CN207492924U - Power exoskeleton - Google Patents
Power exoskeleton Download PDFInfo
- Publication number
- CN207492924U CN207492924U CN201720253726.5U CN201720253726U CN207492924U CN 207492924 U CN207492924 U CN 207492924U CN 201720253726 U CN201720253726 U CN 201720253726U CN 207492924 U CN207492924 U CN 207492924U
- Authority
- CN
- China
- Prior art keywords
- waist
- leg
- compact heap
- support bracket
- rotary shaft
- 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
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The utility model is related to a kind of power exoskeleton, for assisting the movement of wearer, including：Waist support bracket, waist support bracket can be abutted against with the waist of wearer；Mechanism is bent and stretched in leg, is rotatablely arranged on waist support bracket；Leg support mechanism is rotatablely arranged at leg and bends and stretches in mechanism；And the auxiliary support mechanism abutted against for the hip with wearer, it is set on waist support bracket, the position of auxiliary support mechanism opposed waist supporting rack can adjust.Above-mentioned power exoskeleton can effectively mitigate the leg load of wearer, so as to improve the comfort of wearer, then improve the rehabilitation training effect of wearer by the setting of auxiliary support mechanism.
Description
Technical field
The utility model is related to medical rehabilitation instrument field, more particularly to a kind of power exoskeleton.
Background technology
With economic development and the raising of living standards of the people, transport facility increases rapidly, caused by traffic accident
Neurotrosis or limb injury and the number that is unable to normal walking is on the increase, it is heavy so as to be brought to family and society
Burden.Power exoskeleton is wearable to be synchronized with the movement in human body and with human body, and wearer motion is followed in walking moving process simultaneously
Driving force is provided, wearer is helped to carry out rehabilitation training or completes larger heavy burden and the walking of long period, mitigates wearer
Fatigue.However the gravity of traditional power exoskeleton is undertaken by the leg of wearer, which results in wearer legs
The active force born is larger so that wearer causes discomfort in rehabilitation training, so as to influence the rehabilitation training of wearer
Effect.
Utility model content
Based on this, it is provided with a kind of power exoskeleton of leg load that can mitigate wearer.
A kind of power exoskeleton, for assisting the movement of wearer, including：
Waist support bracket, the waist support bracket can be abutted against with the waist of the wearer；
Mechanism is bent and stretched in leg, is rotatablely arranged on the waist support bracket；
Leg support mechanism is rotatablely arranged at the leg and bends and stretches in mechanism；And
It for the auxiliary support mechanism abutted against with the hip of the wearer, is set on the waist support bracket, institute
The position for stating the relatively described waist support bracket of auxiliary support mechanism can adjust.
The leg is bent and stretched mechanism and is included in one of the embodiments,：
Thigh connecting rod is rotatablely arranged on the waist support bracket；
First actuator is connected with the thigh connecting rod, and first actuator can drive the thigh to connect
Bar is rotated relative to the waist support bracket；
Shank connecting rod is rotatablely arranged in the thigh connecting rod；And
Second actuator is connected with the shank connecting rod, and second actuator can drive the shank to connect
Bar is rotated relative to the thigh connecting rod.
The leg bends and stretches mechanism and further includes thigh bandage and shank bandage, the thigh in one of the embodiments,
Bandage is set in the thigh connecting rod, and the thigh bandage is used to connect the huckle of the wearer with the thigh
Bar is fixedly connected, and the shank bandage is set in the shank connecting rod, and the shank bandage is used for the wearer's
Calf is fixedly connected with the shank connecting rod.
The auxiliary support mechanism includes in one of the embodiments,：
First compact heap is set to the side of the waist support bracket, the first fixation is offered on first compact heap
Hole；
Second compact heap is set to the side of first compact heap far from the waist support bracket, and described second compresses
The second mounting hole is offered on block；
Adjustable column is held between first compact heap and second compact heap；
Cushion component is set on the adjustable column, and the relatively described waist support bracket of the adjustable column along the first direction may be used
It is mobile, so that the cushion component can be closer or far from the waist support bracket；And
First fastener, first fastener wears first mounting hole and second mounting hole, so that described
First compact heap and second compact heap compress the adjustable column.
