CN112388610B - Unpowered exoskeleton loading device - Google Patents
Unpowered exoskeleton loading device Download PDFInfo
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- CN112388610B CN112388610B CN202011096002.7A CN202011096002A CN112388610B CN 112388610 B CN112388610 B CN 112388610B CN 202011096002 A CN202011096002 A CN 202011096002A CN 112388610 B CN112388610 B CN 112388610B
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- plate
- thigh
- knee
- fixedly connected
- knee joint
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 161
- 210000000629 knee joint Anatomy 0.000 claims abstract description 99
- 230000002146 bilateral effect Effects 0.000 claims abstract description 11
- 210000003127 knee Anatomy 0.000 claims description 86
- 210000002683 foot Anatomy 0.000 claims description 28
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 22
- 210000003423 ankle Anatomy 0.000 claims description 16
- 210000002414 leg Anatomy 0.000 claims description 16
- 238000005096 rolling process Methods 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 238000010030 laminating Methods 0.000 claims description 3
- 210000001624 hip Anatomy 0.000 description 59
- 238000005452 bending Methods 0.000 description 5
- 210000004394 hip joint Anatomy 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 2
- 210000004197 pelvis Anatomy 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
The unpowered exoskeleton loading device comprises a back part, a waist part, a thigh part, a knee joint part, a shank part and a foot part which are sequentially connected from top to bottom; the back includes backplate and rectangle extension board, and the upside fixed connection of rectangle extension board is in the rear side middle part of backplate, and the waist includes waistboard, two slip ring boards, medium plate and two sliders, and medium plate fixed mounting is in the rear side middle part of waistboard, and the downside fixed mounting of rectangle extension board is in the upside of medium plate, and the rear side of two slip ring boards is articulated to be installed at the left and right sides rear portion of medium plate through first hinge respectively, and two sliders slide bilateral symmetry respectively and slide and set up on two slip ring boards. The invention has the advantages of simple structure, flexible movement, high comfort, easy wearing, adjustable structural size and effective load reduction for users.
Description
Technical Field
The invention belongs to the technical field of exoskeleton power assisting devices, and particularly relates to an unpowered exoskeleton loading device.
Background
The exoskeleton power assisting device is a mechanical device which imitates the skeleton structure of a human body and cooperates with the movement of a wearer and is used for assisting the walking of the wearer. The exoskeleton is classified into an unpowered exoskeleton and a powered exoskeleton according to whether or not energy is used.
The power exoskeleton requires additional energy devices to provide power, such as an internal combustion engine, a battery and the like, and also requires devices such as a motor, a sensor, a controller and the like, so that the power exoskeleton is high in cost, high in price, poor in cruising ability and high in maintenance cost, and is not beneficial to popularization and use.
The unpowered exoskeleton does not need an extra power source, and has the advantages of simple structure, low price and convenience in maintenance, and the endurance is not worried about compared with the powered exoskeleton.
The existing unpowered exoskeleton has poor flexibility and wearing comfort, is mostly used for assisting walking, and has a single function.
Disclosure of Invention
The invention aims to provide an unpowered exoskeleton loading device which is simple in structure, flexible in movement, high in comfort, easy to wear, adjustable in structural size and capable of effectively reducing the load of a user.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the unpowered exoskeleton loading device comprises a back part, a waist part, a thigh part, a knee joint part, a shank part and a foot part which are sequentially connected from top to bottom; the back comprises a back plate and a rectangular support plate, the planes of the back plate and the rectangular support plate are vertically arranged along the left-right direction, shoulder straps are fixedly connected between the upper part and the lower part of the left side of the back plate and between the upper part and the lower part of the right side of the back plate, and the upper side part of the rectangular support plate is fixedly connected with the middle part of the rear side of the back plate;
the waist comprises a waist plate, two slip ring plates, a middle plate and two sliding parts, wherein the waist plate is of an oval hoop structure with an open front side, the slip ring plates are of circular arc plate structures matched with the waist plate structure, the two slip ring plates are of the same structure and are wrapped outside the waist plate in a bilateral symmetry mode, bus bars of the slip ring plates and the waist plate are vertically arranged, the middle plate is fixedly arranged in the middle of the rear side of the waist plate, the lower side part of the rectangular support plate is fixedly arranged on the upper side part of the middle plate, the rear side parts of the two slip ring plates are respectively hinged to the rear parts of the left side and the right side of the middle plate through first hinges, hinge shafts of the first hinges are vertically arranged, waist buckles are respectively arranged on the front side parts of the two slip ring plates, waist straps are connected between the two waist buckles, and the two sliding parts are respectively arranged on the two slip ring plates in a bilateral symmetry mode;
the thigh comprises two groups of thigh imitation skeletons, the two groups of thigh imitation skeletons have the same structure and are symmetrically arranged left and right, the upper side parts of the two groups of thigh imitation skeletons are fixedly connected with the lower side parts of the two sliding parts respectively, the left thigh imitation skeletons comprise a thigh short straight plate, a thigh long straight plate, a thigh front support plate, a thigh front guard plate and thigh binding bands, the thigh short straight plate, the thigh long straight plate, the thigh front support plate and the thigh front guard plate are vertically arranged on the same plane, the upper side parts of the thigh short straight plate are fixedly connected with the lower side parts of the sliding parts on the left side, the first base plate is positioned between the thigh long straight plate and the thigh short straight plate, the upper side parts of the thigh long straight plate horizontally penetrate through the thigh long straight plate, the first base plate and the first bolt pin of the thigh short straight plate along the left and right direction, the thigh front support plate is a circular arc-shaped front guard plate with the thigh front side of which has a center angle larger than 90 DEG, the left side of the thigh front support plate is in contact with the front side of the thigh, the front guard plate is tightly connected with the front side of the thigh, the left side of the binding bands is tightly connected with the front side of the thigh, and the front side edges of the thigh binding bands are tightly connected with the front side edges of the thigh plates, and the front side edges of the thigh is tightly connected with the front side edges of the thigh plates, and the front side edges of the thigh plates are tightly connected with the front side edges of the thigh plates, and the thigh edges are connected with the front edges, and the thigh edges of the thigh edges;
the knee joint part comprises two groups of knee joint imitation skeletons, the two groups of knee joint imitation skeletons have the same structure and are symmetrically arranged left and right, and the upper side parts of the two groups of knee joint imitation skeletons are respectively fixedly connected with the lower side parts of the two groups of thigh imitation skeletons;
the lower leg comprises two groups of lower leg imitation skeletons, the two groups of lower leg imitation skeletons have the same structure and are symmetrically arranged left and right, and the upper side parts of the two groups of lower leg imitation skeletons are fixedly connected with the lower side parts of the two groups of knee joint imitation skeletons respectively;
the foot comprises two groups of foot imitation skeletons, the structures of the two groups of foot imitation skeletons are the same and are arranged in a bilateral symmetry way, the upper side parts of the two groups of foot imitation skeletons are respectively hinged with the lower side parts of the two groups of shank imitation skeletons, and the central lines of hinge shafts of the foot imitation skeletons and the shank imitation skeletons are horizontally arranged along the left-right direction.
