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Auxiliary turning mechanism of lower extremity exoskeleton and lower extremity exoskeleton

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

Active Publication Date: 2022-05-17
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 extremity exoskeleton and lower extremity exoskeleton
  • Auxiliary turning mechanism of lower extremity exoskeleton and lower extremity exoskeleton
  • Auxiliary turning mechanism of lower extremity exoskeleton and lower extremity exoskeleton

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

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

[0064] U-shaped shoe base 1, the shoe base 1 includes a bottom plate 2 and two vertical parts 3 respectively arranged on both sides of the bottom plate 2;

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

[0066] Two groups of inflatable wheel assemblies 5 are installed on the outer side walls of the corresponding vertical parts 3 respectively. The inflatable wheel assemblies 5 include at least one inflatable wheel 47. The inflatable wheel 47 has a non-inflated state and an inflated state. In the non-inflated state, the inflated wheel The lowermost end of the 47 is higher than the bottom end of the base plate 2, and in the inflated state, the lowermost end of the inflatable wheel 47 can be in contact with the ground;

[0067] Two sets of drive assemblies 6 are respectively matched with corresponding inflatable wh...

Embodiment 2

[0106] like Figure 10 As shown, the difference between this embodiment and Embodiment 1 is that no light curtain sensor is provided, and a distance sensor 44 and a laser emitter 45 are provided on the upper part of the vertical part 3 of the first auxiliary turning mechanism close to the second auxiliary turning mechanism A plurality of laser receivers 46 arranged at intervals are arranged on the upper part of the vertical part 3 of the second auxiliary turning mechanism close to the first auxiliary turning mechanism. The distance between the two shoe bases 1 can be detected by the distance sensor 44, which is convenient to control the speed of motion of the two shoe bases 1 when turning, that is, the larger the distance, the greater the speed difference between the two shoe bases 1 when turning; The laser transmitter 45 and multiple laser receivers 46 can control the front and rear positions between the two shoe bases 1, so that the front and rear positions of the two shoe b...

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Abstract

The application discloses an auxiliary turning mechanism for a lower extremity exoskeleton and the lower extremity exoskeleton, wherein the auxiliary turning mechanism includes: a U-shaped shoe base, the shoe base includes a bottom plate and two vertical parts respectively arranged on both sides of the bottom plate; The wheel assembly is respectively installed on the outer side wall of the corresponding vertical part; two sets of drive assemblies are respectively matched with the corresponding inflatable wheel assembly to drive at least one inflatable wheel to rotate; the instep assembly is detachably installed on the two vertical parts between, used to define the position of the instep. In this application, a U-shaped shoe base can be used to form a vertical part for installing an inflatable wheel assembly; an inflatable wheel assembly is installed on both sides of the shoe base, and when a turn is required, the inflatable wheel is inflated so that the inflatable wheel contacts the ground , through the action of the drive assembly, the pneumatic wheels on the left and right sides of the shoe base can rotate at a differential speed, thereby enabling auxiliary turning.

Description

technical field [0001] The invention relates to the field of exoskeleton, in particular to an auxiliary turning mechanism of the exoskeleton for lower limbs and the exoskeleton for lower limbs. Background technique [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. Contents of the invention [0003] Aiming at the above problems, the present invention proposes an auxiliary turning mechanism for the lower limb exoskeleton and the lower limb exoskeleton. [0004] The technical scheme that the present invention takes is as follows: [0005] An auxiliary turning mechanism for a lower extremity exoskeleton, comprising: [0006] A U-shaped shoe base, the shoe base includes a bottom plate and two vertical parts respectively arranged on both sides...

Claims

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Application Information

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