CN212241033U - Waist adjusting and rotating mechanism of exoskeleton robot - Google Patents
Waist adjusting and rotating mechanism of exoskeleton robot Download PDFInfo
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- CN212241033U CN212241033U CN202020782860.6U CN202020782860U CN212241033U CN 212241033 U CN212241033 U CN 212241033U CN 202020782860 U CN202020782860 U CN 202020782860U CN 212241033 U CN212241033 U CN 212241033U
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Abstract
The utility model relates to a waist adjusting and rotating mechanism of an exoskeleton robot, belonging to the technical field of exoskeleton robots, wherein, the waist of the robot is connected with a leg fixing rod through a rotation compensation component; the rotation compensation assembly comprises a mounting plate, the mounting plate is mounted on the waist of the robot, the leg fixing rod is rotatably mounted on the mounting plate, the leg fixing rod is coaxially provided with a compensation block, the mounting plate is fixedly provided with a first limiting block and a second limiting block, the first limiting block is arranged in the clockwise rotation direction of the compensation block, and the first limiting block and the compensation block are arranged at intervals; the second limiting block is arranged in the anticlockwise rotating direction of the compensation block, and the second limiting block and the compensation block are arranged at intervals. The utility model discloses compensation angle when having the foot inward swing and compensation angle when the foot outwards swings make ectoskeleton robot's shank can transfer and the internal and external swing along with the focus about human body, and the walking action is more nimble, has higher comfort level.
Description
Technical Field
The utility model belongs to the technical field of the ectoskeleton robot technique and specifically relates to a waist of ectoskeleton robot is adjusted and rotary mechanism is related to.
Background
The exoskeleton robot technology is an important branch of the robot technology, relates to the fields of the robot technology, ergonomics, mechanics, computational science, communication technology and the like, and is a hot technology for domestic and foreign research at present. The exoskeleton robot can help people to complete more strengthening tasks such as load bearing by means of self strength, and can also help patients to carry out rehabilitation training medically. The waist of the exoskeleton robot is often designed with a structure for controlling the freedom degree of the waist movement, and the structure can limit the movement range of a wearer in a mechanical fixing mode. The existing exoskeleton robot is characterized in that a leg fixing plate is fixedly installed on the waist of the robot, and robot legs are fixedly installed on the leg fixing plate, however, in the normal walking process of a human body, the robot can walk by means of the front-back swing of left and right legs, in the process of left and right leg replacement, the center of gravity of the human body is transferred left and right, in the process of center of gravity transfer, feet can swing inwards and outwards, the traditional exoskeleton robot does not provide compensation for the inward and outwards swinging of the feet, when a user wears the traditional exoskeleton robot to walk, the walking action is relatively stiff, and good comfort level is not provided.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is: in order to overcome the problems that the traditional exoskeleton robot does not provide compensation for inward and outward swinging of feet, and when a user wears the traditional exoskeleton robot to walk, the walking action is relatively stiff and no good comfort level exists, the waist adjusting and rotating mechanism for the exoskeleton robot is provided.
The utility model provides a technical scheme that its technical problem adopted is: a waist adjusting and rotating mechanism of an exoskeleton robot comprises a robot waist and a leg fixing rod, wherein the robot waist and the leg fixing rod are connected through a rotation compensation assembly;
the rotation compensation assembly comprises a mounting plate, the mounting plate is mounted on the waist of the robot, the leg fixing rod is rotatably mounted on the mounting plate, the leg fixing rod is coaxially provided with a compensation block, a first limiting block and a second limiting block are fixedly mounted on the mounting plate, the first limiting block is arranged in the clockwise rotation direction of the compensation block and used for limiting the clockwise rotation of the compensation block, and the first limiting block and the compensation block are arranged at intervals; the second limiting block is arranged on the anticlockwise rotating direction of the compensation block and used for limiting the anticlockwise rotation of the compensation block, and the second limiting block and the compensation block are arranged at intervals.
