CN219167002U - Auxiliary loading device of exoskeleton hanger and exoskeleton hanger - Google Patents

Abstract

The utility model provides an auxiliary loading device of an exoskeleton hanger and the exoskeleton hanger, which comprises a suspension hanger, a suspension mechanism and a suspension driving mechanism, wherein the suspension mechanism and the suspension driving mechanism are arranged on the suspension hanger; the suspension mechanism comprises a winding wheel, a binding belt and at least one fixed pulley; one end of the binding belt is wound on the winding wheel, and the other end of the binding belt bypasses the fixed pulley and is connected with a hung piece worn on a user to be on-machine; the suspension driving mechanism drives the winding wheel to rotate so as to wind and unwind the binding belt, so that a user waiting to get on the machine is switched from a sitting posture state to a standing state, the user can wear the lower limb exoskeleton to get on the machine conveniently, the number of nursing staff required by the user to get on the machine is reduced, and the labor intensity of the nursing staff is reduced.

Description

Auxiliary loading device of exoskeleton hanger and exoskeleton hanger

Technical Field

The utility model belongs to the technical field of auxiliary exercise, and particularly relates to an auxiliary machine feeding device of an exoskeleton hanger and the exoskeleton hanger.

Background

The lower limb exoskeleton is a robot for lower limb rehabilitation exercise of a patient with lower limb disability, and is usually matched with an exoskeleton hanger for use, so that walking load caused by self weight of a user and weight of the lower limb exoskeleton when the user walks is reduced. Because the lower limb disabled person cannot independently stand to wear the lower limb exoskeleton to finish the upper motor, the lower limb disabled person needs to be assisted by multiple persons (namely, the lower limb disabled person is assisted by multiple persons to stand, and one person wears the lower limb exoskeleton on the lower limb disabled person), more nursing staff are needed, the labor intensity of the nursing staff is high, and the rehabilitation training is not facilitated.

Disclosure of Invention

In view of the shortcomings of the prior art, the utility model aims to provide an auxiliary loading device of an exoskeleton hanger and the exoskeleton hanger, which are used for assisting a lower limb handicapped person to stand by replacing a nursing staff through a suspension mechanism so as to facilitate the follow-up wearing action, and effectively overcome the defects of a large number of needed nursing staff and high labor intensity when the lower limb exoskeleton is worn in the prior art.

To achieve the above and other related objects, the present utility model provides an auxiliary loading device for an exoskeleton hanger, comprising a hanger, a suspension mechanism mounted on the hanger, and a suspension driving mechanism; the suspension mechanism comprises a winding wheel, a binding belt and at least one fixed pulley; one end of the binding belt is wound on the winding wheel, and the other end of the binding belt bypasses the fixed pulley and is connected with a hung piece worn on a user to be on-machine; the suspension driving mechanism drives the winding wheel to rotate so as to wind and unwind the binding belt, so that a user waiting to get on the machine is switched from a sitting posture state to a standing state.

Further, two suspension mechanisms are arranged at intervals along the left-right direction; the winding wheels of the two suspension mechanisms are connected through a synchronous shaft; the suspension driving mechanism drives the synchronous shaft to rotate so as to drive the two winding wheels to be simultaneously wound and unwound.

Preferably, the suspension driving mechanism comprises a suspension motor and a speed reducer assembly, wherein a motor shaft of the suspension motor is connected with an input part of the speed reducer assembly, and an output part of the speed reducer assembly is connected with the synchronous shaft; the speed reducer assembly is a worm gear speed reducer assembly or a gear speed reducer assembly.

Preferably, the suspension driving mechanism comprises a suspension motor, a driving wheel and a driven wheel; the driven wheel is coaxially arranged on the synchronous shaft; a motor shaft of the suspension motor is coaxially connected with the driving wheel; the driving mode between the driving wheel and the driven wheel is belt driving or chain driving.

Further, the suspension mechanism also comprises a binding band pressing sheet matched with the winding wheel.

The utility model also provides the exoskeleton hanger which can lift the user to be on-machine from a sitting posture state to a standing state, so that the lower limb exoskeleton connected with the exoskeleton hanger can be conveniently worn on the user, and the lower limb exoskeleton drives the legs of the user to move, so that rehabilitation exercise of the user is completed.

