CN209316407U - A kind of lower limb assistance exoskeleton - Google Patents
A kind of lower limb assistance exoskeleton Download PDFInfo
- Publication number
- CN209316407U CN209316407U CN201721681937.5U CN201721681937U CN209316407U CN 209316407 U CN209316407 U CN 209316407U CN 201721681937 U CN201721681937 U CN 201721681937U CN 209316407 U CN209316407 U CN 209316407U
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- CN
- China
- Prior art keywords
- bar portion
- pedal
- lower limb
- pedestal
- hinged
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Abstract
The purpose of the utility model is to provide a kind of lower limb assistance exoskeleton, for walking on road surface, including pedal assembly and multiple resilient support assemblies；Pedal assembly includes pedal, and multiple resilient support assemblies are hinged with pedal respectively, and support pedal；Multiple resilient support assemblies when supporting with road surface for being squeezed and generating different degrees of deformation, so that pedal be enable to keep certain angle when being supported with road surface, and then improves stability of the lower limb assistance exoskeleton when walking on road surface.Such as, when road surface has the gradient or out-of-flatness, the size and Orientation for the extruding force that the multiple resilient support assemblies contacted with road surface are subject to will appear difference, each resilient support assemblies will generate different deformation, carry out adaptive different pavement behavior, and then pedal direction and the most suitable support force of size are given, so that pedal be enable to keep certain angle with road surface when being supported, improve stability when walking.
Description
Technical field
The utility model relates to a kind of lower limb assistance exoskeletons.
Background technique
Lower limb assistance exoskeleton is a kind of a kind of mechanical device that may be worn on operator's lower limb, it can give wearing dermoskeleton
The people of bone provides support, protection, and enhancing locomitivity.It is wearable as the important component of man-machine integration technology
The concern increasingly by academia and industry of lower limb exoskeleton technology.Both rehabilitation accessory had been can be used as, auxiliary lower limb are residual
Hinder personage's walking, it is also possible to make power assisting device when load walking, have preferable application prospect in civilian and military domain.
Lower limb assistance exoskeleton in the prior art is difficult to control when walking on the road surface of out-of-flatness, is easy to make to operate
The case where person falls.
Utility model content
The purpose of this utility model is to provide a kind of lower limb assistance exoskeleton, which is suitable in injustice
It walks on whole road surface.
For the lower limb assistance exoskeleton for realizing the purpose, for walking on road surface, the lower limb assistance exoskeleton packet
Include pedal assembly and multiple resilient support assemblies；
The pedal assembly includes pedal, and each resilient support assemblies include pedestal and flexible connection mechanism, described
Flexible connection mechanism includes the first bar portion, the second bar portion, the first torsional spring, the second torsional spring, third torsional spring, the first rigidity rope, second
Rigidity rope and third are rigidly restricted；
First bar portion and the pedal hingedly and on articulated shaft are arranged with first torsional spring；The first rigidity rope
It in tensioning state is separately connected first bar portion and the pedal, so that first bar portion and the pedal are at certain angle
Degree；Second bar portion and the pedestal hingedly and on articulated shaft are arranged with second torsional spring；The second rigidity rope is in
It is separately connected to tight state second bar portion and the pedestal, so that second bar portion and the pedestal are angled；
First bar portion and second bar portion hingedly and on articulated shaft are arranged with the third torsional spring；Rigidly rope is in the third
It is separately connected to tight state second bar portion and first bar portion, so that second bar portion and first bar portion are at one
Determine angle；
First bar portion and the hinged pivot center of the pedal, second bar portion and the hinged rotation of the pedestal
Axis and first bar portion pivot center three hinged with second bar portion are parallel to each other.
The lower limb assistance exoskeleton, further feature are, in multiple resilient support assemblies,
First bar portions of any one of resilient support assemblies and the hinged pivot center of the pedal, described the
Two bar portions and the hinged pivot center of the pedestal and first bar portion and the hinged pivot center of second bar portion with
First bar portion of another resilient support assemblies and the hinged pivot center of the pedal, second bar portion with
The hinged pivot center of the pedestal and first bar portion and the hinged pivot center of second bar portion are whole mutually flat
Row.
The lower limb assistance exoskeleton, further feature are that two adjacent pedestals contact with each other and put down
Row setting.
The lower limb assistance exoskeleton, further feature are that the quantity of the resilient support assemblies is three.
The lower limb assistance exoskeleton, further feature be, in three resilient support assemblies, is located at
The pedestal of the resilient support assemblies in portion extands rearward to the institute for protruding from the resilient support assemblies positioned at two sides
State pedestal.
The lower limb assistance exoskeleton, further feature are that the pedestal is to be open towards the pedal channel-shaped
Structure, the flexible connection mechanism are hinged on the inside of the cell wall of the groove-like structure.
The lower limb assistance exoskeleton, further feature are that the pedal includes plate-like body and connecting bracket；
The plate-like body and the resilient support assemblies are hinged, and the connecting bracket is fixed at the two sides of the plate-like body；
The pedal assembly further includes leg fixed frame, and the leg fixed frame and the connecting bracket are hinged.
The lower limb assistance exoskeleton, further feature are that the upper end of the leg fixed frame is with opening
Cyclic structure, the cyclic structure be used for and lower limb cooperation fix.
The lower limb assistance exoskeleton, further feature be, first torsional spring, second torsional spring and described
The ontology and outwardly extending two support ends from the ontology that third torsional spring respectively includes tubular；The ontology of tubular
It respectively corresponds and is set on articulated shaft, two support ends are respectively used to the component that support is hinged.
The lower limb assistance exoskeleton, further feature are that the lower limb assistance exoskeleton is by Shooting Technique system
It makes.
The positive effect of the utility model is: the utility model provides a kind of lower limb assistance exoskeleton, is used for
It walks on road surface, including pedal assembly and multiple resilient support assemblies；Pedal assembly includes pedal, each resilient support assemblies
Including pedestal and flexible connection mechanism, flexible connection mechanism includes the first bar portion, the second bar portion, the first torsional spring, the second torsional spring, the
Three torsional springs, the first rigidity rope, the second rigidity rope and third are rigidly restricted；First bar portion and pedal are hinged, and the second bar portion and pedestal are cut with scissors
It connects；First bar portion and the second bar portion are hinged；Turn of first bar portion and the hinged pivot center of pedal, the second bar portion and pedestal hingedly
Shaft line and the first bar portion pivot center three hinged with the second bar portion are parallel to each other；Multiple first bar portions support respectively steps on
Plate, multiple pedestals with road surface for supporting respectively, so that the first torsional spring, the second torsional spring, third torsional spring are respectively by multiple groups difference
Mutually hinged corresponding component extruding, and then generate different degrees of deformation, carry out adaptive different pavement behavior, in turn
Pedal direction and the most suitable support force of size are given, so that pedal be enable to keep certain angle with road surface when being supported, is mentioned
Stability when height walking.
Detailed description of the invention
The above and other feature, property and advantage of the utility model will be by with reference to the accompanying drawings and examples
Description and become readily apparent from, in which:
Fig. 1 is the schematic diagram of lower limb assistance exoskeleton in the utility model, and visual angle is from the front to the back；
Fig. 2 is the schematic diagram of the side of lower limb assistance exoskeleton in the utility model；
Fig. 3 is the side view of lower limb assistance exoskeleton in the utility model；
Fig. 4 is the front view of lower limb assistance exoskeleton in the utility model；
Fig. 5 is the rearview of lower limb assistance exoskeleton in the utility model；
Fig. 6 is the top view of lower limb assistance exoskeleton in the utility model；
Fig. 7 is the bottom view of lower limb assistance exoskeleton in the utility model；
Fig. 8 is the schematic diagram of resilient support assemblies in the utility model.
Specific embodiment
The utility model is described in further detail with attached drawing combined with specific embodiments below, elaborates in the following description
More details are in order to fully understand the utility model, but the utility model obviously can be different from what this was described with a variety of
Other way is implemented, and those skilled in the art can be without prejudice to the utility model connotation according to practical application feelings
Condition makees similar popularization, deduces, therefore should not limit the protection scope of the utility model with the content of this specific embodiment.
