CN202890544U - High strength full covering type exoskeleton system - Google Patents
High strength full covering type exoskeleton system Download PDFInfo
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- CN202890544U CN202890544U CN 201220572179 CN201220572179U CN202890544U CN 202890544 U CN202890544 U CN 202890544U CN 201220572179 CN201220572179 CN 201220572179 CN 201220572179 U CN201220572179 U CN 201220572179U CN 202890544 U CN202890544 U CN 202890544U
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Abstract
The utility model discloses a high strength full covering type exoskeleton system. The high strength full covering type exoskeleton system comprises a helmet system used for protecting the head of a wearer, a trunk exoskeleton system connected with the helmet system, arm exoskeleton systems arranged on the two sides of the trunk exoskeleton system, a waist exoskeleton system arranged on the lower end of the trunk exoskeleton system, and two leg exoskeleton systems arranged on the lower end of the waist exoskeleton system. Due to the fact that a full covering type wearing mode is utilized, and the load of all joints and all parts of the body is increased, wearers can conduct high strength work. In addition, shell materials of the exoskeleton system and a coverage rate can be adjusted according to working environments.
Description
Technical field
The utility model relates to a kind of high-risk high strength environment operation etc. that is applicable to, for the protection of the personal safety of wearer, alleviate the high strength whole body cover type exoskeleton system of the working strength of wearer.
Background technology
A large amount of various types of exoskeleton systems have appearred now both at home and abroad, such as ectoskeleton arm, ectoskeleton hip joint, ectoskeleton upper limbs or lower limb etc.These exoskeleton systems are used for the rehabilitation campaigns such as helping away of the rehabilitation of human body and certain limit mostly, and every kind of exoskeleton system has a plurality of joint freedom degrees, and the body kinematics that makes exoskeleton system follow wearer is made action.
But the operation place at high-risk high strength environment; as the operation field such as the scene of speedily carrying out rescue work, disaster relief scene, scene of fire; because particularity and the high risk of environment; general rehabilitation is with exoskeleton system etc.; can't effectively help the wearer task that fulfils assignment, and the protection wearer operation field of coming in and going out safely.For example on-the-spot in the earthquake rescue and relief work, the relief of escaping danger of rubble around the victims personnel that need to speedily carry out rescue work under the house rubble that collapses of being trapped in promptly remove, and surpass the rubble of the weight that the personnel of speedily carrying out rescue work can carry, then need to manage to move away with the machinery of various heavinesses, increased the activity duration, victims can't be succoured rapidly.
The utility model content
The technical problems to be solved in the utility model provides a kind of high-risk high strength environment operation that is applicable to; the injury for the operating personnel that can when effectively helping wearer to finish high-strength working, protect wearer to avoid producing in the operating environment of place, and a kind of high strength whole body cover type exoskeleton system of raising the efficiency and improving security.
For achieving the above object, the technical solution of the utility model is as follows:
A kind of high strength whole body cover type exoskeleton system comprises
One headgear system for the protection of the wearer head;
The one trunk exoskeleton system that is connected with headgear system;
Be placed in the arm exoskeleton system of trunk exoskeleton system both sides;
One is placed in the waist exoskeleton system of trunk exoskeleton system lower end;
And two shank exoskeleton systems that are placed in waist exoskeleton system lower end.
In an embodiment of the present utility model, also be provided with a maincenter control module in the described whole body cover type exoskeleton system, described maincenter control module is comprised of microcomputer.
In an embodiment of the present utility model, described headgear system comprises helmet body, is placed in photographic apparatus, laser range finder, LED illuminating lamp and radio communication device on the helmet body.
In an embodiment of the present utility model, described trunk exoskeleton system comprises cuirass, and described cuirass is comprised of the first cuirass parts and the second cuirass parts.