In order to achieve the above purpose, the utility model provides an exoskeleton hanger, which comprises a force arm assembly for connecting a lower limb exoskeleton and the auxiliary loading device; the arm of force subassembly is installed on the suspension frame.

Further, the lower limb exoskeleton is configured to face the suspension bracket 1.

Further, the suspension frame comprises a lower support frame, an upper guide rail and a jacking device; the upper guide rail is vertically arranged at the top of the lower support frame; a slide block is arranged on the upper guide rail in a sliding way; the arm assembly is arranged on the sliding block through the movable block; the jacking device is arranged on the lower supporting frame, and the arm assembly moves up and down along the upper guide rail under the drive of the jacking device; the suspension mechanism and the suspension driving mechanism are mounted on the movable block.

Further, the jacking device is provided with a movable end, a guide shaft is coaxially arranged on the movable end, and a guide hole for the guide shaft to pass through is formed in the movable block; the guide shaft is sleeved with a spring, and two ends of the spring are respectively abutted with the movable block and the movable end.

Further, the force arm assembly comprises a force arm mounting plate and two force arms which are arranged on the force arm mounting plate at intervals along the left-right direction; the arm mounting plate is arranged on the movable block; hip connectors connected with the hip of the lower limb exoskeleton are arranged on the force arms.

Preferably, the arm arms are each provided with an underarm support.

Preferably, the front side of the arm of force mounting plate is equipped with the table support frame, is equipped with the table on the table support frame.

Preferably, the back plate is mounted on the two arms.

Preferably, the arm of force mounting plate is last to be equipped with chest support mount pad, is equipped with the chest on the chest support mount pad and leans on the chest.

As described above, the auxiliary loading device of the exoskeleton hanger and the exoskeleton hanger have the following beneficial effects:

(1) According to the lifting device, the suspended piece worn on the user body of the user to be lifted is lifted through the auxiliary power assisting suspension mechanism output by the suspension driving mechanism, so that the user to be lifted is lifted to a vertical state from a sitting posture state, the lower limb exoskeleton connected to the exoskeleton hanger is conveniently worn on the user to be lifted, the number of nursing staff required by the user to be lifted is reduced, and the labor intensity of the nursing staff is reduced.

(2) The lower limb exoskeleton is configured to face the suspension bracket, so that the exoskeleton suspension bracket is changed from a reverse forward-entry type to a forward-backward-entry type, a user waiting to get on the machine can conveniently enter the exoskeleton suspension bracket by himself or herself by taking a wheelchair, and the entering difficulty is reduced.

(3) The up-and-down fluctuation self-adaptive adjustment of the arm assembly in the human walking process can be realized through the arrangement of the springs, so that good gait and exercise comfortableness are ensured.

Drawings

Fig. 1 is a perspective view (from the rear to the front) of an auxiliary loading device according to the present utility model.

Fig. 2 is a perspective view (from the rear to the front) of the exoskeleton hanger of the present utility model.

Fig. 3 is a left side view of fig. 2.

Fig. 4 is a perspective exploded view (from front to back) of the exoskeleton hanger of the present utility model after the hanger has been removed.

Fig. 5 is a front view of the back plate of the present utility model.

Figure 6 is a left side view of the underarm support of the present utility model.

Fig. 7 is a perspective exploded view of the hanger of the present utility model.

Fig. 8 is a perspective exploded view of a second housing in accordance with the present utility model.

Description of the reference numerals

Suspension 1, lower support frame 11, upper rail 12, slider 13, movable block 14, jack 15, movable end 151, guide shaft 16, spring 161, rail mount 17, housing link 171, first housing 18, suspension mechanism 2, take-up pulley 21, fixed pulley 22, strap presser 23, synchronizing shaft 3, suspension drive mechanism 4, suspension motor 41, auxiliary support 411, decelerator assembly 42, arm 62, hip link 63, underarm support 64, support cylinder 641, underarm support 642, chest 65, chest mount 651, back plate 66, back plate link 661, through hole a 661, grip 67, table 68, table support frame 681, longitudinal frame beam 51, caster 52, control panel 71, power switch 72, emergency stop switch 73, charging interface 74, battery case 75, second housing 8, housing 81, rear housing 82, front housing 83.