The left sliding piece comprises a swinging plate, the plane where the swinging plate is located is vertically arranged along the front-back direction, a groove wheel is rotatably arranged on the periphery of the right side face of the swinging plate, a gap is formed between two sliding ring plates and a waist plate, a plurality of cushion blocks are fixedly arranged in the middle of the gap along the circumferential direction, the cushion blocks are fixed on the sliding ring plates, the lower side wheel faces of the two groove wheels on the upper side are arranged on the upper side edge of the left sliding ring plate in a rolling manner, the upper side faces of the two groove wheels on the lower side are arranged on the lower side edge of the sliding ring plate on the left side in a clamping manner, the lower side edge of the sliding ring plate on the left side is clamped in the groove of the two groove wheels on the lower side, and the lower side part of the swinging plate is fixedly connected with the upper side part of the thigh short straight plate on the left side through a fixing block.
The knee joint imitation skeleton on the left side comprises a knee joint long straight plate, a knee joint extension plate, a knee front support plate, a knee front guard plate and a knee binding belt, wherein the knee Guan Jiechang straight plate, the knee joint extension plate, the knee front support plate and the knee front guard plate are vertically arranged on the surfaces of the knee front support plate and the knee front guard plate, the upper side part of the knee joint long straight plate is fixedly connected with the lower side part of the thigh long straight plate on the left side, the knee front support plate and the knee front guard plate are arc plates with a central angle larger than 90 degrees and smaller than 180 degrees and with open rear sides, the left side part of the knee front support plate is slidably connected with the upper side part of the knee joint extension plate, the knee front guard plate is fixedly connected with the rear side of the knee front support plate, the front side cambered surface of the knee front guard plate is tightly contacted with the rear side cambered surface of the knee front guard plate, one end of the knee binding belt is fixedly connected with the right side of the knee front guard plate, the left side of the knee front support plate is fixedly connected with a knee buckle, the other end of the knee strap is connected to the knee strap in a penetrating way, the right side face of the upper side part of the knee joint extension plate is fixedly connected with a second base plate, the second base plate is located between the knee joint long straight plate and the knee joint extension plate, the upper side part of the knee joint extension plate horizontally penetrates through the knee joint long straight plate, the second base plate and the second bolt pin of the knee joint extension plate along the left-right direction to be hinged to the lower side part of the knee joint long straight plate, the lower side part of the knee Guan Jiechang straight plate is fixedly connected with a limiting plate used for limiting the rotation angle of the knee joint, the upper side part of the knee joint extension plate is bent in a front-low rear-high-inclination manner, the lower side edge of the limiting plate is arranged in a front-low rear-high-inclination manner and is located on the upper side of the upper side part of the knee joint extension plate, and the lower side edge of the limiting plate is parallel to the front side edge of the second base plate and in pressing contact.
The left leg imitation skeleton comprises a leg long straight plate, the leg long straight plate is vertically arranged, and the lower side part of the knee joint extension plate is fixedly connected with the upper side part of the leg long straight plate.
The left foot imitation skeleton comprises an ankle joint extension plate and a sole plate, wherein the ankle joint extension plate is vertically arranged, the sole plate is horizontally arranged, a third backing plate is fixedly connected to the right side face of the lower side part of the lower leg extension plate, the upper side part of the ankle joint extension plate horizontally penetrates through the lower side part of the lower leg extension plate along the left-right direction, the third backing plate and a third bolt pin of the ankle joint extension plate, the sole plate comprises an elastic plate and a rigid support plate, the shape of the elastic plate is the same as that of a sole of a person, the elastic plate is fixedly connected to the rigid support plate and is positioned on the upper surface of the rigid support plate, the rear side part of the left side edge of the rigid support plate is hinged to the lower side part of the ankle joint extension plate through a second hinge, the hinge shaft of the second hinge is horizontally arranged along the front-back direction, the middle part of the rear side edge of the rigid support plate is fixedly connected with a heel strap, the upper part of the rear side face of the heel strap is fixedly connected with an ankle strap, and two ends of the ankle strap are adhered by magic tape to form a ring shape.
The rear side middle part of backplate still fixedly connected with vertical frid, the upside, downside and the rear side of vertical frid are all uncovered, correspond from top to bottom with rectangular extension board, overlap joint laminating around the preceding curb plate downside of vertical frid and the upside of rectangular extension board, the preceding curb plate front side of vertical frid and the trailing flank in close contact with of backplate, the last side of vertical frid is higher than the last side of backplate, the left side board and the right side board top integrated into one piece of vertical frid have the hangers, the preceding curb plate top fixedly connected with handle of vertical frid.
Two rows of first round holes are vertically formed in the middle of the backboard, two rows of second round holes corresponding to the first round holes in the front and the rear of the upper side part of the rectangular support plate and the lower side part of the front side plate of the vertical groove plate are vertically formed in the lower side part of the front side plate of the rectangular support plate, the lower side part of the front side plate of the vertical groove plate and the middle of the backboard are fixedly connected through four first bolts which respectively pass through the four first round holes and the front and the rear two groups of four second round holes in a corresponding manner, and the four first bolts are positioned at four corners of a rectangle; the lower side part of the rectangular support plate and the middle plate are fixedly connected to the middle part of the rear side of the waist plate through a plurality of second bolts.
The left movable plate of the first hinge on the left side is fixedly connected with the right side part of the sliding ring plate on the left side, the right movable plate of the first hinge on the left side is rotationally connected with the left side middle part of the middle plate through a first rotating shaft, the right movable plate of the first hinge on the right side is fixedly connected with the left side part of the sliding ring plate on the right side, and the left movable plate of the first hinge on the right side is rotationally connected with the right side middle part of the middle plate through a second rotating shaft.
A row of first pinholes is vertically arranged on the thigh short straight plate, the first bolt pins are correspondingly inserted and installed in a certain first pinhole, a row of third round holes is vertically arranged on the thigh long straight plate, a row of fourth round holes corresponding to the third round holes in a left-right direction are vertically arranged on the upper side part of the knee Guan Jiechang straight plate, and the upper side part of the knee Guan Jiechang straight plate and the lower side part of the thigh long straight plate are fixedly connected through two third bolts which respectively and correspondingly penetrate through the two third round holes and the two fourth round holes.
