CN214285780U - Adjustable wearable power-assisted mechanical exoskeleton - Google Patents
Adjustable wearable power-assisted mechanical exoskeleton Download PDFInfo
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- CN214285780U CN214285780U CN202022879754.2U CN202022879754U CN214285780U CN 214285780 U CN214285780 U CN 214285780U CN 202022879754 U CN202022879754 U CN 202022879754U CN 214285780 U CN214285780 U CN 214285780U
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- 210000000689 upper leg Anatomy 0.000 claims description 32
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- 229910000831 Steel Inorganic materials 0.000 claims description 16
- 239000010959 steel Substances 0.000 claims description 16
- 238000009434 installation Methods 0.000 claims description 12
- 210000000707 wrist Anatomy 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 8
- 210000000245 forearm Anatomy 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 4
- 239000007789 gas Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 239000004922 lacquer Substances 0.000 description 1
- 210000003041 ligament Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model discloses an adjustable wearable power-assisted mechanical exoskeleton, which comprises a mechanical exoskeleton trunk main body, two groups of mechanical exoskeleton arms and two groups of mechanical exoskeleton legs; a group of mechanical exoskeleton arms is respectively installed on two sides of the upper part of the mechanical exoskeleton trunk body, and a group of mechanical exoskeleton legs is respectively installed on two sides of the lower part of the mechanical exoskeleton trunk body. The utility model discloses it is convenient to dress, simple structure, and each part all can be changed the part, and strong adaptability can satisfy the demand of human daily activity in the aspect of the degree of freedom, simultaneously, through setting up extending structure, can carry out corresponding adjustment according to adult wearer's height.
Description
Technical Field
The utility model relates to an adjustable wearing formula helping hand machinery ectoskeleton belongs to mechanical ectoskeleton technical field.
Background
A mechanical or powered exoskeleton is a robotic device that consists of a steel frame and can be worn by a person, and this equipment can provide additional energy for the movement of the limbs. In recent years, the development of mechanical exoskeleton is rapid, and the mechanical exoskeleton has a large number of applications in military fields, medical care fields, earthquake relief and transportation industries.
Most of the marketing mechanical exoskeletons and the mechanical exoskeletons in academic reports are electromechanical integrated equipment which is large in size and heavy, and are inconvenient to wear, meanwhile, the size of the whole existing mechanical exoskeletons cannot be suitable for every adult wearer, the motion freedom degree of the mechanical skeleton is greatly different from the motion freedom degree of the human body, and the motion freedom degree of the mechanical skeleton is insufficient to meet the daily activity requirement of the human body.
Disclosure of Invention
The utility model provides an adjustable wearing formula helping hand machinery ectoskeleton through setting up specific extending structure in truck main part, arm, shank department, realizes the flexible regulation of machinery ectoskeleton.
The technical scheme of the utility model is that: an adjustable wearable power-assisted mechanical exoskeleton comprises a mechanical exoskeleton trunk body 1, two groups of mechanical exoskeleton arms 2 and two groups of mechanical exoskeleton legs 3; a group of mechanical exoskeleton arms 2 are respectively arranged on two sides of the upper part of the mechanical exoskeleton trunk body 1, and a group of mechanical exoskeleton legs 3 are respectively arranged on two sides of the lower part of the mechanical exoskeleton trunk body 1;
machinery ectoskeleton truck main part 1 is equipped with extending structure, specifically is: one end of the back inner adjusting plate 11 is arranged in a moving cavity in the inner part of the free end of the vertical plate of the back outer adjusting plate 12 and is connected through a back adjusting rod 15;
the mechanical exoskeleton arm 2 is provided with a telescopic structure, and specifically comprises: the lower end surface of the big arm adjusting rod 33 is provided with threads and is fixedly arranged in an internal mounting cavity at the upper end of the big arm supporting rod 34 through a arm self-locking adjusting nut 43; the upper end surface of the forearm adjusting rod 44 is provided with a thread and is fixedly arranged in an internal mounting cavity at the lower end of the forearm supporting rod 37 through a self-locking arm adjusting nut 43.
Also comprises a detachable bracket 4; removable pallet 4 is mounted in a table mounting slot 17 in the back of robotic exoskeleton trunk body 1 via a T-table.
