CN116061154A - Anti-gravity airbag exoskeleton device - Google Patents

Abstract

The invention belongs to the technical field of exoskeleton, in particular to an antigravity airbag exoskeleton device, which comprises an antigravity airbag device and a lower limb exoskeleton positioned in an airbag; the device also comprises an end-sitting support assembly and an air bag retraction assembly, wherein the clamping part of the end-sitting support assembly can be clamped with the bag cover body and supports the lower limb exoskeleton to keep an end-sitting posture; the airbag folding and unfolding assembly can be connected with the airbag top assembly and drives the airbag top assembly of the airbag to move, so that an airbag port moves from the thigh of the lower limb exoskeleton to the foot until the airbag top assembly is attached to the base station. According to the invention, the sitting-end supporting component can assist the lower limb exoskeleton to keep the sitting-end posture, and meanwhile, the arranged airbag retracting component can drive the airbag top component to move along the posture of the lower limb, so that the airbag opening can finally move to the feet, and therefore, a user only needs to be in the sitting-end posture when transferring the user, and the anti-gravity airbag exoskeleton device can better meet the use requirement and psychological requirement of the person with lower limb dysfunction.

Description

Anti-gravity airbag exoskeleton device

technical field

The invention belongs to the technical field of exoskeleton, in particular to an anti-gravity airbag exoskeleton device.

Background technique

The anti-gravity airbag running device is a way of using air pressure to reduce weight to reduce the pressure on the joints of the user when running, and it has a good rehabilitation effect on users with damage to ankles and knees. Yet for the crowd of lower extremity dysfunction (incomplete), such as hemiplegia or lower limb paraplegia, because it itself can not move independently, therefore can not use existing anti-gravity air bag running device to carry out rehabilitation to it. However, although the patient's legs are dysfunctional, proper movement of the lower limbs is essential. The invention patent with the publication number CN105832496A discloses a new type of lower limb exoskeleton rehabilitation training device, which essentially also belongs to the category of anti-gravity airbag running technology. The rehabilitation training device is equipped with a lower limb exoskeleton in the airbag, and the lower limb exoskeleton is installed On the height adjustment mechanism, the training device is equipped with a lower extremity exoskeleton integrated with the anti-gravity treadmill. After entering the training device, the user adjusts the appropriate height and width of the exoskeleton, and then wears it. This solution can indeed solve the existing anti-gravity treadmill. The gravity airbag running device cannot be applicable to the problem of the lower limb dysfunction crowd. However, for patients with hemiplegia or lower limb paraplegia, their movement usually needs to rely on the lifting machine, and it is very difficult for them to stand. Therefore, the above-mentioned rehabilitation training device only solves the problem functionally.

Contents of the invention

The object of the present invention is to provide an anti-gravity airbag exoskeleton device to solve the problem that the existing anti-gravity airbag device is inconvenient to use for people with lower limb dysfunction mentioned in the background art.

In order to achieve the above object, the present invention provides the following technical solutions: the anti-gravity airbag exoskeleton device includes an anti-gravity airbag device, the anti-gravity airbag device includes an airbag and a base, wherein the top of the airbag is a bag top assembly, and the bag top assembly has an airbag mouth, and has a capsule cover that can be worn on the human body and block the airbag mouth. The exoskeleton device also includes a set of lower limb exoskeleton, the lower limb exoskeleton is located inside the airbag and its upper end is connected to the bag cover; when the airbag is inflated, the lower limb exoskeleton can perform walking or standing actions, and as the airbag continues to deflate, the lower limb exoskeleton The exoskeleton can touch the abutment with the foot in an upright posture; the exoskeleton device also includes an upright support assembly and an airbag retractable assembly, wherein the upright support assembly is located outside the airbag and has a snap-fitting part, which can be snap-fitted The snap-fit part on the bag cover supports the exoskeleton of the lower limbs to maintain a sitting posture; the airbag retractable assembly can be connected to the bag top assembly, and as the airbag continues to deflate, the airbag retractable assembly drives the airbag top assembly Move and move the bladder port from the thigh to the foot of the lower extremity exoskeleton until the bladder roof assembly fits the abutment.

In the above technical solution, the capsule cover is used to seal the airbag opening and support the user. By connecting the lower extremity exoskeleton to the lower part of the capsule cover, the user can exercise with the assistance of the lower limb exoskeleton. At the same time, the lower limb exoskeleton can Independently bear the weight of the user's thighs, calves and feet, thereby reducing the burden on human joints; in this solution, the lower extremity exoskeleton can assist the user to make an upright posture, and the set up upright support component can Connect the capsule cover and assist the exoskeleton to maintain a sitting posture. At the same time, the airbag retractable component can drive the capsule top component to move along the posture of the lower limbs, and finally move the airbag opening to the foot. At this time, the exoskeleton and the user Still in an upright posture, the user can be transferred directly using the lifting device, and similarly, a user wearing a lower extremity exoskeleton and in an upright posture can be transferred to the anti-gravity airbag exoskeleton device using the lifting device , and the process of reciprocating transfer of users will not be affected by the airbag. Compared with existing similar devices, this technical solution can be used in combination with existing shifting equipment, and can better meet the use and psychological needs of people with lower limb dysfunction.

As a preferred version of the anti-gravity airbag exoskeleton device of the present invention, the airbag retractable assembly includes two parts symmetrically arranged left and right, each part includes a horizontal movement assembly 1 and a longitudinal movement assembly, wherein the longitudinal movement assembly adopts a chain supporter, and the horizontal movement assembly I connect the bottom of the chain supporter and can push the chain supporter back and forth to move back and forth; the top of the chain of the chain supporter is equipped with a hook, and correspondingly, hook connectors are set on the left and right sides of the bag top assembly, and the chain moves upward It is possible to have the hooks connect to the hook connectors and support the bladder roof assembly by two chains. The chain of the chain supporter can protrude upwards and support the bag top assembly, and at the same time can pull the bag top assembly to move downward by shrinking, and cooperate with the horizontal movement assembly I, the entire airbag retractable assembly can move the bag top assembly according to the preset curve The path moves downward; since the chain can be fully retracted inside the chain supporter, this airbag deployment assembly occupies very little space and will not affect normal rehabilitation training when not in use.

As a preferred solution, the bladder roof assembly includes a top cover and a support ring that is attached to the top cover, the hook connector is arranged on the support ring, and includes two support shafts extending along the left and right directions, and the support hook has an opening Upward bayonet, the bayonet can hold the supporting shaft from bottom to top. The chain supporter and the bag top assembly are connected by using a hook with a bayonet on the top to connect the support shaft. First, it can realize automatic connection and disengagement. In addition, as the chain supporter moves forward, the rear of the airbag will pull the bag top. Assembly, so that the bladder top assembly deflects backward around the supporting shaft, and at this time, the airbag opening is deflected relative to the lower extremity exoskeleton, which is more conducive to the smooth passing of the airbag opening through various parts of the lower extremity exoskeleton.

As a preferred solution, the abutment includes an inner platform, the inner platform is located inside the airbag, and two installation grooves I are symmetrically arranged on the top surface of the inner platform. The installation grooves I are located on both sides of the action range of the lower extremity exoskeleton, and the The air bag retractable assembly is correspondingly installed in the installation groove 1; the support ring is positioned at the back side of the top cover. In this scheme, the airbag retractable assembly is arranged inside the airbag, and the connection structure between the chain supporter and the top assembly of the airbag is also built in, which can effectively utilize the inner space of the airbag. Larger than the outer contour area of the lower part, if the airbag retractable assembly is placed externally, a longer connection structure extending to both sides of the airbag top assembly is required, which will increase the space occupied by the entire device. At the same time, this structure can avoid airbag The retractable assembly and the sitting support assembly interfere with each other.