The left side part of the left knee front support plate is provided with two vertical horizontal long holes at intervals, a row of fifth round holes are vertically formed in the knee joint extension plate, the left knee front support plate is connected with the knee joint extension plate through two fourth bolts which respectively and correspondingly penetrate through the two fifth round holes and the horizontal long holes, the fourth bolts are in sliding connection with the horizontal long holes, a row of sixth round holes which respectively correspond to the left side and the right side of the fifth round holes are vertically formed in the shank long straight plate, and the lower side part of the knee joint extension plate and the upper side part of the shank long straight plate are fixedly connected through two fifth bolts which respectively and correspondingly penetrate through the two fifth round holes and the two sixth round holes; the ankle joint extension plate is vertically provided with a row of second pin holes, and the third bolt pin is correspondingly inserted and installed in a certain second pin hole.
The invention has outstanding substantive characteristics and remarkable progress compared with the prior art, in particular, the invention is provided with a back part, a waist part, a thigh part, a knee joint part, a shank part and a foot part which are sequentially connected from top to bottom according to the skeleton structure of a human body, wherein the upper side part of a rectangular support plate and the middle part of a backboard are fixedly connected through four first bolts which respectively pass through four first round holes and four second round holes, the upper side part of a knee joint extension plate and the lower side part of a thigh long straight plate are fixedly connected through two third bolts which respectively pass through two third round holes and two fourth round holes, the lower side part of the shank extension plate and the upper side part of the shank long straight plate are fixedly connected through two fifth bolts which respectively pass through two fifth round holes and two sixth round holes, and when the invention is worn, the connection position of the backboard and the rectangular support plate can be adjusted in advance according to the body height of a wearer, and then the whole height of the back formed by the back plate and the rectangular support plate is adjusted until the whole height is matched with the back size of a wearer, the connecting position of the knee joint extension plate and the thigh long straight plate is adjusted, the height of the thigh is adjusted until the whole height is matched with the thigh size of the wearer, the connecting position of the knee shank extension plate and the shank long straight plate is adjusted, the height of the shank is adjusted until the whole height is matched with the shank size of the wearer, the hinging positions of the thigh short straight plate and the thigh long straight plate and the hinging positions of the ankle joint extension plate and the shank long straight plate are also adjusted, so that the unpowered exoskeleton loading device can be more matched with the body of the wearer, the coordination is better, the wearing is more comfortable, shoulder straps are fixedly connected between the upper left part and the lower part of the back plate and the upper right part and the lower part of the back plate, the shoulder strap can be worn on the shoulder by a wearer, so that the back is contacted with the back plate, the back plate and the rectangular support plate can provide support for the back of the wearer, when the wearer needs a backpack with a heavier back, the weight of the backpack can be supported by the back plate, the portable part at the rear side of the upper part of the backpack can be hung on two hangers at the top of the vertical trough plate, the load of the wearer is effectively lightened, and the top of the front side plate of the vertical trough plate is fixedly connected with a handle, so that the whole device is convenient to take and move;
the waist comprises a waist plate, two slip ring plates, a middle plate and two sliding parts, wherein the waist plate is of an oval hoop structure with an open front side, when the waist plate is worn, the waist plate can be sleeved on the waist of a wearer in an adaptive manner, the waist plate is firmly bound through waist binding belts, the middle plate is fixedly arranged at the middle part of the rear side of the waist plate, the lower side parts of rectangular support plates are fixedly arranged at the upper side parts of the middle plate, the rear side parts of the two slip ring plates are respectively hinged and arranged at the left side and the right side of the middle plate through first hinges, the hinge shafts of the first hinges are vertically arranged, the front side parts of the two slip ring plates are respectively provided with waist buckles, waist binding belts are connected between the two waist buckles, the two sliding parts are respectively arranged on the two slip ring plates in a bilateral symmetry manner, the sliding parts are formed by swinging plates, the periphery of the swinging plates is rotated with the grooved wheels on the upper sides of the upper sides, the grooved wheels on the lower sides of the swinging plates are arranged on the lower sides of the slip ring plates in a rolling manner, the swinging plates and the short straight plates are fixedly connected with the left side edges of the lower sides of the slip ring plates, the waist plate and the left side of the waist plate can be connected with the right side of the waist plate through first hinges, the left side and right side of the waist plate and the middle plate through the first hinges, the first hinges and the right side of the middle hinge shafts are connected with the left side and right side of the middle plate through the first hinges, and the first hinges and the left side and the right side hinge shafts are connected with the left side and right side and the middle hinge shafts of the middle hinge can realize the middle swing hinge;
the thigh front support plate and the thigh front guard plate are arc plates with central angles larger than 90 degrees and smaller than 180 degrees and open at the rear sides, are matched with the middle parts of the thighs of the human body, and can be worn on the thighs of the human body through thigh binding belts, so that the thigh long straight plate is connected with the thighs of the human body in a matching way;
the knee front support plate and the knee front guard plate of the knee joint part are arc plates with central angles larger than 90 degrees and smaller than 180 degrees and open at the rear sides, are matched with the upper side parts of the lower legs of the knee joints of a human body, can be worn at the knee joints of the human body through knee straps, and the lower side parts of the knee Guan Jiechang straight plates are hinged with the upper side parts of the knee joint extension plates through second bolt pins and are matched with the knee joints of the human body in a bending and stretching mode, so that bending and stretching movements between the lower legs and the thighs are met;
the shape of the elastic plate of the sole plate is the same as that of the sole of a person, the elastic plate is bound at the ankle of the person through the ankle binding band, so that the sole plate is worn under the foot, the sole of the wearer can be stepped on the elastic plate, the sole plate is worn in the shoe together, the upper side part of the ankle joint extension plate is hinged with the lower side part of the shank long straight plate, the lower side part of the ankle joint extension plate is hinged with the rigid supporting plate of the sole plate, and the bending and stretching movement of the ankle joint of a human body is met;
when the user wears the unpowered exoskeleton weight bearing device, the maximum angle that the upper body of the human body can rotate left and right in the horizontal plane around the central axis passing through the center of the pelvis of the human body in the height direction of the human body is 30 degrees, the flexion/extension movement range of the hip joint of the human body is (0-130 degrees, 0-15 degrees), the adduction/abduction movement range of the hip joint of the human body is (0-25 degrees, 0-30 degrees), the backward flexion movement range of the knee joint of the human body is 0-135 degrees, and the plantarflexion/dorsiflexion movement range of the ankle joint of the human body is (0-20 degrees, 0-25 degrees). Compared with the existing unpowered exoskeleton, the novel backpack has the advantages of simple structure, flexible movement, high comfort, easiness in wearing, adjustable structural size according to the actual body size of a user, and capability of transmitting the load-bearing vertical groove plate to the backboard and the rectangular support plate when the user wears a backpack with a heavier back, so that the load-bearing vertical groove plate is transmitted to the ground through the waist, the thigh, the knee joint, the shank and the foot, the load of the user is effectively reduced, and the user walks more easily.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a left side view of the present invention.
Fig. 4 is a rear view of the present invention.
Fig. 5 is a cross-sectional view taken along A-A in fig. 2.
Fig. 6 is a partial enlarged view at B in fig. 1.
Fig. 7 is a partial enlarged view at C in fig. 1.
Fig. 8 is a partial enlarged view at D in fig. 1.
Fig. 9 is a partial enlarged view at E in fig. 1.
Fig. 10 is a partial enlarged view of F in fig. 1.
Fig. 11 is a partial enlarged view at G in fig. 4.
Detailed Description
Embodiments of the present invention are further described below with reference to the accompanying drawings.
As shown in fig. 1-11, the unpowered exoskeleton loading device comprises a back, a waist, a thigh, a knee joint, a shank and a foot connected in sequence from top to bottom; the back comprises a back plate 1 and a rectangular support plate 2, planes of the back plate 1 and the rectangular support plate 2 are vertically arranged along the left-right direction, shoulder straps 3 are fixedly connected between the upper part and the lower part of the left side of the back plate 1 and between the upper part and the lower part of the right side of the back plate 1, and the upper side part of the rectangular support plate 2 is fixedly connected with the middle part of the rear side of the back plate 1;
the waist comprises a waist plate 4, two slip ring plates 5, a middle plate 6 and two sliding parts, wherein the waist plate 4 is of an oval hoop structure with an open front side, the slip ring plates 5 are of arc plate structures matched with the waist plate 4 in structure, the two slip ring plates 5 are identical in structure and are wrapped outside the waist plate 4 in bilateral symmetry, buses of the slip ring plates 5 and the waist plate 4 are vertically arranged, the middle plate 6 is fixedly arranged in the middle of the rear side of the waist plate 4, the lower side part of the rectangular support plate 2 is fixedly arranged on the upper side part of the middle plate 6, the rear side parts of the two slip ring plates 5 are respectively hinged on the left side and the right side rear part of the middle plate 6 through first hinges 7, hinge shafts of the first hinges 7 are vertically arranged, waist buckles 8 are respectively arranged on the front side parts of the two slip ring plates 5, waist straps 9 are connected between the two waist buckles 8, and the two sliding parts are respectively arranged on the two slip ring plates 5 in bilateral symmetry;
the thigh comprises two groups of thigh imitation skeletons, the two groups of thigh imitation skeletons have the same structure and are symmetrically arranged left and right, the upper side parts of the two groups of thigh imitation skeletons are fixedly connected with the lower side parts of the two sliding parts respectively, the left thigh imitation skeletons comprise a thigh short straight plate 14, a thigh long straight plate 15, a thigh front support plate 16, a thigh front guard plate 17 and thigh binding straps 18, the thigh short straight plate 14, the thigh long straight plate 15, the thigh front support plate 16 and the thigh front guard plate 17 are vertically arranged on the surface, the upper side part of the thigh short straight plate 14 is fixedly connected with the lower side part of the left sliding part, the right side part of the upper side part of the thigh long straight plate 15 is fixedly connected with a first base plate 19, the first base plate 19 is positioned between the thigh long straight plate 15 and the thigh short straight plate 14, the upper side part of the thigh long straight plate 15 horizontally passes through the thigh long straight plate 15 along the left and right directions, the first base plate 19 and the thigh short straight plate 14 is hinged with a first bolt 20 on the lower side part of the thigh short straight plate 14, the thigh front support plate 16 is connected with the thigh front support plate 16 and the thigh front support plate 17 at an arc-shaped side of the front side of the thigh 17, the left side of the thigh buckle is connected with the thigh 17 at an arc-shaped front side of the thigh 17, the front end of the thigh 17 is in contact with the front side of the thigh 17 is tightly connected with the front side 17, and the front side 17 is connected with the front end of the thigh 17 at the front end of the thigh 17;
the knee joint part comprises two groups of knee joint imitation skeletons, the two groups of knee joint imitation skeletons have the same structure and are symmetrically arranged left and right, and the upper side parts of the two groups of knee joint imitation skeletons are respectively fixedly connected with the lower side parts of the two groups of thigh imitation skeletons;
the lower leg comprises two groups of lower leg imitation skeletons, the two groups of lower leg imitation skeletons have the same structure and are symmetrically arranged left and right, and the upper side parts of the two groups of lower leg imitation skeletons are fixedly connected with the lower side parts of the two groups of knee joint imitation skeletons respectively;
the foot comprises two groups of foot imitation skeletons, the structures of the two groups of foot imitation skeletons are the same and are arranged in a bilateral symmetry way, the upper side parts of the two groups of foot imitation skeletons are respectively hinged with the lower side parts of the two groups of shank imitation skeletons, and the central lines of hinge shafts of the foot imitation skeletons and the shank imitation skeletons are horizontally arranged along the left-right direction.
The left sliding piece comprises a swinging plate 10, the plane where the swinging plate 10 is located is vertically arranged along the front-back direction, a grooved wheel 11 is rotatably arranged on the periphery of the right side face of the swinging plate 10, a gap is formed between two slip ring plates 5 and a waist plate 4, a plurality of cushion blocks 12 are fixedly arranged in the middle of the gap along the circumferential direction, the cushion blocks 12 are fixed on the slip ring plates 5, the lower side surfaces of the two grooved wheels 11 on the upper side are arranged on the upper side edge of the left slip ring plate 5 in a rolling manner, the upper side surfaces of the two grooved wheels 11 on the lower side are arranged on the lower side edge of the slip ring plate 5 on the left side in a clamping manner in grooves of the two grooved wheels 11 on the upper side, and the lower side part of the swinging plate 10 is fixedly connected with the upper side part of the long straight plate 15 on the left side through a fixed block 13.
The knee joint imitation skeleton on the left side comprises a knee joint long straight plate 22, a knee joint extension plate 23, a knee front support plate 24, a knee front guard plate 25 and a knee strap 26, wherein the straight plate 22 of the knee Guan Jiechang, the knee joint extension plate 23, the knee front support plate 24 and the knee front guard plate 25 are vertically arranged on the surface where the knee Guan Jiechang straight plate 22 is positioned, the upper side part of the knee Guan Jiechang straight plate 22 is fixedly connected with the lower side part of the left thigh long straight plate 15, the knee front support plate 24 and the knee front guard plate 25 are arc plates with the central angle being larger than 90 degrees and smaller than 180 degrees and the rear side being open, the left side part of the knee front support plate 24 is slidingly connected with the upper side part of the knee joint extension plate 23, the knee front guard plate 25 is fixedly connected with the rear side of the knee front support plate 24, the front side cambered surface of the knee front guard plate 25 is tightly contacted with the rear side cambered surface of the knee front guard plate 25, one end of the knee strap 26 is fixedly connected with the right side edge of the knee front guard plate 25, the left side edge of the front support plate 24 is fixedly connected with a knee buckle 27, the other end of the knee strap 26 is connected to the knee buckle 27 in a penetrating way, the right side face of the upper side part of the knee joint extension plate 23 is fixedly connected with a second cushion plate 28, the second cushion plate 28 is located between the knee joint long straight plate 22 and the knee joint extension plate 23, the upper side part of the knee joint extension plate 23 is hinged to the lower side part of the knee joint long straight plate 22 through a second bolt pin 29 which horizontally penetrates through the knee joint long straight plate 22, the second cushion plate 28 and the knee joint extension plate 23 along the left-right direction, the lower side part of the knee Guan Jiechang straight plate 22 is fixedly connected with a limiting plate 30 used for limiting the rotation angle of the knee joint, the upper side part of the knee joint extension plate 23 is bent in a front-low-back high-inclination mode, the lower side edge of the limiting plate 30 is arranged in a front-low-back high-inclination mode and located on the upper side of the upper side part of the knee joint extension plate 23, and the lower side edge of the limiting plate 30 is parallel to and in pressing contact with the front side edge of the second cushion plate 28.
The left leg imitation skeleton comprises a leg long straight plate 31, the leg long straight plate 31 is vertically arranged, and the lower side part of the knee joint extension plate 23 is fixedly connected with the upper side part of the leg long straight plate 31.
The left foot imitation skeleton comprises an ankle extension plate 32 and a plantar plate, wherein the ankle extension plate 32 is vertically arranged, the plantar plate is horizontally arranged, the right side face of the lower side part of the lower leg extension plate 31 is fixedly connected with a third backing plate 33, the upper side part of the ankle extension plate 32 horizontally passes through the lower side part of the lower leg extension plate 31, the third backing plate 33 and a third bolt pin 57 of the ankle extension plate 32 along the left-right direction, the plantar plate comprises an elastic plate 34 and a rigid support plate 35, the shape of the elastic plate 34 is the same as that of the sole of a human foot, the elastic plate 34 is fixedly connected to the rigid support plate 35 and is positioned on the upper surface of the rigid support plate 35, the rear side part of the left side edge of the rigid support plate 35 is horizontally arranged with the lower side part of the ankle extension plate 32 through a second hinge 58, the hinge shaft of the second hinge 58 is horizontally arranged along the front-back direction, the middle part of the rear side edge of the rigid support plate 35 is fixedly connected with a heel strap 36, the upper part of the rear side face of the ankle strap 36 is fixedly connected with the strap 37, and two ends of the ankle strap 37 are adhered in a loop shape through velcro.
The rear side middle part of backplate 1 still fixedly connected with vertical frid 38, the upside, downside and the rear side of vertical frid 38 are all uncovered, vertical frid 38 corresponds from top to bottom with rectangle extension board 2, overlap joint laminating around the preceding curb plate downside of vertical frid 38 and the upside of rectangle extension board 2, the preceding curb plate leading flank of vertical frid 38 and the trailing flank of backplate 1 in close contact with, the upper side of vertical frid 38 is higher than the upper side of backplate 1, the left side board and the right side board top integrated into one piece of vertical frid 38 have hangers 39, the preceding curb plate top fixedly connected with handle 40 of vertical frid 38.
Two rows of first round holes 41 are vertically formed in the middle of the backboard 1, two rows of second round holes 42 corresponding to the first round holes 41 in front and back are vertically formed in the upper side part of the rectangular support plate 2 and the lower side part of the front side plate of the vertical groove plate 38, and the middle of the backboard 1 are fixedly connected through four first bolts 43 respectively penetrating through the four first round holes 41 and the front and back two groups of four second round holes 42, and the four first bolts 43 are located at four corners of a rectangle; the lower side part of the rectangular support plate 2 and the middle plate 6 are fixedly connected to the middle part of the rear side of the waist plate 4 through a plurality of second bolts 44.
The left movable plate of the left first hinge 7 is fixedly connected with the right side part of the left slip ring plate 5, the right movable plate of the left first hinge 7 is rotationally connected with the left middle part of the middle plate 6 through a first rotating shaft 45, the right movable plate of the right first hinge 7 is fixedly connected with the left side part of the right slip ring plate 5, and the left movable plate of the right first hinge 7 is rotationally connected with the right middle part of the middle plate 6 through a second rotating shaft 46.
A row of first pin holes 47 are vertically formed in the thigh short straight plate 14, the first bolt pins 20 are correspondingly inserted and installed in one first pin hole 47, a row of third round holes 48 are vertically formed in the thigh long straight plate 15, a row of fourth round holes 49 corresponding to the third round holes 48 in the left and right direction are vertically formed in the upper side portion of the knee Guan Jiechang straight plate 22, and the upper side portion of the knee joint long straight plate 22 and the lower side portion of the thigh long straight plate 15 are fixedly connected through two third bolts 50 respectively penetrating through the two third round holes 48 and the two fourth round holes 49.
The left side part of the left knee front support plate 24 is provided with two vertical horizontal long holes 51 which are vertically spaced, the knee joint extension plate 23 is vertically provided with a row of fifth round holes 52, the left knee front support plate 24 is connected with the knee joint extension plate 23 through two fourth bolts 53 which respectively and correspondingly pass through the two fifth round holes 52 and the horizontal long holes 51, the fourth bolts 53 are in sliding connection with the horizontal long holes 51, the lower side part of the knee joint extension plate 23 and the upper side part of the lower leg long straight plate 31 are fixedly connected through two fifth bolts 55 which respectively and correspondingly pass through the two fifth round holes 52 and the two sixth round holes 54, and the lower side part of the lower leg long straight plate 31 is vertically provided with a row of sixth round holes 54 which respectively and vertically correspond to the fifth round holes 52; the ankle extension plate 32 is vertically provided with a row of second pin holes 56, and a third bolt pin 57 is correspondingly inserted and mounted in one of the second pin holes 56.
The invention is provided with a back part, a waist part, a thigh part, a knee joint part, a shank part and a foot part which are sequentially connected from top to bottom according to the skeleton structure of a human body, wherein the upper side part of a rectangular support plate 2 and the middle part of a back plate 1 are fixedly connected through four first bolts 43 which respectively pass through four first round holes 41 and four second round holes 42, the upper side part of a knee joint extension plate 23 and the lower side part of a thigh long straight plate 15 are fixedly connected through two third bolts 50 which respectively pass through two third round holes 48 and two fourth round holes 49, the lower side part of the shank extension plate and the upper side part of the shank long straight plate 31 are fixedly connected through two fifth bolts 55 which respectively pass through two fifth round holes 52 and two sixth round holes 54, and when the waist support plate is worn, the connecting position of the back plate 1 and the rectangular support plate 2 can be adjusted in advance according to the height and the size of a wearer, the whole height of the back formed by the back plate 1 and the rectangular support plate 2 is adjusted until the whole height is matched with the back size of a wearer, the connecting position of the knee joint extension plate 23 and the thigh long straight plate 15 is adjusted in the same way, the height of the thigh is adjusted until the whole height is matched with the thigh size of the wearer, the connecting position of the knee shank extension plate and the shank long straight plate 31 is adjusted in the same way, the height of the shank is adjusted until the whole height is matched with the shank size of the wearer, the hinging position of the thigh short straight plate 14 and the thigh long straight plate 15 and the hinging position of the ankle joint extension plate 32 and the shank long straight plate 31 are also adjusted, so that the unpowered exoskeleton load bearing device can be more matched with the body of the wearer, is more coordinated and is more comfortable to wear, a shoulder strap 3 is fixedly connected between the upper left side part and the lower part and the upper right side part and the lower part of the back plate 1, the wearer can wear the shoulder strap 3 on the shoulder to enable the back to be in contact with the backboard 1, the backboard 1 and the rectangular support plate 2 can provide support for the back of the wearer, when the wearer needs to carry a heavy knapsack, the weight of the knapsack can be supported by the backboard 1, the portable part on the rear side of the upper part of the knapsack can be hung on two hangers 39 on the top of the vertical groove plate 38, the load of the wearer is effectively lightened, and the top of the front side plate of the vertical groove plate 38 is fixedly connected with a handle 40, so that the whole set of mobile device is convenient to take;
the waist comprises a waist plate 4, two slip ring plates 5, a middle plate 6 and two sliding parts, wherein the waist plate 4 is of an oval hoop structure with an open front side, when the waist plate is worn, the waist plate 4 can be adaptively sleeved at the waist of a wearer and is firmly bound through waist binding belts 9, the middle plate 6 is fixedly arranged in the middle of the rear side of the waist plate 4, the lower side part of a rectangular support plate 2 is fixedly arranged on the upper side part of the middle plate 6, the rear side parts of the two slip ring plates 5 are respectively hinged on the left side and the right side of the middle plate 6 through first hinges 7, the hinge shafts of the first hinges 7 are vertically arranged, the front side parts of the two slip ring plates 5 are respectively provided with waist binding belts 8, the waist binding belts 9 are connected between the two waist binding belts 8, the two sliding parts are respectively symmetrically arranged on the two slip ring plates 5 in a left-right sliding mode, the sliding parts are composed of a swinging plate 10, grooved wheels 11 are circumferentially rotated on the swinging plate 10, the lower side wheel surfaces of the grooved wheels 11 on the upper side are arranged on the upper side of the slip ring plates 5 in a rolling mode, the upper side wheel surface of the grooved wheel 11 at the lower side is arranged at the lower side of the slip ring plate 5 in a rolling way, the swinging plate 10 is fixedly connected with the thigh short straight plate 14, thus the rotation of the waist and the crotch in the horizontal plane can be realized, the left movable plate of the first hinge 7 at the left side is fixedly connected with the right side part of the slip ring plate 5 at the left side, the right movable plate of the first hinge 7 at the left side is rotationally connected with the left middle part of the middle plate 6 through a first rotating shaft 45, the right movable plate of the first hinge 7 at the right side is fixedly connected with the left side part of the slip ring plate 5 at the right side, moreover, the left movable plate of the first hinge 7 at the right side is rotationally connected with the right middle part of the middle plate 6 through a second rotating shaft 46, the outward swinging or inward retraction of the thigh can be realized, the flexion and extension of the thigh can be realized between the thigh short straight plate 14 and the thigh long straight plate 15 through the hinge of the first hinge shaft, the flexion and extension movements of the hip joint of the human body are satisfied;
the thigh front support plate 16 and the thigh front guard plate 17 are arc plates with central angles larger than 90 degrees and smaller than 180 degrees and open rear sides, are matched with the middle parts of the thighs of the human body, and can be worn on the thighs of the human body through thigh binding belts 18, so that the thigh long straight plate 15 is connected with the thighs of the human body in a matched mode;
the knee front support plate 24 and the knee front guard plate 25 of the knee joint part are arc plates with central angles larger than 90 degrees and smaller than 180 degrees and open at the rear sides, are matched with the upper side parts of the lower legs of the knee joint part of a human body, can be worn at the knee joint part of the human body through a knee strap 26, and the lower side parts of the knee Guan Jiechang straight plates 22 are hinged with the upper side parts of the knee joint extension plates 23 through second bolt pins 29 and are matched with the knee joint extension parts of the human body in a bending and stretching mode, so that bending and stretching movements between the lower legs and the thighs are met;
the shape of the elastic plate 34 of the sole plate is the same as that of the sole of a person, the elastic plate is tied at the ankle of the person through the ankle strap 37, so that the sole plate is worn under the foot, the sole of the wearer can be stepped on the elastic plate 34, the sole plate is worn in shoes together, the upper side part of the ankle joint extension plate 32 is hinged with the lower side part of the shank length straight plate 31, the lower side part of the ankle joint extension plate 32 is hinged with the rigid supporting plate 35 of the sole plate, and the flexion and extension movements of the ankle joint of a human body are met;
when the user wears the unpowered exoskeleton weight bearing device, the maximum angle that the upper body of the human body can rotate left and right in the horizontal plane around the central axis passing through the center of the pelvis of the human body in the height direction of the human body is 30 degrees, the flexion/extension movement range of the hip joint of the human body is (0-130 degrees, 0-15 degrees), the adduction/abduction movement range of the hip joint of the human body is (0-25 degrees, 0-30 degrees), the backward flexion movement range of the knee joint of the human body is 0-135 degrees, and the plantarflexion/dorsiflexion movement range of the ankle joint of the human body is (0-20 degrees, 0-25 degrees). Compared with the existing unpowered exoskeleton, the novel backpack is simple in structure, flexible in movement, high in comfort and easy to wear, the structural size can be adjusted according to the actual body size of a user, when the user wears a backpack with a heavy back, the load can be transferred to the backboard 1 and the rectangular support plate 2 through the vertical groove plate 38, and then the load is transferred to the ground through the waist, the thigh, the knee joint, the shank and the foot, so that the load of the user is effectively reduced, and the user walks more easily.
The above embodiments are merely for illustrating the technical aspects of the present invention, and it should be understood by those skilled in the art that the present invention is described in detail with reference to the above embodiments; modifications and equivalents may be made thereto without departing from the spirit and scope of the invention, which is intended to be encompassed by the claims.
