CN206007547U - A kind of assistance type ectoskeleton retinue device - Google Patents
A kind of assistance type ectoskeleton retinue device Download PDFInfo
- Publication number
- CN206007547U CN206007547U CN201620490992.5U CN201620490992U CN206007547U CN 206007547 U CN206007547 U CN 206007547U CN 201620490992 U CN201620490992 U CN 201620490992U CN 206007547 U CN206007547 U CN 206007547U
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- human body
- ectoskeleton
- motion
- matrix
- energy
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Abstract
The device the utility model discloses a kind of assistance type ectoskeleton is accompanied, including human body wearing protection part, manual platform, the energy and control system case, hoofing part mechanism；Human body back is fixed on human body wearing protection part, and lower end has four pedipulator collaboration human bodies to follow motion.On device-aware human body, trunk motion or manual control ectoskeleton motion mode, determine direction, the speed of movement environment and motion, while can stop ectoskeleton limb motion in human body disequilibrium immediately and keep ectoskeleton to balance.The utility model device considers human oriented design, meet old man, the long-term living needs of disabled person, mainly consider which is badly off in upper downslope and stair, carry necessity for life etc., this device energy auxiliary balance human body attitude, prevents falling over of human body, while user's up and down ramp and stair can be helped, do not need supernumerary to help, enable wearer to recover its independent normal life.
Description
Technical field
The utility model is related to human body wearable device, in particular for the assistance type dermoskeleton of handicapped or rehabilitation person
Bone running gear.
Background technology
In current lower limb exoskeleton equipment, the equipment of human motion is aided in be mainly Wheelchair structure, can only be in ground grading
Do limited walking movement.And the utility model device designs more consideration human oriented designs, meet old man, disabled person and give birth to for a long time
The needs of walking living, mainly consider which is badly off in upper downslope and stair, carry necessity for life etc., this device can be aided in
Balanced human's attitude, prevents falling over of human body, while user's up and down ramp and stair can be helped, it is not necessary to which supernumerary helps,
Wearer is enable to recover its independent normal life.
Utility model content
In view of the above deficiency of prior art, the utility model aims to provide a kind of assistance type ectoskeleton retinue device, more
Many consideration human oriented designs, meet old man, the needs of the long-term living walking of disabled person, mainly consider which is badly off in upper oblique
Slope and stair, carry necessity for life etc., and this device energy auxiliary balance human body attitude prevents falling over of human body, while can help make
User's up and down ramp and stair, it is not necessary to which supernumerary helps, and enables wearer to recover its independent normal life.
The means for realizing utility model purpose are：A kind of assistance type ectoskeleton retinue device, dresses protection portion including human body
Point, manual platform, the energy and control system case, hoofing part mechanism.Human body wearing protection portion point includes that upper limb body is fixed and bears
Band 2, stands on and leans against 3 and the manual platform 5 being placed on matrix on matrix 1.Manual platform includes human motion follow-up control system
System and staff model selection are controlled, and make ectoskeleton retinue device adapt to various landform and speeds control.The energy and control system case
The rear portion of matrix is placed in, case is built-in with motor power supply and motion control circuit plate and radiating component.Matrix is conventional mechanical
Transmission device.Hoofing part mechanism is arranged using bionic leg：By thigh plate 6, calf plate 8 and it is connected in the shoe foot of calf plate lower end
Mechanism 9 is constituted；Thigh plate constitutes joint with calf plate 8 using pin 7 and is hinged；The machine for driving walking is set inside described matrix 1
Tool transmission mechanism.
Said mechanism be arranged in parallel in wearing user or so each.
Using structure of the present utility model, human body back is fixed on human body wearing protection part, and there are four pedipulators lower end
Collaboration human body follows motion.On device-aware human body, trunk motion or manual control ectoskeleton motion mode, determine movement environment
Direction, speed with motion, while can stop ectoskeleton limb motion immediately and keep ectoskeleton to put down in human body disequilibrium
Weighing apparatus.
Description of the drawings
Use state figures of the Fig. 1 for the utility model device.
Specific embodiment
Below in conjunction with the accompanying drawings the utility model method is described in further detail.
As it can be seen from fig. 1 that the utility model device includes human body wearing protection part, manual platform, the energy and control system
System case, hoofing part mechanism.Human body wearing protection portion point includes that upper limb body is fixed and bears with 2, stand on matrix 1 lean against 3 and
The manual platform 5 being placed on matrix；Manual platform 5 includes human motion following control system and staff model selection control, makes
Ectoskeleton retinue device adapts to various landform and speeds control.The mechanical transmission mechanism for driving walking is set inside described matrix 1,
Matrix 1 is actually and drives walking transmission mechanism case.
The energy and control system case are placed in the rear portion of matrix；Hoofing part mechanism is arranged using bionic leg：By thigh plate 6,
Calf plate 8 is constituted with the Lv Zu mechanisms 9 for being connected in 8 lower end of calf plate；Thigh plate 6 constitutes hinge joints with calf plate 8 using pin 7
Connect.Lv Zu mechanisms 9 are made up of crawler belt and the roller 11 being placed in crawler belt, and Lv Zu mechanisms 9 are hung on the lower end of calf plate 8, and can
Change around the lower end 10 of calf plate and hang angle.Four bionic legs of hoofing part mechanism can simultaneous action, also dependent on reality
The controlled system command of the needs on border is controlled respectively, is rotated control including calf joint and is carried out foot control Angle ambiguity and carry out foot and moves
Dynamic control.Four bionic leg is constituted, and is selected according to environmental pattern, be can achieve retinue device and is arbitrarily walked on level land and meadow.
Upward slope pattern is selected, sufficient control section is carried out and after inclination, will be realized that device moves ahead.When going upstairs, foot control is carried out according to high per stage rank
Degree selects leg curvature degree, limb motion in four legs, and its excess-three only supports, after limb position is fixed, corrdinated adjustment its
Matrix（Drive mechanism case）Highly.The activity of bionic leg and walking are realized by Motor drive or hydraulic driving mode.
Claims (1)
1. a kind of assistance type ectoskeleton retinue device, protects part, manual platform, the energy and control system including human body wearing
Case, hoofing part mechanism；Characterized in that, the human body wearing protection portion point includes that upper limb body is fixed bears band（2）, stand on base
Body（1）On lean against（3）And the manual platform being placed on matrix（5）；The energy and control system case are placed in the rear portion of matrix；Walking
Drive mechanism is arranged using bionic leg：By thigh plate（6）, calf plate（8）Be connected in calf plate（8）The Lv Zu mechanisms of lower end
（9）Constitute；Thigh plate（6）With calf plate（8）Using pin（7）Constitute joint to be hinged；Described matrix（1）Internal setting drives row
The mechanical transmission mechanism that walks；
Said mechanism be arranged in parallel in wearing user or so each.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620490992.5U CN206007547U (en) | 2016-05-26 | 2016-05-26 | A kind of assistance type ectoskeleton retinue device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620490992.5U CN206007547U (en) | 2016-05-26 | 2016-05-26 | A kind of assistance type ectoskeleton retinue device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206007547U true CN206007547U (en) | 2017-03-15 |
Family
ID=58242319
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620490992.5U Expired - Fee Related CN206007547U (en) | 2016-05-26 | 2016-05-26 | A kind of assistance type ectoskeleton retinue device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206007547U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105943317A (en) * | 2016-05-26 | 2016-09-21 | 成都润惠科技有限公司 | An assisting type exoskeleton following walking device |
| CN109350460A (en) * | 2018-11-21 | 2019-02-19 | 曹琳娜 | Postoperative rehabilitation walking aid |
-
2016
- 2016-05-26 CN CN201620490992.5U patent/CN206007547U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105943317A (en) * | 2016-05-26 | 2016-09-21 | 成都润惠科技有限公司 | An assisting type exoskeleton following walking device |
| CN105943317B (en) * | 2016-05-26 | 2018-06-19 | 成都润惠科技有限公司 | A kind of assistance type ectoskeleton retinue device |
| CN109350460A (en) * | 2018-11-21 | 2019-02-19 | 曹琳娜 | Postoperative rehabilitation walking aid |
| CN109350460B (en) * | 2018-11-21 | 2020-09-22 | 曹琳娜 | Postoperative rehabilitation walking aid |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190626 Address after: 610094 Tianjiubei Lane 139, Chengdu High-tech Zone, Sichuan Province Patentee after: Chengdu Outwit Science & Technology Co., Ltd. Address before: 610041 No. 33 Ximianqiao Street, Wuhou District, Chengdu City, Sichuan Province Patentee before: CHENGDU RUNHUI TECHNOLOGY CO., LTD. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170315 Termination date: 20200526 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |