CN205835312U - Mechanical exoskeleton wearable device - Google Patents
Mechanical exoskeleton wearable device Download PDFInfo
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- CN205835312U CN205835312U CN201620831585.6U CN201620831585U CN205835312U CN 205835312 U CN205835312 U CN 205835312U CN 201620831585 U CN201620831585 U CN 201620831585U CN 205835312 U CN205835312 U CN 205835312U
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Abstract
The utility model discloses a kind of mechanical exoskeleton wearable device, with the use function of abundant mechanical exoskeleton wearable device.Mechanical exoskeleton wearable device includes that mechanism is dressed by foot, leg dresses mechanism and buttocks support support mechanism, wherein: leg is dressed mechanism and included: dress, with foot, the thigh support bar that the hinged leg support bar of mechanism is hinged with leg support bar, and the first travel adjustment that two ends are hinged with wearing mechanism of foot and thigh support bar respectively, first travel adjustment can stretch with user leg action, and can be locked retracted position；Buttocks support support mechanism is connected with thigh support bar.
Description
Technical field
This utility model relates to wearable device technical field, particularly relates to a kind of mechanical exoskeleton wearable device.
Background technology
Mechanical exoskeleton, has another name called " ectoskeleton is armoring " or " ectoskeleton machine first ", its insectival ectoskeleton of structure class, can wear
On the person, provide extra power and protection to people, strengthen function of human body.People dress the mechanical dermoskeleton being specifically designed
After bone, it is possible to run much faster, jump get Geng Gao, or carry heavier weight.
At present, the function of mechanical exoskeleton wearable device is the most powerful, how to enrich mechanical exoskeleton wearable device
Use function, be technical problem the most urgently to be resolved hurrily.
Utility model content
This utility model embodiment provides a kind of mechanical exoskeleton wearable device, with abundant mechanical exoskeleton wearable device
Use function.
This utility model embodiment provides a kind of mechanical exoskeleton wearable device, wears including wearing mechanism of foot, leg
Wear mechanism and buttocks support support mechanism, wherein:
Leg is dressed mechanism and is included: dress big hinged with leg support bar of the hinged leg support bar of mechanism with foot
Lower limb support bar, and the first travel adjustment that two ends are hinged with wearing mechanism of foot and thigh support bar respectively, the first stroke
Actuator can stretch with user leg action, and can be locked retracted position；Buttocks support support mechanism and thigh support bar
Connect.
User dresses the mechanical exoskeleton wearable device that this utility model embodiment provides, and not only can walk, run,
The functions of seat of equipment can also be used by locking the retracted position of the first travel adjustment.This design is enriched outside machinery
The use function of skeleton wearable device, makes mechanical exoskeleton wearable device more practicality.
Optionally, the first travel adjustment is the electric cylinder with switch；Or, the first travel adjustment includes the first tune
Pole, the second adjusting rod and lock pin, the first adjusting rod and the second adjusting rod slidable fit and be respectively provided with along glide direction arrange
Multiple pin-and-holes, when lock pin inserts the first adjusting rod and the relative pin-and-hole in the second adjusting rod position, the first travel adjustment quilt
Locking retracted position.
Using technique scheme, the first travel adjustment can manually be operated by user, when locking the first row
During the retracted position of journey actuator, can the functions of seat that mechanical exoskeleton wearable device be used of safety.
Preferably, mechanical exoskeleton wearable device also includes the first controller, the first controller and the first travel adjustment
Electrical connection, for when the retraction stroke of the first travel adjustment reaches the retraction stroke threshold value set, controls the first stroke and adjusts
Joint device locking retracted position.
Using this technical scheme, user can enable the functions of seat of equipment by adjusting attitude.Concrete, user
Under both legs curved, make the retraction stroke of the first travel adjustment reach set retraction stroke threshold value, now the first travel adjustment
Locked retracted position, user can be sitting on buttocks support support mechanism safely.The technical scheme of this utility model embodiment
Improve the action intellectuality of mechanical exoskeleton wearable device, enrich its use function.
