CN113199459A - Exoskeleton supporting structure and exoskeleton system with same - Google Patents
Exoskeleton supporting structure and exoskeleton system with same Download PDFInfo
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- CN113199459A CN113199459A CN202110551798.9A CN202110551798A CN113199459A CN 113199459 A CN113199459 A CN 113199459A CN 202110551798 A CN202110551798 A CN 202110551798A CN 113199459 A CN113199459 A CN 113199459A
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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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Abstract
The application discloses ectoskeleton supporting structure and have its ectoskeleton system, ectoskeleton supporting structure wherein includes: a support assembly; the first structural component is rotatably arranged on one end of the supporting component; the first structural component is used for fixing and supporting thighs of a user; the second structural assembly is rotatably arranged on the supporting assembly, and the second structural assembly and the first structural assembly are sequentially arranged; the second structural assembly is for securing and supporting the lower leg of the user. The technical scheme of this application, the structure is retrencied, under the condition that does not influence the user action, can be in when different positions of sitting the user to the user carry out the stable support.
Description
Technical Field
The application relates to the technical field of body assistive devices, in particular to an exoskeleton supporting structure and an exoskeleton system with the same.
Background
In the current production operation, a plurality of industrial staff need to work under the conditions of standing, bending down, bending knees and the like, the health problems of the waist, the back, the legs and the like are easily caused by long-time work, and the problems can be avoided to a certain extent through the exoskeleton seat.
Existing exoskeleton seats generally consist of a thigh component, a shank component and a support component, wherein the thigh component and the shank component are rotatably connected, and the support component is arranged between the thigh component and the shank component; when a certain angle is formed between the thigh component and the lower leg component, the thigh component, the lower leg component and the support component can form a triangular support structure, and a user can be supported through the support component.
Disclosure of Invention
The present application is directed to solving at least one of the problems in the prior art. Therefore, the exoskeleton supporting structure is simple in structure, and can stably support a user in different sitting postures under the condition that the action of the user is not influenced.
The application also provides an exoskeleton system with the exoskeleton support structure.
An exoskeleton support structure in accordance with an embodiment of a first aspect of the present application, comprising:
a support assembly;
the first structural assembly is rotatably arranged on one end of the supporting assembly; the first structural component is used for fixing and supporting thighs of a user;
the second structural assembly is rotatably arranged on the supporting assembly, and the second structural assembly and the first structural assembly are sequentially arranged; the second structural assembly is for securing and supporting the lower leg of the user.
The exoskeleton supporting structure according to the embodiment of the first aspect of the application has at least the following beneficial effects: compared with the technical scheme in the prior art, the exoskeleton supporting structure comprises a supporting component, a first structural component and a second structural component, wherein the first structural component and the second structural component are sequentially and rotatably arranged on the supporting component; when a user wears the exoskeleton supporting structure, a supporting structure similar to a parallelogram can be formed among thighs, shanks, the second structural component and the supporting component of the user, and four corners of the quadrilateral structure are respectively a contact point of knees of the user, the second structural component and the shanks of the user, a contact point of the second structural component and the supporting component, and a contact point of the first structural component and the supporting component; under the condition of ensuring that the user does not influence standing or walking, when the user is in a sitting posture state, the supporting component can be supported on the ground and provides stable support for the user; the exoskeleton supporting structure in the technical scheme is simple in structure, and can stably support a user when the user is in different sitting postures under the condition that the action of the user is not influenced.
According to some embodiments of the present application, the second structural assembly comprises a first support member and a second support member, one end of the first support member is rotatably connected to the support assembly, and the other end of the first support member is rotatably connected to the second support member; the second support member is configured to secure and support the lower leg of the user.
According to some embodiments of the present application, the first support is provided with a groove thereon; the first supporting piece can be sleeved on the supporting component through the groove.
According to some embodiments of the present application, the support assembly further comprises an anti-slip sleeve disposed on the other end of the support assembly, the anti-slip sleeve for contacting the ground; the side wall of the groove is provided with a notch, and when the first supporting piece is sleeved on the supporting component, the anti-skid sleeve is clamped on the notch.
According to some embodiments of the present application, the support assembly is telescopically arranged; when the supporting component stretches, the first structural component can be far away from or close to the second structural component.
