CN210589266U

CN210589266U - Lower limb exoskeleton utilizing upper limb assistance

Info

Publication number: CN210589266U
Application number: CN201921217418.2U
Authority: CN
Inventors: 何逸秋; 李美琴; 朱志友; 章钊; 钱译辰
Original assignee: Wenzhou University Oujiang College
Current assignee: Wenzhou University of Technology
Priority date: 2019-07-24
Filing date: 2019-07-24
Publication date: 2020-05-22
Anticipated expiration: 2029-07-24

Abstract

A lower limb exoskeleton using upper limb assistance is composed of a waist plate, a connecting rod, a bearing, a supporting rod, a supporting plate, a U-shaped block, a binding band, a fixed pulley, a lengthening rod, a rope and a movable pulley. When a user walks and swings the arm backwards with the right hand, the rope gives a pulling force for lifting the right thigh upwards through the pulley mechanism; when the right hand swings forwards and the left hand swings backwards, the pulling force of the right thigh can be released naturally, and the left leg can have a pulling force swinging upwards. Carry out the helping hand through the nature coordination of both hands and both legs, overall structure is simple, and light in weight is little to human burden, utilizes movable pulley to make the arm easily mention the thigh, reaches the helping hand purpose, can also temper the arm, and the mounted position is adjustable simultaneously, is fit for different crowds.

Description

Lower limb exoskeleton utilizing upper limb assistance

Technical Field

The utility model belongs to the technical field of low limbs ectoskeleton, concretely relates to utilize low limbs ectoskeleton of upper limbs helping hand.

Background

The existing exoskeleton is driven by a motor, is heavy, has poor cruising ability and insufficient power assistance.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a solve above problem, provide one kind and utilize upper limbs assist drive device, the swing of intending to utilize the upper limbs provides the helping hand for the low limbs.

In order to achieve the above purpose, the utility model provides a technical scheme is:

a lower limb exoskeleton using upper limb assistance consists of a waist plate, a connecting rod, a bearing, a supporting rod, a supporting plate, a U-shaped block, a binding band, a fixed pulley, a lengthening rod, a rope and a movable pulley; the method is characterized in that: the waist board is characterized in that two sides of the waist board are respectively provided with 1 rectangular boss, the rectangular bosses are provided with 12 positioning holes, the left lower side and the right lower side are respectively provided with a conical boss, a bearing through hole is formed in the conical boss, the connecting rod is provided with 4 positioning holes and a plurality of adjusting holes, one end of the connecting rod is arranged at the position of the waist board positioning hole through bolt connection, the other end of the connecting rod is connected with the extension bar through bolt connection, the bearing is arranged in the bearing through hole of the waist board and is in interference fit connection with the connecting post of the supporting rod, the upper end of the supporting rod is provided with 1 connecting post, the lower half part of the supporting rod is provided with 7 adjusting holes and is connected with the supporting plate through bolts, the supporting plate is provided with 7 adjusting holes, 4 square holes and 1 boss, the boss is provided with 2 through holes, one end of the binding band is fixed with the supporting plate through the square holes, rotate to be connected through pin and fixed pulley, the movable pulley passes through the pin and installs in the U type piece, rope one end has the triangle-shaped handle, and the other end is fixed on the extension bar, walks around the movable pulley and again around the fixed pulley and draw forth.

The lower limb exoskeleton using upper limb assistance is characterized in that: the connecting rods, the bearings, the supporting rods, the supporting plates, the U-shaped blocks, the binding bands, the fixed pulleys, the extension rods, the ropes and the movable pulleys are respectively arranged in two numbers and are symmetrically distributed on two sides of the waist plate.

The technical effects of the utility model are that: the user is using during the low limbs ectoskeleton of utilizing upper limbs helping hand, earlier with the waist board is dressed on the waist, will again the backup pad is dressed in two big shank, then handheld triangle-shaped handle, and the human body is at the walking in-process, when the swing arm is backward to the right hand, the rope passes through pulley mechanism for the tensile force of lifting of right thigh, when the right hand preceding pendulum, when the left hand backswing simultaneously, the tensile force of right thigh can release naturally, the left leg has a tensile force of lifting simultaneously, through the natural coordination helping hand of both hands and both legs, a low limbs ectoskeleton of utilizing upper limbs helping hand simple and practical, movable pulley can reduce power by roughly half, plays the effect of laborsaving, can also temper the arm, and overall structure is simple, and light in weight, backup pad and extension bar can select different hole sites to install, are fit for different people's demand.

Drawings

The present invention will be further explained with reference to the accompanying drawings.

Fig. 1 is a schematic view of the overall structure of the present invention.

Figure 2 is a schematic view of a waist panel structure.

Fig. 3 is a schematic view of the connecting rod structure.

Fig. 4 is a schematic view of a support rod structure.

Fig. 5 is a schematic structural view of the support plate.

Fig. 6 is a schematic view of the fixed and movable pulleys.

Fig. 7 is a schematic view of the extension bar.

In the figure, 1 waist board, 2 connecting rods, 3 bearings, 4 supporting rods, 5 supporting plates, 6U-shaped blocks, 7 binding bands, 8 fixed pulleys, 9 extension rods, 10 ropes and 11 movable pulleys.

Detailed Description

As can be seen from fig. 1, 2, 3, 4, 5, 6 and 7: a lower limb exoskeleton using upper limb assistance comprises a waist plate 1, a connecting rod 2, a bearing 3, a supporting rod 4, a supporting plate 5, a U-shaped block 6, a binding band 7, a fixed pulley 8, an extension rod 9, a rope 10 and a movable pulley 11.

The waist board 1 both sides respectively have 1 rectangle boss, have 12 locating holes on the rectangle boss, the downside respectively has a toper boss about, and the toper boss is interior to be opened has the bearing through-hole, connecting rod 2 has 4 locating holes and a plurality of regulation hole, and one end is installed waist board 1 locating hole position through bolted connection, and the other end passes through bolted connection with extension bar 9, bearing 3 is installed in the bearing through-hole of waist board 1, and is connected with the spliced pole interference fit of bracing piece 4, the bracing piece 4 upper end has 1 spliced pole, and the latter half has 7 regulation holes, connects through bolt and backup pad 5, backup pad 5 has 7 regulation holes, 4 quad slit and 1 boss, is equipped with 2 through-holes on the boss, 7 one end of bandage is fixed through quad slit and backup pad 5, U type piece 6 is fixed through bolt and boss, extension bar 9 has 4 locating holes, 1 square groove, 2 pin fixed orificess have been opened in the square groove, rotate through pin and fixed pulley 8 and connect, movable pulley 11 is installed in U type piece 6 through the pin, 10 one end of rope has the triangle-shaped handle, and the other end is fixed on extension bar 9, walks around movable pulley 11 and again around fixed pulley 8 and draw forth.

The utility model discloses a theory of operation and working process as follows:

when a user uses the lower limb exoskeleton with the assistance of upper limbs, the waist plate 1 is worn on the waist, the supporting plate 5 is worn on the two thigh parts, and then the triangular grip is held by hands, so that when a human body walks and swings backwards with the right hand, the supporting plate 5 is lifted by the U-shaped block 6 due to the unchanged length of the rope 10, the supporting plate 5 provides a pulling force for the right thigh to lift upwards, and due to the existence of the movable pulley 11, the force can be reduced by about half; similarly, when the right hand swings forwards and the left hand swings backwards, the pulling force of the right thigh can be naturally released, the left hand pulls the rope 10, the supporting plate 5 is lifted through the U-shaped block 6, the supporting plate 5 gives the left thigh a pulling force which is lifted upwards, and the actions are finished through natural coordination of the two hands and the two legs.

Claims

1. A lower limb exoskeleton using upper limb assistance consists of a waist plate (1), a connecting rod (2), a bearing (3), a supporting rod (4), a supporting plate (5), a U-shaped block (6), a binding band (7), a fixed pulley (8), an extension bar (9), a rope (10) and a movable pulley (11); the method is characterized in that: the waist board (1) both sides respectively have 1 rectangle boss, have 12 locating holes on the rectangle boss, and the downside respectively has a toper boss about, and it has the bearing through-hole to open in the toper boss, connecting rod (2) have 4 locating holes and a plurality of regulation hole, and one end is installed in waist board (1) locating hole position through bolted connection, and the other end passes through bolted connection with extension bar (9), bearing (3) are installed in the bearing through-hole of waist board (1), are connected with the spliced pole interference fit of bracing piece (4), there are 1 spliced pole on bracing piece (4), and the latter half has 7 regulation holes, connects through bolt and backup pad (5), backup pad (5) have 7 regulation holes, 4 quad slit and 1 boss, are equipped with 2 through-holes on the boss, bandage (7) one end is fixed through quad slit and backup pad (5), u type piece (6) are fixed through bolt and boss, extension bar (9) have 4 locating holes, 1 square groove, and square inslot is opened has 2 pin fixed orificess, rotates through pin and fixed pulley (8) and connects, movable pulley (11) are installed in U type piece (6) through the pin, rope (10) one end has the triangle-shaped handle, and the other end is fixed on extension bar (9), walks around movable pulley (11) and winds back fixed pulley (8) and draws forth again.

2. The lower extremity exoskeleton of claim 1 wherein said upper extremity exoskeleton is further configured to: the connecting rod (2), the bearing (3), the supporting rod (4), the supporting plate (5), the U-shaped block (6), the binding band (7), the fixed pulley (8), the extension bar (9), the rope (10) and the movable pulley (11) are respectively provided with two, and are symmetrically distributed on two sides of the waist plate (1).