The utility model discloses an ectoskeleton robot waist portion is adjusted and rotary mechanism uses rotatory compensation assembly to connect robot waist and shank dead lever, when walking, when the foot inwards swings, the shank of ectoskeleton robot drives the shank dead lever clockwise to inwards rotate, the compensating block is coaxially installed on the shank dead lever, the compensating block clockwise rotates along with the shank dead lever, the first stopper and the compensating block that set up on the clockwise direction of rotation of compensating block are set up with the interval of compensating block, after the compensating block clockwise rotates certain angle, the first stopper restricts the compensating block to continue rotating, this angle is the compensating angle when the foot inwards swings; when the feet swing outwards, the legs of the exoskeleton robot drive the leg fixing rods to rotate anticlockwise outwards, the compensation blocks rotate anticlockwise along with the leg fixing rods, the second limiting blocks arranged in the anticlockwise rotation direction of the compensation blocks are arranged at intervals with the compensation blocks, and after the compensation blocks rotate anticlockwise by a certain angle, the second limiting blocks limit the compensation blocks to continue rotating, wherein the angle is the compensation angle when the feet swing outwards; the utility model discloses compensation angle when having the foot inward swing and compensation angle when the foot outwards swings make exoskeleton robot's shank can transfer and the inside and outside swing about human focus, and the user dresses and has the utility model discloses a when exoskeleton robot walks, the walking action is more nimble, has higher comfort level.
Because the exoskeleton robot has a compact structure, in order to ensure that the space occupied by the rotary compensation component is small, the compensation block, the first limiting block and the second limiting block need to be compactly installed, in order to compactly mount the compensation block, the first stopper and the second stopper, the compensation block includes a cylindrical body and two segments, the cylinder is coaxially arranged on the leg fixing rod, the two fan-shaped blocks are uniformly distributed along the circumference of the central axis of the cylinder, the circle centers of the two fan-shaped blocks are superposed with the circle center of the cylinder, the outer radius of the two fan-shaped blocks is larger than the radius of the cylinder, a first fan-shaped opening and a second fan-shaped opening are formed between the two fan-shaped blocks, the first limiting block is inserted in the first fan-shaped opening, the first limiting block is a fan-shaped block, the circle center of the first limiting block is superposed with the circle center of the cylinder, and the angle of the first limiting block is smaller than that of the first fan-shaped opening; the second limiting block is inserted into the second fan-shaped opening and is a fan-shaped block, the circle center of the second limiting block coincides with the circle center of the cylinder, and the angle of the second limiting block is smaller than that of the second fan-shaped opening. The angle of the first limiting block is smaller than that of the first fan-shaped opening, angle gaps are formed between two side faces of the first limiting block and the side faces of the fan-shaped blocks on two sides of the first limiting block, and the sum of the angle gaps on two sides is a compensation angle when the foot swings inwards; the angle of the second limiting block is smaller than that of the second fan-shaped opening, angle gaps are formed between two side faces of the second limiting block and the side faces of the fan-shaped blocks on two sides of the second limiting block, and the sum of the angle gaps on two sides of the second limiting block is a compensation angle when the foot swings outwards.
In order to ensure that the compensation angle when the foot swings inwards is equal to the compensation angle when the foot swings outwards, two fan-shaped blocks in the compensation block are completely the same, and the first limiting block and the second limiting block are completely the same. Two fan-shaped blocks in the compensation block are completely the same, so the first fan-shaped opening is completely the same as the second fan-shaped opening, after the first limiting block is completely the same as the second limiting block, the sum of the angle clearances at the two sides of the first limiting block is equal to the sum of the angle clearances at the two sides of the second limiting block, and the compensation angle when the foot swings inwards is equal to the compensation angle when the foot swings outwards.
The human body of different heights, different weight is when walking, and the compensation angle when the foot inwards swings is different, and the compensation angle when the foot outwards swings is also different, and in order to adapt to the human body of different heights, different weight can be more nimble the wearing have the utility model discloses an ectoskeleton robot, different compensation piece need be changed according to the human body of difference, and the angle of the segment in the different compensation piece is different, and required compensation angle is when great, changes the less compensation piece of segment angle, and required compensation angle is less, changes the great compensation piece of segment angle, for the convenience of changing of compensation piece, cylinder demountable installation in the compensation piece is on the shank dead lever.