As a preferred solution, the sitting support assembly also includes a horizontal movement assembly II that controls the translation of the clamping part, which can control the clamping part away from the airbag to provide enough deformation space for the airbag, and can also control the clamping part to move outside the lower limbs. When the skeleton is in an upright posture, it is close to the air bag and engages with the bag cover. The only function of the sitting support component is to assist the lower extremity exoskeleton to maintain a sitting posture, so that it is convenient to use the shifting device to transfer the user and facilitate the user to complete the combination and detachment of the airbag in the sitting position. In this solution, the horizontal movement component II The clamping part can be controlled away from the airbag, so that the clamping part does not need to keep in contact with the capsule cover body, so that the sitting support assembly has an adverse effect on the use of the anti-gravity airbag exoskeleton device.

For the technical solution of using the sitting support assembly with horizontal moving assembly II, it is preferable that there are two horizontal moving assemblies II arranged symmetrically left and right. The support piece fixedly connected to the upper end of the rod, wherein the lower part of the support rod is provided with an installation assembly, and the installation assembly is connected to the horizontal movement assembly II; the support piece is a bent piece with the opening pointing forward, and the sitting support assembly passes through the support piece from back to front The bag cover is snapped, and the two horizontal moving components II move synchronously, so that the bracket can be smoothly engaged with the bag cover, and the whole device is located behind the airbag, which can avoid increasing the width of the left and right sides and facilitate the care workers on both sides Auxiliary operation.

As a preferred solution, two installation grooves II are symmetrically arranged on the front and back of the abutment, and the horizontal movement component II is arranged in the installation groove II to avoid exposure of the horizontal movement component II, and at the same time, the left and right side walls of the installation groove II contact the support Rods to ensure the stability of the entire sitting support assembly.

As a preferred solution, the capsule cover is a rotator as a whole, and the middle part has a storage hole for accommodating the waist of the human body, and an annular sealing bag is arranged in the upper part of the storage hole, and the sealing bag can be inflated to make it close to the body. The waist of the human body; the two sides of the lower part of the capsule cover are provided with socket buckles for connecting the exoskeleton of the lower limbs; the middle part of the periphery of the capsule cover expands outwards evenly, so that the diameter of the middle part of the capsule cover is larger than the diameter of the lower part of the airbag opening, and the airbag opening After being fitted on the capsule cover body from bottom to top, it is finally sealed and fitted with the expansion part of the capsule cover body. In this solution, the capsule cover is sealed inwardly with the human body, and outwardly with the airbag port, and as the airbag expands, the airbag port automatically fits the capsule cover, and as the airbag port deflates, the airbag port automatically separates from the capsule cover , In addition, the capsule cover fits the waist of the human body, and compared with the prior art, it can avoid the gravity above the waist from compressing the pelvis.

For the above-mentioned revolving body bag cover, it is preferred that the outer peripheral upper part of the bag cover is provided with a lock belt I, and the lock belt II is arranged around the outer periphery of the airbag port on the bag top assembly, and the zipper head is arranged on the lock belt I or the lock belt II at the same time, through The zipper head can block and connect the edges of the lock strap I and the lock strap II, and after the block connection, the lock strap I and the lock strap II pull each other, thereby improving the airtightness of the bag cover and the air bag opening.

As a preferred solution, the exoskeleton device also includes a treadmill, the treadmill is located inside the airbag, and the feet of the lower extremity exoskeleton can contact the treadmill, regardless of the user's lower limb exercise ability, the combination of the treadmill and the lower limb exoskeleton can The user obtains a more realistic striding and running experience, and for the passive lower limb exoskeleton, the treadmill can guide the user's striding frequency and play a role in regulating the running speed.

As a preferred solution, the exoskeleton device also includes an armrest frame, the lower part of the armrest frame is connected to the base, and the upper part extends above the airbag, and the user can hold the armrest frame when walking or standing, which is beneficial for the user to maintain body balance.

As a preferred solution, pedals are provided on both sides of the abutment. When the capsule top assembly is lowered to the front of the abutment, the pedal can move to the top of the capsule top assembly, and the edge of the abutment supports the pedal. At this time, the board can Provide a reliable walking platform for the shifting device, and at the same time protect the airbag from being crushed.

