Power-assisted mechanical exoskeleton device

Abstract

The utility model discloses a power-assisted mechanical exoskeleton device, which relates to the technical field of exoskeletons and comprises an exoskeleton body, a fixing mechanism is arranged on the surface of the exoskeleton body, and an auxiliary mechanism is arranged at the bottom end of the exoskeleton body. The hook-and-loop fastener mother tape on the surface of the side plate is connected with the hook-and-loop fastener son tape, at the moment, the protruding block on the surface of the connecting disc is aligned with the first communicating groove and inserted into the first communicating groove, at the moment, the connecting disc extrudes the push plate in the inserting groove, the first spring is compressed, the base is rotated, and the protruding block is clamped to the second communicating groove through the rotating groove; at the moment, a first spring rebounds to push a push plate to fix a convex block in a second communication groove, a rotary knob is pushed, and at the moment, an inner gear on the surface of a rotary disc is meshed with an outer gear on the surface of a wire winding disc; and the female hook-and-loop fastener drives the outer gear to rotate, so that the winding disc rotates in the movable groove in the surface of the base and tightens the steel wire rope on the surface of the threading hole, the fixing effect is achieved, and the adaptability of the device is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to exoskeleton technical field, concretely relates to a kind of power-assisted mechanical exoskeleton device. BACKGROUND

[0002] Mechanical exoskeleton or power exoskeleton is a kind of machine device that is composed of steel frame and can be worn by people, which can provide additional energy for limb movement. Power exoskeleton is more inclined to military use. In addition to the basic function of enhancing human ability, it also has good protective properties, adaptability to complex environments, and auxiliary firepower, communication, and reconnaissance support military functions.

[0003] Patent publication number CN205852786U discloses a kind of power-assisted mechanical exoskeleton device, including in vertical shaft through hinged shaft sleeve installation has support frame, support frame is installed with supporting plate, supporting plate is placed with load box, in support frame middle part has the gap, the gap is corresponding with stop lever, stop lever is fixed on crossbar, one end of crossbar is fixed on vertical shaft, the other end is connected in right horizontal support rod through right angle connector.

[0004] To solve the problem of not being able to increase more distant or heavier goods, the prior art uses a hinged shaft sleeve to install a support frame, a supporting plate is installed on the support frame, one end of the crossbar is fixed on the vertical shaft, the other end is connected to the right horizontal support rod through a right angle connector, the left horizontal support rod is installed on the vertical shaft, the right horizontal support rod and the left horizontal support rod are respectively connected with universal joints through right angle connectors, each universal joint is installed at the lower end of each universal joint, each long vertical support rod is connected to the lower vertical rod through a shaft, a sliding groove is formed at the connection between the long vertical support rod and the lower vertical rod, the sliding shaft at one end of the cross link is placed in the sliding groove, the other end of the cross link is connected to the inclined link through a shaft, and the upper end of the inclined link is connected to the horizontal movable rod through a movable hinge. However, the fixed structure may not be firm, which may cause the device to come off after a long time of wearing. UTILITY MODEL CONTENTS

[0005] The utility model aims to provide a kind of power-assisted mechanical exoskeleton device to solve the problems raised in the above background technology.

[0006] To solve the above technical problems, the utility model employs the following technical solutions:

[0007] A kind of power-assisted mechanical exoskeleton device, including exoskeleton body, the surface of the exoskeleton body is provided with a fixed mechanism, and the bottom end of the exoskeleton body is provided with an auxiliary mechanism.

[0008] The fixing mechanism comprises side plates which are fixedly installed on the surface of the exoskeleton body, the side plates are provided in multiple groups, the side plates are symmetrically distributed on the surface of the exoskeleton body, the surface of the side plate is fixedly installed with a magic tape sub-tape, the surface of the magic tape sub-tape is movably connected with a magic tape mother tape, and the magic tape mother tape is fixedly installed on the surface of the side plate.

[0009] Further improvement of the technical scheme of the utility model lies in that: the inside of the side plate is provided with a slot, the surface of the slot is provided with a first communicating groove, the surface of the first communicating groove is provided with a rotating groove, the surface of the rotating groove is provided with a second communicating groove, the surface of the slot is fixedly installed with a spring one, and one end of the spring one is fixedly installed with a push plate.

[0010] Further improvement of the technical scheme of the utility model lies in that: the fixing mechanism further comprises a base, the base is movably installed on the surface of the side plate, the surface of the base is fixedly installed with a connecting disc, the surface of the connecting disc is fixedly installed with a convex block, the convex block is matched with the first communicating groove, the rotating groove and the second communicating groove, and the surface of the base is provided with a movable groove.

[0011] Further improvement of the technical scheme of the utility model lies in that: the surface of the movable groove is movably installed with a wire winding disc, the surface of the wire winding disc is fixedly installed with an external gear, the surface of the wire winding disc is provided with a steel wire rope, and one end of the steel wire rope is fixedly installed on the surface of the side plate.

[0012] Further improvement of the technical scheme of the utility model lies in that: the surface of the base is fixedly installed with a fixed disc, the inner side of the fixed disc is fixedly installed with an internal tooth disc, the surface of the fixed disc is provided with a threading hole, the threading hole is matched with the steel wire rope, the inside of the fixed disc is movably installed with a rotating disc, the surface of the rotating disc is fixedly installed with an internal gear, the surface of the rotating disc is fixedly installed with a clamping strip, the surface of the rotating disc is fixedly installed with a knob, and the knob is movably installed on the surface of the fixed disc.

[0013] Further improvement of the technical scheme of the utility model lies in that: the auxiliary mechanism comprises a foot support, the foot support is fixedly installed at the bottom end of the exoskeleton body, the surface of the foot support is provided with a concave cavity, the surface of the concave cavity is provided with an anti-skid pattern, the inside of the foot support is provided with a groove, the surface of the groove is fixedly installed with a limiting block, the surface of the limiting block is movably installed with a limiting plate, the surface of the limiting plate is fixedly installed with a clamping block, the surface of the limiting plate is fixedly installed with a spring two, the spring two is provided in multiple groups, and the spring two is evenly distributed and fixedly installed in the inside of the groove.

[0014] The further improvement of the technical scheme of the utility model lies in that the bottom end of the foot support is provided with a sliding groove, the surface of the foot support is provided with a clamping groove, the surface of the sliding groove movably installs a sliding rail, the surface of the sliding rail fixedly installs a bottom plate, the bottom end of the bottom plate is evenly distributed and fixedly installs a clamping nail, the surface of the bottom plate fixedly installs a boss, the inside of the boss movably installs a clamping bead, and the clamping bead is matched with the clamping groove.

[0015] Due to the adoption of the above technical scheme, the utility model has the following technical progress compared with the prior art:

[0016] 1. The utility model provides a kind of power-assisted mechanical exoskeleton device, adopts magic tape sub paste, magic tape mother paste, steel wire, knob, side plate, slot, spring one, push plate, first communication groove, rotary groove, second communication groove, base, connecting disc, convex block, movable slot, winding disc, external gear, fixed disc, inner tooth disc, rotary table, clamping strip, inner gear, threading hole cooperation, by the magic tape mother paste of side plate surface and magic tape sub paste are connected, at this time the convex block of connecting disc surface is aligned with first communication groove and is inserted, at this time connecting disc extrudes the push plate in slot and makes spring one compression, rotary base, so that convex block is clamped to second communication groove by rotary groove, at this time spring one rebound push plate and fix convex block in second communication groove, push knob, at this time the inner gear of rotary table surface and the external gear of winding disc surface are engaged, rotate knob clockwise, magic tape mother paste drives external gear rotation so that winding disc is rotated in the movable slot of base surface and the steel wire rope on the surface of threading hole is tightened to reach the effect of fixed, while when not rotating knob, by clamping strip clamping inner tooth disc on the surface of fixed disc so that it is fixed, when knob is pulled out, clamping strip and inner tooth disc no longer contact, simultaneously inner gear and external gear are separated, rotate knob counterclockwise, i.e. the length of steel wire rope can be elongated, to reach the effect of adaptation user, simultaneously further fixed to leg, improve the adaptability of device.

