CN214208846U - Exoskeleton rehabilitation robot capable of being quickly disassembled and assembled - Google Patents
Exoskeleton rehabilitation robot capable of being quickly disassembled and assembled Download PDFInfo
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- CN214208846U CN214208846U CN202022033445.3U CN202022033445U CN214208846U CN 214208846 U CN214208846 U CN 214208846U CN 202022033445 U CN202022033445 U CN 202022033445U CN 214208846 U CN214208846 U CN 214208846U
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 12
- 210000003423 ankle Anatomy 0.000 claims abstract description 5
- 210000000629 knee joint Anatomy 0.000 claims abstract description 5
- 238000003780 insertion Methods 0.000 claims description 4
- 230000037431 insertion Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000013461 design Methods 0.000 abstract description 3
- 230000006378 damage Effects 0.000 abstract description 2
- 230000000712 assembly Effects 0.000 abstract 3
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- 238000007792 addition Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010008027 Cerebellar atrophy Diseases 0.000 description 1
- 206010011985 Decubitus ulcer Diseases 0.000 description 1
- 208000012659 Joint disease Diseases 0.000 description 1
- 208000029549 Muscle injury Diseases 0.000 description 1
- 208000004210 Pressure Ulcer Diseases 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 206010010371 congenital aortic valve stenosis Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
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- 210000003127 knee Anatomy 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
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Abstract
The utility model discloses an exoskeleton rehabilitation robot capable of being rapidly disassembled and assembled, which comprises a plurality of joint modules, wherein each joint module comprises a back module, a thigh module, a knee joint module, a shank module and an ankle module which are connected in sequence; and the quick-release mechanism is arranged between two adjacent joint modules so as to detachably connect the adjacent joint modules. The exoskeleton rehabilitation robot solves the problems that the exoskeleton robot is high in transportation cost and inconvenient to carry due to large size through a quick-release and quick-assembly scheme, and meanwhile, a modular design scheme is used, if damage occurs and maintenance is needed, only damaged module assemblies need to be disassembled, workload and working difficulty are simplified, and in addition, thigh assemblies and shank assemblies can be quickly customized for quick replacement aiming at user groups in different height intervals, so that the exoskeleton rehabilitation robot can be used by different patients.
Description
Technical Field
The utility model relates to a medical treatment auxiliary instrument technical field, more specifically relate to but quick assembly disassembly's recovered robot of ectoskeleton.
Background
The exoskeleton rehabilitation robot is a wearable light-weight robot imitating the motion state of a human body, can help disabled people with muscle injury caused by congenital or diseases to recover the walking ability, is expected to avoid pressure sores of patients when sitting on a wheelchair for a long time, and can improve the health condition of the heart, exercise the muscle strength, prevent cerebellar atrophy and the like caused by long-time deficient balance motion.
However, the existing exoskeleton robot is always integrated in the transportation, use and moving processes, the size is large, the transportation cost is high, the carrying is extremely inconvenient, the whole exoskeleton robot needs to be disassembled for after-sale maintenance, and the workload and the working difficulty are high.
For example, a chinese patent with application number CN202010148125.4 discloses an invention patent of a modular joint and a wearable modular joint exoskeleton, which adopts a modular scheme to design the exoskeleton, and can configure joint driving modules for one or more joints of a patient for the treatment of different joint disorders of different users, thereby providing a wearable modular joint exoskeleton which is widely applicable, comfortable, and portable.
As another example, chinese patent with application number CN201911215129.3 discloses an invention patent of a wearable waist-assisting exoskeleton, in which leg modules of the exoskeleton can be quickly and electrically assembled and connected and quickly disassembled and separated, thereby facilitating the use of the exoskeleton, but the quick-release structure still has defects, and firstly, the invention is only directed at the local quick-release of the waist-assisting exoskeleton and does not involve the quick-release of the whole lower limb exoskeleton; secondly, the quick-release structure of the invention adopts a pull-and-twist type locking, so that the user experience is poor.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a but quick assembly disassembly's recovered robot of ectoskeleton, wherein, but the recovered robot of ectoskeleton solves the ectoskeleton robot through quick detach and fast-assembling scheme and because of the volume is great, brings the cost of transportation high, carries inconvenient scheduling problem. When the whole machine needs to be transported, moved and placed, the whole machine is disassembled into components and then stacked into a special packaging box body, so that the space utilization rate is improved, and the transportation cost can be reduced. When the device is needed to be used, the complete machine is quickly assembled, and the wearing and walking are realized. Meanwhile, by using the modular design scheme, if the damage occurs and the maintenance is needed, only the damaged module component needs to be detached, the workload and the working difficulty are simplified, in addition, the thigh component and the shank component (such as a high gear, a middle gear and a low gear) can be quickly customized for quick replacement aiming at user groups with different height intervals, and the use requirements of different patients are met.
In order to achieve at least one purpose, the utility model provides an exoskeleton rehabilitation robot capable of being rapidly disassembled and assembled, which comprises a plurality of joint modules, wherein each joint module comprises a back module, a thigh module, a knee joint module, a shank module and an ankle module which are connected in sequence; the quick release mechanism is arranged between two adjacent joint modules so as to detachably connect the adjacent joint modules; the quick release mechanism comprises a locking assembly, the locking assembly comprises a first button and a second button, a clamping space is formed between the first button and the second button, the first button and the second button are adjacent to each other, one end of the joint module is clamped, and the first button and the second button are pressed to adjust the size of the clamping space.
In one embodiment, the quick release mechanism further includes a connecting member fixedly connected to the joint module, the connecting member is provided with a through groove, the locking assembly is installed in the through groove, and the end portions of the first button and the second button are exposed out of two ports of the through groove.
In one embodiment, the first button comprises a first operating portion and a first clamping portion, the second button comprises a second operating portion and a second clamping portion, the first button and the second button are sleeved to form a clamping space between the first clamping portion and the second clamping portion, and the first operating portion and the second operating portion are exposed out of two ports of the through groove.
In one embodiment, a first spring is fixedly connected to the outer end of the first clamping portion, and a second spring is fixedly connected to the outer end of the second clamping portion; when the first button and the second button are sleeved, the first clamping part is positioned between the second operation part and the second clamping part, the first spring is abutted against the inner side of the second operation part, the second clamping part is positioned between the first operation part and the first clamping part, and the second spring is abutted against the inner side of the first operation part; when the first operating part and the second operating part are pressed, the first clamping part and the second clamping part are far away from each other, so that the clamping space is enlarged, and when the clamping space is loosened, the clamping space is restored to an initial state under the action of the first spring and the second spring.
In one embodiment, a first limiting rib extending outwards is arranged on the first clamping portion, a second limiting rib extending outwards is arranged on the second clamping portion, two limiting grooves are arranged in the through groove, and when the first button and the second button are mounted in the through groove, the first limiting rib and the second limiting rib are respectively clamped in the limiting grooves.
In one embodiment, the quick release mechanism further includes a clamping rod disposed on the adjacent joint module, the clamping rod is provided with two locking grooves, and when the clamping rod is inserted into the clamping space, the first clamping portion and the second clamping portion are clamped in the locking grooves under the action of the first spring and the second spring, so as to firmly lock the clamping rod.
In one embodiment, the first clamping portion and the second clamping portion are provided with chamfers in the insertion direction of the clamping rod, and when the clamping rod is inserted into the clamping space, the clamping rod pushes the chamfers to push the clamping space open so as to be smoothly inserted into the clamping space.
In one embodiment, the quick release mechanism further comprises a connector, the connector comprises a male connector seat and a female connector seat, a clamping groove is further formed in the connector, a threading hole is formed in the clamping groove, the male connector seat is arranged in the clamping groove, a wire can pass through the threading hole and is electrically connected with the male connector seat, the female connector seat is arranged at the end of the clamping rod, when the clamping rod is clamped in the connector, the female connector seat is connected with the male connector seat and is communicated with the male connector seat, and the female connector seats on the clamping rod at the two ends of the joint module are communicated with each other through an internal wire.
In one embodiment, a cover plate is further arranged on the connecting piece and used for covering the clamping groove and the upper side of the through groove.
