Lower limb assisting outer bone based on gravity balance
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A gravity balance and exoskeleton technology, applied in the field of lower extremity exoskeletons, can solve the problems of heavy exoskeletons, energy requirements, complex structures, etc., and achieve the effect of small overall weight, small size, and light structure
Active Publication Date: 2015-07-08
HARBIN INST OF TECH
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Problems solved by technology
[0008] In order to solve the problems that the existing exoskeleton has a relatively large weight, a relatively complex structure, and is driven by a power device, the cost is relatively high, and energy is required, and the present invention provides a lower limb power-assisted exoskeleton based on gravity balance
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specific Embodiment approach 1
[0025] Specific implementation mode one: combine Figure 1 ~ Figure 3 Describe this embodiment, this embodiment includes back A, two waists B, two thighs C, two calves D, two linkage mechanisms E, two hip joint axes F, two knee joint axes G, two The first steel wire rope R1, two second steel wire ropes R2, four thigh binding buckles H and four calf binding buckles J,
[0026] Each waist B includes upper waist board B1, leg swing joints B2, first steel wire fixing board B5 and waist lower board B6, waist upper board B1 and waist lower board B6 are hinged through leg swing joints B2, waist upper board There are two long holes B1-1 on B1. The long holes B1-1 can adjust the connection position between the waist B and the back A, so as to adapt to different wearers. The first steel wire fixing plate B5 and the lower waist plate B6 are fixed together,
[0027] Each thigh C includes thigh connecting wheel C1, upper thigh board C2, thigh pulley seat C3, thigh pulley block C4, thigh ...
specific Embodiment approach 2
[0031] Specific implementation mode two: combination figure 2 The present embodiment will be described. The length of the first wire rope R1 in the present embodiment is equal to the elongation amount of the thigh spring C8. Other components and connections are the same as those in the first embodiment.
specific Embodiment approach 3
[0032] Specific implementation mode three: combination figure 2 The present embodiment will be described. The length of the second wire rope R2 in the present embodiment is equal to the elongation amount of the thigh spring C8. Other components and connections are the same as those in the second embodiment.
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Abstract
Provided is a lower limb assisting outer bone based on gravity balance. Two waists are symmetrically arranged on the two sides of a back, waist plates are fixedly connected with the back through connecting elements, upper thigh plates are hinged to the waist plates through hip joint shafts, shank plates are hinged to lower thigh plates through knee joint shafts, upper joint bearings are hinged to waist lower plates, connecting rods are hinged to the knee joint shafts, the upper end and the lower end of each upper thigh plate are each provided with a thigh binding buckle, the upper end and the lower end of each shank plate are each provided with a shank binding buckle, one ends of first steel wire ropes are arranged on the inner sides of waist upper plates and fixedly connected with the waist upper plates, the other ends of the first steel wire ropes are pulled out of first small holes of first steel wire fixing plates, wound around thigh pulley blocks and then fixedly connected with thigh connecting wheels, one ends of second steel wire ropes are arranged on the inner sides of shanks and fixedly connected with the connecting rods, and the other ends of the second steel wire ropes are pulled out of second small holes of second steel wire fixing plates, wound around shank pulley blocks and then fixedly connected with shank connecting wheels. The lower limb assisting outer bone is used for helping the aged and physically-challenged persons and used for medical rehabilitation and the like.
Description
technical field [0001] The invention relates to a lower limb exoskeleton for assisting walking, in particular to a lower limb assisting exoskeleton utilizing the principle of gravity balance. Background technique [0002] At present, the research on exoskeleton power-assisted devices is gradually emerging, and has a wide range of application prospects, such as helping the elderly and the disabled, medical rehabilitation, industrial production, earthquake rescue, individual combat and other fields. The general power-assisted exoskeleton has the following characteristics: it can detect the movement intention of the human body; the joint degrees of freedom and joint rotation space are similar to the human body; it has the necessary active drive of the joints to assist the output; it has its own control system and energy system; it has certain safety defense mechanism. [0003] According to the purpose of power transmission, power-assisted exoskeleton can be divided into two si...
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Application Information
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