According to some embodiments of the present application, the support assembly includes a third support, a fourth support, and a fixture, the third support and the fourth support being slidably connected, the fixture being disposed between the third support and the fourth support; the fixing piece is used for fixing the third supporting piece and the fourth supporting piece and adjusting the length of the supporting component; the first structural component is rotatably arranged at one end of the third supporting piece, and the second structural component is rotatably arranged on the fourth supporting piece.
According to some embodiments of the present application, the other end of the third supporting member is sleeved on one end of the fourth supporting member, the other end of the third supporting member is provided with a screw hole, and the fourth supporting member is provided with a sliding groove at a position corresponding to the screw hole; the fixing piece comprises a bolt, the bolt penetrates through the screw hole and is clamped in the sliding groove, and therefore the third supporting piece and the fourth supporting piece are fixed.
According to some embodiments of the present application, the first structural assembly includes a connecting member and a fifth supporting member, one end of the connecting member is rotatably disposed on one end of the third supporting member, the other end of the connecting member is fixedly connected with the fifth supporting member, and the fifth supporting member is used for fixing and supporting the user's thigh.
According to some embodiments of the present application, the fifth supporting member includes a main body portion and two bending portions, and the bending portions are symmetrically disposed on two sides of the main body portion.
An exoskeleton system according to an embodiment of a second aspect of the present application comprises an exoskeleton support structure according to any one of the embodiments described above.
In this embodiment, since the exoskeleton system is provided with the exoskeleton supporting structure in any one of the above embodiments, the exoskeleton system in this embodiment has the beneficial effects and functional characteristics brought by the exoskeleton supporting structure in any one of the above embodiments.
Additional aspects and advantages of the present application 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 present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
figure 1 is a schematic structural view of an exoskeleton support structure according to an embodiment of a first aspect of the present application;
figure 2 is a schematic structural view of an exoskeleton support structure in accordance with an embodiment of the first aspect of the present application from another perspective;
FIG. 3 is a side view of an exoskeleton support structure according to an embodiment of the first aspect of the application;
FIG. 4 is an exploded view of an exoskeleton support structure according to an embodiment of the first aspect of the application;
figure 5 is an exploded view of another perspective of an exoskeleton support structure according to an embodiment of the first aspect of the present application;
FIG. 6 is a schematic structural view of a first structural component of an exoskeleton support structure according to an embodiment of the first aspect of the present application;
figure 7 is a schematic structural view of a second structural component of the exoskeleton support structure according to an embodiment of the first aspect of the present application.
Reference numerals:
a support assembly 100; an anti-slip cover 110; a third support 120; a first screw hole 121; a fourth support 130; a chute 131; a fixing member 140; a knob 141; a bolt 142;
a first structural component 200; a connecting member 210; a fifth supporter 220; a body portion 221; a bent portion 222; a first pad 230;
a second structural component 300; a first support 310; a recess 311; a notch 312; a second support 320; the third connecting portion 321; a support portion 322; a second pad 330.
Detailed Description
Reference will now be made in detail to embodiments of the present application, 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 drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it is to be understood that the positional descriptions, such as the directions of up, down, front, rear, and the like, referred to as positional or positional relationships, are based on the directions or positional relationships shown in the drawings, and are only for convenience of describing the present application and simplifying the description, but 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 application.
In the description of the present application, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and larger, smaller, larger, etc. are understood as excluding the present number, and larger, smaller, inner, etc. are understood as including the present number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present application, unless otherwise expressly limited, terms such as set, mounted, connected and the like should be construed broadly, and those skilled in the art can reasonably determine the specific meaning of the terms in the present application by combining the detailed contents of the technical solutions.
Referring to fig. 1 to 7, an exoskeleton support structure according to an embodiment of a first aspect of the present application includes: a support assembly 100; a first structural component 200, wherein the first structural component 200 is rotatably arranged on one end of the support component 100; the first structural assembly 200 is for securing and supporting the thighs of the user; a second structural component 300, wherein the second structural component 300 is rotatably arranged on the supporting component 100, and the second structural component 300 and the first structural component 200 are arranged in sequence; the second structural assembly 300 is used to secure and support the lower leg of the user.