[0017] 2, the utility model provides a kind of power-assisted mechanical exoskeleton device, adopt foot support, groove, limit block, spring two, limit plate, clamping block, recess, antiskid pattern, bottom plate, sliding slot, ball, slot, boss, peg, sliding rail cooperation, by user placing foot in the recess of foot support surface, antiskid pattern can prevent foot skidding, foot two sides extrude clamping block, so that limit plate moves in groove and promotes spring two, while spring two promotes limit plate to hold foot two sides, limit block cooperates with limit plate and limits clamping block, by the fixation of fixed mechanism, auxiliary mechanism can avoid foot support and foot disengagement without foot binding, when the device in snow, mountain road and other difficult to travel section, by aligning sliding rail on the surface of bottom plate with sliding slot and inserting, at this time ball contacts foot support, shrink in boss, when reaching slot, spring inside boss promotes ball to be clamped in slot, so that bottom plate can be firmly fixed at the bottom end of foot support, at this time, peg can be firmly stuck to ground to prevent user from falling, improve the adaptability of device. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is the three-dimensional structure schematic diagram of the utility model;

[0019] Figure 2 It is the structure schematic diagram of fixed mechanism of the utility model;

[0020] Figure 3 It is the structure schematic diagram of side plate of the utility model;

[0021] Figure 4 It is the structure schematic diagram of auxiliary mechanism of the utility model;

[0022] Figure 5 It is the structure schematic diagram of bottom plate of the utility model.

[0023] In the drawing: 1, exoskeleton body; 2, fixed mechanism; 201, magic tape sub-paste; 202, magic tape mother paste; 203, steel wire rope; 204, knob; 205, side plate; 206, slot; 207, spring one; 208, push plate; 209, first communication groove; 210, rotary groove; 211, second communication groove; 212, base; 213, connecting disc; 214, protruding block; 215, movable slot; 216, winding disc; 217, outer gear; 218, fixed disc; 219, inner tooth disc; 220, rotating disc; 221, clamping strip; 222, inner gear; 223, threading hole; 3, auxiliary mechanism; 301, foot support; 302, groove; 303, limit block; 304, spring two; 305, limit plate; 306, clamping block; 307, recess; 308, antiskid pattern; 309, bottom plate; 310, sliding slot; 311, ball; 312, slot; 313, boss; 314, peg; 315, sliding rail. DETAILED DESCRIPTION

[0024] The utility model makes further detailed instructions in combination with the embodiment:

[0025] Example 1

[0026] As Figures 1-5 shown, the utility model provides a kind of power-assisted mechanical exoskeleton device, including exoskeleton body 1, the surface of exoskeleton body 1 is provided with fixed mechanism 2, the bottom of exoskeleton body 1 is provided with auxiliary mechanism 3, fixed mechanism 2 includes side plate 205, side plate 205 is fixedly installed on the surface of exoskeleton body 1, side plate 205 is provided with multiple groups, side plate 205 is symmetrically distributed on the surface of exoskeleton body 1, the surface of side plate 205 is fixedly installed with magic tape sub paste 201, the surface of magic tape sub paste 201 is movably connected with magic tape mother paste 202, magic tape mother paste 202 is fixedly installed on the surface of side plate 205, the inside of side plate 205 is provided with slot 206, the surface of slot 206 is provided with first communication groove 209, the surface of first communication groove 209 is provided with rotary groove 210, the surface of rotary groove 210 is provided with second communication groove 211, the surface of slot 206 is fixedly installed with spring one 207, one end of spring one 207 is fixedly installed with push plate 208, fixed mechanism 2 further includes base 212, base 212 is movably installed on the surface of side plate 205, the surface of base 212 is fixedly installed with connecting disc 213, the surface of connecting disc 213 is fixedly installed with lug 214, lug 214 is adapted with first communication groove 209, rotary groove 210, second communication groove 211, the surface of base 212 is provided with movable slot 215, the surface of movable slot 215 is movably installed with winding disc 216, the surface of winding disc 216 is fixedly installed with external gear 217, the surface of winding disc 216 is provided with steel wire rope 203, one end of steel wire rope 203 is fixedly installed on the surface of side plate 205, the surface of base 212 is fixedly installed with fixed disc 218, the inner side of fixed disc 218 is fixedly installed with inner tooth disc 219, the surface of fixed disc 218 is provided with threading hole 223, threading hole 223 is adapted with steel wire rope 203, the inside of fixed disc 218 movably installs with turntable 220, the surface of turntable 220 is fixedly installed with inner gear 222, the surface of turntable 220 is fixedly installed with clamping strip 221, the surface of turntable 220 is fixedly installed with knob 204, knob 204 movably installs on the surface of fixed disc 218.

