CN109318213A - A kind of thigh support ectoskeleton - Google Patents
A kind of thigh support ectoskeleton Download PDFInfo
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- CN109318213A CN109318213A CN201811484407.0A CN201811484407A CN109318213A CN 109318213 A CN109318213 A CN 109318213A CN 201811484407 A CN201811484407 A CN 201811484407A CN 109318213 A CN109318213 A CN 109318213A
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- connecting rod
- seating pad
- round tube
- interior
- bottom plate
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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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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of thigh support ectoskeleton, it is intended to induction control module and foot's module including cushion plate module, support angle adjustment module, human motion, cushion plate module passes through the seating pad and Buffer Unit of curved design, maximum it can be bonded human leg, Buffer Unit can improve the stability of sitting posture according to the gradient of the adaptive adjustment seating pad of the sitting posture of different gears；Support angle adjustment module incudes control support angle by motion intention; intelligent recognition sitting posture state simultaneously supports automatically; the information such as limb angle, pressure are acquired by sensor; by the movement of microprocessor control sliding electromagnet, and then control mechanism moves, under non-operating mode; it is 35 ° that minimum angles, which are freely rotated, in ectoskeleton; meet the movable needs of human normal, the movement such as will not interfere with the walking of wearer, go upstairs, flexibility is high.
Description
Technical field
The invention belongs to robotic technology field, in particular to a kind of thigh support ectoskeleton.
Background technique
It squats, kneeling position gesture is many industry such as noise source analysis, automobile assembling, repair of machine and common a kind of bad of agricultural
Work posture.It works under these postures for a long time, muscle is easy to produce fatigue, over time damage and illness in generation.Leg
Support ectoskeleton can play the role of support to human body when human body is squatted down, and reduce leg muscle fatigue.A kind of existing combination
Stepper motor and lead screw adjust the ectoskeleton seat of ectoskeleton joint angles, and can automatically control.But when walking, need electricity
Machine works always, adapts to the variation of human body knee joint, has both affected the flexibility of human body walking, while increasing energy consumption.In addition
There is a kind of ectoskeleton seat in joint added with damper, the damping of damper influences whether the walking of wearer.
Therefore the problem of existing wearable thigh support ectoskeleton is primarily present is that ectoskeleton seat is walking and squatting down
It is poor to the adaptability of people under two states, when walking or going upstairs, interference problem of the ectoskeleton to human body；When squatting down, dermoskeleton
Adaptive problem of the bone to human body squatting position height.It is therefore desirable to the thigh support ectoskeletons to the prior art to improve.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, it is an object of the invention to propose a kind of thigh support ectoskeleton, energy
It is enough to meet retinue property and the requirement with seat property, have the characteristics that flexibility is high, unresisted.
To achieve the goals above, the technical solution adopted by the present invention is that:
A kind of thigh support ectoskeleton, including cushion plate module, support angle adjustment module, human motion intention induction control
Molding block and foot's module；
The cushion plate module includes the seating pad 7 for meeting ergonomics, Buffer Unit and adjusts long component, and seating pad 7 is in
Arc line shaped, is fixed with the thigh bandage 6 of the thigh for fixing wearing person on seating pad 7, seating pad 7 be located at turning for its bottom
Dynamic 11 damping rotary of bottom plate connection, is equipped with Buffer Unit, rotary bottom plate 11 and first connecting rod between seating pad 7 and rotary bottom plate 11
3 are slidably connected, and are equipped with adjust long component therebetween, adjust long component and the flexible-belt of adjustable in length 2 to consolidate, flexible-belt 2 and waist
1 connection of envelope；
The support angle adjustment module includes first connecting rod 3, and 3 end of first connecting rod is articulated with second connecting rod 5, and the two can