The auxiliary support mechanism further includes in one of the embodiments,：
For installing the third compact heap of the cushion component, it is set on the adjustable column, the third compact heap phase
The adjustable column is moved in a second direction, so that the cushion component can be closer or far from the waist support bracket, institute
It states and third mounting hole is offered on third compact heap；
4th compact heap, is set to side of the adjustable column far from the third compact heap, on the 4th compact heap
Offer the 4th mounting hole；And
Second fastener, second fastener wear the third mounting hole and the 4th mounting hole, by described in
Third compact heap is fixed on the adjustable column.
The cushion component includes in one of the embodiments,：
Backing plate is rotatablely arranged on the third compact heap；
Movable plate, the side of the movable plate are fixedly connected with the backing plate, the opposite side of the movable plate and described the
Three compact heaps are connected, and offer waist-shaped hole on the movable plate, and the movable plate can be by the waist-shaped hole along third direction
It is mobile, so that the backing plate can be rotated relative to the third compact heap；And
Third fastener, the third fastener are worn the waist-shaped hole and are compressed with the fixation movable plate and the third
Block.
The leg support mechanism includes foot's rotary components and bottom plate, foot's rotation in one of the embodiments,
Turn component and be rotatablely arranged at the leg to bend and stretch in mechanism, the bottom plate is set on foot's rotary components, described
Bottom plate is used to carry the foot.
Foot's rotary components include in one of the embodiments,：
First connector is rotatablely arranged at the leg and bends and stretches in mechanism；
For installing the first auxiliary member of the bottom plate, the first mounting groove is offered on first auxiliary member；
First link block is placed in first mounting groove, and interconnected is offered on first link block
One via hole and the second via hole；
First rotary shaft, first rotary shaft are arranged in first auxiliary member and match with first via hole
It closes, and first auxiliary member can be rotated relative to the axis of first rotary shaft；And
Second rotary shaft, second rotary shaft are arranged in first connector and match with second via hole
It closes, the extending direction of the second rotary shaft is orthogonal with the extending direction of first rotary shaft, and first auxiliary member being capable of phase
The axis of second rotary shaft is rotated.
Leg rotary components are further included in one of the embodiments, and the leg rotary components are set to the waist
Between mechanism is bent and stretched in supporting rack and the leg, the leg rotary components include：
For installing the second auxiliary member that mechanism is bent and stretched in the leg, the second installation is offered on second auxiliary member
Slot；
Second link block is placed in second mounting groove, and interconnected is offered on second link block
Three via holes and the 4th via hole；
Third rotary shaft, the third rotary shaft are arranged in second auxiliary member and match with the third via hole
It closes, and second auxiliary member can be rotated relative to the axis of the third rotary shaft；And
4th rotary shaft, the 4th rotary shaft are arranged in the waist support bracket and match with the 4th via hole
It closes, the extending direction of the 4th rotary shaft is orthogonal with the extending direction of the third rotary shaft, and second auxiliary member being capable of phase
The axis of 4th rotary shaft is rotated.
Waist bandage is further included in one of the embodiments, the waist bandage is set on the waist support bracket,
The waist bandage is used to the waist being fixedly connected with the waist support bracket.
Above-mentioned power exoskeleton, by the way that relatively turnable leg is set to bend and stretch mechanism on waist support bracket, leg is bent
The movement of leg of wearer can be assisted, while auxiliary support mechanism is set on waist support bracket by stretching mechanism, Auxiliary support
The position of mechanism opposed waist supporting rack can adjust so that and auxiliary support mechanism can be abutted against with the hip of wearer, so as to
Certain supporting role can be provided to wearer so that the leg loaded portion transfer of wearer, so that wearer
The active force that leg is born greatly reduces.Above-mentioned power exoskeleton can effectively be mitigated and be worn by the setting of auxiliary support mechanism
The leg load of wearer so as to improve the comfort of wearer, then improves the rehabilitation training effect of wearer.
Description of the drawings
Fig. 1 is the structure diagram of power bone in one embodiment of the utility model；
Fig. 2 is the partial schematic diagram of power bone shown in Fig. 1；
Fig. 3 is another partial schematic diagram of power bone shown in Fig. 1；
Fig. 4 is the another partial schematic diagram of power bone shown in Fig. 1；
Fig. 5 is enlarged diagram at power bone A shown in Fig. 1.
