CN219700449U - Lower limb exoskeleton robot hanger - Google Patents
Lower limb exoskeleton robot hanger Download PDFInfo
- Publication number
- CN219700449U CN219700449U CN202320243513.XU CN202320243513U CN219700449U CN 219700449 U CN219700449 U CN 219700449U CN 202320243513 U CN202320243513 U CN 202320243513U CN 219700449 U CN219700449 U CN 219700449U
- Authority
- CN
- China
- Prior art keywords
- body frame
- exoskeleton robot
- nitrogen spring
- robot hanger
- lower extremity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 26
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims abstract description 64
- 229910052757 nitrogen Inorganic materials 0.000 claims abstract description 33
- 230000002457 bidirectional effect Effects 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 20
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 6
- 230000005021 gait Effects 0.000 abstract description 5
- 230000002159 abnormal effect Effects 0.000 description 5
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Landscapes
- Invalid Beds And Related Equipment (AREA)
Abstract
The utility model discloses a lower limb exoskeleton robot hanger, which comprises a vehicle body frame, a lumbar support assembly, an electric push rod, a nitrogen spring and two guide shafts, wherein the electric push rod is arranged on the vehicle body frame; the middle and lower positions of the vehicle body frame are provided with a cross beam, two guide shafts are vertically arranged between the cross beam and the top of the vehicle body frame, the lumbar support assembly is connected to the two guide shafts in a sliding mode, the electric push rod and the nitrogen spring are vertically arranged on two sides of the two guide shafts respectively, a shell of the electric push rod is connected with the bottom of the vehicle body frame, the end portion of an actuating rod of the electric push rod is connected with the lumbar support assembly, the shell of the nitrogen spring is connected with the bottom of the vehicle body frame, and the end portion of the actuating rod of the nitrogen spring is connected with the lumbar support assembly; and a brand new hanger layout is designed, so that the space at the bottom of the hanger is thoroughly released, enough space is reserved for the movement of the lower limb exoskeleton robot, gait is not limited, and the rehabilitation training effect is improved.
Description
Technical Field
The utility model relates to a lower limb exoskeleton robot hanger, and belongs to the technical field of rehabilitation training equipment.
Background
The lower limb exoskeleton robot is a wearable external mechanical device, can provide support and protection for a wearer, can complete tasks which cannot be completed by the wearer through a mechanical structure, and is widely applied to rehabilitation treatment of patients with hemiplegia, cerebral apoplexy, apoplexy and the like.
Lower limb exoskeleton robot can not independently work, needs special gallows to assist in moving, and current exoskeleton robot gallows have two problems:
(1) The existing lumbar support lifting driving device is arranged in the middle of the hanging bracket, when a patient walks in normal gait, the exoskeleton robot can interfere with the hanging bracket, and the patient can only train in small gait to influence the rehabilitation training effect;
(2) In order to adapt to crotch width of different patients, all can set up the width adjustment structure that is used for adjusting two handrail subassembly distances on the ectoskeleton robot gallows, the width adjustment structure on the market is manual width adjustment, and the hospital uses many people, needs to adjust the width repeatedly, wastes time and energy.
Disclosure of Invention
The utility model aims to provide a lower limb exoskeleton robot hanger which is used for solving the problems in the prior art.
The technical scheme adopted by the utility model is as follows:
a lower limb exoskeleton robot hanger comprises a vehicle body frame, a lumbar support assembly, an electric push rod, a nitrogen spring and two guide shafts; the middle and lower position at the automobile body frame sets up the crossbeam, and two guiding axles are vertical to be set up between crossbeam and the top of automobile body frame, waist props subassembly sliding connection on two guiding axles, electric putter and nitrogen spring are vertical to be set up respectively in the both sides of two guiding axles, the casing of electric putter is connected with the bottom of automobile body frame, the actuating lever tip and the waist of electric putter prop the subassembly and be connected, the casing and the bottom of automobile body frame of nitrogen spring are connected, the actuating lever tip and the waist of nitrogen spring prop the subassembly and be connected.
Further, the axes of the electric push rod, the nitrogen spring and the two guide shafts are on the same vertical plane, and a through hole for the electric push rod and the nitrogen spring to pass through is formed in the cross beam.
Further, a pushing handle is arranged at the rear side of the vehicle body frame; an electric control cabinet assembly is arranged on the vehicle body frame above the push handle and is used for installing a control system of the electric push rod and a power supply system of the lumbar support assembly.