Relative rotation, support rod 4 are hingedly connected to the sliding block 28 of first connecting rod 3 and ratchet clutch component, to each other can relative rotation, it is sliding
Block 28 is fixedly connected with spine rail 19, and spine rail 19 is fixedly connected with guide runner 26, and sliding block 28 is built-in with linear bearing 29, linear axis
It holds 29 directly to contact with guide pipe 31, by 30 fixed straight line bearing 29 of bearing cap and sliding block 28, bottom is inserted at 31 both ends of guide pipe
In the circular hole of seat 25, pedestal 25 is fixedly arranged on second connecting rod 5, and the side embedded block 27 of two stairsteppings is inserted into second connecting rod respectively
It in the elongate holes of 5 left and right side, and is fixedly connected with fixing seat 20, fixing seat 20 is fixed on inside second connecting rod 5, fixed
20 sizes of seat are greater than the side elongate holes size of second connecting rod 5, to limit embedded block 27 and fixing seat 20 in second connecting rod 5
Position, pawl 21 is hinged by in-between circular hole and fixing seat 20,21 one end cylindrical body of pawl and 22 one end of intermediate connecting rod circle
Hole carries out hingedly, and intermediate connecting rod 22 and the iron core of sliding electromagnet 23 are hinged, and sliding electromagnet 23 is fixedly arranged at electromagnet attachment base
On 24, electromagnet attachment base 24 is fixedly arranged in fixing seat 20；
It includes the obliquity sensor 42 being arranged in first connecting rod 3U shape slot that the human motion, which is intended to induction control module,
With the plantar pressure sensor 44 that sole 32 is arranged in, obliquity sensor 42 and the equal microprocessor 43 of plantar pressure sensor 44
Electrical connection, microprocessor 43, time-delay relay 40, sliding electromagnet 23 are sequentially connected electrically, and the above component passes through lithium battery
41 power supplies；
Foot's module includes foot connection ring 39, and using foot connection ring 39 as intermediary's bar, foot connection ring 39 is articulated with foot
Bottom plate 32 and ring articulation block 38, bandage is inserted into the elongate holes of 32 side of sole, and then is tied up in user's foot, sole 32
It is fixedly connected with stop collar 33,39 sets of foot connection ring are rotatablely connected in the ladder outer circle of stop collar 33 with it, ground supports group
Part is made of telescopic square tube, and interior square tube 35 is inserted into outer 36 the inside of square tube, is equipped with the second V-arrangement spring leaf 37, the 2nd V in interior square tube 35
The cylindrical body of shape spring leaf 37 is stuck in the circular hole of interior square tube 35 and outer square tube 36, and interior square tube 35 is fixedly connected with ring articulation block 38.
The Buffer Unit includes four circular dashpots being fixed on rotary bottom plate 11, is cased with outside dashpot slow
Lid 9 is rushed, places buffer spring 10 in each dashpot, buffer cover 9 is directly contacted with buffer spring 10, and can current buffer slot cunning
Dynamic, seating pad connector 8 is contacted with buffer cover 9 respectively in hinged place two sides.With the sliding of buffer cover 9, seating pad 7 is relatively rotated
Bottom plate 11 rotates.
The long component of tune includes interior round tube 15 and outer round tube 17, and interior round tube 15 is inserted in outer round tube 17 and forms telescoping tube,
First V-arrangement spring leaf, 16 cylindrical end is inserted into the lateral aperture of interior round tube 15, outer round tube 17 and limits its stretching motion, and outer round tube 17 is solid
On first connecting rod 3,14 sets of interior round tube housing are fixed knot in interior 15 end of round tube, and interior round tube housing 14 and side fixed block 12 are fixed
Connection, side fixed block 12 are fixedly arranged at 11 side of rotary bottom plate, the threaded hole and guide pad that rotary bottom plate 11 is opened up by its side
13 are fixedly connected, and guide pad 13 is stuck in 3 side of first connecting rod and is slidably connected with it, and side fixed block 12 is in side and first connecting rod 3
It is in contact.
The thigh bandage 6 uses the elastic band with velcro, is fixed on seating pad 7 in strip slot.
The seating pad 7 is fixedly attached to seating pad connector 8, and seating pad connector 8 is articulated with rotary bottom plate 11, the two
It can relatively rotate.
It is provided with strip slot on the interior round tube housing 14, the flexible-belt 2 of adjustable in length is consolidated in strip slot.
The position of the interior square tube 35 and ground face contact is cased with rubber mat 34.