It should be noted that Fig. 1 to Fig. 8 only as an example, its not be according to equal proportion condition draw, and
It should not be construed as limiting in this, as the protection scope to the utility model actual requirement.In the embodiments of the present invention,
The direction that the direction of "front", "rear" is walked on road surface 101 using lower limb assistance exoskeleton 100 is identified as reference in attached drawing 1
In.
As shown in Fig. 1,2,8, in one embodiment of the utility model, lower limb assistance exoskeleton 100 includes pedal group
Part 2 and multiple resilient support assemblies 3, pedal assembly 2 include pedal 20, and each resilient support assemblies 3 include pedestal 30 and elasticity
Bindiny mechanism 31, flexible connection mechanism 31 include the first bar portion 311, the second bar portion 312, the first torsional spring 313, the second torsional spring
314, the 316, second rigidity of the 315, first rigidity of third torsional spring rope rope 317 and third rigidity rope 318；First bar portion 311 and pedal
20 hingedly and on articulated shaft are arranged with the first torsional spring 313；First rigidity rope 316 is separately connected the first bar portion in tensioning state
311 with pedal 20 so that the first bar portion 311 and pedal 20 are angled；Second bar portion 312 is hinged with pedestal 30 and articulated shaft
On be arranged with the second torsional spring 314；Second rigidity rope 317 is separately connected the second bar portion 312 and pedestal 30 in tensioning state, so that
Second bar portion 312 and pedestal 30 are angled；First bar portion 311 and the second bar portion 312 is hinged and articulated shaft on be arranged with the
Three torsional springs 315；Rigidly rope 318 is separately connected the second bar portion 312 and the first bar portion 311 in tensioning state to third, so that second
Bar portion 312 and the first bar portion 311 are angled；First bar portion 311 and the hinged pivot center of pedal 20, the second bar portion 312
Hinged pivot center and the first bar portion 311 pivot center three hinged with the second bar portion 312 are parallel to each other with pedestal 30.
Multiple first bar portions 311 support pedal 20 respectively, and multiple pedestals 30 with road surface 101 for supporting respectively；On road surface
When walking on 101, the heel of operator is stepped down on pedal 20, is pressed down against resilient support assemblies 3, so that the first bar portion 311
Relative rotation with the second bar portion 312 and squeeze third torsional spring 315, and make third rigidly rope 318 loosen；Similarly, first
Bar portion 311 and pedal 20 can also squeeze the first torsional spring 313, and the first rigidity rope 316 is loosened；Second bar portion 312 and pedestal
30 can squeeze the second torsional spring 314, and the second rigidity rope 317 is loosened.In the visual angle of Fig. 8, the first torsional spring 313, second is turned round
Spring 314 and third torsional spring 315 are indicated with dashed circle.
In this embodiment, the forefoot of people is without stepping down on pedal 20, but directly steps down on road surface 101.Road surface
101 can be the indoor or outdoor supporting surface for walking.The all parts of lower limb assistance exoskeleton 100 can be by being molded
Technique manufacture.
First torsional spring 313, the second torsional spring 314 and third torsional spring 315 respectively the ontology including tubular and from ontology to
Two support ends of outer extension；The ontology of tubular, which respectively corresponds, to be set on articulated shaft, and two support ends are respectively used to support quilt
Hinged component, to generate reactive torque to the component being hinged.Torsional spring is a kind of for generating the common bullet of reactive torque
Spring is commercially available.Rigidly rope 318 is respectively used to limitation first for first the 316, second rigidity of rigidity rope rope 317 and third
The angle that two support ends of torsional spring 313, the second torsional spring 314 and third torsional spring 315 open.
When operator walks when along the laterally walking of the road surface of ramped shaped 101 (neither go up a slope nor descending), it is located at oblique
The flexible connection mechanism 31 of 101 eminence of road surface of ramp shaped can be pressed to a greater degree relative to the flexible connection mechanism 31 of lower
Contracting can thus enable pedal 20 keep certain angle when being supported with road surface 101, which is greater than zero degree, so that
Pedal 20 will not be supported with the power perpendicular to line of slope, keep the impression of operator foot more comfortable.
Continue to refer to figure 1,2, pedal 20 include plate-like body 201 and connecting bracket 202；Plate-like body 201 and elasticity are propped up
Support component 3 is hinged, and connecting bracket 202 is fixed at the two sides of plate-like body 201；Pedal assembly 2 further includes leg fixed frame
21, leg fixed frame 21 and connecting bracket 202 are hinged.The upper end of leg fixed frame 21 is the cyclic structure with opening, cyclic annular
Structure is used to cooperate with lower limb and fix.
As shown in Fig. 3,4,6, the upper end of leg fixed frame 21 is the cyclic structure with opening, and cyclic structure is used for under
Limb cooperation is fixed.Lower limb can be the shank of operator, and when dressing lower limb assistance exoskeleton 100, the heel of operator is stepped on
In plate-like body 201, the calf of shank protrudes into the cyclic structure from the opening of cyclic structure, and relies on the cyclic structure
Inside, then bound leg fixed frame 21 on shank with bandage (attached drawing is not shown), realize wearing for lower limb assistance exoskeleton 100
Wear process.Operator can also carry out running movement after dressing lower limb assistance exoskeleton 100.
With reference to Fig. 7, two adjacent pedestals 30 contact with each other and are arranged in parallel.The quantity of resilient support assemblies 3 can be
Three.In three resilient support assemblies 3, is extanded rearward to positioned at the pedestal 30 of the resilient support assemblies 3 at middle part and protrude from position
In the pedestal 30 of the resilient support assemblies 3 of two sides.Length positioned at the pedestal 30 of the resilient support assemblies 3 at middle part is longer than positioned at two
The length of the pedestal 30 of the resilient support assemblies 3 of side.Two adjacent pedestals 30 on the contact surface can with coating lubricating oil, with
Reducing friction resistance.The pivot center of the possessed articulated structure of three resilient support assemblies 3 is parallel to each other.
It continues to refer to figure 1, pedestal 30 is opening towards 20 groove-like structure of pedal, and flexible connection mechanism 31 is hinged on channel-shaped
The inside of the cell wall of structure.
The positive effect of the utility model is: the utility model provides a kind of lower limb assistance exoskeleton, is used for
It walks on road surface, including pedal assembly and multiple resilient support assemblies；Pedal assembly includes pedal, each resilient support assemblies
Including pedestal and flexible connection mechanism, flexible connection mechanism includes the first bar portion, the second bar portion, the first torsional spring, the second torsional spring, the
Three torsional springs, the first rigidity rope, the second rigidity rope and third are rigidly restricted；First bar portion and pedal are hinged, and the second bar portion and pedestal are cut with scissors
It connects；First bar portion and the second bar portion are hinged；Turn of first bar portion and the hinged pivot center of pedal, the second bar portion and pedestal hingedly
Shaft line and the first bar portion pivot center three hinged with the second bar portion are parallel to each other；Multiple first bar portions support respectively steps on
Plate, multiple pedestals with road surface for supporting respectively, so that the first torsional spring, the second torsional spring, third torsional spring are respectively by multiple groups difference
Mutually hinged corresponding component extruding, and then generate different degrees of deformation, carry out adaptive different pavement behavior, in turn
Pedal direction and the most suitable support force of size are given, so that pedal be enable to keep certain angle with road surface when being supported, is mentioned
Stability when height walking.
Although the utility model is disclosed as above with preferred embodiment, its be not for limiting the utility model, it is any
Those skilled in the art without departing from the spirit and scope of the utility model, can make possible variation and modification, all
It is the content without departing from technical solutions of the utility model, made by the above technical examples according to the technical essence of the present invention
What modification, equivalent variations and modification, each falls within the protection scope that the utility model claims are defined.
Claims (10)
1. a kind of lower limb assistance exoskeleton, for walking on road surface (101), which is characterized in that the lower limb assistance exoskeleton
It (100) include pedal assembly (2) and multiple resilient support assemblies (3)；
The pedal assembly (2) includes pedal (20), and each resilient support assemblies (3) include pedestal (30) and elastic connection
Mechanism (31), the flexible connection mechanism (31) include the first bar portion (311), the second bar portion (312), the first torsional spring (313), the
Two torsional springs (314), third torsional spring (315), the first rigidity rope (316), the second rigidity rope (317) and third rigidity rope (318)；
First bar portion (311) and the pedal (20) hingedly and on articulated shaft are arranged with first torsional spring (313)；It is described
First rigidity rope (316) is separately connected first bar portion (311) and the pedal (20) in tensioning state, so that described the
One bar portion (311) and the pedal (20) are angled；Second bar portion (312) and the pedestal (30) are hinged and hinged
Second torsional spring (314) is arranged on axis；The second rigidity rope (317) is separately connected second bar in tensioning state
Portion (312) and the pedestal (30), so that second bar portion (312) and the pedestal (30) are angled；Described first
Bar portion (311) and second bar portion (312) hingedly and on articulated shaft are arranged with the third torsional spring (315)；The third is rigid
Property rope (318) is separately connected second bar portion (312) and first bar portion (311) in tensioning state, so that described
Two bar portions (312) and first bar portion (311) are angled；
First bar portion (311) and the pedal (20) hinged pivot center, second bar portion (312) and the pedestal
(30) hinged pivot center and first bar portion (311) and the hinged pivot center three of second bar portion (312)
It is parallel to each other.
2. lower limb assistance exoskeleton as described in claim 1, which is characterized in that in multiple resilient support assemblies (3),
First bar portion (311) of any one of resilient support assemblies (3) and the pedal (20) hinged rotation axis
Line, second bar portion (312) and the pedestal (30) hinged pivot center and first bar portion (311) and described the
The hinged pivot center of two bar portions (312) with
First bar portion (311) of another resilient support assemblies (3) and the pedal (20) hinged rotation axis
Line, second bar portion (312) and the pedestal (30) hinged pivot center and first bar portion (311) and described the
The hinged pivot center of two bar portions (312) is all parallel to each other.
3. lower limb assistance exoskeleton as claimed in claim 2, which is characterized in that pedestal (30) the phase mutual connection of adjacent two
It touches and is arranged in parallel.
4. lower limb assistance exoskeleton as claimed in claim 3, which is characterized in that the quantity of the resilient support assemblies (3) is
Three.
5. lower limb assistance exoskeleton as claimed in claim 4, which is characterized in that in three resilient support assemblies (3),
The pedestal (30) positioned at the resilient support assemblies (3) at middle part extands rearward to the elasticity protruded from positioned at two sides
The pedestal (30) of support component (3).
6. lower limb assistance exoskeleton as described in claim 1, which is characterized in that the pedestal (30) is that opening is stepped on described in
Plate (20) groove-like structure, the flexible connection mechanism (31) are hinged on the inside of the cell wall of the groove-like structure.
7. lower limb assistance exoskeleton as described in claim 1, which is characterized in that the pedal (20) includes plate-like body
(201) and connecting bracket (202)；The plate-like body (201) and the resilient support assemblies (3) hingedly, the connecting bracket
(202) two sides of the plate-like body (201) are fixed at；
The pedal assembly (2) further includes leg fixed frame (21), the leg fixed frame (21) and the connecting bracket (202)
Hingedly.
8. lower limb assistance exoskeleton as claimed in claim 7, which is characterized in that the upper end of the leg fixed frame (21) is tool
There is the cyclic structure of opening, the cyclic structure is used to cooperate with lower limb and fix.
9. lower limb assistance exoskeleton as described in claim 1, which is characterized in that first torsional spring (313), described second are turned round
The ontology and outwardly extending two branch from the ontology that spring (314) and the third torsional spring (315) respectively include tubular
Support end；The ontology of tubular, which respectively corresponds, to be set on articulated shaft, and two support ends are respectively used to what support was hinged
Component.
10. lower limb assistance exoskeleton as described in claim 1, which is characterized in that the lower limb assistance exoskeleton (100) is by infusing
Mould technique manufacture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721681937.5U CN209316407U (en) | 2017-12-06 | 2017-12-06 | A kind of lower limb assistance exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721681937.5U CN209316407U (en) | 2017-12-06 | 2017-12-06 | A kind of lower limb assistance exoskeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209316407U true CN209316407U (en) | 2019-08-30 |
Family
ID=67704662
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721681937.5U Expired - Fee Related CN209316407U (en) | 2017-12-06 | 2017-12-06 | A kind of lower limb assistance exoskeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209316407U (en) |
-
2017
- 2017-12-06 CN CN201721681937.5U patent/CN209316407U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190830 Termination date: 20201206 |