Preferably, buttocks support support mechanism is hinged with thigh support bar, and buttocks support support mechanism includes for driving buttocks to support
The motor that mechanism rotates relative to thigh support bar；First controller also electrically connects with motor, for when the first travel adjustment
When retraction stroke reaches the retraction stroke threshold value set, control motor and drive buttocks support support mechanism to turn to relative to thigh support bar
The maximum support angle set.
Using this technical scheme, when the functions of seat of mechanical exoskeleton wearable device is opened, buttocks support support mechanism can be automatic
Adjusting to maximum support position, the sitting posture that can make user is more comfortable, safety.
More excellent, buttocks support support mechanism also includes vibrator；First controller also electrically connects with vibrator, for working as buttocks
When supporting mechanism turns to, relative to thigh support bar, the maximum support angle set, control vibrator vibration.
When buttocks support support mechanism position adjustment is complete, vibrator vibrates, thus points out user to sit down safely, the party
Case further increases safety when using mechanical exoskeleton wearable device functions of seat.
Preferably, foot's wearing mechanism includes support, reversible sole, spring, the second travel adjustment, wherein: can turn over
The front end turning sole is hinged with support, and side has chute；Spring and the second travel adjustment are hinged by the first jointed shaft
And first jointed shaft be slidedly assemblied in chute, spring and the second travel adjustment away from the first jointed shaft one end respectively with
Frame is hinged；Second travel adjustment can be locked retracted position.
User dresses the mechanical exoskeleton wearable device that this embodiment provides, and by adjusting and can lock the second stroke
The collapsing length of actuator, makes reversible sole lift, and now, foot dresses mechanism and has shock-absorbing function, can significantly alleviate
The tired sense of motion of user.Concrete, when user foot falls, spring-compressed, provide damping for user foot, when making
When user foot lifts, spring reset, the first jointed shaft is again by jack-up, and reversible sole lifts again.
Optionally, the second travel adjustment includes the electric cylinder with switch, or feed screw nut.
Preferably, foot's wearing mechanism also includes acceleration transducer and second controller, wherein: acceleration transducer sets
It is placed in support；Second controller, electrically connects with acceleration transducer and the second travel adjustment, is used for when the leg speed of user is big
When the leg speed threshold value set, control the second travel adjustment and extend the first jointed shaft jack-up.
Using this preferred version, when leg speed is more than the leg speed threshold value set, what wearing mechanism of foot can be intelligent is automatic
Opening shock-absorbing function, make the second travel adjustment extend the first jointed shaft jack-up, reversible sole lifts.Mechanism is dressed by foot
Shock-absorbing function open after, can significantly alleviate the tired sense of motion of user.
Preferably, leg dress the leg support bar of mechanism, thigh support bar and the first travel adjustment be two groups and
User leg both sides are symmetrical set；The spring of mechanism is dressed by foot and the second travel adjustment is two groups and at turning footwear
Both sides, the end are symmetrical set.
User dresses the mechanical exoskeleton wearable device of this embodiment scheme, leg and foot's both sides stress balance, wears
Wearing comfort and damping performance more preferably, the reliability of functions of seat promotes the most further.
It is also preferred that the left leg support bar and thigh support bar are hinged by the second jointed shaft；Thigh support bar has along thigh
Multiple first regulation screens of the length direction arrangement of support bar, the second jointed shaft is installed in one of them first regulation screens
In；And/or, leg support bar has multiple second regulation screens of the length direction arrangement along leg support bar, and second is hinged
Axle is installed in one of them second regulation screens.
Above-mentioned design, the length of thigh support bar and/or leg support bar is used to regulate, so that this machinery dermoskeleton
Bone wearable device goes for the user of different height lower limb length, and the scope of application is wider.
Preferably, described buttocks support support mechanism is U-shaped buttocks support support mechanism.
It is also preferred that the left mechanism is dressed by foot and leg is dressed mechanism and is respectively provided with bandage.