Claims (10)
1. Unpowered exoskeleton loading device, its characterized in that: comprises a back part, a waist part, a thigh part, a knee joint part, a shank part and a foot part which are sequentially connected from top to bottom; the back comprises a back plate and a rectangular support plate, the planes of the back plate and the rectangular support plate are vertically arranged along the left-right direction, shoulder straps are fixedly connected between the upper part and the lower part of the left side of the back plate and between the upper part and the lower part of the right side of the back plate, and the upper side part of the rectangular support plate is fixedly connected with the middle part of the rear side of the back plate;
the waist comprises a waist plate, two slip ring plates, a middle plate and two sliding parts, wherein the waist plate is of an oval hoop structure with an open front side, the slip ring plates are of circular arc plate structures matched with the waist plate structure, the two slip ring plates are of the same structure and are wrapped outside the waist plate in a bilateral symmetry mode, bus bars of the slip ring plates and the waist plate are vertically arranged, the middle plate is fixedly arranged in the middle of the rear side of the waist plate, the lower side part of the rectangular support plate is fixedly arranged on the upper side part of the middle plate, the rear side parts of the two slip ring plates are respectively hinged to the rear parts of the left side and the right side of the middle plate through first hinges, hinge shafts of the first hinges are vertically arranged, waist buckles are respectively arranged on the front side parts of the two slip ring plates, waist straps are connected between the two waist buckles, and the two sliding parts are respectively arranged on the two slip ring plates in a bilateral symmetry mode;
the thigh comprises two groups of thigh imitation skeletons, the two groups of thigh imitation skeletons have the same structure and are symmetrically arranged left and right, the upper side parts of the two groups of thigh imitation skeletons are fixedly connected with the lower side parts of the two sliding parts respectively, the left thigh imitation skeletons comprise a thigh short straight plate, a thigh long straight plate, a thigh front support plate, a thigh front guard plate and thigh binding bands, the thigh short straight plate, the thigh long straight plate, the thigh front support plate and the thigh front guard plate are vertically arranged on the same plane, the upper side parts of the thigh short straight plate are fixedly connected with the lower side parts of the sliding parts on the left side, the first base plate is positioned between the thigh long straight plate and the thigh short straight plate, the upper side parts of the thigh long straight plate horizontally penetrate through the thigh long straight plate, the first base plate and the first bolt pin of the thigh short straight plate along the left and right direction, the thigh front support plate is a circular arc-shaped front guard plate with the thigh front side of which has a center angle larger than 90 DEG, the left side of the thigh front support plate is in contact with the front side of the thigh, the front guard plate is tightly connected with the front side of the thigh, the left side of the binding bands is tightly connected with the front side of the thigh, and the front side edges of the thigh binding bands are tightly connected with the front side edges of the thigh plates, and the front side edges of the thigh is tightly connected with the front side edges of the thigh plates, and the front side edges of the thigh plates are tightly connected with the front side edges of the thigh plates, and the thigh edges are connected with the front edges, and the thigh edges of the thigh edges;
the knee joint part comprises two groups of knee joint imitation skeletons, the two groups of knee joint imitation skeletons have the same structure and are symmetrically arranged left and right, and the upper side parts of the two groups of knee joint imitation skeletons are respectively fixedly connected with the lower side parts of the two groups of thigh imitation skeletons;
the lower leg comprises two groups of lower leg imitation skeletons, the two groups of lower leg imitation skeletons have the same structure and are symmetrically arranged left and right, and the upper side parts of the two groups of lower leg imitation skeletons are fixedly connected with the lower side parts of the two groups of knee joint imitation skeletons respectively;
the foot comprises two groups of foot imitation skeletons, the structures of the two groups of foot imitation skeletons are the same and are arranged in a bilateral symmetry way, the upper side parts of the two groups of foot imitation skeletons are respectively hinged with the lower side parts of the two groups of shank imitation skeletons, and the central lines of hinge shafts of the foot imitation skeletons and the shank imitation skeletons are horizontally arranged along the left-right direction.
2. The unpowered exoskeleton loading device of claim 1, wherein: the left sliding piece comprises a swinging plate, the plane where the swinging plate is located is vertically arranged along the front-back direction, a groove wheel is rotatably arranged on the periphery of the right side face of the swinging plate, a gap is formed between two sliding ring plates and a waist plate, a plurality of cushion blocks are fixedly arranged in the middle of the gap along the circumferential direction, the cushion blocks are fixed on the sliding ring plates, the lower side wheel faces of the two groove wheels on the upper side are arranged on the upper side edge of the left sliding ring plate in a rolling manner, the upper side faces of the two groove wheels on the lower side are arranged on the lower side edge of the sliding ring plate on the left side in a clamping manner, the lower side edge of the sliding ring plate on the left side is clamped in the groove of the two groove wheels on the lower side, and the lower side part of the swinging plate is fixedly connected with the upper side part of the thigh short straight plate on the left side through a fixing block.
3. The unpowered exoskeleton loading device of claim 2, wherein: the knee joint imitation skeleton on the left side comprises a knee joint long straight plate, a knee joint extension plate, a knee front support plate, a knee front guard plate and a knee binding belt, wherein the knee Guan Jiechang straight plate, the knee joint extension plate, the knee front support plate and the knee front guard plate are vertically arranged on the surfaces of the knee front support plate and the knee front guard plate, the upper side part of the knee joint long straight plate is fixedly connected with the lower side part of the thigh long straight plate on the left side, the knee front support plate and the knee front guard plate are arc plates with a central angle larger than 90 degrees and smaller than 180 degrees and with open rear sides, the left side part of the knee front support plate is slidably connected with the upper side part of the knee joint extension plate, the knee front guard plate is fixedly connected with the rear side of the knee front support plate, the front side cambered surface of the knee front guard plate is tightly contacted with the rear side cambered surface of the knee front guard plate, one end of the knee binding belt is fixedly connected with the right side of the knee front guard plate, the left side of the knee front support plate is fixedly connected with a knee buckle, the other end of the knee strap is connected to the knee strap in a penetrating way, the right side face of the upper side part of the knee joint extension plate is fixedly connected with a second base plate, the second base plate is located between the knee joint long straight plate and the knee joint extension plate, the upper side part of the knee joint extension plate horizontally penetrates through the knee joint long straight plate, the second base plate and the second bolt pin of the knee joint extension plate along the left-right direction to be hinged to the lower side part of the knee joint long straight plate, the lower side part of the knee Guan Jiechang straight plate is fixedly connected with a limiting plate used for limiting the rotation angle of the knee joint, the upper side part of the knee joint extension plate is bent in a front-low rear-high-inclination manner, the lower side edge of the limiting plate is arranged in a front-low rear-high-inclination manner and is located on the upper side of the upper side part of the knee joint extension plate, and the lower side edge of the limiting plate is parallel to the front side edge of the second base plate and in pressing contact.
4. An unpowered exoskeleton loading device as claimed in claim 3 wherein: the left leg imitation skeleton comprises a leg long straight plate, the leg long straight plate is vertically arranged, and the lower side part of the knee joint extension plate is fixedly connected with the upper side part of the leg long straight plate.
