CN219332384U - Lower limb exoskeleton auxiliary training device - Google Patents
Lower limb exoskeleton auxiliary training device Download PDFInfo
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- CN219332384U CN219332384U CN202221957366.4U CN202221957366U CN219332384U CN 219332384 U CN219332384 U CN 219332384U CN 202221957366 U CN202221957366 U CN 202221957366U CN 219332384 U CN219332384 U CN 219332384U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The utility model discloses a lower limb exoskeleton auxiliary training device which comprises a movable support frame, a lower limb exoskeleton, an electric exoskeleton support frame and a control box. The lower limb exoskeleton auxiliary training device can adjust the height positions of two exoskeleton branches, the distance between the two exoskeleton branches and the longitudinal distance between the two exoskeleton branches and the movable support frame by utilizing the electric exoskeleton support frame according to the stature of a training person, so that the lower limb exoskeleton auxiliary training device is suitable for the stature and habit of different training persons; the movable support frame is used for conveniently moving the whole position of the auxiliary training device, the stability of training personnel can be kept, and the auxiliary training device is driven by the exoskeleton of the lower limb to move so as to complete walking training; the seat structure is utilized to facilitate the training personnel to sit down, put on and take off the lower limb exoskeleton or rest, and can be folded upwards under the linkage adjustment of the electric exoskeleton supporting frame when training is carried out, so that the interference to the lower limb exoskeleton is avoided.
Description
Technical Field
The utility model relates to an auxiliary training device, in particular to a lower limb exoskeleton auxiliary training device.
Background
Rehabilitation therapy is a new therapeutic discipline for promoting the rehabilitation of the heart functions of patients and disabled persons, and is also a new technical specialty. The purpose of the system is to enable people to recover daily life, study, work and labor as much as possible, integrate the social life capacity into society and improve life quality. In the current rehabilitation medicine field, the lower limb trainer is generally complex in structure.
Disclosure of Invention
The utility model aims to: the lower limb exoskeleton auxiliary training device can help training staff of different statures to train lower limbs, and is simple in structure.
The technical scheme is as follows: the utility model provides a lower limb exoskeleton auxiliary training device, which comprises a movable support frame, a lower limb exoskeleton, an electric exoskeleton support frame, a seat structure and a control box, wherein the movable support frame is arranged on the lower limb exoskeleton; the lower limb exoskeleton comprises two exoskeleton branches;
the electric exoskeleton supporting frame is arranged on the movable supporting frame, and the movable supporting frame is pushed to drive the electric exoskeleton supporting frame to move; the two exoskeleton branches are arranged on the electric exoskeleton support frame and are used for realizing lower limb walking training of a training person, and the movable support frame is driven to move during the walking training, and the positions of the two exoskeleton branches are adjusted by the electric exoskeleton support frame; the seat structure is arranged on the movable supporting frame, and the electric exoskeleton supporting frame is used for adjusting the placement state of the seat structure in a linkage way; the control box is detachably arranged on the movable support frame, a power supply and a controller are arranged in the control box, and the power supply supplies power to the controller, the electric exoskeleton bracket and the two exoskeleton branches; the electric exoskeleton supporting frame and the two exoskeleton branches are driven and controlled by a controller.
Further, the movable support comprises two support branches; each bracket branch comprises a base rod, a vertical rod and two rollers; the two rollers are respectively arranged at the front end and the rear end of the base rod; the lower end of the vertical rod is fixed in the middle of the base rod; the upper parts of the two vertical rods are fixedly connected through a vertical rod connecting rod; the control box is detachably arranged on the vertical rod connecting rod; the electric exoskeleton support frame is mounted on two base rods.
Further, a pushing handle is fixedly connected between the two vertical rods.
