Lower limb exoskeleton follow-up supporting equipment

Abstract

The utility model discloses lower limb exoskeleton follow-up supporting equipment, belongs to the technical field of exoskeletons, aims at solving the problems that the lower limb exoskeleton follow-up supporting effect is poor and pressure generated to joints is large, and comprises a waist ring and two supporting rods a which are symmetrically distributed and fixed to the side wall of one side of the waist ring. A supporting rod b is rotationally connected to the side wall of one side of the supporting rod a, and a buffering assembly a is arranged on one side of the supporting rod b and one side of the supporting rod a; the two bases a are rotationally connected with the side walls of one sides of the two supporting rods b, and the bases b are arranged on one sides of the bases a; through the arrangement of the buffer assembly a, the purpose of following the knee joints of the legs of the user can be achieved, then following can be achieved along with the change of the central axis in the knee joint movement process of the user, the good buffer effect is achieved, the knee joints of the user are supported, and pressure on the knee joints of the user is relieved; and the buffering effect is good, and the structural performance is stable.

Description

TECHNICAL FIELD

[0001] The utility model belongs to exoskeleton technical field, concretely relates to a lower limb exoskeleton servo support equipment. BACKGROUND

[0002] Exoskeleton robot technology is a comprehensive technology that integrates sensing, control, information, fusion and mobile computing to provide a wearable mechanical mechanism for an operator. Exoskeleton robots are a kind of physiological structure imitating human body, which can be applied to various fields, for example, in the process of power maintenance, the operator wears an exoskeleton robot to move for a long time and a long distance with equipment on the back to make the moving process more labor-saving.

[0003] The above patent document, but there are still the following problems in actual use: the existing lower limb exoskeleton servo support equipment, because the knee joint and the ankle and the sole will appear the state of bending when the user walks, the joint servo support effect is poor, it is difficult to meet the demand of lower limb exoskeleton servo support, and because the joint buffering effect is poor, the pressure of the joint is large when the user uses the exoskeleton.

[0004] Therefore, a lower limb exoskeleton servo support equipment is needed to solve the problems of poor lower limb exoskeleton servo support effect and large pressure on the joint in the prior art. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a lower limb exoskeleton servo support equipment to solve the problems in the background art.

[0006] To achieve the above object, the utility model provides the following technical scheme: a lower limb exoskeleton servo support equipment, including waist ring, still including

[0007] Two support rods a are fixed to the side wall of one side of the waist ring, one side of the support rod a is rotationally connected with a support rod b, and the support rod b is provided with a buffer assembly a on one side of the support rod a.

[0008] Two bases a are rotationally connected with two sides of the support rod b, one side of the base a is provided with a base b, and the buffer assembly b is arranged between the base b and the support rod b, and one side of the waist ring is provided with an elastic band.

[0009] It should be noted that the buffer assembly a comprises

[0010] A support frame is fixed to the side wall of one side of the support rod a, and a transmission plate is hinged to one side of the support plate b, and the transmission plate is slidingly connected with the inner side of the support frame.

[0011] A hinge seat a is fixed to one side of the transmission plate, a hinge seat b is fixed to one side of the support rod a, the hinge seat b is located in the support frame, and a spring damper a is hinged between the hinge seat a and the hinge seat b.

[0012] Further, the buffer assembly b comprises

[0013] Two rotating seats are fixed to the side wall of one side of the support rod b, and a rotating rod is fixed to one side of the rotating seat and the base b, and the outer surface of the rotating rod is rotationally connected with a mounting ring.

[0014] Two damping spring b are fixed to one side of each of the mounting rings, and the damping spring b is located obliquely above the base a.

[0015] Further, one side of the support frame is provided with a sliding groove a, one side of the transmission plate is provided with a sliding groove b, the inner side of the sliding groove b is slidingly connected with a center rod, and the center rod is slidingly connected with the inner side of the sliding groove a.