Detailed Description

Further advantages and effects of the present utility model will become apparent to those skilled in the art from the disclosure of the present utility model, which is described by the following specific examples.

It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the utility model to the extent that it can be practiced, since modifications, changes in the proportions, or otherwise, used in the practice of the utility model, are not intended to be critical to the essential characteristics of the utility model, but are intended to fall within the spirit and scope of the utility model. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the utility model, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the utility model may be practiced.

The application provides an auxiliary loading device of an exoskeleton hanger, which is used for lifting a user to be loaded from a sitting posture state to a standing state so as to facilitate the lower limb exoskeleton to be worn on the user to be loaded; the system replaces manpower to assist the user waiting for the machine to stand, effectively reduces the number and labor intensity of nursing staff, and is convenient for household popularization. For convenience of description, in the following embodiments, the following directions are defined as follows: the front-back direction of the user after the user is on the machine is defined as the front-back direction, the left-right direction of the user after the user is on the machine is defined as the left-right direction, and the height direction of the user after the user is on the machine is defined as the up-down direction; in the view shown in fig. 2, the X axis is the front-rear direction, the Y axis is the left-right direction, and the Z axis is the up-down direction.

As shown in fig. 1, the auxiliary loading device of the exoskeleton hanger comprises a hanger 1, a hanger mechanism 2, a hanger driving mechanism 4 and a suspended piece worn on a user to be loaded; the suspension mechanism 2 comprises a winding wheel 21, a binding belt and at least one fixed pulley 22; the winding wheel 21 and the fixed pulley 22 are both rotatably arranged on the suspension bracket 1; one end of the binding belt is wound on the winding wheel 21, and the other end of the binding belt winds around the fixed pulley 22 to be connected with the suspended piece; the suspension driving mechanism 4 is installed on the suspension frame 1, and drives the winding wheel 21 to rotate so as to wind and unwind the binding belt, thereby realizing the lifting or the lowering of the suspended piece.

When the auxiliary on-machine device is used, a user to be on-machine moves to the lower limb exoskeleton on the exoskeleton hanger by taking a wheelchair, and then the other end of the binding belt is connected with a suspended piece on the user to be on-machine; then, a nursing staff starts the suspension driving mechanism 4 to enable the binding belt to be wound on the winding wheel 21 so as to lift the user to be on-machine from a sitting posture state to a standing state, and further the lower limb exoskeleton on the exoskeleton hanger is worn on the user to be on-machine, so that the user is on-machine; in the whole machine-on process, no additional nursing staff is needed to assist the user waiting for machine-on to stand, and the number of nursing staff and labor intensity are effectively reduced.

Further, the number of the suspension mechanisms 2 is preferably two, and the two suspension mechanisms 2 are arranged at intervals in the left-right direction; the user waiting for the machine is lifted by the two suspension mechanisms 2, so that the load born by the single suspension mechanism 2 is effectively reduced, and the service life of the single suspension mechanism is prolonged; the winding wheels 21 of the two suspension mechanisms 2 are connected through the synchronous shafts 3; the suspension driving mechanism 4 drives the synchronizing shaft 3 to rotate so as to drive the two winding wheels 21 to be simultaneously wound and unwound, so that a user waiting to get on the machine is prevented from tilting left and right in the lifting process.

In the present embodiment, as shown in fig. 1, the suspension driving mechanism 4 includes a suspension motor 41 and a decelerator assembly 42, a motor shaft of the suspension motor 41 is connected with an input portion of the decelerator assembly 42, and an output portion of the decelerator assembly 42 is connected with the synchronizing shaft 3; the load capacity of the suspension mechanism 2 is increased by the speed reducing and moment increasing function of the speed reducer assembly 42. Preferably, the speed reducer assembly 42 is a worm gear speed reducer assembly (the input part is a worm, the output part is a worm wheel matched with the worm in a transmission manner) or a gear speed reducer assembly (the input part is a driving gear, and the output part is a driven gear matched with the driving gear); the worm gear reducer assembly and the gear reducer assembly are the prior art, and therefore will not be described in detail.

In another embodiment, the speed reducer assembly 42 may be replaced with a drive wheel and a driven wheel in driving connection; specifically, the driving wheel is coaxially fixed on the motor shaft of the suspension motor 41, and the driven wheel is coaxially fixed on the synchronizing shaft 3; the transmission mode between the driving wheel and the driven wheel is belt transmission or chain transmission; like this, when the suspension motor 41 starts, drive action wheel, follow driving wheel, synchronizing shaft 3 rotation in proper order, and then drive two rolling wheels 21 rotation, realize the synchronous receive and releases of bandage, avoid waiting to go up the user and incline about because of the atress is uneven in the promotion in-process.

Further, as shown in fig. 1, the suspension mechanism 2 further includes a strap pressing piece 23 mounted on the suspension frame 1, and one end of the strap pressing piece 23 is located above the winding wheel 21 to apply a certain pre-compression force to the strap on the winding wheel 21; in this way, the strap can be tightly wound around the take-up reel 21 when it is wound up.

As shown in fig. 1, 2 and 3, the exoskeleton hanger disclosed in the present application includes an auxiliary loading device and a moment arm assembly; the auxiliary loading device comprises a suspension frame 1, 2 suspension mechanisms 2, a suspension driving mechanism 4 and suspended pieces worn on a user to be loaded; the 2 suspension mechanisms 2 are arranged on the suspension frame 1 at intervals along the left-right direction, and the suspended piece is detachably connected with the suspension mechanisms 2; the suspension driving mechanism 4 is arranged on the suspension frame 1 and is connected with the 2 suspension mechanisms 2, and the suspension driving mechanism 4 outputs assistance for assisting the 2 suspension mechanisms 2 to suspend a suspended piece worn on a user to be on the machine, so that the user is switched from a sitting posture state to a standing state; the arm component is arranged on the suspension bracket 1 and is used for connecting the lower limb exoskeleton; when the user in the wheelchair is lifted from a sitting position to a standing position by the suspension mechanism 2, the lower limb exoskeleton can be conveniently worn on the user, and the leg movement of the user is driven by the lower limb exoskeleton to help the leg of the user to perform rehabilitation exercise.

It can be understood that the lower limb exoskeleton is any lower limb exoskeleton in the prior art, such as a lower limb exoskeleton that uses a motor to independently drive a hip joint and a knee joint on a leg mechanism to simulate human gait (refer to patent No. 201420289720.X for details), or a lower limb exoskeleton that uses a motor to drive a leg link mechanism to simulate human gait (refer to patent No. 202210333357.6 for details, refer to patent No. 202210333357.6 for utility models of a lower limb exoskeleton), which are not limited to this; the motor on the lower limb exoskeleton is controlled by the control panel 71; the control panel 71 is preferably mounted on the hanger 1 and positioned in front of the user so that the user can control the lower limb exoskeleton by himself/herself through the control panel 71 while exercising and walking.

Preferably, the lower limb exoskeleton is configured to face the suspension frame 1; therefore, a user taking the wheelchair to be on-machine can drive the wheelchair to forward and close to the lower limb exoskeleton from the rear of the exoskeleton hanger to wear (namely, enter backward), and the problem of inconvenient operation when the user is in wearing from the front of the exoskeleton hanger to the rear of the lower limb exoskeleton in the original scheme is effectively solved.

Further, as shown in fig. 2, the exoskeleton hanger comprises a chassis including two longitudinal frame beams 51 spaced apart in the left-right direction; the suspension 1 connects the two longitudinal frame beams 51 and is located in front of the longitudinal frame beams 51; the arm assembly is arranged at the rear side of the suspension bracket 1 and is positioned above the chassis; therefore, a user to be on-machine with the wheelchair can drive the wheelchair to automatically advance into the chassis from the rear of the chassis to approach to the lower limb exoskeleton connected with the arm component, so that the entering difficulty of the lower limb exoskeleton is reduced; casters 52 are provided below the longitudinal frame beams 51 so that the exoskeleton hanger can follow the movement of the user while the user exercises; in this embodiment, the casters 52 are directional wheels or universal wheels.

The following describes the preferred structure of the arm assembly, suspension 1, suspension mechanism 2 and suspension drive mechanism 4 in the exoskeleton hanger.