Further, the electric exoskeleton support frame comprises a lifting plate, an elastic mounting structure, two exoskeleton support plates and two electric lifting rods;
the lower ends of the two electric lifting rods are respectively fixed at the middle parts of the two base rods, and the upper ends of the two electric lifting rods are respectively fixed at the left end and the right end of the lower side surface of the lifting plate; a buckle chute is vertically arranged on the upper side of the vertical rod; a buckle convex strip is vertically arranged in the buckle sliding groove; a buckle sliding block sliding along the buckle sliding groove is fixed on the rear side surface of the lifting plate, and the buckle sliding block slides on the buckle convex strip; the elastic mounting structure is mounted on the lifting plate; the two exoskeleton support plates are longitudinally fixed on the elastic mounting structure; the two electric lifting rods are electrically connected with the controller through a lifting driving circuit; the controller drives the two electric lifting rods to synchronously lift through the lifting driving circuit, and the power supply supplies power to the two electric lifting rods.
Further, a grab rail is longitudinally fixed on the left side and the right side of the lifting plate.
Further, the resilient mounting structure includes two mounting branches; each mounting branch comprises a support rod fixing seat, a spring and a spring guide rod; the support rod fixing seats of the two mounting branches are transversely and slidably mounted on the lifting plate; the spring guide rod is vertically arranged on the support rod fixing seat, and the upper end of the spring guide rod penetrates through the exoskeleton support plate in a sliding manner; the spring is sleeved on the spring guide rod and is elastically supported between the exoskeleton support plate and the support rod fixing seat; a limiting sliding rail is vertically arranged on the supporting rod fixing seat; and a limiting sliding block moving along the limiting sliding rail is fixed on the exoskeleton supporting plate.
Further, a back plate is fixed on both exoskeleton support plates.
Further, the seat structure comprises a seat plate, a seat plate bracket, two limiting frames and two seat pull ropes;
the two limiting frames are respectively fixed in the middle of the rear side surfaces of the two vertical rods; the left side surface and the right side surface of the seat plate are respectively provided with a seat rotating shaft which is inserted on the corresponding side limiting frame in a rotating way; the lower ends of the two seat pull ropes are respectively fixed on the left side surface and the right side surface of the seat plate, and the upper ends of the two seat pull ropes are both fixed on the lifting plate; the seat plate bracket is an L-shaped bracket; the lower ends of the vertical sections of the two seat plate brackets are respectively fixed on the base rods, the rear ends of the horizontal sections are respectively fixed on the vertical rods on the corresponding sides, and the horizontal sections support the seat plates.
Further, the exoskeleton branches comprise a foot pedal, a connecting plate, two exoskeleton rods and two joint driving motors; the connecting plate is movably arranged on the electric exoskeleton supporting frame; the upper end of the exoskeleton rod on the upper side is hinged to the lower end of the connecting plate, and a joint driving motor is used for driving the exoskeleton rod on the upper side to swing; the lower end of the exoskeleton rod on the upper side is hinged to the upper end of the exoskeleton rod on the lower side, and the other joint driving motor is used for driving the exoskeleton rod on the lower side to swing; the foot pedal is hinged on the lower end of the exoskeleton rod at the lower side; the two joint driving motors are electrically connected with the controller through joint driving circuits; the controller coordinates and controls the two joint driving motors through the joint driving circuit, and the power supply supplies power to the two joint driving motors.
Further, a hinged circular plate is uniformly and integrally arranged at the lower end of the connecting plate and the lower end of the exoskeleton rod at the upper side; the two joint driving motors are respectively arranged on the two hinged circular plates; and each hinged circular plate is provided with a limiting strip for limiting the swinging range of the two exoskeleton rods.
Compared with the prior art, the utility model has the beneficial effects that: the electric exoskeleton supporting frame can be used for synchronously adjusting the heights of the two exoskeleton branches according to the stature of a training person, so that the training person can be lifted to stand or descend to sit on the seat structure, and the height positions of the two exoskeleton branches, the distance between the two exoskeleton branches and the longitudinal distance between the two exoskeleton branches and the movable supporting frame can be adjusted, so that the electric exoskeleton supporting frame is suitable for the stature and habit of different training persons; the movable support frame is used for conveniently moving the whole position of the auxiliary training device, the stability of training personnel can be kept, and the auxiliary training device is driven by the exoskeleton of the lower limb to move so as to complete walking training; the seat structure is utilized to facilitate the training personnel to sit down, put on and take off the lower limb exoskeleton or rest, and can be folded upwards under the linkage adjustment of the electric exoskeleton supporting frame when training is carried out, so that the interference to the lower limb exoskeleton is avoided.