Specific embodiment
For the ease of understanding the utility model, the utility model is more fully retouched below with reference to relevant drawings
It states.The better embodiment of the utility model is given in attached drawing.But the utility model can come in many different forms
It realizes, however it is not limited to embodiments described herein.On the contrary, the purpose of providing these embodiments is that make new to this practicality
The more thorough and comprehensive that the disclosure of type understands.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
For illustrative purposes only, it is unique embodiment to be not offered as " right side " and similar statement.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with belonging to the technology of the utility model
The normally understood meaning of technical staff in domain is identical.It is only in the term used in the description of the utility model herein
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term as used herein " and/or " packet
Include the arbitrary and all combination of one or more relevant Listed Items.
Also referring to Fig. 1, the power exoskeleton 100 in one embodiment of the utility model, for assisting the shifting of wearer
It is dynamic.Power exoskeleton 100 includes waist support bracket 110, mechanism 120, leg support mechanism 130 and Auxiliary support machine are bent and stretched in leg
Structure 140.Waist support bracket 110 can be abutted against with the waist of wearer.It bends and stretches mechanism 120 and is rotatablely arranged at waist in leg
On supporting rack 110.Leg support mechanism 130 is rotatablely arranged at leg and bends and stretches in mechanism 120.Auxiliary support mechanism 140 is used
It is abutted against in wearer's hip.Auxiliary support mechanism 140 is set on waist support bracket 110.Auxiliary support mechanism 140 is opposite
The position of waist support bracket 110 can adjust.
Specifically in the present embodiment, it is two that mechanism 120 is bent and stretched in leg.It bends and stretches mechanism 120 and is respectively arranged in two legs
The both sides of waist support bracket 110.It bends and stretches mechanism 120 and includes thigh connecting rod 121, the first actuator 122, shank connecting rod in leg
123 and second actuator 124.Thigh connecting rod 121 is rotatablely arranged on waist support bracket 110.First actuator 122 is set
It is placed in thigh connecting rod 121.First actuator 122 is connected with thigh connecting rod 121, and the first actuator 122 can drive
121 opposed waist supporting rack 110 of thigh connecting rod rotates.Shank connecting rod 123 is rotatablely arranged at thigh connecting rod 121
On.Second actuator 124 is set in shank connecting rod 123.Second actuator 124 is connected with shank connecting rod 123, and second
Actuator 124 can drive shank connecting rod 123 to be rotated relative to thigh connecting rod 121.
It bends and stretches mechanism 120 and may also include thigh bandage 125 and shank bandage 126 in leg.Thigh bandage 125 is set to thigh
In connecting rod 121.Thigh bandage 125 is used to fix the huckle of wearer and thigh connecting rod 121 by way of binding
Connection.Shank bandage 126 is set in shank connecting rod 123.Shank bandage 126 is used for by way of binding by wearer's
Calf is fixedly connected with shank connecting rod 123.
Specifically in the present embodiment, leg bends and stretches mechanism 120 and may also include the first controller 127 and second controller 128.
First controller 127 is set in thigh connecting rod 121.First controller 127 is connected with the first actuator 122.First control
Device 127 is for controlling the output power size of the first actuator 122, to adjust 121 opposed waist supporting rack 110 of thigh connecting rod
Rotation amplitude.Second controller 128 is set in shank connecting rod 123.128 and second actuator 124 of second controller.The
Two controllers 128 are connected for controlling the output power size of the second actuator 124 with adjusting shank connecting rod 123 with respect to thigh
The rotation amplitude of extension bar 121.It should be pointed out that above-mentioned power exoskeleton 100 may also include waist bandage 129.Waist bandage
129 are set on waist support bracket 110.Waist bandage 129 is used for by way of binding by the waist of wearer and waist branch
Support 110 is fixedly connected.
Also referring to Fig. 2, leg support mechanism 130 is used to assist the rotation of the foot of wearer.Leg support mechanism
130 include foot's rotary components 131 and bottom plate 132.Foot's rotary components 131 are used to adjust 130 opposite leg of leg support mechanism
Bend and stretch the rotation of mechanism 120 in portion.Foot's rotary components 131 are rotatablely arranged at leg and bend and stretch in mechanism 120.Bottom plate 132 is set
It is placed on foot's rotary components 131.Bottom plate 132 is used to carry the foot of wearer.Bottom plate 132 can be contacted directly with ground,
The whole gravity of power exoskeleton 100 can be undertaken when wearer does foot's partial recovery training, so as to mitigate wearing
The burden of person.
Foot's rotary components 131 include the first connector 133, the first auxiliary member 134, the rotation of the first link block 135, first
136 and second rotary shaft 137 of axis.First connector 133 is rotatablely arranged at leg and bends and stretches in mechanism 120.First auxiliary member
134 are used for mounting base 132.The first mounting groove 138 is offered on first auxiliary member 134.First link block 135 is placed in first
In mounting groove 138.The first interconnected via hole (not shown) and the second via hole (figure are offered on first link block 135
Do not show).First rotary shaft 136 is arranged in the first auxiliary member 134 and is matched with the first via hole.First auxiliary member 134 can
Axis relative to the first rotary shaft 136 rotates.Second rotary shaft 137 be arranged in the first connector 133 and with the second via hole phase
Cooperation.The extending direction of second rotary shaft 137 is orthogonal with the extending direction of the first rotary shaft 136.First auxiliary member 134 being capable of phase
The axis of second rotary shaft 137 is rotated.Pass through the first rotary shaft 136 is set and the second rotary shaft 137 so that be connected to the
Bottom plate 132 on one auxiliary member 134 can rotate in two different directions, and leg support mechanism 130 is then enabled to have
There are two rotary freedoms, and the foot of wearer is facilitated to do rotation rehabilitation training.
It should be pointed out that foot's rotary components 131 may also include spring 139.Spring 139 is set to the first connector
On 133.The both ends of spring 139 abut against respectively with the first connector 133 and the first auxiliary member 134.In addition, specifically in this implementation
In example, spring 139 is two.Two springs 139 are respectively arranged at the both sides of the first connector 133.Pass through setting for spring 139
It puts, can be bent and stretched to the foot of wearer and certain cushioning effect is provided, so as to be conducive to improve 100 entirety of power exoskeleton
Wearing comfort.
Also referring to Fig. 3, auxiliary support mechanism 140 includes the first compact heap 141, the second compact heap 142, adjustable column
143rd, 144 and first fastener 145 of cushion component.First compact heap 141 is set to the side of waist support bracket 110.First pressure
The first mounting hole (not shown) is offered on tight block 141.Second compact heap 142 is set to the first compact heap 141 far from waist branch
The side of support 110.The second mounting hole 146 is offered on second compact heap 142.Adjustable column 143 is held on the first compact heap 141
And second between compact heap 142.Cushion component 144 is set on adjustable column 143.143 opposed waist supporting rack of adjustable column, 110 edge
First direction moves, so that cushion component 144 can be closer or far from waist support bracket 110.Specifically in the present embodiment, the
One direction is vertical direction.Adjustable column 143 can opposed waist supporting rack 110 vertically move up and down.First fastener
145 wear the first mounting hole and the second mounting hole 146, so that the first compact heap 141 and the second compact heap 142 are by adjustable column 143
It compresses.Pass through the setting of adjustable column 143 so that cushion component 144 is capable of the position of opposed waist supporting rack 110 in vertical side
It is adjusted upwards, so as to meet the actual demand of the wearer of different building shape so that auxiliary support mechanism 140 can be with
The hip of wearer abuts against, and so as to disperse the leg load of wearer, meets the requirement of human engineering, improves relaxing for wearing
Adaptive.
Also referring to Fig. 3 and Fig. 4, auxiliary support mechanism 140 may also include third compact heap 147, the 4th compact heap 148
And second fastener 149.Third compact heap 147 is used to install cushion component 144.Third compact heap 147 is set to adjustable column 143
On.147 relative adjustment column 143 of third compact heap moves in a second direction, so that cushion component 144 can be closer or far from waist
Portion's supporting rack 110.Specifically in the present embodiment, second direction is horizontal direction.Third compact heap 147 being capable of relative adjustment column
143 are moved forward and backward in the horizontal direction.Third mounting hole (not shown) is offered on third compact heap 147.4th compact heap 148 is set
It is placed in side of the adjustable column 143 far from third compact heap 147.The 4th mounting hole (not shown) is offered on 4th compact heap 148.
Second fastener 149 wears third mounting hole and the 4th mounting hole, and third compact heap 147 is fixed on adjustable column 143.It is logical
Being movably arranged for cushion component 144 is crossed, so as to further improve the range of fit of power exoskeleton 100, is met different
The actual demand of build wearer improves wearing comfort.
Referring to Fig. 4, cushion component 144 includes backing plate 144a, movable plate 144b and third fastener 144c.Pad
Plate 144a is rotatablely arranged on third compact heap 147.The side of movable plate 144b is fixedly connected with backing plate 144a.It is mobile
The opposite side of plate 144b is connected with third compact heap 147.Waist-shaped hole 144d is offered on movable plate 144b.Movable plate 144b can
It is moved by waist-shaped hole 144d along third direction, so that backing plate 144a can be rotated relative to third compact heap 147.Third fastener
144c wears waist-shaped hole 144d to fix movable plate 144b and third compact heap 147.Specifically in the present embodiment, waist-shaped hole 144d
For strip, and vertically extend.Movable plate 144b can vertically be moved by waist-shaped hole 144d so that backing plate
144a can be rotated relative to third compact heap 147, so as to change the angle that the plane where backing plate 144a and horizontal plane are formed,
So as to meet the use demand of the wearer of different building shape, the wearing comfort of power exoskeleton 100 is improved.
Please refer to fig. 5, above-mentioned power exoskeleton 100 further includes leg rotary components 150.Leg rotary components 150
It is set to waist support bracket 110 and leg is bent and stretched between mechanism 120.Leg rotary components connect including the second auxiliary member 151, second
Connect block 152,153 and the 4th rotary shaft 154 of third rotary shaft.Second auxiliary member 151 bends and stretches mechanism 120 for installing leg.The
The second mounting groove 155 is offered on two auxiliary members 151.Second link block 152 is placed in the second mounting groove 155.Second connection
Interconnected third via hole (not shown) and the 4th via hole (not shown) are offered on block 152.Third rotary shaft 153 is worn
It matches set on the second auxiliary member 151 and with third via hole.Second auxiliary member 151 can be with respect to the axis of third rotary shaft 153
Line rotates.4th rotary shaft 154 is arranged in waist support bracket 110 and is matched with the 4th via hole.4th rotary shaft 154 is prolonged
The extending direction for stretching direction with third rotary shaft 153 is orthogonal.Second auxiliary member 151 can be with respect to the axis of the 4th rotary shaft 154
Rotation.By setting 153 and the 4th rotary shaft 154 of third rotary shaft, the leg being connected on the second auxiliary member 151 can be given
It bends and stretches mechanism 120 and two additional local rotary freedoms is provided, to make up leg ectoskeleton with wearer leg due to muscle
It is mismatched caused by deformation, so as to which rotation rehabilitation training is done in the leg for facilitating wearer.
Above-mentioned power exoskeleton 100, by relatively turnable leg being set to bend and stretch mechanism on waist support bracket 110
120, the movement that mechanism 120 can assist the leg of wearer is bent and stretched in leg, while auxiliary is set on waist support bracket 110
Supporting mechanism 140, the position of 140 opposed waist supporting rack 110 of auxiliary support mechanism can adjust so that auxiliary support mechanism 140
It can be abutted against with the hip of wearer, so as to provide certain supporting role to wearer so that the leg of wearer
Loaded portion shifts, so that the active force that the leg of wearer is born greatly reduces.Above-mentioned power exoskeleton 100 is by auxiliary
The setting of supporting mechanism 140 is helped, can effectively mitigate the leg load of wearer, so as to improve the comfort of wearer,
Then the rehabilitation training effect of wearer is improved.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Embodiment described above only expresses the several embodiments of the utility model, and description is more specific and detailed,
But therefore it can not be interpreted as the limitation to utility model patent range.It should be pointed out that the common skill for this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The scope of protection of the utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (10)
1. a kind of power exoskeleton, for assisting the movement of wearer, which is characterized in that including：
Waist support bracket, the waist support bracket can be abutted against with the waist of the wearer；
Mechanism is bent and stretched in leg, is rotatablely arranged on the waist support bracket；
Leg support mechanism is rotatablely arranged at the leg and bends and stretches in mechanism；And
For the auxiliary support mechanism abutted against with the hip of the wearer, it is set on the waist support bracket, it is described auxiliary
The position of the relatively described waist support bracket of supporting mechanism is helped to can adjust.
