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Auxiliary turning mechanism of lower limb exoskeleton and lower limb exoskeleton

An exoskeleton and lower limb technology, applied in the field of exoskeleton, can solve problems such as inconvenient operation and difficult steering function

Active Publication Date: 2021-08-10
HANGZHOU ROBOCT TECH DEV CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, exoskeleton robot products on the market need to use the waist force to drive the entire exoskeleton robot to rotate when turning, so as to realize the steering function. The operation is very inconvenient, and it is difficult to realize effective steering function.

Method used

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  • Auxiliary turning mechanism of lower limb exoskeleton and lower limb exoskeleton
  • Auxiliary turning mechanism of lower limb exoskeleton and lower limb exoskeleton
  • Auxiliary turning mechanism of lower limb exoskeleton and lower limb exoskeleton

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0063] like figure 1 and 2 As shown, auxiliary turning mechanism of a lower extremity outer bone, including:

[0064] U-shaped sole seat 1, the shoe base 1 includes a bottom plate 2 and two vertical portions 3 disposed on both sides of the bottom plate 2;

[0065] The heel baffle 4 is fixed to the rear end of the upper end surface of the bottom plate 2;

[0066] The two sets of inflatable wheel assemblies 5 are mounted on the outer side wall of the corresponding vertical portion 3, including at least one inflatable wheel 47, the pneumatic wheel 47 has a non-inflated state, an inflated state, in a non-inflated state, an inflatable wheel The lowermost end of 47 is higher than the bottom end of the bottom plate 2, in the inflation state, the lowermost end of the inflatable wheel 47 can be in contact with the ground;

[0067] The two sets of drive assembly 6 are mounted with the corresponding inflatable wheel assembly 5, respectively, for driving at least one inflatable wheel 47;

[0...

Embodiment 2

[0106] like Figure 10 As shown, the difference from the first embodiment is that the optical curtain sensor is not provided, and the upper portion of the vertical portion 3 adjacent the second auxiliary turning mechanism is provided at the upper portion of the vertical portion 3 of the second auxiliary turning mechanism 45 and a laser transmitter 45. A plurality of spaced laser receivers 46 are provided at the upper portion of the vertical portion 3 of the second auxiliary turning mechanism adjacent the first auxiliary turning mechanism. The distance between the two shoe base 1 can be detected by the distance sensor 44, and it is convenient to control the motion speed of the two shoe base 1, the larger the distance between the two shoe bases 1, and by setting The laser emitter 45 and a plurality of laser receiver 46 can control the front-rear position between the two shoe bases 1, so that the front and rear positions of the two shoe base 1 are in the set range, thereby ensuring sa...

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Abstract

The invention discloses an auxiliary turning mechanism of a lower limb exoskeleton and the lower limb exoskeleton. The auxiliary turning mechanism comprises a U-shaped sole seat which comprises a bottom plate and two vertical parts arranged on the two sides of the bottom plate respectively, two groups of inflation wheel assemblies respectively mounted on the outer side walls of the corresponding vertical parts, two groups of driving assemblies respectively matched with the corresponding inflation wheel assemblies and used for driving at least one inflation wheel to rotate, and an instep assembly detachably installed between the two vertical parts and used for limiting the instep position. By arranging the U-shaped sole seat, the vertical parts for installing the inflation wheel assemblies can be formed; and the inflation wheel assemblies are arranged on the two sides of the sole seat correspondingly, when turning is needed, inflation wheels are inflated to make the inflation wheels make contact with the ground, the inflation wheels on the left side and the right side of the sole seat can rotate at the differential speed under the action of the driving assembly, and therefore auxiliary turning can be achieved.

Description

Technical field [0001] The present invention relates to the field of outer skeleton, and specifically, the auxiliary turning mechanism of the lower extremity outer bone and the outer bone of the lower extremity. Background technique [0002] At present, when the exoskeleton robot product is turned to drive the entire outer skeleton robot with the waist force, the steering function is achieved, and the operation is very inconvenient, it is difficult to achieve effective steering function. Inventive content [0003] The present invention proposes the auxiliary turning mechanism of the outer bone of the lower limb and the outer bone of the lower extremity. [0004] The technical solution taken by the present invention is as follows: [0005] Auxiliary turning mechanism of a lower extremity outer bone, including: [0006] U-shaped sole seat, the sole base includes a bottom plate and two vertical portions disposed on both sides of the bottom plate; [0007] The heel baffle is fixed t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D15/00B25J9/00B25J19/00
CPCB62D15/00B25J9/0006B25J19/00
Inventor 王天
Owner HANGZHOU ROBOCT TECH DEV CO LTD