In one embodiment, the exoskeleton rehabilitation robot further comprises a power supply module, the power supply module comprises a battery compartment arranged on the back module and a battery pack arranged in the battery compartment, a female terminal is arranged on the battery pack, a male terminal is arranged in the battery compartment, and when the battery pack is inserted into the battery compartment, the male terminal is inserted into the female terminal to realize conduction discharge.
Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.
These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the appended claims.
Drawings
These and/or other aspects and advantages of the present invention will become more apparent and more readily appreciated from the following detailed description of the embodiments of the invention, taken in conjunction with the accompanying drawings of which:
fig. 1 illustrates a perspective view of a exoskeleton rehabilitation robot capable of being quickly disassembled and assembled according to an embodiment of the present invention.
Fig. 2 illustrates an explosion diagram of the exoskeleton rehabilitation robot capable of being quickly disassembled and assembled according to the embodiment of the invention.
Fig. 3 illustrates a clamping manner diagram of the quick release assembly according to an embodiment of the present invention.
Fig. 4 illustrates a schematic structural diagram of the connecting member according to an embodiment of the present invention.
Fig. 5 illustrates an exploded view of the latching assembly in accordance with an embodiment of the present invention.
Fig. 6 illustrates a schematic view of the combination state of the locking assembly according to an embodiment of the present invention.
Fig. 7 illustrates a schematic process diagram of the installation of the locking assembly in the connector according to an embodiment of the present invention.
In the figure:
1-exoskeleton rehabilitation robot; 2-a joint module; 3-a back module; 4-a thigh module; 5-knee joint module; 6-shank module; 7-ankle foot module; 10-a quick release mechanism; 20-a locking assembly; 21-a first button; 211-a first operating part; 212-a first clamping portion; 213-a first spring; 214-a first limiting rib; 22-a second button; 221-a second operating portion; 222-a second clamping portion; 223-a second spring; 224-a second spacing rib; 23-chamfering; 30-a connector; 31-a through slot; 32-a limiting groove; 33-card slot; 34-a threading hole; 40-a click rod; 41-locking groove; 50-connector, 51-connector male; 52-female connector housing; 60-cover plate; 8-a battery module; 81-battery compartment; 82-a battery pack; 811-male terminal; 821-female terminals; 100-clamping space.
Detailed Description
The terms and words used in the following specification and claims are not limited to the literal meanings, but are used only by the applicants to enable a clear and consistent understanding of the invention. Accordingly, it will be apparent to those skilled in the art that the following descriptions of the various embodiments of the present invention are provided for illustration only and not for the purpose of limiting the invention as defined by the appended claims and their equivalents.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
While ordinal numbers such as "first," "second," etc., will be used to describe various components, those components are not limited herein. The term is used only to distinguish one element from another. For example, a first component could be termed a second component, and, similarly, a second component could be termed a first component, without departing from the teachings of the present inventive concept. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The terminology used herein is for the purpose of describing various embodiments only and is not intended to be limiting. As used herein, the singular forms are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, numbers, steps, operations, components, elements, or combinations thereof, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, components, elements, or groups thereof.
As shown in fig. 1 and 2, the structure of the exoskeleton rehabilitation robot capable of being quickly disassembled and assembled according to the embodiment of the invention is illustrated. The exoskeleton rehabilitation robot 1 comprises a plurality of joint modules 2 and a quick release mechanism 10 which connects the joint modules 2 in sequence in a detachable mode, the joint modules 2 include but are not limited to a back module 3, a thigh module 4, a knee joint module 5, a shank module 6 and an ankle foot module 7, and due to the arrangement of the joint modules, the application range of the exoskeleton rehabilitation robot 1 is wider, user experience is better, replacement, maintenance and transportation of the modules are more convenient, in addition, the thigh module 4 and the shank module 6 (such as high, medium and low gears) can be quickly customized for user groups in different height intervals, and the use of different patients is met.
