An exoskeleton assisting device
An exoskeleton and equipment technology, applied in the field of exoskeleton assist equipment, can solve the problems of inability to be widely used in industrial production, staying in the scientific research stage, and expensive manufacturing costs.
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Embodiment 1
[0101] Such as Figure 1-7 and Figure 16Shown: an exoskeleton assisting device, including a body wearing part, a control system, and two actuators 1, the two actuators are connected through the body wearing part, both of which include a traction cable 2, a power part 3, and a rotating joint And the fulcrum part 4 worn on the leg, the power part 3 includes a frame 5 and a power cylinder 6, the rotary joint includes an upper joint part 7 and a lower joint part 8, the upper joint part 7 is fixedly connected with the frame 5, and the upper joint The lower part of the part 7 is hinged with the upper part of the lower joint part 8. The upper joint part 7 is provided with a guide wheel 9 and a secondary winding wheel 10. The secondary winding wheel is arranged on the hinge of the upper joint part 7 and the lower joint part 8. A tensioning wheel 11 and a main winding wheel 12 are arranged in the joint part 8, the fulcrum part 4 is fixed on the main winding wheel 12, and the two ends...
Embodiment 2
[0133] An exoskeleton assisting device, including a body wearing part, a control system and two actuators, the two actuators are connected through the body wearing part, the executing device includes a traction cable, a power part, a rotating joint and a fulcrum part, and the power part includes a machine frame and power cylinder, the rotary joint includes an upper joint part and a lower joint part, the upper part of the upper joint part is fixedly connected with the frame, the lower part of the upper joint part is hinged with the upper part of the lower joint part, and the upper joint part is provided with a guide wheel and a secondary winding The secondary winding wheel is set on the hinge of the upper joint part and the lower joint part. The tension wheel and the main winding wheel are arranged in the lower joint part. The fulcrum part is fixed on the main winding wheel. It is fixed to the power cylinder and the main winding wheel, and the middle part of the traction rope is...
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