2. power exoskeleton according to claim 1, which is characterized in that bend and stretch mechanism and include in the leg：
Thigh connecting rod is rotatablely arranged on the waist support bracket；
First actuator is connected with the thigh connecting rod, and first actuator can drive the thigh connecting rod phase
The waist support bracket is rotated；
Shank connecting rod is rotatablely arranged in the thigh connecting rod；And
Second actuator is connected with the shank connecting rod, and second actuator can drive the shank connecting rod phase
The thigh connecting rod is rotated.
3. power exoskeleton according to claim 2, which is characterized in that bend and stretch mechanism and further include thigh bandage in the leg
With shank bandage, the thigh bandage is set in the thigh connecting rod, and the thigh bandage is used for the wearer's
Huckle is fixedly connected with the thigh connecting rod, and the shank bandage is set in the shank connecting rod, and the shank is tied up
Band is used to the calf of the wearer being fixedly connected with the shank connecting rod.
4. power exoskeleton according to claim 1, which is characterized in that the auxiliary support mechanism includes：
First compact heap is set to the side of the waist support bracket, the first mounting hole is offered on first compact heap；
Second compact heap, is set to the side of first compact heap far from the waist support bracket, on second compact heap
Offer the second mounting hole；
Adjustable column is held between first compact heap and second compact heap；
Cushion component is set on the adjustable column, and the relatively described waist support bracket of the adjustable column moves along the first direction,
So that the cushion component can be closer or far from the waist support bracket；And
First fastener, first fastener wear first mounting hole and second mounting hole, so that described first
Compact heap and second compact heap compress the adjustable column.
5. power exoskeleton according to claim 4, which is characterized in that the auxiliary support mechanism further includes：
For installing the third compact heap of the cushion component, it is set on the adjustable column, the third compact heap is with respect to institute
Adjustable column is stated to move in a second direction so that the cushion component can closer or far from the waist support bracket, described
Third mounting hole is offered on three compact heaps；
4th compact heap is set to side of the adjustable column far from the third compact heap, is opened up on the 4th compact heap
There is the 4th mounting hole；And
Second fastener, second fastener wear the third mounting hole and the 4th mounting hole, by the third
Compact heap is fixed on the adjustable column.
6. power exoskeleton according to claim 5, which is characterized in that the cushion component includes：
Backing plate is rotatablely arranged on the third compact heap；
Movable plate, the side of the movable plate are fixedly connected with the backing plate, the opposite side of the movable plate and the third pressure
Tight block is connected, and waist-shaped hole is offered on the movable plate, and the movable plate can be moved by the waist-shaped hole along third direction,
So that the backing plate can be rotated relative to the third compact heap；And
Third fastener, the third fastener wear the waist-shaped hole with the fixation movable plate and the third compact heap.
7. power exoskeleton according to claim 1, which is characterized in that the leg support mechanism includes foot's rotation group
Part and bottom plate, foot's rotary components are rotatablely arranged at the leg and bend and stretch in mechanism, and the bottom plate is set to described
On foot's rotary components, the bottom plate is used to carry the foot.
8. power exoskeleton according to claim 7, which is characterized in that foot's rotary components include：
First connector is rotatablely arranged at the leg and bends and stretches in mechanism；
For installing the first auxiliary member of the bottom plate, the first mounting groove is offered on first auxiliary member；
First link block is placed in first mounting groove, and it is auxiliary to offer interconnected first on first link block
Help hole and the second via hole；
First rotary shaft, first rotary shaft are arranged in first auxiliary member and are matched with first via hole, and
First auxiliary member can be rotated relative to the axis of first rotary shaft；And
Second rotary shaft, second rotary shaft are arranged in first connector and are matched with second via hole, the
The extending direction of two rotary shafts is orthogonal with the extending direction of first rotary shaft, and first auxiliary member can be relatively described
The axis rotation of second rotary shaft.
9. power exoskeleton according to claim 1, which is characterized in that further include leg rotary components, the leg rotation
Turn component and be set to the waist support bracket and between the leg bends and stretches mechanism, the leg rotary components include：
For installing the second auxiliary member that mechanism is bent and stretched in the leg, the second mounting groove is offered on second auxiliary member；
Second link block is placed in second mounting groove, and it is auxiliary to offer interconnected third on second link block
Help hole and the 4th via hole；
Third rotary shaft, the third rotary shaft are arranged in second auxiliary member and are matched with the third via hole, and
Second auxiliary member can be rotated relative to the axis of the third rotary shaft；And
4th rotary shaft, the 4th rotary shaft are arranged in the waist support bracket and are matched with the 4th via hole, the
The extending direction of four rotary shafts is orthogonal with the extending direction of the third rotary shaft, and second auxiliary member can be relatively described
The axis rotation of 4th rotary shaft.
10. power exoskeleton according to claim 9, which is characterized in that further include waist bandage, the waist bandage is set
It is placed on the waist support bracket, the waist bandage is used to the waist being fixedly connected with the waist support bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720253726.5U CN207492924U (en) | 2017-03-15 | 2017-03-15 | Power exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720253726.5U CN207492924U (en) | 2017-03-15 | 2017-03-15 | Power exoskeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207492924U true CN207492924U (en) | 2018-06-15 |
Family
ID=62496511
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720253726.5U Active CN207492924U (en) | 2017-03-15 | 2017-03-15 | Power exoskeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207492924U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106943276A (en) * | 2017-03-15 | 2017-07-14 | 深圳市奇诺动力科技有限公司 | Power exoskeleton |
| CN109571434A (en) * | 2018-12-06 | 2019-04-05 | 西安交通大学 | A kind of unpowered lower limb exoskeleton robot |
-
2017
- 2017-03-15 CN CN201720253726.5U patent/CN207492924U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106943276A (en) * | 2017-03-15 | 2017-07-14 | 深圳市奇诺动力科技有限公司 | Power exoskeleton |
| CN109571434A (en) * | 2018-12-06 | 2019-04-05 | 西安交通大学 | A kind of unpowered lower limb exoskeleton robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10722416B2 (en) | Multi-posture lower limb rehabilitation robot | |
| CN209059884U (en) | A kind of wearable lower limb rehabilitation robot | |
| CN106726363B (en) | Wearable bionic hydraulic lower limb rehabilitation walking-assisting mechanical device | |
| KR100942968B1 (en) | A movement machine for rehabilitation medical cure | |
| JP6647225B2 (en) | Leg straightening device and straightening device | |
| CN101530367B (en) | Unweighting walking rehabilitation training robot | |
| CN204121372U (en) | A kind of wearable lower limb exoskeleton walk help decompression robot device | |
| CN108553271A (en) | A kind of MR damper sitting and lying formula lower limb rehabilitation robot | |
| RU2687573C2 (en) | Ankle link of orthosis or exoskeleton | |
| CN106691775A (en) | Novel rehabilitation training seat | |
| JP2018518208A (en) | A device that drives walking in an upright position and lower limbs of a person in a supine or partially lying position | |
| CN104644377B (en) | A kind of sitting and lying formula recovery set for lower limbs | |
| CN102028604A (en) | Parallel type ankle rehabilitation training apparatus | |
| CN110882132A (en) | Rehabilitation training device for ankles | |
| CN108938325A (en) | Lower limb body recovery exercising robot | |
| JP2017530834A (en) | Lower body and spinal joint motion apparatus for restoring body balance and control method thereof | |
| CN207492924U (en) | Power exoskeleton | |
| CN207886415U (en) | A kind of wearable exoskeleton lower limb rehabilitation robot | |
| CN113730175A (en) | Flexible cross traction rehabilitation bed | |
| CN205359728U (en) | Sufficient orthopedic ware of energy storage formula ankle | |
| CN114129384A (en) | Orthopedics postoperative care trainer | |
| CN106943276A (en) | Power exoskeleton | |
| CN208910866U (en) | Family type lower limb exoskeleton recovery exercising robot | |
| CN204121211U (en) | Knee joint disorders orthosis | |
| CN104287941A (en) | Multifunctional tendon-pulling and bone-setting physiotherapy couch |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |