CN218398113U - Stay-cable type waist support anti-falling device of lower limb exoskeleton robot - Google Patents
Stay-cable type waist support anti-falling device of lower limb exoskeleton robot Download PDFInfo
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- CN218398113U CN218398113U CN202222467081.9U CN202222467081U CN218398113U CN 218398113 U CN218398113 U CN 218398113U CN 202222467081 U CN202222467081 U CN 202222467081U CN 218398113 U CN218398113 U CN 218398113U
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Abstract
The utility model discloses a pull rope type waist support anti-falling device of a lower limb exoskeleton robot, which comprises a controllable gas spring, a sleeve component and a pull rope, wherein the fixed end of the controllable gas spring is connected with a vehicle body, the end part of an actuating rod of the controllable gas spring is connected with the waist support component through a support, and a pressure tongue is arranged on the support; the sleeve component comprises a suspender, a sleeve seat, a piston rod, a spring and a guy cable seat, the sleeve seat is connected with the waist support component, the top end of the piston rod is arranged in the sleeve seat in a sliding mode through a flange structure, and the bottom end of the piston rod penetrates through a hole in the bottom of the sleeve seat and is connected with the guy cable seat; the bottom end of the suspender is inserted into the sleeve seat through a hole at the top of the sleeve seat and penetrates through the spring to be connected with the top end of the piston rod; the head end of the inhaul cable is connected with the inhaul cable seat, and the tail end of the inhaul cable is connected with the suspended end of the pressure tongue; the utility model has the advantages of small in size, braking distance are short, response speed is fast, can realize the waist support under very short braking distance and prevent weighing down the function, avoid the waist to prop the unexpected falling of subassembly and harm the human body.
Description
Technical Field
The utility model relates to a low limbs ectoskeleton robot guyed waist props anti-falling device belongs to ectoskeleton robot technical field.
Background
The waist support assembly is an assembly for mounting a robot backpack in the lower limb exoskeleton robot, the robot backpack is bound to the waist of a patient by a binding band, so that the waist of the patient is fixed, the patient can carry out rehabilitation training through the lower limb exoskeleton robot, and the waist support assembly is lifted through a lifting rope above the waist support assembly to adapt to patients with different heights; after the waist support assembly is connected with a human body, the lifting rope has the risk of accidental breakage, and when the lifting rope is broken, the waist support assembly can fall to damage the human body; the existing anti-falling structure is similar to an elevator anti-falling device, and has large volume and long braking distance, and the waist support anti-falling requirement has small volume and short braking distance; therefore, a set of anti-falling device needs to be designed, so that the position of the waist support assembly can be locked in time when the lifting rope is broken, and the waist support assembly is prevented from falling.
Disclosure of Invention
The utility model aims at providing a low limbs ectoskeleton robot guyed waist props anti-falling device has small in size, braking distance is short, response speed advantage such as fast, can realize the waist to prop under very short braking distance and prevent weighing down the function, avoids the waist to prop the unexpected falling of subassembly and harm the human body, and the security is good.