In an embodiment of the present utility model, described arm exoskeleton system comprises
Shoulder joint actuating mechanism, described shoulder joint actuating mechanism comprise that clavicle joint actuating mechanism, shoulder rotary teeth disc mechanism, two shoulders praise hydraulic mechanism and instrument carry device; Described shoulder rotary teeth disc mechanism is connected with the clavicle joint actuating mechanism, and described shoulder is praised hydraulic mechanism and is connected with shoulder rotary teeth disc mechanism;
With the elbow joint actuating mechanism that shoulder joint actuating mechanism lower end is connected, described elbow joint actuating mechanism comprises direct current generator, arm rotary teeth disc mechanism, ancon rotating hydraulic mechanism, hydraulic spring grease cup and ancon running fulcrum;
The forearm anti-impact level hydraulic spring grease cup that is connected with elbow joint actuating mechanism lower end;
With the wrist action mechanism that forearm anti-impact level hydraulic spring grease cup lower end is connected, described wrist action mechanism comprises that electric DC motor, outer tooth disk, fluted disc swivelling chute, wrist swing hydraulic mechanism and wrist motion fulcrum;
The hand motion mechanism that is connected with wrist action mechanism lower end, described hand motion mechanism comprises metacarpus running air pressure mechanism, articulations digitorum manus action air pressure mechanism, finger part support frame and hand shell.
In an embodiment of the present utility model, described waist exoskeleton system comprises
The hip joint actuating mechanism, but but described hip joint actuating mechanism comprises dc motor, interior fluted disc, support frame, swing of leg hydraulic mechanism, hip joint motion fulcrum, waist folding shell and crotch folding shell;
Be placed in the motion of the vertebra mechanism in the hip joint actuating mechanism, described motion of the vertebra mechanism comprises two support bars and two motion of the vertebra hydraulic mechanisms.
In an embodiment of the present utility model, described shank exoskeleton system comprises
Thigh running mechanism, described thigh operates mechanism and comprises support Compress Spring and thigh action hydraulic mechanism;
Operate the knee joint running mechanism that the mechanism lower end is connected with thigh, described knee joint operates mechanism and comprises knee joint action hydraulic mechanism, auxiliary hydraulic pressure mechanism and motion of knee joint fulcrum;
Operate the shank running mechanism that the mechanism lower end is connected with knee joint, described shank operates mechanism and comprises shank action hydraulic mechanism;
Operate the shin bone running mechanism that the mechanism lower end is connected with shank, described shin bone operates mechanism and comprises shin bone action hydraulic press and damping fluid pressing spring.
In an embodiment of the present utility model, be provided with the pressure sensitive device in the described finger part support frame.
In an embodiment of the present utility model, the anterior transparent bulletproof glass mask that adopts of described helmet body seals.
By technique scheme, the beneficial effects of the utility model are:
The utility model adopts the wearing mode of whole body cover type especially, and increases the load of each joint and health each several part, makes wearer can carry out high-intensity operation; In addition, the sheathing material of this exoskeleton system and coverage rate can be adjusted according to operating environment.
Description of drawings
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art, apparently, accompanying drawing in the following describes only is embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is monnolithic case structural representation of the present utility model;
Fig. 2 a is the utility model shoulder joint actuating mechanism schematic diagram 1;
Fig. 2 b is the utility model shoulder joint actuating mechanism schematic diagram 2;
Fig. 3 is the utility model elbow joint actuating mechanism schematic diagram;
Fig. 4 is the utility model forearm shock resistance hydraulic spring grease cup schematic diagram;
Fig. 5 is the utility model wrist action structural scheme of mechanism;
Fig. 6 is the utility model hip joint actuating mechanism schematic diagram;
Fig. 7 is the utility model vertebra actuating mechanism schematic diagram;
Fig. 8 is the utility model thigh actuating mechanism schematic diagram;
Fig. 9 is the utility model knee joint actuating mechanism schematic diagram;
Figure 10 is the utility model shank actuating mechanism schematic diagram;
Figure 11 is the utility model shin bone actuating mechanism schematic diagram;
Figure 12 a is the utility model hand motion structural scheme of mechanism 1;
Figure 12 b is the utility model hand motion structural scheme of mechanism 2;
Figure 13 is the utility model cuirass schematic diagram;
Figure 14 is the utility model maincenter control module schematic diagram;
Figure 15 is the utility model helmet structure schematic diagram.
Numeral and the represented corresponding component title of letter among the figure:
100, headgear system 110, helmet body 120, photographic apparatus 130, laser range finder 140, LED illuminating lamp 150, radio communication device 160, transparent bulletproof glass mask 200, trunk exoskeleton system 210, the first cuirass parts 220, the second cuirass parts 300, arm exoskeleton system 310, shoulder joint actuating mechanism 311, clavicle joint actuating mechanism 312, shoulder rotary teeth disc mechanism 313, shoulder is praised hydraulic mechanism 314, instrument carry device 320, elbow joint actuating mechanism 321, direct current generator 322, arm rotary teeth disc mechanism 323, ancon rotating hydraulic mechanism 324, hydraulic spring grease cup 325, ancon running fulcrum 330, forearm anti-impact level hydraulic spring grease cup 340, wrist action mechanism 341, electric DC motor 342, outer tooth disk 343, fluted disc swivelling chute 344, wrist swings hydraulic mechanism 345, wrist motion fulcrum 350, hand motion mechanism 351, metacarpus running air pressure mechanism 352, articulations digitorum manus action air pressure mechanism 353, finger part support frame 354, hand shell 400, waist exoskeleton system 410, hip joint actuating mechanism 411, dc motor 412, interior fluted disc 413, support frame 414, swing of leg hydraulic mechanism 415, hip joint motion fulcrum 416, but waist folding shell 417, but crotch folding shell 420, motion of the vertebra mechanism 421, support bar 422, motion of the vertebra hydraulic mechanism 500, shank exoskeleton system 510, thigh running mechanism 511, Compress Spring 512, leg action hydraulic mechanism 520, knee joint running mechanism 521, knee joint action hydraulic mechanism 522, auxiliary hydraulic pressure mechanism 523, motion of knee joint fulcrum 530, shank running mechanism 531, shank action hydraulic mechanism 540, shin bone running mechanism 541, shin bone action hydraulic mechanism 542, damping fluid pressing spring 600, the maincenter control module
The specific embodiment
For technological means, creation characteristic that the utility model is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the utility model.
Referring to shown in Figure 1, a kind of high strength whole body of the utility model cover type exoskeleton system comprises headgear system 100, the trunk exoskeleton system 200 that is connected with headgear system 100 for the protection of the wearer head, is placed in the arm exoskeleton system 300 of trunk exoskeleton system 200 both sides, two shank exoskeleton systems 500 that are placed in the waist exoskeleton system 400 of trunk exoskeleton system 200 lower ends and are placed in waist exoskeleton system 400 lower ends; The structure of the utility model exoskeleton system and each several part joint can be realized the action of wearer's body each several part substantially, and each actuating mechanism can increase the strength of wearer, and the shell at each position can be wearer to a certain degree protection is provided; In addition, device for force feedback has all been installed at each action position in this exoskeleton system, so that this exoskeleton system can be made the reaction of moving/stop according to being swift in motion of wearer in running.
Referring to shown in Figure 14, the utility model also is provided with a maincenter control module 600 in high strength whole body cover type exoskeleton system inside; It is inner that maincenter control module 600 is placed in high strength whole body cover type exoskeleton system, it mainly is made of microcomputer, it act as the information of processing the device for force feedback of installing in each joint, each position in this exoskeleton system, and according to the action of wearer, carry out motion control for each joint, each position, and the pressure sensitive that hand is subject to when using this exoskeleton system to grasp thing the wearer feeds back to the device for force feedback of hand, information is fed back to wearer, so that wearer judges whether to be continued to apply grip for grasping article.In addition, this maincenter control module also will be processed other information, such as radio communication signal, system information etc.