The mechanical exoskeleton trunk main body 1 comprises a waist support frame 5, a waist rotating frame 6, a waist fixing belt 7, an air rod rotating support 8, an air pressure support rod 9, a waist and back rotating connecting frame 10, a back inner side adjusting plate 11, a back outer side adjusting plate 12, a shoulder fixing belt 13, a back adjusting rod 15, a shoulder and back connecting plate 16, a waist and back adjusting hydraulic rod rotating support 18 and a waist and back adjusting hydraulic rod 19; wherein, two ends of each air pressure support rod 9 positioned at the left and right sides of the waist and back rotation connecting frame 10 are hinged on the air rod rotation support 8 of the waist support frame 5 and the waist and back rotation connecting frame 10, one end of the waist and back rotation connecting frame 10 is arranged on the waist support frame 5 through a ball head pair, the other end of the back inner side adjusting plate 11 is arranged in the mounting groove at the other end of the waist and back rotation connecting frame 10 through a connecting rod, two ends of a waist and back adjusting hydraulic rod 19 arranged at the right-angle area of the back outer side adjusting plate 12 are respectively hinged with the back outer side adjusting plate 12 and a waist and back adjusting hydraulic rod rotation support 18 on a shoulder and back connecting plate 16, the free end of the horizontal plate of the back outer side adjusting plate 12 is hinged with the shoulder and back connecting plate 16, the waist rotation frame 6 is hinged in the inner mounting groove at two ends of the waist support frame 5, a thin steel plate is arranged inside the waist fixing belt 7 close to the waist support frame 5, the waist fixing belt 7 and the waist support frame 5 are arranged together through nails, the shoulder fixing belt 13 is attached to the front end of the horizontal plate of the back outer side adjustment plate 12 by attaching the waist fixing belt 7.
The mechanical exoskeleton leg 3 comprises a waist and leg connecting frame 21, a workpiece connecting rod 22, a swing adjusting hydraulic rod 23, a leg bending adjusting hydraulic rod 24, a thigh supporting rod 25, a shank supporting rod 26, a shank adjusting rod 27, a foot plate 28, a thigh adjusting rod 29, a leg fixing band 30 and a leg self-locking adjusting nut 31; wherein the mechanical exoskeleton leg 3 is connected with a waist rotating frame 6 in the mechanical exoskeleton trunk body 1 through a thread at the top of a waist-leg connecting frame 21, the lower end of the waist-leg connecting frame 21 is connected with the upper end of a thigh adjusting rod 29 in a hinged mode, the lower end of the waist-leg connecting frame 21 and the upper end of a swing adjusting hydraulic rod 23 are installed in installing holes of the waist-leg connecting frame and the swing adjusting hydraulic rod through a workpiece connecting rod 22 for fixing, the lower end of the swing adjusting hydraulic rod 23 is installed in a hydraulic installing seat on a thigh supporting rod 25, the lower end of the thigh supporting rod 25 is connected with the upper end of a shank supporting rod 26 in a hinged mode, the upper end of the shank bending adjusting hydraulic rod 24 is connected with the thigh supporting rod 25 in a hinged mode, the lower end of the shank bending adjusting hydraulic rod 24 is hinged on the shank supporting rod 26, a foot plate 28 is hinged below the shank adjusting rod 27, two shank fixing bands 30 fix the shank fixing bands 30 on the thigh supporting rod 25, the shank adjusting rod 26 through thin steel plates and nails, A lower leg support bar 26.
The mechanical exoskeleton arm 2 comprises a shoulder arm connecting frame 32, a large arm adjusting rod 33, a large arm supporting rod 34, an arm bending adjusting hydraulic rod 35, an arm carrying fixing band 36, a small arm supporting rod 37, an arm adjustable carrying platform 38, a fixing nut 39, an arm fixing band 42, an arm self-locking adjusting nut 43, a small arm adjusting rod 44, a hand supporting ring 45 and a handle grip 46; wherein the shoulder arm connecting frame 32 is connected with the shoulder back connecting plate 16 in the mechanical exoskeleton trunk body 1, the upper end of the large arm adjusting rod 33 is connected with the shoulder arm connecting frame 32 in a hinged mode, the lower end of the large arm supporting rod 34 is connected with the upper end of the small arm supporting rod 37 in a hinged mode, the upper end of the arm bending adjusting hydraulic rod 35 is hinged on the mounting seat of the large arm supporting rod 34, the lower end of the arm bending adjusting hydraulic rod 35 is hinged on the mounting seat of the small arm supporting rod 37, a hand supporting ring 45 is arranged at the position of the small arm adjusting rod 44 close to the wrist, two arm fixing belts 42 are respectively fixed on the large arm supporting rod 34 through thin steel plates by nails, on the forearm bracing piece 37, the arm adjustable objective table 38 is installed through the mounting groove in the forearm bracing piece 37 outside, and the adjustment of both connected positions is realized through adjusting fixation nut 39 to arm adjustable objective table 38 and handle grip 46, and arm carrying fixed band 36 is equipped with in the arm adjustable objective table 38 outside.
