10-17 | 本田技研工業株式会社 | Walking assist device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US768478A (en) * | 1904-03-03 | 1904-08-23 | Peter Nash | Stool. |
| US4138156A (en) * | 1977-09-06 | 1979-02-06 | Bonner Darcy R | Wearable chair |
| EP3375414A1 (en) * | 2017-03-17 | 2018-09-19 | noonee AG | Wearable sitting posture assisting device |
| CN107252210A (en) * | 2017-05-12 | 2017-10-17 | 武汉理工大学 | A kind of wearable seat automatically controlled and application method |
| CN107744277A (en) * | 2017-08-17 | 2018-03-02 | 杭州壕车科技有限公司 | A kind of cylinder supports formula ectoskeleton seat |
| CN108477904A (en) * | 2018-05-29 | 2018-09-04 | 深圳市丞辉威世智能科技有限公司 | Ectoskeleton seat |
| CN108670733A (en) * | 2018-06-13 | 2018-10-19 | 苏州拓品微信息科技有限公司 | A kind of shank separate type wearing ectoskeleton seat unit |
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| Publication number | Publication date |
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| CN109304706A (en) | 2019-02-05 |
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