CN205867054U - Lower limbs of human body ectoskeleton with return power structure - Google Patents
Lower limbs of human body ectoskeleton with return power structure Download PDFInfo
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- CN205867054U CN205867054U CN201620475519.XU CN201620475519U CN205867054U CN 205867054 U CN205867054 U CN 205867054U CN 201620475519 U CN201620475519 U CN 201620475519U CN 205867054 U CN205867054 U CN 205867054U
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Abstract
The utility model provides a lower limbs of human body ectoskeleton with return power structure, belongs to and relates to human bionical ectoskeleton technical field. Including the lower limbs of the human body profiling structure, the lower limbs of the human body profiling structure includes low limbs profiling structure and hip profiling structure, low limbs profiling structure includes thigh profiling structure, shank profiling structure and foot profiling structure, thigh profiling structure passes through the knee joint pivot with shank profiling structure and links to each other, and shank profiling structure passes through the ankle joint pivot with foot profiling structure and links to each other, hip profiling structure passes through the hip joint pivot with low limbs profiling structure and links to each other, it puts back the power spring outward to be provided with a hip joint in the left and right hip joint pivot respectively, it returns the power spring to be provided with the ankle in the ankle joint pivot. The utility model discloses increase back the power structure respectively in waist, hip joint, thigh, shank and foot ankle part position, make its person's that can alleviate the wearing load and the comfort that increases the wearing person, can extensively be used for various " helping hands ", " helping the disabled ", " the healthy correction " field.
Description
Technical field
The present invention relates to simulation of human body ectoskeleton technical field, be specifically related to human body lower limbs ectoskeleton.
Background technology
Ectoskeleton is that one can provide biological soft inside organ is carried out configuration, the hard outside built and protect
Structure.People's exoskeleton is also referred to as robotic exoskeleton, refers to the robot being enclosed within outside human body, also referred to as " wearable machine
People ".Exoskeleton robot technology be merge sensing, control, information, fusion, mobile computing, for as people provide one to wear
The complex art of the frame for movement worn.
The ectoskeletal research of human body originates from the individual soldier in Military Application the earliest and bears a heavy burden the demand in terms of demand, i.e. power-assisted.
Along with scientific and technological progress and the raising of living standards of the people, various " power-assisteds ", " helping the disabled ", people's exoskeleton research of " healthy rectification "
Start to rise.
Functionally distinguishing, people's exoskeleton relates generally to several big types such as " power-assisted ", " helping the disabled ", " healthy rectification "；From
Having unpowered upper differentiation, (this robot can provide the dynamic of walking for wearer to be broadly divided into " active " people's exoskeleton
Power) and " passive-type " people's exoskeleton (this robot can not for wearer provide walking power, its action is passively followed
The action of people and action).
Human body lower limbs ectoskeleton, generally includes for the profiling mechanism structure of human body lower limbs motion with for by profiling mechanism
Structure coupling assembly together with body-coupled.Wherein, the profiling mechanism structure for human body lower limbs motion includes that lower limb are tied
Structure and hip structure.Described lower limb structure includes left lower limb structure and right lower limb structure, and described left lower limb structure all includes with right lower limb structure
Imitative human thigh's structure, shank structure and foot structure, described thigh structure is connected by knee joint rotating shaft with shank structure, institute
State shank structure to be connected by ankle joint rotating shaft with foot structure；Described hip structure is led to respectively with left lower limb structure, right lower limb structure
Cross hip joint rotating shaft to be connected.Described coupling assembly includes waist coupling unit, thigh coupling unit, shank coupling unit, foot
Coupling unit.
Existing human body lower limbs ectoskeleton generally uses rotating shaft connecting structure at individual joint part, and these are outside active lower limb
In skeleton more flexibly, but if passive-type lower limb exoskeleton still uses such structure, then can give wearer heavy load；
It addition, existing human body lower limbs ectoskeleton also needs to be improved at joint context buffer.
Summary of the invention
The present invention provides a kind of human body lower limbs ectoskeleton having resilient structure, by improving existing human body lower limbs ectoskeleton
Joint pivot structure, increase back power structure so that based on the present invention provide have resilient structure passive-type human body lower limbs
Ectoskeleton can alleviate the load of wearer and increase the comfort of wearer.