Accompanying drawing explanation
Fig. 1 is this utility model one embodiment mechanical exoskeleton wearable device schematic diagram；
Fig. 2 is the first travel adjustment schematic diagram of this utility model one embodiment；
Fig. 3 is another embodiment mechanical exoskeleton wearable device schematic diagram of this utility model；
Fig. 4 is that mechanism's partial schematic diagram is dressed by the foot of this utility model one embodiment；
Fig. 5 is that the wearing mechanism of foot of this utility model one embodiment is in foot-up view；
Fig. 6 is that the foot of this utility model one embodiment dresses mechanism and is in and steps on view；
Fig. 7 is leg support bar and the hinged schematic diagram of thigh support bar of this utility model one embodiment；
Fig. 8 is the progress control method flow chart of this utility model one embodiment mechanical exoskeleton wearable device；
Fig. 9 is the operating control device schematic diagram of this utility model one embodiment mechanical exoskeleton wearable device.
Reference:
Mechanism is dressed by 1-foot；2-leg dresses mechanism；3-buttocks support support mechanism；4-the first controller；
11-support；12-reversible sole；13-spring；14-the second travel adjustment；
15-acceleration transducer；16-chute；17-the first jointed shaft；21-leg support bar；
22-thigh support bar；24-bandage；25-the second jointed shaft；23-the first travel adjustment；
221-first regulates screens；211-second regulates screens；31-motor；32-vibrator；
51-acquiring unit；52-control unit；5-second controller；231-the first adjusting rod；
232-the second adjusting rod；233-lock pin；234-pin-and-hole.
Detailed description of the invention
The use function of horn of plenty mechanical exoskeleton wearable device, this utility model embodiment provides a kind of machinery dermoskeleton
Bone wearable device and progress control method thereof and device.For making the purpose of this utility model, technical scheme and advantage clearer,
By the following examples this utility model is described in further detail.
As it is shown in figure 1, the mechanical exoskeleton wearable device that this utility model one embodiment provides, dress mechanism including foot
1, leg dresses mechanism 2 and buttocks support support mechanism 3, wherein: leg is dressed mechanism 2 and included: hinged with wearing mechanism 1 of foot is little
The thigh support bar 22 that lower limb support bar 21 is hinged with leg support bar 21, and two ends dress mechanism 1 and thigh with foot respectively
The first travel adjustment 23 that support bar 22 is hinged, the first travel adjustment 23 can stretch with user leg action, and energy
Enough it is locked retracted position；Buttocks support support mechanism 3 is connected with thigh support bar 22.
The main body of mechanical exoskeleton wearable device preferably employs the material that density is low, intensity is high, and such as titanium or titanium close
Gold metal, etc., bear a heavy burden and provide enough rigidity reducing dressing of human body.This mechanical exoskeleton wearable device is solid with human body
Fixed mode does not limits, as it is shown in figure 1, in this embodiment, mechanism 1 is dressed by foot and leg is dressed mechanism 2 and is respectively provided with respectively and ties up
Band 24.The quantity of bandage 24 does not limits, can firm to wearable device and human body fixing be advisable.Buttocks support support mechanism 3 concrete
Shape does not limits, and is preferably designed for the U-shaped shown in Fig. 1, it is possible to coincide with the buttocks shape of human body, it is provided that more comfortable support.
User dresses the mechanical exoskeleton wearable device that this utility model embodiment provides, when walking or running, and foot
Portion dress mechanism 1, leg support bar 21, thigh support bar 22 can the action with human action, the first travel adjustment 23 is also
Can stretch with the action of human leg, therefore, user can be walked freely or run.
Additionally, user can also use the seat merit of equipment by locking the retracted position of the first travel adjustment 23
Energy.Concrete, when the first travel adjustment 23 is locked retracted position, leg support bar 21 and the angle of thigh support bar 22
Fixing, user can be sitting on buttocks support support mechanism 3 safely.
The design of this utility model above-described embodiment enriches the use function of mechanical exoskeleton wearable device, makes machinery
Ectoskeleton wearable device more practicality.
The specific constructive form of the first travel adjustment 23 does not limits, such as, in this utility model one alternative embodiment, the
One stroke actuator is the electric cylinder with switch.When electric cylinder is opened, the first travel adjustment can be with human leg's
Action and stretch, when electric cylinder is closed, the first travel adjustment is locked retracted position.
As in figure 2 it is shown, in another alternative embodiment of the present utility model, the first travel adjustment 23 includes the first regulation
Bar the 231, second adjusting rod 232 and lock pin 233, the first adjusting rod 231 and the second adjusting rod 232 slidable fit and be respectively provided with edge
Multiple pin-and-holes 234 that glide direction is arranged.When lock pin 233, to be not inserted into the first adjusting rod 231 relative with the second adjusting rod 232 position
Pin-and-hole time, the first travel adjustment 23 can stretch with the action of human leg；When lock pin 233 inserts the first adjusting rod
During 231 relative with the second adjusting rod 232 position pin-and-hole, the first travel adjustment 23 is locked retracted position.
Using the technical scheme of above-mentioned two embodiment, the first travel adjustment 23 can manually be grasped by user
Make, when locking the retracted position of the first travel adjustment 23, the seat of use mechanical exoskeleton wearable device that can be safe
Function.
As it is shown on figure 3, in this utility model one preferred embodiment, mechanical exoskeleton wearable device also includes the first control
Device 4, the first controller 4 electrically connects with the first travel adjustment 23, reaches for the retraction stroke when the first travel adjustment 23
During the retraction stroke threshold value set, control the first travel adjustment 23 and lock retracted position.In this utility model, the first stroke is adjusted
Joint device 23 is provided with detection sensor, such as pressure switch or photoswitc, makes a reservation for when described first formation actuator 23 arrives
Position, detection trigger sensor send the signal of telecommunication give described first controller 4, described first controller 4 can be relay, e.g.,
The signal of telecommunication is connected to the control end of relay by described detection sensor, when the signal of telecommunication saltus step of control end, the input of relay
End connects with outfan or disconnects, if the first travel adjustment 23 is the locked electric cylinder of power down, and described relay input
Connecting power supply, outfan connects the feeder ear of electric cylinder, when the signal of telecommunication saltus step of control end, cuts off the electricity supply and powers to electric cylinder,
Electric cylinder is locked.
Using this technical scheme, user can enable the functions of seat of equipment by adjusting attitude.Concrete, user
Under both legs curved, make the retraction stroke of the first travel adjustment 23 reach set retraction stroke threshold value, now the first stroke adjustment
Device 23 is locked retracted position, and the angle of leg support bar 21 and thigh support bar 22 is fixed, and user can be sitting in safely
On buttocks support support mechanism 3.The technical scheme of this utility model embodiment improves the action intelligence of mechanical exoskeleton wearable device
Change, enrich its use function.Wherein, retraction stroke threshold value can rule of thumb or be determined by test, such as, shrinks
Stroke threshold value is set as 20 centimetres.
In this utility model one embodiment, buttocks support support mechanism is fixing with thigh support bar to be connected, when leg support bar
When presenting, with thigh support bar, the attitude matched with sitting posture, buttocks support support mechanism is positioned at the lower section of human buttock.
Continue referring to shown in Fig. 3, in preferred embodiment of the present utility model, buttocks support support mechanism 3 and thigh support
Bar 22 is hinged, and buttocks support support mechanism 3 includes the motor 31 for driving buttocks support support mechanism 3 to rotate relative to thigh support bar 22；
First controller 4 also electrically connects with motor 31, for reaching the contraction row of setting when the retraction stroke of the first travel adjustment 23
During journey threshold value, control motor 31 and drive the relative thigh support bar 22 of buttocks support support mechanism 3 to turn to the maximum support angle set.
Maximum support angle can rule of thumb or be determined by test.Using this technical scheme, user is walked
Or when running, buttocks support support mechanism 3 can be accommodated in the waist of user, and the functions of seat of mechanical exoskeleton wearable device is opened
Qi Shi, buttocks support support mechanism 3 can be automatically adjusted to maximum support position, and the sitting posture that can make user is more comfortable, safety.
More excellent, buttocks support support mechanism 3 can also include vibrator 32；First controller 4 also electrically connects with vibrator 32,
For when the relative thigh support bar 22 of buttocks support support mechanism 3 turns to the maximum support angle set, control vibrator 32 and shake
Dynamic.When buttocks support support mechanism 3 position adjustment is complete, and vibrator 32 vibrates, thus user is pointed out to sit down safely, the program
Further increase safety when using mechanical exoskeleton wearable device functions of seat.
Optionally, the first travel adjustment 23 can be air-cylinder type travel adjustment or hydraulic cylinder-type travel adjustment.Preferably
Using air-cylinder type travel adjustment, weight is lighter, is more suitable for mechanical exoskeleton wearable device.
As shown in Figure 4, Figure 5 and Figure 6, in preferred embodiment of the present utility model, foot dress mechanism include support 11,
Reversible sole 12, spring the 13, second travel adjustment 14, wherein: the front end of reversible sole 12 is hinged with support 11, and side
End has chute 16；Spring 13 and the second travel adjustment 14 is hinged by the first jointed shaft 17 and the first jointed shaft 17 slides dress
Fitting in chute 16, spring 13 and the second travel adjustment 14 are hinged with support 11 respectively away from one end of the first jointed shaft 17；
Second travel adjustment 14 can be locked retracted position.
User dresses the mechanical exoskeleton wearable device that this embodiment provides, and by adjusting and can lock the second stroke
The collapsing length of actuator 14, makes reversible sole 12 lift, and now, foot dresses mechanism 1 and has shock-absorbing function, can be significantly
Alleviate the tired sense of motion of user.Concrete, when user foot falls, spring 13 compresses, and provides for user foot and subtracts
Shake, when user foot lifts, spring 13 resets, and the first jointed shaft 17 is again by jack-up, and reversible sole 12 lifts again.
In alternative embodiment of the present utility model, the second travel adjustment 14 can be the electric cylinder with switch, or
For feed screw nut.User can manually regulate the flexible of the second travel adjustment 14 and lock-out state.
In the preferred embodiment shown in this utility model Fig. 5, foot dresses mechanism and also includes acceleration transducer 15 He
Second controller 5, wherein: acceleration transducer 15 is arranged at support 11；Second controller 5, with acceleration transducer 15 and
Two travel adjustments 14 electrically connect, for when the leg speed of user is more than the leg speed threshold value set, controlling the second stroke adjustment
Device 14 extends the first jointed shaft 17 jack-up.
User dresses the mechanical exoskeleton wearable device that this embodiment provides, when leg speed is more than the leg speed threshold value set
Time, what wearing mechanism 1 of foot can be intelligent automatically turns on shock-absorbing function, makes the second travel adjustment 14 extend the first jointed shaft
17 jack-up, reversible sole 12 lifts.As it is shown in figure 5, after the shock-absorbing function unlatching of mechanism 1 is dressed by foot, can significantly alleviate
The tired sense of motion of user.When user foot falls, spring 13 compresses, and it can be user foot that mechanism 1 is dressed by foot
Damping is provided, is in and steps on the wearing mechanism 1 of foot of state as shown in Figure 6；When user foot lifts, spring 13 resets,
First jointed shaft 17 is again by jack-up, and reversible sole 12 lifts again.Leg speed threshold value can rule of thumb or test determine,
Such as, setting leg speed threshold value as the 1.5m/ second, more than this leg speed threshold value, then it is assumed that user is in running state, machine is dressed by foot
The shock-absorbing function of structure 1 is opened.
In this embodiment, the particular type of the second travel adjustment 14 does not limits, such as, can be air-cylinder type stroke adjustment
Device, hydraulic cylinder-type travel adjustment or screw-type travel adjustment, etc..
As it is shown in fig. 7, in preferred embodiment of the present utility model, leg support bar 21 and thigh support bar 22 are by the
Two jointed shafts 25 are hinged；Thigh support bar 22 has multiple first regulation screens of the length direction arrangement along thigh support bar 22
221, the second jointed shaft 25 is installed in one of them first regulation screens 221；Leg support bar 21 has along leg support bar
Multiple second regulation screens 211 of the length direction arrangement of 21, the second jointed shaft 25 is installed in one of them second regulation screens
In 211.
Above-mentioned design, the length of thigh support bar 22 and leg support bar 21 is used to regulate, so that outside this machinery
Skeleton wearable device goes for the user of different height lower limb length, and the scope of application is wider.First regulation screens 221 and second
Regulation screens 211 can be elastic card position, so, firmly moves the second jointed shaft 25 and is i.e. movable to adjacent regulation screens.
In other embodiments of the present utility model, it is also possible to only regulation screens is set on thigh support bar or leg support bar.
Refer to shown in Fig. 3, in this embodiment, leg dresses the leg support bar 21 of mechanism 2, thigh support bar 22 and
First travel adjustment 23 is two groups and is symmetrical set in user leg both sides；The spring 13 and the of mechanism 1 is dressed by foot
Two travel adjustments 14 are two groups and are symmetrical set in reversible sole 12 both sides.Use this design, the leg of user and
Foot's both sides stress balance, more preferably, the reliability of functions of seat promotes the most further for wearing comfort sense and damping performance.
As shown in Figure 8, based on identical utility model design, this utility model embodiment also provides for a kind of mechanical exoskeleton
The progress control method of wearable device, the method comprises the following steps:
Step 101, obtain the flexible stroke of the first travel adjustment；
Step 102, when the retraction stroke of the first travel adjustment reach set retraction stroke threshold value time, control the first row
Journey controller lock retracted position.
Using the progress control method of this utility model above-described embodiment, mechanical exoskeleton wearable device has functions of seat
And can automatically turn on, thus the action that improve mechanical exoskeleton wearable device is intelligent, enrich its use function.
Preferably, progress control method also includes: when the retraction stroke of the first travel adjustment reaches the contraction row of setting
During journey threshold value, control motor and drive buttocks support support mechanism to turn to the maximum support angle set relative to thigh support bar.
Using this embodiment progress control method, when the functions of seat of mechanical exoskeleton wearable device is opened, buttocks supports
Mechanism is in maximum support position, and the sitting posture that can make user is more comfortable, safety.
More excellent, progress control method also includes: when buttocks support support mechanism turns to set relative to thigh support bar
During good support angle, control vibrator vibration.
Using this embodiment progress control method, when buttocks support support mechanism position adjustment is complete, vibrator vibrates, thus can
Can sit down safely with prompting user, the program further increases when using mechanical exoskeleton wearable device functions of seat
Safety.
Preferably, progress control method also includes:
Obtain the leg speed of user；
When the leg speed of user is more than the leg speed threshold value set, controls the second travel adjustment and extend spring and connecting rod
Jointed shaft jack-up.
Using this embodiment progress control method, when leg speed is more than the leg speed threshold value set, foot dresses mechanism and has
Shock-absorbing function, can alleviate the tired sense of motion of user significantly.
As it is shown in figure 9, based on identical utility model design, this utility model embodiment also provides for a kind of mechanical exoskeleton
The operating control device of wearable device, including:
Acquiring unit 51, for obtaining the flexible stroke of the first travel adjustment；
Control unit 52, for when the retraction stroke of the first travel adjustment reaches the retraction stroke threshold value set, controlling
Make the first stroke controller lock retracted position.
Using the operating control device of this utility model above-described embodiment, mechanical exoskeleton wearable device has functions of seat
And can automatically turn on, thus the action that improve mechanical exoskeleton wearable device is intelligent, enrich its use function.
Preferably, control unit 52, it is additionally operable to when the retraction stroke of the first travel adjustment reaches the retraction stroke of setting
During threshold value, control motor and drive buttocks support support mechanism to turn to the maximum support angle set relative to thigh support bar.
Using this embodiment operating control device, when the functions of seat of mechanical exoskeleton wearable device is opened, buttocks supports
Mechanism is in maximum support position, and the sitting posture that can make user is more comfortable, safety.
More excellent, control unit 52, it is additionally operable to when buttocks support support mechanism turns to the optimal of setting relative to thigh support bar
During support angle, control vibrator vibration.
Using this embodiment operating control device, when buttocks support support mechanism position adjustment is complete, vibrator vibrates, thus can
Can sit down safely with prompting user, the program further increases when using mechanical exoskeleton wearable device functions of seat
Safety.
Preferably, acquiring unit 51, it is additionally operable to obtain the leg speed of user；
Control unit 52, is additionally operable to, when the leg speed of user is more than the leg speed threshold value set, control the second stroke adjustment
Device elongation is by the jointed shaft jack-up of spring and connecting rod.
Using this embodiment operating control device, when leg speed is more than the leg speed threshold value set, foot dresses mechanism and has
Shock-absorbing function, can alleviate the tired sense of motion of user significantly.
Obviously, those skilled in the art can carry out various change and modification without deviating from this practicality to this utility model
Novel spirit and scope.So, if of the present utility model these amendment and modification belong to this utility model claim and
Within the scope of its equivalent technologies, then this utility model is also intended to comprise these change and modification.
Claims (12)
1. a mechanical exoskeleton wearable device, it is characterised in that include that mechanism is dressed by foot, leg dresses mechanism and buttocks support
Support mechanism, wherein:
Leg is dressed mechanism and is included: the thigh dressing the hinged leg support bar of mechanism hinged with leg support bar with foot props up
Strut, and the first travel adjustment that two ends are hinged with wearing mechanism of foot and thigh support bar respectively, the first stroke adjustment
Device can stretch with user leg action, and can be locked retracted position；
Buttocks support support mechanism is connected with thigh support bar.
2. mechanical exoskeleton wearable device as claimed in claim 1, it is characterised in that
First travel adjustment is the electric cylinder with switch；Or,
First travel adjustment includes that the first adjusting rod, the second adjusting rod and lock pin, the first adjusting rod and the second adjusting rod slide
Assemble and be respectively provided with the multiple pin-and-holes arranged along glide direction, when lock pin inserts the first adjusting rod and the second adjusting rod position phase
To pin-and-hole time, the first travel adjustment is locked retracted position.
3. mechanical exoskeleton wearable device as claimed in claim 1, it is characterised in that also include the first controller, the first control
Device processed and the electrical connection of the first travel adjustment, for reaching the retraction stroke threshold of setting when the retraction stroke of the first travel adjustment
During value, control the first stroke controller lock retracted position.
4. mechanical exoskeleton wearable device as claimed in claim 3, it is characterised in that buttocks support support mechanism and thigh support bar
Hinged, buttocks support support mechanism includes the motor for driving buttocks support support mechanism to rotate relative to thigh support bar；
First controller also electrically connects with motor, for reaching the retraction stroke of setting when the retraction stroke of the first travel adjustment
During threshold value, control motor and drive buttocks support support mechanism to turn to the maximum support angle set relative to thigh support bar.
5. mechanical exoskeleton wearable device as claimed in claim 4, it is characterised in that buttocks support support mechanism also includes vibration
Device；
First controller also electrically connects with vibrator, for turning to set relative to thigh support bar when buttocks support support mechanism
During good support angle, control vibrator vibration.
6. mechanical exoskeleton wearable device as claimed in claim 1, it is characterised in that foot dress mechanism include support, can
Upset sole, spring, the second travel adjustment, wherein:
The front end of reversible sole is hinged with support, and side has chute；Spring and the second travel adjustment are by the first hinge
Spindle is hinged and the first jointed shaft is slidedly assemblied in chute, and spring and the second travel adjustment are away from one end of the first jointed shaft
Hinged with support respectively；Second travel adjustment can be locked retracted position.
7. mechanical exoskeleton wearable device as claimed in claim 6, it is characterised in that the second travel adjustment includes having out
The electric cylinder closed, or feed screw nut.
8. mechanical exoskeleton wearable device as claimed in claim 6, it is characterised in that foot dresses mechanism and also includes acceleration
Sensor and second controller, wherein:
Acceleration transducer is arranged at support；
Second controller, electrically connects with acceleration transducer and the second travel adjustment, for when the leg speed of user is more than setting
During fixed leg speed threshold value, control the second travel adjustment and extend the first jointed shaft jack-up.
9. mechanical exoskeleton wearable device as claimed in claim 6, it is characterised in that leg dresses the leg support of mechanism
Bar, thigh support bar and the first travel adjustment are two groups and are symmetrical set in user leg both sides；Mechanism is dressed by foot
Spring and the second travel adjustment be two groups and be symmetrical set in reversible sole both sides.
10. mechanical exoskeleton wearable device as claimed in claim 1, it is characterised in that
Leg support bar and thigh support bar are hinged by the second jointed shaft；
Thigh support bar has multiple first regulation screens of the length direction arrangement along thigh support bar, the second jointed shaft pivot dress
In one of them first regulation screens；And/or, leg support bar has the multiple of the length direction arrangement along leg support bar
Second regulation screens, the second jointed shaft is installed in one of them second regulation screens.
The 11. mechanical exoskeleton wearable device as described in any one of claim 1～10, it is characterised in that described buttocks supports
Mechanism is U-shaped buttocks support support mechanism.
12. mechanical exoskeleton wearable device as claimed in claim 11, it is characterised in that mechanism is dressed by foot and leg is dressed
Mechanism is respectively provided with bandage.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620831585.6U CN205835312U (en) | 2016-08-03 | 2016-08-03 | Mechanical exoskeleton wearable device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620831585.6U CN205835312U (en) | 2016-08-03 | 2016-08-03 | Mechanical exoskeleton wearable device |
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| CN205835312U true CN205835312U (en) | 2016-12-28 |
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| CN201620831585.6U Withdrawn - After Issue CN205835312U (en) | 2016-08-03 | 2016-08-03 | Mechanical exoskeleton wearable device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041898A (en) * | 2016-08-03 | 2016-10-26 | 京东方科技集团股份有限公司 | Mechanical exoskeleton wear equipment and operation control method and device thereof |
| CN108161981A (en) * | 2018-02-24 | 2018-06-15 | 山东赢创机械有限公司 | A kind of ectoskeleton accumulation of energy telescopic joint device |
| CN109718065A (en) * | 2018-12-13 | 2019-05-07 | 上海电子工业学校 | Mobile power assisting device |
| CN113199459A (en) * | 2021-05-20 | 2021-08-03 | 东莞市三航军民融合创新研究院 | Exoskeleton supporting structure and exoskeleton system with same |
-
2016
- 2016-08-03 CN CN201620831585.6U patent/CN205835312U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041898A (en) * | 2016-08-03 | 2016-10-26 | 京东方科技集团股份有限公司 | Mechanical exoskeleton wear equipment and operation control method and device thereof |
| CN106041898B (en) * | 2016-08-03 | 2018-05-22 | 京东方科技集团股份有限公司 | Mechanical exoskeleton wearable device and its progress control method and device |
| US10702400B2 (en) | 2016-08-03 | 2020-07-07 | Boe Technology Group Co., Ltd. | Mechanical exoskeleton wearable apparatus, operation control method and operation control device for the same |
| CN108161981A (en) * | 2018-02-24 | 2018-06-15 | 山东赢创机械有限公司 | A kind of ectoskeleton accumulation of energy telescopic joint device |
| CN108161981B (en) * | 2018-02-24 | 2023-08-29 | 山东赢创机械有限公司 | Energy storage telescopic joint device for exoskeleton |
| CN109718065A (en) * | 2018-12-13 | 2019-05-07 | 上海电子工业学校 | Mobile power assisting device |
| CN109718065B (en) * | 2018-12-13 | 2024-04-26 | 上海电子信息职业技术学院 | Mobile booster |
| CN113199459A (en) * | 2021-05-20 | 2021-08-03 | 东莞市三航军民融合创新研究院 | Exoskeleton supporting structure and exoskeleton system with same |
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| C14 | Grant of patent or utility model | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20161228 Effective date of abandoning: 20180522 |