[0027] In the embodiment, the magic tape female fastener 202 is connected with the magic tape male fastener 201 by the surface of the side plate 205, at this time, the protrusion 214 on the surface of the connecting disc 213 is aligned with the first communication groove 209 and is inserted, at this time, the connecting disc 213 extrudes the push plate 208 in the insertion groove 206 and makes the spring one 207 compressed, the base 212 is rotated, so that the protrusion 214 is clamped to the second communication groove 211 through the rotating groove 210, at this time, the spring one 207 rebounds to push the push plate 208 to fix the protrusion 214 in the second communication groove 211, the knob 204 is pushed, at this time, the inner gear 222 on the surface of the rotating disc 220 is engaged with the outer gear 217 on the surface of the winding disc 216, the knob 204 is rotated clockwise, the magic tape female fastener 202 drives the outer gear 217 to rotate, so that the winding disc 216 rotates in the movable groove 215 on the surface of the base 212 and tightens the steel wire rope 203 on the surface of the threading hole 223, so as to achieve the fixed effect, at the same time, when the knob 204 is not rotated, the inner tooth disc 219 on the surface of the fixed disc 218 is clamped and fixed by the clamping strip 221, so that it is fixed, when the knob 204 is pulled out outward, the clamping strip 221 is no longer in contact with the inner tooth disc 219, at the same time, the inner gear 222 is separated from the outer gear 217, the knob 204 is counterclockwise rotated, so that the length of the steel wire rope 203 is elongated, so as to adapt to the user, at the same time, the leg can be further fixed, and the adaptability of the device is improved.

[0028] Embodiment 2

[0029] As Figures 1-5 shown, on the basis of embodiment 1, the utility model provides a technical scheme: preferably, the auxiliary mechanism 3 includes the foot support 301, the foot support 301 is fixedly installed at the bottom end of the exoskeleton body 1, the surface of the foot support 301 is provided with the concave cavity 307, the surface of the concave cavity 307 is provided with the anti -skid line 308, the inside of the foot support 301 is provided with the recess 302, the surface of the recess 302 is fixedly installed with the limit block 303, the surface of the limit block 303 is movably installed with the limit plate 305, the surface of the limit plate 305 is fixedly installed with the clamping block 306, the surface of the limit plate 305 is fixedly installed with the spring two 304, the spring two 304 is set up multiple groups, the spring two 304 evenly distributes and is fixedly installed in the inside of the recess 302, the bottom end of the foot support 301 is provided with the sliding groove 310, the surface of the foot support 301 is provided with the clamping groove 312, the surface of the sliding groove 310 is movably installed with the sliding rail 315, the surface of the sliding rail 315 is fixedly installed with the bottom plate 309, the bottom end of the bottom plate 309 evenly distributes and is fixedly installed with the clamping nail 314, the surface of the bottom plate 309 is fixedly installed with the boss 313, the inside of the boss 313 is movably installed with the clamping bead 311, the clamping bead 311 is matched with the clamping groove 312.