The technical scheme is that
A kind of human body lower limbs ectoskeleton having resilient structure, including human body lower limbs profiling mechanism structure with for by human body
Lower limb profiling mechanism structure coupling assembly together with body-coupled；Described human body lower limbs profiling mechanism structure includes that lower limb are imitated
Shape structure and hip imitated structure；Described lower limb imitated structure includes left lower limb imitated structure and right lower limb imitated structure, described left lower limb
Imitated structure and right lower limb imitated structure all include thigh imitated structure, shank imitated structure and foot-copying structure；Described thigh
Imitated structure is connected by knee joint rotating shaft with shank imitated structure, and described shank imitated structure and foot-copying structure pass through ankle
Joint rotating shaft is connected；Described hip imitated structure is turned by left and right hip joint respectively with left lower limb imitated structure, right lower limb imitated structure
Axle is connected；Described coupling assembly includes waist coupling unit, thigh coupling unit, shank coupling unit and foot coupling unit.
Wherein said left and right hip joint rotating shaft is respectively arranged with outside a hip joint pendulum return spring 028；In described ankle joint rotating shaft
It is provided with ankle return spring 041.
Described hip imitated structure is bilateral symmetry；Left hip imitated structure is by left back connecting plate 020, left back
Before extensible member 025, left side transition connecting plate 019 and left side, connecting plate 018 is linked in sequence and forms, and right hip imitated structure is by the right back of the body
Before portion's connecting plate 001, right back extensible member 021, right side transition connecting plate 002 and right side, connecting plate 03 is linked in sequence and forms；Left
It is connected with rotating shaft mode between back connecting plate 020 with right back connecting plate 001, and left back connecting plate 020 is with right back even
Rotating shaft between fishplate bar 001 is provided with return spring 026 and back lower side return spring 023 on the upside of back so that the left and right back of the body
Have between portion's connecting plate 020,001 and there is along rotating shaft corresponding degree of freedom in the longitudinal direction and return power function；Its middle left and right
Back extensible member 025,021 can enter with left back connecting plate 020 and right back connecting plate 001 respectively according to human body waist width
Row telescopic adjustment；Left and right side transition connecting plate 002,019 respectively and passes through rotating shaft side between connecting plate 03,018 before left and right side
Formula connects so that lower limb imitated structure has corresponding degree of freedom in the lateral direction along rotating shaft；Connecting plate 03 before left and right side,
018 is connected by left and right hip joint rotating shaft with left and right side thigh imitated structure respectively.
Described left and right hip joint rotating shaft includes left and right hip joint sliding support member 022,024 respectively, and left and right hip rotates
Axle construction part 004,017；Its middle left and right hip joint sliding support member 022,024 respectively with left and right side before connecting plate 03,018 lead to
Cross draw-in groove mode to fix；Left and right hip rotation shaft structural member 004,017 one end is respectively protruding into left and right hip joint sliding support member
022, it is screwed in the circular cylindrical cavity of 024 and by end cap 27, another of left and right hip rotation shaft structural member 004,017
End is connected with rotating shaft mode with left and right side thigh imitated structure respectively, and it is spacing to be respectively provided with a thigh swing amplitude
Block 029 so that leg has the degree of freedom of corresponding swing with lower portion；At left and right hip joint sliding support member 022,024
And it is provided with outside hip joint pendulum return spring 028 between left and right hip rotation shaft structural member 004,017 so that leg is with bottom
Position has the degree of freedom swung accordingly and returns power function.
Described left and right side thigh imitated structure includes that left and right thigh stretches external member 016,005, left and right thigh rod member 015,
006；Wherein, left and right thigh rod member 015,006 top has a thigh spring retainer ring 031, left and right thigh rod member 015,
006 part being positioned at thigh spring retainer ring more than 031 stretches into left and right extension of hip joint after overlapping a thigh return spring 030 respectively
In contracting external member 016,005 so that overall human body lower limb exoskeleton has degree of freedom and time power function buffering gravity accordingly up and down.
Described left and right side shank imitated structure includes that left and right shank stretches external member 014,007, left and right shank rod member 013,
008；Wherein, left and right shank rod member 013,008 top has a shank spring retainer ring 033, left and right shank rod member 013,
008 part being positioned at shank spring retainer ring more than 033 stretches into left and right shank after overlapping a shank return spring 032 respectively and stretches
In contracting external member 014,007 so that overall human body lower limb exoskeleton has degree of freedom and time power function buffering gravity accordingly up and down；
Wherein, left and right shank stretches and is connected with rotating shaft mode between external member 014,007 with left and right thigh rod member 015,006.
