CN205660711U - Supplementary heavy burden lower limbs of human body ectoskeleton - Google Patents
Supplementary heavy burden lower limbs of human body ectoskeleton Download PDFInfo
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- CN205660711U CN205660711U CN201620528878.7U CN201620528878U CN205660711U CN 205660711 U CN205660711 U CN 205660711U CN 201620528878 U CN201620528878 U CN 201620528878U CN 205660711 U CN205660711 U CN 205660711U
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Abstract
The utility model discloses a supplementary heavy burden lower limbs of human body ectoskeleton, this ectoskeleton of its characterized in that is central symmetrical structure, and just every side comprises anterior side chain and rear portion side chain, and the rear portion side chain is including back of the body drape piece, rear portion connecting rod and energy storage module, the energy storage module includes connecting axle in the energy storage module, lead connecting rod on the jar, lead connecting rod under the jar, lead connecting axle and energy storage module axle sleeve under jar upper end cover, controllable sharp attenuator, long spring stop, long spring, short spring stop, short spring, short spring guide arm, short spring dog, the energy storage module, lead on the jar connecting rod with lead under the jar connecting rod through lead the jar upper end cover and lead connecting rod cooperation on the jar, constitute remove vice, the connecting rod is connected under leading the jar upper end cover and leading the jar, leads the long spring stop of the terminal installation of connecting rod on the jar, leads and installs long spring under the jar in the connecting rod, short spring guide arm upper end is connected with short spring stop, the short spring dog of lower extreme installation, and short spring guide arm passes short spring from the center and until short spring and short spring stop contact, exerts the pretightning force.
Description
Technical field
This utility model relates to human body lower limbs ectoskeleton walk help technology, is specially one auxiliary heavy burden human body lower limbs dermoskeleton
Bone.It is characterized in that there is energy storage device, it is possible to auxiliary human body walking with load long-time, remote.
Background technology
ESD, as the device of mankind's walk help, is increasingly paid attention to by each field, particularly human body auxiliary neck
Territory.Existing walk-aiding exoskeleton has been broadly divided into outer driving and without the outer big class of driving two.Wherein there is outer driving ectoskeleton type of drive
It is broadly divided into pneumatic, hydraulic pressure, motor driving etc..And assist human body walking with load ectoskeleton mainly to use motorized motions side at a distance
Formula, e.g., Italian Marco Fontana in 2011 et al. is published in IEEE ROBOTICS & AUTOMATION MAGAZINE
The paper of December 2,014 34 44, one for whole body ectoskeleton (the A Full-Body assisting human body to bear a heavy burden
Exoskeleton for the Transport and Handling of Heavy Loads), this ectoskeleton deadweight 160kg,
There are 22 degree of freedom, use battery to provide the mode of energy motorized motions, maximum carrying to bear a heavy burden for 50kg, sustainable operation 1 to 2
Hour.And for example, the Chinese utility model patent report of Application No. 201310262919.3, use motor driving, battery to provide
The mode of energy, can be applicable to assist military soldier to fight and auxiliary human body lower limbs rehabilitation.Without outer driving ectoskeleton, such as 2007
U.S. JAMES WALSH et al. is published in Humanoid Robotics Vol. 4, the paper of No. 3 (2007) 487 506
Passive lower limb exoskeleton (the A Quasi-Passive Leg Exoskeleton for that one service hoisting human body bears a heavy burden
Load-Carrying Augmentation), this ectoskeleton deadweight 11.7kg, can be by knapsack weight in the case of load is for 36kg
80% conduction of amount is to ground.But because the quality of mechanism own is big and poor with body gait adaptedness, so with human body in phase
Compare with under loading condition, add the human body oxygen consumption of 10%.
Because tradition is poor with the people's exoskeleton bearing capacity driven, rigidity is little, dynamic property is bad, heavy, energy consumption
Greatly, cruising time is short；Controller to be set up, sensor, and auxiliary people's exoskeleton control main employing servo antrol is with predetermined
The mode of justice gait control, needs to arrange relatively multisensor, and cost is high, processing and manufacturing difficulty.Thus cannot be long-time at human body
Use in the case of remote walking with load, such as earthquake rescue, function passenger travel, without elevator community carrying heavy goods upstairs etc..
Summary of the invention
For the deficiencies in the prior art, technical problem to be solved in the utility model is: provide one auxiliary heavy burden people
Body lower limb exoskeleton.This ectoskeleton provides driving power by human muscle, is undertaken by ectoskeleton by the 60-90% that human body loads,
And imitate human muscle's storage and release potential energy with energy-storage travelling wave tube, to reduce human synovial torque load(ing), it is achieved long-time long distance
From auxiliary human body walking with load, reduce the consumption of energy in skeleton stress and walking, thus reach to promote human body load-carrying energy
Power and the effect of prolongation walking persistent period.
This utility model solves this technical problem and be the technical scheme is that outside design one auxiliary heavy burden human body lower limbs
Skeleton, it is characterised in that symmetrical structure centered by this ectoskeleton, and often side is made up of anterior side chain and rear portion side chain two large divisions,
Described anterior side chain includes waist and joint module, knee joint module, thigh module, calf module, ankle joint and foot's module；
Waist and joint module lower end are connected with thigh module upper end by lower limb revolute pair, and thigh module lower end is rotated by thigh and calf
Secondary and lower limb knee joint revolute pair is connected with calf module upper end and knee joint module front end, calf module lower end pass through lower limb ankle revolute pair and
Ankle joint and foot's module connect；
Described rear portion side chain includes knapsack module, rear link and energy-storage module；Behind rear link upper end and knapsack module
End is connected by revolute pair on back link, and back link is passed through with energy-storage module upper end and knee joint module rear end in side chain lower end, rear portion
In lower revolute pair and energy-storage module, revolute pair connects；Ectoskeleton left-half and right half part are by respective knapsack end of module
Knapsack revolute pair connects, and side chain upper end, front portion, ectoskeleton one side and side chain upper end, rear portion are by knapsack hack lever front end, waist joint even
Spindle is connected with waist joint revolute pair, ectoskeleton one side front portion side chain and side chain lower end, rear portion by connecting shaft under energy-storage module,
Rear feet connecting rod is connected with revolute pair under energy-storage module；
Described energy-storage module include connecting shaft on energy-storage module, lead connecting rod on cylinder, lead cylinder lower link, lead cylinder upper end cover, can
Control linear damper, long spring stop, long spring, short spring stop, short spring, short spring guide, short spring block, energy storage mould
Connecting shaft and energy-storage module axle sleeve under block；Described lead on cylinder connecting rod and lead cylinder lower link by leading cylinder upper end cover and leading connecting rod on cylinder
Coordinate, constitute moving sets；Lead cylinder upper end cover and lead cylinder lower link and be connected, leading connecting rod end on cylinder and long spring stop is installed, lead cylinder
Installing long spring in lower link, long spring diameter is installed on more than short spring and leads at cylinder lower link inwall；Short spring guide upper end
Be connected with short spring stop, short spring block is installed in lower end, and short spring guide passes short spring until short spring is with short from center
Spring stop contacts, and entirety is nested in long spring inner and is arranged on and leads in cylinder lower link, by short spring block with lead under cylinder
Connecting rod coordinates the purpose being embodied as short spring applying pretightning force, and this design can be played in body gait and quickly increase energy-storage module
The effect of energy storage speed；Controlled linear damper is installed on leads in cylinder lower link, coordinates with leading connecting rod on cylinder, logical over-damp control
Device controls the locked and open mode of controlled linear damper；On energy-storage module connecting shaft with under rear link, connect after knee joint
Bar connects, and under energy-storage module, connecting shaft is connected with rear feet connecting rod by energy-storage module axle sleeve.