Drawings
FIG. 1 is an isometric view of the present utility model;
FIG. 2 is a perspective view of the present utility model;
FIG. 3 is a right side view of the present utility model;
fig. 4 is an enlarged view of a portion of the resilient mounting structure of the present utility model.
Detailed Description
The technical scheme of the present utility model will be described in detail with reference to the accompanying drawings, but the scope of the present utility model is not limited to the embodiments.
Example 1:
as shown in fig. 1 to 4, the lower limb exoskeleton auxiliary training device provided by the present utility model includes: a movable support frame, a lower limb exoskeleton, an electric exoskeleton support frame, a seating structure, and a control box 12; the lower limb exoskeleton comprises two exoskeleton branches;
the electric exoskeleton supporting frame is arranged on the movable supporting frame, and the movable supporting frame is pushed to drive the electric exoskeleton supporting frame to move, so that the training personnel can be helped to keep stable; the two exoskeleton branches are arranged on the electric exoskeleton support frame and are used for realizing lower limb walking training of a training person, and the movable support frame is driven to move during the walking training, and the positions of the two exoskeleton branches are adjusted by the electric exoskeleton support frame; the seat structure is arranged on the movable supporting frame, and the electric exoskeleton supporting frame is used for adjusting the placement state of the seat structure in a linkage way; the control box 12 is detachably arranged on the movable supporting frame, a power supply and a controller are arranged in the control box 12, and the power supply supplies power to the controller, the electric exoskeleton bracket and the two exoskeleton branches; the electric exoskeleton supporting frame and the two exoskeleton branches are driven and controlled by a controller.
The electric exoskeleton supporting frame can be used for synchronously adjusting the heights of the two exoskeleton branches according to the stature of a training person, so that the training person can be lifted to stand or descend to sit on the seat structure, and the distance between the two exoskeleton branches and the longitudinal distance between the two exoskeleton branches and the movable supporting frame can be adjusted, so that the electric exoskeleton supporting frame is suitable for the stature and habit of different training persons; the movable support frame is used for conveniently moving the whole position of the auxiliary training device, the stability of training personnel can be kept, and the auxiliary training device is driven by the exoskeleton of the lower limb to move so as to complete walking training; the seat structure is utilized to facilitate the training personnel to sit down, put on and take off the lower limb exoskeleton or rest, and can be folded upwards under the linkage adjustment of the electric exoskeleton supporting frame when training is carried out, so that the interference to the lower limb exoskeleton is avoided.
Further, the movable support comprises two support branches; each bracket branch comprises a base rod 1, a vertical rod 3 and two rollers 2; the two rollers 2 are respectively arranged at the front end and the rear end of the lower side surface of the base rod 1; the lower end of the vertical rod 3 is fixed in the middle of the base rod 1; the upper parts of the two vertical rods 3 are fixedly connected through a vertical rod connecting rod 13; the control box 12 is detachably arranged on the upright rod connecting rod 13; the electric exoskeleton support frame is mounted on two base rods 1.
The roller 2 is utilized to provide moving conditions for the movable supporting frame; the upright 3, the base rod 1 and the upright connecting rod 13 form a simple bracket, so that stable mounting conditions are provided for the electric exoskeleton supporting frame while the structure is simple; the use of the removable mounting of the control box 12 facilitates adjustment of the position of the control box 12 according to the training requirements.
Further, a push handle 10 is fixedly connected between the two uprights 3. The push handle 10 is used to facilitate the movement of the push assist training device.
