CN219255566U

CN219255566U - Supporting structure for leg exoskeleton

Info

Publication number: CN219255566U
Application number: CN202223455117.8U
Authority: CN
Inventors: 卢永利; 孙爱民; 张晓玉
Original assignee: Beijing Jiujiu Nutrition Food Co ltd
Current assignee: Beijing Jiujiu Nutrition Food Co ltd
Priority date: 2022-12-23
Filing date: 2022-12-23
Publication date: 2023-06-27
Anticipated expiration: 2032-12-23

Abstract

The utility model discloses a supporting structure for leg exoskeleton, which belongs to the technical field of exoskeleton support and comprises a top frame, a thigh outer side frame, a shank outer side frame and a foot frame, wherein the thigh outer side frame is arranged at the outer side of the lower end of the top frame, the lower end of the thigh outer side frame is connected with the shank outer side frame, and the foot frame is arranged at the bottom of the shank outer side frame; the inner side of the thigh outer side frame is provided with a thigh support frame for fixing the thigh of a human body, and the inner side of the shank outer side frame is provided with a shank support frame for fixing the shank of the human body. According to the support structure for the leg exoskeleton, the connecting mechanism of the exoskeleton supporting equipment is improved, the arc-shaped sleeve, the elastic binding band and the connecting mechanism of the connecting portion are adopted, the ends of the arc-shaped sleeve are made of elastic materials, the two ends of the arc-shaped sleeve can be expanded outwards, further, the legs of a user can conveniently enter the arc-shaped sleeve, the arc-shaped sleeve and the elastic binding band are matched, the arc-shaped sleeve can be attached to the legs of a human body, and binding of buffering substances such as buffering sponge can be achieved through binding band holes.

Description

Supporting structure for leg exoskeleton

Technical Field

The utility model relates to the technical field of exoskeleton support, in particular to a support structure for a leg exoskeleton.

Background

The exoskeleton robot is an intelligent mechanical mechanism worn outside the body of a user, can combine human body sense, thinking, movement and other organs with a sensing system of the robot, an intelligent processing center and a control execution system, so as to achieve the purposes of improving physical functions of the human body, providing physical quality and the like, and is essentially a wearable robot capable of realizing man-machine combination. Based on the bionic principle, the ergonomic design, the information control technology and the like, the exoskeleton robot also relates to the discipline knowledge such as biological kinematics, robotics, information science, control science, artificial intelligence and the like;

at present, a leg exoskeleton supporting structure generally adopts a clamp and other modes to realize the connection of legs and equipment, and adopts a hard C-shaped lantern ring to connect the legs and the equipment, so that the user has a sense of diaphragm response when using the device because of high hardness of a connecting piece with the legs, and the problem cannot be thoroughly solved in the mode of cushion and other modes;

to above-mentioned problem, this application provides an elastic component who is connected with shank, and this connection constitution is "C" font design, and both ends head are the elastic plate, can realize expanding outward and tightening up, lightens the user and felt the sense because of the connecting piece is too hard produces, effectively promotes the travelling comfort.

Disclosure of Invention

The utility model mainly aims to provide a supporting structure for leg exoskeleton, which can effectively solve the problems in the background technology.

In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:

the leg exoskeleton supporting structure comprises a top frame, a thigh outer side frame, a shank outer side frame and a foot frame, wherein the thigh outer side frame is arranged at the outer side of the lower end of the top frame, the lower end of the thigh outer side frame is connected with the shank outer side frame, and the foot frame is arranged at the bottom of the shank outer side frame;

the inner side of the thigh outer side frame is provided with a thigh support frame for fixing the thigh of a human body, and the inner side of the shank outer side frame is provided with a shank support frame for fixing the shank of the human body;

the utility model discloses a thigh support frame, shank support frame, including the support frame, the interior top of thigh support frame and shank support frame all is equipped with an arc cover, and the arc terminal surface of arc cover has seted up two logical grooves of alignment, one of them lead to the inslot and be equipped with the elasticity bandage, and the elasticity bandage runs through this logical inslot lateral wall hole and extends to another one and lead to the inslot, the end of elasticity bandage is equipped with the connecting portion that is used for connecting, the arc face trompil of arc cover inserts the pipe, and is equipped with the ribbon hole that is used for ventilative in the pipe.