In order to realize the above object, the utility model adopts the following technical scheme:
a pull-rope type waist support anti-falling device of a lower limb exoskeleton robot comprises a controllable gas spring, a sleeve assembly and a pull rope, wherein the controllable gas spring is vertically arranged, the fixed end of the controllable gas spring is connected with a vehicle body, the end part of an actuating rod of the controllable gas spring is provided with a support and is connected with the waist support assembly through the support, a pressing tongue is arranged on the support and is positioned above the end part of the actuating rod of the controllable gas spring, the pressing tongue is used for pressing and opening a valve of the controllable gas spring, one end of the pressing tongue is hinged with the support, the other end of the pressing tongue is suspended in the air, and a reset spring is arranged between the bottom of the pressing tongue close to the suspension end of the pressing tongue and the support;
the sleeve assembly comprises a hanging rod, a sleeve seat, a piston rod, a spring and a guy cable seat, the sleeve seat is connected with the waist support assembly, holes are formed in the top and the bottom of the sleeve seat respectively, a flange structure is formed on the outer circumferential surface of the top end of the piston rod, the diameter of the flange structure is larger than that of the hole in the bottom of the sleeve seat, the top end of the piston rod is arranged in the sleeve seat in a sliding mode through the flange structure, the bottom end of the piston rod penetrates out of the hole in the bottom of the sleeve seat, and the guy cable seat is connected with the bottom end of the piston rod; the spring is arranged in the sleeve seat between the top end of the piston rod and the top of the sleeve seat, the bottom end of the suspender is inserted into the sleeve seat through a hole in the top of the sleeve seat and penetrates through the spring to be connected with the top end of the piston rod, and the top end of the suspender is positioned above the sleeve seat and is connected with an external lifting rope;
the head end of the stay cable is connected with the stay cable seat, the tail end of the stay cable is connected with the suspended end of the pressure tongue, the suspender moves upwards to tighten the stay cable to enable the suspended end of the pressure tongue to move downwards to press and open the valve of the controllable air spring, and the suspender moves downwards to loosen the stay cable to enable the suspended end of the pressure tongue to move upwards to release and close the valve of the controllable air spring.
In order to facilitate installation of the controllable gas spring, a fixed block is installed on the vehicle body, and the fixed end of the controllable gas spring is connected with the fixed block through a fixed pin.
Furthermore, the vehicle body is also provided with a plurality of clamping blocks for clamping the controllable gas spring; so as to keep the controllable gas spring in a vertical state.
As a further preference of the utility model, the bracket comprises a transverse plate and two vertical side wall plates, the two vertical side wall plates are respectively arranged at two sides of the transverse plate, and the tops of the two vertical side wall plates are connected with the waist support component through a connecting seat; the end part of an actuating rod of the controllable gas spring penetrates through the transverse plate upwards and is fixedly connected with the transverse plate, a rotating shaft is connected between the two vertical side wall plates, and one end of the pressure tongue is rotatably connected with the rotating shaft; and a return spring is arranged between the bottom of the pressure tongue close to the suspended end of the pressure tongue and the transverse plate.
Furthermore, a protecting sleeve at the tail end of the inhaul cable upwards penetrates through the transverse plate and is fixedly connected with the transverse plate, and a tail end die-casting joint is arranged after the end part of a steel wire rope at the tail end of the inhaul cable upwards penetrates through the suspended end of the pressure tongue.
Preferably, the suspended end of the pressure tongue is provided with an opening seam through which a steel wire rope at the tail end of the inhaul cable passes, and a stop block for blocking the opening is arranged at the opening of the opening seam; the end part of the steel wire rope at the tail end of the inhaul cable can be die-cast with a tail end die-cast joint in advance; when the cable is installed, the steel wire rope at the tail end of the cable can penetrate through the free end of the pressing tongue through the opening seam, then the stop block is connected with the free end of the pressing tongue, the opening of the opening seam is blocked by the stop block, the steel wire rope at the tail end of the cable is prevented from being separated from the opening seam, the size of the tail end die-casting connector at the end part of the steel wire rope at the tail end of the cable is larger than the width of the opening seam, and the diameter of the steel wire rope at the tail end of the cable is slightly smaller than the width of the opening seam, so that the free end of the pressing tongue can be pulled by the tail end of the cable to move downwards.
As a further preference of the utility model, the piston rod is a hollow tube structure, the cable seat is in threaded connection with the outer circumference of the bottom end of the piston rod, the protecting sleeve at the head end of the cable is fixedly connected with the waist support assembly, the end part of the steel wire rope at the head end of the cable is positioned inside the piston rod of the hollow tube structure after passing through the cable seat upwards, and a head end die-casting joint is arranged at the end part of the steel wire rope at the head end of the cable; set up the angle bar below the cable seat, the longitudinal wall and the waist of angle bar prop subassembly fixed connection, the sheath pipe of cable head end upwards passes the horizontal wall of angle bar and with the horizontal wall fixed connection of angle bar.
In order to provide pretightening force for the stay cable during tensioning and ensure that the stay cable is always in a tensioned state when the lifting rope works normally so as to prevent the stay cable from loosening, a disc spring is arranged in a stay cable seat, and a head end die-casting joint is arranged after the end part of a steel wire rope at the head end of the stay cable upwards penetrates through the disc spring; the elastic force generated by deformation of the disc spring when the disc spring is pressed is utilized to provide pretightening force for the inhaul cable when the inhaul cable is tensioned; further, a gasket is arranged inside the stay cable seat, the gasket is arranged above the disc spring, and a head end die-casting joint is arranged after the end part of the steel wire rope at the head end of the stay cable upwards sequentially penetrates through the disc spring and the gasket; the gasket is beneficial to better force transmission between the disc spring and the head end die-casting joint; holes for the steel wire rope at the head end of the stay cable to pass through are respectively arranged on the stay cable seat, the disc spring and the gasket, and the diameters of the holes respectively arranged on the stay cable seat, the disc spring and the gasket are smaller than the diameter of the die-cast joint at the head end;
when the inhaul cable is produced, the inhaul cable seat, the disc spring and the gasket can be sleeved on the steel wire rope at the head end of the inhaul cable in advance, and then the head end of the steel wire rope at the head end of the inhaul cable is die-cast with the die-cast joint, so that the inhaul cable seat, the disc spring and the gasket are prevented from falling off; the equipment assembly in the later period is convenient.
The utility model discloses an useful part lies in:
(1) The volume is small, the braking distance is short, and the response speed is high;
(2) The waist support anti-falling function can be realized under a short braking distance, the waist support assembly is prevented from accidentally falling to damage a human body, and the safety is good;
(3) The controllable gas spring is a mature part, and has low price and reliable quality;
(4) The waist support anti-falling function is simple to recover after being triggered, the lifting rope is tied again, and the free lifting state of the waist support assembly can be recovered by pulling the lifting rod upwards.
Drawings
FIG. 1 is a schematic view of the installation position of the present invention on a vehicle body;
FIG. 2 is a sectional view taken along line A of FIG. 1;
FIG. 3 is a sectional view taken along line B of FIG. 1;
FIG. 4 is an enlarged schematic view of the sleeve assembly of FIG. 2 (area circle C);
FIG. 5 is an enlarged schematic view of the connection between the end of the actuating rod and the support frame (area circled D) of the controllable gas spring of FIG. 3;
FIG. 6 is a schematic top view of the latch of the present invention when the latch is not connected to the free end of the tongue;
the meaning of the reference symbols in the figures:
1-controllable gas spring, 2-inhaul cable, 3-support, 4-lumbar support component, 5-tongue depressor, 6-reset spring, 7-suspender, 8-sleeve seat, 9-piston rod, 10-vehicle body, 11-spring, 12-inhaul cable seat, 13-fixed block, 14-fixed pin, 15-clamping block, 16-connecting seat, 17-rotating shaft, 18-opening seam, 19-stop block, 20-angle iron, 21-head end die-casting joint, 22-tail end die-casting joint, 23-disc spring and 24-gasket.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-6, the embodiment is a pull-rope type lumbar support anti-falling device for a lower limb exoskeleton robot, which includes a controllable gas spring 1, a sleeve assembly and a pull rope 2, wherein the controllable gas spring 1 is vertically arranged, a fixed end of the controllable gas spring 1 is connected with a vehicle body 10, an actuating rod end of the controllable gas spring 1 is provided with a support 3 and is connected with a lumbar support assembly 4 through the support 3, the support 3 is provided with a pressing tongue 5, the pressing tongue 5 is located above the actuating rod end of the controllable gas spring 1, the pressing tongue 5 is used for pressing and opening a valve of the controllable gas spring 1, one end of the pressing tongue 5 is hinged with the support 3, the other end of the pressing tongue 5 is suspended, and a return spring 6 is arranged between the bottom of the pressing tongue 5 near a suspension end of the pressing tongue 5 and the support 3;