It is to be understood that the exoskeleton support structure comprises a support assembly 100, a first structural assembly 200 and a second structural assembly 300, wherein the first structural assembly 200 is pivotally mounted to one end of the support assembly 100, the second structural assembly 300 is pivotally mounted to the support assembly 100, and the second structural assembly 300 and the first structural assembly 200 are in turn mounted; when the user is wearing the exoskeleton support structure, the user's thighs are secured to the first structural assembly 200 and the user's calves are secured to the second structural assembly 300. It is understood that the support assembly 100 is a support rod-like structure or other shaped support structure.
It will be appreciated that when the exoskeleton support structure is worn by a user, the user's thighs, calves, second structural component 300 and support component 100 can form a support structure that approximates a parallelogram with four corners of the parallelogram being the contact points of the user's knees, second structural component and user's calves, the contact points of second structural component 300 and support component 100, and the contact points of first structural component 200 and support component 100, respectively; the support assembly 100 is always approximately parallel to the lower leg of the user, while the first support 310 is always approximately parallel to the upper leg of the user.
It will be appreciated that when the user is in a standing position, the first structural assembly 200, the second structural assembly 300 and the support assembly 100 are in a substantially vertical position so as not to interfere with the standing position of the user; when a user is in a sitting posture, the bending of the legs of the user can drive the first structural component 200 and the second structural component 300 to rotate, the support component 100 is in a nearly vertical state and is in contact with the ground, and the first structural component 200 and the second structural component 300 arranged on the support component 100 can always keep a supporting state for the user; when the user is in the walking state, the bent leg of the user can drive the first structural component 200 and the second structural component 300, an included angle can be formed between the second structural component 300 and the supporting component 100, and along with the difference of the bent degree of the leg of the user, the angle of the clamp is changed therewith, the leg of the user can be ensured not to contact with the supporting component, and the influence on the walking of the user is avoided.
Referring to fig. 4, 5 and 7, according to some embodiments of the present application, the second structural assembly 300 includes a first support 310 and a second support 320, one end of the first support 310 is rotatably connected to the support assembly 100, and the other end of the first support 310 is rotatably connected to the second support 320; the second supporter 320 serves to fix and support the user's lower leg.
It is understood that the second structural assembly 300 includes a first supporting member 310 and a second supporting member 320, one end of the first supporting member 310 is rotatably disposed on the supporting assembly 100, and the second supporting member 320 is rotatably disposed on the other end of the first supporting member 310; the second support 320 is capable of securing and supporting the user's lower leg while the user is wearing the exoskeleton support structure.
It is understood that the first support member 310 is a support rod structure; one end of the first supporting member 310 is provided with a first connecting portion, the first connecting portion is connected to the supporting member 100 in an inserting manner, and the first connecting portion and the supporting member 100 are fixed by a pin, so that the rotating connection between the first supporting member 310 and the supporting member 100 is realized.
It is understood that the second supporter 320 includes a third connecting portion 321 and a supporting portion 322 of an integral structure, and the supporting portion 322 is used for fixing and supporting the lower leg of the user; the other end of the first supporting member 310 is provided with a second connecting portion, the second connecting portion is inserted into the third connecting portion 321, and the second connecting portion and the third connecting portion 321 are fixed by a pin, so that the first supporting member 310 and the second supporting member 320 are rotatably connected.
It can be understood that the third connecting portion 321 is further provided with a strap slot, the strap slot is used for penetrating a strap, and the strap can be wound on the user's lower leg to fix and position the user's lower leg; the shape of the supporting portion 322 is adapted to the profile of the lower leg of the user, and the supporting portion 322 may be configured to be arc-shaped or have other different shapes, so that the comfort of the user can be enhanced when the lower leg of the user is fixed on the supporting portion 322.
It can be understood that the second pad 330 is further disposed on the supporting portion 322, and the comfort of the user can be further enhanced by the second pad 330.
Referring to fig. 5, according to some embodiments of the present application, a groove 311 is provided on the first support 310; the first support 310 can be sleeved on the support assembly 100 through the groove 311.
It is understood that the first support member 310 is a rod-shaped structure, and the groove 311 is disposed in the first support member 310.
It will be appreciated that when the user stands or walks, the lower leg portion of the user will rotate the first support member 310 and the second support member 320, wherein the first support member 310 will rotate towards the support assembly 100; through the groove 311, the first supporting member 310 can be sleeved on the supporting assembly 100, and the collision between the first supporting member 310 and the supporting assembly 100 can be avoided, so that the influence on the walking or standing of the user is prevented.
Referring to fig. 3 to 5, according to some embodiments of the present application, the support assembly 100 further includes a slip-preventing sleeve 110, the slip-preventing sleeve 110 being disposed on the other end of the support assembly 100, the slip-preventing sleeve 110 being for contact with the ground; the sidewall of the recess 311 is provided with a notch 312, and when the first supporting member 310 is sleeved on the supporting assembly 100, the anti-slip cover 110 is clamped on the notch 312.
It will be appreciated that exoskeleton support assembly 100 is in contact with the ground through support assembly 100 when the user is in a sitting position, thereby supporting the user; by providing the anti-slip cover 110 on the support assembly 100, the friction between the support assembly 100 and the ground can be increased, thereby enhancing the support stability of the support assembly 100.
It can be understood that the first support 310 can be sleeved on the support assembly 100 through the groove 311, and the anti-slip cover 110 can be clamped in the notch 312 on the side wall of the groove 311 by providing the notch 312 corresponding to the anti-slip cover 110 on the side wall of the groove 311 when the first support 310 is sleeved on the support assembly 100.
Referring to fig. 1-5, according to some embodiments of the present application, the support assembly 100 is telescopically arranged; the first structural member 200 can move away from or toward the second structural member 300 as the support member 100 is retracted.
It will be appreciated that the support assembly 100 is telescopically arranged to enable the first structural assembly 200 to move away from or towards the second structural assembly 300 when the support assembly 100 is telescoped; by arranging the support assembly 100 as a telescopic structure, the length of the support assembly 100 can be adjusted according to the length of the legs of the human body, so that the exoskeleton support structure can be suitable for users with different heights.
Referring to fig. 1 to 5, according to some embodiments of the present application, the support assembly 100 includes a third support 120, a fourth support 130, and a fixing member 140, the third support 120 and the fourth support 130 are slidably connected, and the fixing member 140 is disposed between the third support 120 and the fourth support 130; the fixing member 140 is used to fix the third supporting member 120 and the fourth supporting member 130 and adjust the length of the supporting assembly 100; the first structural element 200 is rotatably disposed on one end of the third supporting element 120, and the second structural element 300 is rotatably disposed on the fourth supporting element 130.
It is understood that the supporting assembly 100 includes a third supporting member 120, a fourth supporting member 130 and a fixing member 140, the third supporting member 120 and the fourth supporting member 130 are slidably connected, and the fixing member 140 is disposed between the third supporting member 120 and the fourth supporting member 130; the third support 120 and the fourth support 130 can be fixed by the fixing member 140 provided, and the length of the support assembly 100 can be adjusted.
It is understood that the first structural assembly 200 is rotatably disposed on one end of the third support 120, and the first support 310 of the second structural assembly 300 is rotatably disposed on the fourth support 130.
Referring to fig. 1 to 5, according to some embodiments of the present disclosure, the other end of the third supporting member 120 is sleeved on one end of the fourth supporting member 130, the other end of the third supporting member 120 is provided with a first screw hole 121, and the fourth supporting member 130 is provided with a sliding groove 131 at a position corresponding to the first screw hole 121; the fixing member 140 includes a bolt 142, and the bolt 142 is inserted into the first screw hole 121 and clamped in the sliding groove 131 to fix the third supporting member 120 and the fourth supporting member 130.
It can be understood that the third supporting member 120 and the fourth supporting member 130 are both supporting rod-shaped structures, the other end of the third supporting member 120 is provided with a first screw hole 121, the fourth supporting member 130 is provided with a sliding groove 131 at a position corresponding to the first screw hole 121, the other end of the third supporting member 120 is sleeved on one end of the fourth supporting member 130, the fixing member 140 includes a bolt 142, the bolt 142 is inserted into the first screw hole 121 of the third supporting member 120, and an end portion of the bolt 142 is clamped in the sliding groove 131 of the fourth supporting member 130, so as to fix the third supporting member 120 and the fourth supporting member 130.
It is understood that the fixing member 140 further includes a knob 141, the knob 141 is fixedly connected with the bolt, and the bolt 142 can be adjusted by the user through the knob 141, so as to loosen or fix the third supporter 120 and the fourth supporter 130; by relatively moving the third support 120 and the fourth support 130, length adjustment of the support assembly 100 can be achieved.
Referring to fig. 1 to 6, according to some embodiments of the present application, the first structural assembly 200 includes a connecting member 210 and a fifth supporting member 220, one end of the connecting member 210 is rotatably disposed on one end of the third supporting member 120, the other end of the connecting member 210 is fixedly connected to the fifth supporting member 220, and the fifth supporting member 220 is used for supporting the thigh of the user.
It is understood that the first structural assembly 200 includes a connecting member 210 and a fifth supporting member 220, one end of the connecting member 210 is rotatably disposed on one end of the third supporting member 120, and the connecting member 210 and the third supporting member 120 are connected by a pin, so that the first structural assembly is rotatably disposed on one end of the third supporting member 120; the other end of the connecting piece 210 and the fifth supporting piece 220 are correspondingly provided with a plurality of second screw holes, and the connecting piece 210 and the fifth supporting piece 220 are fixedly connected through screws; the first structural assembly 200 supports the user's thighs via the fifth support 220.
Referring to fig. 4 to 6, according to some embodiments of the present application, the fifth supporting member 220 includes a main body portion 221 and two bending portions 222, and the bending portions 222 are symmetrically disposed at two sides of the main body portion 221.
It can be understood that the fifth supporting member 220 includes a main body portion 221 and two bending portions 222, and the fifth supporting member 220 is bent to conform to the ergonomic design, so that when the thigh of the user is fixed on the fifth supporting member 220, the wearing comfort of the user can be enhanced; it can be understood that the fifth supporter 220 is provided with a strap slot for passing a strap therethrough, and the user's thigh can be fixed to the fifth supporter 220 by winding the strap around the user's thigh.
It can be understood that the body part 221 of the fifth supporter 220 is provided with the first pad 230, and the comfort of the user can be further enhanced by the first pad 230.
An exoskeleton system according to an embodiment of a second aspect of the present application comprises an exoskeleton support structure according to any one of the embodiments described above.
It will be appreciated that the exoskeleton system includes first and second exoskeleton support structures for supporting the legs of the user on either side of the user, respectively.
In this embodiment, since the exoskeleton system is provided with the exoskeleton supporting structure in any one of the above embodiments, the exoskeleton system in this embodiment has the beneficial effects and functional characteristics brought by the exoskeleton supporting structure in any one of the above embodiments.
The exoskeleton support structure according to the embodiment of the first aspect of the present application is described in detail in a specific embodiment with reference to fig. 1 to 7.
An exoskeleton support structure comprising:
the supporting assembly 100 comprises a third supporting member 120, a fourth supporting member 130, a fixing member 140 and an anti-slip sleeve 110, wherein the other end of the third supporting member 120 is sleeved on one end of the fourth supporting member 130, the other end of the third supporting member 120 is provided with a first screw hole 121, and the fourth supporting member 130 is provided with a sliding groove 131 at a position corresponding to the first screw hole 121; the fixing member 140 includes a bolt 142, the bolt 142 is inserted into the first screw hole 121 and clamped in the sliding groove 131 to fix the third supporting member 120 and the fourth supporting member 130; the anti-slip sleeve 110 is sleeved on the other end of the fourth supporting member 130, and the anti-slip sleeve 110 is used for contacting with the ground so as to increase the friction force between the supporting assembly 100 and the ground;
a first structural assembly 200 including a connecting member 210 and a fifth supporting member 220, wherein one end of the connecting member 210 is rotatably disposed on one end of the third supporting member 120, the other end of the connecting member 210 is fixedly connected with the fifth supporting member 220, and the fifth supporting member 220 is used for fixing and supporting the thigh of the user; the fifth supporting member 220 includes a main body 221 and two bending portions 222, the bending portions 222 are symmetrically disposed on two sides of the main body 221, and the main body 221 is further provided with a first pad 230;
the second structural assembly 300 includes a first supporter 310 and a second supporter 320, wherein one end of the first supporter 310 is rotatably connected to the fourth supporter 130, the other end of the first supporter 310 is rotatably connected to the second supporter 320, the second supporter 320 is used for fixing and supporting the lower leg of the user, and a second pad 330 is further disposed on the second supporter 320.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "specifically," or "some examples" or the like are intended to 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 application. 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 present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and alterations to these embodiments may be made without departing from the principles and spirit of this application, and are intended to be included within the scope of this application.
Claims (10)
1. An exoskeleton support structure comprising:
a support assembly;
the first structural assembly is rotatably arranged on one end of the supporting assembly; the first structural component is used for fixing and supporting thighs of a user;
the second structural assembly is rotatably arranged on the supporting assembly, and the second structural assembly and the first structural assembly are sequentially arranged; the second structural assembly is for securing and supporting the lower leg of the user.
2. The exoskeleton support structure of claim 1, wherein: the second structure assembly comprises a first supporting piece and a second supporting piece, one end of the first supporting piece is rotatably connected with the supporting assembly, and the other end of the first supporting piece is rotatably connected with the second supporting piece; the second support member is configured to secure and support the lower leg of the user.
3. The exoskeleton support structure of claim 2, wherein: the first supporting piece is provided with a groove; the first supporting piece can be sleeved on the supporting component through the groove.
4. The exoskeleton support structure of claim 3, wherein: the support assembly further comprises an anti-slip sleeve, the anti-slip sleeve is arranged at the other end of the support assembly, and the anti-slip sleeve is used for contacting with the ground; the side wall of the groove is provided with a notch, and when the first supporting piece is sleeved on the supporting component, the anti-skid sleeve is clamped on the notch.
5. The exoskeleton support structure of claim 1, wherein: the supporting component is arranged in a telescopic manner; when the supporting component stretches, the first structural component can be far away from or close to the second structural component.
6. The exoskeleton support structure of claim 5, wherein: the supporting assembly comprises a third supporting piece, a fourth supporting piece and a fixing piece, the third supporting piece and the fourth supporting piece are connected in a sliding mode, and the fixing piece is arranged between the third supporting piece and the fourth supporting piece; the fixing piece is used for fixing the third supporting piece and the fourth supporting piece and adjusting the length of the supporting component; the first structural component is rotatably arranged at one end of the third supporting piece, and the second structural component is rotatably arranged on the fourth supporting piece.
7. The exoskeleton support structure of claim 6, wherein: the other end of the third supporting piece is sleeved on one end of the fourth supporting piece, a screw hole is formed in the other end of the third supporting piece, and a sliding groove is formed in the fourth supporting piece at a position corresponding to the screw hole; the fixing piece comprises a bolt, the bolt penetrates through the screw hole and is clamped in the sliding groove, and therefore the third supporting piece and the fourth supporting piece are fixed.
8. The exoskeleton support structure of claim 6 or 7, wherein: the first structure component comprises a connecting piece and a fifth supporting piece, one end of the connecting piece is rotatably arranged at one end of the third supporting piece, the other end of the connecting piece is fixedly connected with the fifth supporting piece, and the fifth supporting piece is used for fixing and supporting thighs of a user.
9. The exoskeleton support structure of claim 8, wherein: the fifth supporting piece comprises a main body part and two bending parts, and the bending parts are symmetrically arranged on two sides of the main body part.
10. An exoskeleton system, comprising: the exoskeleton support structure of any one of claims 1 to 9.
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| CN109304706A (en) * | 2018-12-05 | 2019-02-05 | 大连交通大学 | Flexible lower limb exoskeleton with support performance of squatting |
| CN211461084U (en) * | 2019-11-20 | 2020-09-11 | 张洁 | Walking stick for orthopedic nursing |
| CN211584119U (en) * | 2020-01-20 | 2020-09-29 | 深圳市丞辉威世智能科技有限公司 | Lower limb exoskeleton robot and leg length adjusting mechanism thereof |
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Application publication date: 20210803 Assignee: Dongguan Jiuzhou Zhimei Technology Co.,Ltd. Assignor: DONGGUAN SANHANG CIVIL-MILITARY INTEGRATION INNOVATION Research Institute Contract record no.: X2023980035259 Denomination of invention: Exoskeleton support structure and exoskeleton system with it Granted publication date: 20220715 License type: Common License Record date: 20230506 |
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