As a further preferred aspect of the present utility model, the lumbar support assembly includes a back plate, a bi-directional screw rod and a linear guide rail are disposed on the front surface of the back plate, a stepper motor for driving the bi-directional screw rod to rotate is disposed on the back plate, a left-handed thread section of the bi-directional screw rod is in threaded connection with a left-handed screw nut, a right-handed thread section of the bi-directional screw rod is in threaded connection with a right-handed screw nut, two armrest assemblies are slidingly connected on the linear guide rail, one armrest assembly is connected with the left-handed screw nut, the other armrest assembly is connected with the right-handed screw nut, and when the stepper motor drives the bi-directional screw rod to rotate, the left-handed screw nut and the right-handed screw nut drive the two armrest assemblies to approach each other or to be away from each other.
As a further preferable mode of the utility model, two linear bearing seats are arranged on the back surface of the back plate, linear bearings are respectively arranged in the two linear bearing seats, and the back plate is connected to the two guide shafts in a sliding manner through the two linear bearings; the linear bearing can improve the sliding effect of the lumbar support assembly on the two guide shafts, and the linear bearing is matched with the guide shafts to serve as the guide of the lumbar support assembly in lifting motion.
As a further preferable mode of the utility model, two linear guide rails are arranged, the two linear guide rails are respectively positioned at two sides of the bidirectional screw rod, and the handrail component is in sliding connection with the two linear guide rails; the armrest assembly is used for improving the stability of the armrest assembly when sliding; a limiting block is arranged at the tail end of the linear guide rail; the sliding position of the handrail component is limited, and the handrail component is prevented from sliding out of the linear guide rail.
As a further preferred mode of the utility model, a screw rod fixing block and a screw rod fixing plate are arranged on the front surface of the backboard, two ends of the bidirectional screw rod are respectively and rotatably connected with the screw rod fixing block and the screw rod fixing plate, and the stepping motor is arranged on the screw rod fixing plate; the screw rod fixing plate is provided with a control box for controlling the forward and reverse rotation of the stepping motor, and the control box is provided with a control button.
As a further preferable mode of the utility model, the stepping motor drives the bidirectional screw rod to rotate through a transmission mechanism; the transmission mechanism is any one of gear transmission, belt transmission, chain transmission or speed reducer transmission; the manual adjusting mechanism is arranged in the transmission mechanism and is used for manually driving the bidirectional screw rod to rotate; so that when abnormal conditions occur, the bidirectional screw rod is rotated manually, and further the distance width of the two handrail components is adjusted manually.
The utility model has the advantages that:
(1) The novel hanger layout is designed, the electric push rod is moved to one side of the vehicle body frame from the middle of the vehicle body frame, the nitrogen spring is arranged on the other side of the vehicle body frame, the position of the cross beam is improved, the electric push rod is used for driving the lumbar support component to lift, the nitrogen spring is used for relieving the unbalanced load born by the electric push rod, and meanwhile, the pushing force or the pulling force born by the lumbar support component from left to right is balanced; the electric control cabinet assembly is arranged on the upper part of the vehicle body frame, so that the lower part of the vehicle body frame is free, the space at the bottom of the hanging bracket is thoroughly released, enough space is reserved for the movement of the lower limb exoskeleton robot, gait is not limited, and the rehabilitation training effect is improved;
(2) The waist support crotch width is electrically adjusted, namely, the distance between the two handrail components on the waist support component can be electrically adjusted, so that the waist support crotch width is suitable for crotch widths of different patients, time and labor are saved, and meanwhile, the waist support crotch width can be manually adjusted when equipment is abnormal due to the fact that the manual adjusting mechanism is arranged.
Drawings
FIG. 1 is a schematic perspective view of the present utility model;
FIG. 2 is a schematic elevational view of the present utility model;
FIG. 3 is a schematic side view of the present utility model;
fig. 4 is a schematic perspective view of a lumbar support assembly according to the present utility model;
figure 5 is a schematic elevational view of the lumbar support assembly of the present utility model;
FIG. 6 is a cross-sectional view taken along the direction A in FIG. 5;
meaning of reference numerals in the drawings:
the device comprises a 1-car body frame, a 2-lumbar support assembly, a 3-electric push rod, a 4-nitrogen spring, a 5-guide shaft, a 6-cross beam, a 7-push handle, an 8-electric control cabinet assembly, a 9-electric push rod support, a 10-nitrogen spring support, an 11-backboard, a 12-bidirectional screw rod, a 13-linear guide rail, a 14-stepping motor, a 15-left-handed screw nut, a 16-right-handed screw nut, a 17-handrail assembly, a 18-linear bearing seat, a 19-linear bearing, a 20-limiting block, a 21-screw fixing block, a 22-screw fixing plate, a 23-control box, a 24-control button, a 25-driving gear, a 26-driven gear, a 27-manual adjusting shaft, a 28-manual adjusting gear and a 29-mounting support.
Detailed Description
The utility model is described in detail below with reference to the drawings and the specific embodiments.
As shown in fig. 1 to 6, the present embodiment is a lower limb exoskeleton robot hanger, comprising a body frame 1, a lumbar support assembly 2, an electric push rod 3, a nitrogen spring 4 and two guide shafts 5; a cross beam 6 is arranged at the middle lower position of the vehicle body frame 1, two guide shafts 5 are vertically arranged between the cross beam 6 and the top of the vehicle body frame 1, a lumbar support assembly 2 is connected to the two guide shafts 5 in a sliding manner, an electric push rod 3 and a nitrogen spring 4 are respectively and vertically arranged at two sides of the two guide shafts 5, a shell of the electric push rod 3 is connected with the bottom of the vehicle body frame 1, an execution rod end part of the electric push rod 3 is connected with the lumbar support assembly 2, a shell of the nitrogen spring 4 is connected with the bottom of the vehicle body frame 1, and an execution rod end part of the nitrogen spring 4 is connected with the lumbar support assembly 2; the electric push rod 3 is used for driving the lumbar support assembly 2 to lift.
In the embodiment, the axes of the electric push rod 3, the nitrogen spring 4 and the two guide shafts 5 are on the same vertical plane, and a through hole for the electric push rod 3 and the nitrogen spring 4 to pass through is formed on the cross beam 6; a push handle 7 is arranged at the rear side of the vehicle body frame 1; an electric control cabinet assembly 8 is arranged on the vehicle body frame 1 above the push handle 7, and the electric control cabinet assembly 8 is used for installing a control system of the electric push rod 3 and a power supply system of the lumbar support assembly 2.
In actual application, the nitrogen spring 4 can also be replaced by the electric push rods 3, and the two electric push rods 3 synchronously act to drive the lumbar support assembly 2 to lift; meanwhile, the electric push rod 3 can be replaced by a hydraulic cylinder, and of course, a screw rod module can be adopted, and the screw rod module is used for driving the lumbar support assembly 2 to lift and displace.
In this embodiment, the lumbar support assembly 2 includes a back plate 11, a bi-directional screw rod 12 and a linear guide rail 13 parallel to each other are disposed on the front surface of the back plate 11, a stepper motor 14 for driving the bi-directional screw rod 12 to rotate is disposed on the back plate 11, a left-handed thread section of the bi-directional screw rod 12 is in threaded connection with a left-handed screw nut 15, a right-handed thread section of the bi-directional screw rod 12 is in threaded connection with a right-handed screw nut 16, two armrest assemblies 17 are slidably connected on the linear guide rail 13, one armrest assembly 17 is connected with the left-handed screw nut 15, the other armrest assembly 17 is connected with the right-handed screw nut 16, and when the stepper motor 14 drives the bi-directional screw rod 12 to rotate, the left-handed screw nut 15 and the right-handed screw nut 16 drive the two armrest assemblies 17 to approach each other or separate from each other.
In the embodiment, two linear bearing seats 18 are arranged on the back surface of the back plate 11, linear bearings 19 are respectively arranged in the two linear bearing seats 18, and the back plate 11 is connected to the two guide shafts 5 in a sliding manner through the two linear bearings 19; the linear bearing 19 can improve the sliding effect of the lumbar support assembly 2 on the two guide shafts 5, and the linear bearing 19 is matched with the guide shafts 5 to serve as the guide of the lifting movement of the lumbar support assembly 2.
The back of the back plate 11 is also provided with an electric push rod support 9 connected with the end part of an actuating rod of the electric push rod 3; a nitrogen spring support 10 connected to the end of the actuating rod of the nitrogen spring 4 is also provided on the back of the back plate 11.
In the embodiment, two linear guide rails 13 are provided, the two linear guide rails 13 are respectively positioned at two sides of the bidirectional screw rod 12, and the handrail component 17 is in sliding connection with the two linear guide rails 13; to improve stability of the armrest assembly 17 during sliding; a limiting block 20 is arranged at the tail end of the linear guide rail 13; to limit the sliding position of the arm rest assembly 17 and prevent the arm rest assembly 17 from sliding out of the linear guide 13.