the sleeve component comprises a suspender 7, a sleeve seat 8, a piston rod 9, a spring 11 and a guy cable seat 12, the sleeve seat 8 is connected with the waist support component 4, holes are respectively formed at the top and the bottom of the sleeve seat 8, a flange structure is formed on the outer circumferential surface of the top end of the piston rod 9, the diameter of the flange structure is larger than that of the hole at the bottom of the sleeve seat 8, the top end of the piston rod 9 is arranged inside the sleeve seat 8 in a sliding mode through the flange structure, the bottom end of the piston rod 9 penetrates out of the hole at the bottom of the sleeve seat 8, and the guy cable seat 12 is connected with the bottom end of the piston rod 9; the spring 11 is arranged in the sleeve seat 8 between the top end of the piston rod 9 and the top of the sleeve seat 8, the bottom end of the suspender 7 is inserted into the sleeve seat 8 through a hole in the top of the sleeve seat 8, penetrates through the spring 11 and then is connected with the top end of the piston rod 9, and the top end of the suspender 7 is positioned above the sleeve seat 8 and is connected with an external lifting rope; in the embodiment, the spring 11 in the sleeve seat 8 is a rectangular spring;
the head end of the inhaul cable 2 is connected with the inhaul cable seat 12, the tail end of the inhaul cable 2 is connected with the free end of the pressure tongue 5, the suspender 7 moves upwards to tighten the inhaul cable 2 to enable the free end of the pressure tongue 5 to move downwards to press the valve of the controllable air spring 1 to be opened, and the suspender 7 moves downwards to loosen the inhaul cable 2 to enable the free end of the pressure tongue 5 to move upwards to release the valve of the controllable air spring 1 to be closed.
In order to facilitate installation of the controllable gas spring 1, a fixed block 13 is installed on the vehicle body 10, and the fixed end of the controllable gas spring 1 is connected with the fixed block 13 through a fixed pin 14; the vehicle body 10 is also provided with a plurality of clamping blocks 15 for clamping the controllable gas spring 1; for keeping the controllable gas spring 1 in a vertical position.
In this embodiment, the bracket 3 includes a transverse plate and two vertical side wall plates, the two vertical side wall plates are respectively disposed at two sides of the transverse plate, and the tops of the two vertical side wall plates are connected with the waist support assembly 4 through the connecting seat 16; the end part of an actuating rod of the controllable gas spring 1 upwards penetrates through the transverse plate and is fixedly connected with the transverse plate, a rotating shaft 17 is connected between the two vertical side wall plates, and one end of the pressure tongue 5 is rotatably connected with the rotating shaft 17; a return spring 6 is arranged between the bottom of the pressure tongue 5 close to the suspended end of the pressure tongue 5 and the transverse plate.
In the embodiment, the protecting sleeve at the tail end of the inhaul cable 2 upwards penetrates through the transverse plate and is fixedly connected with the transverse plate, and the end part of the steel wire rope at the tail end of the inhaul cable 2 upwards penetrates through the suspended end of the pressure tongue 5 and then is provided with the tail end die-casting joint 22; in the embodiment, an opening slot 18 for a steel wire rope at the tail end of the inhaul cable 2 to pass through is arranged at the free end of the pressure tongue 5, and a stop block 19 for blocking the opening is arranged at the opening of the opening slot 18; the end part of the steel wire rope at the tail end of the inhaul cable 2 can be die-cast with a tail end die-cast joint 22 in advance; when the inhaul cable is installed, the steel wire rope at the tail end of the inhaul cable 2 can penetrate through the free end of the pressure tongue 5 through the opening seam 18, then the stop block 19 is connected with the free end of the pressure tongue 5, the opening of the opening seam 18 is blocked by the stop block 19, the steel wire rope at the tail end of the inhaul cable 2 is prevented from being separated from the opening seam 18, the size of the tail end die-casting connector 22 at the end part of the steel wire rope at the tail end of the inhaul cable 2 is larger than the width of the opening seam 18, the diameter of the steel wire rope at the tail end of the inhaul cable 2 is slightly smaller than the width of the opening seam 18, and therefore the free end of the pressure tongue 5 can be pulled by the tail end of the inhaul cable 2 to move downwards.
