CN117464650A - Unpowered human lower limb assistance exoskeleton equipment - Google Patents

Unpowered human lower limb assistance exoskeleton equipment Download PDF

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Publication number
CN117464650A
CN117464650A CN202311673724.8A CN202311673724A CN117464650A CN 117464650 A CN117464650 A CN 117464650A CN 202311673724 A CN202311673724 A CN 202311673724A CN 117464650 A CN117464650 A CN 117464650A
Authority
CN
China
Prior art keywords
adjusting plate
rotating arm
adjusting
plate
unpowered
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
Application number
CN202311673724.8A
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Chinese (zh)
Inventor
沈家栋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tongji Zhejiang College
Original Assignee
Tongji Zhejiang College
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Tongji Zhejiang College filed Critical Tongji Zhejiang College
Priority to CN202311673724.8A priority Critical patent/CN117464650A/en
Publication of CN117464650A publication Critical patent/CN117464650A/en
Pending legal-status Critical Current

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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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • 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
    • A61H2201/165—Wearable interfaces
    • 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
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pain & Pain Management (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention relates to the technical field of human body assistance, in particular to unpowered human body lower limb assistance exoskeleton equipment, which comprises a back support, a fixing belt and an auxiliary assembly, wherein the back support is arranged on the back support; the auxiliary assembly comprises a first rotating arm, a first adjusting plate, a second rotating arm, a second adjusting plate, a bottom plate, a first adjusting member and a second adjusting member, wherein the first rotating arm is rotationally connected with the back support, the first adjusting plate is in sliding connection with the first rotating arm, the second rotating arm is rotationally connected with the first adjusting plate, the second adjusting plate is in sliding connection with the second rotating arm, the bottom plate is rotationally connected with the second adjusting plate, the first adjusting plate is driven to move through the first adjusting member, the first adjusting plate is further led to extend out of or retract into the first rotating arm, the second adjusting plate is driven to move through the second adjusting member, and the second adjusting plate is led to extend out of or retract into the second rotating arm, so that the adjustment is conveniently carried out according to the leg conditions of users, and the purposes of different users are conveniently achieved.