Further, the electric exoskeleton support frame comprises a lifting plate 15, an elastic mounting structure, two exoskeleton support plates 23 and two electric lifting rods 4;
the lower ends of the two electric lifting rods 4 are respectively fixed at the middle parts of the two base rods 1, and the upper ends are respectively fixed at the left and right ends of the lower side surface of the lifting plate 15; a buckling chute 22 is vertically arranged on the upper side of the vertical rod 3; a buckle convex strip 32 is vertically arranged in the buckle sliding chute 22; a buckle sliding block 20 sliding along the buckle sliding groove 22 is fixed on the rear side surface of the lifting plate 15, and the buckle sliding block 20 slides on the buckle convex strip 32; the elastic mounting structure is mounted on the lifting plate 15; both exoskeleton support plates 23 are longitudinally fixed to the elastic mounting structure; the two electric lifting rods 4 are electrically connected with the controller through a lifting driving circuit; the controller drives the two electric lifting rods 4 to synchronously lift through the lifting driving circuit, and the power supply supplies power to the two electric lifting rods 4.
The controller is used for controlling the two electric lifting rods 4 to drive the two sides of the lifting plate 15 to synchronously lift, so that the synchronous lifting adjustment of the two exoskeleton supporting plates 23 is realized, and the training personnel can be lifted to stand or descend to sit on the seat structure; the lifting plate 15 is helped to stably lift by utilizing the cooperation among the buckle sliding groove 22, the buckle sliding block 20 and the buckle convex strips 32, so that the upper end of the electric lifting rod 4 is prevented from shaking.
Further, a grab rail 16 is longitudinally fixed to both the left and right sides of the lifting plate 15. The use of grab bars 16 facilitates the trainer to support the stance on the auxiliary training device.
Further, the resilient mounting structure includes two mounting branches; each mounting branch comprises a support rod fixing seat 21, a spring 24 and a spring guide rod 25; the supporting rod fixing seats 21 of the two mounting branches are transversely and slidably mounted on the front side surface of the lifting plate 15; the spring guide rod 25 is vertically arranged on the support rod fixing seat 21, and the upper end of the spring guide rod penetrates through the exoskeleton support plate 23 in a sliding manner; the spring 24 is sleeved on the spring guide rod 25 and is elastically supported between the exoskeleton support plate 23 and the support rod fixing seat 21; a limiting slide rail 26 is vertically arranged on the support rod fixing seat 21; a limit slider 27 that moves along a limit slide rail 26 is fixed to the exoskeleton support plate 23.
The elastic support is provided for the two exoskeleton branches by utilizing the installation cooperation among the support rod fixing seat 21, the springs 24 and the spring guide rods 25, so that the gravity of the exoskeleton branches is prevented from being applied to the legs of a training person in the training process, the training effect is influenced, and the effect of helping the training person to lift the legs can be achieved when the rigidity of the springs 24 is high; the supporting rod fixing seat 21 is matched with the lifting plate 15, so that the distance between two exoskeleton branches can be conveniently adjusted, and training staff with different statures can be adapted; the exoskeleton support plate 23 is prevented from swinging by engagement between the limit slide rail 26 and the limit slider 27.
Further, a back plate 14 is fixed to both exoskeleton support plates 23. The backrest plate 14 is used for conveniently fixing the body of the training person, so that the training person can train stably.
Further, the seat structure comprises a seat plate 6, a seat plate bracket 7, two limiting frames 17 and two seat stay ropes 11;
the two limiting frames 17 are respectively fixed in the middle of the rear side surfaces of the two vertical rods 3; the left and right sides of the seat plate 6 are provided with a seat rotating shaft 18 which is inserted on the corresponding side limiting frame 17 in a rotating way; the lower ends of the two seat stay ropes 11 are respectively fixed on the front ends of the left side surface and the right side surface of the seat plate 6, and the upper ends are respectively fixed on the corresponding sides of the lifting plate 15; the seat plate bracket 7 is an L-shaped bracket; the lower ends of the vertical sections of the two seat plate brackets 7 are respectively fixed on the base rod 1, the rear ends of the horizontal sections are respectively fixed on the vertical rods 3 on the corresponding sides, and the horizontal sections support the seat plates 6.