In the embodiment, a screw rod fixing block 21 and a screw rod fixing plate 22 are arranged on the front surface of the back plate 11, two ends of the bidirectional screw rod 12 are respectively and rotatably connected with the screw rod fixing block 21 and the screw rod fixing plate 22, and the stepping motor 14 is arranged on the screw rod fixing plate 22; the screw fixing plate 22 is provided with a control box 23 for controlling the forward and reverse rotation of the stepping motor 14, and a control button 24 is provided on the control box 23.
In the embodiment, the stepper motor 14 drives the bidirectional screw rod 12 to rotate through a transmission mechanism; the transmission mechanism is in gear transmission and comprises a driving gear 25 and a driven gear 26, wherein the driving gear 25 is arranged on an output shaft of the stepping motor 14, and the driven gear 26 is arranged at the end part of the bidirectional screw rod 12; in the embodiment, a manual adjusting mechanism is arranged in the transmission mechanism and is used for manually driving the bidirectional screw rod 12 to rotate; so that when abnormal conditions occur, the bidirectional screw rod 12 is manually rotated, and further the distance width of the two armrest components 17 is manually adjusted; the manual adjustment mechanism in the embodiment comprises a manual adjustment shaft 27 and a manual adjustment gear 28, wherein the manual adjustment shaft 27 is rotatably arranged on the screw rod fixing plate 22, the manual adjustment gear 28 is arranged on the manual adjustment shaft 27, the driving gear 25 is meshed with the manual adjustment gear 28, and the manual adjustment gear 28 is meshed with the driven gear 26; of course, it is also possible to design the driving gear 25 to be meshed with the driven gear 26, the manual adjusting gear 28 to be meshed with the driven gear 26, and the manual adjusting gear 28 to be not meshed with the driving gear 25; an inner hexagonal groove is formed on the end face of the manual adjusting shaft 27 facing the outer side, and the manual adjusting shaft 27 is rotated by inserting an inner hexagonal wrench into the inner hexagonal groove, so that the bidirectional screw rod 12 is rotated manually; of course, a knob or a dial may be provided at the end of the manual adjustment shaft 27 facing outward.
In practical application, the transmission mechanism can also adopt any one of belt transmission, chain transmission or speed reducer transmission; or the stepper motor 14 directly drives the bi-directional screw 12 to rotate.
The vehicle body frame 1 is manufactured by adopting bent rectangular tube welding, universal wheels are arranged at the bottom of the vehicle body frame 1, the cross beam 6 is welded on the vehicle body frame 1, and the cross beam 6 is positioned at the middle and lower positions of the vehicle body frame 1, so that the strength and the rigidity of the vehicle body frame 1 are improved; the electric control cabinet assembly 8 is arranged above the push handle 7, the guide shaft 5 is fixed on the vehicle body frame 1 by using the mounting support 29, the lumbar support assembly 2 is provided with the linear bearing 19, and the linear bearing 19 and the guide shaft 5 are matched to serve as the guide of the lifting movement of the lumbar support assembly 2; the electric push rod 3 is moved to one side of the vehicle body frame 1 from the middle of the vehicle body frame 1, a nitrogen spring 4 is arranged on the other side of the vehicle body frame 1, the position of a cross beam 6 is improved, the electric push rod 3 is used for driving the lumbar support component 2 to lift, the nitrogen spring 4 is used for relieving the unbalanced load born by the electric push rod 3, and meanwhile, the pushing force or the pulling force born by the lumbar support component 2 from left to right is balanced; the electric control cabinet assembly 8 is arranged on the upper part of the vehicle body frame 1, so that the lower part of the vehicle body frame 1 is free, and enough space is reserved for the movement of the lower limb exoskeleton robot.
In the embodiment, the linear guide rail 13 is fixed on the back plate 11 to play a role in guiding; the bidirectional screw 12 is mounted on the back plate 11 by using a screw fixing block 21 and a screw fixing plate 22; the left-handed screw nut 15 and the right-handed screw nut 16 are respectively connected with the two handrail components 17 through screw nut mounting blocks, the stepping motor 14 is mounted on the screw fixing plate 22, power is transmitted to the bidirectional screw 12 through gear transmission, a control box 23 for controlling forward and reverse rotation of the stepping motor 14 is arranged on the screw fixing plate 22, and a control button 24 is arranged on the control box 23; control buttons 24 include an "open" button and a "close" button; pressing the "open" button, the stepper motor 14 rotates forward, the left-handed screw nut 15 and the right-handed screw nut 16 drive the two armrest components 17 to move away from each other, and the waist support crotch width is increased; pressing the 'close' button, the stepping motor 14 rotates reversely, the left-handed screw nut 15 and the right-handed screw nut 16 drive the two armrest components 17 to be close to each other, and the crotch width of the waist support is reduced, so that the waist support is suitable for crotch widths of different patients; a manual adjusting mechanism is arranged in the transmission mechanism, and when abnormal conditions occur, the bidirectional screw rod 12 is rotated manually, so that the distance width of the two handrail components 17 is manually adjusted.