5. The unpowered exoskeleton loading device of claim 4, wherein: the left foot imitation skeleton comprises an ankle joint extension plate and a sole plate, wherein the ankle joint extension plate is vertically arranged, the sole plate is horizontally arranged, a third backing plate is fixedly connected to the right side face of the lower side part of the lower leg extension plate, the upper side part of the ankle joint extension plate horizontally penetrates through the lower side part of the lower leg extension plate along the left-right direction, the third backing plate and a third bolt pin of the ankle joint extension plate, the sole plate comprises an elastic plate and a rigid support plate, the shape of the elastic plate is the same as that of a sole of a person, the elastic plate is fixedly connected to the rigid support plate and is positioned on the upper surface of the rigid support plate, the rear side part of the left side edge of the rigid support plate is hinged to the lower side part of the ankle joint extension plate through a second hinge, the hinge shaft of the second hinge is horizontally arranged along the front-back direction, the middle part of the rear side edge of the rigid support plate is fixedly connected with a heel strap, the upper part of the rear side face of the heel strap is fixedly connected with an ankle strap, and two ends of the ankle strap are adhered by magic tape to form a ring shape.
6. The unpowered exoskeleton loading device of claim 5, wherein: the rear side middle part of backplate still fixedly connected with vertical frid, the upside, downside and the rear side of vertical frid are all uncovered, correspond from top to bottom with rectangular extension board, overlap joint laminating around the preceding curb plate downside of vertical frid and the upside of rectangular extension board, the preceding curb plate front side of vertical frid and the trailing flank in close contact with of backplate, the last side of vertical frid is higher than the last side of backplate, the left side board and the right side board top integrated into one piece of vertical frid have the hangers, the preceding curb plate top fixedly connected with handle of vertical frid.
7. The unpowered exoskeleton loading device of claim 6, wherein: two rows of first round holes are vertically formed in the middle of the backboard, two rows of second round holes corresponding to the first round holes in the front and the rear of the upper side part of the rectangular support plate and the lower side part of the front side plate of the vertical groove plate are vertically formed in the lower side part of the front side plate of the rectangular support plate, the lower side part of the front side plate of the vertical groove plate and the middle of the backboard are fixedly connected through four first bolts which respectively pass through the four first round holes and the front and the rear two groups of four second round holes in a corresponding manner, and the four first bolts are positioned at four corners of a rectangle; the lower side part of the rectangular support plate and the middle plate are fixedly connected to the middle part of the rear side of the waist plate through a plurality of second bolts.
8. The unpowered exoskeleton loading device of claim 6, wherein: the left movable plate of the first hinge on the left side is fixedly connected with the right side part of the sliding ring plate on the left side, the right movable plate of the first hinge on the left side is rotationally connected with the left side middle part of the middle plate through a first rotating shaft, the right movable plate of the first hinge on the right side is fixedly connected with the left side part of the sliding ring plate on the right side, and the left movable plate of the first hinge on the right side is rotationally connected with the right side middle part of the middle plate through a second rotating shaft.
9. The unpowered exoskeleton loading device of claim 6, wherein: a row of first pinholes is vertically arranged on the thigh short straight plate, the first bolt pins are correspondingly inserted and installed in a certain first pinhole, a row of third round holes is vertically arranged on the thigh long straight plate, a row of fourth round holes corresponding to the third round holes in a left-right direction are vertically arranged on the upper side part of the knee Guan Jiechang straight plate, and the upper side part of the knee Guan Jiechang straight plate and the lower side part of the thigh long straight plate are fixedly connected through two third bolts which respectively and correspondingly penetrate through the two third round holes and the two fourth round holes.
10. The unpowered exoskeleton loading device of claim 6, wherein: the left side part of the left knee front support plate is provided with two vertical horizontal long holes at intervals, a row of fifth round holes are vertically formed in the knee joint extension plate, the left knee front support plate is connected with the knee joint extension plate through two fourth bolts which respectively and correspondingly penetrate through the two fifth round holes and the horizontal long holes, the fourth bolts are in sliding connection with the horizontal long holes, a row of sixth round holes which respectively correspond to the left side and the right side of the fifth round holes are vertically formed in the shank long straight plate, and the lower side part of the knee joint extension plate and the upper side part of the shank long straight plate are fixedly connected through two fifth bolts which respectively and correspondingly penetrate through the two fifth round holes and the two sixth round holes; the ankle joint extension plate is vertically provided with a row of second pin holes, and the third bolt pin is correspondingly inserted and installed in a certain second pin hole.
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| CN202011096002.7A CN112388610B (en) | 2020-10-14 | 2020-10-14 | Unpowered exoskeleton loading device |
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| CN202011096002.7A CN112388610B (en) | 2020-10-14 | 2020-10-14 | Unpowered exoskeleton loading device |
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| CN113208868B (en) * | 2021-03-25 | 2022-03-25 | 中国科学院深圳先进技术研究院 | Lower limb exoskeleton based on transverse walking |
| CN115556069B (en) * | 2021-07-01 | 2025-02-14 | 黄河科技学院 | A non-powered waist assist device adapted to human body movements |
| CN114770469B (en) * | 2022-04-11 | 2023-06-02 | 湖州市中心医院 | A lightweight exoskeleton device for lead clothing support |
| CN114918901A (en) * | 2022-05-07 | 2022-08-19 | 中国人民解放军陆军军医大学 | an exoskeleton |
| CN119238461A (en) * | 2023-11-22 | 2025-01-03 | 南京理工大学 | A wearable protective armor exoskeleton |
| CN119820537B (en) * | 2025-01-13 | 2025-11-11 | 西安交通大学 | Unpowered lightweight knee joint auxiliary rehabilitation training exoskeleton |
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| CN105997441A (en) * | 2016-05-07 | 2016-10-12 | 南京理工大学 | An exoskeleton-based wearable lower limb rehabilitation robot |
| CN106493715A (en) * | 2016-12-20 | 2017-03-15 | 东南大学 | A kind of ESD for being suitable to exposure suit support |
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| CN109571434A (en) * | 2018-12-06 | 2019-04-05 | 西安交通大学 | A kind of unpowered lower limb exoskeleton robot |
| CN109549823A (en) * | 2019-01-31 | 2019-04-02 | 河南省中医院（河南中医药大学第二附属医院） | Orthopedic nerve rehabilitation auxiliary protection device |
| CN110074949A (en) * | 2019-06-11 | 2019-08-02 | 唐山市拓又达科技有限公司 | A kind of lower limb exoskeleton robot and application method |
| CN110695959A (en) * | 2019-08-27 | 2020-01-17 | 成都锦江电子系统工程有限公司 | Exoskeleton robot and control system thereof |
| CN110721057A (en) * | 2019-11-17 | 2020-01-24 | 陈金华 | An exoskeleton type lumbar intervertebral disc treatment bracket |
| CN211658677U (en) * | 2020-01-03 | 2020-10-13 | 大连交通大学 | Exoskeleton walking-aid robot |
| CN111452026A (en) * | 2020-05-18 | 2020-07-28 | 南京杨树穿戴智能科技有限公司 | Passive knee joint exoskeleton |
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