The beneficial effects of the present invention are:
Cushion plate module of the present invention passes through the seating pad and Buffer Unit of curved design, being capable of maximum fitting human leg；
Buffer Unit can improve the stability of sitting posture according to the gradient of the adaptive adjustment seating pad of the sitting posture of different gears；Support
Angular adjustment module incudes control support angle by motion intention, and intelligent recognition sitting posture state simultaneously supports automatically, passes through sensing
Device acquires the information such as limb angle, pressure, and by the movement of microprocessor control sliding electromagnet, and then control mechanism moves, and
In the absence of power can self-locking support, discontinuous powered operation provides seven gears to reduce the loss of the energy content of battery, according to the design of spine rail
Posture seating angle is to adapt to the needs of different operating conditions.Under non-operating mode, it is 35 ° that minimum angles, which are freely rotated, in ectoskeleton, is met
The movable needs of human normal, the movement such as will not interfere with the walking of wearer, go upstairs, and flexibility is high.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the height-adjustable thigh support ectoskeleton of the more gears of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the cushion plate module of the embodiment of the present invention；
Fig. 3 is the configuration schematic diagram of the cushion plate module of the embodiment of the present invention；
Fig. 4 is the functional schematic of the cushion plate module of the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of the support angle adjustment module of the embodiment of the present invention；
Fig. 6 is the configuration schematic diagram of the support angle adjustment module of the embodiment of the present invention；
Fig. 7 is the pawl mounting structure schematic diagram of the embodiment of the present invention；
Fig. 8 is the spine rail mounting structure schematic diagram of the embodiment of the present invention；
Fig. 9 (1) and (2) are the functional schematics of the ratchet clutch component of the embodiment of the present invention；
Figure 10 is the mounting structure schematic diagram of the electrically-controlled component of the embodiment of the present invention；
Figure 11 is the structural schematic diagram of foot's module of the embodiment of the present invention.
The present invention include 1- corset, 2- flexible-belt, 3- first connecting rod, 4- support rod, 5- second connecting rod, 6- thigh bandage,
7- seating pad, 8- seating pad connector, 9- buffer cover, 10- buffer spring, 11- rotary bottom plate, the side 12- fixed block, 13- guiding
Block, 14- inner tube housing, round tube in 15-, 16- the first V-arrangement spring leaf, the outer round tube of 17-, 18- limit sleeve, 19- spine rail, 20- are fixed
Seat, 21- pawl, 22- intermediate connecting rod, 23- sliding electromagnet, 24- electromagnet attachment base, 25- pedestal, 26- guide runner, 27-
Side embedded block, 28- sliding block, 29- linear bearing, 30- bearing cap, 31- guide pipe, 32- sole, 33- stop collar, 34- rubber
Foot pad, square tube in 35-, the outer square tube of 36-, 37- the second V-arrangement spring leaf, 38- ring articulation block, 39- foot connection ring, 40- time-delay relay
40,41- lithium batteries, 42- obliquity sensor, 43- microprocessor, 44- plantar pressure sensor.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
A kind of structure of thigh support ectoskeleton mainly includes cushion plate module, support angle adjustment module, human motion
It is intended to induction control module and foot's module.
It will be noted from fig. 1 that entirety is mainly included corset 1, flexible-belt 2, is played support work with seating pad 7 from top to bottom
Cushion plate module, first connecting rod 3, the support angle adjustment module played a supporting role with support rod 4, second connecting rod 5, with
Foot's module of the connection of sole 32 foot.Wherein 1 material of corset is nylon, connects the waist and shoulder of wearer.Flexible-belt
One end is fixedly connected with corset 1, and the other end is fixedly connected with cushion plate module.
Referring to fig. 2, Fig. 3, the cushion plate module include the seating pad 7 for meeting ergonomics, Buffer Unit and long group of tune
Part, seating pad 7 are in arc line shaped, can snugly be supported in leg and the buttocks of wearer, are fixed on seating pad 7 and wear for fixation
The thigh bandage 6 of the thigh of wearer, the thigh bandage 6 use the elastic band with velcro, are fixed on strip on seating pad 7
In slot.The seating pad 7 is fixedly attached to seating pad connector 8, and seating pad connector 8 is articulated with rotary bottom plate 11, and the two can
To relatively rotate.Seating pad 7 is connect with 11 damping rotary of rotary bottom plate for being located at its bottom, forms the buffering tune under sitting posture state
Section is equipped with Buffer Unit between seating pad 7 and rotary bottom plate 11, rotary bottom plate 11 is slidably connected with first connecting rod 3, therebetween
Equipped with long component is adjusted, long component and the flexible-belt of adjustable in length 2 is adjusted to consolidate, flexible-belt 2 is connect with corset 1.