In the embodiment, the piston rod 9 is a hollow pipe body structure, the cable seat 12 is in threaded connection with the outer circumferential surface at the bottom end of the piston rod 9, the protective sleeve at the head end of the cable 2 is fixedly connected with the waist support assembly 4, the end part of the steel wire rope at the head end of the cable 2 penetrates through the cable seat 12 upwards and then is positioned inside the piston rod 9 of the hollow pipe body structure, and the end part of the steel wire rope at the head end of the cable 2 is provided with a head end die-casting joint 21; an angle iron 20 is arranged below the cable seat 12, the longitudinal wall of the angle iron 20 is fixedly connected with the waist support assembly 4, and a sheath pipe at the head end of the cable 2 upwards penetrates through the transverse wall of the angle iron 20 and is fixedly connected with the transverse wall of the angle iron 20.
In order to provide pre-tightening force for the stay cable 2 during tensioning, ensure that the stay cable 2 is always in a tensioned state when the lifting rope works normally, and prevent the stay cable 2 from loosening, a disc spring 23 is arranged inside the stay cable seat 12, and a head end die-casting joint 21 is arranged after the end part of a steel wire rope at the head end of the stay cable 2 upwards penetrates through the disc spring 23; the elastic force generated by deformation of the disc spring 23 when the disc spring is pressed is utilized to provide pretightening force for the inhaul cable 2 when the inhaul cable is tensioned; further, a gasket 24 is arranged inside the cable seat 12, the gasket 24 is arranged above the disc spring 23, and the head end die-cast joint 21 is arranged after the end part of the steel wire rope at the head end of the cable 2 upwards sequentially penetrates through the disc spring 23 and the gasket 24; the gasket 24 is beneficial to better force transmission between the disc spring 23 and the head-end die-casting joint 21; holes for the steel wire rope at the head end of the inhaul cable 2 to pass through are respectively formed in the inhaul cable seat 12, the disc spring 23 and the gasket 24, and the diameters of the holes respectively formed in the inhaul cable seat 12, the disc spring 23 and the gasket 24 are smaller than the diameter of the head end die-cast joint 21;
when the inhaul cable 2 is produced, the inhaul cable seat 12, the disc spring 23 and the gasket 24 can be sleeved on the steel wire rope at the head end of the inhaul cable 2 in advance, and then the head end die-casting joint 21 is die-cast at the end part of the steel wire rope at the head end of the inhaul cable 2, so that the inhaul cable seat 12, the disc spring 23 and the gasket 24 are prevented from falling off; form an assembly form, be convenient for later equipment assembly.
The fixed end of the controllable gas spring 1 is connected with the vehicle body 10, and the end part of the actuating rod of the controllable gas spring 1 is connected with the waist support component 4; the waist support assembly 4 is connected with the vehicle body 10 in a sliding mode, when the lifting rope works normally, the suspension rod 7 is pulled out upwards by the lifting rope, the suspension rod 7 drives the piston rod 9 to move upwards, the spring 11 in the sleeve seat 8 is compressed, the piston rod 9 drives the stay rope seat 12 to move upwards to tension the stay rope 2, the stay rope 2 drives the free end of the pressure tongue 5 to move downwards, the pressure tongue 5 presses and opens a valve of the controllable gas spring 1, and meanwhile, the reset spring 6 at the bottom of the pressure tongue 5 is compressed; at the moment, the waist support assembly 4 can be freely lifted, and an actuating rod of the controllable gas spring 1 can be freely lifted along with the waist support assembly 4; when the lifting rope is broken, the spring 11 in the sleeve seat 8 pushes the piston rod 9 downwards, the piston rod 9 pulls the suspension rod 7 back downwards, the piston rod 9 drives the inhaul cable seat 12 to move downwards and loosen the inhaul cable 2, the reset spring 6 at the bottom of the pressure tongue 5 releases elasticity to bounce the suspended end of the pressure tongue 5 to move upwards, and the pressure tongue 5 releases to close the valve of the controllable gas spring 1; at the moment, the actuating lever of the controllable gas spring 1 is locked, the actuating lever of the controllable gas spring 1 props against the waist support assembly 4, and the waist support assembly 4 cannot freely lift, so that the waist support anti-falling function is realized; when recovering, tie up the lifting rope again, wave the capstan winch, the lifting rope drives jib 7 rebound once more, and when cable 2 was taut again, controllable formula gas spring 1's valve was opened again, and waist props subassembly 4 and can resume free elevating system again.
