An exoskeleton robot testing device

Abstract

The present invention relates to the technical field of testing devices, and discloses an exoskeleton robot testing device, including: a frame; two groups of lateral coordinated pulling mechanisms, which include side plates, a first movable block that can actively move along the plane where the side plates are located, the side plates are configured to rotate around an axis at their upper ends in the Y-Z plane under the action of a traction mechanism, a first cable is provided between the first movable block and the lower end of the mechanical leg, and a first sensor for detecting lateral tension is provided on the first cable; and two groups of bottom coordinated pulling mechanisms, which include a second movable block that can actively move in the X-Y plane, a second cable is provided between the second movable block and the pedal, and a second sensor for detecting longitudinal tension is provided on the second cable. The present invention is easy to use, low in cost, and can simulate a motion posture that is closer to the real motion of the human body, thereby obtaining more accurate detection data.

Description

Technical Field

[0001] The present invention relates to the technical field of testing devices, and in particular to an exoskeleton robot testing device. Background Art

[0002] The lower limb powered exoskeleton robot, also known as "electronic legs", is a wearable lightweight power-assisted robot. Fig.10 The figure shows an exoskeleton robot, including a skeleton seat 7, two mechanical legs 70 connected to the skeleton seat, the mechanical legs including a thigh arm 700, a calf arm 701, and a pedal 702, the soles of the wearer's feet are connected to the pedals, and the calf arm and thigh arm of the exoskeleton robot are respectively located on the outside of the human leg and tied to the human leg. It can not only help disabled people with muscle damage caused by congenital or disease to restore walking ability, but also prevent patients from developing pressure sores due to sitting in a wheelchair for a long time, and at the same time can improve heart health, exercise muscle strength, and prevent cerebellar atrophy caused by long-term lack of balance exercise.

[0003] After the exoskeleton robot is manufactured, its load capacity, mechanical strength, endurance and other performance under different motion postures need to be tested. At present, loads are usually directly tied to the pedals of the lower limb powered exoskeleton robot to simulate the movement of the lower limbs of the human body. However, the movement state of the tied heavy objects is very different from the actual movement state of the human body. For example, when a person wears an exoskeleton robot and uses it, when the two feet of the human body move alternately, when the feet are lifted up and stepped down, the force state of the pedals of the exoskeleton robot will be significantly different, such as Fig.10 As described above, when the human body steps downward at an angle, the pedal is subjected to downward pressure. Since the pedal is located on the inner side of the calf arm, the calf arm and the thigh arm will deflect outward. Fig.10 As shown by the dotted line in the middle, when the foot is lifted, the pressure of the foot on the pedal is released, and the calf arm and thigh arm will reset to the initial state under the action of their own strength. In addition, different users have different walking styles, such as "outward-turned legs" and "inward-turned legs". This results in the motion trajectory of the center point of the pedal being a three-dimensional motion when the human body actually walks wearing a lower limb powered exoskeleton robot. During walking, the force size and direction of the pedal will be different. When using counterweights to simulate human movement for exoskeleton robot testing, its movement mode is very different from the actual movement mode of the human body, making it difficult to obtain data that is more compatible with real people, resulting in poor test results.

[0004] If dummies are used instead of counterweights, there will be a huge demand for dummies due to the need for different weights and different movement postures, and the cost of dummies that can move autonomously is very high. Summary of the invention

[0005] In order to solve the above-mentioned problems existing in the prior art, the present invention provides an exoskeleton robot testing device, which is easy to use, low-cost, can coordinate the movement of the exoskeleton robot, simulate the movement posture that is closer to the real movement of the human body, and then obtain more accurate detection data, and make a more accurate detection and evaluation of the exoskeleton robot.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] An exoskeleton robot testing device, comprising:

[0008] A frame, wherein the upper end of the frame is provided with a positioning assembly for positioning the skeleton seat;

[0009] Two sets of lateral coordinated pulling mechanisms are respectively arranged on the outside of the two pedals, and include side plates, and a first movable block that can actively move along the plane where the side plates are located. The side plates are configured so that their upper ends can rotate around the axis in the YZ plane under the action of the traction mechanism. The motion trajectory of the first movable block is configured to match the motion trajectory of the projection of the pedals on the side plates. A first cable is arranged between the first movable block and the lower end of the mechanical leg, and a first sensor for detecting lateral pulling force is arranged on the first cable; and

[0010] Two sets of bottom cooperative pulling mechanisms are respectively arranged on the lower side of the two pedals, and include a second movable block that can actively move in the XY plane. The motion trajectory of the second movable block is configured to match the motion trajectory of the projection of the pedal on the XY plane. A second cable is arranged between the second movable block and the pedal. The second cable has a released state and a reeled state: when the pedal moves upward, the second cable is in a released state; when the pedal moves downward, the second cable is in a reeled state and actively applies a downward pulling force to the pedal. A second sensor for detecting longitudinal tension is arranged on the second cable.

[0011] During use, the lateral coordinated pulling mechanism cooperates with the traction mechanism to provide lateral pulling force for the pedal, simulating the outward lateral force on the mechanical arm when the human body wears the exoskeleton robot and walks; the second cable in the bottom coordinated pulling mechanism is in a released state without force during the pedal rising process, and actively applies pulling force to the pedal during the pedal descending process, simulating that when the human body walks, no pressure is applied to the pedal during the foot lifting process, and pressure is applied to the pedal during the foot stepping process; the lateral pulling force is quantitatively applied in cooperation with the first sensor, and similarly, the bottom pulling force is quantitatively applied in cooperation with the second sensor, and at the same time, the first movable block and the second movable block can synchronously and cooperatively adapt to the state changes of the pedal in the three-dimensional space during walking, thereby making the force detection more accurate. This kind of test device can simulate a state closer to the real human body wearing an exoskeleton robot, and adapt to various different postures of the pedal of the exoskeleton robot, and can make more accurate detection and evaluation of the load capacity, mechanical strength, endurance, etc. of the exoskeleton robot, and has strong versatility and adaptability.

[0012] Preferably, the upper end of the side plate is pivotally connected to the frame via a swing arm, the inner side of the side plate is provided with a first sliding seat that can actively move along the X direction, and the first movable block is slidably connected to the first sliding seat along the Y direction and can actively move along the Y direction.

[0013] Preferably, the first sliding seat is slidably connected to the side plate via a first horizontal sliding rod, and the first sliding seat is provided with a first horizontal screw rod distributed parallel to the first horizontal sliding rod and driven to rotate by the first horizontal motor; the first movable block is slidably connected to the first sliding seat via a first vertical sliding rod, and the first movable block is provided with a first vertical screw rod distributed parallel to the first vertical sliding rod and driven by the first vertical motor.

[0014] Preferably, the outer end of the first cable is fixedly connected to the first movable block, and the first sensor is arranged at the connection between the first cable and the first movable block; the inner end of the first cable is provided with a connecting component for connecting to the lower end of the mechanical leg.

[0015] Preferably, the connecting assembly comprises a U-shaped seat, a plurality of through holes are provided on both sides of the open end of the U-shaped seat, binding ropes are provided at the through holes, the U-shaped seat is inserted into the calf arm at the lower end of the mechanical leg and is tied by the binding rope; a flexible support block is provided on the inner side of the U-shaped seat.

[0016] Preferably, the traction mechanism comprises a traction motor and a traction rope wound by the traction motor, one end of the traction rope is connected to the lower end of the side plate, and the other end of the traction rope is wound on a winding wheel driven to rotate by the traction motor.

[0017] Preferably, the two ends of the first cable, the upper rotation point of the swing arm, and the upper end point of the mechanical leg are connected to form a parallelogram.

[0018] Preferably, the bottom collaborative pulling mechanism includes a second sliding seat arranged at the bottom of the frame and capable of actively moving along the Y direction. The second movable block is slidably connected to the second sliding seat along the X direction and can actively move along the X direction. The second movable block is provided with a winding mechanism for winding and releasing the second cable.

[0019] Preferably, the second sliding seat is connected to the frame via a second longitudinal slide rail, the outer side of the second sliding seat is connected to a traction mechanism, the traction mechanism drives the second sliding seat and the side plate to move synchronously along the Y direction, and an elastic reset member is provided on the inner side of the second sliding seat; the second movable block is slidably connected to the second sliding seat along the X direction via the second longitudinal slide rail, and the second sliding seat is provided with a second motor for driving the second movable block to move along the X direction.

[0020] Preferably, the winding mechanism includes a winding motor and a winding wheel driven to rotate by the winding motor, the second cable is connected to the winding wheel, and the second sensor is arranged at the connecting end of the second cable and the pedal.

[0021] Preferably, a treadmill track is provided on the frame at the bottom of the pedal, and an avoidance groove distributed along the moving direction of the treadmill track is provided on the treadmill track at a position corresponding to the second cable.

[0022] Preferably, the positioning assembly includes a support plate, a front baffle, and a rear baffle, the front baffle and the rear baffle are fixed in parallel on the support plate, a movable plate is provided between the front baffle and the rear baffle, one side of the movable plate is slidably connected to the rear baffle via a sliding rod, and the movable plate is also provided with an adjustment handle for adjusting the movable plate to be close to or away from the front baffle; after the bone seat is placed between the front baffle and the movable plate, the movable plate is moved close to the front baffle and the bone seat is pressed by the adjusting handle.

[0023] Therefore, the present invention is easy to use, low-cost, can coordinate the movement of the exoskeleton robot, simulate the movement posture that is closer to the real movement of the human body, and then obtain more accurate detection data, and make more accurate tests and evaluations of the exoskeleton robot's load capacity, mechanical strength, endurance, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A structural schematic diagram of the present invention.

[0025] Figure 2 for Figure 1 Another perspective of the picture.

[0026] Figure 3 for Figure 1 Rear view of.

[0027] Figure 4for Figure 3 Top view of the .

[0028] Figure 5 It is a schematic diagram of the local structure of the present invention.

[0029] Figure 6 It is a schematic diagram of the connection between the lateral coordinated pulling mechanism, the bottom coordinated pulling mechanism and the mechanical legs.

[0030] Figure 7 It is a structural schematic diagram of the lateral coordinated pulling mechanism.

[0031] Figure 8 for Figure 1 A partial enlarged schematic diagram in the middle.

[0032] Fig. 9 It is a structural schematic diagram of the bottom cooperative pulling mechanism.

[0033] Fig.10 This is a schematic diagram of the structure of an exoskeleton robot. DETAILED DESCRIPTION

[0034] In order to make the technical problems, technical solutions and beneficial technical effects to be solved by the present invention more clearly understood, the present invention will be further described in detail below in conjunction with the accompanying drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the scope of protection of the present invention.

[0035] It should be understood that, in this document, the expressions "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance, nor should they be understood as implicitly indicating the number of technical features indicated. Features defined as "first" or "second" may explicitly or implicitly indicate that at least one of the features is included.

[0036] In order to accurately describe the orientation state, refer to Figure 1 In the three-dimensional space coordinate system shown, the frame is a rectangular parallelepiped structure as a whole. The horizontal direction of the exoskeleton robot is the X direction (corresponding to the width direction of the frame), the direction perpendicular to the X direction on the horizontal plane is the Y direction (corresponding to the length direction of the frame), and the direction perpendicular to the XY plane is the Z direction (corresponding to the height direction of the frame).

[0037] like Figure 1-Figure 10The exoskeleton robot testing device shown in the figure comprises: a frame 1, the upper end of which is provided with a positioning assembly 6 for positioning a skeleton seat 7; two sets of lateral coordinated pulling mechanisms 2, which are respectively arranged on the outer sides of two pedals 702, and include side panels 20, and a first movable block 21 that can actively move along the plane where the side panels are located. The side panels 20 are configured so that their upper ends can rotate around the axis in the YZ plane under the action of the traction mechanism 4, and the motion trajectory of the first movable block 21 is configured to match the motion trajectory of the projection of the pedal on the side panel. A first cable 22 is provided between the first movable block and the lower end of the mechanical leg 70, and a first sensor 2 for detecting lateral tension is provided on the first cable. 3; and two groups of bottom cooperative pulling mechanisms 3, which are respectively arranged at the lower side of the two pedals, and include a second movable block 30 that can actively move in the XY plane, and the movement trajectory of the second movable block 30 is configured to be compatible with the movement trajectory of the projection of the pedal on the XY plane. A second cable 31 is arranged between the second movable block and the pedal, and the second cable 31 has a released state and a reeled state: when the pedal moves upward, the second cable is in a released state, and the pedal is not subjected to the tension of the second cable in this state; when the pedal moves downward, the second cable is in a reeled state and actively applies a downward pulling force to the pedal, and a second sensor 32 for detecting the longitudinal tension is arranged on the second cable.

[0038] like Figure 5 and Figure 7 As shown, the upper end of the side panel 20 is pivotally connected to the frame through a swing arm 200, and the inner side surface of the side panel 20 is provided with a first sliding seat 24 that can actively move along the X direction. The first sliding seat 24 is slidably connected to the side panel 20 through a first horizontal slide bar 240, and the first sliding seat 24 is provided with a first horizontal screw 242 that is distributed parallel to the first horizontal slide bar and is driven to rotate by a first horizontal motor 241; the first movable block 21 is slidably connected to the first sliding seat 24 along the Y direction and can actively move along the Y direction. Specifically, the first movable block 21 is slidably connected to the first sliding seat 24 through a first vertical slide bar 210, and the first movable block 21 is provided with a first vertical screw 212 that is distributed parallel to the first vertical slide bar and is driven by a first vertical motor 211.

[0039] The outer end of the first cable 22 is fixedly connected to the first movable block 21, and the first sensor 23 is arranged at the connection between the first cable and the first movable block; the inner end of the first cable 22 is provided with a connecting assembly 220 for connecting with the lower end of the mechanical leg; the connecting assembly 220 includes a U-shaped seat 221, and a plurality of through holes 222 are provided on both sides of the open end of the U-shaped seat, and a binding rope 223 is provided at the through holes, and the U-shaped seat is clamped on the calf arm at the lower end of the mechanical leg and is bound by the binding rope; a flexible support block 224 is provided on the inner side of the U-shaped seat. Figure 5 As shown, the two ends of the first cable, the upper rotation point of the swing arm, and the upper end point of the mechanical leg, these four points are connected to form a parallelogram.

[0040] like Figure 4 , Figure 5 and Figure 8 As shown, the traction mechanism 4 includes a traction motor 40 and a traction rope 41 wound by the traction motor, one end of the traction rope is connected to the lower end of the side plate, and the other end of the traction rope is wound on a winding wheel 42 driven to rotate by the traction motor.

[0041] like Figure 6 and Fig. 9 As shown, the bottom cooperative pulling mechanism 3 includes a second sliding seat 33 arranged at the bottom of the frame and capable of active movement along the Y direction. Specifically, the second sliding seat 33 is connected to the frame 1 through a second longitudinal slide rail 330, and the outer side of the second sliding seat is connected to the second winding wheel 44 on the traction motor 40 in the traction mechanism through a second traction rope 43. The traction mechanism drives the second sliding seat and the side plate to move synchronously along the Y direction. An elastic reset member 331 is provided on the inner side of the second sliding seat. The elastic reset member in this embodiment adopts a tension spring.

[0042] The second movable block 30 is connected to the second sliding seat 33 in a sliding manner along the X direction and can actively move along the X direction. Specifically, the second movable block 30 is connected to the second sliding seat 33 in a sliding manner along the X direction through the second longitudinal slide rail 300. The second sliding seat is provided with a second motor 301 for driving the second movable block to move along the X direction. The second motor drives the second screw 302 to move the second movable block. The second movable block 30 is provided with a winding mechanism 34 for winding and releasing the second cable. The winding mechanism 34 includes a winding motor 340 and a winding wheel 341 driven to rotate by the winding motor. The second cable 31 is connected to the winding wheel. The second sensor is provided at the connection end of the second cable and the pedal.

[0043] like Figure 1-Figure 4 As shown, a treadmill track 5 is provided at the bottom of the pedal on the frame 1, and an avoidance groove 50 distributed along the movement direction of the treadmill track is provided at the corresponding position of the treadmill track 5 to the second cable. The width of the avoidance groove is slightly larger than the displacement of the pedal in the Y direction to avoid the second cable.

[0044] The positioning assembly 6 includes a support plate 60, a front baffle 61, and a rear baffle 62. The front baffle and the rear baffle are fixed in parallel on the support plate. A movable plate 63 is provided between the front baffle and the rear baffle. One side of the movable plate is slidably connected to the rear baffle through a sliding rod 64. The movable plate is also provided with an adjustment handle 65 for adjusting the movable plate to be close to or away from the front baffle. After the skeleton seat is placed between the front baffle and the movable plate, the movable plate is moved close to the front baffle and the skeleton seat is pressed tightly by adjusting the handle.

[0045] In this embodiment, the first sensor and the second sensor are both tension sensors. The motion trajectory of the first movable block is realized by the coordinated action of the first horizontal motor 241 and the first vertical motor 241 to realize the movement of the first movable block within the plane where the side plate is located. Since the rotation angle is very small (usually within 5°) during the actual test of the side plate, the plane where any state of the side plate is located during the rotation process is equal to the XZ plane during the entire test process. Although this will cause the first cable to be unable to be completely parallel to the Y axis, this setting greatly simplifies the control. Although it causes a deviation between the detection value of the first sensor and the required true value, this deviation is always kept within the allowable range. Based on the above settings, the first horizontal motor 241 and the first vertical motor 241 are both servo motors. After setting the motion posture of the mechanical leg of the exoskeleton (the motion state of the motor at the joint of the exoskeleton robot), the motion trajectory of the pedal in the XZ plane can be obtained. Each point on the trajectory is located by (X, Z) coordinates, and the motion of the first horizontal motor 241 and the first vertical motor 241 just corresponds to (X, Z), so that the position of the first movable block and the projection position of the pedal on the XZ plane are always basically consistent; during the movement of the pedal, it is only necessary to keep the displacement of the second sliding seat in the Y direction consistent with the displacement of the deflection of the lower end of the side plate, that is, the same traction mechanism is used to pull the two synchronously along the Y direction. The displacement can be achieved; because the movement along the X direction during the pedal movement is projected on the XZ plane and the XY plane, the X value is the same, so the second motor is kept synchronized with the first horizontal motor. Based on the above principle, it is only necessary to set the time-speed signal for each servo motor to achieve the above movement. The traction rope 41 in the traction mechanism cooperates with the first sensor to provide a quantitative Y-direction pulling force to the lower end of the mechanical leg (at the pedal) (simulating the Y-direction force applied to the mechanical leg when the human body wears the belt), and the second cable and the second sensor provide a quantitative downward pulling force to the pedal (simulating the pedal stepping force). The exoskeleton robot is tested in multiple postures and multiple factors in the above manner, and various test results are finally obtained, and then the test results are evaluated.

[0046] This type of testing device can simulate a state that is closer to that of a real human body wearing an exoskeleton robot, and can adapt to various postures of the exoskeleton robot's pedals. It can make more accurate detection and evaluation of the exoskeleton robot's load capacity, mechanical strength, endurance, etc., and has strong versatility and adaptability.

[0047] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by up, down, left, right, inside, outside, one end, the other end, etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the purpose of more clearly describing the technical solution of the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific orientation, and cannot be understood as a limitation of the present invention.

[0048] Although specific embodiments of the present invention are described in detail herein, they are provided for the purpose of explanation only and should not be considered to limit the scope of the present invention. Various substitutions, changes and modifications may be conceived without departing from the spirit and scope of the present invention.

Claims

1. An exoskeleton robot testing device, comprising: A frame, wherein the upper end of the frame is provided with a positioning assembly for positioning the skeleton seat; Two sets of lateral coordinated pulling mechanisms are respectively arranged on the outside of the two pedals, and include side plates, and a first movable block that can actively move along the plane where the side plates are located. The side plates are configured so that their upper ends can rotate around the axis in the YZ plane under the action of the traction mechanism. The motion trajectory of the first movable block is configured to match the motion trajectory of the projection of the pedals on the side plates. A first cable is arranged between the first movable block and the lower end of the mechanical leg, and a first sensor for detecting lateral pulling force is arranged on the first cable; and Two sets of bottom cooperative pulling mechanisms are respectively arranged at the lower side of the two pedals, and include a second movable block that can actively move in the XY plane, and the motion trajectory of the second movable block is configured to match the motion trajectory of the projection of the pedal on the XY plane. A second cable is arranged between the second movable block and the pedal, and the second cable has a release state and a reeled state: when the pedal moves upward, the second cable is in the release state; When the pedal moves downward, the second cable is in a reeled state and actively applies a downward pulling force to the pedal. The second cable is provided with a second sensor for detecting the longitudinal pulling force.

2. The exoskeleton robot testing device according to claim 1, characterized in that: The upper end of the side plate is pivotally connected to the frame through a swing arm, the inner side of the side plate is provided with a first sliding seat that can actively move along the X direction, and the first movable block is slidably connected to the first sliding seat along the Y direction and can actively move along the Y direction.

3. The exoskeleton robot testing device according to claim 2, characterized in that: The first sliding seat is slidably connected to the side plate via a first horizontal sliding rod, and the first sliding seat is provided with a first horizontal screw rod which is distributed parallel to the first horizontal sliding rod and is driven to rotate by a first horizontal motor; the first movable block is slidably connected to the first sliding seat via a first vertical sliding rod, and the first movable block is provided with a first vertical screw rod which is distributed parallel to the first vertical sliding rod and is driven by a first vertical motor.

4. An exoskeleton robot testing device according to claim 1, 2 or 3, characterized in that: The outer end of the first cable is fixedly connected to the first movable block, and the first sensor is arranged at the connection between the first cable and the first movable block; the inner end of the first cable is provided with a connecting component for connecting to the lower end of the mechanical leg.

5. The exoskeleton robot testing device according to claim 4, characterized in that: The connecting assembly includes a U-shaped seat, and a plurality of through holes are provided on both sides of the open end of the U-shaped seat, and binding ropes are provided at the through holes. The U-shaped seat is inserted into the calf arm at the lower end of the mechanical leg and is tied by the binding rope; a flexible support block is provided on the inner side of the U-shaped seat.

6. The exoskeleton robot testing device according to claim 1, characterized in that: The traction mechanism comprises a traction motor and a traction rope wound by the traction motor, one end of the traction rope is connected to the lower end of the side plate, and the other end of the traction rope is wound on a winding wheel driven to rotate by the traction motor.

7. The exoskeleton robot testing device according to claim 2, characterized in that: The two ends of the first cable, the upper rotation point of the swing arm, and the upper end point of the mechanical leg, these four points are connected to form a parallelogram.

8. The exoskeleton robot testing device according to claim 1, characterized in that: The bottom coordinated pulling mechanism includes a second sliding seat arranged at the bottom of the frame and capable of actively moving along the Y direction. The second movable block is slidably connected to the second sliding seat along the X direction and can actively move along the X direction. The second movable block is provided with a winding mechanism for winding and releasing the second cable.

9. The exoskeleton robot testing device according to claim 8, characterized in that: The second sliding seat is connected to the frame through a second longitudinal slide rail, and the outer side of the second sliding seat is connected to a traction mechanism. The traction mechanism drives the second sliding seat and the side plate to move synchronously along the Y direction. An elastic reset member is provided on the inner side of the second sliding seat; the second movable block is slidably connected to the second sliding seat along the X direction through the second longitudinal slide rail, and the second sliding seat is provided with a second motor for driving the second movable block to move along the X direction.

10. The exoskeleton robot testing device according to claim 8, characterized in that: The winding mechanism includes a winding motor and a winding wheel driven to rotate by the winding motor. The second cable is connected to the winding wheel, and the second sensor is arranged at the connection end of the second cable and the pedal.

11. The exoskeleton robot testing device according to claim 1, characterized in that: A treadmill track is provided on the frame at the bottom of the pedal, and avoidance grooves distributed along the moving direction of the treadmill track are provided at the position of the treadmill track corresponding to the second cable.

12. The exoskeleton robot testing device according to claim 1, characterized in that: The positioning assembly includes a support plate, a front baffle and a rear baffle, the front baffle and the rear baffle are fixed in parallel on the support plate, a movable plate is provided between the front baffle and the rear baffle, one side of the movable plate is slidably connected to the rear baffle via a sliding rod, and the movable plate is also provided with an adjustment handle for adjusting the movable plate to be close to or away from the front baffle; after the skeleton seat is placed between the front baffle and the movable plate, the movable plate is moved close to the front baffle and the skeleton seat is pressed by the adjustment handle.

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