Description

Unpowered human lower limb assistance exoskeleton equipment
Technical Field
The invention relates to the technical field of human body assistance, in particular to unpowered human body lower limb assistance exoskeleton equipment.
Background
Most of the development of the existing lower limb exoskeleton boosting devices is active exoskeleton, and the heavy power assisting devices can achieve the aim of boosting various actions, but have the unavoidable defects of heavy structure, extremely complex control and sensing, poor cruising ability, high cost and the like.
The prior art CN112168627A discloses a human lower limb exoskeleton assisting device, which comprises a back support, the back support is arranged on the back of a user and detachably connected with the back of the user and used for supporting the back of the user; the thigh guard plate is arranged on the outer side of the thigh of the user and detachably connected with the thigh of the user, and the thigh guard plate is rotatably connected with the back support; the shank guard board is arranged on the outer side of the shank of the user and detachably connected with the shank of the user, and the shank guard board is rotationally connected with the thigh guard board; the foot bottom plate is arranged at the bottom of the foot of a user, is rotationally connected with the shank guard plate and is used for supporting the foot; the two sides of the lower leg guard plate are respectively and elastically connected with the two sides of the thigh guard plate through first elastic pieces, and the first elastic pieces are detachably connected with the lower leg guard plate and the thigh guard plate; according to the embodiment of the invention, a user can adjust the binding force according to personal requirements, the first elastic piece can be replaced, the compatibility with human body movement is good, and the free movement capability is improved.
The device can assist walking, but the lengths of the left thigh guard plate, the right thigh guard plate and the left calf guard plate cannot be adjusted, so that the device is inconvenient for different users to use.
Disclosure of Invention
The invention aims to provide unpowered human lower limb power assisting exoskeleton equipment, which solves the problems that the lengths of left and right thigh guard plates and left and right calf guard plates of the existing human lower limb power assisting device cannot be adjusted, and are inconvenient for different users to use.
In order to achieve the above purpose, the invention provides unpowered human lower limb assistance exoskeleton equipment, which comprises a back support, a fixing belt and an auxiliary assembly, wherein the fixing belt is arranged on the back support; the auxiliary assembly comprises a first rotating arm, a first adjusting plate, a second rotating arm, a second adjusting plate, a bottom plate, a first adjusting member and a second adjusting member, wherein the first rotating arm is rotationally connected with the back support and arranged on the back support, the first adjusting plate is in sliding connection with the first rotating arm and arranged on the first rotating arm, the second rotating arm is rotationally connected with the first adjusting plate and positioned on one side of the first adjusting plate, the second adjusting plate is in sliding connection with the second rotating arm and arranged on the second rotating arm, the bottom plate is rotationally connected with the second adjusting plate and arranged on the second adjusting plate, the first adjusting member is arranged on the first rotating arm and drives the first adjusting plate to move, and the second adjusting member is arranged on the second rotating arm and drives the second adjusting plate to move.
The first adjusting member comprises a first threaded rod and a knob, wherein the first threaded rod is rotationally connected with the first rotating arm, is in threaded connection with the first adjusting plate and is arranged on the first rotating arm; the knob is fixedly connected with the first threaded rod and is positioned at one end of the first threaded rod.
The second adjusting member comprises a rack and a gear, and the gear is rotationally connected with the second rotating arm and is arranged on the second rotating arm; the rack is fixedly connected with the second adjusting plate, meshed with the gear and positioned on one side, close to the gear, of the second adjusting plate.
The second adjusting component further comprises a worm and a worm wheel, wherein the worm wheel is fixedly connected with the gear and is positioned at one side of the gear; the worm is rotatably connected with the second rotating arm, meshed with the worm wheel and arranged on the second rotating arm.
Wherein, the auxiliary assembly also comprises an elastic component, the elastic component comprises a first connecting seat, a second connecting seat, a tension spring and a moving part, and the moving part is arranged on the first adjusting plate; the first connecting seat is connected with the first adjusting plate through the moving part; the second connecting seat is fixedly connected with the second rotating arm and is arranged on the second rotating arm; one end of the tension spring is connected with the first connecting seat, the other end of the tension spring is connected with the second connecting seat, and the tension spring is arranged on the first connecting seat.
The movable part comprises a second threaded rod and a threaded seat, and the second threaded rod is rotatably connected with the first adjusting plate and is arranged on the first adjusting plate; the thread seat is in threaded connection with the second threaded rod, is fixedly connected with the first connecting seat, and is sleeved on the second threaded rod.
The thread seat is provided with a movable protrusion, and the movable protrusion is arranged on the thread seat and is positioned at one side of the thread seat, which is close to the first adjusting plate; the first adjusting plate is provided with a moving groove, the moving groove is arranged on the first adjusting plate and is positioned on one side, close to the moving protrusion, of the first adjusting plate, and the moving groove is matched with the moving protrusion.
According to the unpowered human lower limb assistance exoskeleton device, the first adjusting plate is driven to move through the first adjusting member, so that the first adjusting plate extends out of or is retracted into the first rotating arm, the integral lengths of the first rotating arm and the first adjusting plate are adjusted, thighs with different lengths are conveniently adapted, the second adjusting plate is driven to move through the second adjusting member, so that the second adjusting plate can extend out of or retract into the second rotating arm, the integral lengths of the second rotating arm and the second adjusting plate are adjusted, the integral lengths of the first rotating arm and the second adjusting plate are conveniently adapted to different calf lengths, and the purpose of being convenient for different users to use is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
Fig. 1 is a schematic view showing the overall structure of an unpowered human lower limb assistance exoskeleton device according to a first embodiment of the present invention.
Fig. 2 is a schematic structural view of a first regulating member of a first embodiment of the present invention.
Fig. 3 is a schematic view of the installation structure of the worm wheel of the first embodiment of the present invention.
Fig. 4 is a schematic view of the mounting structure of the gear of the first embodiment of the present invention.
Fig. 5 is a schematic structural view of an elastic member according to a second embodiment of the present invention.
Fig. 6 is a schematic view of a moving protrusion according to a second embodiment of the present invention.
Fig. 7 is a schematic view of a mounting structure of a thigh fixing strap according to a third embodiment of the invention.
In the figure: 101-back rest, 102-fixing strap, 103-auxiliary assembly, 104-first rotating arm, 105-first adjusting plate, 106-second rotating arm, 107-second adjusting plate, 108-bottom plate, 109-first adjusting member, 110-second adjusting member, 111-first torsion spring, 112-second torsion spring, 113-first threaded rod, 114-knob, 115-rack, 116-gear, 117-worm wheel, 118-worm, 201-elastic member, 202-first connecting seat, 203-second connecting seat, 204-tension spring, 205-moving part, 206-second threaded rod, 207-threaded seat, 208-moving protrusion, 209-moving groove, 301-thigh fixing strap, 302-calf fixing strap.
Detailed Description
The following detailed description of embodiments of the invention, examples of which are illustrated in the accompanying drawings and, by way of example, are intended to be illustrative, and not to be construed as limiting, of the invention.
First embodiment:
referring to fig. 1 to 4, fig. 1 is a schematic overall structure of an unpowered human lower limb assistance exoskeleton device, fig. 2 is a schematic structure of a first adjusting member, fig. 3 is a schematic installation structure of a worm gear, and fig. 4 is a schematic installation structure of a gear.
The invention provides unpowered human lower limb assistance exoskeleton equipment, which comprises a back support 101, a fixing belt 102 and an auxiliary assembly 103, wherein the auxiliary assembly 103 comprises a first rotating arm 104, a first adjusting plate 105, a second rotating arm 106, a second adjusting plate 107, a bottom plate 108, a first adjusting member 109, a second adjusting member 110, a first torsion spring 111 and a second torsion spring 112, the first adjusting member 109 comprises a first threaded rod 113 and a knob 114, the second adjusting member 110 comprises a rack 115, a gear 116, a worm 118 and a worm wheel 117, the first adjusting plate 105 is driven to move through the first adjusting member 109, the second adjusting plate 107 is adjusted to move through the second adjusting member 110, so that the first rotating arm 104 and the first adjusting plate 105 can adapt to thighs with different lengths, the second adjusting arm 106 and the second adjusting plate 107 can use the thighs with different lengths, thereby different users can use the same conveniently, it can be understood that the scheme can also be used for the purposes of adjusting the elastic tension springs 204 when the human lower limb assistance exoskeleton equipment is not used by different users.
For this embodiment, the fixed band 102 is installed on the back support 101, be provided with the radian on the back support 101, the convenience is laminated with user's back, the fixed band 102 has elasticity, the one end of fixed band 102 with back support 101 fixed connection, the other end of fixed band 102 is through the magic subsides with back support 101 detachable connection, so the convenience of use wears back support 101.
The first rotating arm 104 is rotatably connected with the back support 101 and is disposed on the back support 101, the first adjusting plate 105 is slidably connected with the first rotating arm 104 and is disposed on the first rotating arm 104, the second rotating arm 106 is rotatably connected with the first adjusting plate 105 and is disposed on one side of the first adjusting plate 105, the second adjusting plate 107 is slidably connected with the second rotating arm 106 and is disposed on the second rotating arm 106, the bottom plate 108 is rotatably connected with the second adjusting plate 107 and is disposed on the second adjusting plate 107, the first adjusting member 109 is disposed on the first rotating arm 104 and drives the first adjusting plate 105 to move, and the second adjusting member 110 is disposed on the second rotating arm 106 and drives the second adjusting plate 107 to move.
Secondly, one end of the first torsion spring 111 is connected with the first adjusting plate 105, the other end of the first torsion spring 111 is connected with the second rotating arm 106, and the first torsion spring 111 is arranged on the first adjusting plate 105; one end of the second torsion spring 112 is connected with the second adjusting plate 107, the other end of the second torsion spring 112 is connected with the bottom plate 108, and the second torsion spring 112 is disposed on the second adjusting plate 107.
The auxiliary assembly 103 is provided with two auxiliary assemblies, and is respectively located at the left side and the right side of the back support 101, the bottom plate 108 is used for supporting the feet of a user, when the user uses, the thighs are connected with the first rotating arm 104, the lower legs are connected with the second rotating arm 106, when the user walks and bends the knees, the first adjusting plate 105 and the second rotating arm 106 rotate, and then the first torsion spring 111 is compressed, so that the first torsion spring 111 stores elastic potential energy, when the user advances, the first torsion spring 111 releases the elastic potential energy, and then the assistance walking is performed, the elasticity of the second torsion spring 112 can also assist the walking of the user, and the second torsion spring 112 can also protect the ankles of the user, the first adjusting plate 105 is driven to move through the first adjusting member 109, the first adjusting plate 105 stretches out or is retracted into the first rotating arm 104, the first adjusting plate 104 and the second adjusting plate 105 is adjusted to the length of the first adjusting plate 105, the second torsion spring 111 is driven to stretch out of the second adjusting plate 107, and the second adjusting plate 107 is driven to move through the second adjusting plate 107, and the second adjusting plate 107 is convenient to stretch out of the second adjusting plate 107, and the whole adjusting plate is convenient to achieve.
Meanwhile, the first threaded rod 113 is rotatably connected with the first rotating arm 104, is in threaded connection with the first adjusting plate 105, and is disposed on the first rotating arm 104; the knob 114 is fixedly connected with the first threaded rod 113, and is located at one end of the first threaded rod 113, the first threaded rod 113 is conveniently rotated by the knob 114, the first adjusting plate 105 is driven to move by rotating the first threaded rod 113, and then the first adjusting plate 105 can extend out of or be retracted into the first rotating arm 104, so that the integral length of the first rotating arm 104 and the first adjusting plate 105 is adjusted, and the purpose of adapting to thighs with different lengths is achieved.
In addition, the gear 116 is rotatably connected to the second rotating arm 106 and is disposed on the second rotating arm 106; the rack 115 is fixedly connected with the second adjusting plate 107, is meshed with the gear 116, and is located at one side of the second adjusting plate 107 near the gear 116.
Finally, the worm wheel 117 is fixedly connected with the gear 116 and is positioned at one side of the gear 116; the worm 118 is rotatably connected to the second rotating arm 106, is meshed with the worm wheel 117, and is provided on the second rotating arm 106.
The worm 118 is rotated to drive the worm wheel 117 to rotate, so that the worm wheel 117 drives the gear 116 to rotate, and the gear 116 is meshed with the rack 115, so that the gear 116 drives the rack 115 to move, and then the rack 115 drives the second adjusting plate 107 to move, so that the second adjusting plate 107 can stretch out of or retract into the second rotating arm 106, the purpose of adjusting the whole length of the second rotating arm 106 and the second adjusting plate 107 is achieved, the purpose of adapting to the shanks with different lengths is achieved, meanwhile, the worm wheel 117 cannot drive the worm 118 to rotate due to the self-locking property between the worm wheel 117 and the worm 118, and further the gear 116 cannot rotate, and therefore the rack 115 and the second adjusting plate 107 are locked, and the second adjusting plate 107 is prevented from moving in the using process, and the using of the device is affected.
When the unpowered human lower limb assistance exoskeleton device of the embodiment is used, the knob 114 is rotated to drive the first threaded rod 113 to rotate, so that the first threaded rod 113 drives the first adjusting plate 105 to move, the integral lengths of the first rotating arm 104 and the first adjusting plate 105 are adjusted to adapt to thighs with different lengths, the worm 118 is rotated to drive the worm wheel 117 to rotate, so that the worm wheel 117 drives the gear 116 to rotate, the gear 116 drives the rack 115 to move, and then the rack 115 drives the second adjusting plate 107 to move, and therefore the integral lengths of the second rotating arm 106 and the second adjusting plate 107 are adjusted to adapt to the thighs with different lengths, and the purpose of using users with different leg lengths is achieved.
Second embodiment:
referring to fig. 5 and 6, fig. 5 is a schematic structural view of the elastic member of the second embodiment, fig. 6 is a schematic structural view of the moving protrusion of the second embodiment, the auxiliary assembly 103 of the present embodiment further includes an elastic member 201, the elastic member 201 includes a first connection seat 202, a second connection seat 203, a tension spring 204, and a moving part 205, the moving part 205 includes a second threaded rod 206 and a threaded seat 207, the threaded seat 207 has a moving protrusion 208, and the first adjusting plate 105 has a moving groove 209.
For the present embodiment, the moving member 205 is disposed on the first adjustment plate 105; the first connecting seat 202 is connected with the first adjusting plate 105 through the moving part 205; the second connecting seat 203 is fixedly connected with the second rotating arm 106 and is arranged on the second rotating arm 106; one end of the tension spring 204 is connected with the first connecting seat 202, the other end of the tension spring 204 is connected with the second connecting seat 203, the tension spring 204 is arranged on the first connecting seat 202, the tension spring 204 has elasticity and can stretch and retract, when a user bends knees, the second adjusting plate 107 and the second rotating arm 106 rotate, the tension spring 204 is stretched, when the user advances, the tension spring 204 can reset, the user is assisted to walk, the first connecting seat 202 is driven to move by the moving part 205, and the stretching amount of the tension spring 204 is adjusted.
Wherein the second threaded rod 206 is rotatably connected with the first adjusting plate 105 and is arranged on the first adjusting plate 105; the thread seat 207 with second threaded rod 206 threaded connection, and with first connecting seat 202 fixed connection, and the cover is established on the second threaded rod 206, through the rotation second threaded rod 206 drive thread seat 207 removes, makes thread seat 207 drives first connecting seat 202 removes, and then stretches extension spring 204, thereby adjusts the constraint power of extension spring 204, realizes conveniently adjusting the pulling force of extension spring 204, does not need to change different tensile extension springs 204 when adjusting the pulling force, realizes the purpose of facilitating the use.
Next, the moving protrusion 208 is disposed on the screw seat 207, and is located at a side of the screw seat 207 near the first adjustment plate 105; the first adjusting plate 105 is provided with a moving groove 209, the moving groove 209 is formed in the first adjusting plate 105 and is located on one side, close to the moving protrusion 208, of the first adjusting plate 105, the moving groove 209 is matched with the moving protrusion 208, the moving protrusion 208 is limited by the moving groove 209, and then the thread seat 207 is limited, so that the thread seat 207 can only move along the direction of the moving groove 209, and the stability of the thread seat 207 and the first connecting seat 202 during movement is improved.
Third embodiment:
on the basis of the first embodiment, referring to fig. 7, fig. 7 is a schematic view showing the installation structure of the thigh strap of the second embodiment, and the auxiliary assembly 103 further includes a thigh strap 301 and a shank strap 302.
For the present embodiment, the thigh fixing strap 301 is connected with the first rotating arm 104 and is located at one side of the first rotating arm 104; the shank fixing strap 302 is connected to the second rotating arm 106 and is located at one side of the second rotating arm 106, the thigh fixing strap 301 and the shank fixing strap 302 are made of elastic straps, and have elasticity, one end of the thigh fixing strap 301 is fixedly connected with the first rotating arm 104, the other end of the thigh fixing strap is detachably connected with the first rotating arm 104 through a magic tape, so that the first rotating arm 104 is conveniently fixed on the thigh of a user, the shank fixing strap 302 is installed on the second rotating arm 106 in the same manner, and the purpose of conveniently connecting the first rotating arm 104, the second rotating arm 106 with the thigh and the shank of the user is achieved.
The foregoing disclosure is only illustrative of one or more preferred embodiments of the present application and is not intended to limit the scope of the claims hereof, as it is to be understood by those skilled in the art that all or part of the process of implementing the described embodiment may be practiced otherwise than as specifically described and illustrated by the appended claims.