[0016] As a preferred embodiment, the center rod is fixed with a limiting ring at both ends, and the diameter of the limiting ring is greater than the diameter of the center rod.

[0017] As a preferred embodiment, one side of the support rod a and the support rod b is provided with a through groove, the through groove is slidingly connected with a threaded rod, one end of the threaded rod is rotationally connected with a leg ring, the outer thread of the threaded rod is threadedly connected with a nut, and one side of the nut is in contact with one side of the support rod a and the support rod b.

[0018] As a preferred implementation, the bottom a and the bottom b bottom end side wall are fixed with anti-skid plates, and the bottom a and the bottom b top end side wall are fixed with collars.

[0019] Compared with the prior art, the lower limb exoskeleton servo support device provided by the utility model has at least the following beneficial effects:

[0020] (1) Through the setting of the buffer assembly a, the purpose of servo of the user's leg knee joint is achieved, and then the servo is achieved according to the change of the axis in the movement process of the user's knee joint, and the buffer effect is good, the user's knee joint is supported, the pressure of the user's knee joint is reduced, the buffer effect is good, and the structural performance is stable.

[0021] (2) Through the setting of the buffer assembly b, the buffer support effect of the foot bending of the user is provided, then the buffer effect of the user's foot stress is provided, the servo of the user's foot is achieved when the user walks, the power assisting effect is good, and the normal human walking is not affected, and the servo effect is good. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a whole structure schematic view of the utility model;

[0023] Figure 2 It is a back view structure schematic view of the utility model;

[0024] Figure 3 It is a state structure schematic view of the utility model.

[0025] In the drawing: 1, waist ring; 2, support rod a; 3, support rod b; 4, buffer assembly a; 41, support frame; 42, transmission plate; 43, hinge seat a; 44, hinge seat b; 45, spring damper a; 5, bottom a; 6, bottom b; 7, buffer assembly b; 71, rotating seat; 72, rotating rod; 73, mounting ring; 74, damping spring b; 8, elastic belt; 9, sliding groove a; 10, sliding groove b; 11, center rod; 12, limiting ring; 13, through groove; 14, threaded rod; 15, leg ring; 16, nut; 17, anti-skid plate; 18, collar. DETAILED DESCRIPTION

[0026] The utility model is further described below in combination with examples.

[0027] Please refer to Figures 1-3The utility model provides a lower limbs exoskeleton servo support equipment, including waist ring 1, still include two support rod a2, two support rod a2 symmetry distribution fixed in waist ring 1 one side side wall, and support rod b3 is connected with one side side wall of support rod a2 rotation, and support rod b3 with one side of support rod a2 is provided with buffer assembly a4, two base a5, two base a5 with two support rod b3 one side side wall rotation is connected, and base b6 is provided with one side of base a5, and base b6 with support rod b3 between setting is matched buffer assembly b7, and waist ring 1 one side is provided with elastic band 8.

[0028] Further as Figure 1 、 Figure 2 and Figure 3 It is worth noting that the buffer assembly a4 includes a support frame 41, which is fixed to the side wall of the support rod a2. The side wall of the support plate b is hinged with a transmission plate 42, which is slidingly connected with the inner side of the support frame 41. The hinge seat a43 is fixed to the side wall of the transmission plate 42. The hinge seat b44 is fixed to the side wall of the support rod a2. The hinge seat b44 is located inside the support frame 41. The hinge seat a43 and the hinge seat b44 are hinged with a spring damper a45.

[0029] It should be noted that the buffer assembly a4 can realize the purpose of the user's leg knee joint servo. In turn, it can realize servo with the change of the axis during the user's knee joint movement. It also has good buffering effect, supports the user's knee joint, reduces the pressure on the user's knee joint, has good buffering effect and stable structure performance.

[0030] Further as Figure 1 、 Figure 2 and Figure 3 It is worth noting that the buffer assembly b7 includes two rotating seats 71, which are fixed to the side wall of the two support rods b3. The rotating seat 71 and the side wall of the base b6 are fixed with a rotating rod 72. The outer surface of the two rotating rods 72 is rotatably connected with a mounting ring 73. Two damping springs b74 are fixed to the side wall of each two mounting rings 73. The damping spring b74 is located obliquely above the base a5.

[0031] It should be noted that the buffer assembly b7 can provide buffering support when the user walks. In turn, it can provide buffering effect when the user's foot is stressed. It can realize servo with the user's foot when the user walks. It has good assistance effect and does not affect normal human walking. It has good servo effect.

[0032] The technical scheme has the following working process: when the technical personnel uses the device, first, the user wears the device, when the user's knee is bent, the transmission plate 42 is forced to slide along the support frame 41, the center rod 11 is forced to slide along the sliding groove a9 and the sliding groove b10, the elastic effect of the damping spring a is used to buffer and damp the support rod a2 and the support rod b3 when they are bent, when the base b6 and the base a5 are bent, the elastic effect of the damping spring b74 is used to provide damping and buffering effect for the base b6, when the position of the leg ring 15 needs to be adjusted, the nut 16 is rotated to contact the limiting state of the support rod a2 or the support rod b3, the position of the leg ring 15 is adjusted, and the nut 16 is rotated again to limit the leg ring 15.

[0033] According to the above working process, through the setting of the buffer assembly a4, the purpose of following the movement of the user's knee joint can be achieved, and the buffer assembly b7 can provide buffer support for the user's foot bending during walking, thereby providing buffer effect for the user's foot when it is stressed, realizing the following movement of the user's foot during walking, having good power-assisted effect, and not affecting normal human walking, having good following effect.

[0034] Further as shown in Figure 1 and Figure 3 It is worth noting that the side wall of the support frame 41 is provided with a sliding groove a9, the side wall of the transmission plate 42 is provided with a sliding groove b10, the center rod 11 is slidably connected in the sliding groove b10, and the center rod 11 is slidably connected in the sliding groove a9.

[0035] It should be noted that through the setting of the sliding groove a9 and the sliding groove b10, the stability of the center rod 11 during force transmission can be ensured, so that the center rod 11 can move stably and evenly.

[0036] Further as shown in Figure 1 and Figure 2 It is worth noting that the two ends of the center rod 11 are fixed with limiting rings 12, and the diameter of the limiting ring 12 is greater than that of the center rod 11.

[0037] It should be noted that through the setting of the limiting ring 12, the limiting effect of the center rod 11 is achieved, which prevents displacement of the center rod 11 when it is forced to move, and has good protection for the transmission of the center rod 11.

[0038] Further as shown in Figure 1 andFigure 2 As shown, it is worth noting that the side wall of the support rod a2 and the support rod b3 is provided with a through groove 13, the through groove 13 is slidably connected with a threaded rod 14, one end of the threaded rod 14 is rotatably connected with a leg ring 15, the threaded rod 14 is threadedly connected with a nut 16, and the two nuts 16 are in contact with the side of the support rod a2 and the support rod b3;

[0039] It should be noted that the position of the leg ring 15 is adjusted by the threaded rod 14, the nut 16 and the leg ring 15, which is suitable for users of different heights to wear and use, and the adjustment mode is simple and more effective and direct to adjust the position of the leg ring 15, which is suitable for different users to wear the device for use.

[0040] Further as shown in Figure 2 It is worth noting that the bottom end side wall of the base a5 and the base b6 is fixed with an anti-skid plate 17, and the top end side wall of the base a5 and the base b6 is fixed with a sleeve ring 18;

[0041] It should be noted that the anti-skid plate 17 is provided to prevent the base a5 and the base b6 from slipping, thereby preventing the user from slipping when walking, and the sleeve ring 18 is provided to provide support for the user's feet, thereby improving the stability of the user when walking.

[0042] In summary: through the setting of the sliding groove a9 and the sliding groove b10, the stability of the center rod 11 during force transmission can be ensured, so that the center rod 11 can move stably and evenly, and through the setting of the limiting ring 12, the limiting effect of the center rod 11 is achieved, preventing displacement of the center rod 11 when moving under stress. The transmission of the center rod 11 has good protection, and through the setting of the threaded rod 14, the nut 16 and the leg ring 15, the position of the leg ring 15 is adjusted, which is suitable for users of different heights to wear and use, and the adjustment mode is simple and more effective and direct to adjust the position of the leg ring 15, which is suitable for different users to wear the device for use. And through the setting of the anti-skid plate 17, the anti-skid effect of the base a5 and the base b6 is achieved, thereby preventing the user from slipping when walking, and the sleeve ring 18 is provided to provide support for the user's feet, thereby improving the stability of the user when walking.

Claims

1. A lower limb exoskeleton follow-up support device, comprising a waist ring (1), characterized in that, It also includes two support rods a(2), which are symmetrically distributed and fixed to one side wall of the waist ring (1). A support rod b(3) is rotatably connected to one side wall of the support rod a(2). A buffer assembly a(4) is provided on one side of the support rod b(3) and the support rod a(2). Two bases a (5), the two bases a (5) are rotatably connected to one side wall of the two support rods b (3), a base b (6) is provided on one side of the base a (5), a matching buffer component b (7) is provided between the base b (6) and the support rod b (3), and an elastic band (8) is provided on one side of the waist ring (1).

2. The lower limb exoskeleton follow-up support device according to claim 1, characterized in that: The buffer component a(4) includes Support frame (41) is fixed to one side wall of support rod a (2), and a transmission plate (42) is hinged to one side wall of support plate b. The transmission plate (42) is slidably connected to the inner side of support frame (41). A hinge seat a (43) is fixed to one side wall of the transmission plate (42). A hinge seat b (44) is fixed to one side wall of the support rod a (2). The hinge seat b (44) is located inside the support frame (41). A spring damper a (45) is hinged between the hinge seat a (43) and the hinge seat b (44).

3. The lower limb exoskeleton follow-up support device according to claim 2, characterized in that: The buffer component b(7) includes Two rotating seats (71) are fixed to one side wall of the two support rods b (3). The rotating seats (71) and the base b (6) are both fixed with rotating rods (72). The outer surfaces of the two rotating rods (72) are rotatably connected with mounting rings (73). Two damping springs b (74) are fixed to one side wall of each pair of mounting rings (73), and the damping springs b (74) are located obliquely above the base a (5).

4. The lower limb exoskeleton follow-up support device according to claim 3, characterized in that: The support frame (41) has a sliding groove a (9) on one side wall and the transmission plate (42) has a sliding groove b (10) on one side wall. A central rod (11) is slidably connected inside the sliding groove b (10) and the central rod (11) is slidably connected inside the sliding groove a (9).

5. The lower limb exoskeleton follow-up support device according to claim 4, characterized in that: Both ends of the central rod (11) are fixed with limiting rings (12), and the diameter of the limiting rings (12) is greater than the diameter of the central rod (11).

6. The lower limb exoskeleton follow-up support device according to claim 5, characterized in that: Both the support rod a (2) and the support rod b (3) have through grooves (13) on one side wall. A threaded rod (14) is slidably connected inside the through groove (13). A leg ring (15) is rotatably connected to one end of the threaded rod (14). A nut (16) is threadedly connected to the external thread of the threaded rod (14). One side of the two nuts (16) is in contact with one side of the support rod a (2) and the support rod b (3).

7. The lower limb exoskeleton follow-up support device according to claim 6, characterized in that: Anti-slip plates (17) are fixed to the bottom sidewalls of both base a (5) and base b (6), and collars (18) are fixed to the top sidewalls of both base a (5) and base b (6).

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