CN111388268A - Framework quick-dismounting structure for human exoskeleton and human exoskeleton with same - Google Patents
Framework quick-dismounting structure for human exoskeleton and human exoskeleton with same Download PDFInfo
- Publication number
- CN111388268A CN111388268A CN202010160879.1A CN202010160879A CN111388268A CN 111388268 A CN111388268 A CN 111388268A CN 202010160879 A CN202010160879 A CN 202010160879A CN 111388268 A CN111388268 A CN 111388268A
- Authority
- CN
- China
- Prior art keywords
- connecting block
- exoskeleton
- assembly
- leg
- waist
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
Abstract
The invention discloses a skeleton quick assembly disassembly structure for a human exoskeleton and the human exoskeleton with the same, wherein the skeleton quick assembly disassembly structure comprises: first connecting block, second connecting block and locking Assembly, be formed with the guide support post on one in first connecting block and the second connecting block, be formed with on another in first connecting block and the second connecting block with guide support post complex guide way, locking Assembly locates between first connecting block and the second connecting block, locking Assembly is including locating the spacing draw-in groove on one in first connecting block and the second connecting block, and locate on another in first connecting block and the second connecting block with spacing draw-in groove complex spacing pothook, at least one in spacing draw-in groove and the spacing pothook, be suitable for movably in the direction of the mutual lock of spacing draw-in groove of perpendicular to and spacing pothook. According to the framework quick assembly and disassembly structure disclosed by the embodiment of the invention, the difficulty in disassembly and assembly can be reduced, so that the disassembly and assembly efficiency can be improved.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a framework quick-assembly and disassembly structure for a human exoskeleton and the human exoskeleton with the framework quick-assembly and disassembly structure.
Background
Because each individual body type has a difference, the size and the model of the rigid skeleton of the general human exoskeleton cannot be suitable for a plurality of users, and therefore, the structure of each part of the exoskeleton needs to be adjustable or convenient to replace, for example, the waist structure can be adjusted or replaced to meet different waistlines, and the leg structure can be adjusted or replaced to meet different leg lengths, leg circumferences and the like.
In the partial exoskeleton of the prior art, the structures of all parts which are connected with each other are fixed and cannot be adjusted, so that one exoskeleton type can only adapt to one or a part of users; although the structures of all parts of the exoskeleton can be replaced by different models, the assembly and disassembly processes are complicated, and the actual operation is time-consuming and labor-consuming.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a quick skeleton dismounting structure for a human exoskeleton, which can reduce the dismounting and mounting difficulty and improve the dismounting and mounting efficiency.
The invention also provides a human exoskeleton with the framework quick assembly and disassembly structure.
According to a first aspect of the present invention, a quick skeleton detachment structure for a human exoskeleton comprises: first connecting block, second connecting block and locking Assembly, first connecting block with be formed with the guide support post on one in the second connecting block, first connecting block with be formed with on another in the second connecting block with guide support post complex guide way, locking Assembly locates first connecting block with between the second connecting block, locking Assembly is including locating first connecting block with spacing draw-in groove on one in the second connecting block, and locate first connecting block with on another in the second connecting block with spacing draw-in groove complex spacing pothook, spacing draw-in groove with at least one in the spacing pothook, be suitable for at the perpendicular to spacing draw-in groove with it is mobile in the direction of the mutual lock of spacing pothook.
Therefore, according to the framework quick assembly and disassembly structure provided by the embodiment of the invention, the guide support columns are formed on one of the first connecting block and the second connecting block, and the guide grooves matched with the guide support columns are formed on the other one of the first connecting block and the second connecting block, so that the first connecting block and the second connecting block can be conveniently matched and connected together.
In addition, locate one in first connecting block and second connecting block through spacing draw-in groove on, spacing pothook is located another in first connecting block and second connecting block on, after spacing pothook and spacing groove lock, make first connecting block and second connecting block can link together more firmly, can reduce the degree of difficulty of first connecting block and second connecting block cooperation tie point simultaneously, also can simplify the step that the cooperation is connected, thereby can improve the efficiency that first connecting block and second connecting block cooperation are connected. When spacing draw-in groove and spacing pothook separation for first connecting block and the second connecting block that link together can drop comparatively fast, thereby can improve the split efficiency of first connecting block and second connecting block.
In addition, the framework quick-assembly-disassembly structure can also have the following additional technical characteristics:
in some embodiments of the present invention, the guide support columns and the guide grooves are provided in plural, the plural guide support columns and the plural guide grooves are provided in one-to-one correspondence, and axes of the plural guide support columns are parallel to a direction in which the first connection block and the second connection block approach each other.
In one embodiment, one of the first and second connection blocks is formed with a mounting groove extending in a direction perpendicular to a direction in which the first and second connection blocks approach each other, and the locking assembly further includes: locking post and elastic component, locking post movably locates in the mounting groove, spacing draw-in groove forms on the locking post, the elastic component is established the locking post with between the mounting groove, the elastic component is suitable for so spacing draw-in groove with the fibre pothook keeps the position at mutual lock.
Optionally, the mounting groove is equipped with two, two the mounting groove is followed the center axis symmetry setting of skeleton quick assembly disassembly structure, two be equipped with respectively on the mounting groove and keep away from the first opening of center axis with the second opening, two the locking post is suitable for respectively to follow first opening with the second opening is put into correspondingly in the mounting groove.
Optionally, the locking assembly further comprises a limiting part, a limiting groove matched with the limiting part is formed in the locking column, two ends of the limiting part are suitable for being matched with the limiting groove in the locking column respectively to limit the range of motion of the locking column in the mounting groove, and the locking column is prevented from falling off from the mounting groove.
The invention also provides the human exoskeleton with the framework quick assembly and disassembly structure.
A human exoskeleton according to an embodiment of a second aspect of the invention comprises: the leg exoskeleton assembly is adapted to support legs of a person, and the spine quick-release structure is disposed between the waist exoskeleton assembly and the leg exoskeleton assembly to enable quick release of the waist exoskeleton assembly and the leg exoskeleton assembly.
Therefore, according to the human exoskeleton provided by the embodiment of the invention, the skeleton quick assembly and disassembly structure is arranged between the waist exoskeleton assembly and the leg exoskeleton assembly, so that the waist exoskeleton assembly and the leg exoskeleton assembly can be quickly connected together, the operation is simple, and the time and the labor are saved. Meanwhile, the waist exoskeleton assembly and the leg exoskeleton assembly which are connected together can be detached to replace new assemblies with other sizes or structures, so that the detachment efficiency is improved, and the applicability of the human exoskeleton is also improved.
Optionally, the lumbar exoskeleton assembly comprises: the waist surrounding part comprises a first circular ring with an opening on one side so as to be suitable for being matched with the waist of a human body, the two first connecting parts are respectively arranged on two sides of the waist surrounding part and extend towards the leg exoskeleton assembly, and the leg exoskeleton assembly is suitable for being connected with the two first connecting parts.
Optionally, there are two leg exoskeleton assemblies, and the two leg exoskeleton assemblies are respectively correspondingly matched with the two first connecting portions, and the leg exoskeleton assembly comprises: leg surrounding part and second connecting portion, leg surrounding part has open-ended second ring including one side to be suitable for with the shank cooperation of human body, the second connecting portion are located on the leg surrounding part, and towards the waist surrounding part extends, the second connecting block is located the second connecting portion orientation the one end of waist surrounding part.
Furthermore, the leg surrounding part further comprises a third ring with an opening at one side, the second ring is connected with the third ring through a connecting plate, the third ring is arranged at the lower end of the second ring, and the diameter of the third ring is smaller than that of the second ring.
In some embodiments of the present invention, the lumbar exoskeleton assembly is adapted to be formed as a standard piece, and the waist exoskeleton assembly corresponds to a human waist circumference size at least comprising: 60cm, 70cm, 80cm, 90cm, 100cm, said leg exoskeleton assembly being adapted to be formed as a standard, said leg exoskeleton assembly corresponding to a thigh-leg girth dimension of a person's body comprising at least: 20cm, 30cm, 40cm, 50cm, 60 cm.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural view of a quick release frame structure for a human exoskeleton according to an embodiment of the invention;
FIG. 2 is an exploded view at one angle of a quick release frame configuration for a human exoskeleton according to an embodiment of the invention;
FIG. 3 is an exploded view of another perspective of a quick release frame configuration for a human exoskeleton according to an embodiment of the invention;
FIG. 4 is a cross-sectional view of a quick release frame configuration for a human exoskeleton according to an embodiment of the invention;
FIG. 5 is a schematic diagram of the structure of a human exoskeleton according to one embodiment of the invention;
FIG. 6 is an enlarged view of area A of FIG. 5;
figure 7 is a schematic structural diagram of a human exoskeleton according to another embodiment of the invention.
Reference numerals:
100: a framework quick-assembly-disassembly structure for the human exoskeleton;
1: a first connection block;
2: a second connecting block;
3: a locking assembly; 31: a limiting clamping groove; 32: a limit hook; 33: a locking post; 331: a limiting groove; 34: an elastic member; 35: a limiting member;
4: a guiding support column;
5: a guide groove;
6: mounting grooves; 61: a first opening; 62: a second opening; 63: a first mounting groove; 64: a second mounting groove;
1000: a human exoskeleton;
200: a lumbar exoskeleton assembly; 201: a waist-surrounding portion; 2011: a first circular ring; 202: a first connection portion;
300: a leg exoskeleton assembly; 301: a leg surrounding portion; 3011: a second circular ring; 3012: a third circular ring; 3013: a connecting plate; 302: a second connecting portion.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "length", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A quick skeleton release structure 100 for a human exoskeleton will now be described with reference to fig. 1-7, in accordance with an embodiment of the present invention.
As shown in fig. 1 to 7, the quick skeleton mounting/dismounting structure 100 for an exoskeleton of a human body includes: the connecting device comprises a first connecting block 1, a second connecting block 2 and a locking assembly 3.
Specifically, a guide support column 4 is formed on one of the first connecting block 1 and the second connecting block 2, a guide groove 5 matched with the guide support column 4 is formed on the other of the first connecting block 1 and the second connecting block 2, in one example, the guide support column 4 is formed on the first connecting block 1, and the guide groove 5 is formed on the second connecting block 2, in another example, the guide groove 5 is formed on the first connecting block 1, and the guide support column 4 is formed on the second connecting block 2. Further, through cooperating the support post 4 in the guide way 5, make first connecting block 1 and second connecting block 2 can cooperate more conveniently to link together, at first connecting block 1 and second connecting block 2 complex in-process, support post 4 can play the bearing effect, with support guide way 5, thereby can guarantee the joint strength of first connecting block 1 and second connecting block 2, support post 4 also can play the guide effect simultaneously, thereby can reduce the cooperation degree of difficulty of first connecting block 1 and second connecting block 2, improve complex precision, and then can improve cooperation efficiency and cooperation effect.
Specifically, the locking assembly 3 includes a limiting clamping groove 31 disposed on one of the first connecting block 1 and the second connecting block 2, and a limiting clamping hook 32 disposed on the other one of the first connecting block 1 and the second connecting block 2 and matched with the limiting clamping groove 31, in one example, the limiting clamping groove 31 is disposed on the first connecting block 1, and the limiting clamping hook 32 is disposed on the second connecting block 2. In another example, a limit hook 32 is arranged on the first connecting block 1, and a limit slot 31 is arranged on the second connecting block 2. For example, as shown in fig. 4, the limiting hook 32 and the limiting slot 31 can move in the left and right directions, so that the limiting hook 32 and the limiting slot 31 can be fastened or detached, and after the limiting hook 32 is fastened with the limiting slot 331, the first connecting block 1 and the second connecting block 2 can be connected together more firmly.
Further, at least one of the limiting hook 31 and the limiting hook 32 is adapted to be movable in a direction perpendicular to the direction in which the limiting hook 31 and the limiting hook 32 are engaged with each other, in some examples, the limiting hook 32 can move in the front-back direction as shown in fig. 4, while the limiting groove 331 can move toward the direction close to the limiting groove 331 without changing the position, so as to be engaged with the limiting groove 331. In other examples, the position-limiting groove 331 can move in the front-back direction as shown in fig. 4, and the position-limiting hook 32 can move toward the direction close to the position-limiting hook 32 through the position-limiting groove 331 without changing the position and can be engaged with the position-limiting hook 32. In some examples, the limiting hook 32 groove and the limiting clip can move in the front and back directions as shown in fig. 4, when the limiting hook 31 and the limiting hook 32 move in the directions close to each other, the limiting hook 31 and the limiting hook 32 can be buckled together after being close to each other, so that the first connecting block 1 and the second connecting block 2 can be firmly connected together, the difficulty of the matching connection point of the first connecting block 1 and the second connecting block 2 can be reduced, the matching connection step can be simplified, and the assembling efficiency of the first connecting block 1 and the second connecting block 2 can be improved. When spacing draw-in groove 31 and spacing pothook 32 move towards the direction of keeping away from each other to make the first connecting block 1 and the second connecting block 2 that link together to drop comparatively fast, and then can improve the split efficiency of first connecting block 1 and second connecting block 2.
Therefore, according to the framework quick-dismounting structure 100 provided by the embodiment of the invention, the guide support column 4 is formed on one of the first connecting block 1 and the second connecting block 2, and the guide groove 5 matched with the guide support column 4 is formed on the other one of the first connecting block 1 and the second connecting block 2, so that the first connecting block 1 and the second connecting block 2 can be conveniently matched and connected together, in the matching process, the guide support column 4 can also play a bearing role to support the guide groove 5, so that the connection strength of the first connecting block 1 and the second connecting block 2 can be ensured, and meanwhile, the guide support column 4 can play a guiding role, so that the matching difficulty of the first connecting block 1 and the second connecting block 2 can be reduced, and the matching efficiency can be improved.
In addition, locate one in first connecting block 1 and second connecting block 2 through spacing draw-in groove 31 on, spacing pothook 32 is located on another in first connecting block 1 and second connecting block 2, after spacing pothook 32 and spacing groove 331 lock, make first connecting block 1 and second connecting block 2 link together more firmly, can reduce the degree of difficulty of first connecting block 1 and 2 cooperation tie points of second connecting block simultaneously, also can simplify the step that the cooperation is connected, thereby can improve the efficiency that first connecting block 1 and 2 cooperation of second connecting block are connected. When spacing draw-in groove 31 and spacing pothook 32 separate for first connecting block 1 and second connecting block 2 that link together can drop comparatively fast, thereby can improve the split efficiency of first connecting block 1 and second connecting block 2.
In some embodiments of the present invention, a plurality of guide support columns 4 and a plurality of guide grooves 5 are provided, the plurality of guide support columns 4 and the plurality of guide grooves 5 are provided in a one-to-one correspondence manner, that is, a plurality of guide support columns 4 and a plurality of guide grooves 5 may be provided, and one guide support column 4 may be correspondingly matched with one guide groove 5, and in the process of matching and installing the guide support columns 4 with the guide grooves 5, the guide support columns 4 and the guide grooves 5 may be mutually limited, so that the first connection block 1 and the second connection block 2 may be well connected together, further, the plurality of guide support columns 4 and the plurality of guide grooves 5 may be mutually limited, so that the matching precision of the first connection block 1 and the second connection block 2 may be improved, and the difficulty of matching and installing may be reduced. It is to be understood that a plurality herein means two or more, and is not particularly limited,
further, the axes of the plurality of guide support columns 4 are all parallel to the direction in which the first connection block 1 and the second connection block 2 approach each other, for example, as shown in fig. 1, the first connection block 1 may be moved backward and the second connection block 2 may be moved forward, so that the first connection block 1 and the second connection block 2 may approach each other, and further, the guide support columns 4 may extend forward, so that the axes of the guide support columns may extend in the forward and backward directions, and accordingly, the guide grooves 5 may extend in the forward direction, and so that the axes thereof may be parallel to the axes of the guide support columns 4, so that, when the first connection block 1 and the second connection block 2 approach each other, the axes of the guide support columns may be parallel to the directions in which the guide support columns move and to the axes of the guide grooves 5, so that the guide support columns 4 may be more conveniently inserted into the guide grooves 5, and the axes of the guide support columns may be respectively adjacent to the first connection block 1 and the second connection block 2 The direction of activity and the axis of a plurality of guide way 5 are parallel for a plurality of guide support post 4 can play the guide effect when first connecting block 1 and the cooperation of second connecting block 2, make first connecting block 1 and the cooperation of second connecting block 2 along the fore-and-aft direction activity link together, thereby can improve the efficiency of assembly.
In some embodiments, an installation groove 6 is formed on one of the first and second connection blocks 1 and 2, and the installation groove 6 extends in a direction perpendicular to a direction in which the first and second connection blocks 1 and 2 approach each other, and in one example, the installation groove 6 may be formed on the first connection block 1. In another example, a mounting groove 6 may be formed on the second connection block 2. For example, as shown in fig. 2 and 4, the mounting groove 6 may extend in the left and right directions, and thus, the locking assembly 3 may be installed in the mounting groove 6 in a matching manner, so that the mounting groove 6 may protect the locking assembly 3 to work well, prevent other objects from damaging the locking assembly 3, and also prevent the locking assembly 3 from interfering with other structures.
Optionally, the locking assembly 3 further comprises: locking post 33 and elastic component 34, locking post 33 movably locates in mounting groove 6, and spacing draw-in groove 31 forms on locking post 33, and elastic component 34 establishes between locking post 33 and mounting groove 6, and elastic component 34 is suitable for making spacing draw-in groove 31 and spacing pothook 32 keep in the position of mutual lock.
That is, the locking post 33 can be fitted in the mounting groove 6, and the locking post 33 can be moved in the mounting groove 6 after being fitted in the mounting groove 6. Further, the limiting clamping groove 31 is arranged on the locking column 33, so that the limiting clamping groove 31 can move in the mounting groove 6, specifically, one end of the elastic piece 34 is connected with the locking column 33, the other end of the elastic piece 34 is connected with the mounting groove 6, when external force acts on the locking column 33 and moves towards the elastic piece 34, the limiting clamping groove 31 moves towards the elastic piece 34 along with the locking column 33, the elastic piece 34 is gradually compressed to store energy, and when the external force is removed, the elastic piece 34 releases the stored energy, so that the locking column 33 and the limiting clamping groove 31 arranged on the locking column 33 move towards the direction far away from the elastic piece 34.
In a specific example, a limit hook 32 is disposed on the second connecting block 2, a limit slot 31 is formed on a side surface of the locking column 33 facing the second connecting block 2, the locking column 33 is movably disposed in the mounting groove 6, and the elastic member 34 is disposed between the locking column 33 and the mounting groove 6, when an external force is applied to the first connecting block 1 and/or the second connecting block 2 to move the same in a direction of approaching each other, i.e., in a front and rear direction as shown in fig. 4, the limit hook 32 and the limit slot 31 also approach each other, when the limit hook 32 contacts and abuts against the limit slot 31, the limit hook 32 and the limit slot 31 are pressed against each other by the external force, since the limit hook 32 is fixed to the second connecting block 2, the limit slot 31 and the locking column 33 move in a direction of the elastic member 34, i.e., in a left and right direction as shown in fig. 4, and the elastic member 34 is compressed, the external force continuously acts on the first connecting block 1 and/or the second connecting block 2, so that the limiting hook 32 can continuously move towards the direction close to the locking column 33, the limit hook 32 no longer extrudes the limit slot 31, at this time, no external force is applied to make the locking column 33 compress the elastic element 34, the elastic element 34 can release energy to push the limit slot 31 to move towards the direction close to the limit hook 32, so that the limit hook 32 can be matched in the limit slot 31, it can be understood that the moving direction of the locking column 33 in the mounting groove 6 is vertical to the direction that the first connecting block 1 and the second connecting block 2 approach each other, under the elastic force recovery action of the elastic piece 34, the limit clamping groove 31 is abutted with the limit clamping hook 32 and mutually limited, so that the limit hooks 32 and the limit slots 31 can be kept in a mutually buckled state, and the first connecting block 1 and the second connecting block 2 can be firmly assembled together.
Wherein, act on first connecting block 1 and/or second connecting block 2 through the exogenic action for first connecting block 1 and second connecting block 2 can assemble together, thereby can reduce the assembly degree of difficulty of first connecting block 1 and second connecting block 2, improve assembly efficiency, and then make the structure that links to each other with first connecting block 1 can link to each other with the structure that second connecting block 2 links to each other together fast.
Optionally, there are two mounting grooves 6, two mounting grooves 6 are symmetrically disposed along the central axis of the framework quick-assembly-disassembly structure 100, two mounting grooves 6 are respectively provided with a first opening 61 and a second opening 62 far away from the central axis, and two locking columns 33 are respectively adapted to be placed into the corresponding mounting grooves 6 from the first opening 61 and the second opening 62.
In the specific example shown in fig. 2, the first mounting groove 63 and the second mounting groove 64 are respectively provided at the left and right sides of the frame quick release structure 100, and the first mounting groove 63 and the second mounting groove 64 are symmetrical with respect to the central axis of the frame quick release structure 100. Through being formed with first opening 61 in the left side of first mounting groove 63, be formed with second opening 62 on the right side of second mounting groove 64, make two locking post 33 can get into in first mounting groove 63 from first opening 61 respectively, get into in second mounting groove 64 from second opening 62, of course, it can be understood that, when locking post 33 in mounting groove 6 damaged, can take out the locking post 33 that damages from the opening part of mounting groove 6, with the new locking post 33 of replacement, thereby make quick dismouting structure 100 of skeleton resume use fast, also conveniently maintain the locking post 33 that damages simultaneously.
In one example, when the first connecting block 1 and the second connecting block 2 which are matched together need to be disassembled, the locking columns 33 in the first mounting groove 63 and the second mounting groove 64 can be simultaneously pressed to enable the two locking columns 33 to move towards the direction of approaching to each other and extrude the springs matched with the locking columns 33, as shown in fig. 4, wherein the limiting clamping grooves 31 formed on the locking columns 33 are separated from the limiting clamping hooks 32 in the moving process of the locking columns 33, and after the limiting clamping grooves 31 in the first mounting groove 63 and the second mounting groove 64 are separated from the limiting clamping hooks 32, the first connecting block 1 and the second connecting block 2 are not limited to each other, so that the first connecting block 1 and the second connecting block 2 are separated. The design can reduce the degree of difficulty of the first connecting block 1 of split and the second connecting block 2 to improve the efficiency of split, easy operation, the practicality is strong.
Further, the locking assembly 3 further includes a limiting member 35, a limiting groove 331 matching with the limiting member 35 is formed on the locking column 33, and two ends of the limiting member 35 are adapted to match with the limiting grooves 331 on the two locking columns 33 respectively, so as to limit the moving range of the two locking columns 33 in the corresponding mounting slot 6 and prevent the locking columns 33 from falling off from the mounting slot 6.
For example, as shown in fig. 4, the limiting groove 331 may be formed at one end of the locking post 33 far from the elastic member 34, and after the two locking posts 33 are respectively installed in the first installation groove 63 and the second installation groove 64, the two ends of the limiting member 35 may be respectively engaged with the limiting grooves 331 of the two locking posts 33, so that the limiting member 35 can limit the two locking posts 33. Specifically, after the two locking posts 33 are respectively fitted in the first mounting groove 63 and the second mounting groove 64, the locking post 33 in the first mounting groove 63 will move leftward under the action of the elastic restoring force of the elastic member 34 fitted therein, and the locking post 33 in the second mounting groove 64 will move rightward under the action of the elastic restoring force of the elastic member 34 fitted therein, when the two ends of the limiting member 35 are respectively fitted in the limiting grooves 331 of the two locking posts 33, the locking post 33 in the first mounting groove 63 can push the limiting member 35 to move leftward, and the locking post 33 in the second mounting groove 64 can push the limiting member 35 to move rightward, so that the two ends of the limiting member 35 receive a pair of acting forces with equal magnitude and opposite directions, so that the limiting member 35 can be more stably fitted between the two locking posts 33, and the limiting member 35 can simultaneously limit the two locking posts 33, preventing the locking post 33 from being disengaged from the mounting groove 6.
It can be understood that the limiting groove 331 can extend in the front-back direction to form the length of the limiting groove 331, and the depth of the limiting groove 331 can be designed according to the actual size of the locking post 33, without specific limitation, after the two ends of the limiting member 35 are respectively matched with the limiting grooves 331 of the two locking posts 33, the locking post 33 can move in the length direction of the limiting groove 331, and the moving size is the length of the limiting groove 331, therefore, after the limiting member 35 is matched with the limiting groove 331, the limiting member 35 can limit the moving range of the locking post 33 in the mounting groove 6, and the locking post 33 can be kept unchanged in position in the mounting groove 6, so that the first connecting block 1 and the second connecting block 2 can be assembled together more stably.
The present invention also provides a human exoskeleton 1000 having the quick skeleton detachment structure 100 of the above embodiment.
The human exoskeleton 1000 according to an embodiment of the present invention comprises: waist exoskeleton assembly 200, leg exoskeleton assembly 300, and skeletal quick-disconnect structure 100.
Specifically, lumbar exoskeleton assembly 200 is adapted to support a lumbar region of a human body, leg exoskeleton assembly 300 is adapted to support legs of the human body, and skeletal quick-release mechanism 100 is disposed between lumbar exoskeleton assembly 200 and leg exoskeleton assembly 300 to allow for quick release of lumbar exoskeleton assembly 200 and leg exoskeleton assembly 300.
That is, the lumbar exoskeleton assembly 200 can be fitted at a lumbar location of a human body to support a waist of the human body, and accordingly, the leg exoskeleton assembly 300 can be fitted at a leg location of the human body to support legs of the human body, thereby enabling the human body to walk well. Further, one end of the framework quick assembly disassembly structure 100 is connected with the waist exoskeleton assembly 200, and the other end of the framework quick assembly disassembly structure 100 is connected with the leg exoskeleton assembly 300, so that the first connecting block 1 and the second connecting block 2 can be cooperatively connected, and the waist exoskeleton assembly 200 and the leg exoskeleton assembly 300 can be quickly connected together, and the operation is simple, time-saving and labor-saving. Meanwhile, the waist exoskeleton assembly 200 and the leg exoskeleton assembly 300 which are connected together can be detached by pressing the locking columns 33 so as to replace new assemblies with other sizes or structures, so that the detachment efficiency is improved, the applicability of the human exoskeleton 1000 is also improved, and the assemblies with different structures or sizes can be assembled and disassembled quickly.
Therefore, according to the human exoskeleton 1000 of the embodiment of the present invention, the quick skeleton detachment structure 100 is disposed between the waist exoskeleton assembly 200 and the leg exoskeleton assembly 300, so that the waist exoskeleton assembly 200 and the leg exoskeleton assembly 300 can be connected together quickly, and the operation is simple, time-saving and labor-saving. Meanwhile, the waist exoskeleton assembly 200 and the leg exoskeleton assembly 300 which are connected together can be detached to replace new assemblies with other sizes or structures, so that the detachment efficiency is improved, and the applicability of the human exoskeleton 1000 is also improved.
Optionally, lumbar exoskeleton assembly 200 comprises: the waist surrounding portion 201 comprises a first circular ring 2011 with an opening at one side, so as to be suitable for being matched with the waist of a human body, for example, as shown in fig. 5, the projection of the waist surrounding portion 201 on the horizontal plane is approximately an elliptical ring, and the waist surrounding portion 201 can extend in the vertical direction, so that the contact area with the waist of the human body can be increased, and the waist can be better supported and protected. Further, an opening is formed in one side of the waist surrounding portion 201, so that the waist of the human body can enter the first circular ring 2011 through the opening, and the first circular ring 2011 can better support and protect the waist of the human body.
Further, the two first connecting portions 202 are respectively disposed at two sides of the waist surrounding portion 201 and extend towards the leg exoskeleton assembly 300, and the leg exoskeleton assembly 300 is adapted to be connected to the two first connecting portions 202, that is, the two first connecting portions 202 can be respectively disposed at two opposite sides of the waist surrounding portion 201, so that after the waist surrounding portion 201 is fitted over the waist of the human body, the two first connecting portions 202 can be respectively fitted over the left and right sides of the human body, thereby not affecting the normal walking of the human body.
In addition, by extending the first connecting portion 202 toward the leg exoskeleton assembly 300 and connecting it to the leg exoskeleton assembly 300, the waist exoskeleton assembly 200 can be better connected to the leg exoskeleton assembly 300, and particularly, the quick-release frame structure 100 can be provided between the first connecting portion 202 and the leg exoskeleton assembly 300, that is, one of the first connecting block 1 and the second connecting block 2 of the quick-release frame structure 100 is connected to the first connecting portion 202, and the other of the first connecting block 1 and the second connecting block 2 can be connected to the leg exoskeleton assembly 300, and is cooperatively connected to the second connecting portion 302 via the first connecting portion 202, so that the waist exoskeleton assembly 200 can be connected to the leg exoskeleton assembly 300, and a person can walk better.
Optionally, leg exoskeleton assembly 300 comprises: the leg-surrounding part 301 comprises a second ring 3011 with an opening on one side for matching with the leg of the human body, and a second connecting part 302, the second connecting part 302 is arranged on the leg-surrounding part 301 and extends towards the waist-surrounding part 201, and the second connecting block 2 is arranged at one end of the second connecting part 302 towards the waist-surrounding part 201.
For example, as shown in fig. 5, the projection of the leg surrounding part 301 in the horizontal plane is approximately circular, and the waist surrounding part 201 may extend in the vertical direction, so that it may increase the contact area with the legs of the human body, thereby better supporting and protecting the legs. In addition, an opening is formed in one side of the leg surrounding part 301, so that the legs of the human body can enter the second ring 3011 through the opening, and the second ring 3011 can better support and protect the legs of the human body. Further, after the second connecting portion 302 extends towards the waist surrounding portion 201, the second connecting portion 302 can be connected to the first connecting portion 202, specifically, the second connecting block 2 can be disposed at one end of the second connecting portion 302 facing the first connecting portion 202, and the first connecting block 1 can be disposed at one end of the first connecting block 1 facing the second connecting portion 302, so that the first connecting block 1 and the second connecting block 2 can be conveniently connected together, so that the first connecting portion 202 and the second connecting portion 302 can be connected in a matching manner, and the waist exoskeleton assembly 200 can be connected to the leg exoskeleton assembly 300, and a person can walk well.
Further, there are two leg exoskeleton assemblies 300, and the two leg exoskeleton assemblies 300 are respectively and correspondingly matched with the two first connecting portions 202, so that after the two leg exoskeleton assemblies 300 are respectively and correspondingly matched with the two first connecting portions 202, the two leg exoskeleton assemblies 300 can respectively support and protect two legs of a human body, thereby enabling a person to move better.
Optionally, the leg surrounding part 301 further comprises a third ring 3012 having an opening on one side, so that the leg of the human body can enter the third ring 3012 through the opening of the third ring 3012, so that the third ring 3012 can better support and protect the leg of the human body,
the second ring 3011 and the third ring 3012 are connected through a connecting plate 3013, the third ring 3012 is disposed at the lower end of the second ring 3011, and the diameter of the third ring 3012 is smaller than that of the second ring 3011, for example, as shown in fig. 7, one end of the connecting plate 3013 is connected to the second ring 3011, and the other end of the connecting plate 3013 is connected to the third ring 3012, so that the second ring 3011 and the third ring 3012 are matched with each other to protect the legs of a person. Further, the third ring 3012 may be disposed at the lower end of the second ring 3011, and the diameter of the third ring 3012 is smaller than the diameter of the second ring 3011, that is, the second ring 3011 and the third ring 3012 may be designed to fit the size of the leg of the human body, so that the leg of the human body may be better supported, specifically, the second ring 3011 may support the thigh, the third ring 3012 may support the calf, and the second ring 3011 and the third ring 3012 are mutually fitted, so that the leg exoskeleton assembly 300 may better support the leg of the human body.
In one example, the upper end of the connecting plate 3013 can be connected to the second connecting portion 302, and the connecting plate 3013 can be movable toward and away from the waist exoskeleton assembly 200, and when the connecting plate 3013 is movable toward the waist exoskeleton assembly 200, the third ring 3012 is close to the second ring 3011, and when the connecting plate 3013 is movable away from the waist exoskeleton assembly 200, the third ring 3012 is away from the second ring 3011, which can improve the flexibility of the leg exoskeleton assembly 300. It can be understood that the distance between the second ring 3011 and the third ring 3012 is increased to make the third ring 3012 opposite to the part with smaller leg circumference size, so that the part can be put into the third ring 3012 more easily, after the leg is put into the third ring 3012, the third ring 3012 is moved towards the direction close to the second ring 3011 by the connecting plate 3013 until the third ring 3012 can abut against the leg, so that the third ring 3012 can support the leg better.
In some embodiments of the present invention, the lumbar exoskeleton assembly 200 is adapted to be formed as a standard piece, in other words, the lumbar exoskeleton assembly 200 can be formed as a unified piece, whereby the lumbar exoskeleton assembly 200 can be mass produced, thereby improving the efficiency of production. Meanwhile, after the waist exoskeleton assembly 200 is a standard part, parts and structures matched with the waist exoskeleton assembly can be designed as the standard part, so that the production difficulty of parts is reduced, the production efficiency is improved, and the human exoskeleton 1000 is more popularized.
Further, the waist exoskeleton assembly 200 at least comprises the following components in the waist circumference size: 60cm, 70cm, 80cm, 90cm, 100cm, that is, the waist exoskeleton assembly 200 can be formed into standard pieces with different sizes to suit people with different waist circumferences, for example, the waist exoskeleton assembly 200 can be produced into standard pieces with waist circumferences of 60cm, 70cm, 80cm, 90cm, 100cm, 120cm, and it is understood that waist exoskeleton assemblies 200 with other sizes can be produced, which is not particularly limited and can meet the actual needs.
Further, leg exoskeleton assembly 300 corresponds to a human body having a thigh-leg girth dimension that includes at least: 20cm, 30cm, 40cm, 50cm, 60cm, that is, the leg exoskeleton assembly 300 can be formed into standard parts with different sizes to suit people with different leg circumferences, for example, the leg exoskeleton assembly 300 can be produced into standard parts suitable for leg circumferences of 20cm, 30cm, 40cm, 50cm, 60cm, 80cm, although it is understood that other sizes of leg exoskeleton assemblies 300 can be produced, and the production is not particularly limited and can meet the actual needs.
Optionally, after the waist exoskeleton assembly 200 and the leg exoskeleton assembly 300 are formed as standard parts, the quick skeleton dismounting structure 100 can also be formed as a standard part, so that the quick skeleton dismounting structure 100 can more quickly couple the waist exoskeleton assembly 200 and the leg exoskeleton assembly 300 together in a matching manner, and can also more simply dismount the waist exoskeleton assembly 200 from the leg exoskeleton assembly 300, thereby reducing difficulty in coupling and dismounting, improving efficiency of coupling and dismounting, and saving time and labor.
Other constructions and operations of the human exoskeleton 1000 according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A quick skeleton release structure for a human exoskeleton, comprising:
the connecting device comprises a first connecting block and a second connecting block, wherein a guide supporting column is formed on one of the first connecting block and the second connecting block, and a guide groove matched with the guide supporting column is formed on the other one of the first connecting block and the second connecting block;
the locking assembly is arranged between the first connecting block and the second connecting block and comprises a limiting clamping groove arranged on one of the first connecting block and the second connecting block and a limiting clamping hook arranged on the other one of the first connecting block and the second connecting block and matched with the limiting clamping groove, and at least one of the limiting clamping groove and the limiting clamping hook is suitable for being vertical to the limiting clamping groove and is movable in the direction of mutual buckling of the limiting clamping hooks.
2. The quick skeletal assembly/disassembly structure for human exoskeletons of claim 1, wherein the plurality of guide supporting columns and the plurality of guide grooves are provided, the plurality of guide supporting columns and the plurality of guide grooves are provided in one-to-one correspondence, and the axes of the plurality of guide supporting columns are parallel to the direction in which the first connecting blocks and the second connecting blocks approach each other.
3. The skeletal quick release structure for human exoskeletons of claim 1, wherein one of the first and second connecting blocks has a mounting groove formed thereon, the mounting groove extending in a direction perpendicular to a direction in which the first and second connecting blocks approach each other, the locking assembly further comprising:
the locking column is movably arranged in the mounting groove, and the limiting clamping groove is formed in the locking column;
the elastic piece is arranged between the locking column and the mounting groove and is suitable for enabling the limiting clamping groove and the limiting clamping hook to be kept at the mutually buckled positions.
4. The quick skeleton disassembly and assembly structure for human exoskeletons of claim 3, wherein there are two of the mounting slots, two of the mounting slots are symmetrically disposed along a central axis of the quick skeleton disassembly and assembly structure, two of the mounting slots are respectively provided with a first opening and a second opening far away from the central axis, and two of the locking posts are respectively adapted to be placed into the corresponding mounting slots from the first opening and the second opening.
5. The framework quick assembly disassembly structure for human exoskeleton of claim 4, wherein the locking assembly further comprises a limiting member, the locking posts are formed with limiting grooves engaged with the limiting member, and two ends of the limiting member are adapted to be engaged with the limiting grooves of the two locking posts respectively, so as to limit the range of motion of the two locking posts in the corresponding mounting grooves and prevent the locking posts from falling off from the mounting grooves.
6. A human exoskeleton, comprising:
a lumbar exoskeleton assembly adapted to support a lumbar portion of a human body;
a leg exoskeleton assembly adapted to support a leg of a human body;
a quick-disconnect frame structure comprising the quick-disconnect frame structure of any of claims 1-5, the quick-disconnect frame structure being disposed between the waist exoskeleton assembly and the leg exoskeleton assembly to allow quick disconnection of the waist exoskeleton assembly and the leg exoskeleton assembly.
7. The human exoskeleton of claim 6 wherein the lumbar exoskeleton assembly comprises:
a waist surrounding part including a first ring having an opening at one side thereof to be adapted to be fitted with a waist of a human body;
the two first connecting portions are respectively arranged at two sides of the waist surrounding portion and extend towards the leg exoskeleton assembly, and the leg exoskeleton assembly is suitable for being connected with the two first connecting portions.
8. The human exoskeleton of claim 7 wherein there are two leg exoskeleton assemblies and two of the leg exoskeleton assemblies are respectively coupled to the two first coupling portions, the leg exoskeleton assembly comprising:
a leg surrounding part including a second ring having an opening at one side thereof to be adapted to be fitted with a leg of a human body;
the second connecting portion, the second connecting portion are located on the shank encircleing portion, and the orientation waist encircleing portion extends, the second connecting block is located the second connecting portion orientation the one end of waist encircleing portion.
9. The human exoskeleton of claim 8 wherein the leg surrounds further comprise:
and a third ring with an opening is arranged on one side of the second ring, the second ring is connected with the third ring through a connecting plate, the third ring is arranged at the lower end of the second ring, and the diameter of the third ring is smaller than that of the second ring.
10. The human exoskeleton of any one of claims 6 to 9,
the waist exoskeleton assembly is suitable to be formed into a standard piece, and the corresponding human body waist size of the waist exoskeleton assembly at least comprises: 60cm, 70cm, 80cm, 90cm, 100 cm;
the leg exoskeleton assembly is adapted to be formed as a standard piece, and the leg exoskeleton assembly corresponds to a thigh-leg girth dimension of a human body and comprises at least: 20cm, 30cm, 40cm, 50cm, 60 cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010160879.1A CN111388268A (en) | 2020-03-10 | 2020-03-10 | Framework quick-dismounting structure for human exoskeleton and human exoskeleton with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010160879.1A CN111388268A (en) | 2020-03-10 | 2020-03-10 | Framework quick-dismounting structure for human exoskeleton and human exoskeleton with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111388268A true CN111388268A (en) | 2020-07-10 |
Family
ID=71410855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010160879.1A Pending CN111388268A (en) | 2020-03-10 | 2020-03-10 | Framework quick-dismounting structure for human exoskeleton and human exoskeleton with same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111388268A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103286790B (en) * | 2013-05-27 | 2015-03-25 | 北京航空航天大学 | Quick connecting device with changeable rigidity |
| CN207578397U (en) * | 2017-12-13 | 2018-07-06 | 深圳光启合众科技有限公司 | Bindiny mechanism, fixed frame, clamp structure and exoskeleton robot |
| CN106346448B (en) * | 2016-10-11 | 2019-05-03 | 重庆市牛迪科技发展有限公司 | A kind of auxiliary support apparatus |
| CN110025458A (en) * | 2019-04-23 | 2019-07-19 | 广西科技大学 | A kind of fast assembly and disassembly mechanism for healing robot ectoskeleton |
| CN209310503U (en) * | 2018-12-27 | 2019-08-27 | 四川目伦新材料科技有限公司 | A kind of hopper discharge nozzle of easy-to-mount graphitization production auxiliary materials |
| CN110653796A (en) * | 2019-09-11 | 2020-01-07 | 西北机电工程研究所 | Flexible exoskeleton power-assisted robot |
| CN110815191A (en) * | 2019-12-02 | 2020-02-21 | 迈宝智能科技(苏州)有限公司 | Wearable waist assistance exoskeleton |
-
2020
- 2020-03-10 CN CN202010160879.1A patent/CN111388268A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103286790B (en) * | 2013-05-27 | 2015-03-25 | 北京航空航天大学 | Quick connecting device with changeable rigidity |
| CN106346448B (en) * | 2016-10-11 | 2019-05-03 | 重庆市牛迪科技发展有限公司 | A kind of auxiliary support apparatus |
| CN207578397U (en) * | 2017-12-13 | 2018-07-06 | 深圳光启合众科技有限公司 | Bindiny mechanism, fixed frame, clamp structure and exoskeleton robot |
| CN209310503U (en) * | 2018-12-27 | 2019-08-27 | 四川目伦新材料科技有限公司 | A kind of hopper discharge nozzle of easy-to-mount graphitization production auxiliary materials |
| CN110025458A (en) * | 2019-04-23 | 2019-07-19 | 广西科技大学 | A kind of fast assembly and disassembly mechanism for healing robot ectoskeleton |
| CN110653796A (en) * | 2019-09-11 | 2020-01-07 | 西北机电工程研究所 | Flexible exoskeleton power-assisted robot |
| CN110815191A (en) * | 2019-12-02 | 2020-02-21 | 迈宝智能科技(苏州)有限公司 | Wearable waist assistance exoskeleton |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN214208846U (en) | Exoskeleton rehabilitation robot capable of being quickly disassembled and assembled | |
| CN111388268A (en) | Framework quick-dismounting structure for human exoskeleton and human exoskeleton with same | |
| CN218138043U (en) | Integrated load-bearing exoskeleton and waist exoskeleton | |
| CN209915431U (en) | Universal dismounting mechanism for drawer and slide rail | |
| CN205154681U (en) | Removable combination fan | |
| CN210493319U (en) | Integrated optimized connecting structure for furniture drawer and sliding rail | |
| CN218518523U (en) | Assembly fixture | |
| CN217607206U (en) | Power adjuster convenient to installation | |
| CN211001657U (en) | Quick detach formula limit case | |
| CN210440846U (en) | Front-back assembling and disassembling connecting device of LED display screen module | |
| CN213695895U (en) | Helmet lens mounting structure convenient to dismouting | |
| CN212242823U (en) | Caster wheel assembly, chassis component and dehumidifier | |
| CN215650040U (en) | Assembly structure of device holding device | |
| CN211312830U (en) | Aluminum alloy frame structure convenient to equipment | |
| CN218195173U (en) | Exoskeleton disassembly and assembly mechanism and exoskeleton system | |
| CN218739205U (en) | Quick-release tooth mold clamp | |
| CN220065199U (en) | Conductive foam convenient for fixed installation | |
| CN217041194U (en) | Disassembling connection switch of hula hoop | |
| CN201120098Y (en) | Dismountable front wheel fixing support | |
| CN213954913U (en) | Camera for artificial intelligence convenient to dismouting | |
| CN219235161U (en) | Assembling and disassembling jig for heat dissipation module of electric connection device | |
| CN214861153U (en) | Joint structure and toy doll | |
| CN215457005U (en) | Waist connector for model and model | |
| CN216030955U (en) | Non-obstacle type detachable shaver | |
| CN215309699U (en) | Neck massager |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200710 |
|
| RJ01 | Rejection of invention patent application after publication |