The centre of a circle for realizing first stopper and second stopper all coincides with the centre of a circle of cylinder, the utility model discloses still include erection column and installation cover, installation cover fixed mounting is on the mounting panel, erection column fixed mounting is in the installation cover, the coaxial setting of cylinder in erection column and the compensating block, the equal fixed mounting of first stopper and second stopper is the central symmetry setting about the central axis of cylinder at the terminal surface of erection column, first stopper and second stopper.
Traditional ectoskeleton robot's waist is difficult for adjusting waist structure width according to wearer's size, and is relatively poor to the supporting role of waist, and relatively hurried people when dressing in order to solve above-mentioned problem, the robot waist includes waist mount pad, briquetting and adjusting nut, the guide rail has been seted up on the waist mount pad, the mounting panel slides and sets up in the guide rail, guiding hole has been seted up on the mounting panel, fixed mounting has the screw rod on the waist mount pad, the screw rod passes behind guiding hole and the briquetting in proper order and adjusting nut threaded connection, adjusting nut oppresses the briquetting and sets up with the mounting panel contact, adjusts the position of mounting panel in the guide rail to the width of adjustment robot waist, the setting of briquetting and adjusting nut is used for fixed mounting panel.
In order to prevent the pressing block from rotating, an upper stop block and a lower stop block are fixedly mounted on the waist mounting seat, and the upper stop block and the lower stop block are respectively located on two sides of the pressing block and are in contact with the pressing block.
The leg fixing rod is provided with a leg mounting block in a sliding mode, the leg mounting block is provided with an adjusting opening and a threaded hole, the threaded hole penetrates through the adjusting opening perpendicularly, and an adjusting screw is installed in the threaded hole.
The utility model has the advantages that the waist adjusting and rotating mechanism of the exoskeleton robot uses the rotary compensation component to connect the waist and the leg fixing rod of the robot, when feet swing inwards during walking, the legs of the exoskeleton robot drive the leg fixing rod to rotate clockwise inwards, the compensation block is coaxially arranged on the leg fixing rod and rotates clockwise along with the leg fixing rod, the first limit block and the compensation block are arranged at intervals in the clockwise rotating direction of the compensation block, after the compensation block rotates clockwise for a certain angle, the first limit block limits the compensation block to continue to rotate, and the angle is the compensation angle when the feet swing inwards; when the feet swing outwards, the legs of the exoskeleton robot drive the leg fixing rods to rotate anticlockwise outwards, the compensation blocks rotate anticlockwise along with the leg fixing rods, the second limiting blocks arranged in the anticlockwise rotation direction of the compensation blocks are arranged at intervals with the compensation blocks, and after the compensation blocks rotate anticlockwise by a certain angle, the second limiting blocks limit the compensation blocks to continue rotating, wherein the angle is the compensation angle when the feet swing outwards; the utility model discloses compensation angle when having the foot inward swing and compensation angle when the foot outwards swings make exoskeleton robot's shank can transfer and the inside and outside swing about human focus, and the user dresses and has the utility model discloses a when exoskeleton robot walks, the walking action is more nimble, has higher comfort level.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a three-dimensional schematic view of the present invention;
fig. 2 is a rear view of the present invention;
fig. 3 is a cross-sectional view taken at a-a of fig. 2 in accordance with the present invention;
fig. 4 is a top view of the present invention;
fig. 5 is a cross-sectional view taken at B-B of fig. 4 in accordance with the present invention;
FIG. 6 is a schematic diagram of the three-dimensional assembly of the compensation block with the first and second stoppers of the present invention;
fig. 7 is a front view of fig. 6 in the present invention;
fig. 8 is a three-dimensional schematic diagram of the compensation block of the present invention.
In the figure: 1. the device comprises a leg fixing rod, a mounting plate, a guide through hole, a compensation block, a cylinder, a sector block, a first sector opening, a second sector opening, a first limiting block, a second limiting block, a mounting column, a mounting cover, a waist mounting seat, a guide rail, a pressing block, a screw, an upper stop block, a lower stop block, a leg mounting block, an adjusting opening, a leg mounting block and.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic drawings and illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention.