The linkage between the electric exoskeleton supporting frame and the seat structure is realized by utilizing the two seat pull ropes 11, when the lifting plate 15 ascends, the seat pull ropes 11 pull the front side of the seat plate 6, so that the seat plate 6 is upwards turned up and lifted, the interference of shadows on the lower limb exoskeleton is avoided, when the lifting plate 15 descends, the seat pull ropes 11 are loosened, the seat plate 6 is downwards laid flat and descends, and the seat plate is supported on the horizontal section of the seat plate support 7 again, so that the training personnel can sit down to take off the lower limb exoskeleton or rest.
Further, the exoskeleton branches include a foot pedal 8, a connection plate 28, two exoskeleton levers 9, and two joint drive motors 30; the connection plate 28 is movably mounted on the exoskeleton support plate 23; the upper end of the upper exoskeleton lever 9 is hinged to the lower end of the connecting plate 28, and a joint driving motor 30 is used for driving the upper exoskeleton lever 9 to swing; the lower end of the upper exoskeleton lever 9 is hinged to the upper end of the lower exoskeleton lever 9, and the other joint driving motor 30 is used for driving the lower exoskeleton lever 9 to swing; the foot pedal 8 is hinged to the lower end of the lower exoskeleton lever 9, and is perpendicular to the lower exoskeleton lever 9 when the foot pedal 8 is not interfered by external force; the two joint driving motors 30 are electrically connected with the controller through joint driving circuits; the controller coordinates and controls the two joint driving motors 30 through the joint driving circuit, and the power supply supplies power to the two joint driving motors 30.
Two exoskeleton rods 9 and a connecting plate 28 form exoskeleton branches, and a training person wears the exoskeleton branches on the legs through a binding belt and steps on the foot pedal 8 to be matched with the two exoskeleton rods 9 so as to perform active and passive training of lower limbs; with the movable mounting of the connection plate 28, the longitudinal distance between the exoskeleton branches and the lifting plate can be adjusted to further accommodate training persons of different statures.
Further, a hinge circular plate 31 is integrally provided on the lower end of the connection plate 28 and the lower end of the upper exoskeleton lever 9; two joint driving motors 30 are respectively installed on the two hinge circular plates 31; a limiting bar 29 is arranged on each hinged circular plate 31, so that the lower exoskeleton lever 9 can swing backwards and forwards by a small extent, and the lower end of the upper exoskeleton lever 9 can swing forwards and backwards by a small extent.
The swing direction and the amplitude of the two exoskeleton rods 9 are limited by the limit strips 29, so that the movement mode of exoskeleton branches is more in accordance with the movement mode of lower limbs of a human body, and the swing direction and the amplitude of the exoskeleton rods 9 are prevented from damaging the lower limbs of a training person;
in the lower limb exoskeleton auxiliary training device provided by the utility model, the controller adopts the existing singlechip control module; the electric lifting rod 4 adopts an existing electric telescopic rod.
When the lower limb exoskeleton auxiliary training device provided by the utility model is installed and used, the positions of the two support rod fixing seats 21 on the lifting plate 15 are adjusted according to the stature and habit of a training person so as to adjust the distance between two exoskeleton branches; changing the position at which the connection plate 28 is fixed on the exoskeleton support plate 23 to adjust the distance between the two exoskeleton branches and the movable support frame; after the seat plate 6 is sat on by a training person and two exoskeleton branches are worn, after the wearing is finished, the two electric lifting rods 4 are controlled by the controller to drive the lifting plate 15 to rise, the training person is driven to stand up, and at the moment, the seat stay 11 pulls the front side of the seat plate 6, so that the seat plate 6 is turned upwards and rises; the controller coordinates and controls the operation of the four joint driving motors 30 through the joint driving circuit to drive the four exoskeleton rods 9 to swing regularly, so as to help training staff to train; after training of the training personnel is completed, the controller controls the two electric lifting rods 4 to drive the lifting plates 15 to descend, the seat pull ropes 11 are loosened, the seat plates 6 swing down and descend, the training personnel are supported on the horizontal section of the seat plate support 7 again, and the training personnel sit down and take off the two exoskeleton branches.
As described above, although the present utility model has been shown and described with reference to certain preferred embodiments, it is not to be construed as limiting the utility model itself. Various changes in form and details may be made therein without departing from the spirit and scope of the utility model as defined by the appended claims.
Claims (10)
1. The utility model provides a low limbs ectoskeleton auxiliary training device which characterized in that: comprises a movable supporting frame, a lower limb exoskeleton, an electric exoskeleton supporting frame, a seat structure and a control box (12); the lower limb exoskeleton comprises two exoskeleton branches;
the electric exoskeleton supporting frame is arranged on the movable supporting frame, and the movable supporting frame is pushed to drive the electric exoskeleton supporting frame to move; the two exoskeleton branches are arranged on the electric exoskeleton support frame and are used for realizing lower limb walking training of a training person, and the movable support frame is driven to move during the walking training, and the positions of the two exoskeleton branches are adjusted by the electric exoskeleton support frame; the seat structure is arranged on the movable supporting frame, and the electric exoskeleton supporting frame is used for adjusting the placement state of the seat structure in a linkage way; the control box (12) is detachably arranged on the movable supporting frame, a power supply and a controller are arranged in the control box (12), and the power supply supplies power to the controller, the electric exoskeleton bracket and the two exoskeleton branches; the electric exoskeleton supporting frame and the two exoskeleton branches are driven and controlled by a controller.
2. The lower extremity exoskeleton auxiliary training device of claim 1, wherein: the movable support comprises two support branches; each bracket branch comprises a base rod (1), a vertical rod (3) and two rollers (2); the two rollers (2) are respectively arranged at the front end and the rear end of the base rod (1); the lower end of the vertical rod (3) is fixed in the middle of the base rod (1); the upper parts of the two vertical rods (3) are fixedly connected through a vertical rod connecting rod (13); the control box (12) is detachably arranged on the vertical rod connecting rod (13); the electric exoskeleton supporting frame is arranged on the two base rods (1).
3. The lower extremity exoskeleton auxiliary training device of claim 2, wherein: a pushing handle (10) is fixedly connected between the two vertical rods (3).
4. The lower extremity exoskeleton auxiliary training device of claim 2, wherein: the electric exoskeleton supporting frame comprises a lifting plate (15), an elastic mounting structure, two exoskeleton supporting plates (23) and two electric lifting rods (4);
the lower ends of the two electric lifting rods (4) are respectively fixed at the middle parts of the two base rods (1), and the upper ends of the two electric lifting rods are respectively fixed at the left end and the right end of the lower side surface of the lifting plate (15); a buckling chute (22) is vertically arranged on the upper side of the vertical rod (3); a buckle convex strip (32) is vertically arranged in the buckle sliding groove (22); a clamping slider (20) sliding along the clamping sliding groove (22) is fixed on the rear side surface of the lifting plate (15), and the clamping slider (20) slides on the clamping convex strip (32); the elastic mounting structure is mounted on the lifting plate (15); the two exoskeleton support plates (23) are longitudinally fixed on the elastic mounting structure; the two electric lifting rods (4) are electrically connected with the controller through a lifting driving circuit; the controller drives the two electric lifting rods (4) to synchronously lift through the lifting drive circuit, and the power supply supplies power for the two electric lifting rods (4).
5. The lower extremity exoskeleton auxiliary training device of claim 4, wherein: a grab rail (16) is longitudinally fixed on the left side and the right side of the lifting plate (15).
6. The lower extremity exoskeleton auxiliary training device of claim 4, wherein: the elastic mounting structure comprises two mounting branches; each mounting branch comprises a support rod fixing seat (21), a spring (24) and a spring guide rod (25); the support rod fixing seats (21) of the two mounting branches are transversely and slidably mounted on the lifting plate (15); the spring guide rod (25) is vertically arranged on the support rod fixing seat (21), and the upper end of the spring guide rod penetrates through the exoskeleton support plate (23) in a sliding manner; the spring (24) is sleeved on the spring guide rod (25) and is elastically supported between the exoskeleton support plate (23) and the support rod fixing seat (21); a limiting slide rail (26) is vertically arranged on the support rod fixing seat (21); a limit sliding block (27) which moves along a limit sliding rail (26) is fixed on the exoskeleton supporting plate (23).
7. The lower extremity exoskeleton auxiliary training device of claim 6, wherein: a back rest plate (14) is fixed on both exoskeleton support plates (23).
8. The lower extremity exoskeleton auxiliary training device of claim 4, wherein: the seat structure comprises a seat plate (6), a seat plate bracket (7), two limiting frames (17) and two seat pull ropes (11);
the two limiting frames (17) are respectively fixed in the middle of the rear side surfaces of the two vertical rods (3); the left side surface and the right side surface of the seat plate (6) are respectively provided with a seat rotating shaft (18) which is inserted and installed on the corresponding side limiting frame (17) in a rotating way; the lower ends of the two seat pull ropes (11) are respectively fixed on the left side surface and the right side surface of the seat plate (6), and the upper ends of the two seat pull ropes are both fixed on the lifting plate (15); the seat plate bracket (7) is an L-shaped bracket; the lower ends of the vertical sections of the two seat plate brackets (7) are respectively fixed on the base rods (1), the rear ends of the horizontal sections are respectively fixed on the vertical rods (3) at the corresponding sides, and the horizontal sections support the seat plates (6).
9. The lower extremity exoskeleton auxiliary training device of claim 1, wherein: the exoskeleton branches comprise foot pedals (8), a connecting plate (28), two exoskeleton rods (9) and two joint driving motors (30); the connecting plate (28) is movably arranged on the electric exoskeleton supporting frame; the upper end of the upper exoskeleton rod (9) is hinged to the lower end of the connecting plate (28), and a joint driving motor (30) is used for driving the upper exoskeleton rod (9) to swing; the lower end of the upper exoskeleton rod (9) is hinged to the upper end of the lower exoskeleton rod (9), and the other joint driving motor (30) is used for driving the lower exoskeleton rod (9) to swing; the foot pedal (8) is hinged on the lower end of the exoskeleton rod (9) at the lower side; the two joint driving motors (30) are electrically connected with the controller through joint driving circuits; the controller coordinates and controls the two joint driving motors (30) through the joint driving circuit, and the power supply supplies power to the two joint driving motors (30).
10. The lower extremity exoskeleton auxiliary training device of claim 9, wherein: a hinged circular plate (31) is uniformly and integrally arranged at the lower end of the connecting plate (28) and the lower end of the exoskeleton rod (9) at the upper side; the two joint driving motors (30) are respectively arranged on the two hinged circular plates (31); a limit bar (29) is arranged on each hinged circular plate (31) for limiting the swinging range of the two exoskeleton levers (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221957366.4U CN219332384U (en) | 2022-07-27 | 2022-07-27 | Lower limb exoskeleton auxiliary training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221957366.4U CN219332384U (en) | 2022-07-27 | 2022-07-27 | Lower limb exoskeleton auxiliary training device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219332384U true CN219332384U (en) | 2023-07-14 |
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ID=87096462
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221957366.4U Active CN219332384U (en) | 2022-07-27 | 2022-07-27 | Lower limb exoskeleton auxiliary training device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219332384U (en) |
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2022
- 2022-07-27 CN CN202221957366.4U patent/CN219332384U/en active Active
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