CN109966124A - Exoskeleton robot testing frame - Google Patents
Exoskeleton robot testing frame Download PDFInfo
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- CN109966124A CN109966124A CN201910338505.1A CN201910338505A CN109966124A CN 109966124 A CN109966124 A CN 109966124A CN 201910338505 A CN201910338505 A CN 201910338505A CN 109966124 A CN109966124 A CN 109966124A
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- testing jig
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- 238000012360 testing method Methods 0.000 title claims abstract description 58
- 230000000694 effects Effects 0.000 claims abstract description 22
- 239000007787 solid Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 3
- 230000008878 coupling Effects 0.000 abstract description 2
- 238000010168 coupling process Methods 0.000 abstract description 2
- 238000005859 coupling reaction Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 206010033892 Paraplegia Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 206010008129 cerebral palsy Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Pain & Pain Management (AREA)
- Mechanical Engineering (AREA)
- Epidemiology (AREA)
- Robotics (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The invention relates to an exoskeleton robot testing jig which comprises a fixing assembly, a connecting assembly and a supporting assembly, wherein the fixing assembly comprises a fixing support and a fixing piece connected to the fixing support, the supporting assembly comprises a supporting frame, a plurality of guide wheels are connected to the supporting frame, and the fixing support and the connecting assembly and the supporting frame are detachably connected. Through setting up fixed subassembly, coupling assembling and supporting component into the support body structure, be connected the back at mounting and ectoskeleton, provide the activity space for the motion of ectoskeleton, the walking and each item activity of the user that do not hinder to the ectoskeleton does not receive the connection restraint of test rack, does not have the restriction among each structure motion process, can be in optional position and orientation activity, has improved the motion flexibility of ectoskeleton and the performance of test rack, and the user of being convenient for carries out rehabilitation training.
Description
Technical field
The present invention relates to rehabilitation training and ectoskeleton technical field more particularly to a kind of exoskeleton robot testing jigs.
Background technique
Under the influence of the continuous promotion of burst accident amount and whole world aging, because of apoplexy, spinal cord injury, cerebral palsy etc.
Caused by paraplegia and lower limb paralysis patient populations be continuously increased, exoskeleton robot as a auxiliary human body recovery equipment by
To extensive use, it is used to that patient to be assisted to carry out normal life, to mitigate the operating pressure of medical worker and kinsfolk.
Patient, because that cannot hold center of gravity, needs doctor to assist in, when carrying out rehabilitation training using exoskeleton robot to subtract
Light doctor's burden, now generally using the auxiliary patient's walking of ectoskeleton testing jig.But structure is complicated for existing testing jig, heavy, with
Cooperation, the connection of exoskeleton robot are more difficult, and cause to limit to the structure of exoskeleton robot, are unfavorable for the health of patient
Refreshment is practiced.
Summary of the invention
The purpose of the present invention is to provide a kind of exoskeleton robot testing jig, to overcome existing testing jig structure multiple
Miscellaneous, wearing difficulty, the defect that the practicability is poor.
The technical proposal adopted by the invention to solve the above technical problems is that:
A kind of exoskeleton robot testing jig, including fixation kit, connection component and support component, the fixation kit packet
The fixing piece for including fixed bracket and being connected on fixed bracket, the support component include support frame, are connected on support frame as described above
There are several moving members, for can between the fixed bracket and connection component and between the connection component and support frame as described above
Dismantling connection.
In a preferred embodiment, the fixed bracket includes the first fixing end and the second fixing end, and described the
One fixing end and the second fixing end are respectively connected with the fixing piece.
In a preferred embodiment, the fixed bracket further includes connection frame, first fixing end and second
Fixing end is connected to the both ends of the connection frame, encloses between first fixing end, the second fixing end and the connection frame
Synthesize an activity space.
In a preferred embodiment, the fixing piece is equipped with fixing buckle, and first fixing end is solid with second
Fixed end is equipped with fixed ring, and the fixing buckle is fastened in the fixed ring, so that first fixing end and the second fixing end
It is connected respectively with corresponding fixing piece.
In a preferred embodiment, first fixing end and the second fixing end are equipped with several fixation holes, institute
It states fixed ring to be installed at the fixation hole, the fixation hole is alternatively arranged along first fixing end or the second fixing end.
In a preferred embodiment, the fixing piece is bandage, and the bandage is elastic bandage or described ties up
Band is equipped with flexible button.
In a preferred embodiment, the connection component includes first support and second support, and described first
The both ends of frame are connect with the fixed bracket and support component respectively, and the second support is connect with the first support, described
Second support is also connected with arm-rest frame, and the arm-rest frame is bent to form an accommodating space.
In a preferred embodiment, the connection component further includes bridging frame and attachment base, the bridge joint frame
Both ends are connect with the second support and first support respectively, and the first support and second support are close to the support component
One end is inserted in the attachment base.
In a preferred embodiment, the connection component further includes the first retaining ring and the second retaining ring, described
First retaining ring and the first support integrally connected, the fixed bracket are arranged in first retaining ring；Described second
Retaining ring and the second support integrally connected, the arm-rest frame are arranged in second retaining ring.
In a preferred embodiment, the first support includes the first linkage section and the second linkage section, and described the
One linkage section bends backwards to second linkage section and is formed an installing zone, and the installing zone is connected with a holding frame, the bridge
Frame is connect between second linkage section and second support.
In a preferred embodiment, the holding frame is equipped with container and locking rack, the container and lock
Tight frame connection, one end of the locking rack are held tightly in the outer surface for holding frame.
In a preferred embodiment, support frame as described above includes the first supporting section, the second supporting section and third support
Section, first supporting section and the second supporting section are connected to the both ends of the third supporting section and relative to the third branch
Section bending is supportted, so that space is walked in first supporting section, the second supporting section and the enclosing of third supporting section in a row.
In a preferred embodiment, the third supporting section is equipped with inserting column, in the inside of the inserting column
Sky, the connection component are plugged in the inserting column.
In a preferred embodiment, the third supporting section is deviating from first supporting section and the second supporting section
Side be connected with the 4th supporting section and the 5th supporting section, the moving member be distributed in first supporting section, the second supporting section,
At 4th supporting section and the 5th supporting section.
The present invention at least has the following beneficial effects:
By setting frame structure for fixation kit, connection component and support component, in fixing piece and ectoskeleton machine
After people's connection, activity space is provided for the movement of exoskeleton robot, the walking and Activities of the user not interfered, and
The connection constraints of exoskeleton robot not tested person frame, there is no limit can at an arbitrary position and direction during each structure motion
Activity improves the kinematic dexterity of exoskeleton robot and the service performance of testing jig, carries out rehabilitation training convenient for user.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram of exoskeleton robot testing jig one embodiment；
Fig. 2 is the perspective view of the explosion of exoskeleton robot testing jig one embodiment；
Fig. 3 is the structural schematic diagram of first fixing end one embodiment.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to design of the invention, specific structure and generation clear
Chu is fully described by, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair
Bright a part of the embodiment, rather than whole embodiments, based on the embodiment of the present invention, those skilled in the art are not being paid
Other embodiments obtained, belong to the scope of protection of the invention under the premise of creative work.In addition, being related in patent
All connection/connection relationships, not singly refer to that component directly connects, and refer to can according to specific implementation situation, by addition or
Reduce couple auxiliary, Lai Zucheng more preferably coupling structure.Each technical characteristic in the present invention, before not conflicting conflict
Putting can be with combination of interactions.
- Fig. 2 referring to Fig.1, the exoskeleton robot testing jig (hereinafter referred to as testing jig) in the present embodiment include fixed group
Part 10, connection component 20 and support component 30, connection component 20 is between fixation kit 10 and support component 30, the company of playing
It connects, fixed function, fixation kit 10 is made for realizing being fixedly connected between testing jig and exoskeleton robot, support component 30
For the bottom of testing jig, fixation kit 10, connection component 20 are supported.Preferably, above-mentioned fixation kit 10 and connection group
It is to be detachably connected (such as clamping, screw threads for fastening), structure between part 20 and between connection component 20 and support component 30
Simply, easy to disassemble, installation and carrying.
Specifically, fixation kit 10 includes fixed bracket 11, one end of fixing piece 12 be connected and fixed between 11, fixing piece 12
The other end for exoskeleton robot connect, to realize the connection of testing jig and exoskeleton robot.In the present embodiment
Fixing piece 12 does not limit the movement of exoskeleton robot, not stuck to its structure or limit its scope of activities, guarantees ectoskeleton machine
The flexibility of device people movement, and structure is simple, convenient for connection, wearing.
In conjunction with Fig. 3, fixed bracket 11 is equipped with the first fixing end 111 and the second fixing end 112, first fixing end 111 with
Fixing piece 12 is respectively connected at second fixing end 112, fixing piece 12 detachably connects with the first fixing end 111, the second fixing end 112
It connects.Be equipped with several fixation holes 113 at first fixing end 111 and the second fixing end 112, fixing piece 12 can by screw threads for fastening or
Inserting mode is realized and the connection of fixed bracket 11, further includes fixed ring 114, which is plugged in solid in the present embodiment
Determine in hole 113, and screw thread realization fixed ring 114 be arranged by the matching surface in the two and fixes the relatively fixed of bracket 11,
The end of fixing piece 12 is equipped with fixing buckle 115, which can be fastened in fixed ring 114, and reaching makes fixing piece 12 and consolidate
The connection purpose of fixed rack 11.When testing jig is connect with exoskeleton robot, only fixing buckle 115 need to be fastened on fixed ring
On 114, it is extremely convenient to operate.