The utility model has the advantages that:
1) the fixing part between the mechanical exoskeleton and the wearer is reliable, and the arm, the leg, the waist and the shoulder are fixed through the adjustable fixing points, so that the mechanical exoskeleton can be conveniently and simply worn or taken off by the wearer, and the human body cannot be damaged;
2) the mechanical skeleton trunk body, the arms and the legs are telescopic and are fastened through self-locking nuts after adjustment, and the mechanical exoskeleton is tightly attached to a human body and used for assisting in supporting and protecting the human body;
3) the mechanical exoskeleton has 22 degrees of freedom in total, almost all actions of a wearer can be realized, the mechanical exoskeleton is attached to a human body, and the baseboard can be replaced to be applied to different working environments;
4) simple structure, adaptability is good, and the security is high, not only is applicable to medical rehabilitation, supplementary transport heavy object, still uses in the fire control activity under the certain condition.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic illustration of the structure of a mechanical exoskeleton trunk body;
FIG. 3 is a schematic illustration of the configuration of the back of the mechanical exoskeleton trunk body;
FIG. 4 is a schematic view of a removable pallet;
FIG. 5 is a schematic view of the structure of the back outer adjustment plate and the shoulder fixing straps;
FIG. 6 is a schematic view of the waist support frame and the waist fixing belt;
FIG. 7 is a schematic view of the lumbar turret;
FIG. 8 is a schematic view of the structure of the rotating support;
FIG. 9 is a schematic structural view of a mechanical exoskeleton leg;
FIG. 10 is a schematic view of the thigh support bar, thigh adjustment bar, and leg fastening strap;
FIG. 11 is a schematic structural view of the robotic exoskeleton arm;
FIG. 12 is a schematic view of the construction of the forearm support bar;
FIG. 13 is a schematic view of the connection of an arm adjustable stage to a handle grip;
FIG. 14 is a schematic view of the structure of the handle grip;
the reference numbers in the figures are: 1-a mechanical exoskeleton trunk body; 2-a mechanical exoskeleton arm; 3-a mechanical exoskeleton leg; 4-a detachable bracket; 5-waist support frame; 6-waist rotating frame; 7-waist fixing belt; 8-the gas lever rotates the support; 9-an air pressure support rod; 10-waist and back rotating connecting frame; 11-inner back adjusting plate; 12-a back lateral adjustment plate; 13-shoulder fixing straps; 14-back carrying fixing belt; 15-back adjusting rod; 16-shoulder-back connection plate; 17-objective table mounting groove; 18-waist and back adjusting hydraulic rod rotating support; 19-lumbar adjustment hydraulic lever; 20-carrying mounting groove; 21-waist and leg connecting frame; 22-a workpiece connecting rod; 23-swinging the adjusting hydraulic rod; 24-leg bending adjustment hydraulic rods; 25-thigh support bar; 26-shank support bar; 27-shank adjustment rod; 28-foot plate; 29-thigh adjustment lever; 30-leg fixing straps; 31-leg self-locking adjusting nut; 32-shoulder-arm link; 33-large arm adjusting rod; 34-big arm support bar; 35-arm bending adjustment hydraulic rod; 36-arm carrying fixing belt; 37-forearm support bar; 38-arm adjustable stage; 39-fixing the nut; 40-control line piping; 41-handle control button; 42-arm fixing belt; 43-arm self-locking adjusting nut; 44-a lower arm adjusting lever; 45-wrist support ring; 46-handle grip.