According to a further preferred scheme of the utility model, the arc-shaped sleeve and the bracket part of the thigh support frame are integrally formed, the arc-shaped sleeve is in a C-shaped design, and the arc-shaped sleeve is adapted to the legs of a human body;

according to a further preferred scheme of the utility model, the arc-shaped sleeve is divided into a hard plate part and a soft plate part, the hard plate part is fixed with a bracket of the thigh support frame in a C-shaped design, the soft plate part is positioned at two ends of the hard plate part, and the soft plate part is made of an elastic material;

according to a further preferred scheme of the utility model, the whole arc-shaped sleeve is made of soft plate elastic materials, and the arc-shaped sleeve is fixed with a bracket of the thigh support frame in a hot melting mode;

according to a further preferred scheme of the utility model, the elastic bandage and the arc-shaped sleeve are used for winding and binding the legs of the human body;

according to a further preferred scheme of the utility model, the connecting part adopts a button mode to realize locking of the elastic bandage.

Compared with the prior art, the utility model has the following beneficial effects:

according to the utility model, the connecting mechanism of the exoskeleton supporting equipment is improved, the connecting mechanism of the arc-shaped sleeve, the elastic binding band and the connecting part is adopted, the ends of the arc-shaped sleeve are made of elastic materials, the two ends of the arc-shaped sleeve can be outwards expanded, the legs of a user can conveniently enter the arc-shaped sleeve, the arc-shaped sleeve and the elastic binding band are matched for use, the arc-shaped sleeve can be attached to the legs of a human body, and the binding of buffering substances such as buffering sponge can be realized through the binding band holes.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present utility model;

FIG. 2 is an illustration of a thigh support stand of the present utility model;

FIG. 3 is a schematic front view of a thigh support of the present utility model;

fig. 4 is an enlarged schematic view at a in fig. 2.

In the figure: 1. a top frame; 2. thigh support frames; 3. thigh outer side frames; 4. a shank support; 5. a shank outer side frame; 6. a foot rest; 7. an arc sleeve; 8. a through groove; 9. an elastic band; 10. a connection part; 11. a round tube; 12. and (5) a tie hole.

Detailed Description

The utility model is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the utility model easy to understand.

As shown in fig. 1-4, a supporting structure for leg exoskeleton comprises a top frame 1, a thigh outer frame 3, a shank outer frame 5 and a foot frame 6, wherein the thigh outer frame 3 is arranged at the outer side of the lower end of the top frame 1, the shank outer frame 5 is connected to the lower end of the thigh outer frame 3, and the foot frame 6 is arranged at the bottom of the shank outer frame 5;

the inner side of the thigh outer frame 3 is provided with a thigh support frame 2 for fixing the thigh of a human body, and the inner side of the shank outer frame 5 is provided with a shank support frame 4 for fixing the shank of the human body;

the inner top of thigh support frame 2 and shank support frame 4 all is equipped with an arc cover 7, and two logical grooves 8 of alignment have been seted up to the arc terminal surface of arc cover 7, are equipped with elasticity bandage 9 in one of them logical groove 8, and elasticity bandage 9 runs through this logical inslot 8 lateral wall hole and extends to another logical inslot 8, and the end of elasticity bandage 9 is equipped with the connecting portion 10 that is used for connecting, and pipe 11 is inserted in the arcwall face trompil of arc cover 7, is equipped with in the pipe 11 and is used for ventilative ribbon hole 12.

The human shank is arranged on the inner side of the thigh support frame 2, the two ends of the arc sleeve 7 are opened to enable the human thigh to reach the cavity of the arc sleeve 7, the elastic bandage 9 is pulled to penetrate into the opening of the end of the other arc sleeve 7, the elastic bandage 9 is fixed by the connecting part 10, ventilation can be realized through ventilation holes formed by the bandage holes 12, and buffer cushions such as buffer sponge can be additionally arranged on the inner wall of the arc sleeve 7.