Compared with prior art, this utility model auxiliary heavy burden human body lower limbs ectoskeleton advantage is: this ectoskeleton is for closing
Chain mechanism, bearing capacity is big, simple in construction, stablize controlled, including energy-storage travelling wave tube, can assist human body walking with load, reduce human body
Skeleton stress and each joint loads torque, the weight of knapsack 60-90% can be conducted to ground by ectoskeleton, and can be reduced by it
The 11.9-13.4% of human body walking load torque, has light weight, volume is little, carrying is big, it is long to adapt to body gait, cruising time
Etc. feature.
Accompanying drawing explanation
Fig. 1 is that the overall isometric three-dimensional wireframe of this utility model auxiliary heavy burden a kind of embodiment of human body lower limbs ectoskeleton shows
It is intended to.
Fig. 2 is the left view structural representation of this utility model auxiliary heavy burden a kind of embodiment of human body lower limbs ectoskeleton.
Fig. 3 is the isometric view of this utility model auxiliary heavy burden a kind of embodiment of human body lower limbs ectoskeleton.
Fig. 4 is that the energy-storage travelling wave tube section of this utility model auxiliary heavy burden a kind of embodiment of human body lower limbs ectoskeleton is (in Fig. 2
A-A) structural representation.
Fig. 5 is the isometric three-dimensional that this utility model auxiliary heavy burden a kind of embodiment of human body lower limbs ectoskeleton is worn on human body
Structural representation.
In Fig. 1-5,1. anterior side chain, 2. rear portion side chain, 11. waists and joint module, 12. thigh modules, 13.
Knee joint module, 14. calf module, 15. ankle joint and foot's module, 21. knapsack modules, 22. rear link, 23. storages
Energy module, 111. anti-wear sleeves, 112. waist joint connecting shafts, 113. waist outside link plates, connecting plate in 114. waists,
115. joint connecting shafts, 116. waist joint controllable dampers, 117. joint controllable dampers, 121. thighs connect
Plate, 122. thigh lower connecting plates, 123. thigh Strap connectors, 131. knee joint back links, 132. knee joint connecting shafts,
133. knee joint controllable dampers, 134. knee joint axle sleeves, 141. shank upper junction plates, 142. shank lower connecting plates,
143. shank Strap connectors, 151. ankle joint controllable dampers, 152. forefoot connecting rods, 153. foot's base plates, 154.
Rear feet connecting rod, 155. foot's adjustable plates, 156. ankle joint connecting shafts, 157. sole rubber springs, 158. foot's bandages are even
Connect hole, 159. foot's axle sleeves, 211. knapsacks, 212. batteries, 213. damping controllers, 214. knapsack hack levers, 215. back ofs the body
Bag support plate, 216. belt adapters, 217. knapsack hack lever connecting shafts, 218. lateral rotation bearing pins, 219. knapsack moulds
Block axle sleeve, in 221. rear link, under 222. rear link, 223. back link axle sleeves, connecting shaft on 231. energy-storage modules,
232. lead connecting rod on cylinder, and 233. lead cylinder lower link, and 234. lead cylinder upper end cover, 235. controlled linear dampers, 236. long bullets
Spring baffle plate, 237. long springs, 238. short spring stops, 239. short springs, the short spring guide of 23a., the short spring catch of 23b.
Block, connecting shaft under 23c. energy-storage module, 23d. energy-storage module.
Detailed description of the invention
It is further discussed below this utility model below in conjunction with embodiment and accompanying drawing thereof.Specific embodiment is only used for describing this in detail
The lower limb exoskeleton of utility model, is not intended to the application scope of the claims.
Centered by the auxiliary heavy burden human body lower limbs ectoskeleton (be called for short ectoskeleton, see Fig. 1-5) of this utility model design right
Claim structure, and every side ectoskeleton includes anterior side chain 1 and rear portion side chain 2 two large divisions.
Described anterior side chain 1 include waist and joint module 11, thigh module 12, knee joint module 13, calf module 14,
Ankle joint and foot's module 15；Waist and joint module 11 lower end are connected, greatly with thigh module 12 upper end by lower limb revolute pair
Lower limb module 12 lower end is connected with calf module 14 upper end and knee joint module 13 front end by thigh and calf revolute pair and lower limb knee joint revolute pair
Connecing, calf module 14 lower end is connected with ankle joint and foot's module 15 by lower limb ankle revolute pair.
Described rear portion side chain 2 include knapsack module 21, rear link 22 and energy-storage module 23(see Fig. 1,2).Waist and
Joint module 11, by anti-wear sleeve 111, waist joint connecting shaft 112, waist outside link plate 113, connecting plate 114 in waist, closes
Joint connecting shaft 115, waist joint controllable damper 116, joint controllable damper 117 is constituted.Thigh module 12 is connected by thigh
Fishplate bar 121, thigh lower connecting plate 122, thigh Strap connectors 123 is constituted.Knee joint module 13 by knee joint back link 131,
Knee joint connecting shaft 132, knee joint controllable damper 133 and knee joint axle sleeve 134 form.Calf module 14 is connected by shank
Plate 141, shank lower connecting plate 142, shank Strap connectors 143.Ankle joint and foot's module 15 are by ankle joint controllable damper
151, forefoot connecting rod 152, foot's base plate 153, rear feet connecting rod 154, foot's adjustable plate 155, ankle joint connecting shaft 156, foot
Primer leather spring 157, foot's bandage connecting hole 158 and foot's axle sleeve 159 are constituted.Rear link 22 includes in rear link 221,
Under rear link, 222 and back link axle sleeve 223(see Fig. 1,2,3).
Described knapsack module 21 includes knapsack 211, battery 212, damping controller 213, knapsack hack lever 214, knapsack support plate
215, belt adapter 216, knapsack hack lever connecting shaft 217, portion's lateral rotation bearing pin 218 and knapsack module axle sleeve this reality of 219(
It is anti-wear sleeve) with all axle sleeves of new embodiment.Knapsack module 21 uses two knapsack hack levers 214 laterally to be turned by portion
Untie-sell axle 218 connects, can achievement unit teeter.Knapsack support plate 215 and belt adapter 216 are arranged on knapsack hack lever 214
On, and knapsack 211, battery 212, damping controller 213 are installed on knapsack support plate 215, human body passes through knapsack straps and belt
(i.e. dressing) it is connected with knapsack module 21.Knapsack module 21 and waist and joint module 11 are connected by waist joint connecting shaft 112；
In the waist outside link plate 113 of waist and joint module 11, waist, connecting plate 114 is connected with waist joint by anti-wear sleeve 111
Axle 112, joint connecting shaft 115 connect, and are respectively mounted waist joint in waist joint connecting shaft 112 and joint connecting shaft 115
Controllable damper 116 and joint controllable damper 117.Waist and joint module 11 and thigh module 12 are connected by joint
Axle 115 connects, and thigh upper junction plate 121 and thigh lower connecting plate 122 realize adjustable length by mounting hole connection, wherein thigh
Strap connectors 123 is arranged on thigh upper junction plate 121, is connected with human thigh by bandage.Knee joint module 13 is passed through
Knee joint connecting shaft 132 and knee joint axle sleeve 134 are connected with thigh module 12 and calf module 14, by connecting on energy-storage module
Axle 231, back link axle sleeve 223 are connected with rear link 22 and energy-storage module 23.Calf module 14, shank upper junction plate 141 He
Shank lower connecting plate 142 is connected and adjustable length by mounting hole, and wherein shank Strap connectors 143 is arranged on shank connection
It is connected with human calf by bandage on plate 141.Ankle joint and foot's module 15 are by ankle joint connecting shaft 156 and foot's axle sleeve
159 are connected with calf module 14, are connected with energy-storage module 23 by connecting shaft 23c under energy-storage module and energy-storage module axle sleeve 23d,
And be connected with foot base plate 153 by forefoot connecting rod 152, rear feet connecting rod 154；Wherein ankle joint controllable damper 151 is pacified
It is loaded in ankle joint connecting shaft 156, foot's base plate 153 is provided with foot's adjustable plate 155, sole rubber spring 157, and passes through
At foot's bandage connecting hole 158, bandage is installed to be connected with human foot.Knapsack module 21 and rear link 22 are by knapsack hack lever
Connecting shaft 217 is connected with knapsack module axle sleeve 219, and in rear link, 221 are connected realization with under rear link 222 by mounting hole
Adjustable length (sees Fig. 1,2,3).
Energy-storage module 23 in described rear portion side chain 2 is this utility model innovative design module.It includes on energy-storage module
Connecting shaft 231, lead connecting rod 232 on cylinder, lead cylinder lower link 233, lead cylinder upper end cover 234, controlled linear damper 235, long spring
Baffle plate 236, long spring 237, short spring stop 238, short spring 239, short spring guide 23a, short spring block 23b, energy storage mould
Connecting shaft 23c and energy-storage module axle sleeve 23d under block.
Described lead on cylinder connecting rod 232 and lead cylinder lower link 233 by leading cylinder upper end cover 234 and leading connecting rod 232 on cylinder and coordinate,
Constitute moving sets；Lead cylinder upper end cover 234 and lead cylinder lower link 233 and be connected, leading connecting rod 232 end on cylinder and long spring stop is installed
236, in leading cylinder lower link 233, long spring 237 is installed, its rigidity is between 0.05-0.1kgf/mm, and long spring 237 diameter is more than
Short spring is installed on leads at cylinder lower link inwall；The rigidity of short spring 239 between 0.2-0.5kgf/mm, short spring guide 23a
Upper end is connected with short spring stop 238, short spring block 23b, short spring guide 23a are installed from center through short spring in lower end
239 until short spring 239 contacts with short spring stop 238, and entirety is nested in inside long spring 237 and is arranged on leads cylinder lower link
In 233, by short spring block 23b with lead cylinder lower link 233 and coordinate and be embodied as short spring 239 to apply the purpose of pretightning force (real
Execute the pretightning force size 15-50% at BW of example), this design can be played in body gait and quickly increase energy-storage module
The effect of energy storage speed.Controlled linear damper 235 is installed on leads on cylinder lower link 233, coordinates with leading connecting rod 232 on cylinder, can
Locked and the open mode of controlled linear damper 235 is controlled by damping controller 213.Wherein on energy-storage module connecting shaft with
Under rear link, knee joint back link connect, under energy-storage module, connecting shaft is connected with rear feet connecting rod by energy-storage module axle sleeve
(seeing Fig. 4).
This utility model ectoskeleton uses the design of closed chain ectoskeleton structure, is designed as intermediate symmetry according to human body practical situation
Mechanism, and this utility model ectoskeleton has 8 degree of freedom；Total freely including the waist left and right waist of rotary freedom a(
Degree), portion's teeter degree of freedom b, right degree of freedom c1, left degree of freedom c2, right knee joint degree of freedom d1, left knee joint degree of freedom d2,
Right ankle degree of freedom e1 and left ankle degree of freedom e2.
Utility model people analyzes human body walking status discovery, and energy-storage module 23 is when body gait starts, to human synovial
It is less that torque reduces effect, but affects the original gait of human body.Therefore it is with pretightning force that this utility model designs this energy-storage module
Variable rate spring.In other words, energy-storage module is the variation rigidity energy-storage module with pretightning force, mainly by spring guiding mechanism, bullet
Spring pre-tightening mechanism, variable rate spring and controlled linear damper composition.Energy-storage module structure noted earlier is with pretightning force
Variable rate spring concrete structure.Have an advantage in that adaptation body gait, and pass during human body walking with load can be effectively reduced
Joint torque load(ing).
This utility model ectoskeleton is dressed even with human body with foot's bandage by knapsack straps, thigh bandage, shank bandage
Connect (seeing Fig. 5).During human body walking with load, rely on human body to provide torque, BW can be conducted by ectoskeleton
To ground, and realize energy storage and exoergic by energy-storage module 23.Experiment shows, when 40kg loads, can reduce the total joint of human body
Average torque 11.9%.In conjunction with body gait by the damping of predefined gait control each joint controllable damper, reduce further
Human body walking joint torque more than 5%.Under human body heavy burden standing state, control controlled straight line by damping controller 213 and damp
Device 235 is locked, and human body can be made to realize standing in the case of ankle joint provides little torque.Experiment shows, at 40kg load condition
Under, ankle joint torque is do not dress ectoskeleton model of human ankle torque 16.95%.
The ectoskeletal operation principle of this utility model and process be: the reason that human-body biological energy utilization rate is high is that human body is expert at
During walking, muscle contraction can lay in the energy that human body slatterns, and is released by the energy of storage when next step action of human body
Release, reduce the load human body accumulation of energy strategy of human muscle.By using for reference human body accumulation of energy strategy, the design ectoskeleton band
Have energy-storage module 23, and combine body gait, analyze human body load walking in the case of, skeleton stress and joint torque situation,
Find that energy-storage module 23, in the case of applying power is less, reduces human synovial torque inconspicuous, but big on body gait impact；
In order to the most too much affect human body walking comfort level and effectively store knapsack gravitional force, spring in energy-storage module 23 should not be designed firm
Spend big, spring in energy-storage module 23 should be designed and become greatly and with pretightning force in body gait rigidity in mid-term.Therefore this energy-storage module
23 are designed as the variable rate spring with pretightning force, wherein regulate the stress of energy-storage module 23 by changing spring rate, execute
Add pretightning force for quickly increasing the force size of energy-storage module 23, by regulation waist, the controllable damping of SCID Mice, enter
One step reduces human body each joint institute torque suspension in walking.Under human body provides ectoskeleton each joint torque state, BW can
Conducted to ground by ectoskeleton, reduce skeleton stress.Its principle uses for reference skid platform, and porter is transporting goods
Time, utilize the gravity of handbarrow bearing goods, and when promoting handbarrow to move, only need the resistance overcoming wheel with ground, thus
Significantly reduce carrying intensity.
This utility model is ectoskeletal to be had the prominent advantages that, this ectoskeleton is closed chain mechanism, and bearing capacity is big, structure is simple
Single, stablize controlled, including bionic energy-storage element and controllable damper.In the case of without external drive, can normally use, and with
Time reduce skeleton stress and each joint loads torque.Experiment shows, during 40kg load, can the weight of knapsack 60% be passed through
Ectoskeleton conducts to ground, reduces human body walking load torque 11.9%；During 20kg load, then the weight of knapsack 90% can be passed through
Ectoskeleton conducts to ground, and human body walking load torque 13.4% is greatly reduced；And have light weight, volume is little, carrying is big,
The feature such as body gait, length in cruising time of adaptation.
This utility model is not addressed part and is applicable to prior art.
Claims (3)
1. an auxiliary heavy burden human body lower limbs ectoskeleton, it is characterised in that symmetrical structure centered by this ectoskeleton, and every side is by front
Portion's side chain and rear portion side chain two large divisions composition, described anterior side chain includes waist and joint module, knee joint module, thigh mould
Block, calf module, ankle joint and foot's module；Waist and joint module lower end are by lower limb revolute pair with thigh module upper end even
Connecing, thigh module lower end is connected with calf module upper end and knee joint module front end by thigh and calf revolute pair and lower limb knee joint revolute pair
Connecing, calf module lower end is connected with ankle joint and foot's module by lower limb ankle revolute pair；
Described rear portion side chain includes knapsack module, rear link and energy-storage module；Rear link upper end leads to knapsack module rear end
Later on connecting rod, revolute pair connects, and lower turn of back link is passed through with energy-storage module upper end and knee joint module rear end in side chain lower end, rear portion
In dynamic pair and energy-storage module, revolute pair connects；Ectoskeleton left-half and the right half part knapsack by respective knapsack end of module
Revolute pair connects, and side chain upper end, front portion, ectoskeleton one side and side chain upper end, rear portion are by knapsack hack lever front end, waist joint connecting shaft
Being connected with waist joint revolute pair, ectoskeleton one side front portion side chain and side chain lower end, rear portion are by connecting shaft, the rear foot under energy-storage module
Portion's connecting rod is connected with revolute pair under energy-storage module；
Described energy-storage module include connecting shaft on energy-storage module, lead connecting rod on cylinder, lead cylinder lower link, lead cylinder upper end cover, controlled directly
Under wire damper, long spring stop, long spring, short spring stop, short spring, short spring guide, short spring block, energy-storage module
Connecting shaft and energy-storage module axle sleeve；Described lead on cylinder connecting rod and lead cylinder lower link by leading cylinder upper end cover and leading connecting rod on cylinder and join
Close, constitute moving sets；Lead cylinder upper end cover and lead cylinder lower link and be connected, leading connecting rod end on cylinder and long spring stop is installed, lead under cylinder
Installing long spring in connecting rod, long spring diameter is installed on more than short spring and leads at cylinder lower link inwall；Short spring guide upper end with
Short spring stop connects, short spring block is installed in lower end, short spring guide from center through short spring until short spring and short bullet
Spring baffle plate contacts, and entirety is nested in long spring inner and is arranged on and leads in cylinder lower link, is connected with leading by short spring block under cylinder
Bar coordinates the purpose being embodied as short spring applying pretightning force, and this design can be played in body gait quickly increases energy-storage module storage
The effect of Energy velocity；Controlled linear damper is installed on leads in cylinder lower link, coordinates with leading connecting rod on cylinder, passes through damping controller
Control the locked of controlled linear damper and open mode；On energy-storage module under connecting shaft and rear link, knee joint back link
Connecting, under energy-storage module, connecting shaft is connected with rear feet connecting rod by energy-storage module axle sleeve.
Auxiliary heavy burden human body lower limbs ectoskeleton the most according to claim 1, it is characterised in that described long spring be stage clip or
Straight line cylinder, stage clip length 140mm-170mm, diameter 40mm-50mm, rigidity is 0.05-0.1kgf/mm；Described short spring is
Stage clip or straight line cylinder, stage clip length 100mm-130mm, diameter 25mm-35mm, rigidity is 0.2-0.5kgf/mm.
Auxiliary heavy burden human body lower limbs ectoskeleton the most according to claim 1, it is characterised in that described pretightning force is knapsack weight
The 15-50% of amount.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620528878.7U CN205660711U (en) | 2016-06-03 | 2016-06-03 | Supplementary heavy burden lower limbs of human body ectoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620528878.7U CN205660711U (en) | 2016-06-03 | 2016-06-03 | Supplementary heavy burden lower limbs of human body ectoskeleton |
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| Publication Number | Publication Date |
|---|---|
| CN205660711U true CN205660711U (en) | 2016-10-26 |
Family
ID=57158442
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620528878.7U Withdrawn - After Issue CN205660711U (en) | 2016-06-03 | 2016-06-03 | Supplementary heavy burden lower limbs of human body ectoskeleton |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798893A (en) * | 2016-06-03 | 2016-07-27 | 河北工业大学 | Human lower limb exoskeleton assisting in load bearing |
| WO2020211678A1 (en) * | 2019-04-17 | 2020-10-22 | 景浩 | Elastic load-bearing exoskeleton |
-
2016
- 2016-06-03 CN CN201620528878.7U patent/CN205660711U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798893A (en) * | 2016-06-03 | 2016-07-27 | 河北工业大学 | Human lower limb exoskeleton assisting in load bearing |
| WO2020211678A1 (en) * | 2019-04-17 | 2020-10-22 | 景浩 | Elastic load-bearing exoskeleton |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161026 Effective date of abandoning: 20170912 |
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| AV01 | Patent right actively abandoned |