The embodiment has the following advantages:
(1) The volume is small, the braking distance is short, and the response speed is high;
(2) The waist support anti-falling function can be realized under a short braking distance, the waist support assembly is prevented from accidentally falling to damage a human body, and the safety is good;
(3) The controllable gas spring is a mature part, and has low price and reliable quality;
(4) The waist support anti-falling function is simple to recover after being triggered, the lifting rope is tied again, and the free lifting state of the waist support assembly can be recovered by pulling the lifting rod upwards.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly, and may be, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed; can be mechanically or electrically connected; the two elements can be directly connected, indirectly connected through an intermediate medium, or communicated with each other inside; the specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
The foregoing shows and describes the general principles, principal features and advantages of the invention; it should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by adopting equivalent replacement or equivalent transformation fall within the protection scope of the present invention.
Claims (10)
1. The utility model provides a low limbs ectoskeleton robot guyed waist props anti-falling device which characterized in that: the device comprises a controllable gas spring, a sleeve assembly and a stay cable, wherein the controllable gas spring is vertically arranged, the fixed end of the controllable gas spring is connected with a vehicle body, the end part of an execution rod of the controllable gas spring is provided with a support and is connected with a waist support assembly through the support, a pressing tongue is arranged on the support and is positioned above the end part of the execution rod of the controllable gas spring, the pressing tongue is used for pressing and opening a valve of the controllable gas spring, one end of the pressing tongue is hinged with the support, the other end of the pressing tongue is suspended in the air, and a reset spring is arranged between the bottom of the pressing tongue close to the suspended end of the pressing tongue and the support;
the sleeve assembly comprises a hanging rod, a sleeve seat, a piston rod, a spring and a guy cable seat, the sleeve seat is connected with the waist support assembly, holes are formed in the top and the bottom of the sleeve seat respectively, a flange structure is formed on the outer circumferential surface of the top end of the piston rod, the diameter of the flange structure is larger than that of the hole in the bottom of the sleeve seat, the top end of the piston rod is arranged in the sleeve seat in a sliding mode through the flange structure, the bottom end of the piston rod penetrates out of the hole in the bottom of the sleeve seat, and the guy cable seat is connected with the bottom end of the piston rod; the spring is arranged in the sleeve seat between the top end of the piston rod and the top of the sleeve seat, the bottom end of the suspender is inserted into the sleeve seat through a hole in the top of the sleeve seat and penetrates through the spring to be connected with the top end of the piston rod, and the top end of the suspender is positioned above the sleeve seat and is connected with an external lifting rope;
the head end of the inhaul cable is connected with the inhaul cable seat, the tail end of the inhaul cable is connected with the suspended end of the pressure tongue, the suspension rod moves upwards to tighten the inhaul cable to enable the suspended end of the pressure tongue to move downwards to press and open the valve of the controllable air spring, and the suspension rod moves downwards to loosen the inhaul cable to enable the suspended end of the pressure tongue to move upwards to release and close the valve of the controllable air spring.
2. The pull-rope type waist support anti-falling device for the lower limb exoskeleton robot of claim 1 is characterized in that a fixed block is mounted on a vehicle body, and the fixed end of the controllable gas spring is connected with the fixed block through a fixed pin.