Compared with the prior art, the utility model has the following advantages:
(1) The novel hanger layout is designed, the electric push rod is moved to one side of the vehicle body frame from the middle of the vehicle body frame, the nitrogen spring is arranged on the other side of the vehicle body frame, the position of the cross beam is improved, the electric push rod is used for driving the lumbar support component to lift, the nitrogen spring is used for relieving the unbalanced load born by the electric push rod, and meanwhile, the pushing force or the pulling force born by the lumbar support component from left to right is balanced; the electric control cabinet assembly is arranged on the upper part of the vehicle body frame, so that the lower part of the vehicle body frame is free, the space at the bottom of the hanging bracket is thoroughly released, enough space is reserved for the movement of the lower limb exoskeleton robot, gait is not limited, and the rehabilitation training effect is improved;
(2) The waist support crotch width is electrically adjusted, namely, the distance between the two handrail components on the waist support component can be electrically adjusted, so that the waist support crotch width is suitable for crotch widths of different patients, time and labor are saved, and meanwhile, the waist support crotch width can be manually adjusted when equipment is abnormal due to the fact that the manual adjusting mechanism is arranged.
In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
In the description of the present utility model, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "configured" are to be construed broadly, and may be, for example, fixedly connected, configured, detachably connected, configured, or integrally connected, configured; can be mechanically or electrically connected; can be directly connected, can also be indirectly connected through an intermediate medium, and can also be the communication between the two elements; the specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
The foregoing has shown and described the basic principles, principal features and advantages of the utility model; it will be appreciated by persons skilled in the art that the above embodiments are not intended to limit the utility model in any way, and that all technical solutions obtained by means of equivalent substitutions or equivalent transformations fall within the scope of the utility model.
Claims (13)
1. A lower limb exoskeleton robot hanger, characterized in that: comprises a vehicle body frame, a lumbar support assembly, an electric push rod, a nitrogen spring and two guide shafts; the middle and lower position at the automobile body frame sets up the crossbeam, and two guiding axles are vertical to be set up between crossbeam and the top of automobile body frame, waist props subassembly sliding connection on two guiding axles, electric putter and nitrogen spring are vertical to be set up respectively in the both sides of two guiding axles, the casing of electric putter is connected with the bottom of automobile body frame, the actuating lever tip and the waist of electric putter prop the subassembly and be connected, the casing and the bottom of automobile body frame of nitrogen spring are connected, the actuating lever tip and the waist of nitrogen spring prop the subassembly and be connected.
2. The lower extremity exoskeleton robot hanger of claim 1 wherein said electrical push rod, nitrogen spring and two guide shafts are on the same vertical plane, and said cross beam has a through hole formed therein through which said electrical push rod and nitrogen spring pass.
3. The lower extremity exoskeleton robot hanger of claim 1 wherein said body frame is provided with a push handle on a rear side thereof.
4. A lower extremity exoskeleton robot hanger according to claim 3 wherein an electrical cabinet assembly is provided on the body frame above the pushrods for mounting the control system for the electrical pushrods and the power supply system for the lumbar support assembly.
5. The lower limb exoskeleton robot hanger of claim 1, wherein the lumbar support assembly comprises a back plate, a bidirectional screw rod and a linear guide rail which are parallel to each other are arranged on the front surface of the back plate, a stepping motor for driving the bidirectional screw rod to rotate is arranged on the back plate, a left-handed thread section of the bidirectional screw rod is in threaded connection with a left-handed screw nut, a right-handed thread section of the bidirectional screw rod is in threaded connection with a right-handed screw nut, two armrest assemblies are in sliding connection with the linear guide rail, one armrest assembly is connected with the left-handed screw nut, the other armrest assembly is connected with the right-handed screw nut, and when the stepping motor drives the bidirectional screw rod to rotate, the left-handed screw nut and the right-handed screw nut drive the two armrest assemblies to be close to each other or far away from each other.
