CN208841401U - A kind of power-assisted flexible exoskeleton - Google Patents
A kind of power-assisted flexible exoskeleton Download PDFInfo
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- CN208841401U CN208841401U CN201821421539.4U CN201821421539U CN208841401U CN 208841401 U CN208841401 U CN 208841401U CN 201821421539 U CN201821421539 U CN 201821421539U CN 208841401 U CN208841401 U CN 208841401U
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Abstract
The utility model discloses a kind of power-assisted flexible exoskeletons, including shoulder back flexibility ties up part, waist flexibility ties up part and two leg flexibilities tie up part；Shoulder back flexibility ties up part, and there is back to be adjacent to portion, and back is adjacent on the inside of portion and is provided with back pad part；Shoulder back flexibility ties up part and is adjacent to portion from back to extend two shoulder interconnecting pieces out to side；Waist flexibility ties up part with waist binding portion, and waist binding portion inside is provided with bustle part；Waist flexibility ties up part and extends respectively from waist binding portion to two sides the first binding portion out and the second binding portion, the adjustable connection in the first binding portion and the second binding portion；The back that shoulder back flexibility ties up part, which is adjacent to portion, to be connect with the waist binding portion that waist flexibility ties up part by flexible connector, and connection is adjusted with waist binding portion respectively in two shoulder interconnecting pieces；Two leg flexibilities tie up the adjustable connection in waist binding portion that part ties up part with waist flexibility respectively.The power-assisted flexible exoskeleton of the utility model has the characteristics that structure is simple, flexible, freedom degree is big, wearing property is high, adaptive, man-machine interaction is good.
Description
Technical field
The utility model relates to ectoskeleton technical fields, more particularly to a kind of power-assisted flexible exoskeleton.
Background technique
During industrial production or processing, staff needs to be praised repeatedly, stem length Time Warp or torsion
Bent work, waist muscle is easy fatigue, or even strains, and increases the risk that staff obtains musculoskeletal disease, because
This needs to alleviate by ectoskeleton the muscular fatigue of staff.
Whether ectoskeleton uses the energy by its working method, can be divided into dynamic ectoskeleton and unpowered ectoskeleton.Have
Power exoskeleton needs to provide the energy of power, generally comprises the components such as battery, sensor, and higher cost is unfavorable for pushing away extensively
Extensively.Existing unpowered ectoskeleton structure is complex, and it is big not only result in ectoskeleton overall weight, and human body weight bearing sense is strong.
The utility application of Patent No. 201710465110.9 discloses a kind of unpowered ectoskeleton, and the nothing is dynamic
Power ectoskeleton includes: ectoskeleton ontology, and the first side with ectoskeleton ontology is set to the first side of ectoskeleton ontology
On retractable member, the second end of first end and retractable member with retractable member；And it is set to ectoskeleton
In the first side of ontology and with through slot connecting rod, the second end of first end and connecting rod with connecting rod,
In, the first end of retractable member is fixedly connected in the first side of ectoskeleton ontology, the second end of retractable member and company
The first end of extension bar is fixedly connected, and connecting rod is in slidably to connect with ectoskeleton ontology by through slot and the cooperation of the first secure component
It connects.This is unpowered, and ectoskeleton can assist user to move, and knee joint stress when mitigating user's walking has protection to knee joint
Effect, and unpowered ectoskeleton can also be adjusted to user by adjusting the relative position of the first secure component and through slot
Amount of force.But the structure of the utility application is more complicated, not can solve existing in the prior art
Structure is complicated, overall weight is big, strong problem is felt in human body weight bearing.
Utility model content
Based on this, have that structure is simple, flexible, freedom degree is big, wearing the purpose of the utility model is to provide one kind
Property high, adaptive, the good feature of man-machine interaction power-assisted flexible exoskeleton.