Referring to shown in Figure 15, the utility model headgear system 100 comprises helmet body 110, is placed in photographic apparatus 120, laser range finder 130, LED illuminating lamp 140 and radio communication device 150 on the helmet body 110; The head that act as the protection wearer of helmet body 110 preserves from, and has improved the security performance when using; Photographic apparatus 120 is placed in dead ahead, helmet body 110 top, and this photographic apparatus 120 is equipped with thermal imaging and night vision function, for wearer provides well visual condition; Laser range finder 130 is placed in the next door of projecting apparatus 120, and it act as the information of distance that the static or mobile object in wearer the place ahead is provided and movement velocity; LED illuminating lamp 140 is placed in the next door of laser range finder 130, for the user provides the illumination sight line; 160 sealings of transparent bulletproof glass mask are adopted in the front portion of above-mentioned helmet body 110, and it can better protect the face of wearer; Radio communication device 150 is altogether two, and it is placed in the both sides of helmet body 110, and its effect is for the radio signals between the transmitting-receiving wearer, so that need of work.
Referring to shown in Figure 13, the utility model trunk exoskeleton system comprises cuirass, and cuirass is comprised of the first cuirass parts 210 and the second cuirass parts 220; But the first cuirass parts and the second cuirass parts are the folding cuirass, and it act as the protection wearer and avoids the injury of the article that splash in the Active workings, and when wearer slough the helmet, upwards open cuirass after, can be from this exoskeleton system out.
The utility model arm exoskeleton system comprises shoulder joint actuating mechanism 310, the elbow joint actuating mechanism 320 that is connected with shoulder joint actuating mechanism 310 lower ends, the forearm anti-impact level hydraulic spring grease cup 330 that is connected with elbow joint actuating mechanism 320 lower ends, the wrist action mechanism 340 that is connected with forearm anti-impact level hydraulic spring grease cup 330 lower ends and the hand motion mechanism 350 that is connected with wrist action mechanism 340 lower ends.
Shown in Fig. 2 a and Fig. 2 b, the utility model shoulder joint actuating mechanism 310 comprises that clavicle joint actuating mechanism 311, shoulder rotary teeth disc mechanism 312, two shoulders praise hydraulic mechanism 313 and instrument carry device 314; Shoulder rotary teeth disc mechanism 312 is connected with clavicle joint actuating mechanism 311, and shoulder is praised hydraulic mechanism 313 and is connected with shoulder rotary teeth disc mechanism 312; The effect of clavicle joint actuating mechanism 311 is to make the shoulder of this exoskeleton system realize the motion of wearer clavicle; The effect of shoulder rotary teeth disc mechanism 312 is that the whole piece arm of this exoskeleton system can circumferentially be rotated around shoulder; The effect that two shoulders are praised hydraulic mechanism 313 is to make this exoskeleton system can realize praising of arm, and makes wearer can lift easily the weight of constant weight; Instrument carry device 314 can allow wearer carry various tool, equipment etc.
Referring to shown in Figure 3, the utility model elbow joint actuating mechanism 320 comprises direct current generator 321, arm rotary teeth disc mechanism 322, ancon rotating hydraulic mechanism 323, hydraulic spring grease cup 324 and ancon running fulcrum 325; The arm of direct current generator 321 and arm rotary teeth disc mechanism 322 common these exoskeleton systems of realization swings with the arm of wearer; Ancon rotating hydraulic mechanism 323 can make the ancon of this exoskeleton system with the ancon rotation of wearer, and makes wearer can lift easily the weight of constant weight; Hydraulic spring grease cup 324 can reduce the impulsive force that wearer is received in the process of using this exoskeleton system; Improve security performance.
Referring to shown in Figure 4, it act as the utility model forearm anti-impact level hydraulic spring grease cup 330 and significantly alleviates external impact force that this exoskeleton system in use is subject to for the impact of wearer, and can adjust according to the length of wearer forearm.
Referring to shown in Figure 5, the utility model wrist action mechanism 340 comprises that electric DC motor 341, outer tooth disk 342, fluted disc swivelling chute 343, wrist swing hydraulic mechanism 344 and wrist motion fulcrum 345; The acting as the wrist that makes this exoskeleton system and can follow the wrist of wearer and rotate of electric DC motor 341, outer tooth disk 342 and fluted disc swivelling chute 343; Wrist swings hydraulic mechanism 344 can make the wrist of this exoskeleton system swing with the wrist of wearer in use.
Shown in Figure 12 a and Figure 12 b, the utility model hand motion mechanism 350 comprises metacarpus running air pressure mechanism 351, articulations digitorum manus action air pressure mechanism 352, finger part support frame 353 and hand shell 354; The palm portion that makes this exoskeleton system that act as of metacarpus running air pressure mechanism 351 is made action with the wearer palm; The finger part that makes this exoskeleton system that act as of articulations digitorum manus action air pressure mechanism 352 is made action with the finger of wearer, and increases the grip of wearer; Finger part support frame 353 mainly plays a supportive role, and the pressure sensitive device wherein has been installed; Hand shell 354 act as the injury that makes wearer avoid sharp-pointed article.
The utility model waist exoskeleton system 400 comprises hip joint actuating mechanism 410 and is placed in motion of the vertebra mechanism 420 in the hip joint actuating mechanism 410.
Referring to shown in Figure 6, but but the utility model hip joint actuating mechanism 410 comprises dc motor 411, interior fluted disc 412, support frame 413, swing of leg hydraulic mechanism 414, hip joint motion fulcrum 415, waist folding shell 416 and crotch folding shell 417; Dc motor 411 and interior fluted disc 412 act as the whole upper limbs that makes this exoskeleton system can be along with the waist left-right rotation of wearer; Support frame 413 works to support each parts of upper limbs; The whole shank that makes this exoskeleton system that act as of swing of leg hydraulic mechanism 414 can swing with the shank of wearer; But but waist folding shell 416 and crotch folding shell 417 can be used for protecting wearer to avoid the injury of splash in the Active workings, and when these two parts were opened, wearer can be from this exoskeleton system out.
Referring to shown in Figure 7, the utility model motion of the vertebra mechanism 420 comprises two support bars 421 and two motion of the vertebra hydraulic mechanisms 422; Support bar 421 is used for supporting the whole upper limbs of this exoskeleton system, and as the motion fulcrum; The whole upper limbs that makes this exoskeleton system that act as of motion of the vertebra hydraulic mechanism 422 is made the action of leaning forward and swinging back with the vertebra of wearer.
The utility model shank exoskeleton system 500 comprises that thigh running mechanism 510, the knee joint running mechanism 520 that is connected with thigh running mechanism 510 lower ends, the shank that is connected with knee joint running mechanism 520 lower ends operate mechanism 530 and operate the shin bone that mechanism 530 lower ends are connected with shank and operates mechanism 540.
Referring to shown in Figure 8, the utility model thigh running mechanism 510 comprises support Compress Spring 511 and thigh action hydraulic mechanism 512; Support the part that supports more than this exoskeleton system thigh that act as with Compress Spring 511, and as the motion fulcrum of thigh; The shank that makes this exoskeleton system that act as of thigh action hydraulic mechanism 512 is done swing with the thigh of wearer, and plays at the volley certain supporting role.
Referring to shown in Figure 9, the utility model knee joint running mechanism 520 comprises knee joint action hydraulic mechanism 521, auxiliary hydraulic pressure mechanism 522 and motion of knee joint fulcrum 523; The lower leg portion that makes this exoskeleton system that act as of knee joint action hydraulic mechanism 521 is done swing with the shank of wearer; Auxiliary hydraulic pressure mechanism 522 act as at knee joint action hydraulic mechanism when operating, and this part more than exoskeleton system knee joint is played a supportive role.
Referring to shown in Figure 10, the utility model shank running mechanism 530 comprises shank action hydraulic mechanism 531, and it act as the foot that makes this exoskeleton system can do swing with the foot of wearer, and supports whole exoskeleton system.
Referring to shown in Figure 11, the utility model shin bone running mechanism 540 comprises shin bone action hydraulic mechanism 541 and damping fluid pressing spring 542; The foot that the acting as of shin bone action hydraulic mechanism 541 makes this exoskeleton system swings with the foot of wearer, and supports whole exoskeleton system; The acting as of damping fluid pressing spring 542 reduced the shock and impact of this exoskeleton system (as walk, run etc.) generation in running, and as the motion fulcrum of shin bone actuating mechanism.
More than show and described basic principle of the present utility model and principal character and advantage of the present utility model.The technical staff of the industry should understand; the utility model is not restricted to the described embodiments; that describes in above-described embodiment and the specification just illustrates principle of the present utility model; under the prerequisite that does not break away from the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall in claimed the utility model scope.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (9)
1. a high strength whole body cover type exoskeleton system is characterized in that: comprise
One headgear system for the protection of the wearer head;
The one trunk exoskeleton system that is connected with headgear system;
Be placed in the arm exoskeleton system of trunk exoskeleton system both sides;
One is placed in the waist exoskeleton system of trunk exoskeleton system lower end;
And two shank exoskeleton systems that are placed in waist exoskeleton system lower end.
2. a kind of high strength whole body cover type exoskeleton system according to claim 1, it is characterized in that: also be provided with a maincenter control module in the described whole body cover type exoskeleton system, described maincenter control module is comprised of microcomputer.
3. a kind of high strength whole body cover type exoskeleton system according to claim 1, it is characterized in that: described headgear system comprises helmet body, is placed in photographic apparatus, laser range finder, LED illuminating lamp and radio communication device on the helmet body.
4. a kind of high strength whole body cover type exoskeleton system according to claim 1, it is characterized in that: described trunk exoskeleton system comprises cuirass, described cuirass is comprised of the first cuirass parts and the second cuirass parts.
5. a kind of high strength whole body cover type exoskeleton system according to claim 1, it is characterized in that: described arm exoskeleton system comprises
Shoulder joint actuating mechanism, described shoulder joint actuating mechanism comprise that clavicle joint actuating mechanism, shoulder rotary teeth disc mechanism, two shoulders praise hydraulic mechanism and instrument carry device; Described shoulder rotary teeth disc mechanism is connected with the clavicle joint actuating mechanism, and described shoulder is praised hydraulic mechanism and is connected with shoulder rotary teeth disc mechanism;
With the elbow joint actuating mechanism that shoulder joint actuating mechanism lower end is connected, described elbow joint actuating mechanism comprises direct current generator, arm rotary teeth disc mechanism, ancon rotating hydraulic mechanism, hydraulic spring grease cup and ancon running fulcrum;
The forearm anti-impact level hydraulic spring grease cup that is connected with elbow joint actuating mechanism lower end;
With the wrist action mechanism that forearm anti-impact level hydraulic spring grease cup lower end is connected, described wrist action mechanism comprises that electric DC motor, outer tooth disk, fluted disc swivelling chute, wrist swing hydraulic mechanism and wrist motion fulcrum;
The hand motion mechanism that is connected with wrist action mechanism lower end, described hand motion mechanism comprises metacarpus running air pressure mechanism, articulations digitorum manus action air pressure mechanism, finger part support frame and hand shell.
6. a kind of high strength whole body cover type exoskeleton system according to claim 1, it is characterized in that: described waist exoskeleton system comprises
The hip joint actuating mechanism, but but described hip joint actuating mechanism comprises dc motor, interior fluted disc, support frame, swing of leg hydraulic mechanism, hip joint motion fulcrum, waist folding shell and crotch folding shell;
Be placed in the motion of the vertebra mechanism in the hip joint actuating mechanism, described motion of the vertebra mechanism comprises two support bars and two motion of the vertebra hydraulic mechanisms.
7. a kind of high strength whole body cover type exoskeleton system according to claim 1, it is characterized in that: described shank exoskeleton system comprises
Thigh running mechanism, described thigh operates mechanism and comprises support Compress Spring and thigh action hydraulic mechanism;
Operate the knee joint running mechanism that the mechanism lower end is connected with thigh, described knee joint operates mechanism and comprises knee joint action hydraulic mechanism, auxiliary hydraulic pressure mechanism and motion of knee joint fulcrum;
Operate the shank running mechanism that the mechanism lower end is connected with knee joint, described shank operates mechanism and comprises shank action hydraulic mechanism;
Operate the shin bone running mechanism that the mechanism lower end is connected with shank, described shin bone operates mechanism and comprises shin bone action hydraulic press and damping fluid pressing spring.
8. a kind of high strength whole body cover type exoskeleton system according to claim 5 is characterized in that: be provided with the pressure sensitive device in the described finger part support frame.
9. a kind of high strength whole body cover type exoskeleton system according to claim 3 is characterized in that: the sealing of the anterior employing of described helmet body transparent bulletproof glass mask.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220572179 CN202890544U (en) | 2012-11-01 | 2012-11-01 | High strength full covering type exoskeleton system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220572179 CN202890544U (en) | 2012-11-01 | 2012-11-01 | High strength full covering type exoskeleton system |
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| CN202890544U true CN202890544U (en) | 2013-04-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220572179 Expired - Lifetime CN202890544U (en) | 2012-11-01 | 2012-11-01 | High strength full covering type exoskeleton system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI584801B (en) * | 2016-04-15 | 2017-06-01 | 龍華科技大學 | Exoskeleton apparatus of pneumatic muscle with functions of upper limb power assist and rehabilitation training |
| CN106808465A (en) * | 2016-08-07 | 2017-06-09 | 东莞理工学院 | One kind wearing auxiliary exoskeleton robot |
| CN109619723A (en) * | 2019-01-28 | 2019-04-16 | 北京龙软科技股份有限公司 | A kind of high-tech mining clothes |
| CN111840848A (en) * | 2020-07-27 | 2020-10-30 | 哈尔滨永泓科技有限公司 | Fire control AR helmet |
| JP2022543345A (en) * | 2020-07-08 | 2022-10-12 | 達闥機器人股▲分▼有限公司 | Robot and its housing |
-
2012
- 2012-11-01 CN CN 201220572179 patent/CN202890544U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI584801B (en) * | 2016-04-15 | 2017-06-01 | 龍華科技大學 | Exoskeleton apparatus of pneumatic muscle with functions of upper limb power assist and rehabilitation training |
| CN106808465A (en) * | 2016-08-07 | 2017-06-09 | 东莞理工学院 | One kind wearing auxiliary exoskeleton robot |
| CN109619723A (en) * | 2019-01-28 | 2019-04-16 | 北京龙软科技股份有限公司 | A kind of high-tech mining clothes |
| JP2022543345A (en) * | 2020-07-08 | 2022-10-12 | 達闥機器人股▲分▼有限公司 | Robot and its housing |
| JP7299358B2 (en) | 2020-07-08 | 2023-06-27 | 達闥機器人股▲分▼有限公司 | Robot and its housing |
| CN111840848A (en) * | 2020-07-27 | 2020-10-30 | 哈尔滨永泓科技有限公司 | Fire control AR helmet |
| CN111840848B (en) * | 2020-07-27 | 2021-06-22 | 哈尔滨徙木科技有限公司 | Fire control AR helmet |
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Granted publication date: 20130424 |