3. The pull-rope type lumbar support anti-falling device for the lower extremity exoskeleton robot according to claim 1 or 2, wherein a plurality of clamping blocks for clamping the controllable gas spring are further arranged on the vehicle body.
4. The pull-rope type waist support anti-falling device for the lower limb exoskeleton robot of claim 1, wherein the bracket comprises a transverse plate and two vertical side wall plates, the two vertical side wall plates are respectively arranged at two sides of the transverse plate, and the tops of the two vertical side wall plates are connected with the waist support assembly through a connecting seat; the end part of an actuating rod of the controllable gas spring penetrates through the transverse plate upwards and is fixedly connected with the transverse plate, a rotating shaft is connected between the two vertical side wall plates, and one end of the pressure tongue is rotatably connected with the rotating shaft; and a return spring is arranged between the bottom of the pressure tongue close to the suspended end of the pressure tongue and the transverse plate.
5. The pull-rope type waist support anti-falling device for the lower extremity exoskeleton robot according to claim 4, wherein a protecting sleeve at the tail end of the pull rope penetrates upwards through the transverse plate and is fixedly connected with the transverse plate, and a tail end die-casting joint is arranged after the end of a steel wire rope at the tail end of the pull rope penetrates upwards through a suspended end of the pressure tongue.
6. The pull-rope type lumbar support anti-falling device for the lower extremity exoskeleton robot as claimed in claim 5, wherein the free end of the pressure tongue is provided with an opening slot for the steel wire rope at the tail end of the pull rope to pass through, and a stopper for blocking the opening is arranged at the opening of the opening slot.
7. The pull-rope type lumbar support anti-falling device for the lower extremity exoskeleton robot as claimed in claim 1, wherein the piston rod is of a hollow tube structure, the pull-rope seat is in threaded connection with the outer circumferential surface of the bottom end of the piston rod, the protecting sleeve at the head end of the pull rope is fixedly connected with the lumbar support assembly, the end portion of the steel wire rope at the head end of the pull rope penetrates upwards through the pull-rope seat and then is located inside the piston rod of the hollow tube structure, and a head-end die-casting joint is arranged at the end portion of the steel wire rope at the head end of the pull rope.
8. The pull-rope type lumbar support anti-falling device for the lower extremity exoskeleton robot as claimed in claim 7, wherein an angle iron is arranged below the pull-rope seat, a longitudinal wall of the angle iron is fixedly connected with the lumbar support assembly, and a sheath tube at the head end of the pull rope passes upward through a transverse wall of the angle iron and is fixedly connected with the transverse wall of the angle iron.
9. The pull-rope type waist support anti-falling device for the lower limb exoskeleton robot according to claim 7 or 8, wherein a disc spring is arranged in the pull-rope seat, and a head-end die-casting joint is arranged after the end part of a steel wire rope at the head end of the pull rope upwards penetrates through the disc spring.
10. The pull-rope type waist support anti-falling device for the lower limb exoskeleton robot of claim 9 is characterized in that a gasket is arranged in the pull-rope seat, the gasket is arranged above a disc spring, and a head-end die-casting joint is arranged after the end part of a steel wire rope at the head end of the pull rope sequentially penetrates through the disc spring and the gasket upwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222467081.9U CN218398113U (en) | 2022-09-19 | 2022-09-19 | Stay-cable type waist support anti-falling device of lower limb exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222467081.9U CN218398113U (en) | 2022-09-19 | 2022-09-19 | Stay-cable type waist support anti-falling device of lower limb exoskeleton robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218398113U true CN218398113U (en) | 2023-01-31 |
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ID=85031269
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222467081.9U Active CN218398113U (en) | 2022-09-19 | 2022-09-19 | Stay-cable type waist support anti-falling device of lower limb exoskeleton robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218398113U (en) |
-
2022
- 2022-09-19 CN CN202222467081.9U patent/CN218398113U/en active Active
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