Arm of force subassembly

As shown in fig. 4, the arm assembly includes an arm mounting plate 61 and two arms 62; wherein the arm mounting plate 61 extends in the left-right direction; the two force arms 62 are arranged at intervals on the rear side of the force arm mounting plate 61 along the left-right direction; the arm 62 is provided with a hip connector 63 for connection to the hip of the lower extremity exoskeleton to mount the lower extremity exoskeleton on the exoskeleton hanger to form a rehabilitation exercise device for use by a person with low limb disability.

Further, as shown in fig. 4 and 5, the arm assembly further includes a back plate 66 for preventing the user from leaning backward, and the back plate 66 is adjustable in front and rear positions; specifically, two back plate connecting members 661 are connected to the back plate 66, a through hole a 6611 for the force arm 61 to pass through is formed in the back plate connecting members 661, an opening communicated with the through hole a 6611 is formed in the bottom of the back plate connecting members 661, and an adjusting bolt capable of adjusting the gap of the opening is arranged at the lower part of the back plate connecting members 661; during assembly, only the back plate connecting piece 661 on the back plate 66 is arranged on the force arm 61 in a sliding sleeve mode through the through hole a 6611, the front and back positions of the back plate 66 on the force arm 62 are adjusted, after adjustment is completed, the adjusting bolt is screwed, the bottom opening gap of the back plate connecting piece 661 is reduced, the back plate connecting piece 661 is clamped on the force arm 62, and installation of the back plate 66 is completed.

Further, as shown in fig. 4, the arm assembly further includes a breast rest 65 for preventing the user from leaning forward, and the breast rest 65 is mounted on the upper rear side of the arm mounting plate 61 by a breast rest mounting member 651; specifically, an auxiliary support 411 is mounted on the arm mounting plate 61, the auxiliary support 411 is an L-shaped bending piece, and comprises an auxiliary horizontal support part and an auxiliary vertical connecting part which are integrally formed, the auxiliary horizontal support part is located above the arm mounting plate 61, and the vertical connecting part is mounted on the rear side surface of the arm mounting plate 61 through a bolt; the breast rest mounting part 651 is an L-shaped bending part and comprises a breast rest vertical mounting part and a breast rest horizontal connecting part which are integrally formed, wherein the breast rest horizontal connecting part is connected below the auxiliary horizontal supporting part through bolts, and the breast rest 65 is mounted on the breast rest vertical mounting part through bolts; the upper and lower positions of the leaning chest 65 can be adjusted by only installing the leaning chest 65 at different height positions of the leaning chest vertical installation part through bolts, and the front and rear positions of the leaning chest 65 can be adjusted by only connecting the leaning chest horizontal connection part at different front and rear positions of the auxiliary horizontal support part.

Further, as shown in fig. 2 and 4, a desktop support 681 is provided on the front side of the arm mounting plate 61, the desktop 68 is supported on the desktop support 681, and the control panel 71 is mounted on the desktop 68; the desk plate 68 is also provided with a power switch 72 and a scram switch 73; a battery box 75 and a singlechip electrically connected with the battery box 75 are arranged below the tabletop 68, and the singlechip is electrically connected with each motor on the lower limb exoskeleton and the suspension driving mechanism 4; the table 68 is provided with a charging port 74 for charging the battery case 75; when a user exercises using the exoskeleton hanger, the user can conveniently control the actions of the lower limb exoskeleton through the control panel 71, so that the operation convenience is improved; during exercise, the user's arms may also be raked against the table 68 to stabilize the user's upper limbs and avoid rocking the user's upper limbs.

Preferably, as shown in fig. 4 and 6, arm 62 is also provided with an underarm support 64; specifically, underarm support 64 includes two support cylinders 641 and one underarm support 642; two supporting cylinders 641 are sleeved on the same force arm 62 in a sliding way, and the supporting cylinders 641 and the force arm 62 are fixed relatively through bolts; both ends of the armpit support part 642 are bent downwards to form a telescopic part which slides up and down in the corresponding support cylinder 641; the telescopic part is provided with a first fixing hole, the supporting cylinder 641 is provided with a plurality of second fixing holes matched with the first fixing holes from top to bottom, and the locking bolt penetrates through different second fixing holes on the supporting cylinder 641 to be matched with the first fixing holes on the telescopic part so as to adjust the up-down position of the armpit supporting part 642.

Preferably, as shown in fig. 3, the rear ends of the force arms 62 are provided with L-shaped handles 67, the L-shaped handles 67 are provided with connecting parts and holding parts, the connecting parts of the L-shaped handles 67 are slidably arranged in the force arms 62, the connecting parts of the L-shaped handles 67 are provided with third fixing holes, the force arms 62 are provided with a plurality of fourth fixing holes matched with the third fixing holes at intervals from back to front, the bolts sequentially penetrate through the fourth fixing holes and the third fixing holes to realize the relative fixation of the force arms 62 and the L-shaped handles 67, and the adjustment of the front and back positions of the L-shaped handles 67 is realized by matching the third fixing holes on the connecting parts of the L-shaped handles 67 with the fourth fixing holes different from the force arms 62.

Further, the elastic hand grip is sleeved on the holding part of the L-shaped handle 67, so that the holding comfort of a nursing staff is improved.

Suspension bracket 1 of auxiliary loading device

As shown in fig. 2 and 7, the hanger 1 includes a lower support frame 11, an upper rail 12, and a jacking device 15; the bottom end of the lower support frame 11 is connected with two longitudinal frame beams 51 on the chassis; the upper guide rail 12 is vertically installed on the top of the lower support frame 11 by a guide rail installation member 17; the jacking device 15 is arranged at the top of the lower supporting frame 11 and is positioned at the rear side of the upper guide rail 12; a slide block 13 is arranged on the upper guide rail 12 in a sliding manner; the arm mounting plate 61 of the arm assembly is fixedly connected with the sliding block 13 on the upper guide rail 12 through the movable block 14; the jacking device 15 is electrically connected with the singlechip; the movable block 14 moves up and down along the upper guide rail 12 under the drive of the jacking device 15 so as to adjust the height of the arm assembly, so that the height of the hip joint connector 63 on the arm assembly is consistent with the hip height of the user on the machine, and the requirement of the user with different heights on the machine is met. In the present embodiment, the jacking device 15 is preferably provided as a hydraulic push rod or an electric push rod.

Preferably, the upper guide rails 12 are two, and are distributed at intervals along the left-right direction; the upper guide rail 12 is provided with a first reinforcing member which is simultaneously connected with the upper guide rail 12 and the lower support frame 11 so as to carry out reinforcing connection on the upper guide rail 12 and avoid toppling; the guide rail mounting member 17 is provided with a second reinforcing member simultaneously connected with the guide rail mounting member 17 and the lower supporting frame 11 to reinforce the guide rail mounting member 17 from falling down.

Further, as shown in fig. 7, the jacking device 15 has a movable end 151, the movable end 151 is coaxially provided with a guide shaft 16, and the movable block 14 is provided with a guide hole for the guide shaft 16 to pass through; a spring 161 is sleeved on the guide shaft 16, and two ends of the spring 161 are respectively abutted against the movable block 14 and the movable end 151; before exercise, the height position of the arm assembly needs to be adjusted according to the height of a user, namely, the lifting device 15 is started to enable the movable end 151 to drive the spring 161 to move up and down, and further drive the arm assembly fixed with the movable block 14 to move up and down, so that the height position adjustment of the arm assembly is realized; after the height position is adjusted, when a user uses the exoskeleton hanger to exercise and walk, the spring 161 can be used as a height self-adaptive adjusting device, so that the arm assembly can be fluctuated up and down along with the body weight of the user, and good gait and exercise comfortableness are ensured.

Further, as shown in fig. 7, a first cover 18 is provided above the lower support frame 11 to cover the structures such as the upper rail 12, the rail mounting member 17, the jacking device 15, etc., and a cover mounting member 171 is provided on the rail mounting member 17; when the first housing 18 houses all the components of the hanger 1 located above the lower support frame 11, the first housing 18 is fixedly mounted on the housing mounting member 171 using bolts; the provision of the first housing 18 effectively increases the aesthetic appearance of the hanger 1.

Suspension mechanism 2 and suspension driving mechanism 4 for auxiliary loading device

As shown in fig. 1, 2 and 4, the suspension mechanism 2 and the suspension driving mechanism 4 are located below the table 68; wherein, there are two suspension mechanisms 2, and two suspension mechanisms 2 are arranged at intervals along the left-right direction; the suspension mechanism 2 comprises a winding wheel 21, a binding belt and a fixed pulley 22, wherein one end of the binding belt is wound on the winding wheel 21, and the other end of the binding belt bypasses the fixed pulley 22 to be connected with a suspended piece worn on a user; the two fixed pulleys 22 are respectively mounted on the two arms 62 and are positioned on the front side of the underarm support 64; the two winding wheels 21 are connected through a synchronous shaft 3; the suspension drive mechanism 4 includes a suspension motor 41 and a decelerator assembly 42; the speed reducer assembly 42 is a worm gear speed reducer assembly or a gear speed reducer assembly; the decelerator assembly 42 is mounted on an auxiliary horizontal support part of the auxiliary support 411; the suspension motor 41 is positioned at the front side of the speed reducer assembly 42, a motor shaft of the suspension motor 41 is connected with the input end of the speed reducer assembly 42, and the synchronous shaft 3 is fixed on the output end of the speed reducer assembly 42; when the suspension motor 41 is started and the synchronous shaft 3 is driven to rotate by the speed reducer assembly 42, the two winding wheels 21 synchronously wind and unwind the binding bands to assist the user to switch from the sitting posture state to the standing state for wearing the lower limb exoskeleton.

In another embodiment, the speed reducer assembly 42 may be replaced with a drive wheel and a driven wheel in driving connection; specifically, a driving wheel and a driven wheel are mounted on an auxiliary horizontal support portion of the auxiliary support 411, and the driving wheel is coaxially fixed on a motor shaft of the suspension motor 41, and the driven wheel is coaxially fixed on the synchronizing shaft 3; the transmission mode between the driving wheel and the driven wheel is belt transmission or chain transmission; thus, when the suspension motor 41 is started, the driving wheel, the driven wheel and the synchronous shaft 3 are sequentially driven to rotate, so that the two winding wheels 21 are driven to rotate, and synchronous winding and unwinding of the binding belt are realized, so that the user is assisted to switch from a sitting posture state to a standing state to wear the lower limb exoskeleton.

When the feet of the user to be on the wheelchair are placed on the foot bottom plate of the lower limb exoskeleton, the knees of the user to be on the wheelchair can be contacted with the knee supporting component of the lower limb exoskeleton, so that when the suspension mechanism 2 lifts the user on the wheelchair forwards and upwards, the knee supporting component can give a backward reaction force to the user to offset the forward pulling force given by the suspension mechanism 2 to the user, and the user is prevented from moving forwards in the lifting process.

Further, a binding band pressing sheet 23 matched with the winding wheel 21 is arranged on the arm mounting plate 61, and the binding band pressing sheet 23 is used for applying a certain pre-pressure to the binding band on the winding wheel 21; in this way, the strap can be tightly wound around the take-up reel 21 when it is wound up.

Further, as shown in fig. 4 and 8, the table 68 is provided with a second housing 8 for housing the suspension driving mechanism 4, the arm mounting plate 611, the battery case 75, the singlechip, etc.; the second housing 8 includes a housing bottom 81, a front housing 82, and a rear housing 83; the housing 81 has a first through hole for the upper end of the first cover 18 to be inserted, and the rear cover 83 is provided with a second through hole for the arm 62 to pass through and a third through hole for the chest-rest mounting 651 to pass through; the shell bottom 81 is connected with the bottom of the force arm mounting plate 1 through bolts, and the front housing 82 and the rear housing 83 are in butt joint mounting on the shell bottom 81; the provision of the second housing 8 further improves the aesthetics of the exoskeleton hanger.

In summary, the present utility model effectively overcomes the disadvantages of the prior art and has high industrial utility value.

The above embodiments are merely illustrative of the principles of the present utility model and its effectiveness, and are not intended to limit the utility model. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the utility model. Accordingly, it is intended that all equivalent modifications and variations of the utility model be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

Claims (14)

1. The auxiliary loading device of the exoskeleton hanger is characterized by comprising a hanger (1), a suspension mechanism (2) and a suspension driving mechanism (4), wherein the suspension mechanism (2) and the suspension driving mechanism (4) are arranged on the hanger (1); the suspension mechanism (2) comprises a winding wheel (21), a binding belt and at least one fixed pulley (22); one end of the binding belt is wound on the winding wheel (21), and the other end of the binding belt bypasses the fixed pulley (22) and is connected with a hung piece worn on a user to be on the machine; the suspension driving mechanism (4) drives the winding wheel (21) to rotate so as to wind and unwind the binding belt.