The arc-shaped sleeve 7 and the bracket part of the thigh support frame 2 are integrally formed, the arc-shaped sleeve 7 is in a C-shaped design, and the arc-shaped sleeve 7 is adapted to the legs of a human body; the elastic binding band 9 and the arc-shaped sleeve 7 are used for winding and binding the legs of the human body; the connection part 10 adopts a button mode to realize the locking of the elastic bandage 9, the C-shaped design of the arc sleeve 7 mainly realizes the connection between the thigh of the human body and the equipment, then adopts the elastic bandage 9 to bind the leg of the human body, further realizes the connection between the thigh of the human body, ensures that the equipment is firmly installed on the leg of the human body, the elastic bandage 9 is connected through the connection part 10, and the connection part 10 adopts a button connection mode (such as a watchband connection mode), so that the technology is common knowledge for the technical personnel in the technical field, and is not excessively repeated.

The arc cover 7 divide into hard board portion and soft board portion, and hard board portion is the support of "C" font design and thigh support frame 2 is fixed, and soft board portion is located two end departments of hard board portion, and soft board portion is made by elastic material, and when arc cover 7 divide into hard board portion and soft board portion, it is fixed with the support through hard board portion, can maintain the basic shape of arc cover 7, ensures that the user can know this place for shank hookup location through this, and the elastic material that soft board portion adopted can resume the original form, cooperates with elastic bandage 9 each other, can laminate the shank well.

The whole arc-shaped sleeve 7 is made of soft plate elastic materials, and the arc-shaped sleeve 7 is fixed with the bracket of the thigh support 2 in a hot melting mode; when the whole arc-shaped sleeve 7 is made of soft plate elastic materials, the arc-shaped sleeve is matched with the elastic binding band 9, so that the leg can be well attached, and the whole weight can be reduced.

It should be noted that in this document, relational terms such as first and second (first and second), and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing has shown and described the basic principles and main features of the present utility model and the advantages of the present utility model. It will be understood by those skilled in the art that the present utility model is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present utility model, and various changes and modifications may be made without departing from the spirit and scope of the utility model, which is defined in the appended claims. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a supporting structure for shank ectoskeleton, includes roof-rack (1), thigh outside frame (3), shank outside frame (5) and foot frame (6), the lower extreme outside of roof-rack (1) is equipped with thigh outside frame (3), and the lower extreme of thigh outside frame (3) is connected with shank outside frame (5), and the bottom of shank outside frame (5) is equipped with foot frame (6), its characterized in that: the inner side of the thigh outer side frame (3) is provided with a thigh support frame (2) for fixing the thigh of a human body, and the inner side of the shank outer side frame (5) is provided with a shank support frame (4) for fixing the shank of the human body;

the utility model discloses a thigh support frame, including thigh support frame (2) and shank support frame (4), the interior top of thigh support frame (2) and shank support frame (4) all is equipped with an arc cover (7), and the arc terminal surface of arc cover (7) has seted up two logical grooves (8) of alignment, one of them be equipped with elasticity bandage (9) in leading to groove (8), and elasticity bandage (9) run through in this leading to groove (8) lateral wall hole extends to another leading to groove (8), the end of elasticity bandage (9) is equipped with connecting portion (10) that are used for connecting, pipe (11) are inserted in the arcwall face trompil of arc cover (7), and are equipped with in pipe (11) and are used for ventilative ribbon hole (12).

2. A support structure for a leg exoskeleton as claimed in claim 1, wherein: the arc-shaped sleeve (7) and the bracket part of the thigh support frame (2) are integrally formed, the arc-shaped sleeve (7) is in a C-shaped design, and the arc-shaped sleeve (7) is adapted to the legs of a human body.

3. A support structure for a leg exoskeleton as claimed in claim 1 or 2, wherein: the arc-shaped sleeve (7) is divided into a hard plate part and a soft plate part, the hard plate part is in a C-shaped design and is fixed with a bracket of the thigh support frame (2), the soft plate part is positioned at two ends of the hard plate part, and the soft plate part is made of elastic materials.

4. A support structure for a leg exoskeleton as claimed in claim 1 or 2, wherein: the whole arc-shaped sleeve (7) is made of soft board elastic materials, and the arc-shaped sleeve (7) is fixed with the bracket of the thigh support frame (2) in a hot melting mode.

5. A support structure for a leg exoskeleton as claimed in claim 2, wherein: the elastic binding band (9) and the arc-shaped sleeve (7) are used for winding and binding the legs of the human body.

6. A support structure for a leg exoskeleton as claimed in claim 5, wherein: the connecting part (10) adopts a button mode to realize the locking of the elastic bandage (9).