The Buffer Unit includes four circular dashpots being fixed on rotary bottom plate 11, is cased with outside dashpot slow
Lid 9 is rushed, places buffer spring 10 in each dashpot, buffer cover 9 is directly contacted with buffer spring 10, and can current buffer slot cunning
Dynamic, seating pad connector 8 is contacted with buffer cover 9 respectively in hinged place two sides.With the sliding of buffer cover 9, seating pad 7 is relatively rotated
Bottom plate 11 rotates.The function that Buffer Unit is realized is as shown in figure 4, F1 and F2 is the power that thigh applies 22 two sides of seating pad.F1
When < F2, seating pad 7 leans forward, when F1 > F2,7 hypsokinesis of seating pad.Wearer can control the front and back of centre of body weight realization seating pad 7
Inclination.When sitting position height is higher, the inclination of 3 relative level of first connecting rod is larger, and thigh easily glides with respect to seating pad 7, therefore can
By adjusting 7 hypsokinesis of seating pad, sitting posture stability is improved.Otherwise as a same reason.Buffer Unit can realize that seating pad 7 relatively rotates
Base plate inclination degree is at 0 ° -20 °.It is artificial to change 7 gradient of seating pad when wearer sits down, to improve the stationarity of sitting posture.
The long component of tune includes interior round tube 15 and outer round tube 17, and interior round tube 15 packs into outer round tube 17 and forms telescoping tube, the
One V-arrangement spring leaf, 16 cylindrical end is inserted into the lateral aperture of interior round tube 15, outer round tube 17 and limits its stretching motion, passes through internal round tube
15 and outer round tube 17 relative position adjustment, can change seating pad 7 with respect to first connecting rod 3 position, to adapt to different heights
The needs of wearer；Outer round tube 17 is fixedly arranged on first connecting rod 3, and 14 sets of interior round tube housing are fixed in interior 15 end of round tube, with limit
Its rotation is made, strip slot is provided on the interior round tube housing 14, the flexible-belt 2 of adjustable in length is consolidated in strip slot.
Interior round tube housing 14 is fixedly connected by threaded hole with side fixed block 12, and side fixed block 12 is fixedly arranged at 11 side of rotary bottom plate, by
This changes position of the rotary bottom plate 11 on first connecting rod 3, the threaded hole and guide pad that rotary bottom plate 11 is opened up by its side
13 are fixedly connected, and guide pad 13 is stuck in 3 side of first connecting rod and is slidably connected with it, and side fixed block 12 is in side and first connecting rod 3
It is in contact.
Referring to Fig. 5, Fig. 6, the support angle adjustment module includes first connecting rod 3, second connecting rod 5, support rod 4 and pawl
Clutch component.3 end of first connecting rod is articulated with second connecting rod 5, the two can relative rotation, support rod 4 is hingedly connected to the first company
The sliding block 28 of bar 3 and ratchet clutch component, to each other can relative rotation, sliding block 28 is fixedly connected with spine rail 19, spine rail 19 and leads
It is fixedly connected to sliding block 26, sliding block 28 is built-in with linear bearing 29, and linear bearing 29 is directly contacted with guide pipe 31, passes through bearing
30 fixed straight line bearing 29 of lid and sliding block 28, in the circular hole of 31 both ends inserted base 25 of guide pipe, pedestal 25 is fixedly arranged at the second company
On bar 5, the side embedded block 27 of two stairsteppings is inserted into respectively in the elongate holes of left and right side of second connecting rod 5, and with it is solid
Reservation 20 is fixedly connected, and fixing seat 20 is fixed on inside second connecting rod 5, and the side that 20 size of fixing seat is greater than second connecting rod 5 is long
Bar shaped pore size, to limit embedded block 27 and fixing seat 20 in the position of second connecting rod 5, pawl 21 by in-between circular hole with
Fixing seat 20 is hinged, and 21 one end cylindrical body of pawl and 22 one end circular hole of intermediate connecting rod carry out hingedly, as shown in fig. 7, intermediate connecting rod
22 is hinged with the iron core of sliding electromagnet 23, and sliding electromagnet 23 is fixedly arranged on electromagnet attachment base 24, electromagnet attachment base 24
It is fixedly arranged in fixing seat 20.