The power-assisted flexible exoskeleton of the utility model, including shoulder back flexibility ties up part, waist flexibility ties up part and two legs
Flexibility ties up part；
The shoulder back flexibility ties up part, and there is back to be adjacent to portion, and the back is adjacent on the inside of portion and is provided with back pad part；The shoulder back
Portion's flexibility ties up part and is adjacent to portion from the back to extend two shoulder interconnecting pieces out to side；
The waist flexibility ties up part with waist binding portion, and waist binding portion inside is provided with bustle part；The waist flexible
Property ties up part and extends respectively from waist binding portion to two sides the first binding portion out and the second binding portion, first binding portion and institute
State the adjustable connection in the second binding portion；
The back that the shoulder back flexibility ties up part is adjacent to the waist binding portion that part is tied up with the waist flexibility by portion and passes through elastic connection
Part connection, and connection is adjusted with waist binding portion respectively in two shoulder interconnecting pieces；
Two leg flexibilities tie up the adjustable connection in waist binding portion that part ties up part with the waist flexibility respectively.
By setting, shoulder back flexibility ties up part to the power-assisted flexible exoskeleton of the utility model, waist flexibility ties up part and two legs
Portion's flexibility ties up part, entire ectoskeleton structure whole flexible structure without metallic framework, make its flexible more preferable, freedom degree it is bigger,
Human body wearing property is higher, so that man-machine interaction is more preferable, solves the poor, human-computer interaction of existing ectoskeleton human body wearing property
Property difference problem.
Back is adjacent to portion to connect with waist binding portion by flexible connector, so that leg flexibility ties up part when human body is bent over
The position that can tense and fix waist binding portion, since human body back of bending over can generate radian, flexible connector can be with generating change
Shape is simultaneously to the pulling force of shoulder one recovery upright state, while flexible connector can be at the erector spinae to curved back and waist
Pliable pressure is generated, waist stress when human body is bent over can be effectively mitigated, while mitigating that local pressure is excessive and to generate muscle tired
Labor.
The back pad part and bustle part of setting can back to human body and waist massaged, depressurized, alleviate muscular fatigue.
By two shoulder interconnecting pieces respectively with the adjustable connection in waist binding portion, two leg flexibilities tie up part respectively with waist binding portion
Adjustable connection further increases freedom degree, human body wearing property and people so that its structure can be adjusted according to human somatotype
Body interactivity.
It is further preferred that the top setting in waist binding portion is arranged there are two upper connector on the upper connector
There is a plurality of equally distributed graduation mark；
The first connector is provided on two shoulder interconnecting pieces；
First connector and the adjustable connection of the upper connector；
Reinforcer is additionally provided in waist binding portion, the reinforcer is fixed on two upper connectors and the waist
The junction in binding portion.
By the way that graduation mark is arranged on the upper connector, adjustment length can be positioned according to figure, in order to dress；?
Reinforcer is arranged in portion in the waist binding, can further strengthen the bonding strength of the upper connector Yu waist binding portion.
It is further preferred that being fixed with latch closure on first connector；
First connector passes through the upper latch closure and the adjustable connection of the upper connector；
First connector is the first connection bandage, and the upper connector is upper connection bandage.
Pass through the upper latch closure and institute by the way that upper latch closure is arranged on first connector, and by first connector
The adjustable connection of upper connector is stated, so that the connection of first connector and the upper connector is adjustable, and easy to adjust fast
Victory improves the convenience of wearing.
It is further preferred that the angle between two shoulder interconnecting pieces is acute angle, and two shoulder interconnecting pieces and institute
It states back and is adjacent to rounding off between the junction in portion.By by two shoulder interconnecting pieces and it is described carry on the back be adjacent to portion junction it
Between rounding off is set, two shoulder interconnecting pieces can be improved and described carry on the back is adjacent to the bonding strength in portion, and prevent and tear
It splits.
It is further preferred that the flexible connector be it is multiple, multiple flexible connectors intersect setting.Setting
Multiple flexible connectors, and multiple flexible connectors are intersected setting, bonding strength can be improved.
It is further preferred that being provided with velcro hook surface in first binding portion, second binding is provided in portion
Velcro hair side, first binding portion and second binding portion can by the velcro hook surface and the velcro hair side
Adjust connection.By the way that velcro hook surface is arranged in first binding portion, setting velcro hair side in second binding portion,
Convenient for first binding portion is connected with second binding portion.
It is further preferred that two leg flexibilities tie up part passes through the adjustable company of drawstring and waist binding portion respectively
It connects, and a plurality of equally distributed graduation mark is set on the drawstring.
It is further preferred that two leg flexibilities, which tie up part, all has the left interconnecting piece being connected as one and right connection
Portion；
It is provided with velcro hook surface on the left interconnecting piece, velcro hair side, the left side are provided on the right interconnecting piece
Interconnecting piece and the right interconnecting piece pass through the velcro hook surface and the adjustable connection of the velcro hair side.
By the way that velcro hook surface is arranged on the left interconnecting piece, and velcro hair side is set on the right interconnecting piece,
It is convenient that adjustable connection is carried out to the left interconnecting piece and right interconnecting piece.
It is further preferred that the back pad part is silica gel cushion；For the back pad part tool there are two muscle is protruded, two described convex
Muscle is arranged in parallel out；
The bustle part is silica gel cushion；The bustle part has protrusion；
The flexible connector is elastic bands.
Silica gel cushion is set by the back pad part and the bustle part, and silica gel cushion can be contradicted in back and waist
At erector spinae, so that this muscular fatigue at two is effectively relieved, the generation of occupational disease is reduced.
The power-assisted flexible exoskeleton of the utility model the utility model has the advantages that
(1) by setting, shoulder back flexibility ties up part to the power-assisted flexible exoskeleton of the utility model, waist flexibility ties up part and two
A leg flexibility ties up part, and entire ectoskeleton structure whole flexible structure makes its flexible more preferable, freedom degree more without metallic framework
Greatly, human body wearing property is higher, so that man-machine interaction is more preferable, it is poor, man-machine to solve existing ectoskeleton human body wearing property
The problem of interactivity difference.
(2) back is adjacent to portion to connect with waist binding portion by flexible connector, so that leg flexibility is tied up when human body is bent over
Part can tense and fix the position in waist binding portion, and since human body back of bending over can generate radian, flexible connector can be with generation
It deforms and to the pulling force of shoulder one recovery upright state as power-assisted, while flexible connector can be to curved back and waist
Erector spinae at generate pliable pressure, can effectively mitigate waist stress when human body is bent over, at the same mitigate local pressure it is excessive and
Generate muscular fatigue；For the people of different building shape after wearing, the power-assisted size of flexible connector can generate adaptive effect from main regulation
Fruit.
(3) the back pad part and bustle part being arranged can back to human body and waist massaged, depressurized, it is tired to alleviate muscle
Labor.
(4) connection is adjusted with waist binding portion respectively in two shoulder interconnecting pieces, two leg flexibilities are tied up part and tied up respectively with waist
Determine the adjustable connection in portion, so that its structure can be adjusted according to human somatotype, further increases freedom degree, human body wearing property
With human body interactivity.
It (5), can be according to figure by the way that a plurality of equally distributed graduation mark is arranged on upper connector and the second connector
Adjustment length is positioned, in order to dress.
(6) the back pad part and the bustle part are set, and it is soft by the back pad part and the bustle part to set silica gel
Pad, silica gel cushion can contradict at the erector spinae of back and waist, so that this muscular fatigue at two is effectively relieved, subtract
The generation of few occupational disease.
(7) the power-assisted flexible exoskeleton of the utility model is simple, flexible with structure, freedom degree is big, wearing property is high, certainly
It adapts to, the advantages that man-machine interaction is good.
In order to better understand and implement, according to the present invention will be described in detail below with reference to the accompanying drawings.
Detailed description of the invention
Fig. 1 is the main view of the power-assisted flexible exoskeleton preferred structure of embodiment one.
Fig. 2 is the schematic perspective view of the power-assisted flexible exoskeleton preferred structure of embodiment one.
Specific embodiment
It mentions in the present specification or up, down, left, right, before and after, front, the back side, top, the bottom that may mention etc.
Positional terms are defined relative to each construction shown in the drawings, they are opposite concepts.Therefore, it is possible to can root
Correspondingly changed according to different location locating for it, different use states.So also should not be by these or others side
Position term is construed to restricted term.
Embodiment one
Please refer to Fig. 1 and Fig. 2.Fig. 1 is the main view of the power-assisted flexible exoskeleton preferred structure of embodiment one.Fig. 2 is real
Apply the schematic perspective view of the power-assisted flexible exoskeleton preferred structure of example one.The power-assisted flexible exoskeleton of the present embodiment, including
Shoulder back flexibility ties up part 1, waist flexibility ties up part 2 and two leg flexibilities tie up part 3.
The shoulder back flexibility ties up part 1, and there is back to be adjacent to portion 11, and the back, which is adjacent on the inside of portion 11, is provided with back pad part 110.
The shoulder back flexibility ties up part 1 and is adjacent to portion 11 from the back to extend two shoulder interconnecting pieces 12 out to side.
The waist flexibility, which ties up part 2, has waist binding portion 21, is provided with bustle part 210 on the inside of waist binding portion 21.Institute
It states waist flexibility and ties up part 2 and extend respectively from waist binding portion 21 to two sides the first binding portion 22 out and the second binding portion 23, institute
State the adjustable connection in the first binding portion 22 and second binding portion 23.
The back that the shoulder back flexibility ties up part 1 is adjacent to the waist binding portion 21 that part 2 is tied up with the waist flexibility by portion 11 and passes through bullet
Property connector 4 connect, and two shoulder interconnecting pieces 12 respectively with the adjustable connection in waist binding portion 21.
Two leg flexibilities tie up the adjustable connection in waist binding portion 21 that part 3 ties up part 2 with the waist flexibility respectively.
Specifically, the top setting in waist binding portion 21 is provided with there are two upper connector 5 on the upper connector 5
A plurality of equally distributed graduation mark.The first connector 6 is provided on two shoulder interconnecting pieces 12.First connector 6
With the adjustable connection of the upper connector 5.Reinforcer 7 is additionally provided in waist binding portion 21, the reinforcer 7 is fixed on two
The junction of a upper connector 5 and waist binding portion 21.
By the way that graduation mark is arranged on the upper connector 5, adjustment length can be positioned according to figure, in order to dress.
Reinforcer 7 is set in waist binding portion 21, the company of the upper connector 5 and waist binding portion 21 can be further strengthened
Connect intensity.
Preferably, latch closure 61 is fixed on the first connector of the embodiment of the present invention 6.First connector 6 passes through
The upper latch closure 61 and the adjustable connection of the upper connector 5.
The first connector of the embodiment of the present invention 6 is the first connection bandage, and the upper connector 5 is upper connection bandage.
By being arranged latch closure on first connector 6, and by first connector 6 by the latch closure with it is described
The adjustable connection of upper connector 5, so that the connection of first connector 6 and the upper connector 5 is adjustable, and easy to adjust fast
Victory improves the convenience of wearing.
It is further preferred that the angle between two shoulder interconnecting pieces 12 is acute angle, and two shoulder interconnecting pieces 12
Rounding off between the junction in portion 11 is adjacent to the back.By the way that two shoulder interconnecting pieces 12 are adjacent to portion 11 with the back
Junction between rounding off is set, can be improved two shoulder interconnecting pieces 12 with it is described carry on the back be adjacent to portion 11 connection it is strong
Degree, and prevent tearing.
The embodiment of the present invention flexible connector 4 be it is multiple, multiple flexible connectors 4 intersect setting.Setting
Multiple flexible connectors 4, and multiple flexible connectors 4 are intersected setting, bonding strength can be improved.
Preferably, the both ends of the embodiment of the present invention flexible connector 4 pass through respectively screw and it is described back be adjacent to portion 11 and
Waist binding portion 21 connects.
The back is adjacent to portion 11 to connect with waist binding portion 21 by flexible connector 4, so that when human body is bent over,
The leg flexibility is tied up part 3 and can be tensed and the position in the fixed waist binding portion 21, since human body back of bending over can generate radian,
The flexible connector 4 is understood with the pulling force for being deformed and restoring to shoulder one upright state, while the elastic connection
Part 4 can effectively mitigate waist stress when human body is bent over to pliable pressure is generated at the erector spinae at curved back and waist,
It is excessive and generate muscular fatigue to mitigate local pressure simultaneously.
After human body has dressed the power-assisted flexible exoskeleton of the utility model, back when weight is big, height user bends over
Portion's deflection is big, and the characteristic of the flexible connector 4 is that deflection is bigger, and the elastic force of generation is bigger, the flexible connector 4
As soon as people's wearing to different building shape can be had with being deformed and to the pulling force of shoulder recovery upright state as power-assisted
The autonomous adjustment process of power-assisted size afterwards, generates adaptive effect.
Preferably, it is provided with velcro hook surface in first binding portion 22, is provided with evil spirit in second binding portion 23
Art pastes hair side, and first binding portion 22 and second binding portion 23 pass through the velcro hook surface and the velcro hair side
Adjustable connection.By the way that velcro hook surface is arranged in first binding portion 22, magic is set in second binding portion 23
Hair side is pasted, convenient for connecting first binding portion 22 and second binding portion 23.
It is further preferred that two leg flexibilities of the present embodiment tie up part 3 and all have the left connection being connected as one
Portion 31 and right interconnecting piece 32.It is provided with velcro hook surface on the left interconnecting piece 31, is provided with magic on the right interconnecting piece 32
It is adjustable by the velcro hook surface and the velcro hair side to paste hair side, the left interconnecting piece 31 and the right interconnecting piece 32
Connection.
By the way that velcro hook surface is arranged on the left interconnecting piece 31, and velcro hair is set on the right interconnecting piece 32
Face, it is convenient that adjustable connection is carried out to the left interconnecting piece 31 and right interconnecting piece 32.
The leg flexibility of two of the present embodiment is tied up part 3 and is connected respectively by the way that drawstring 8 and waist binding portion 21 are adjustable
It connects, and a plurality of equally distributed graduation mark is preferably set on the drawstring 8, adjustment length can be positioned according to figure, with
Convenient for wearing.
Preferably, the lower end of the drawstring 8, which is provided with, adjusts latch closure 81, using the adjusting latch closure 81 by the drawstring 8
Part 3 is tied up with the leg flexibility to connect, and can adjust the effective length of drawstring 8, by the adjusting latch closure 81 to be suitable for not
Crowd with height dresses.
Back pad part 110 described in the present embodiment is silica gel cushion；There are two protrusion muscle for the tool of back pad part 110, described in two
Protrusion muscle is arranged in parallel.
The bustle part 210 is silica gel cushion；The bustle part 210 has protrusion.
The flexible connector 4 is elastic bands.
Set silica gel cushion for the back pad part 110 and the bustle part 210, silica gel cushion can contradict at back and
At the erector spinae of waist, so that this muscular fatigue at two is effectively relieved, the generation of occupational disease is reduced.Certainly, the back
Mat piece 110 and the bustle part 210 can also select other materials to make.
It should be pointed out that the shoulder back flexibility ties up part 1, the waist flexibility ties up part 2 and two legs are flexible
Tying up part 3 can be configured according to the needs of use, and its material can select identical or different flexible material.
The embodiment of the present invention shoulder back flexibility ties up part 1, the waist flexibility ties up part 2 and two leg flexibilities tie up part
3 preferably select flexible cloth production, and the flexible connector 4 is high resiliency bandage, further improve flexible, free
Degree and human body wearing property.
Embodiment two
The structure substantially phase of the power-assisted flexible exoskeleton of the structure and embodiment one of the power-assisted flexible exoskeleton of the present embodiment
Together, the difference is that, the left interconnecting piece 31 of the embodiment of the present invention preferably includes two left connection branches, two left companies
It connects and is provided with the velcro hook surface in branch.The right interconnecting piece 32 includes two right connection branches, two right companies
It connects and is provided with the velcro hair side in branch.
Embodiment three
The structure substantially phase of the power-assisted flexible exoskeleton of the structure and embodiment one of the power-assisted flexible exoskeleton of the present embodiment
Together, the difference is that, it is tied rope that the embodiment of the present invention leg flexibility, which ties up part 3,.
Example IV
The structure substantially phase of the power-assisted flexible exoskeleton of the structure and embodiment one of the power-assisted flexible exoskeleton of the present embodiment
Together, the difference is that, multiple flexible connectors 4 of the present embodiment are non-crossing structure.
Embodiment five
The structure substantially phase of the power-assisted flexible exoskeleton of the structure and embodiment one of the power-assisted flexible exoskeleton of the present embodiment
Together, the difference is that, the flexible connector 4 of the embodiment of the present invention elasticity is elastical cloth.
Embodiment six
The structure substantially phase of the power-assisted flexible exoskeleton of the structure and embodiment one of the power-assisted flexible exoskeleton of the present embodiment
Together, the difference is that, the shoulder interconnecting piece 12 of two of the present embodiment is adjustable by drawstring and waist binding portion 21 respectively
Section connection.
Embodiment seven
The structure substantially phase of the power-assisted flexible exoskeleton of the structure and embodiment one of the power-assisted flexible exoskeleton of the present embodiment
Together, the difference is that, there are two lower connectors for the lower part setting in the embodiment of the present invention waist binding portion 21.Two legs
Flexibility ties up and is provided with the second connector on part 3, and a plurality of equally distributed graduation mark is provided on second connector.It is described
Lower connector and the adjustable connection of second connector.By the way that a plurality of equally distributed scale is arranged on the second connector
Line can position adjustment length according to figure, in order to dress.
The junction in the lower connector of two of the present embodiment and waist binding portion 21 also preferably passes through described add
Strong part 7 is reinforced, to increase the fastness of structure.
The present embodiment is respectively arranged with lower latch closure on two lower connectors, by the lower connector by under described
Latch closure and the adjustable connection of second connector, it is easy to adjust quick, improve the convenience of wearing.Preferably, this reality
Second connector for applying example is the second connection bandage, and the lower connector is lower connection bandage.
Embodiment eight
The structure substantially phase of the power-assisted flexible exoskeleton of the structure and embodiment one of the power-assisted flexible exoskeleton of the present embodiment
Together, the difference is that, the both ends of the embodiment of the present invention flexible connector 4 pass through velcro respectively and the back is adjacent to portion 11
It is connected with waist binding portion 21, and the bullet of the flexible connector 4 can be adjusted by adjusting the paste position of velcro
Power size.
Embodiment nine
The structure substantially phase of the power-assisted flexible exoskeleton of the structure and embodiment one of the power-assisted flexible exoskeleton of the present embodiment
Together, the difference is that, the embodiment of the present invention bustle part 210 and the back pad part 110 are made of sponge.
Embodiment ten
The structure substantially phase of the power-assisted flexible exoskeleton of the structure and embodiment one of the power-assisted flexible exoskeleton of the present embodiment
Together, the difference is that, the embodiment of the present invention bustle part 210 and the back pad part 110 are made of foamed cotton.
Embodiment 11
The structure substantially phase of the power-assisted flexible exoskeleton of the structure and embodiment one of the power-assisted flexible exoskeleton of the present embodiment
Together, the difference is that, the embodiment of the present invention bustle part 210 and the back pad part 110 are made of memory sponge.
The power-assisted flexible exoskeleton of the utility model the utility model has the advantages that
(1) by setting, shoulder back flexibility ties up part to the power-assisted flexible exoskeleton of the utility model, waist flexibility ties up part and two
A leg flexibility ties up part, and entire ectoskeleton structure whole flexible structure makes its flexible more preferable, freedom degree more without metallic framework
Greatly, human body wearing property is higher, so that man-machine interaction is more preferable, it is poor, man-machine to solve existing ectoskeleton human body wearing property
The problem of interactivity difference.
(2) back is adjacent to portion to connect with waist binding portion by flexible connector, so that leg flexibility is tied up when human body is bent over
Part can tense and fix the position in waist binding portion, and since human body back of bending over can generate radian, flexible connector can be with generation
It deforms and to the pulling force of shoulder one recovery upright state as power-assisted, while flexible connector can be to curved back and waist
Erector spinae at generate pliable pressure, can effectively mitigate waist stress when human body is bent over, at the same mitigate local pressure it is excessive and
Generate muscular fatigue；For the people of different building shape after wearing, the power-assisted size of flexible connector can generate adaptive effect from main regulation
Fruit.
(3) the back pad part and bustle part being arranged can back to human body and waist massaged, depressurized, it is tired to alleviate muscle
Labor.
(4) connection is adjusted with waist binding portion respectively in two shoulder interconnecting pieces, two leg flexibilities are tied up part 3 and tied up respectively with waist
Determine the adjustable connection in portion, so that its structure can be adjusted according to human somatotype, further increases freedom degree, human body wearing property
With human body interactivity.
It (5), can be according to figure by the way that a plurality of equally distributed graduation mark is arranged on upper connector and the second connector
Adjustment length is positioned, in order to dress.
(6) the back pad part and the bustle part are set, and it is soft by the back pad part and the bustle part to set silica gel
Pad, silica gel cushion can contradict at the erector spinae of back and waist, so that this muscular fatigue at two is effectively relieved, subtract
The generation of few occupational disease.
(7) the power-assisted flexible exoskeleton of the utility model is simple, flexible with structure, freedom degree is big, wearing property is high, certainly
It adapts to, the advantages that man-machine interaction is good.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.
Claims (9)
1. a kind of power-assisted flexible exoskeleton, it is characterised in that: tie up part including shoulder back flexibility, waist flexibility ties up part and two legs
Flexibility ties up part；
The shoulder back flexibility ties up part, and there is back to be adjacent to portion, and the back is adjacent on the inside of portion and is provided with back pad part；The shoulder back is soft
Property tie up part and be adjacent to portion from the back and extend two shoulder interconnecting pieces out to side；
The waist flexibility ties up part with waist binding portion, and waist binding portion inside is provided with bustle part；The waist flexibility is tied up
Part extends the first binding portion out and the second binding portion respectively from waist binding portion to two sides, first binding portion and described
The adjustable connection in two binding portions；
The back that the shoulder back flexibility ties up part is adjacent to the waist binding portion that part is tied up with the waist flexibility by portion and passes through flexible connector company
It connects, and connection is adjusted with waist binding portion respectively in two shoulder interconnecting pieces；
Two leg flexibilities tie up the adjustable connection in waist binding portion that part ties up part with the waist flexibility respectively.
2. power-assisted flexible exoskeleton according to claim 1, it is characterised in that: the top in waist binding portion is provided with two
A upper connector is provided with a plurality of equally distributed graduation mark on the upper connector；
The first connector is provided on two shoulder interconnecting pieces；
First connector and the adjustable connection of the upper connector；
Reinforcer is additionally provided in waist binding portion, the reinforcer is fixed on two upper connectors and the waist is bound
The junction in portion.
3. power-assisted flexible exoskeleton according to claim 2, it is characterised in that: be fixed with ring on first connector
Button；
First connector passes through the upper latch closure and the adjustable connection of the upper connector；
First connector is the first connection bandage, and the upper connector is upper connection bandage.
4. power-assisted flexible exoskeleton according to claim 2, it is characterised in that: the angle between two shoulder interconnecting pieces
For acute angle, and two shoulder interconnecting pieces and the back are adjacent to rounding off between the junction in portion.
5. power-assisted flexible exoskeleton according to claim 1, it is characterised in that: the flexible connector be it is multiple, it is multiple
The flexible connector intersects setting.
6. power-assisted flexible exoskeleton according to claim 1, it is characterised in that: first binding is provided with magic in portion
Hook surface is pasted, is provided with velcro hair side in second binding portion, first binding portion and second binding portion pass through institute
State velcro hook surface and the adjustable connection of the velcro hair side.
7. power-assisted flexible exoskeleton according to claim 1-6, it is characterised in that: two leg flexibilities are tied up
Part passes through the adjustable connection of drawstring and waist binding portion respectively, and a plurality of equally distributed graduation mark is arranged on the drawstring.
8. power-assisted flexible exoskeleton according to claim 7, it is characterised in that: two leg flexibilities are tied up part and all had
The left interconnecting piece and right interconnecting piece being connected as one；
It is provided with velcro hook surface on the left interconnecting piece, velcro hair side, the left connection are provided on the right interconnecting piece
Portion and the right interconnecting piece pass through the velcro hook surface and the adjustable connection of the velcro hair side.
9. power-assisted flexible exoskeleton according to claim 1-6, it is characterised in that: the back pad part is that silica gel is soft
Pad；The back pad part tool is arranged in parallel there are two muscle, two protrusion muscle are protruded；
The bustle part is silica gel cushion；The bustle part has protrusion；
The flexible connector is elastic bands.
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| CN201821421539.4U CN208841401U (en) | 2018-08-31 | 2018-08-31 | A kind of power-assisted flexible exoskeleton |
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| CN201821421539.4U CN208841401U (en) | 2018-08-31 | 2018-08-31 | A kind of power-assisted flexible exoskeleton |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748116A (en) * | 2018-08-31 | 2018-11-06 | 广州市海同机电设备有限公司 | A kind of self-adapting flexible ectoskeleton |
| CN111685975A (en) * | 2020-07-21 | 2020-09-22 | 黄河科技学院 | Waist assistance exoskeleton |
| CN111820495A (en) * | 2020-07-21 | 2020-10-27 | 黄河科技学院 | Flexible waist boosting bandage |
| CN112008693A (en) * | 2020-07-06 | 2020-12-01 | 中国科学院深圳先进技术研究院 | Waist assistance exoskeleton |
-
2018
- 2018-08-31 CN CN201821421539.4U patent/CN208841401U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748116A (en) * | 2018-08-31 | 2018-11-06 | 广州市海同机电设备有限公司 | A kind of self-adapting flexible ectoskeleton |
| CN112008693A (en) * | 2020-07-06 | 2020-12-01 | 中国科学院深圳先进技术研究院 | Waist assistance exoskeleton |
| CN112008693B (en) * | 2020-07-06 | 2022-04-19 | 中国科学院深圳先进技术研究院 | Waist assistance exoskeleton |
| CN111685975A (en) * | 2020-07-21 | 2020-09-22 | 黄河科技学院 | Waist assistance exoskeleton |
| CN111820495A (en) * | 2020-07-21 | 2020-10-27 | 黄河科技学院 | Flexible waist boosting bandage |
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