Description of drawings

The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The schematic embodiments and descriptions of the application are used to explain the application and do not constitute an improper limitation to the application. In the attached picture:

Fig. 1 is a schematic diagram of the side structure of the anti-gravity airbag exoskeleton device of the embodiment provided by the present invention;

Fig. 2 is a three-dimensional structural schematic diagram of the anti-gravity airbag exoskeleton device shown in Fig. 1;

Fig. 3 is a schematic diagram of the position and structure of the lower limb exoskeleton in the anti-gravity airbag exoskeleton device shown in Fig. 1;

Fig. 4 is a three-dimensional schematic diagram of the abutment in the anti-gravity airbag exoskeleton device shown in Fig. 1;

5 is a schematic diagram of the back stereoscopic structure of the capsule cover;

Fig. 6 is a schematic diagram of the top surface of the cap;

Fig. 7 is a schematic diagram of the longitudinal section structure of the sealing bag;

8 is a schematic diagram of the top surface structure of the capsule top assembly;

Fig. 9 is a schematic diagram of the back structure of the capsule top assembly;

Fig. 10 is a schematic diagram of the pre-match structure of the bracket hook and the bracket shaft;

Figure 11 is a schematic diagram of the installation structure of the airbag retractable assembly;

Fig. 12 is a structural schematic diagram of an upright support assembly;

Fig. 13 is a schematic diagram of the state of the sitting support assembly moving toward the capsule cover;

Fig. 14 is a schematic diagram of the state of the sitting support assembly and the airbag retractable assembly when the lower extremity exoskeleton is in the sitting posture;

Fig. 15 is a schematic diagram of the state where the capsule top assembly is lowered onto the inner platform;

Fig. 16 is a structural schematic view of the pedal turned over to the front of the abutment in the state shown in Fig. 15;

Fig. 17 is a schematic diagram of a placement state in which the pedal can be turned over automatically;

Fig. 18 is a schematic diagram of the state of using the lift to transfer the user.

In the figure, abutment 1, airbag 2, armrest frame 3, slope platform 4, sitting support assembly 5, pedal 6, capsule top assembly 7, capsule cover 8, lower extremity exoskeleton 9, inner platform 10, airbag groove 11, Running platform 12, installation groove I13, installation groove II14, lead screw assembly 15, chain supporter 16, threaded sleeve I17, chain 18, hook 19, top cover 20, support ring 21, support shaft 22, airbag port 23, seal Pad 24, lock belt II25, lower skirt 26, guide edge 27, drag groove 28, lead screw assembly II29, lower limit block 30, upper limit block 31, support rod 32, bracket 33, screw sleeve II34, limit Rod 35, sealing part 36, connecting part 37, plug-in buckle 38, locking belt I39, zipper head 40, inner connection socket 41, support edge plate 42, sealing bag 43, external connection socket 44, filling belt 45, displacement Machine 100, seat part 101.

Detailed ways

The implementation of the present application will be described in detail below with reference to the accompanying drawings and examples, so as to fully understand and implement the implementation process of how the present application uses technical means to solve technical problems and achieve technical effects.

Fig. 1 and Fig. 2 are an embodiment of the present invention, anti-gravity air bag exoskeleton device, it comprises anti-gravity air bag device and a set of lower extremity exoskeleton device 9, wherein anti-gravity air bag device comprises air bag 2 and abutment 1, air bag 2 The top of the bag is the bag top assembly 7, the bag top assembly 7 has an air bag opening 23, and has a bag cover 8 that can be worn on the human body and block the air bag opening 23, as shown in Figure 3, the above-mentioned lower extremity exoskeleton 9 is connected to the bag cover 8 and is located inside the airbag 2. In this embodiment, the base platform 1 includes an inner platform 10, which is located inside the airbag 2. As shown in FIG. A running platform 12; wherein the running platform 12 is at the same height as the top surface of the inner platform 10, and the top surface of the inner platform 10 is lower than the height of the outer periphery of the base platform 1.