Sliding block 28 and spine rail 19 in the ratchet clutch component carry out linear slide, sliding electromagnet by guide pipe 31
The linear motion of iron core drives intermediate connecting rod 22 in 23, to form the clutch of pawl 21 Yu spine rail 19.Spine rail 19, sliding block 28,
26 three of guide runner can carry out linear slide by guide pipe 31, and specific connection is as shown in Figure 8.
The implementation procedure of ratchet clutch component is as follows: the straight line back and forth movement of iron core in sliding electromagnet 23 connects through centre
Bar 22 realizes the reciprocating rotation of pawl 21, to form the clutch of pawl 21 Yu spine rail 19.The sliding electromagnet 23 of selection, tool
Two states of cored sucking and recovery, when power supply, iron core sucking is realized the recovery of iron core by contained spring when power is off.When
19 slide downward of spine rail, when being in clutch position, if sliding electromagnet 23 is powered, iron core sucking, band pawl 21 turns counterclockwise
Dynamic, 21 tip of pawl is embedded in 19 slot of spine rail, while 21 other end of pawl is contacted with fixing seat 20, to limit under spine rail 19
It is sliding, it is now in operating mode；Under operating mode, if sliding electromagnet 23 powers off, the trend of 19 slide downward of spine rail limits spine
Pawl 21 rotates clockwise, to realize self-locking.Sliding on spine rail 21 when wearer stands, pawl 21 rotates clockwise, and pushes and pulls
23 inner spring of electromagnet returns to original state iron core, and pawl 21 returns to initial position, generally in non-operating mode.Spine rail
In the operating condition, it can be achieved that 40 ° -70 ° of ectoskeleton of support angle, has 7 gears.Structural representation under clutch state is such as
Shown in Fig. 9 (1), (2).
Support angle adjustment module is based on human motion and is intended to induction control, adaptively realizes sitting posture mode.The people
Body motion intention induction control module includes the obliquity sensor 42 being arranged in first connecting rod 3U shape slot and is arranged in sole
32 plantar pressure sensor 44, obliquity sensor 42 and the electrical connection of the equal microprocessor 43 of plantar pressure sensor 44, micro process
Device 43, time-delay relay 40, sliding electromagnet 23 are sequentially connected electrically, and the above component passes through lithium battery 41 and powers, such as Figure 10
It is shown.
Referring to Figure 11, foot's module includes foot connection ring 39, using foot connection ring 39 as intermediary's bar, foot connection ring 39
It is articulated with sole 32 and ring articulation block 38, bandage is inserted into the elongate holes of 32 side of sole, and then is tied up in user's foot,
Sole 32 is fixedly connected with stop collar 33, and 39 sets of foot connection ring are rotatablely connected in the ladder outer circle of stop collar 33 with it, ground
Face support component is made of telescopic square tube, and interior square tube 35 is inserted into outer 36 the inside of square tube, is equipped with the second V-arrangement spring leaf in interior square tube 35
37, the cylindrical body of the second V-arrangement spring leaf 37 is stuck in the circular hole of interior square tube 35 and outer square tube 36, to fix the position of two square tubes
It sets, according to the lower-leg length of different wearers, adjusts the telescopic level of telescoping tube, interior square tube 35 and the fixed company of ring articulation block 38
It connects.The position of the interior square tube 35 and ground face contact is cased with rubber mat 34.When walking, foot connection ring 39 is by second connecting rod 5
It empties, avoids contact of the second connecting rod 5 with shank；When sitting down, rubber mat 34 is oriented to ground by foot connection ring 39, is formed outer
Support of the bone to wearer.
The microprocessor 43 uses Arduino, STM32,51 single-chip microcontrollers etc..Microprocessor 43 is for executing to flow down
Journey: the obliquity sensor 42 of first connecting rod 3 acquires the link angle and angular acceleration of human body sagittal plane, corresponding to left and right leg respectively
Connecting rod data analyzed, when angle and angular acceleration meet sitting posture condition, and the data that plantar pressure sensor 44 acquires
Meet preset value, microprocessor 43 issues several seconds execution signals.Support angle regulating mechanism forms angle in the case where executing signal
Lock state is spent, and is formed after executing signal self-locking.When user stands up, self-locking mechanism failure restores inoperative
Walking mode.Device only powers several seconds to electromagnet when wearer sits down every time, and other time does not power, and reduces electricity
The use in source, realizes energy conservation.
Claims (7)
1. a kind of thigh support ectoskeleton, which is characterized in that including cushion plate module, support angle adjustment module, human motion
It is intended to induction control module and foot's module；
The cushion plate module includes the seating pad (7) for meeting ergonomics, Buffer Unit and adjusts long component, and seating pad (7) is in
Arc line shaped, is fixed with the thigh bandage (6) of the thigh for fixing wearing person on seating pad (7), seating pad (7) be located at its bottom
Rotary bottom plate (11) damping rotary in portion connects, and Buffer Unit, rotary bottom plate are equipped between seating pad (7) and rotary bottom plate (11)
(11) it is slidably connected with first connecting rod (3), is equipped with adjusts long component therebetween, adjust the flexible-belt of long component and adjustable in length
(2) it consolidates, flexible-belt (2) is connect with corset (1)；
The support angle adjustment module includes first connecting rod (3), and first connecting rod (3) end is articulated with second connecting rod (5), the two
Can relative rotation, support rod (4) is hingedly connected to the sliding block (28) of first connecting rod (3) and ratchet clutch component, to each other can phase
To rotation, sliding block (28) is fixedly connected with spine rail (19), and spine rail (19) is fixedly connected with guide runner (26), and sliding block (28) is built-in
Have linear bearing (29), linear bearing (29) is directly contacted with guide pipe (31), passes through bearing cap (30) fixed straight line bearing
(29) and sliding block (28), in the circular hole of guide pipe (31) both ends inserted base (25), pedestal (25) is fixedly arranged at second connecting rod (5)
On, the side embedded block (27) of two stairsteppings is inserted into respectively in the elongate holes of left and right side of second connecting rod (5), and with it is solid
Reservation (20) is fixedly connected, and fixing seat (20) is fixed on second connecting rod (5) inside, and fixing seat (20) size is greater than second connecting rod
(5) side elongate holes size, to limit the position of embedded block (27) and fixing seat (20) in second connecting rod (5), pawl
(21) hingedly by in-between circular hole and fixing seat (20), pawl (21) one end cylindrical body and intermediate connecting rod (22) one end circular hole into
Row is hinged, and intermediate connecting rod (22) and the iron core of sliding electromagnet (23) are hinged, and sliding electromagnet (23) is fixedly arranged at electromagnet connection
On seat (24), electromagnet attachment base (24) is fixedly arranged on fixing seat (20)；
The human motion be intended to induction control module include the obliquity sensor (42) being arranged in first connecting rod 3U shape slot and
Plantar pressure sensor (44) in sole (32), obliquity sensor (42) and the micro- place of plantar pressure sensor (44) are set
Device (43) electrical connection is managed, microprocessor (43), time-delay relay (40), sliding electromagnet (23) are sequentially connected electrically, the above member device
Part passes through lithium battery (41) power supply；
Foot's module includes foot connection ring (39), and using foot connection ring (39) as intermediary's bar, foot connection ring (39) is articulated with
Sole (32) and ring articulation block (38), bandage is inserted into the elongate holes of sole (32) side, and then is tied up in user's foot,
Sole (32) is fixedly connected with stop collar (33), and foot connection ring (39), which is covered, to be rotated in the ladder outer circle of stop collar (33) with it
Connection, ground supports component are made of telescopic square tube, and interior square tube (35) is inserted into inside outer square tube (36), and interior square tube (35) is inner to be equipped with
The cylindrical body of second V-arrangement spring leaf (37), the second V-arrangement spring leaf (37) is stuck in the circular hole of interior square tube (35) and outer square tube (36)
Interior, interior square tube (35) is fixedly connected with ring articulation block (38).
2. a kind of thigh support ectoskeleton according to claim 1, which is characterized in that the Buffer Unit includes being fixed on
Four circular dashpots on rotary bottom plate (11) are cased with buffer cover (9) outside dashpot, and buffering is placed in each dashpot
Spring (10), buffer cover (9) are directly contacted with buffer spring (10), and can the sliding of current buffer slot, seating pad connector (8) exists
Hinged place two sides are contacted with buffer cover (9) respectively.With the sliding of buffer cover (9), seating pad (7) relatively rotates bottom plate (11) and turns
It is dynamic.
3. a kind of thigh support ectoskeleton according to claim 1, which is characterized in that the long component of tune includes interior round tube
(15) and outer round tube (17), interior round tube (15) are inserted in formation telescoping tube, first V-arrangement spring leaf (16) cylindrical end in outer round tube (17)
Its stretching motion is limited in the lateral aperture of round tube (15), outer round tube (17) in being inserted into, outer round tube (17) is fixedly arranged at first connecting rod (3)
On, interior round tube housing (14) covers fixes in interior round tube (15) end, and interior round tube housing (14) is fixedly connected with side fixed block (12),
Side fixed block (12) is fixedly arranged at rotary bottom plate (11) side, the threaded hole and guide pad that rotary bottom plate (11) is opened up by its side
(13) it is fixedly connected, guide pad (13) is stuck in first connecting rod (3) side and is slidably connected with it, and side fixed block (12) is in side and the
One connecting rod (3) is in contact.
4. a kind of thigh support ectoskeleton according to claim 1, which is characterized in that the thigh bandage (6) uses band
The elastic band of velcro is fixed on seating pad (7) in strip slot.
5. a kind of thigh support ectoskeleton according to claim 1, which is characterized in that the seating pad (7) is fixedly connected
To seating pad connector (8), seating pad connector (8) is articulated with rotary bottom plate (11), and the two can relatively rotate.
6. a kind of thigh support ectoskeleton according to claim 1, which is characterized in that opened on the interior round tube housing (14)
There is strip slot, the flexible-belt (2) of adjustable in length is consolidated in strip slot.
7. a kind of thigh support ectoskeleton according to claim 1, which is characterized in that the interior square tube (35) connects with ground
The position of touching is cased with rubber mat (34).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811484407.0A CN109318213B (en) | 2018-12-06 | 2018-12-06 | Leg supporting exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811484407.0A CN109318213B (en) | 2018-12-06 | 2018-12-06 | Leg supporting exoskeleton |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109318213A true CN109318213A (en) | 2019-02-12 |
| CN109318213B CN109318213B (en) | 2020-11-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811484407.0A Active CN109318213B (en) | 2018-12-06 | 2018-12-06 | Leg supporting exoskeleton |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509261A (en) * | 2019-08-28 | 2019-11-29 | 沈阳航空航天大学 | A kind of leg exoskeleton device assisting old human action |
| CN111227340A (en) * | 2019-10-29 | 2020-06-05 | 宁波大学 | Knee protector for preventing articular surface from impacting |
| CN112318490A (en) * | 2020-11-30 | 2021-02-05 | 北京精密机电控制设备研究所 | Light and flexible knee joint power assisting exoskeleton robot |
| CN113084780A (en) * | 2021-03-29 | 2021-07-09 | 新疆大学 | Lower limb assistance exoskeleton seat capable of being adjusted at multiple angles |
| CN113183128A (en) * | 2021-04-22 | 2021-07-30 | 华中科技大学 | Variable-rigidity structure and lower limb load exoskeleton |
| US11627810B2 (en) * | 2018-12-27 | 2023-04-18 | Samsung Electronics Co., Ltd. | Wearable chair |
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| CN111227340A (en) * | 2019-10-29 | 2020-06-05 | 宁波大学 | Knee protector for preventing articular surface from impacting |
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| CN112318490B (en) * | 2020-11-30 | 2022-01-04 | 北京精密机电控制设备研究所 | Light and flexible knee joint power assisting exoskeleton robot |
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