Claims (7)

1. An unpowered human lower limb assistance exoskeleton device comprises a back support and a fixing belt, wherein the fixing belt is arranged on the back support,
also comprises an auxiliary component;
the auxiliary assembly comprises a first rotating arm, a first adjusting plate, a second rotating arm, a second adjusting plate, a bottom plate, a first adjusting member and a second adjusting member, wherein the first rotating arm is rotationally connected with the back support and arranged on the back support, the first adjusting plate is in sliding connection with the first rotating arm and arranged on the first rotating arm, the second rotating arm is rotationally connected with the first adjusting plate and positioned on one side of the first adjusting plate, the second adjusting plate is in sliding connection with the second rotating arm and arranged on the second rotating arm, the bottom plate is rotationally connected with the second adjusting plate and arranged on the second adjusting plate, the first adjusting member is arranged on the first rotating arm and drives the first adjusting plate to move, and the second adjusting member is arranged on the second rotating arm and drives the second adjusting plate to move.
2. The unpowered human lower limb assistance exoskeleton device of claim 1,
the first adjusting member comprises a first threaded rod and a knob, wherein the first threaded rod is rotationally connected with the first rotating arm, is in threaded connection with the first adjusting plate and is arranged on the first rotating arm; the knob is fixedly connected with the first threaded rod and is positioned at one end of the first threaded rod.
3. The unpowered human lower limb assistance exoskeleton device of claim 1,
the second adjusting member comprises a rack and a gear, and the gear is rotationally connected with the second rotating arm and is arranged on the second rotating arm; the rack is fixedly connected with the second adjusting plate, meshed with the gear and positioned on one side, close to the gear, of the second adjusting plate.
4. The unpowered human lower limb assistance exoskeleton device of claim 3,
the second adjusting component further comprises a worm and a worm wheel, wherein the worm wheel is fixedly connected with the gear and is positioned at one side of the gear; the worm is rotatably connected with the second rotating arm, meshed with the worm wheel and arranged on the second rotating arm.
5. The unpowered human lower limb assistance exoskeleton device of claim 1,
the auxiliary assembly further comprises an elastic member, wherein the elastic member comprises a first connecting seat, a second connecting seat, a tension spring and a moving part, and the moving part is arranged on the first adjusting plate; the first connecting seat is connected with the first adjusting plate through the moving part; the second connecting seat is fixedly connected with the second rotating arm and is arranged on the second rotating arm; one end of the tension spring is connected with the first connecting seat, the other end of the tension spring is connected with the second connecting seat, and the tension spring is arranged on the first connecting seat.
6. The unpowered human lower limb assistance exoskeleton device of claim 5,
the moving part comprises a second threaded rod and a threaded seat, and the second threaded rod is rotationally connected with the first adjusting plate and is arranged on the first adjusting plate; the thread seat is in threaded connection with the second threaded rod, is fixedly connected with the first connecting seat, and is sleeved on the second threaded rod.
7. The unpowered human lower limb assistance exoskeleton device of claim 6, wherein,
the thread seat is provided with a movable protrusion, and the movable protrusion is arranged on the thread seat and is positioned at one side of the thread seat, which is close to the first adjusting plate; the first adjusting plate is provided with a moving groove, the moving groove is arranged on the first adjusting plate and is positioned on one side, close to the moving protrusion, of the first adjusting plate, and the moving groove is matched with the moving protrusion.
CN202311673724.8A 2023-12-07 2023-12-07 Unpowered human lower limb assistance exoskeleton equipment Pending CN117464650A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311673724.8A CN117464650A (en) 2023-12-07 2023-12-07 Unpowered human lower limb assistance exoskeleton equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311673724.8A CN117464650A (en) 2023-12-07 2023-12-07 Unpowered human lower limb assistance exoskeleton equipment

Publications (1)

Publication Number Publication Date
CN117464650A true CN117464650A (en) 2024-01-30

Family

ID=89634863

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311673724.8A Pending CN117464650A (en) 2023-12-07 2023-12-07 Unpowered human lower limb assistance exoskeleton equipment

Country Status (1)

Country Link
CN (1) CN117464650A (en)

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