The exoskeleton device also includes an upright support assembly 5 and an airbag retractable assembly, wherein the upright support assembly 5 is located outside the airbag 2 and has a clamping part, which can be engaged with the snap fit provided on the bag cover 8 part. When the airbag 2 is inflated, the lower extremity exoskeleton 9 touches the treadmill 12, and can complete walking, stepping or standing actions. As the airbag 2 continues to deflate, the lower limb exoskeleton 9 can touch the treadmill 12 with its feet in a sitting posture, and At this time, the sitting support assembly 5 can support the lower extremity exoskeleton 9 to maintain an upright posture, and the airbag retractable assembly can connect the bag top assembly 7, and drive the bag top assembly 7 of the airbag 2 to move, and make the airbag opening 23 open from the lower extremity exoskeleton. The thighs of 9 move to the feet until the bag top assembly 7 fits the inner platform 10, therefore, the user is in a sitting posture when entering or leaving the airbag 2, and the airbag will move to the position where it fits the inner platform , will not interfere with the user and the lifting device, which is of great significance for users with insufficiency of the lower limbs.

Specifically, regarding the capsule cover 8 and the capsule top assembly 7 . As shown in Fig. 5 and Fig. 6, the capsule cover 8 is a rotary body as a whole, and the middle part has an accommodating hole for accommodating the waist of the human body. The entire capsule cover 8 is divided into an upper sealing part 36 and a lower connecting part 37, wherein the sealing The inner ring of the part 36 is provided with an annular sealing bag 43. After the bag cover 8 is set on the waist of the human body, the sealing bag 43 can be inflated to make it close to the waist of the human body. To ensure airtightness, the sealing bag 43 fits the human body Four annular filling strips 45 are arranged on one side, as shown in FIG. 7 , the edges of these filling strips 45 extend downward and fit the human body. In addition, a support edge plate 42 is provided on the rear and upper side of the outer periphery of the sealing portion 36, and the support edge plate 42 is used as a snap-fit part engaged with the snap-fitting portion; The diameter of the airbag port 23 is greater than the diameter of the lower part of the airbag port 23, and the airbag port 23 is fitted on the bag cover body 8 from bottom to top and finally fits tightly with the expansion part of the bag cover body 8. As shown in Figures 8 and 9, in order to ensure the airtightness of the joint, a ring of gasket 24 is provided on the joint surface of the airbag port 23 and the bag cover 8, and the lower part of the gasket 24 extends downward and forms a lower The skirt 26 , the lower skirt 26 can fit the outer periphery of the connecting portion 37 . In addition, as shown in FIG. 6 and FIG. 8 , a locking band I39 is provided on the outer periphery of the sealing portion 36 , and correspondingly, a locking band II25 is arranged around the outer circumference of the airbag port 23 on the bag top assembly 7 , and a zipper head 40 is provided on the locking band I39 The edges of the locking band I39 and the locking band II25 can be locked and connected by the zip lock head 40, and the locking band I39 and the locking band II25 are mutually pulled after the locking is connected. In addition, the function of the connection part 37 is to connect the lower extremity exoskeleton 9. As shown in FIG. Simultaneously, an electric wire assembly is also arranged on the capsule cover 8, wherein the external socket 44 is arranged at the front part of the sealing part 36, and the internal socket 41 is arranged at the bottom of the connecting part 37, so that the lower extremity exoskeleton 9 with the motor can be connected to the internal socket. The socket 41 is connected, and an external device is connected to the external socket 44 to control the lower extremity exoskeleton 9 .

As shown in Figures 8 and 9, the capsule top assembly 7 is integrally divided into a top cover 20 on the front and a support ring 21 on the back of the top cover 20, as shown in Figure 10, drag grooves 28 are provided on the left and right sides of the support ring 21, A support shaft 22 pointing to the left and right direction is arranged in the middle of the drag groove 28 , and guide edges 27 are arranged on both sides of the lower part of the drag groove 28 .

Regarding the airbag retractable assembly, it includes two parts symmetrically arranged left and right, and each part includes a horizontal movement assembly 1 and a longitudinal movement assembly, wherein the translation movement assembly 1 adopts a screw assembly 15, and the longitudinal movement assembly adopts a chain supporter 16, for saving Space, as shown in Figure 11, the two are set in the installation grooves I13 provided on the left and right sides of the inner table 10, and the chain supporter 16 is located above, which is connected to the screw assembly 15 through the threaded sleeve I17 provided at the bottom; the chain supporter The top of the chain 18 of 16 is equipped with a bracket 19, the bracket 19 has an upward bayonet, and the upward movement of the chain 18 can make the bayonet of the bracket 19 be stuck on the bottom of the support shaft 22, and the top of the bag is supported by two chains 18 Component7. The retractable chain 18 can pull the bag top assembly 7 to move downwards, and at the same time cooperate with the lead screw assembly 15, the entire airbag retractable assembly can move the bag top assembly 7 downwards according to a preset curved path, and finally land on the bottom of the lower extremity exoskeleton. feet. During this process, as the chain supporter 16 moves forward, the rear part of the airbag 2 will pull the bag top assembly 7, so that the bag top assembly 7 will deflect backward around the support shaft 22, and at this time, the airbag opening 23 is relative to the lower extremity exoskeleton. The deflection occurs, which is more conducive to the smooth passage of the airbag port 23 through various parts of the lower extremity exoskeleton 9 .

As shown in Figure 12, the sitting support assembly 5 as a whole includes a horizontal movement assembly II and a clamping part. The horizontal movement assembly II has two screw assemblies II29 arranged symmetrically on the left and right, and the two screw assemblies II29 are correspondingly installed on the base. In the two mounting grooves II14 arranged symmetrically at the rear of the table 1. The clamping part includes two support rods 32 symmetrically arranged on the left and right and an arc-shaped bracket 33 fixedly connected to the upper ends of the two support rods 32, wherein the lower part of the support rods 32 has a preset hole, and is installed through a movable shaft in the preset hole threaded sleeve II34, and the threaded sleeve II34 is installed on the lead screw assembly II29, through this installation structure, the support rod 32 can deflect left and right around the movable shaft; in addition, a limit rod 35 is set on the support rod 32, and the limit rod 35 Located above the installation groove II14, at the same time, an upper limit block 31 and a lower limit block 30 are arranged on the rear side of the installation groove II14. As shown in Figure 12, at this time, the lower end of the support rod 32 contacts the lower limit block 30, and the position of the support rod 32 at the notch of the installation groove II14 contacts the upper limit block 31. This position is the idle position of the clamping part, and the entire clamp The center of gravity of the mounting part is located on the front side of the movable shaft. In addition, it can be seen that the limit rod 35 does not touch the edge of the mounting groove II14 at this time; when the screw assembly II29 controls the clamping part to move forward, the support rod 32 surrounds the movable shaft. Deflection counterclockwise until the limit rod 35 is pressed against the upper edge of the installation groove II14, at this time the entire clamping part begins to move forward horizontally, as shown in Figure 13, until the supporting member 33 is stuck under the supporting edge plate 42, as shown in FIG. Figure 14 shows. And when supporting member 33 is pressed down along plate 42, limit rod 35 is pressed on the upper edge of installation groove II14, threaded sleeve II34 is pressed on the lead screw assembly II29, and the side wall of installation groove II14 limits support rod 32 bottoms, these are affected by The force factor is common to ensure the stability of the sitting support assembly 5 .

The sitting support assembly 5 with the above structure can control the clamping part away from the airbag 2 to provide enough deformation space for the airbag 2, and can also control the clamping part to be close to the airbag 2 and snap into the airbag 2 when the lower extremity exoskeleton 9 is in an upright posture. Cover 8. The only function of the sitting support assembly 5 is to assist the lower extremity exoskeleton 9 to maintain a sitting posture, so as to facilitate the use of a shifting device to transfer the user and facilitate the user to complete the combination and detachment of the airbag 2 in a sitting state. In this embodiment, The horizontal movement component II can control the clamping part away from the airbag 2, so that the clamping part does not have to contact the bag cover 8 all the time, thereby avoiding the adverse effect of the sitting support component 5 on the use of the anti-gravity airbag exoskeleton device. Simultaneously, it can make the sitting support assembly 5 completely backward, which provides convenience for the nurse to take care of the patient from both sides.

In addition to the above structure, this embodiment is also provided with an armrest frame 3. The lower part of the armrest frame 3 is connected to the rear of the base 1, and the upper part extends to the top of the airbag 2. When the user is walking or standing, his hands can grasp the armrest frame 3. This is beneficial for the user to maintain the balance of the body. In addition, pedals 6 are hinged on both sides of the front part of the base 1. When the bladder top assembly 7 falls to the state shown in FIG. 15, the pedals 6 can be manually turned over the base 1, as shown in FIG. The edge of the base 1 supports the pedal 6; as for the pedal 6, as shown in FIG. Shown state, can save the process of manually turning over two pedals 6 like this. As shown in Figure 18, the anti-gravity airbag exoskeleton device can be combined with the lifting machine 100 disclosed in the patent application No. 202211614854X. When the anti-gravity airbag exoskeleton device is in the state shown in Figure 16, the nurse will The lift 100 moves along the ramp 4 onto the pedal 6, and then uses the seat part 101 of the lift 100 to transfer the user in a sitting position to the lift 100, and this transfer operation can be performed in one direction, That is, the transfer of the user between the anti-gravity airbag exoskeleton device and the lifting machine can be completed very conveniently. Compared with the existing similar devices, the present invention can be used in combination with existing lifting equipment, and the user only needs to maintain an upright posture during the transfer process, so this invention can better meet the use and psychological needs of people with lower limb dysfunction.

Certain terms are used, for example, in the description and claims to refer to particular components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use the difference in name as a way to distinguish components, but use the difference in function of components as a criterion for distinguishing. As mentioned throughout the specification and claims, "comprising" is an open term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect.

It should be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a good or system comprising a set of elements includes not only those elements but also items not expressly listed other elements, or also include elements inherent in the commodity or system. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the article or system comprising said element.

The above description shows and describes several preferred embodiments of the present invention, but as mentioned above, it should be understood that the present invention is not limited to the forms disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various Various other combinations, modifications, and environments can be made within the scope of the inventive concept described herein, by the above teachings or by skill or knowledge in the relevant field. However, changes and changes made by those skilled in the art do not depart from the spirit and scope of the present invention, and should all be within the protection scope of the appended claims of the present invention.

Claims (12)

1. The anti-gravity gasbag ectoskeleton device comprises an anti-gravity gasbag device, wherein the anti-gravity gasbag device comprises a gasbag and a base station, the top of the gasbag is a gasbag top component, the gasbag top component is provided with a gasbag opening, and the gasbag top component is provided with a gasbag cover body which can be worn on a human body and blocks the gasbag opening, and the anti-gravity gasbag ectoskeleton device is characterized in that: the exoskeleton device also comprises a set of lower limb exoskeleton, wherein the lower limb exoskeleton is positioned in the air bag, and the upper end of the lower limb exoskeleton is connected with the bag cover body; the lower limb exoskeleton can perform walking or standing actions when the air bag is fully inflated, and can contact the base station in an sitting posture by feet along with the continuous deflation of the air bag; the exoskeleton device further comprises an end-sitting support assembly and an airbag retraction assembly, wherein the end-sitting support assembly is positioned outside the airbag and is provided with a clamping part which can be clamped with a clamping part on the airbag cover body and supports the lower limb exoskeleton to keep an end-sitting posture; the airbag folding and unfolding assembly can be connected with the airbag top assembly, and the airbag folding and unfolding assembly drives the airbag top assembly of the airbag to move along with the continuous deflation of the airbag, and the airbag port moves from the thigh of the lower limb exoskeleton to the foot until the airbag top assembly is attached to the base station.

2. The antigravity airbag exoskeleton device of claim 1, wherein: the airbag retraction assembly comprises two parts which are symmetrically arranged left and right, each part comprises a horizontal movement assembly I and a longitudinal movement assembly, the longitudinal movement assembly adopts a chain support, and the horizontal movement assembly I is connected with the lower part of the chain support and can push the chain support to reciprocate back and forth; the top of the chain support is provided with a supporting hook, correspondingly, the left side and the right side of the bag top component are provided with supporting hook connecting pieces, the chain moves upwards to enable the supporting hook to be connected with the supporting hook connecting pieces, and the bag top component is supported through the two chains.

3. The antigravity airbag exoskeleton device of claim 2, wherein: the bag top assembly comprises a top cover and a supporting ring attached to the top cover, the supporting hook connecting piece is arranged on the supporting ring and comprises two supporting shafts extending along the left-right direction, the supporting hooks are provided with bayonets with upward openings, and the bayonets can clamp the supporting shafts from bottom to top.

4. The antigravity airbag exoskeleton device of claim 3, wherein: the base station comprises an inner station, the inner station is positioned in the air bag, two mounting grooves I are symmetrically arranged on the left and right sides of the top surface of the inner station, the mounting grooves I are positioned on two sides of the action range of the lower limb exoskeleton, and the air bag retraction assembly is correspondingly arranged in the mounting grooves I; the support ring is positioned on the back of the top cover.

5. The antigravity airbag exoskeleton device of claim 1, wherein: the squat support assembly also includes a horizontal movement assembly I I that controls the translation of the clamping portion, which can control the clamping portion away from the bladder to provide sufficient deformation space for the bladder, and can also control the clamping portion to approach the bladder and engage the bladder cover when the lower extremity exoskeleton is in the squat position.

6. The antigravity airbag exoskeleton device of claim 5, wherein: the two horizontal moving assemblies II are symmetrically arranged left and right, the clamping part is positioned at the rear of the air bag and comprises two support rods symmetrically arranged left and right and a support piece fixedly connected with the upper ends of the two support rods, wherein the lower parts of the support rods are provided with mounting assemblies which are connected with the horizontal moving assemblies II; the support piece is a bending piece with an opening pointing to the front, and the sitting support component is clamped with the capsule cover body from the back to the front through the support piece.

7. The antigravity airbag exoskeleton device of claim 6, wherein: two mounting grooves II are symmetrically formed in the rear portion of the front face of the base station in a left-right mode, the horizontal movement assembly II is arranged in the mounting grooves II, and the left side wall and the right side wall of the mounting grooves II are in contact with the supporting rods.

8. The antigravity airbag exoskeleton device of claim 1, wherein: the whole body of the bag cover body is a revolution body, the middle part of the bag cover body is provided with a containing hole for containing the waist of a human body, and the upper half part of the containing hole is provided with an annular sealing bag which can be tightly attached to the waist of the human body by inflating the sealing bag; two sides of the lower part of the capsule cover body are provided with inserting buckles for connecting the lower limb exoskeleton; the middle part of the periphery of the bag cover body is expanded outwards uniformly, so that the diameter of the middle part of the bag cover body is larger than the diameter of the lower part of the air bag opening, and the air bag opening is sleeved on the bag cover body from bottom to top and finally is in sealing fit with the expansion part of the bag cover body.

9. The antigravity airbag exoskeleton device of claim 8, wherein: the upper part of the periphery of the bag cover body is provided with a locking belt I, the bag top assembly is provided with a locking belt II around the periphery of the air bag opening, and meanwhile, the locking belt I or the locking belt II is provided with a pulling lock head, the edges of the locking belt I and the locking belt II can be blocked and connected through the pulling lock head, and the locking belt I and the locking belt II are mutually pulled after being blocked and connected.

10. The antigravity airbag exoskeleton device of any one of claims 1 to 9 wherein: the exoskeleton device further comprises a running platform, wherein the running platform is positioned inside the air bag, and the feet of the lower limb exoskeleton can contact the running platform.

11. The antigravity airbag exoskeleton device of any one of claims 1 to 9 wherein: the exoskeleton device further comprises a handrail frame, wherein the lower part of the handrail frame is connected with the base station, the upper part of the handrail frame extends to the upper part of the air bag, and a user can hold the handrail frame when walking or standing.

12. The antigravity airbag exoskeleton device of any one of claims 1 to 9 wherein: the pedals are arranged on two sides of the base, when the bag top assembly falls to the front part of the attaching base, the pedals can move to the upper part of the bag top assembly, and the edges of the base support the pedals.

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