6. The lower extremity exoskeleton robot hanger of claim 5 wherein said back of said back plate is provided with two linear bearing blocks, in which linear bearings are provided, respectively, said back plate being slidably coupled to said two guide shafts by said two linear bearings.
7. The lower extremity exoskeleton robot hanger of claim 5, wherein said linear guide is provided in two, two linear guides are respectively located on both sides of the bi-directional screw rod, and the armrest assembly is slidably connected to the two linear guides.
8. A lower extremity exoskeleton robot hanger as claimed in claim 5 or 7 wherein said linear guide is provided with a stopper at its end.
9. The lower extremity exoskeleton robot hanger of claim 5, wherein a screw fixing block and a screw fixing plate are provided on the front surface of said back plate, two ends of said bidirectional screw are respectively rotatably connected to said screw fixing block and said screw fixing plate, and said stepping motor is mounted on said screw fixing plate.
10. The lower extremity exoskeleton robot hanger of claim 9, wherein said screw rod fixing plate is provided with a control box for controlling forward and reverse rotation of the stepper motor, and a control button is provided on the control box.
11. The lower extremity exoskeleton robot hanger of claim 5 wherein said stepper motor drives bi-directional lead screw rotation via a transmission mechanism.
12. The lower extremity exoskeleton robot hanger of claim 11 wherein said transmission is any one of a gear drive, a belt drive, a chain drive, or a speed reducer drive.
13. The lower extremity exoskeleton robot hanger of claim 12 wherein a manual adjustment mechanism is provided in said transmission mechanism for manually driving the bi-directional lead screw in rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320243513.XU CN219700449U (en) | 2023-02-17 | 2023-02-17 | Lower limb exoskeleton robot hanger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320243513.XU CN219700449U (en) | 2023-02-17 | 2023-02-17 | Lower limb exoskeleton robot hanger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219700449U true CN219700449U (en) | 2023-09-19 |
Family
ID=87996174
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320243513.XU Active CN219700449U (en) | 2023-02-17 | 2023-02-17 | Lower limb exoskeleton robot hanger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219700449U (en) |
-
2023
- 2023-02-17 CN CN202320243513.XU patent/CN219700449U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107773368A (en) | It is a kind of adjustable electric care bed | |
| CN110270061B (en) | Medical treatment is with supplementary muscle stretching device of using of parkinson disease | |
| CN102247258B (en) | Robot for rehabilitation training of upper and lower limbs | |
| CN205698411U (en) | A kind of ectoskeleton hand device for healing and training | |
| CN110916970B (en) | Device and method for realizing cooperative motion of weight-reducing vehicle and lower limb robot through communication | |
| CN111359165B (en) | Parallel driving lower limb rehabilitation training robot | |
| CN108245379B (en) | Screw type lower limb stair climbing assisting device | |
| CN105496725B (en) | A kind of Three Degree Of Freedom thumb rehabilitation training mechanism | |
| CN110841245A (en) | Rehabilitation subtracts heavy walking training car suitable for multi-mode | |
| CN219700449U (en) | Lower limb exoskeleton robot hanger | |
| CN112043549A (en) | Rehabilitation device for upper and lower limb movement and control system thereof | |
| CN103110489A (en) | Electrically powered wheel chair steering control mechanism | |
| CN111228743B (en) | Joint movement auxiliary device | |
| CN212395746U (en) | Lower limb rehabilitation training robot deformation assembly | |
| CN114533426A (en) | Auxiliary limb lifting and turning device for surgical nursing and using method thereof | |
| CN111166630A (en) | Spring box rehabilitation robot | |
| CN112057248A (en) | Intelligent old-people-assisting wheelchair | |
| CN2796690Y (en) | Bed for gynecopathy operation | |
| CN213047986U (en) | Hard weight-reducing accompanying walking device | |
| CN219614814U (en) | High-adaptation human joint constant-speed training system | |
| CN214653350U (en) | Steel sleeve lifting support mechanism for shield engineering | |
| CN216040453U (en) | Automatic adjusting vehicle for laying ballastless track of high-speed railway | |
| CN110916969B (en) | Device for assisting in transferring gravity center of lower limb robot by adjusting waist support of weight reduction vehicle and control method | |
| CN113384433B (en) | Cerebrovascular disease rehabilitation bed | |
| CN212973479U (en) | Recovered robot spring case dual-force arm subtracts heavy ware |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |