CN114571439A - Compact type joint braking lower limb assistance exoskeleton device - Google Patents
Compact type joint braking lower limb assistance exoskeleton device Download PDFInfo
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- CN114571439A CN114571439A CN202210254813.8A CN202210254813A CN114571439A CN 114571439 A CN114571439 A CN 114571439A CN 202210254813 A CN202210254813 A CN 202210254813A CN 114571439 A CN114571439 A CN 114571439A
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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
Abstract
The invention belongs to the technical field of exoskeleton power assisting devices, and particularly relates to a compact joint braking lower limb power assisting exoskeleton device which comprises a waist component, a hip joint component, a thigh component, a knee joint component, a shank component and a foot component which are sequentially connected from top to bottom, wherein the knee joint component comprises a knee rack, a knee jaw clutch, a knee movable part and a knee driving mechanism, the knee rack is used for being connected with the thigh component, the knee movable part is used for being connected with the shank component, the knee jaw clutch is used for being connected with the knee rack and the knee movable part, and the knee driving mechanism is used for driving the knee movable part to rotate. Compared with the traditional lower limb assistance exoskeleton, the exoskeleton has the function of keeping the posture of any knee bending degree.
Description
Technical Field
The invention belongs to the technical field of exoskeleton power assisting devices, and particularly relates to a compact type joint braking lower limb power assisting exoskeleton device.
Background
The lower limb assistance exoskeleton is suitable for being used by workers in occasions of repeated operation, carrying and the like, and the anthropomorphic structure and the hard material of the exoskeleton can ensure that the skeleton is attached to a human body to realize flexible actions, improve the working complex capacity of the wearer and protect the safety of the wearer. However, the existing lower limb assistance exoskeleton is not suitable for long-term knee bending occasions, and muscle tension of workers is easy to cause work-related muscle diseases due to long-term knee bending.
Aiming at the posture maintaining requirement of the exoskeleton under the knee bending operation, the invention provides a compact type joint braking lower limb assistance exoskeleton device, which realizes the posture maintaining of the human knee bending at any degree through braking the lower limb assistance exoskeleton joint and expands the application scene of the lower limb assistance exoskeleton.
Disclosure of Invention
In order to make up for the defects of the prior art, the invention provides a technical scheme of a compact type joint braking lower limb assistance exoskeleton device.
A compact type joint braking lower limb assistance exoskeleton device comprises a waist component, a hip joint component, a thigh component, a knee joint component, a shank component and a foot component which are sequentially connected from top to bottom, wherein the knee joint component comprises a knee rack, a knee jaw clutch, a knee movable part and a knee driving mechanism, the knee rack is used for being connected with the thigh component, the knee movable part is used for being connected with the shank component, the knee jaw clutch is used for connecting the knee rack and the knee movable part, and the knee driving mechanism is used for driving the knee movable part to rotate;
when the knee jaw clutch is in a separated state, the knee movable component can rotate relative to the knee frame;
when the knee dog clutch is in the engaged state, the knee moving part is in a braking state with respect to the knee frame.
Further, the knee joint assembly further comprises a knee transmission shaft, the knee driving mechanism is arranged on the knee rack and is in transmission fit with the knee movable part through the knee transmission shaft, and the knee jaw clutch is rotatably sleeved on the knee transmission shaft.
The hip joint assembly comprises a hip frame, a hip movable part, a hip jaw clutch and a hip driving mechanism, wherein the hip frame is used for being connected with the waist assembly, the hip movable part is used for being connected with the thigh assembly, the hip jaw clutch is used for being connected with the hip frame and the hip movable part, and the hip driving mechanism is used for driving the hip movable part to rotate;
when the hip jaw clutch is in a separation state, the hip movable part can rotate relative to the hip frame;
when the hip jaw clutch is in the joint state, the hip movable part is in a braking state relative to the hip frame.
Furthermore, the hip joint assembly also comprises a hip drive shaft, the hip drive mechanism is arranged on the hip frame and is in transmission fit with the hip movable part through the hip drive shaft, and the hip jaw clutch is rotatably sleeved on the hip drive shaft.
Furthermore, joint braking low limbs helping hand ectoskeleton device still includes knee joint auxiliary assembly, knee joint auxiliary assembly is used for joint braking low limbs helping hand ectoskeleton device moves to standing position from the gesture of bending the knee and provides the helping hand, and it includes guiding axle, spring, sharp slider and push rod, one of them fixed guiding axle that sets up of thigh subassembly and shank subassembly, the other rotates and sets up the push rod, sliding connection sharp slider on the guiding axle, the push rod rotates with sharp slider and is connected, the spring is used for acting on sharp slider and/or push rod, helping hand sharp slider and/or push rod reset.
Furthermore, the guide shaft is arranged on the thigh component, the push rod is rotatably arranged on the shank component, one end of the spring is connected with the linear sliding block, and the other end of the spring is connected with the thigh component.
Further, the waist assembly comprises a side waist part, a back part, a hip rod end joint bearing and a thigh abduction limit stop, wherein the back part is used for supporting heavy objects carried on the back of the wearer, one end of the hip rod end joint bearing is used for being rotatably connected with the side waist part, the other end of the hip rod end joint bearing is used for being connected with the hip joint assembly, and the thigh abduction limit stop is used for limiting the rotating angle of the hip rod end joint bearing.
Further, the thigh subassembly includes thigh connecting piece A, thigh skeleton and thigh binding piece, thigh connecting piece A is used for being connected with the hip joint subassembly, the thigh skeleton is used for being connected with the knee joint subassembly, thigh connecting piece A and the flexible cooperation of thigh skeleton and through fastener locking length, the thigh is bound the piece and is set up on the thigh skeleton for bind human thigh.
Furthermore, the shank component comprises a shank skeleton A and a shank skeleton B, the shank skeleton A is used for being connected with the knee joint component, the shank skeleton B is used for being connected with the foot component, and the shank skeleton A and the shank skeleton B are in telescopic fit and are locked in length through fasteners.
Furthermore, the foot component comprises a foot rod end joint bearing, a foot base and a sole component, one end of the foot rod end joint bearing is used for being connected with the shank component, the other end of the foot rod end joint bearing is used for being rotatably connected with the foot base, and the sole component is fixedly connected with the foot base and used for binding a sole of a human body.
Compared with the prior art, the technical scheme of the invention has the following advantages:
compared with the traditional lower limb assistance exoskeleton, the exoskeleton has the function of keeping the posture of any knee bending degree; the abduction and external rotation freedom degrees of the hip joint are realized through one ball pin pair, the rotation centers are overlapped, and compared with the traditional connection of two independent rotation pairs, the hip joint has smaller motion error; according to the invention, dorsiflexion and eversion motions of the ankle joint are realized through one ball pin pair, the rotation centers are overlapped, and compared with the traditional connection of two independent rotation pairs, the ankle joint has smaller motion error; the thigh component and the shank component of the invention can be adjusted in length, and the invention has the advantage of low cost by adopting more section bars.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a second schematic structural diagram of the present invention;
FIG. 3 is a third schematic view of the present invention;
FIG. 4 is an exploded view of the lumbar assembly of the present invention;
FIG. 5 is an exploded view of the hip joint assembly of the present invention, without the hip drive mechanism;
FIG. 6 is a schematic view of the hip joint assembly of the present invention, showing the hip drive mechanism;
FIG. 7 is an exploded view of the thigh assembly of the present invention;
FIG. 8 is a schematic view of a thigh assembly of the present invention;
FIG. 9 is an exploded view of the knee joint assembly of the present invention, with the knee drive mechanism not shown;
FIG. 10 is a schematic view of a knee joint assembly of the present invention, showing the knee drive mechanism;
FIG. 11 is an exploded view of the lower leg assembly of the present invention;
FIG. 12 is a schematic view of a lower leg assembly of the present invention;
FIG. 13 is an exploded view of the foot component of the present invention;
FIG. 14 is a schematic view of a foot component of the present invention;
FIG. 15 is an exploded view of the knee assist assembly of the present invention;
FIG. 16 is a schematic view of a knee joint assist assembly of the present invention.
In the figure, 1-waist component, 2-hip joint component, 3-knee joint auxiliary component, 4-thigh component, 5-knee joint component, 6-calf component, 7-foot component, 11-back component, 12-side waist component, 13-waist optical axis fixing seat, 14-waist supporting shaft, 15-waist rod end joint bearing, 16, shaft check ring, 17-thigh abduction limit stop, 21-hip connecting piece, 22-hip frame B, 23-hip transmission shaft, 24-hip movable component, 25-hip jaw clutch, 26-hip frame A, 31-guide shaft fixing seat, 32-guide shaft, 33-spring, 34-slide block limit stop, 35-linear slide block, 36-slide block base, 36-knee joint auxiliary component, 37-push rod, 38-push rod fixing frame, 41-thigh connecting piece A, 42-thigh framework, 43-thigh connecting piece B, 44-thigh binding piece, 51-knee framework B, 52-knee framework A, 53-knee transmission shaft, 54-knee jaw clutch, 55-knee movable part, 61-shank connecting piece, 62-shank framework A, 63, shank framework B, 71-foot rod end joint bearing, 72-foot supporting shaft, 73-foot base and 74-foot bottom part.
Detailed Description
In the description of the present invention, it is to be understood that the terms "one end", "the other end", "outside", "upper", "inside", "horizontal", "coaxial", "central", "end", "length", "outer end", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
The invention will be further explained with reference to the drawings.
Referring to fig. 1-16, a compact type joint braking lower limb assistance exoskeleton device comprises a waist component 1, wherein the lower ends of two sides of the waist component 1 are respectively connected with two hip joint components 2, the lower end of each hip joint component 2 is connected with a thigh component 4, the lower end of each thigh component 4 is connected with a knee joint component 5, the lower end of each knee joint component 5 is connected with a shank component 6, and the lower end of each shank component 6 is connected with a foot component 7.
With continued reference to fig. 4, the lumbar assembly 1 includes a back part 11, a side lumbar part 12, two lumbar optical axis holders 13, a lumbar support shaft 14, hip rod end joint bearings 15, axial retaining rings 16 and thigh abduction limit stoppers 17, the back part 11 is mounted at the rear part of the side lumbar part 12 for supporting a heavy object carried on the back of the wearer, the two lumbar optical axis holders 13 are respectively disposed at the left and right sides of the side lumbar part 12, each set of lumbar optical axis holder 13 is provided with a lumbar support shaft 14, the lumbar support shaft 14 is rotatably connected with the hip rod end joint bearings 15, the lumbar support shaft 14 is further provided with corresponding axial retaining rings 16, the hip rod end joint bearings 15 are axially positioned and mounted on the lumbar support shaft 14 through the axial retaining rings 16, thereby realizing abduction/adduction and supination/pronation of hip joints, the two thigh abduction limit stoppers 17 are respectively disposed at the left and right sides of the side lumbar part 12, the position is slightly lower than waist optical axis fixing base 13, thigh abduction limit stop 17 is a U-shaped structure, and forms a limit space with the surface of side waist part 12, hip rod end joint bearing 15 is located this limit space, and limit hip rod end joint bearing 15's turned angle through thigh abduction limit stop 17 to protection wearer's safety.
Wherein, one end of the hip rod end joint bearing 15 is used for being rotatably connected with the side waist part 12, and the other end is used for being connected with the hip joint component 2.
With continued reference to figures 5 and 6, hip joint assembly 2 includes a hip frame for coupling to waist assembly 1, a hip movable member 24 for coupling to thigh assembly 4, a hip dog clutch 25 for coupling to hip frame and hip movable member 24, and a hip drive mechanism for driving rotation of hip movable member 24.
Specifically, the hip joint assembly 2 further includes a hip transmission shaft 23, the hip frame includes a hip frame a26, a hip connector 21 and a hip frame B22, which are fixedly connected in sequence, the hip connector 21 is connected with the hip rod end joint bearing 15 of the waist assembly 1, the hip driving mechanism is preferably a speed reduction motor, which is fixedly connected to the outer side of the hip frame B22, an output shaft thereof is connected with the hip transmission shaft 23, the hip movable part 24 and the hip jaw clutch 25 are located between the hip frame a26 and the hip frame B22, one end of the hip jaw clutch 25 is fixedly connected with the hip frame a26, the other end is fixedly connected with the hip movable part 24, the hip transmission shaft 23 is connected with the hip movable part 24 through a key, and the hip jaw clutch 25 is rotatably sleeved on the hip transmission shaft 23.
Wherein, the inside of the hip frame B22 is further provided with a protruding limit bar for mechanical limit of hip joint extension/flexion, that is, limit the rotation range of the hip movable component 24, and when the hip movable component 24 rotates to the limit position, the hip movable component 24 is limited by the limit bar to protect the safety of the wearer.
When the hip joint needs to extend/bend to rotate, the two ends of the hip jaw clutch 25 are controlled to be separated, and the hip movable part 24 can freely rotate relative to the hip frame. When the hip joint needs brake holding, the two ends of the hip jaw clutch 25 are controlled to be jointed, and the hip movable part 24 is connected with the hip frame A26 through the hip jaw clutch 25, so that the brake holding is realized.
With continued reference to fig. 7 and 8, the thigh assembly 4 includes a thigh link a41, a thigh frame 42, and a thigh binding 44, the thigh link a41 for coupling with the hip joint assembly 2, the thigh frame 42 for coupling with the knee joint assembly 5, the thigh link a41 for telescoping engagement with the thigh frame 42 and locking in length by a fastener, and the thigh binding 44 disposed on the thigh frame 42 for binding a human thigh.
Specifically, thigh subassembly 4 still includes thigh connecting piece B43, thigh skeleton 42 is hollow rectangle aluminium, thigh skeleton 42 upper end links to each other through the split pin with thigh connecting piece A41, thigh skeleton 42 lower extreme links to each other through the bolt with thigh connecting piece B43, thigh skeleton 42 inboard links to each other through the split pin with thigh binding piece 44, thigh connecting piece A41 and the flexible grafting cooperation of thigh skeleton 42, both all open corresponding pinhole, the connection length accessible adjustment split pin of both is adjusted with being connected of the mounting hole of different heights.
With continued reference to fig. 9 and 10, the knee joint assembly 5 includes a knee frame for coupling with the upper leg assembly 4, a knee dog clutch 54 for coupling with the lower leg assembly 6, a knee moving part 55, and a knee driving mechanism for driving the knee moving part 55 to rotate, the knee dog clutch 54 for coupling with the knee moving part 55.
Specifically, the knee joint assembly 5 further comprises a knee transmission shaft 53, the knee frame comprises a knee frame A52 and a knee frame B51 which are fixedly connected, the knee driving mechanism is preferably a speed reduction motor and is fixedly connected to the outer side of the knee frame B51, an output shaft of the speed reduction motor is connected with the knee transmission shaft 53, the knee transmission shaft 53 is in key connection with a knee movable part 55, a knee jaw clutch 54 is rotatably sleeved on the knee transmission shaft 53, the knee jaw clutch 54 and the knee movable part 55 are positioned on the inner side of the knee frame A52, and one end of the knee jaw clutch 54 is fixedly connected with the knee frame A52.
When the knee joint needs to be bent, the two ends of the knee jaw clutch 54 are controlled to be separated, and the knee movable part 55 can freely rotate relative to the knee frame. When the knee joint needs to be braked and held, the two ends of the knee jaw clutch 54 are controlled to be jointed, and the knee movable part 55 is connected with the knee frame A52 through the knee jaw clutch 54 to realize braking.
Continuing to refer to fig. 11 and 12, the lower leg assembly 6 comprises a lower leg connecting piece 61, a lower leg skeleton a62 and a lower leg skeleton B63, the lower leg skeleton a62 is used for being connected with the knee joint assembly 5, the lower leg skeleton B63 is used for being connected with the foot assembly 7, the lower leg skeleton a62 and the lower leg skeleton B63 are hollow steel tubes, the lower leg skeleton a62 and the lower leg skeleton B63 are telescopically inserted into each other, pin holes are formed in the lower leg skeleton a62 and the lower leg skeleton B63, the lower leg skeleton a62 and the lower leg skeleton B63 are connected by inserting split pins into the pin holes, and the connection length of the lower leg skeleton a62 and the lower leg skeleton B63 is adjusted by adjusting the connection of the split pins and the pin holes with different heights. The inner wall of the lower end of the shank skeleton B63 is provided with internal threads, the upper end of the shank connecting piece 61 is provided with external threads which are in threaded connection with the knee movable part 55 of the knee joint component 5, and the lower end of the shank connecting piece is inserted into the shank skeleton A62 and is fixed by welding.
With continued reference to fig. 13 and 14, the foot assembly 7 includes a foot rod end joint bearing 71, a foot support shaft 72, a foot base 73 and a sole part 74, the foot support shaft 73 is mounted on the foot base 73, one end of the foot rod end joint bearing 71 is connected to the lower leg assembly 6, the other end is connected to the foot support shaft 72 for rotation, so as to realize dorsiflexion/plantarflexion and eversion/inversion movements of the foot of the wearer, the foot base 73 is mounted on the sole part 74, and the sole part 74 is used for binding the sole of the human foot.
With continued reference to fig. 15 and 16, the joint braking lower limb assisting exoskeleton device further comprises a knee joint assisting assembly 3, the knee joint assisting assembly 3 is used for assisting the joint braking lower limb assisting exoskeleton device to move from a knee bending posture to a standing posture, and comprises a guide shaft 32, a spring 33, a linear slider 35 and a push rod 37, the guide shaft 32 is fixedly arranged on a thigh framework 42, the push rod 37 is rotatably arranged on a shank framework a62, the linear slider 35 is slidably connected on the guide shaft 32, the push rod 37 is rotatably connected with the linear slider 35, the spring 33 is used for acting on the linear slider 35 and/or the push rod 37, and the assisting linear slider 35 and/or the push rod 37 are reset.
Specifically, knee joint auxiliary component 3 still includes guiding axle fixing base 31, slider limit stop 34, slider base 36 and push rod mount 38, guiding axle fixing base 31 and slider limit stop 34 are installed at thigh skeleton 42 dorsal part, push rod mount 38 is installed on shank skeleton A62, guiding axle 32 is installed on two guiding axle fixing bases 31, sharp slider 35 and guiding axle 32 sliding connection, spring 33 overlaps on guiding axle 32, its one end is connected with sharp slider 35, the other end is connected with guiding axle fixing base 31, slider base 36 is installed on sharp slider 35, push rod 37 upper end is connected in slider base 36 rotation, the lower extreme rotates with push rod mount 38 and is connected.
Referring to fig. 3, 15 and 16, when the exoskeleton bends the knee joint, the push rod 37 pushes the slider base 36 and the linear slider 35 to move upwards, so that the spring 33 is compressed, and when the linear slider 35 contacts the slider limit stop 34, the knee joint is at the knee bending limit, so that the spring 33 is prevented from being excessively compressed and damaged, and when the exoskeleton moves from the knee bending posture to the standing posture, the linear slider 35 has a downward force on the push rod 37 by the elastic force of the spring 33, so that the linear knee joint assists in assisting the power.
In other embodiments, the installation positions of the push rod 37 and the guide shaft 32 can be interchanged, and other structures can be adaptively adjusted to realize the assistance of the return after knee bending.
In the above configuration, the waist unit 1 and the hip unit 2 are screwed to the hip link 21 via the hip rod end joint bearing 15, the thigh unit 4 and the hip unit 2 are screwed to the hip movable member 24 via the thigh link a41, the knee unit 5 and the thigh unit 4 are screwed to the thigh link B43 via the frame B51, the calf unit 6 and the knee unit 5 are screwed to the knee movable member 55 via the calf link 61, and the foot unit 7 and the calf unit 6 are screwed to the calf skeleton B63 via the rod end joint bearing 71.
After a human body wears the exoskeleton, stretching/bending, abduction/adduction, external/internal rotation of hip joints, stretching/bending of knee joints and dorsiflexion/plantar flexion and eversion/inversion motions of ankle joints can be realized, wherein the stretching/bending motions of the hip joints and the knee joints can realize active boosting effect through a hip driving mechanism, and when knee flexion operation is required, joint brake keeping can be realized through the hip joint assembly 2 and the knee joint assembly 5.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The compact type joint braking lower limb assistance exoskeleton device comprises a waist component (1), a hip joint component (2), a thigh component (4), a knee joint component (5), a shank component (6) and a foot component (7) which are sequentially connected from top to bottom, and is characterized in that the knee joint component (5) comprises a knee rack, a knee jaw clutch (54), a knee movable part (55) and a knee driving mechanism, the knee rack is used for being connected with the thigh component (4), the knee movable part (55) is used for being connected with the shank component (6), the knee jaw clutch (54) is used for being connected with the knee rack and the knee movable part (55), and the knee driving mechanism is used for driving the knee movable part (55) to rotate;
when the knee jaw clutch (54) is in a separated state, the knee movable component (55) can rotate relative to the knee frame;
when the knee dog clutch (54) is in the engaged state, the knee movable member (55) is in a braking state with respect to the knee frame.
2. The compact articulating brake lower extremity assist exoskeleton device as claimed in claim 1, wherein said knee joint assembly (5) further comprises a knee drive shaft (53), said knee drive mechanism is disposed on the knee frame and is in driving engagement with the knee moving part (55) through the knee drive shaft (53), and the knee dog clutch (54) is rotatably sleeved on the knee drive shaft (53).
3. The compact articulating brake lower extremity assist exoskeleton device as claimed in claim 1, wherein said hip joint assembly (2) comprises a hip frame configured to couple with a waist assembly (1), a hip movable member (24), a hip dog clutch (25) and a hip drive mechanism, said hip movable member (24) configured to couple with a thigh assembly (4), said hip dog clutch (25) configured to couple with the hip frame and the hip movable member (24), said hip drive mechanism configured to drive the hip movable member (24) to rotate;
when the hip jaw clutch (25) is in a separated state, the hip movable part (24) can rotate relative to the hip frame;
when the hip jaw clutch (25) is in the engaged state, the hip movable part (24) is in a braking state relative to the hip frame.
4. The compact articulated braking lower extremity assistance exoskeleton device according to claim 3, wherein the hip joint assembly (2) further comprises a hip transmission shaft (23), the hip driving mechanism is disposed on the hip frame and is in transmission fit with the hip movable part (24) through the hip transmission shaft (23), and the hip jaw clutch (25) is rotatably sleeved on the hip transmission shaft (23).
5. The compact joint braking lower extremity assisting exoskeleton device according to any one of claims 1 to 4, further comprising a knee joint assist assembly (3), wherein the knee joint assist assembly (3) is used for assisting the joint braking lower extremity assisting exoskeleton device in moving from a knee bending posture to a standing posture, and comprises a guide shaft (32), a spring (33), a linear slider (35) and a push rod (37), one of the thigh assembly (4) and the shank assembly (6) is fixedly provided with the guide shaft (32), the other one of the thigh assembly and the shank assembly is rotatably provided with the push rod (37), the guide shaft (32) is slidably connected with the linear slider (35), the push rod (37) is rotatably connected with the linear slider (35), and the spring (33) is used for acting on the linear slider (35) and/or the push rod (37), the boosting linear sliding block (35) and/or the push rod (37) are/is reset.
6. The compact articulated braking lower extremity assist exoskeleton device as claimed in claim 5, wherein the guiding shaft (32) is arranged on the thigh assembly (4), the push rod (37) is rotatably arranged on the shank assembly (6), and the spring (33) is connected with the linear slider (35) at one end and the thigh assembly (4) at the other end.
7. The compact articulated braking lower extremity assisted exoskeleton device as claimed in any one of claims 1 to 4, wherein the lumbar assembly (1) comprises a side lumbar part (12), a back part (11), a hip rod end joint bearing (15) and a thigh abduction limit stop (17), the back part (11) is used to support a heavy object carried on the back of the wearer, the hip rod end joint bearing (15) is used to be rotatably connected with the side lumbar part (12) at one end and connected with the hip joint assembly (2) at the other end, and the thigh abduction limit stop (17) is used to limit the rotation angle of the hip rod end joint bearing (15).
8. A compact joint-braking lower extremity assisting exoskeleton device according to any one of claims 1 to 4, wherein the thigh assembly (4) comprises a thigh link A (41), a thigh frame (42) and a thigh binding (44), the thigh link A (41) is configured to be connected to the hip joint assembly (2), the thigh frame (42) is configured to be connected to the knee joint assembly (5), the thigh link A (41) is telescopically engaged with the thigh frame (42) and locked in length by a fastener, and the thigh binding (44) is arranged on the thigh frame (42) for binding a human thigh.
9. The compact articulated braking lower extremity assist exoskeleton device as claimed in any one of claims 1 to 4 wherein the lower leg assembly (6) comprises a lower leg skeleton A (62) and a lower leg skeleton B (63), the lower leg skeleton A (62) is used for connecting with the knee joint assembly (5), the lower leg skeleton B (63) is used for connecting with the foot assembly (7), and the lower leg skeleton A (62) and the lower leg skeleton B (63) are telescopically engaged and locked in length by fasteners.
10. The compact joint brake lower limb assistance exoskeleton device as claimed in any one of claims 1 to 4, wherein the foot component (7) comprises a foot rod end joint bearing (71), a foot base (73) and a sole part (74), the foot rod end joint bearing (71) is used for connecting with the lower leg component (6) at one end and rotatably connecting with the foot base (73) at the other end, and the sole part (74) is fixedly connected with the foot base (73) and used for binding a sole of a human foot.
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| CN202210254813.8A CN114571439A (en) | 2022-03-15 | 2022-03-15 | Compact type joint braking lower limb assistance exoskeleton device |
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| CN202210254813.8A CN114571439A (en) | 2022-03-15 | 2022-03-15 | Compact type joint braking lower limb assistance exoskeleton device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115847381A (en) * | 2023-02-16 | 2023-03-28 | 哈尔滨工业大学 | Configuration-changeable parallel lower limb wearing power assisting device |
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| CN115847381B (en) * | 2023-02-16 | 2023-07-14 | 哈尔滨工业大学 | Parallel lower limb wearing booster device with changeable configuration |
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