Described foot-copying structure includes left and right ankle joint base 038 and is individually fixed in left and right ankle joint base 038
The left and right sole 012,009 of side；A left and right ankle joint rotating shaft it is respectively provided with on described left and right ankle joint base 038
Station is installed；Ankle joint connecting pin is used between described left and right ankle joint rotating shaft 034 top and left and right shank rod member 013,008
Follow closely 040 connect in rotary shaft mode and be provided with ankle return spring 041 so that before and after foot-copying structure, during walking, there is phase
The degree of freedom answered and time power function；Described left and right ankle joint rotating shaft 034 bottom is respectively protruding into the peace of left and right ankle joint base 038
Dress station also uses ankle rotation axis link pin 039 to fix.
The invention has the beneficial effects as follows: the human body lower limbs ectoskeleton having resilient structure that the present invention provides, by improving
Existing human body lower limbs ectoskeletal joint pivot structure, increases respectively at waist, hip joint, thigh, shank and ankle position
Return power structure so that the passive-type human body lower limbs ectoskeleton having resilient structure provided based on the present invention can alleviate wearer
Load and increase wearer comfort.The method can be widely used in various " power-assisted ", " helping the disabled ", " healthy rectification " field.
Accompanying drawing explanation
Fig. 1 is the human body lower limbs ectoskeleton overall structure schematic diagram having resilient structure that the present invention provides.
Fig. 2 is the human body lower limbs ectoskeleton hip imitated structure schematic diagram having resilient structure that the present invention provides.
Fig. 3 be the present invention provide have resilient structure human body lower limbs ectoskeleton hip joint pivot structure schematic diagram (just
View).
Fig. 4 is the human body lower limbs ectoskeleton hip joint pivot structure schematic diagram (side having resilient structure that the present invention provides
View).
Fig. 5 is the human body lower limbs ectoskeleton thigh imitated structure schematic diagram having resilient structure that the present invention provides.
Fig. 6 is the human body lower limbs ectoskeleton shank imitated structure schematic diagram having resilient structure that the present invention provides.
Fig. 7 is human body lower limbs ectoskeleton foot-copying structure and the ankle joint rotating shaft of the resilient structure of tool that the present invention provides
Structural representation.
Reference in Fig. 1 to Fig. 7: connecting plate 003 before right back connecting plate 001, right side transition connecting plate 002, right side,
Stretch external member 005, right thigh rod member 006, right leg of right hip rotation shaft structure 004, right thigh stretches external member 007, right leg
Rod member 008, right crus of diaphragm base plate 009, right back coupling briquetting 010, the coupling of left back briquetting 011, left foot base plate 012, left leg bar
Part 013, left leg stretch external member 014, left thigh rod member 015, left thigh stretch external member 016, left hip rotation shaft structure 017,
Before left side, connecting plate 018, left side transition connecting plate 019, left back connecting plate 020, right back extensible member 021, right hip joint are slided
Move on support member 022, back lower side return spring 023, left hip joint sliding support member 024, left back extensible member 025, back
Put return spring 028 outside side return spring 026, end cap 027, hip joint, hip joint swings position limiting slide block 029, thigh returns power bullet
Spring 030, thigh spring retainer ring 031, shank return spring 032, shank spring retainer ring 033, ankle joint rotary shaft 034, ankle
Joint pad 035, the upper of a shoe coupling unit 036 of heel, the upper of a shoe coupling unit 037 at sole position, ankle joint base
038, ankle rotation axis link pin 039, ankle joint connecting pin 040, ankle return spring 041.
Detailed description of the invention
The present invention will be further described below in conjunction with the accompanying drawings.
As it is shown in figure 1, a kind of human body lower limbs ectoskeleton having resilient structure, including human body lower limbs profiling mechanism structure and
For by human body lower limbs profiling mechanism structure coupling assembly together with body-coupled；Described human body lower limbs profiling mechanism structure
Including lower limb imitated structure and hip imitated structure；Described lower limb imitated structure includes that left lower limb imitated structure is tied with right lower limb profiling
Structure, described left lower limb imitated structure and right lower limb imitated structure all include thigh imitated structure, shank imitated structure and foot-copying knot
Structure；Described thigh imitated structure is connected by knee joint rotating shaft with shank imitated structure, and described shank imitated structure is imitated with foot
Shape structure is connected by ankle joint rotating shaft；Described hip imitated structure passes through respectively with left lower limb imitated structure, right lower limb imitated structure
Left and right hip joint rotating shaft is connected；Described coupling assembly include waist coupling unit, thigh coupling unit, shank coupling unit and
Foot coupling unit.Wherein said left and right hip joint rotating shaft is respectively arranged with outside a hip joint and puts return spring；Described ankle
Joint rotating shaft is provided with ankle return spring.
As in figure 2 it is shown, in the human body lower limbs ectoskeleton having resilient structure of present invention offer, described hip imitated structure
For bilateral symmetry；Left hip imitated structure is by left back connecting plate 020, left back extensible member 025, left side transition connecting plate
019 and left side before connecting plate 018 be linked in sequence and form, right hip imitated structure is by right back connecting plate 001, right back extensible member
021, before right side transition connecting plate 002 and right side, connecting plate 03 is linked in sequence and forms；Left back connecting plate 020 is connected with right back
Connect with rotating shaft mode between plate 001, and the rotating shaft between left back connecting plate 020 and right back connecting plate 001 is provided with
Return spring 026 and back lower side return spring 023 on the upside of back so that between left and right back connecting plate 020,001, there is edge
Rotating shaft has corresponding degree of freedom in the longitudinal direction and returns power function；Its middle left and right back extensible member 025,021 can basis
Human body waist width carries out telescopic adjustment with left back connecting plate 020 and right back connecting plate 001 respectively；Left and right side transition is even
Fishplate bar 002,019 is connected by rotating shaft mode with between connecting plate before left and right side 03,018 respectively so that lower limb imitated structure edge
Rotating shaft has corresponding degree of freedom in the lateral direction；Before left and right side, connecting plate 03,018 is tied with left and right side thigh profiling respectively
Structure is connected by left and right hip joint rotating shaft.
As shown in Figure 3,4, in the human body lower limbs ectoskeleton having resilient structure that the present invention provides, described left and right hip closes
Joint rotating shaft includes left and right hip joint sliding support member 022,024, left and right hip rotation shaft structural member 004,017 respectively；Wherein
Left and right hip joint sliding support member 022,024 respectively with left and right side before connecting plate 03,018 fixed by draw-in groove mode；Left and right
Hip rotation shaft structural member 004,017 one end is respectively protruding in the circular cylindrical cavity of left and right hip joint sliding support member 022,024
And be screwed by end cap 27, the other end of left and right hip rotation shaft structural member 004,017 is imitated with left and right side thigh respectively
Shape structure connects with rotating shaft mode, and is respectively provided with a thigh swing amplitude limited block 029 so that leg is with lower portion
There is the degree of freedom of corresponding swing；In left and right hip joint sliding support member 022,024 and left and right hip rotation shaft structure
Be provided with outside hip joint between part 004,017 pendulum return spring 028 so that leg have with lower portion swing accordingly from
By spending and returning power function.
As it is shown in figure 5, in the human body lower limbs ectoskeleton having resilient structure of present invention offer, described left and right side thigh
Imitated structure includes that left and right thigh stretches external member 016,005, left and right thigh rod member 015,006；Wherein, left and right thigh rod member
015,006 top has a thigh spring retainer ring 031, and left and right thigh rod member 015,006 is positioned at thigh spring retainer ring
The part of more than 031 stretches into left and right thigh and stretches in external member 016,005 after overlapping a thigh return spring 030 respectively so that whole
Body human body lower limbs ectoskeleton has degree of freedom and time power function buffering gravity accordingly up and down.
As shown in Figure 6, in the human body lower limbs ectoskeleton having resilient structure that the present invention provides, described left and right side shank
Imitated structure includes that left and right shank stretches external member 014,007, left and right shank rod member 013,008；Wherein, left and right shank rod member
013,008 top has a shank spring retainer ring 033, and left and right shank rod member 013,008 is positioned at shank spring retainer ring
The part of more than 033 stretches into left and right shank and stretches in external member 014,007 after overlapping a shank return spring 032 respectively so that whole
Body human body lower limbs ectoskeleton has degree of freedom and time power function buffering gravity accordingly up and down；Wherein, left and right shank stretches external member
014, it is connected with rotating shaft mode between 007 with left and right thigh rod member 015,006.
As it is shown in fig. 7, in the human body lower limbs ectoskeleton having resilient structure of present invention offer, described foot-copying structure
Including left and right ankle joint base 038 and the left and right sole 012,009 being individually fixed in left and right ankle joint base 038 side；
It is respectively provided with a left and right ankle joint rotating shaft on described left and right ankle joint base 038 and station is installed；Described left and right ankle joint turns
Ankle joint connecting pin 040 is used to be connected in rotary shaft mode and set between axle 034 top with left and right shank rod member 013,008
It is equipped with ankle return spring 041 so that there is during walking before and after foot-copying structure corresponding degree of freedom and return power function；Described
Left and right ankle joint rotating shaft 034 bottom is respectively protruding into the installation station of left and right ankle joint base 038 and uses ankle rotation axis chain
Pin nail 039 is fixed.
Additionally, described waist coupling unit is two sections of belts, one end of two sections of belts is respectively by left and right back coupling pressure
Block 011,010 is individually fixed on left and right back connecting plate 020,001；Described foot coupling unit include being respectively arranged at a left side,
The upper of a shoe coupling unit 036 of right crus of diaphragm base plate 012,009 heel and the upper of a shoe coupling unit 037 at sole position.
Claims (11)
1. has a human body lower limbs ectoskeleton for resilient structure, including human body lower limbs profiling mechanism structure with for by under human body
Limb profiling mechanism structure coupling assembly together with body-coupled；Described human body lower limbs profiling mechanism structure includes lower limb profiling
Structure and hip imitated structure；Described lower limb imitated structure includes left lower limb imitated structure and right lower limb imitated structure, and described left lower limb is imitated
Shape structure and right lower limb imitated structure all include thigh imitated structure, shank imitated structure and foot-copying structure；Described thigh is imitated
Shape structure is connected by knee joint rotating shaft with shank imitated structure, and described shank imitated structure is closed by ankle with foot-copying structure
Joint rotating shaft is connected；Described hip imitated structure and left lower limb imitated structure, right lower limb imitated structure are respectively by left and right hip joint rotating shaft
It is connected；Described coupling assembly includes waist coupling unit, thigh coupling unit, shank coupling unit and foot coupling unit；Its
Described in left and right hip joint rotating shaft be respectively arranged with outside a hip joint put return spring (028)；In described ankle joint rotating shaft
It is provided with ankle return spring (041).
The human body lower limbs ectoskeleton of the resilient structure of tool the most according to claim 1, it is characterised in that: described hip profiling
Structure is bilateral symmetry；Left hip imitated structure is by left back connecting plate (020), left back extensible member (025), left side mistake
Before crossing connecting plate (019) and left side, connecting plate (018) is linked in sequence and forms, and right hip imitated structure is by right back connecting plate
(001), before right back extensible member (021), right side transition connecting plate (002) and right side, connecting plate (03) is linked in sequence and forms；Left
It is connected with rotating shaft mode between back connecting plate (020) with right back connecting plate (001), and left back connecting plate (020) is with right
Rotating shaft between back connecting plate (001) is provided with return spring on the upside of back (026) and back lower side return spring
(023) so that have between left and right back connecting plate (020,001) and there is along rotating shaft corresponding degree of freedom in the longitudinal direction
With time power function；Its middle left and right back extensible member (025,021) can according to human body waist width respectively with left back connecting plate
And right back connecting plate (001) carries out telescopic adjustment (020)；Left and right side transition connecting plate (002,019) respectively with left and right side
Front connecting plate is connected by rotating shaft mode between (03,018) so that lower limb imitated structure has phase in the lateral direction along rotating shaft
The degree of freedom answered；Before left and right side, connecting plate (03,018) is turned by left and right hip joint with left and right side thigh imitated structure respectively
Axle connects.
The human body lower limbs ectoskeleton of the resilient structure of tool the most according to claim 1 and 2, it is characterised in that: described left and right
Hip joint rotating shaft includes left and right hip joint sliding support member (022,024) respectively, left and right hip rotation shaft structural member (004,
017)；Its middle left and right hip joint sliding support member (022,024) respectively with left and right side before connecting plate (03,018) pass through draw-in groove
Mode is fixed；Left and right hip rotation shaft structural member (004,017) one end be respectively protruding into left and right hip joint sliding support member (022,
024) it is screwed in circular cylindrical cavity and by end cap (27), another of left and right hip rotation shaft structural member (004,017)
End is connected with rotating shaft mode with left and right side thigh imitated structure respectively, and it is spacing to be respectively provided with a thigh swing amplitude
Block (029) so that leg has the degree of freedom of corresponding swing with lower portion；Left and right hip joint sliding support member (022,
024) and it is provided with outside hip joint between left and right hip rotation shaft structural member (004,017) and puts return spring (028) so that lower limb
Portion has the degree of freedom swung accordingly and returns power function with lower portion.
The human body lower limbs ectoskeleton of the resilient structure of tool the most according to claim 1, it is characterised in that: described left and right side
Thigh imitated structure includes that left and right thigh stretches external member (016,005), left and right thigh rod member (015,006)；Wherein, left and right
Thigh rod member (015,006) top has thigh spring retainer ring (031), and left and right thigh rod member (015,006) is positioned at greatly
Part more than lower limb spring retainer ring (031) stretches into left and right thigh and stretches external member after overlapping a thigh return spring (030) respectively
In (016,005) so that overall human body lower limb exoskeleton has degree of freedom and time power function buffering gravity accordingly up and down.
The human body lower limbs ectoskeleton of the resilient structure of tool the most according to claim 3, it is characterised in that: described left and right side
Thigh imitated structure includes that left and right thigh stretches external member (016,005), left and right thigh rod member (015,006)；Wherein, left and right
Thigh rod member (015,006) top has thigh spring retainer ring (031), and left and right thigh rod member (015,006) is positioned at greatly
Part more than lower limb spring retainer ring (031) stretches into left and right thigh and stretches external member after overlapping a thigh return spring (030) respectively
In (016,005) so that overall human body lower limb exoskeleton has degree of freedom and time power function buffering gravity accordingly up and down.
The human body lower limbs ectoskeleton of the resilient structure of tool the most according to claim 1, it is characterised in that: described left and right side
Shank imitated structure includes that left and right shank stretches external member (014,007), left and right shank rod member (013,008)；Wherein, left and right
Shank rod member (013,008) top has shank spring retainer ring (033), and left and right shank rod member (013,008) is positioned at little
Part more than lower limb spring retainer ring (033) stretches into left and right shank and stretches external member after overlapping a shank return spring (032) respectively
In (014,007) so that overall human body lower limb exoskeleton has degree of freedom and time power function buffering gravity accordingly up and down；Its
In, left and right shank stretches and is connected with rotating shaft mode between external member (014,007) with left and right thigh rod member (015,006).
The human body lower limbs ectoskeleton of the resilient structure of tool the most according to claim 3, it is characterised in that: described left and right side
Shank imitated structure includes that left and right shank stretches external member (014,007), left and right shank rod member (013,008)；Wherein, left and right
Shank rod member (013,008) top has shank spring retainer ring (033), and left and right shank rod member (013,008) is positioned at little
Part more than lower limb spring retainer ring (033) stretches into left and right shank and stretches external member after overlapping a shank return spring (032) respectively
In (014,007) so that overall human body lower limb exoskeleton has degree of freedom and time power function buffering gravity accordingly up and down；Its
In, left and right shank stretches and is connected with rotating shaft mode between external member (014,007) with left and right thigh rod member (015,006).
The human body lower limbs ectoskeleton of the resilient structure of tool the most according to claim 1, it is characterised in that: described foot-copying
Structure includes left and right ankle joint base (038) and is individually fixed in the left and right sole of left and right ankle joint base (038) side
(012、009)；It is respectively provided with a left and right ankle joint rotating shaft on described left and right ankle joint base (038) and station is installed；Described
Ankle joint connecting pin (040) is used between left and right ankle joint rotating shaft (034) top and left and right shank rod member (013,008)
Connect in rotary shaft mode and be provided with ankle return spring (041) so that having corresponding before and after foot-copying structure during walking
Degree of freedom and return power function；Described left and right ankle joint rotating shaft (034) bottom is respectively protruding into left and right ankle joint base (038)
Station is installed and uses ankle rotation axis link pin (039) to fix.
The human body lower limbs ectoskeleton of the resilient structure of tool the most according to claim 3, it is characterised in that: described foot-copying
Structure includes left and right ankle joint base (038) and is individually fixed in the left and right sole of left and right ankle joint base (038) side
(012、009)；It is respectively provided with a left and right ankle joint rotating shaft on described left and right ankle joint base (038) and station is installed；Described
Between left and right ankle joint rotating shaft (034) top and left and right shank rod member (013,008) use ankle joint connecting pin (040) with
Rotary shaft mode connects and is provided with ankle return spring (041) so that have corresponding before and after foot-copying structure during walking
Degree of freedom and time power function；Described left and right ankle joint rotating shaft (034) bottom is respectively protruding into the peace of left and right ankle joint base (038)
Dress station also uses ankle rotation axis link pin (039) to fix.
The human body lower limbs ectoskeleton of the resilient structure of tool the most according to claim 2, it is characterised in that: described waist coupling
Closing parts is two sections of belts, and one end of two sections of belts is individually fixed in by left and right back coupling briquetting (011,010) respectively
On left and right back connecting plate (020,001).
The 11. human body lower limbs ectoskeletons having resilient structure according to claim 8 or claim 9, it is characterised in that: described foot
Coupling unit includes upper of a shoe coupling unit (036) and the foot palm part being respectively arranged at left and right sole (012,009) heel
The upper of a shoe coupling unit (037) of position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620475519.XU CN205867054U (en) | 2016-05-23 | 2016-05-23 | Lower limbs of human body ectoskeleton with return power structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620475519.XU CN205867054U (en) | 2016-05-23 | 2016-05-23 | Lower limbs of human body ectoskeleton with return power structure |
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| CN105943316A (en) * | 2016-05-23 | 2016-09-21 | 成都润惠科技有限公司 | Human lower extremity exoskeleton having force-returning structures |
| CN106691651A (en) * | 2017-01-20 | 2017-05-24 | 泰安市美联假肢矫形器有限公司 | Lower limb gait correction walking brace |
| CN107260496A (en) * | 2017-08-17 | 2017-10-20 | 四川汇智众创科技有限公司 | A kind of wearable exoskeleton lower limb rehabilitation robot |
| CN108372498A (en) * | 2018-04-25 | 2018-08-07 | 河北工业大学 | A kind of wearable sitting posture support device |
| CN109223450A (en) * | 2018-08-30 | 2019-01-18 | 广东宏穗晶科技服务有限公司 | A kind of robot convenient for patient's installation |
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| CN112022620A (en) * | 2020-09-11 | 2020-12-04 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Novel ankle joint and sole support structure for rehabilitation exoskeleton robot |
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2016
- 2016-05-23 CN CN201620475519.XU patent/CN205867054U/en not_active Withdrawn - After Issue
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| CN105943316A (en) * | 2016-05-23 | 2016-09-21 | 成都润惠科技有限公司 | Human lower extremity exoskeleton having force-returning structures |
| CN105943316B (en) * | 2016-05-23 | 2018-06-29 | 成都润惠科技有限公司 | A kind of human body lower limbs ectoskeleton for having resilient structure |
| CN106691651A (en) * | 2017-01-20 | 2017-05-24 | 泰安市美联假肢矫形器有限公司 | Lower limb gait correction walking brace |
| CN107260496A (en) * | 2017-08-17 | 2017-10-20 | 四川汇智众创科技有限公司 | A kind of wearable exoskeleton lower limb rehabilitation robot |
| CN108372498A (en) * | 2018-04-25 | 2018-08-07 | 河北工业大学 | A kind of wearable sitting posture support device |
| CN108372498B (en) * | 2018-04-25 | 2023-11-07 | 河北工业大学 | Wearable sitting posture supporting device |
| CN109223450A (en) * | 2018-08-30 | 2019-01-18 | 广东宏穗晶科技服务有限公司 | A kind of robot convenient for patient's installation |
| CN111615376A (en) * | 2018-11-28 | 2020-09-01 | 袁博 | Hip joint exoskeleton |
| CN111615376B (en) * | 2018-11-28 | 2022-05-03 | 袁博 | Hip joint exoskeleton |
| CN110801322A (en) * | 2019-09-26 | 2020-02-18 | 深圳市泰康益民医疗科技发展有限公司 | Hip, knee, ankle and foot orthosis |
| CN112022620A (en) * | 2020-09-11 | 2020-12-04 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Novel ankle joint and sole support structure for rehabilitation exoskeleton robot |
| WO2022082863A1 (en) * | 2020-10-21 | 2022-04-28 | 江南大学 | Rehabilitation exoskeleton wakling aid based on human gravitational potential energy conversion |
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