2. The auxiliary loading device of the exoskeleton hanger according to claim 1, wherein two suspension mechanisms (2) are arranged, and the two suspension mechanisms (2) are arranged at intervals along the left-right direction; the winding wheels (21) of the two suspension mechanisms (2) are connected through a synchronous shaft (3); the suspension driving mechanism (4) drives the synchronous shaft (3) to rotate so as to drive the two winding wheels (21) to be simultaneously retracted and released.

3. An auxiliary loading device for an exoskeleton hanger as claimed in claim 2, wherein said suspension driving mechanism (4) comprises a suspension motor (41) and a decelerator assembly (42), a motor shaft of said suspension motor (41) is connected to an input of said decelerator assembly (42), and an output of said decelerator assembly (42) is connected to a synchronizing shaft (3); the speed reducer assembly (42) is a worm gear speed reducer assembly or a gear speed reducer assembly.

4. An auxiliary loading device for an exoskeleton hanger as claimed in claim 2, wherein said suspension drive mechanism (4) comprises a suspension motor (41), a driving wheel and a driven wheel; the driven wheel is coaxially arranged on the synchronous shaft (3); a motor shaft of the suspension motor (41) is coaxially connected with the driving wheel; the driving mode between the driving wheel and the driven wheel is belt driving or chain driving.

5. An auxiliary loading device for an exoskeleton hanger as claimed in any one of claims 1 to 4 wherein said suspension mechanism (2) further comprises a strap press (23) cooperating with a take-up wheel (21).

6. An exoskeleton hanger comprising a moment arm assembly for connecting to a lower extremity exoskeleton and an auxiliary loading device as claimed in any one of claims 2 to 4; the arm assembly is arranged on the suspension bracket (1).

7. An exoskeleton hanger as claimed in claim 6, wherein the lower limb exoskeleton is configured to face the suspension (1).

8. Exoskeleton hanger according to claim 7, wherein the hanger (1) comprises a lower support frame (11), an upper rail (12) and a jacking device (15); the upper guide rail (12) is vertically arranged at the top of the lower supporting frame (11); a sliding block (13) is arranged on the upper guide rail (12) in a sliding manner; the arm of force subassembly is installed on slider (13) through movable block (14); the jacking device (15) is arranged on the lower supporting frame (11), and the arm assembly moves up and down along the upper guide rail (12) under the driving of the jacking device (15); the suspension mechanism (2) and the suspension driving mechanism (4) are arranged on the movable block (14).

9. Exoskeleton hanger according to claim 8, wherein the lifting device (15) has a movable end (151), a guide shaft (16) is coaxially disposed on the movable end (151), and a guide hole through which the guide shaft (16) passes is disposed on the movable block (14); the guide shaft (16) is sleeved with a spring (161), and two ends of the spring (161) are respectively abutted against the movable block (14) and the movable end (151).

10. An exoskeleton hanger as claimed in claim 8 or 9 wherein said arm assembly comprises an arm mounting plate (61) and two arms (62) spaced apart in a left-to-right direction on the arm mounting plate (61); the arm mounting plate (61) is mounted on the movable block (14); the arm of force (62) is equipped with hip connecting piece (63) that is connected with low limbs ectoskeleton hip on all.

11. Exoskeleton hanger according to claim 10, wherein the arms (62) are each provided with an underarm support (64).

12. An exoskeleton hanger as claimed in claim 10 wherein a table support (681) is provided on the front side of the arm mounting plate (61), and a table (68) is provided on the table support (681).

13. An exoskeleton hanger as claimed in claim 10 wherein two of said arms (62) have a back plate (66) mounted thereon.

14. The exoskeleton hanger of claim 13, wherein the arm mounting plate (61) is provided with a chest support mounting seat (651), and the chest support mounting seat (651) is provided with a chest rest (65).

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