[0030] In this embodiment, by placing the feet in the concave cavity 307 on the surface of the foot support 301, the anti-skid pattern 308 can prevent the feet from slipping, and the two sides of the feet are pressed against the clamping block 306, so that the limiting plate 305 moves into the groove 302 and pushes the spring 304, at the same time, the spring 304 pushes the limiting plate 305 to clamp the two sides of the feet, and the limiting block 303 cooperates with the limiting plate 305 to limit the clamping block 306. The fixing of the fixing mechanism 2 enables the auxiliary mechanism 3 to avoid disengagement of the foot support 301 from the feet without the need for foot binding. When the device is used in difficult-to-travel areas such as snow-covered land and mountain roads, the slide rail 315 on the surface of the bottom plate 309 is aligned with the slide groove 310 and inserted, at this time, the clamping bead 311 contacts the foot support 301 and is retracted into the boss 313, and when the clamping groove 312 is reached, the spring inside the boss 313 pushes the clamping bead 311 to be clamped into the clamping groove 312, so that the bottom plate 309 can be firmly fixed at the bottom end of the foot support 301. At this time, the action, the clamping nail 314 can be firmly stuck to the ground to prevent the user from falling down, and the adaptability of the device is improved.

[0031] The working principle of the power-assisted mechanical exoskeleton device will be described below.

[0032] As Figures 1-5As shown, by connecting the magic tape female tape 202 on the surface of the side plate 205 with the magic tape male tape 201, at this time, the protrusion 214 on the surface of the connecting disc 213 is aligned with the first communication slot 209 and is inserted, at this time, the connecting disc 213 extrudes the push plate 208 in the insertion slot 206 and makes the spring I 207 compressed, rotates the base 212, so that the protrusion 214 is clamped to the second communication slot 211 through the rotating slot 210, at this time, the spring I 207 rebounds to push the push plate 208 to fix the protrusion 214 in the second communication slot 211, push the knob 204, at this time, the inner gear 222 on the surface of the rotating disc 220 is engaged with the outer gear 217 on the surface of the winding disc 216, rotate the knob 204 clockwise, the magic tape female tape 202 drives the outer gear 217 to rotate so that the winding disc 216 rotates in the movable slot 215 on the surface of the base 212 and tightens the steel wire rope 203 on the surface of the threading hole 223 to achieve the fixing effect, at the same time, when the knob 204 is not rotated, the clamping strip 221 clamps the inner tooth disc 219 on the surface of the fixed disc 218 so that it is fixed, when the knob 204 is pulled out, the clamping strip 221 is no longer in contact with the inner tooth disc 219, at the same time, the inner gear 222 is separated from the outer gear 217, rotate the knob 204 counterclockwise, which can make the length of the steel wire rope 203 elongate to adapt to the user, at the same time, it can further fix the legs, the user places the feet in the recessed cavity 307 on the surface of the foot support 301, the anti-skid lines 308 can prevent the feet from slipping, the clamping blocks 306 on both sides of the feet are extruded, so that the limiting plate 305 moves into the recessed groove 302 and pushes the spring II 304, at the same time, the spring II 304 pushes the limiting plate 305 to clamp both sides of the feet, the limiting block 303 cooperates with the limiting plate 305 to limit the clamping block 306, through the fixing and limiting of the fixing mechanism 2, the auxiliary mechanism 3 can avoid the foot support 301 from being separated from the feet without being bound by the feet, when the device is in a difficult-to-travel section such as snow or mountain road, align the sliding rail 315 on the surface of the bottom plate 309 with the sliding groove 310 and insert it, at this time, the clamping bead 311 contacts the foot support 301 and is retracted into the boss 313, when reaching the clamping groove 312, the spring in the boss 313 pushes the clamping bead 311 to clamp into the clamping groove 312, so that the bottom plate 309 can be fixed firmly at the bottom end of the foot support 301, at this time, the clamping nail 314 can be firmly stuck to the ground to prevent the user from falling down, which improves the adaptability of the device.

[0033] The above is a detailed description of the present application, but some modifications or improvements can be made on the basis of the present application, which is obvious to those skilled in the art. Therefore, the modifications or improvements without departing from the spirit of the present application are within the scope of the present application.