As shown in fig. 1 and 4, the waist adjusting and rotating mechanism of the exoskeleton robot comprises a robot waist and leg fixing rods 1, wherein the robot waist is connected with the leg fixing rods 1 through a rotation compensation assembly; the rotary compensation assembly comprises a mounting plate 2, the mounting plate 2 is mounted on the waist of the robot, a leg fixing rod 1 is rotatably mounted on the mounting plate 2, a compensation block 3 is coaxially mounted on the leg fixing rod 1, a first limiting block 4 and a second limiting block 5 are fixedly mounted on the mounting plate 2, the first limiting block 4 is arranged in the clockwise rotation direction of the compensation block 3 and used for limiting the clockwise rotation of the compensation block 3, and the first limiting block 4 and the compensation block 3 are arranged at intervals; the second limiting block 5 is arranged on the counterclockwise rotating direction of the compensation block 3 and used for limiting the counterclockwise rotation of the compensation block 3, and the second limiting block 5 and the compensation block 3 are arranged at intervals.
The compensation block 3 comprises a cylinder 3-1 and two fan-shaped blocks 3-2, as shown in fig. 8, the two fan-shaped blocks 3-2 in the compensation block 3 are completely the same, the cylinder 3-1 is coaxially installed on the leg fixing rod 1, the two fan-shaped blocks 3-2 are uniformly distributed along the circumference of the central axis of the cylinder 3-1, the circle centers of the two fan-shaped blocks 3-2 are coincident with the circle center of the cylinder 3-1, the outer radius of the two fan-shaped blocks 3-2 is larger than the radius of the cylinder 3-1, a first fan-shaped opening 3-3 and a second fan-shaped opening 3-4 are formed between the two fan-shaped blocks 3-2, the first limiting block 4 is inserted into the first fan-shaped opening 3-3, the first limiting block 4 is a fan-shaped block, the circle center of the first limiting block 4 is coincident with the circle center of the cylinder 3-1, and the angle of the; the second limiting block 5 is inserted into the second fan-shaped opening 3-4, the second limiting block 5 is a fan-shaped block, the center of the second limiting block 5 coincides with the center of the cylinder 3-1, as shown in fig. 6 and 7, and the angle of the second limiting block 5 is smaller than that of the second fan-shaped opening 3-4. The angle of the first limiting block 4 is smaller than the angle of the first fan-shaped opening 3-3, angle gaps are formed between two side surfaces of the first limiting block 4 and the side surfaces of the fan-shaped blocks 3-2 on two sides of the first limiting block, and the sum of the angle gaps on two sides is a compensation angle when the foot swings inwards; the angle of the second limiting block 5 is smaller than the angle of the second fan-shaped opening 3-4, angle gaps are formed between two side faces of the second limiting block 5 and the side faces of the fan-shaped blocks 3-2 on two sides of the second limiting block, and the sum of the angle gaps on two sides is a compensation angle when the foot swings outwards.
The first stopper 4 and the second stopper 5 are identical. Two fan-shaped blocks 3-2 in the compensation block 3 are completely the same, so that the first fan-shaped opening 3-3 is completely the same as the second fan-shaped opening 3-4, and after the first limiting block 4 is completely the same as the second limiting block 5, the sum of the angular clearances at the two sides of the first limiting block 4 is equal to the sum of the angular clearances at the two sides of the second limiting block 5, and the compensation angle when the foot swings inwards is equal to the compensation angle when the foot swings outwards.
Different heights, the human body of different weight when walking, the compensation angle when the foot inwards swings is different, and the compensation angle when the foot outwards swings is also different, and in order to adapt to different heights, the human body of different weight can have in a relatively flexible wearing the utility model discloses an ectoskeleton robot, different compensation piece 3 need be changed according to the human body of difference, and the fan-shaped piece 3-2's in the compensation piece 3 of difference angle is different, and required compensation angle is when great, changes the less compensation piece 3 of fan-shaped piece 3-2 angle, and required compensation angle is less, changes the great compensation piece 3 of fan-shaped angle, for the change of the compensation piece 3 of convenience, cylinder 3-1 in the compensation piece 3 passes through screw demountable installation on shank dead lever 1, as shown in fig. 5.
The utility model discloses still include erection column 6 and installation cover 7, installation cover 7 fixed mounting is on mounting panel 2, and 6 fixed mounting of erection column are in installation cover 7, and the coaxial setting of cylinder 3-1 in erection column 6 and the compensation piece 3, the equal fixed mounting of first stopper 4 and second stopper 5 are at the terminal surface of erection column 6, and first stopper 4 and second stopper 5 are central symmetry setting about the central axis of cylinder 3-1.
The waist part of the robot comprises a waist mounting seat 8, a pressing block 9 and an adjusting nut 10, a guide rail 8-1 is arranged on the waist mounting seat 8, the mounting plate 2 is arranged in the guide rail 8-1 in a sliding manner, as shown in fig. 2, a guide through hole 2-1 is arranged on the mounting plate 2, a screw 11 is fixedly arranged on the waist mounting seat 8, as shown in fig. 3, the screw 11 sequentially passes through the guide through hole 2-1 and the pressing block 9 and then is in threaded connection with the adjusting nut 10, the adjusting nut 10 presses the pressing block 9 to be in contact with the mounting plate 2, the position of the mounting plate 2 in the guide rail 8-1 is adjusted, thereby the width of adjustment robot waist, briquetting 9 and adjusting nut 10 set up and are used for fixed mounting panel 2, and fixed mounting has last dog 12 and lower dog 13 on waist mount pad 8, goes up dog 12 and lower dog 13 and is located the both sides of briquetting 9 respectively, and sets up with briquetting 9 contact.
A leg mounting block 14 is slidably mounted on the leg fixing rod 1, an adjusting opening 14-1 and a threaded hole are formed in the leg mounting block 14, the threaded hole vertically penetrates through the adjusting opening 14-1, and an adjusting screw 15 is mounted in the threaded hole.
The utility model discloses a waist of ectoskeleton robot is adjusted and rotary mechanism uses rotatory compensation assembly to connect robot waist and shank dead lever 1, when walking, when the foot swung inwards, the shank of ectoskeleton robot drives shank dead lever 1 and rotates clockwise inwards, compensation block 3 is coaxial-mounted on shank dead lever 1, compensation block 3 rotates clockwise along with shank dead lever 1, first stopper 4 and compensation block 3 interval setting on compensation block 3 clockwise rotation direction, after compensation block 3 rotates clockwise a certain angle, first stopper 4 restricts compensation block 3 and continues to rotate, the angle is the compensation angle when the foot swung inwards; when the feet swing outwards, the legs of the exoskeleton robot drive the leg fixing rods 1 to rotate outwards anticlockwise, the compensation blocks 3 rotate anticlockwise along with the leg fixing rods 1, the second limiting blocks 5 and the compensation blocks 3 are arranged at intervals in the anticlockwise rotating direction of the compensation blocks 3, and after the compensation blocks 3 rotate anticlockwise by a certain angle, the second limiting blocks 5 limit the compensation blocks 3 to continue rotating, wherein the angle is the compensation angle when the feet swing outwards; the utility model discloses compensation angle when having the foot inward swing and compensation angle when the foot outwards swings make exoskeleton robot's shank can transfer and the inside and outside swing about human focus, and the user dresses and has the utility model discloses a when exoskeleton robot walks, the walking action is more nimble, has higher comfort level.
In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (8)
1. The utility model provides a waist of ectoskeleton robot is adjusted and rotary mechanism, includes robot waist and shank dead lever (1), its characterized in that: the waist part of the robot is connected with the leg part fixing rod (1) through a rotation compensation component;
the rotary compensation assembly comprises a mounting plate (2), the mounting plate (2) is mounted at the waist of the robot, the leg fixing rod (1) is rotatably mounted on the mounting plate (2), the leg fixing rod (1) is coaxially provided with a compensation block (3), the mounting plate (2) is fixedly provided with a first limiting block (4) and a second limiting block (5), the first limiting block (4) is arranged in the clockwise rotation direction of the compensation block (3) and used for limiting the clockwise rotation of the compensation block (3), and the first limiting block (4) and the compensation block (3) are arranged at intervals; the second limiting block (5) is arranged on the anticlockwise rotating direction of the compensation block (3) and used for limiting the anticlockwise rotation of the compensation block (3), and the second limiting block (5) and the compensation block (3) are arranged at intervals.
