CN207545431U - A kind of passive type weight support exoskeleton device based on gait phase Self-unlocking - Google Patents
A kind of passive type weight support exoskeleton device based on gait phase Self-unlocking Download PDFInfo
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- CN207545431U CN207545431U CN201720527615.9U CN201720527615U CN207545431U CN 207545431 U CN207545431 U CN 207545431U CN 201720527615 U CN201720527615 U CN 201720527615U CN 207545431 U CN207545431 U CN 207545431U
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Abstract
A kind of passive type weight support exoskeleton device based on gait phase Self-unlocking, including chair mechanism and the supporting mechanism for being arranged on chair mechanism both sides, the supporting mechanism includes big leg mechanism, knee-joint mechanism and small leg mechanism, chair mechanism includes the seat of arc, slider plate, thigh connecting rod, pulley, positive stop hook and draw ring, limiting, which hooks, is mounted on seat bottom surface, guide-track groove is equipped in seat, pulley is fixedly mounted by screw rod and slider plate, moveable roller is installed in the guide-track groove of seat, draw ring is actively installed on slider plate side, thigh connecting rod top is rotatablely connected with slider plate；Big leg mechanism is fastenedly connected with thigh connecting rod, and draw ring is connect by wire with big leg mechanism；Big leg mechanism lower part is fastenedly connected with knee-joint mechanism top, and knee-joint mechanism lower part is connect with shank fastening.The utility model need not start that kneed Self-unlocking can be completed automatically according to gait phase.
Description
Technical field
The utility model belongs to field of medical auxiliary equipment and field of sports equipment more particularly to one kind based on gait
The passive type weight support exoskeleton device of phase Self-unlocking.
Background technology
Due to aging of population acceleration, obese patient increase, joint motions damage, joint birth defect, joint deformity
Degenerative osteoarthritis of the knee disease is increasingly paid attention to by society caused by waiting factors, and patient proposes normal walking
Active demand.However, knee osteoarthritis, as a kind of retrogression pathological changes, prior art means are quickly controlled well there is no a kind of
Curing method, except drug administration alleviate symptom in addition to, main rehabilitation physical therapy method still with reduce joint heavy burden based on, to delay
The process of lesion.Traditional method is to use crutch or walking stick, and in the hope of mitigating the burden in joint, however this just needs patient with the hands
Auxiliary walking, is unfavorable for normal walking and is engaged in productive labor.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of passive type weight branch based on gait phase Self-unlocking
Exoskeleton device is supportted, gonalgia during degenerative osteoarthritis of the knee patient walking can be mitigated, patient need not start i.e.
Kneed Self-unlocking can be completed automatically according to gait phase.
In order to solve the above-mentioned technical problem, the utility model takes following technical scheme：
A kind of passive type weight support exoskeleton device based on gait phase Self-unlocking including chair mechanism and is arranged on
The supporting mechanism of chair mechanism both sides, the supporting mechanism include big leg mechanism, knee-joint mechanism and small leg mechanism, the seat machine
Structure includes seat, slider plate, thigh connecting rod, pulley, positive stop hook and the draw ring of arc, and limiting, which hooks, is mounted on seat bottom surface, seat
Guide-track groove is equipped in chair, pulley is fixedly mounted by screw rod and slider plate, and moveable roller is installed in the guide-track groove of seat, draw ring
Slider plate side is actively installed on, thigh connecting rod top is rotatablely connected with slider plate so that the thigh connecting rod is relative to sliding block
Plate is rotated along human coronary face direction；Big leg mechanism is fastenedly connected with thigh connecting rod, and draw ring passes through wire and big leg mechanism
Connection；Big leg mechanism lower part is fastenedly connected with knee-joint mechanism top, and knee-joint mechanism lower part is connect with shank fastening, knee
Articulation mechanism drives small leg mechanism to be rotated relative to big leg mechanism along human body sagittal plane direction.
The seat includes the seat upper plate of arc and seat lower plate, and seat lower plate both ends are equipped with Seat support side plate, seat
Chair upper plate both ends are mounted on the Seat support side plate so that forming clearance space, guide-track groove between seat upper plate and seat lower plate
It is arranged in seat lower plate.
The slider plate is equipped with the fixed block of protrusion, which is equipped with the slot position for placing draw ring.
The big leg mechanism includes thigh bar, extension spring and inverted T shaped bolt, and thigh bar top and thigh connecting rod lower part are tight
It is solidly connected, inverted T shaped bolt activity is installed in thigh bar lower part, and the lower part of the inverted T shaped bolt is connected together with knee-joint mechanism, draws
It stretches spring to be located in thigh bar, extension spring upper end is fixedly connected with wire, lower end is fixedly connected with inverted T shaped bolt, wire
Upper end passes through thigh bar, thigh connecting rod to be connect with draw ring.
The thigh connecting rod lower part, which is inserted into thigh bar, to be fastenedly connected, and the thigh connecting rod is with thigh bar to stretch
Shrinking structure.
The knee-joint mechanism includes knee joint outside plate, knee joint inner panel, fixing axle, straight-line groove, shifting axle and curved groove,
Knee joint outside plate top is equipped with the limited step screens that limiting is engaged with inverted T shaped bolt, and curved groove is arranged on knee joint inner panel lower,
Installation cavity position is equipped in knee joint outside plate, straight-line groove is arranged on knee joint outside plate, and knee joint inner panel lower is actively plugged in knee
In the installation cavity position of joint outside plate, fixing axle one end is fixedly mounted on knee joint inner panel, the other end is actively plugged in straight-line groove
Interior, shifting axle one end is fixed on knee joint outside plate, the other end is actively plugged in curved groove, under knee joint inner panel and thigh bar
Portion is fastenedly connected, and knee joint outside plate is rotated by fixing axle and shifting axle relative to knee joint inner panel along human body sagittal plane direction.
The knee joint inner panel top is equipped with slot, and inverted T shaped bolt is actively installed in the slot.
The small leg mechanism includes shank outer bar, shank flexible connector, shank interior bar and vola part, shank outer bar top
It is fastenedly connected with knee joint outside plate, shank interior bar top is inserted in shank outer bar, and shank flexible connector is installed in outside shank
In bar, and the shank flexible connector top is flexibly connected with shank outer bar, shank flexible connector lower part and shank interior bar
It is fastenedly connected, shank interior bar lower part is fastenedly connected with vola part, and the lower end attaching of shank outer bar has ankle-joint bandage.
The shank flexible connector includes regulating sleeve, V-type spring, support spring, spring pedestal and moving pin, V-type
Spring is inlaid in regulating sleeve, and regulating sleeve side wall is equipped with through-hole, which is installed with the pressing being connect with V-type spring
Key, shank outer bar are equipped with round, which is installed in round, and regulating sleeve bottom surface is equipped with lower end axis, which lives
Dynamic to insert in spring pedestal, spring pedestal side wall is equipped with limiting slot, and moving pin one end is installed on lower end axis side wall, another
End be actively plugged in limiting slot, support spring is sleeved on the axis of lower end, the support spring upper end rest against regulating sleeve bottom surface,
Lower end rests against spring pedestal upper surface, and spring pedestal is fastenedly connected with shank interior bar.
The bottom surface of the vola part is set as arc shape, and the highest that the bottom surface centre position of the vola part is arc protrusion
Position.
The utility model is in gait support phase knee joint self-locking and supports body weight, in the unlock of gait swing phase knee joint
And human body buckling is followed, knee joint self-locking, the action unlocked can be switched over automatically according to gait phase, be controlled without human hand,
Effectively mitigate the gonalgia generated during degenerative osteoarthritis of the knee patient walking.
Description of the drawings
Attached drawing 1 is the utility model dimensional structure diagram；
Attached drawing 2 is the utility model chair mechanism dimensional structure diagram；
The dimensional structure diagram that attached drawing 3 is caught on for positive stop hook and the draw ring limiting of the utility model chair mechanism；
Attached drawing 4 is the big leg mechanism dimensional structure diagram of the utility model；
Attached drawing 5 is the decomposition texture schematic diagram of the big leg mechanism of the utility model；
Dimensional structure diagram when attached drawing 6 is the utility model knee joint self-locking；
Dimensional structure diagram when attached drawing 7 is unlocked for the utility model knee joint；
Attached drawing 8 is the small leg mechanism dimensional structure diagram of the utility model；
Dimensional structure diagram of the attached drawing 9 for the shank flexible connector of the small leg mechanism of the utility model；
Exploded structure diagram of the attached drawing 10 for the shank flexible connector of the small leg mechanism of the utility model；
Attached drawing 11 is the utility model walking states schematic diagram.
Specific embodiment
For that can further appreciate that the feature, technological means and the specific purposes reached, function of the utility model, below
The utility model is described in further detail with specific embodiment with reference to attached drawing.
As shown in attached drawing 1,2,3 and 11, the utility model discloses a kind of passive type body based on gait phase Self-unlocking
Exoskeleton device is supported again, and including chair mechanism 1 and the supporting mechanism for being arranged on 1 both sides of chair mechanism, which includes
Big leg mechanism 2, knee-joint mechanism 3 and small leg mechanism 4, the chair mechanism 1 include the seat 101 of arc, slider plate 102, big
Leg connecting rod 104, pulley 103, positive stop hook 105 and draw ring 106, positive stop hook is L-shaped, and positive stop hook 105 is mounted on 101 bottom of seat
Face, seat 101 is interior to be equipped with guide-track groove 1014, and pulley 103 is fixedly mounted by screw rod and slider plate 102, and 103 activity of pulley clamps
In the guide-track groove 1014 of seat 101, draw ring 106 is actively installed on 102 side of slider plate, 104 top of thigh connecting rod and sliding block
Plate 102 is rotatablely connected so that the thigh connecting rod is rotated relative to slider plate along human coronary face direction；Big leg mechanism and thigh
Connecting rod is fastenedly connected, and draw ring 106 is connect by wire 202 with big leg mechanism；On big leg mechanism lower part and knee-joint mechanism
Portion is fastenedly connected, and knee-joint mechanism lower part is connect with shank fastening, and knee-joint mechanism drives small leg mechanism relative to thigh
Mechanism is rotated along human body sagittal plane direction.Pulley would generally set multiple, stability when being slided with guarantee.Slider plate is equipped with
The fixed block 107 of protrusion, the fixed block are equipped with the slot position for placing draw ring.By setting positive stop hook in the seat of arc
The position of bottom surface can carry out the flexible modulation installation from angle lock critical angle.It is more than Self-unlocking critical angle in Hip Angle
Draw ring 106 is detached from positive stop hook 105 when spending, as shown in Figure 2；The draw ring when Hip Angle is less than Self-unlocking critical angle
106, which are limited hook 105, limits, catches on, and draw ring, which is pushed, is detached from original initial position, as shown in Figure 3.
Center of rotation of the slider plate 102 when being slided on double arc-shaped guide rail seats 101 is precisely the rotation of human hip
The buckling/stretch of hip joint sagittal plane is realized at center.The rotation connection of thigh connecting rod and sliding panel, then realize outside hip joint
The degree of freedom of exhibition/interior receipts.Slider plate is equipped with slot, and thigh connecting rod top is installed in the slot and then passes through pin
Rotation connection, it is ensured that thigh connecting rod is rotated relative to slider plate in human coronary face direction.People is sitting on chair mechanism, two
Leg tightens respectively with two small leg mechanisms, so as to which in walking one in front and one in back, pulley rolls around in the guide-track groove of seat,
Drive slider plate move back and forth, so as to fulfill big leg mechanism, small leg mechanism human body sagittal plane direction movement.
The seat 101 includes the seat upper plate 1011 of arc and seat lower plate 1012, and 1012 both ends of seat lower plate are equipped with
Seat support side plate 1013,1011 both ends of seat upper plate are mounted on the Seat support side plate 1013 so that seat upper plate 1011
Clearance space is formed between seat lower plate 1012, guide-track groove 1014 is arranged in seat lower plate 1012.
As shown in figs. 4 and 5, the big leg mechanism includes thigh bar 201, extension spring 203 and inverted T shaped bolt 204, thigh
201 top of bar is fastenedly connected with 104 lower part of thigh connecting rod, and inverted T shaped 204 activity of bolt is installed in 201 lower part of thigh bar, and should
The lower part of inverted T shaped bolt 204 is connected together with knee-joint mechanism 3, and extension spring 203 is located in thigh bar 201, extension spring 203
Upper end is fixedly connected with wire 202, lower end is fixedly connected with inverted T shaped bolt 204, and wire upper end passes through thigh bar, thigh to connect
Extension bar is connect with draw ring.Inverted T shaped bolt is fallen and installation is engaged with knee-joint mechanism using the gravity of its own.When slider plate is present
When positive stop hook catches on draw ring in moving process in chair, wire is pulled upwardly out, while pulls extension spring and inverted T shaped bolt, is made
Inverted T shaped bolt moves up, and realizes inverted T shaped bolt and kneed unlock.The bottom of inverted T shaped bolt laterally protrudes from thigh bar, it is ensured that
Inverted T shaped bolt is eventually limited when being pulled upwardly and stretching by the bottom end face of thigh bar 201.
In addition, 104 lower part of thigh connecting rod is inserted into thigh bar 201 and is fastenedly connected, the thigh connecting rod with it is big
Leg bar is stretching structure.The form for adjusting ball can be utilized by setting several adjustment holes in 104 side wall of thigh connecting rod
It is formed and connected with thigh bar 201, realized the telescopic adjustment between thigh bar and thigh connecting rod, realize length-adjustable purpose,
Expand the scope of application.
As seen in figs. 6 and 7, the knee-joint mechanism 3 includes knee joint outside plate 301, knee joint inner panel 302, fixing axle
303rd, straight-line groove 304, shifting axle 305 and curved groove 306,301 top of knee joint outside plate is equipped with engages limiting with inverted T shaped bolt 204
Limited step screens 307, curved groove 306 is arranged on 302 lower part of knee joint inner panel, installation cavity is equipped in knee joint outside plate 301
Position 308, straight-line groove 304 is arranged on knee joint outside plate 301, and 302 lower removable of knee joint inner panel is inserted into knee joint outside plate 301
Installation cavity position 308 in, 303 one end of fixing axle is fixedly mounted on knee joint inner panel 302, the other end is actively plugged in straight-line groove
In 304 so that fixing axle 303 can slide up and down in the straight-line groove 304 of knee joint outside plate 301, and 305 one end of shifting axle is fixed
On knee joint outside plate 301, the other end is actively plugged in curved groove 306 so that shifting axle 305 can move in curved groove 306
It is dynamic, so as to fulfill the relative rotation between knee joint inner panel 302 and knee joint outside plate 301.Knee joint inner panel 302 and thigh bar
201 lower parts are fastenedly connected, and knee joint outside plate 301 is by fixing axle and shifting axle relative to knee joint inner panel along human body sagittal plane side
To rotation.Knee joint inner panel top is equipped with slot, and inverted T shaped bolt is actively installed in the slot.
In gait support phase initial stage, swing phase latter stage, the knee joint of human body stretches, and the bottom of inverted T shaped bolt 204 is in itself weight
The limited step screens 307 of knee joint outside plate 301, knee-joint mechanism self-locking, knee-joint mechanism stable delivery are blocked under power effect
Human bady gravitational is to ground, and 301 mutually locking of knee joint inner panel 302 and knee joint outside plate, can not relatively rotate at this time.In gait branch
It supports phase latter stage, swing phase initial stage, when human hip angle is less than Self-unlocking critical angle, draw ring 106 is limited hook 105 and limits
It makes, catch on, draw ring 106 pulls wire 202, and wire 202 pulls up extension spring 203, and T is fallen in 203 pull-up of extension spring
Type bolt 204, the bottom of inverted T shaped bolt 204 disengages with the limited step screens 307 of knee joint outside plate 301, unlocks, by fixing axle
The slip of slip and shifting axle in curved groove in straight-line groove, can be certainly between knee joint outside plate 301 and knee joint inner panel 302
By rotating, knee sprung, lower limb forward swing complete swing phase.Then be repeated periodically in the initial stage self-locking of gait support phase,
The action of swing phase initial stage unlock.
As shown in attached drawing 8,9 and 10, small leg mechanism 4 includes shank outer bar 401, shank flexible connector 402, shank interior bar
403 and vola part 404,401 top of shank outer bar be fastenedly connected with knee joint outside plate 301,403 top of shank interior bar is inserted into small
In leg outer bar 401, shank flexible connector 402 is installed in shank outer bar 401, and 402 top of shank flexible connector
It is flexibly connected with shank outer bar 401,402 lower part of shank flexible connector is fastenedly connected with shank interior bar 403, shank interior bar 403
Lower part is fastenedly connected with vola part 404, and the 401 lower end attaching of shank outer bar has ankle-joint bandage 405.
The shank flexible connector 402 includes regulating sleeve 406, V-type spring 407, support spring 408, spring pedestal
409 and moving pin 410, V-type spring 407 be inlaid in regulating sleeve 406,406 side wall of regulating sleeve is equipped with through-hole 411, this is logical
The pressing key 412 being connect with V-type spring 407 is installed at hole 411, using V-type spring, after pressing pressing key, pressing key can be by
It automatically resets to the back stretch of V-type spring, facilitates adjusting.Shank outer bar 401 is equipped with round 413, which blocks
In round 413,406 bottom surface of regulating sleeve is equipped with lower end axis 414, which inserts into spring pedestal 409
Interior, 409 side wall of spring pedestal is equipped with limiting slot 415, and 410 one end of moving pin is installed on 414 side wall of lower end axis, the other end is lived
Dynamic to be inserted into limiting slot 415, moving pin 410 sliding transfer, support spring 408 can be sleeved on lower end axis in limiting slot 415
On 414, which rests against 406 bottom surface of regulating sleeve, lower end rests against 409 upper surface of spring pedestal, spring
Pedestal 409 is fastenedly connected with shank interior bar 403.By flexible connector, it can be achieved that stretching between shank outer bar and shank interior bar
Contracting is adjusted, and realizes length-adjustable purpose, expands the scope of application.Regulating sleeve 406 and spring bottom are withstood on using support spring 408
Between seat 409, play and bear the reduction of weight time interval, the work for generating support force, supporting body weight in body gait support phase
With.By setting multiple rounds in shank outer bar 401, so as to facilitate adjusting regulating sleeve 406 opposite with shank outer bar 401
High and low position.
In addition, the bottom surface of vola part is set as arc shape, and the bottom surface centre position of the vola part is protruded most for arc
High position.Vola part is made to form the shape of " convex, the heel indentation of intermediate height ", is conducive to generate in outer skeletal support body weight
The torque of knee joint self-locking is conducive to the stabilization self-locking of knee joint self structure.
In the utility model, human body is sitting on the seat in chair mechanism, and the side of velcro can be used in ankle-joint bandage
Formula tightens, and by dislocation of ankle joint link closely model of human ankle, and vola is adjacent on the part of vola.
In use, whole device follows human body lower limbs to walk together, complete gait is periodically completed, including support phase
And swing phase.The process of gait support phase is：Hip joint forward swing, knee joint stretch, and knee-joint mechanism is locked, in knee joint
Knee joint inner panel and knee joint outside plate are relatively fixed and can not rotate, i.e., the bottom of inverted T shaped bolt is installed on the limiting of knee joint outside plate
In step screens.Hip joint is gradually put afterwards, and prominent arc vola is pressed on the ground, and the support spring in shank outer bar is compressed
Generate support force support body weight.Under this state, when being moved in the guide-track groove of slider plate on the seat, Hip Angle is more than
Self-unlocking critical angle, positive stop hook are mutually disengaged with draw ring and do not contact.
Gait swing phase is subsequently entered, process is：It is put after hip joint, with the movement of slider plate so that Hip Angle
Less than Self-unlocking critical angle, draw ring is limited hook and catches on limitation, and with the further movement of slider plate, and draw ring pulls steel
Silk thread, wire pull up extension spring, and extension spring is pulled upwardly inverted T shaped bolt, bottom and the knee joint outside plate of inverted T shaped bolt
Limited step screens disengage, unlock, knee-joint mechanism unlock, the knee joint inner panel in knee joint and knee joint outside plate can at this time
To be freely rotated, the free buckling of knee joint, hip joint forward swing is prepared to enter into the support phase of next gait.It is connected by thigh
The relative rotation of bar and slider plate can then realize the degree of freedom of hip abduction/interior receipts.
It should be noted that described above is not the restriction to the utility model, in the wound for not departing from the utility model
Under the premise of making design, any obvious replacement is within the protection scope of the utility model.
Claims (10)
1. a kind of passive type weight support exoskeleton device based on gait phase Self-unlocking, present including chair mechanism and setting
The supporting mechanism of chair mechanism both sides, the supporting mechanism include big leg mechanism, knee-joint mechanism and small leg mechanism, which is characterized in that
The chair mechanism includes seat, slider plate, thigh connecting rod, pulley, positive stop hook and the draw ring of arc, and it is present that limiting hooks installation
Chair bottom surface, seat is interior to be equipped with guide-track groove, and pulley is fixedly mounted by screw rod and slider plate, and moveable roller is installed on the guide rail of seat
In slot, draw ring is actively installed on slider plate side, and thigh connecting rod top is rotatablely connected with slider plate so that the thigh connecting rod phase
Slider plate is rotated along human coronary face direction；
Big leg mechanism is fastenedly connected with thigh connecting rod, and draw ring is connect by wire with big leg mechanism；
Big leg mechanism lower part is fastenedly connected with knee-joint mechanism top, and knee-joint mechanism lower part is connect with shank fastening, knee
Articulation mechanism drives small leg mechanism to be rotated relative to big leg mechanism along human body sagittal plane direction.
2. the passive type weight support exoskeleton device according to claim 1 based on gait phase Self-unlocking, feature
It is, the seat includes the seat upper plate of arc and seat lower plate, and seat lower plate both ends are equipped with Seat support side plate, on seat
Plate both ends are mounted on the Seat support side plate so that forming clearance space between seat upper plate and seat lower plate, and guide-track groove is set
In seat lower plate.
3. the passive type weight support exoskeleton device according to claim 2 based on gait phase Self-unlocking, feature
It is, the slider plate is equipped with the fixed block of protrusion, which is equipped with the slot position for placing draw ring.
4. the passive type weight support exoskeleton device according to claim 3 based on gait phase Self-unlocking, feature
It is, the big leg mechanism includes thigh bar, extension spring and inverted T shaped bolt, and thigh bar top is fastened with thigh connecting rod lower part
Connection, inverted T shaped bolt activity is installed in thigh bar lower part, and the lower part of the inverted T shaped bolt is connected together with knee-joint mechanism, stretches
Spring is located in thigh bar, and extension spring upper end is fixedly connected with wire, lower end is fixedly connected with inverted T shaped bolt, on wire
End is connect across thigh bar, thigh connecting rod with draw ring.
5. the passive type weight support exoskeleton device according to claim 4 based on gait phase Self-unlocking, feature
It is, the thigh connecting rod lower part, which is inserted into thigh bar, to be fastenedly connected, and the thigh connecting rod and thigh bar are flexible
Structure.
6. the passive type weight support exoskeleton device according to claim 5 based on gait phase Self-unlocking, feature
It is, the knee-joint mechanism includes knee joint outside plate, knee joint inner panel, fixing axle, straight-line groove, shifting axle and curved groove, knee
Joint outside plate top is equipped with the limited step screens that limiting is engaged with inverted T shaped bolt, and curved groove is arranged on knee joint inner panel lower, knee
Installation cavity position is equipped in the outside plate of joint, straight-line groove is arranged on knee joint outside plate, and knee joint inner panel lower is actively plugged in knee pass
In the installation cavity position for saving outside plate, fixing axle one end is fixedly mounted on knee joint inner panel, the other end is actively plugged in straight-line groove,
Shifting axle one end is fixed on knee joint outside plate, the other end is actively plugged in curved groove, knee joint inner panel and thigh bar lower part
It is fastenedly connected, knee joint outside plate is rotated by fixing axle and shifting axle relative to knee joint inner panel along human body sagittal plane direction.
7. the passive type weight support exoskeleton device according to claim 6 based on gait phase Self-unlocking, feature
It is, the knee joint inner panel top is equipped with slot, and inverted T shaped bolt is actively installed in the slot.
8. the passive type weight support exoskeleton device according to claim 7 based on gait phase Self-unlocking, feature
Be, the small leg mechanism include shank outer bar, shank flexible connector, shank interior bar and vola part, shank outer bar top with
Knee joint outside plate is fastenedly connected, and shank interior bar top is inserted in shank outer bar, and shank flexible connector is installed in shank outer bar
It is interior, and the shank flexible connector top is flexibly connected with shank outer bar, and shank flexible connector lower part and shank interior bar are tight
It is solidly connected, shank interior bar lower part is fastenedly connected with vola part, and the lower end attaching of shank outer bar has ankle-joint bandage.
9. the passive type weight support exoskeleton device according to claim 8 based on gait phase Self-unlocking, feature
It is, the shank flexible connector includes regulating sleeve, V-type spring, support spring, spring pedestal and moving pin, V-type spring
It is inlaid in regulating sleeve, regulating sleeve side wall is equipped with through-hole, which is installed with the pressing key being connect with V-type spring, small
Leg outer bar is equipped with round, which is installed in round, and regulating sleeve bottom surface is equipped with lower end axis, the lower end axis activity inserting
Enter in spring pedestal, spring pedestal side wall is equipped with limiting slot, and moving pin one end is installed on lower end axis side wall, other end activity
It is inserted into limiting slot, support spring is sleeved on the axis of lower end, which rests against regulating sleeve bottom surface, lower end is supported
Spring pedestal upper surface is headed on, spring pedestal is fastenedly connected with shank interior bar.
10. the passive type weight support exoskeleton device according to claim 9 based on gait phase Self-unlocking, feature
It is, the bottom surface of the vola part is set as arc shape, and the highest order that the bottom surface centre position of the vola part is arc protrusion
It puts.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720527615.9U CN207545431U (en) | 2017-05-12 | 2017-05-12 | A kind of passive type weight support exoskeleton device based on gait phase Self-unlocking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720527615.9U CN207545431U (en) | 2017-05-12 | 2017-05-12 | A kind of passive type weight support exoskeleton device based on gait phase Self-unlocking |
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| CN207545431U true CN207545431U (en) | 2018-06-29 |
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| CN201720527615.9U Active CN207545431U (en) | 2017-05-12 | 2017-05-12 | A kind of passive type weight support exoskeleton device based on gait phase Self-unlocking |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106983638A (en) * | 2017-05-12 | 2017-07-28 | 华中科技大学 | A kind of passive type weight support exoskeleton device based on gait phase Self-unlocking |
| CN109834700A (en) * | 2019-02-28 | 2019-06-04 | 中国科学院深圳先进技术研究院 | Knee joint bearing part and exoskeleton robot |
| CN111643320A (en) * | 2020-04-17 | 2020-09-11 | 上海理工大学 | Hip and knee linkage mechanism of lower limb exoskeleton robot and robot |
-
2017
- 2017-05-12 CN CN201720527615.9U patent/CN207545431U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106983638A (en) * | 2017-05-12 | 2017-07-28 | 华中科技大学 | A kind of passive type weight support exoskeleton device based on gait phase Self-unlocking |
| CN106983638B (en) * | 2017-05-12 | 2023-08-25 | 华中科技大学 | Passive weight-supporting exoskeleton device based on gait phase self-unlocking |
| CN109834700A (en) * | 2019-02-28 | 2019-06-04 | 中国科学院深圳先进技术研究院 | Knee joint bearing part and exoskeleton robot |
| CN109834700B (en) * | 2019-02-28 | 2022-03-25 | 中国科学院深圳先进技术研究院 | Knee joint support member and exoskeleton robot |
| CN111643320A (en) * | 2020-04-17 | 2020-09-11 | 上海理工大学 | Hip and knee linkage mechanism of lower limb exoskeleton robot and robot |
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