Claims

1. A power-assisted mechanical exoskeleton device comprising an exoskeleton body (1), characterized in that: The surface of the exoskeleton body (1) is provided with a fixing mechanism (2), and the bottom end of the exoskeleton body (1) is provided with an auxiliary mechanism (3); The fixing mechanism (2) comprises a side plate (205) fixedly installed on the surface of the exoskeleton body (1), a plurality of groups of the side plate (205) are symmetrically distributed on the surface of the exoskeleton body (1), a magic tape sub sticker (201) is fixedly installed on the surface of the side plate (205), a magic tape mother sticker (202) is movably connected to the surface of the magic tape sub sticker (201), and the magic tape mother sticker (202) is fixedly installed on the surface of the side plate (205).

2. The powered mechanical exoskeleton apparatus of claim 1, wherein: The inside of the side plate (205) is provided with a slot (206), the surface of the slot (206) is provided with a first communication groove (209), the surface of the first communication groove (209) is provided with a rotating groove (210), the surface of the rotating groove (210) is provided with a second communication groove (211), a spring (207) is fixedly installed on the surface of the slot (206), and one end of the spring (207) is fixedly installed with a push plate (208).

3. The assistive mechanical exoskeleton apparatus of claim 1, wherein: The fixing mechanism (2) further comprises a base (212) movably installed on the surface of the side plate (205), a connecting disc (213) fixedly installed on the surface of the base (212), a protruding block (214) fixedly installed on the surface of the connecting disc (213), the protruding block (214) matched with the first communication groove (209), the rotating groove (210) and the second communication groove (211), and a movable groove (215) provided on the surface of the base (212).

4. The assistive mechanical exoskeleton apparatus according to claim 3, wherein: The surface of the movable groove (215) is movably provided with a wire winding disc (216), the surface of the wire winding disc (216) is fixedly provided with an external gear (217), one end of a steel wire rope (203) is fixedly installed on the surface of the side plate (205), and the surface of the wire winding disc (216) is provided with the steel wire rope (203).

5. The assistive mechanical exoskeleton apparatus of claim 3, wherein: The surface of the base (212) is fixedly provided with a fixed disc (218), the inner side of the fixed disc (218) is fixedly provided with an internal tooth disc (219), the surface of the fixed disc (218) is provided with a wire hole (223) matched with the steel wire rope (203), the inside of the fixed disc (218) is movably provided with a rotating disc (220), the surface of the rotating disc (220) is fixedly provided with an internal gear (222), the surface of the rotating disc (220) is fixedly provided with a clamping strip (221), the surface of the rotating disc (220) is fixedly provided with a knob (204), and the knob (204) is movably installed on the surface of the fixed disc (218).

6. The assistive mechanical exoskeleton apparatus according to claim 1, wherein: The auxiliary mechanism (3) includes a foot support (301), which is fixedly installed at the bottom end of the exoskeleton body (1), the surface of the foot support (301) is provided with a concave cavity (307), the surface of the concave cavity (307) is provided with anti-skid lines (308), the inside of the foot support (301) is provided with a groove (302), the surface of the groove (302) is fixedly installed with a limiting block (303), the surface of the limiting block (303) is movably installed with a limiting plate (305), the surface of the limiting plate (305) is fixedly installed with a clamping block (306), the surface of the limiting plate (305) is fixedly installed with a spring (304), the spring (304) is provided with multiple groups, and the springs (304) are uniformly distributed and fixedly installed in the inside of the groove (302).

7. A powered mechanical exoskeleton device according to claim 6, wherein: The bottom end of the foot support (301) is provided with a sliding groove (310), the surface of the foot support (301) is provided with a clamping groove (312), the surface of the sliding groove (310) is movably installed with a sliding rail (315), the surface of the sliding rail (315) is fixedly installed with a bottom plate (309), the bottom end of the bottom plate (309) is uniformly distributed and fixedly installed with clamping nails (314), the surface of the bottom plate (309) is fixedly installed with a boss (313), the inside of the boss (313) is movably installed with a clamping bead (311), and the clamping bead (311) is matched with the clamping groove (312).

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