2. The exoskeleton robot waist adjusting and rotating mechanism of claim 1 wherein: the compensation block (3) comprises a cylinder (3-1) and two fan-shaped blocks (3-2), the cylinder (3-1) is coaxially installed on the leg fixing rod (1), the two fan-shaped blocks (3-2) are uniformly distributed along the circumference of the central axis of the cylinder (3-1), the circle centers of the two fan-shaped blocks (3-2) are coincided with the circle center of the cylinder (3-1), the outer radius of the two fan-shaped blocks (3-2) is larger than that of the cylinder (3-1), a first fan-shaped opening (3-3) and a second fan-shaped opening (3-4) are formed between the two fan-shaped blocks (3-2), the first limiting block (4) is inserted into the first fan-shaped opening (3-3), the first limiting block (4) is a fan-shaped block, the circle center of the first limiting block (4) is coincided with the circle center of the cylinder (3-1), the angle of the first limiting block (4) is smaller than that of the first fan-shaped opening (3-3); the second limiting block (5) is inserted into the second fan-shaped opening (3-4), the second limiting block (5) is a fan-shaped block, the circle center of the second limiting block (5) is overlapped with the circle center of the cylinder (3-1), and the angle of the second limiting block (5) is smaller than that of the second fan-shaped opening (3-4).
3. The exoskeleton robot waist adjusting and rotating mechanism of claim 2 wherein: two fan-shaped blocks (3-2) in the compensation block (3) are completely the same, and the first limiting block (4) and the second limiting block (5) are completely the same.
4. The exoskeleton robot waist adjusting and rotating mechanism of claim 2 wherein: the cylinder (3-1) in the compensation block (3) is detachably arranged on the leg fixing rod (1).
5. The exoskeleton robot waist adjusting and rotating mechanism of claim 2 wherein: still include erection column (6) and installation cover (7), installation cover (7) fixed mounting is on mounting panel (2), erection column (6) fixed mounting is in installation cover (7), cylinder (3-1) coaxial setting in erection column (6) and compensation piece (3), the equal fixed mounting of first stopper (4) and second stopper (5) is at the terminal surface of erection column (6), first stopper (4) and second stopper (5) are central axis about cylinder (3-1) and are central symmetry setting.
6. The exoskeleton robot waist adjusting and rotating mechanism of claim 1 wherein: robot waist includes waist mount pad (8), briquetting (9) and adjusting nut (10), guide rail (8-1) have been seted up on waist mount pad (8), mounting panel (2) slide to set up in guide rail (8-1), guiding hole (2-1) have been seted up on mounting panel (2), fixed mounting has screw rod (11) on waist mount pad (8), screw rod (11) pass guiding hole (2-1) and briquetting (9) back and adjusting nut (10) threaded connection in proper order, adjusting nut (10) oppress briquetting (9) and mounting panel (2) contact setting.
7. The exoskeleton robot waist adjusting and rotating mechanism of claim 6 wherein: fixed mounting goes up dog (12) and lower dog (13) on waist mount pad (8), go up dog (12) and lower dog (13) and be located the both sides of briquetting (9) respectively, and set up with briquetting (9) contact.
8. The exoskeleton robot waist adjusting and rotating mechanism of claim 1 wherein: the leg fixing rod is characterized in that a leg mounting block (14) is slidably mounted on the leg fixing rod (1), an adjusting opening (14-1) and a threaded hole are formed in the leg mounting block (14), the threaded hole vertically penetrates through the adjusting opening (14-1), and an adjusting screw (15) is mounted in the threaded hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020782860.6U CN212241033U (en) | 2020-05-12 | 2020-05-12 | Waist adjusting and rotating mechanism of exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020782860.6U CN212241033U (en) | 2020-05-12 | 2020-05-12 | Waist adjusting and rotating mechanism of exoskeleton robot |
Publications (1)
| Publication Number | Publication Date |
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| CN212241033U true CN212241033U (en) | 2020-12-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020782860.6U Active CN212241033U (en) | 2020-05-12 | 2020-05-12 | Waist adjusting and rotating mechanism of exoskeleton robot |
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| Country | Link |
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| CN (1) | CN212241033U (en) |
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2020
- 2020-05-12 CN CN202020782860.6U patent/CN212241033U/en active Active
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