Specifically, as shown in fig. 4 to 7, the quick release mechanism 10 includes a connecting member 30 fixed to one of the joint modules 2, a locking member 20 disposed in the connecting member 30, and a clamping rod 40 disposed on the adjacent joint module 2, and is disposed between the two adjacent joint modules 2. Wherein the locking assembly 20 comprises a first button 21 and a second button 22, the first button 21 comprises a first operating portion 211 and a first clamping portion 212, the second button 22 comprises a second operation part 221 and a second clamping part 222, the outer end of the first clamping part 212 is fixedly provided with a first spring 213, the outer end of the second clamping part 222 is fixedly provided with a second spring 223, when the first button 21 and the second button 22 are engaged to form the locking assembly 20, the first clamping portion 212 is located between the second operating portion 221 and the second clamping portion 222, the first spring 213 abuts against the inner side of the second operation part 221, the second clamping part 222 is between the first operation part 211 and the first clamping part 212, the second spring 223 abuts against the inner side of the first operation part 211, meanwhile, a clamping space 100 is formed between the first clamping portion 212 and the second clamping portion 222. When the first button 21 and the second button 22 are pressed, the first clamping portion 212 and the second clamping portion 222 are separated from each other to adjust the size of the clamping space 100, and when released, the clamping space 100 is restored to the original state due to the elastic force of the spring. The initial positions of the first button 21 and the second button 22 and the reset function after the external force is removed by pressing are ensured by springs.
More specifically, the connecting member 30 is provided with a through groove 31, the locking assembly 20 is installed in the through groove 31, and the first operating portion 211 and the second operating portion 221 are exposed at two ends of the through groove 31, so as to facilitate the operation of the user. The first clamping portion 212 and the second clamping portion 222 are respectively provided with a first limiting rib 214 and a second limiting rib 224 extending outwards, and correspondingly, the through groove 31 is provided with two limiting grooves 32, when the locking assembly 20 is installed in the through groove 31, the first limiting rib 214 and the second limiting rib 224 are inserted into the limiting grooves 32, so that the first button 21 and the second button 22 are limited and prevented from falling off in the switch stroke direction.
As shown in fig. 3, two locking grooves 41 are formed in the clamping bar 40, when the clamping bar 40 is inserted into the clamping space 100, the first clamping portion 212 and the second clamping portion 222 are clamped in the locking grooves 41 by the first spring 213 and the second spring 223 to firmly lock the clamping bar 40, and when the first operating portion 211 and the second operating portion 221 are pressed, the first clamping portion 212 and the second clamping portion 222 are disengaged from the locking grooves 41, so that the clamping bar 40 can be removed from the locking assembly 20.
Preferably, the first clamping portion 212 and the second clamping portion 222 are provided with a chamfer 23 in the insertion direction of the clamping rod 40, and when the clamping rod 40 is inserted into the clamping space 100, the clamping rod 40 abuts against the chamfer 23 to open the clamping space 100, so as to be smoothly inserted into the clamping space 100. In the embodiment of the present application, the connecting member 30 is fixed to the back component 3, the ankle foot component 7 and the two ends of the knee joint component 5, the clamping rod 40 is disposed at the two ends of the thigh component 4 and the shank component 6, and the assembly is completed by locking two clamping joints, it should be understood that the distribution of the connecting member 30 and the clamping rod 40 is only an example and is not a limitation of the present invention.
Further, quick detach mechanism 10 still includes connector 50, connector 50 includes public seat 51 of connector and the female seat 52 of connector, a draw-in groove 33 has still been seted up on connecting piece 30, be equipped with a through wires hole 34 in the draw-in groove 33, the public seat 51 of connector set up in the draw-in groove 33, power supply line and signal line accessible through wires hole 34 with the public seat 51 of connector electricity is connected, the female seat 52 joint of connector in the draw-in groove of joint pole 40 tip and with its spacing clown of sunshade, work as joint pole 40 joint in during the connecting piece 30, the female seat 52 of connector with the public seat 51 of connector links to each other and switches on, is located thigh module 4 both ends on the joint pole 40 the female seat 52 of connector switches on through the internal conductor mutually. Preferably, the connector 50 is a POGO-PIN connector, and when a POGO-PIN male seat is in contact with a POGO-PIN female seat, the probe is extruded and deformed to realize the conduction of an electric signal; in the present embodiment, the connectors 50 are disposed between the back module 3 and the thigh module 4, and between the thigh module 4 and the knee module 5, and are inserted and removed by the clamping rods 40 to complete the connection and disconnection of signals between the joint modules 2.
Further, as shown in fig. 7, a cover plate 60 is further disposed on the connecting member 30 to cover the upper sides of the slot 33 and the through slot 31, so as to achieve the functions of limiting and hiding.
Furthermore, the exoskeleton rehabilitation robot 1 further comprises a power supply module 8, the power supply module 8 comprises a battery compartment 81 disposed on the back module 3 and a battery pack 82 disposed in the battery compartment 81, a female terminal 821 is disposed on the battery pack 82, a male terminal 811 is disposed in the battery compartment 81, when the battery pack 82 is inserted into the battery compartment 81, the male terminal 811 is inserted into the female terminal 821 to achieve conduction and discharge, and the joint module 2 is powered through a wire and the connector 50. Preferably, the battery compartment 81 is further sleeved with a housing (not shown in the figure), the housing is provided with a flip cover at a battery compartment opening, the flip cover is opened and closed to allow the battery pack 82 to enter and exit, and the housing can also be used for limiting the battery pack 82.
The basic principles of the present invention have been described above with reference to specific embodiments, but it should be noted that advantages, effects, etc. mentioned in the present invention are only examples and not limitations, and these advantages, effects, etc. should not be considered as necessarily possessed by various embodiments of the present invention. Furthermore, the specific details disclosed above are for the purpose of illustration and understanding only and are not intended to be limiting, since the invention is not to be limited to the specific details described above.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the invention to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (10)
1. A quick disconnect exoskeleton rehabilitation robot comprising:
the joint modules comprise a back module, a thigh module, a knee joint module, a shank module and an ankle module which are connected in sequence; and
the quick release mechanism is arranged between two adjacent joint modules so as to detachably connect the adjacent joint modules; the quick release mechanism comprises a locking assembly, the locking assembly comprises a first button and a second button, a clamping space is formed between the first button and the second button, the first button and the second button are adjacent to each other, one end of the joint module is clamped, and the first button and the second button are pressed to adjust the size of the clamping space.
2. The exoskeleton rehabilitation robot capable of being quickly disassembled and assembled as claimed in claim 1, wherein the quick disassembling mechanism further comprises a connecting member fixedly connected to the joint module, a through slot is formed on the connecting member, the locking assembly is installed in the through slot, and the ends of the first button and the second button are exposed out of two ports of the through slot.
3. The quick release exoskeleton rehabilitation robot as claimed in claim 2, wherein said first button comprises a first operating portion and a first clamping portion, said second button comprises a second operating portion and a second clamping portion, said first button and said second button are sleeved to form a clamping space between said first clamping portion and said second clamping portion, and said first operating portion and said second operating portion are exposed to two ports of said through slot.
4. The quick release exoskeleton rehabilitation robot as claimed in claim 3, wherein a first spring is fixedly connected to an outer end of the first clamping portion, and a second spring is fixedly connected to an outer end of the second clamping portion; when the first button and the second button are sleeved, the first clamping part is positioned between the second operation part and the second clamping part, the first spring is abutted against the inner side of the second operation part, the second clamping part is positioned between the first operation part and the first clamping part, and the second spring is abutted against the inner side of the first operation part; when the first operating part and the second operating part are pressed, the first clamping part and the second clamping part are far away from each other, so that the clamping space is enlarged, and when the clamping space is loosened, the clamping space is restored to an initial state under the action of the first spring and the second spring.
5. The quick-detachable exoskeleton rehabilitation robot as claimed in claim 4, wherein a first limiting rib extending outwards is provided on the first clamping portion, a second limiting rib extending outwards is provided on the second clamping portion, two limiting grooves are provided in the through groove, and when the first button and the second button are mounted in the through groove, the first limiting rib and the second limiting rib are respectively engaged with the limiting grooves.
6. The quick release exoskeleton rehabilitation robot as recited in claim 5, wherein the quick release mechanism further comprises a clamping rod disposed on the adjacent joint module, the clamping rod is formed with two locking grooves, and when the clamping rod is inserted into the clamping space, the first clamping portion and the second clamping portion are clamped in the locking grooves by the first spring and the second spring to firmly lock the clamping rod.
7. The quick release exoskeleton rehabilitation robot as claimed in claim 6, wherein the first clamping portion and the second clamping portion are chamfered in the insertion direction of the clamping rod, and when the clamping rod is inserted into the clamping space, the clamping rod pushes against the chamfered to push the clamping space open for smooth insertion into the clamping space.
8. The exoskeleton rehabilitation robot capable of being disassembled and assembled quickly as claimed in claim 6, wherein the quick-release mechanism further comprises a connector, the connector comprises a male connector seat and a female connector seat, the connector is further provided with a slot, a threading hole is formed in the slot, the male connector seat is disposed in the slot, a wire can be electrically connected with the male connector seat through the threading hole, the female connector seat is disposed at an end of the clamping rod, when the clamping rod is clamped on the connector, the female connector seat is connected with the male connector seat, and the female connector seats on the clamping rod at two ends of the same joint module are connected through an internal wire.
9. The quick release exoskeleton rehabilitation robot as claimed in claim 8, wherein a cover plate is further provided on the connecting member for covering the upper sides of the slots and the slots.
10. The quick release exoskeleton rehabilitation robot as recited in claim 1, further comprising a power supply module, wherein said power supply module comprises a battery compartment disposed on said back module and a battery pack disposed in said battery compartment, said battery pack having a female terminal thereon, said battery compartment having a male terminal therein, said male terminal being inserted into said female terminal to achieve conduction discharge when said battery pack is inserted into said battery compartment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022033445.3U CN214208846U (en) | 2020-09-16 | 2020-09-16 | Exoskeleton rehabilitation robot capable of being quickly disassembled and assembled |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022033445.3U CN214208846U (en) | 2020-09-16 | 2020-09-16 | Exoskeleton rehabilitation robot capable of being quickly disassembled and assembled |
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| CN214208846U true CN214208846U (en) | 2021-09-17 |
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| CN202022033445.3U Active CN214208846U (en) | 2020-09-16 | 2020-09-16 | Exoskeleton rehabilitation robot capable of being quickly disassembled and assembled |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113954053A (en) * | 2021-12-01 | 2022-01-21 | 上海傅利叶智能科技有限公司 | Exoskeleton wearing equipment with adjustable wearing space |
| CN114888778A (en) * | 2022-04-24 | 2022-08-12 | 河北工业大学 | Compatible lower limb exoskeleton robot |
| CN114888775A (en) * | 2022-04-24 | 2022-08-12 | 河北工业大学 | Be suitable for ectoskeleton of quick dismantlement |
| CN116901043A (en) * | 2023-09-13 | 2023-10-20 | 贵州航天控制技术有限公司 | Exoskeleton robot knee joint direct-drive power assisting device |
-
2020
- 2020-09-16 CN CN202022033445.3U patent/CN214208846U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113954053A (en) * | 2021-12-01 | 2022-01-21 | 上海傅利叶智能科技有限公司 | Exoskeleton wearing equipment with adjustable wearing space |
| CN113954053B (en) * | 2021-12-01 | 2023-08-15 | 上海傅利叶智能科技有限公司 | Wearing space adjustable exoskeleton wearing equipment |
| CN114888778A (en) * | 2022-04-24 | 2022-08-12 | 河北工业大学 | Compatible lower limb exoskeleton robot |
| CN114888775A (en) * | 2022-04-24 | 2022-08-12 | 河北工业大学 | Be suitable for ectoskeleton of quick dismantlement |
| CN114888775B (en) * | 2022-04-24 | 2024-03-05 | 河北工业大学 | Exoskeleton suitable for quick disassembly |
| CN116901043A (en) * | 2023-09-13 | 2023-10-20 | 贵州航天控制技术有限公司 | Exoskeleton robot knee joint direct-drive power assisting device |
| CN116901043B (en) * | 2023-09-13 | 2023-12-12 | 贵州航天控制技术有限公司 | Exoskeleton robot knee joint direct-drive power assisting device |
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