Detailed Description
Example 1: as shown in fig. 1-14, an adjustable wearable power-assisted mechanical exoskeleton comprises a mechanical exoskeleton trunk body 1, two sets of mechanical exoskeleton arms 2, two sets of mechanical exoskeleton legs 3; a group of mechanical exoskeleton arms 2 are respectively arranged on two sides of the upper part of the mechanical exoskeleton trunk body 1, and a group of mechanical exoskeleton legs 3 are respectively arranged on two sides of the lower part of the mechanical exoskeleton trunk body 1; machinery ectoskeleton truck main part 1 is equipped with extending structure, specifically is: one end of the back inner adjusting plate 11 is arranged in a moving cavity in the inner part of the free end of the vertical plate of the back outer adjusting plate 12 and is connected through a back adjusting rod 15; the wearer adjusts to a proper position after wearing the back adjusting plate, and the back adjusting rod 15 is inserted into the positioning holes of the back inner adjusting plate 11 and the back outer adjusting plate 12; mechanical ectoskeleton shank 3 is equipped with extending structure, specifically is: the lower end of the thigh adjusting rod 29 is provided with threads, is arranged in an installation cavity in the upper end of the thigh supporting rod 25 and is connected with the two parts through a leg self-locking adjusting nut 31, the upper end of the shank adjusting rod 27 is provided with threads, is arranged in an installation cavity in the lower end of the shank supporting rod 26 and is connected with the two parts through the leg self-locking adjusting nut 31; the mechanical exoskeleton arm 2 is provided with a telescopic structure, and specifically comprises: the lower end surface of the big arm adjusting rod 33 is provided with threads and is fixedly arranged in an internal mounting cavity at the upper end of the big arm supporting rod 34 through a arm self-locking adjusting nut 43; the upper end surface of the forearm adjusting rod 44 is provided with a thread and is fixedly arranged in an internal mounting cavity at the lower end of the forearm supporting rod 37 through a self-locking arm adjusting nut 43.
Further, a detachable bracket 4 can be provided; removable pallet 4 is mounted in a table mounting slot 17 in the back of robotic exoskeleton trunk body 1 via a T-table. Mechanical ectoskeleton truck main part 1 back is equipped with carries thing mounting groove 20 and is used for installing other removable brackets and carries out the object of back and bear, carries thing fixed braces 14 through the back again and tightens in order to reach fixed effect, can place certain delivery goods and materials, fire extinguisher and oxygen cylinder on the removable bracket 4 to and various emergency resources, lifesaving instrument and the fire extinguishing means of using during the forest fire, backpack wind power fire extinguisher machine case for example.
Further, the mechanical exoskeleton trunk body 1 can be arranged to comprise a waist support frame 5, a waist rotating frame 6, a fixed waist belt 7, an air rod rotating support 8, an air pressure support rod 9, a waist and back rotating connecting frame 10, a back inner side adjusting plate 11, a back outer side adjusting plate 12, a shoulder fixed waist belt 13, a back adjusting rod 15, a shoulder and back connecting plate 16, a waist and back adjusting hydraulic rod rotating support 18 and a waist and back adjusting hydraulic rod 19; wherein the both ends that are located every atmospheric pressure bracing piece 9 of the back rotation link 10 left and right sides articulate on the gas pole of waist support frame 5 and back rotation link 10 rotates support 8, and the back rotates link 10 one end and passes through the bulb pair and install on waist support frame 5, has 3 degrees of freedom this moment: when a wearer bends to the left and the right, the waist and back rotating connecting frame 10 can rotate left and right in the spherical pair mounting groove of the waist supporting frame 5 (if the wearer bends to the left, the waist and back rotating connecting frame 10 can rotate left in the spherical pair mounting groove of the waist supporting frame 5, at the moment, the air pressure supporting rod 9 on the right side is in an extension state, a certain supporting and boosting effect is achieved on the wearer, the air pressure supporting rod 9 on the left side is in a compression state, and the air pressure supporting rod 9 on the left side can play a boosting effect when the wearer is in a straight posture), at the moment, the rotation degree of freedom is 1; when the waist is twisted, the waist and back rotating connecting frame 10 can rotate in the spherical pair mounting groove of the waist support frame 5 in the vertical direction, and at the moment, the waist and back rotating connecting frame 10 has 1 degree of rotational freedom; the air rod rotating support 8 is arranged on the waist support frame 5 in a threaded mode, can rotate at a certain angle and can be well matched with a wearer to bend or twist, and the rotation of the waist support frame 5 at a certain angle is only realized to prevent the influence on the lumbar vertebra caused by the action amplitude of an external force after the wearer wears the waist support frame; the other end of the back inner side adjusting plate 11 is arranged in the mounting groove at the other end of the waist and back rotating connecting frame 10 through the connecting rod, and at the moment, 1 degree of freedom is provided, so that a wearer can bend the left side and the right side at a certain angle more conveniently, an angle fixing structure is formed at the joint of the waist and back rotating connecting frame 10 and the back inner side adjusting plate 11, the side bending waist angle of the wearer is prevented from being too large, and the waist and back rotating connecting frame 10 can be prevented from rotating due to the self driving force of the air pressure supporting rod 9 after being worn; two ends of a waist back adjusting hydraulic rod 19 arranged in a right-angle area of the back outer adjusting plate 12 are respectively hinged with the back outer adjusting plate 12 and a waist back adjusting hydraulic rod rotating support 18 on the shoulder back connecting plate 16, at the moment, only 1 self-rotating degree of freedom exists in the waist back adjusting hydraulic rod rotating support 18, the shoulder back connecting plate 16 is arranged at the free end of a horizontal plate of the back outer adjusting plate 12 through a hinge, at the moment, 1 rotating degree of freedom exists, when the arm is lifted, the waist back adjusting hydraulic rod 19 plays a role in assistance to push the waist back adjusting hydraulic rod to rotate the support 18, then the waist back adjusting hydraulic rod rotating support 18 pushes the shoulder back connecting plate 16 to rotate upwards, and 1 rotating degree of freedom is realized; waist rotating turret 6 articulates in the inside mounting groove at waist support frame 5 both ends, only 1 degree of freedom this moment, when the side is lifted the leg, waist rotating turret 6 carries out the rotation of 1 degree of freedom round the articulated shaft, waist support frame 5 forms limit structure in the part of being connected with waist rotating turret 6 simultaneously, prevent that the person of wearing from lifting the leg under special circumstances excessively to pull the inboard ligament of shank, waist fixed belt 7 has the sheet steel near waist support frame 5 is inside, install waist fixed belt 7 and waist support frame 5 together through the sheet steel through the steel nail rifle nail, shoulder fixed belt 13 is installed through the mode of installation waist fixed belt 7 to the horizontal plate front end of back outside adjusting plate 12.
Further, the mechanical exoskeleton leg 3 can be arranged to include a waist and leg connecting frame 21, a workpiece connecting rod 22, a swing adjusting hydraulic rod 23, a leg bending adjusting hydraulic rod 24, a thigh supporting rod 25, a shank supporting rod 26, a shank adjusting rod 27, a foot plate 28, a thigh adjusting rod 29, a leg fixing band 30 and a leg self-locking adjusting nut 31; wherein the mechanical exoskeleton leg 3 is connected with the waist rotating frame 6 in the mechanical exoskeleton trunk body 1 through a thread at the top of the waist and leg connecting frame 21, and has 1 degree of freedom at the moment, when a wearer lifts the leg to turn left or turn right, the rotation of the 1 degree of freedom can be realized because a revolute pair exists between the waist and leg connecting frame 21 and the waist rotating frame 6, the lower end of the waist and leg connecting frame 21 is connected with the upper end of the thigh adjusting rod 29 in a hinged mode, connecting holes of the two parts are connected together, at the moment, the two parts have 1 degree of freedom of rotation, the lower end of the waist and leg connecting frame 21 and the upper end of the swing adjusting hydraulic rod 23 are installed in installation holes of the two parts through a workpiece connecting rod 22 for fixing, at the moment, the two parts have 1 degree of freedom of rotation, the lower end of the swing adjusting hydraulic rod 23 is installed in a hydraulic installation seat on the thigh supporting rod 25, when the wearer lifts the leg, the swing adjusting hydraulic rod 23 plays a boosting role, the thigh supporting rod 25 is pushed to be lifted upwards, at the moment, the thigh adjusting rod 29 and the swing adjusting hydraulic rod 23 rotate around respective connecting rods of the waist-leg connecting frame 21, the lower end of the thigh supporting rod 25 is connected with the upper end of the shank supporting rod 26 in a hinged mode, mounting holes between the two parts are connected together, at the moment, 1 degree of rotational freedom exists, meanwhile, a protection structure for preventing excessive forward bending is formed at the joint of the thigh supporting rod 25 and the shank supporting rod 26 to prevent fracture caused by excessive forward bending of the leg of a wearer, the upper end of the leg bending adjusting hydraulic rod 24 is connected to the thigh supporting rod 25 in a hinged mode, at the moment, 1 degree of rotational freedom exists, when the leg is lifted and bent, the leg is rotated, the lower end of the leg bending adjusting hydraulic rod 24 is hinged to the shank supporting rod 26, at the moment, 1 degree of rotational freedom exists when the leg is lifted and bent, when the wearer moves from a squatting position to a standing position, crooked adjustment hydraulic stem 24 of shank plays the pushing action this moment, act on hydraulic support through the impetus, the wearer carries out relevant action, sole 28 articulates below shank adjusting lever 27, there is the rotational degree of freedom that forms when 1 wearer carries the tiptoe this moment, sole 28 both sides are equipped with the connecting hole of connecting removable bottom plate material, both connect through the short bolt, two shank fixed bands 30 fix shank fixed band 30 the nail at thigh bracing piece 25 through the steel nail rifle through the steel sheet, on the shank bracing piece 26, connected mode and waist fixed waistband 7 are the same with the connected mode of waist support frame 5, can be through adjusting shank auto-lock adjusting nut 31 to comfortable position after the wearer dresses.
Further, the mechanical exoskeleton arm 2 can be provided with a shoulder arm connecting frame 32, a large arm adjusting rod 33, a large arm supporting rod 34, an arm bending adjusting hydraulic rod 35, an arm carrying fixing band 36, a small arm supporting rod 37, an arm adjustable carrying platform 38, a fixing nut 39, an arm fixing band 42, an arm self-locking adjusting nut 43, a small arm adjusting rod 44, a hand supporting ring 45 and a handle grip 46; wherein the shoulder arm connecting frame 32 is connected with the shoulder and back connecting plate 16 in the mechanical exoskeleton trunk body 1, the shoulder arm connecting frame 32 is connected with the threaded hole of the shoulder and back connecting plate 16 through the thread of the connecting shaft part, at the moment, 1 degree of freedom exists, when a wearer swings left and right arms, the connecting shaft of the shoulder arm connecting frame 32 can be driven to rotate correspondingly around the threaded hole of the shoulder and back connecting plate 16, the upper end of the big arm adjusting rod 33 is connected with the shoulder arm connecting frame 32 in a hinged mode, the connecting hole between the two is connected, at the moment, 1 degree of freedom exists, when the wearer swings front and back, the big arm adjusting rod 33 rotates correspondingly around the hinged shaft, the lower end of the big arm supporting rod 34 is connected with the upper end of the small arm supporting rod 37 in a hinged mode, the mounting holes between the two components are connected together, at the moment, 1 degree of freedom exists, meanwhile, a protection structure for preventing excessive forward bending is formed at the joint of the large arm support rod 34 and the small arm support rod 37 to prevent fracture caused by excessive bending of the arms of a wearer, the upper end of the arm bending adjustment hydraulic rod 35 is hinged on the mounting seat of the large arm support rod 34, the lower end of the arm bending adjustment hydraulic rod 35 is hinged on the mounting seat of the small arm support rod 37, the arm bending adjustment hydraulic rod 35 and the shafts on the mounting seats at the two ends respectively have 1 degree of freedom, when the wearer bends the arms, the arm bending adjustment hydraulic rod 35 contracts to play a role in traction on the large arm support rod 34 and the small arm support rod 37, the arm bending adjustment hydraulic rod 35 rotates with the hinged shafts at the two ends, meanwhile, the large arm support rod 34 and the small arm support rod 37 also perform corresponding rotation processes, a hand support ring 45 is arranged at the position of the small arm adjustment rod 44 close to the wrist to enhance protection and fixation of the wrist, two arm fixing belts 42 are respectively fixed on the big arm supporting rod 34 and the small arm supporting rod 37 through steel nails by steel nail guns through thin steel plates, the connection mode of the arm fixing belts 42 and the hand supporting ring 45 is the same as that of the waist fixing belt 7 and the waist supporting frame 5, a wearer can adjust the self-locking adjusting nut 31 of the leg to a comfortable position after wearing the waist belt, an arm adjustable object stage 38 is arranged on the outer side of the small arm supporting rod 37 through a mounting groove, the connection position adjustment of the arm adjustable object stage 38 and the handle grip 46 is realized through adjusting the fixing nut 39, an arm object fixing belt 36 is arranged on the outer side of the arm adjustable object stage 38, the mounting and fixing mode of the arm object fixing belt 36 and the arm fixing belt 42 is the same, the arm adjustable object stage 38 can be provided with a certain object, and can also clamp a high-pressure water gun for fire fighting and a backpack wind power fire extinguishing air outlet head for forest fire, and tightened by arm-carried securing straps 36.
The handle grip 46 can enable a wearer to control the arm, the handle grip 46 is provided with the control line pipeline 40, so that the control line can be conveniently connected to the handle control button 41, when the device is used for fire fighting, the wind head is fixed on the arm carrying fixing belt 36, and the corresponding control line passes through the arm carrying fixing belt 36 and the handle grip 46 and is led out from the control line pipeline 40 to be connected to the control line pipeline 40.
The utility model discloses it is convenient to dress, simple structure, and each part all can be changed the part, and strong adaptability can satisfy the demand of human daily activity in the aspect of the degree of freedom, simultaneously, through setting up extending structure, can carry out corresponding adjustment according to adult wearer's height. Because the mechanical ectoskeleton that the fire control was used is few again few, the utility model discloses the surface still can scribble thermal-insulated lacquer, and hydraulic stem cover has the radiation shield casing to be used for certain fire control activity further.
While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (5)
1. The utility model provides an adjustable wearing formula helping hand machinery ectoskeleton which characterized in that: the exoskeleton trunk comprises a mechanical exoskeleton trunk body (1), two groups of mechanical exoskeleton arms (2) and two groups of mechanical exoskeleton legs (3); two sides of the upper part of the mechanical exoskeleton trunk body (1) are respectively provided with a group of mechanical exoskeleton arms (2), and two sides of the lower part of the mechanical exoskeleton trunk body (1) are respectively provided with a group of mechanical exoskeleton legs (3);
machinery ectoskeleton truck main part (1) is equipped with extending structure, specifically is: one end of the back inner side adjusting plate (11) is arranged in a moving cavity in the free end of the vertical plate of the back outer side adjusting plate (12) and is connected through a back adjusting rod (15);
mechanical ectoskeleton shank (3) are equipped with extending structure, specifically do: the lower end of the thigh adjusting rod (29) is provided with threads, is arranged in an installation cavity in the upper end of the thigh supporting rod (25) and is connected with the two parts through a leg self-locking adjusting nut (31), the upper end of the shank adjusting rod (27) is provided with threads, and is arranged in an installation cavity in the lower end of the shank supporting rod (26) and is connected with the two parts through the leg self-locking adjusting nut (31);
the mechanical exoskeleton arm (2) is provided with a telescopic structure, and specifically comprises: the surface of the lower end of the upper arm adjusting rod (33) is provided with threads, and the upper end of the upper arm adjusting rod is fixedly arranged in an internal mounting cavity at the upper end of the upper arm supporting rod (34) through an arm self-locking adjusting nut (43); the upper end surface of the small arm adjusting rod (44) is provided with threads, and the small arm adjusting rod is fixedly arranged in an internal mounting cavity at the lower end of the small arm supporting rod (37) through a arm self-locking adjusting nut (43).
2. The adjustable wearable power-assisted mechanical exoskeleton of claim 1, wherein: also comprises a detachable bracket (4); the detachable bracket (4) is arranged in an object stage installation groove (17) at the back of the mechanical exoskeleton trunk main body (1) through a T-shaped table.
3. The adjustable wearable power-assisted mechanical exoskeleton of claim 1 or 2, wherein: the mechanical exoskeleton trunk main body (1) comprises a waist support frame (5), a waist rotating frame (6), a waist fixing belt (7), an air rod rotating support (8), an air pressure support rod (9), a waist and back rotating connecting frame (10), a back inner side adjusting plate (11), a back outer side adjusting plate (12), a shoulder fixing belt (13), a back adjusting rod (15), a shoulder and back connecting plate (16), a waist and back adjusting hydraulic rod rotating support (18) and a waist and back adjusting hydraulic rod (19); wherein two ends of each air pressure support rod (9) positioned at the left side and the right side of the waist and back rotating connecting frame (10) are hinged on an air rod rotating support seat (8) of the waist and back rotating connecting frame (5) and the waist and back rotating connecting frame (10), one end of the waist and back rotating connecting frame (10) is arranged on the waist and back supporting frame (5) through a ball head pair, the other end of the back inner side adjusting plate (11) is arranged in a mounting groove at the other end of the waist and back rotating connecting frame (10) through a connecting rod, two ends of a waist and back adjusting hydraulic rod (19) arranged in a right-angle area of the back outer side adjusting plate (12) are respectively hinged with a waist and back adjusting hydraulic rod rotating support seat (18) on the back outer side adjusting plate (12) and a shoulder and back connecting plate (16), the free end of a horizontal plate of the back outer side adjusting plate (12) is hinged with a shoulder and back connecting plate (16), and the waist rotating frame (6) is hinged in inner mounting grooves at two ends of the waist supporting frame (5), the waist fixing waistband (7) is internally provided with a thin steel plate close to the waist supporting frame (5), the waist fixing waistband (7) and the waist supporting frame (5) are installed together through the thin steel plate by nails, and the front end of a horizontal plate of the back outer side adjusting plate (12) is provided with a shoulder fixing waistband (13) in a mode of installing the waist fixing waistband (7).
4. The adjustable wearable power-assisted mechanical exoskeleton of claim 1 or 2, wherein: the mechanical exoskeleton leg (3) comprises a waist and leg connecting frame (21), a workpiece connecting rod (22), a swing adjusting hydraulic rod (23), a leg bending adjusting hydraulic rod (24), a thigh supporting rod (25), a shank supporting rod (26), a shank adjusting rod (27), a foot plate (28), a thigh adjusting rod (29), a leg fixing band (30) and a leg self-locking adjusting nut (31); wherein the mechanical exoskeleton leg (3) is connected with a waist rotating frame (6) in the mechanical exoskeleton trunk body (1) through a thread at the top of a waist and leg connecting frame (21), the lower end of the waist and leg connecting frame (21) is connected with the upper end of a thigh adjusting rod (29) in a hinged mode, the lower end of the waist and leg connecting frame (21) and the upper end of a swing adjusting hydraulic rod (23) are installed in installation holes of the waist and leg connecting frame and the swing adjusting hydraulic rod (23) through a workpiece connecting rod (22) to be fixed, the lower end of the swing adjusting hydraulic rod (23) is installed in a hydraulic installation seat on a thigh supporting rod (25), the lower end of the thigh supporting rod (25) is connected with the upper end of a shank supporting rod (26) in a hinged mode, the upper end of a leg bending adjusting hydraulic rod (24) is connected with the thigh supporting rod (25) in a hinged mode, the lower end of the leg bending adjusting hydraulic rod (24) is hinged with the shank supporting rod (26), the foot plate (28) is hinged under the shank adjusting rod (27), and the two leg fixing bands (30) fix the leg fixing bands (30) on the thigh supporting rod (25) and the shank supporting rod (26) through thin steel plates by nails.
5. The adjustable wearable power-assisted mechanical exoskeleton of claim 1 or 2, wherein: the mechanical exoskeleton arm (2) comprises a shoulder arm connecting frame (32), a large arm adjusting rod (33), a large arm supporting rod (34), an arm bending adjusting hydraulic rod (35), an arm carrying fixing band (36), a small arm supporting rod (37), an arm adjustable carrying platform (38), a fixing nut (39), an arm fixing band (42), an arm self-locking adjusting nut (43), a small arm adjusting rod (44), a hand supporting ring (45) and a handle grip (46); the upper end of a large arm adjusting rod (33) is connected with the shoulder arm connecting frame (32) in a hinged mode, the lower end of a large arm supporting rod (34) is connected with the upper end of a small arm supporting rod (37) in a hinged mode, the upper end of an arm bending adjusting hydraulic rod (35) is hinged to a mounting seat of the large arm supporting rod (34), the lower end of the arm bending adjusting hydraulic rod (35) is hinged to a mounting seat of the small arm supporting rod (37), a hand supporting ring (45) is arranged at the position, close to a wrist, of the small arm adjusting rod (44), two arm fixing bands (42) are fixed to the large arm supporting rod (34) and the small arm supporting rod (37) through thin steel plates through nails respectively, an arm adjustable loading platform (38) is mounted on the outer side of the small arm supporting rod (37), and the arm adjustable loading platform (38) and a handle (46) are connected through an adjusting fixing nut (39) The position is adjusted, and an arm carrying fixing belt (36) is arranged on the outer side of the arm adjustable carrying platform (38).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022879754.2U CN214285780U (en) | 2020-12-03 | 2020-12-03 | Adjustable wearable power-assisted mechanical exoskeleton |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022879754.2U CN214285780U (en) | 2020-12-03 | 2020-12-03 | Adjustable wearable power-assisted mechanical exoskeleton |
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| Publication Number | Publication Date |
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| CN214285780U true CN214285780U (en) | 2021-09-28 |
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| CN202022879754.2U Expired - Fee Related CN214285780U (en) | 2020-12-03 | 2020-12-03 | Adjustable wearable power-assisted mechanical exoskeleton |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115284303A (en) * | 2022-01-20 | 2022-11-04 | 周峰 | Intelligent exoskeleton robot |
| CN115399982A (en) * | 2022-07-28 | 2022-11-29 | 山东海天智能工程有限公司 | Personalized cognitive training and rehabilitation device for brain-computer interface technology |
-
2020
- 2020-12-03 CN CN202022879754.2U patent/CN214285780U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115284303A (en) * | 2022-01-20 | 2022-11-04 | 周峰 | Intelligent exoskeleton robot |
| CN115399982A (en) * | 2022-07-28 | 2022-11-29 | 山东海天智能工程有限公司 | Personalized cognitive training and rehabilitation device for brain-computer interface technology |
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