Preferably, fixation hole 113 can be spaced apart along the first fixing end 111, the second fixing end 112, be fixed by adjusting
Ring 114 is connect with the fixation hole 113 of different location, and the relative position for realizing exoskeleton robot and testing jig adjusts, and is improved
The diversity of exoskeleton robot and testing jig cooperation, the movement of user are more comfortable.It should be noted that fixation hole
113 along the first fixing end 111, the second fixing end 112 can equidistantly distributed, can also non-equidistantly distributed, the embodiment of the present invention is not
Distribution mode is excessively limited, the spacing of fixation hole 113 can be adjusted flexibly according to actual needs.
Preferably, fixing piece 12 uses strap configurations, which uses elastic bandage, or setting can be on bandage
The flexible flexible button of row, to adjust the length of bandage.Improve the multiplicity connecting between fixed bracket 11 and exoskeleton robot
Property and convenience.
Fixed bracket 11 further includes connection frame 116, and the both ends of connection frame 116 are fixed with the first fixing end 111, second respectively
112 connection of end, the first fixing end 111 is bent with the second fixing end 112 relative to connection frame 116, so that the first fixing end
111, an activity space 117 is formed between the second fixing end 112 and connection frame 116.Complete exoskeleton robot and fixed branch
After the connection of frame 11, exoskeleton robot can pass in and out the activity space 117 under the drive of user and in the activity space 117
Interior movement, testing jig will not cause to hinder to the activity of exoskeleton robot, make exoskeleton robot activity it is more convenient and
Flexibly, activity space is freer, simple for structure, light, the easy to carry, carrying of the fixation bracket 11.
Preferably, the first fixing end 111 and the second fixing end 112 are in symmetrical structure relative to the center of connection frame 116, Gu
Fixed rack 11 is U-shaped, and the first fixing end 111 is folded upward at the second fixing end 112 relative to connection frame 116, to guarantee to fix
Bracket 11 and connection component 20 have enough length and space accommodating exoskeleton robot, make the activity of exoskeleton robot not by
Limitation.
Connection component 20 includes first support 21 and second support 22, the both ends of first support 21 respectively with fixed bracket
11, support component 30 connects, and one end of second support 22 connects support component 30, and the other end connects arm-rest frame 23, arm-rest frame 23
It is held for user, guarantees the stationarity and safety of user during the motion.
Arm-rest frame 23 bends U-shaped, and is formed in the interior thereof an accommodating space 231, wearing has making for exoskeleton robot
User can enter in the accommodating space 231, and hold on arm-rest frame 23, under the premise of guaranteeing resource-user cost method safety, into
One step provides activity space for exoskeleton robot.Preferably, arm-rest frame 23 is horizontally installed in second support 22, convenient for making
Holding of the user to arm-rest frame 23；Central symmetry of the arm-rest frame 23 relative to second support 22, with keep the balance of testing jig with
And the stationarity of resource-user cost method.
Connection component 20 further include bridge joint frame 24, bridge frame 24 two sides respectively with first support 21 and second support 22 1
Body connection, when user holds arm-rest frame 23, prevents second to increase the bonding strength of second support 22 Yu first support 21
Bracket 22 tilts under external force, or even user is caused to fall, and improves the security performance of testing jig.Preferably, it bridges
Frame 24 is horizontally installed between second support 22 and first support 21, and it is vertical with first support 21 connect, with maximum
Improve the bonding strength of first support 21 and second support 22.
Connection component 20 further includes attachment base 25, and attachment base 25 is equipped with multiple mounting holes, first support 21 and second
Frame 22 is plugged in corresponding mounting hole close to one end of support component 30, further to first support 21, second support 22 into
Row is fixed, and the bonding strength of first support 21 and second support 22 is enhanced.
Connection component 20 further includes the first retaining ring 26 and the second retaining ring 27, and the first retaining ring 26 is located at first support 21
Top, and with 21 integrally connected of first support, connection frame 116 is arranged in the first retaining ring 26, realize fixed bracket 11 with
Connection component 20 it is relatively fixed.Preferably, the first retaining ring 26 include with the concave ring 261 of 21 integrally connected of first support and with
The buckle closure 262 that concave ring 261 is detachably connected, connection frame 116 are arranged in the installation space that concave ring 261 and buckle closure 262 are formed, even
It connects frame 116 and buckle closure 262 and is equipped with through-hole for being fixedly connected, it can be real by plugging pin, threaded fastener into through-hole
Existing connection frame 116 is relatively fixed with first support 21.Second retaining ring 27 is located at the top of second support 22, and with second
22 integrally connected of frame, arm-rest frame 23 are arranged in the second retaining ring 27, and realization arm-rest frame 23 is relatively fixed with second support 22.
Second retaining ring 27 is similar to the structure of the first retaining ring 26, the connection type of the second retaining ring 27 and arm-rest frame 23 and the first lock
Tight ring 26 is similar with the connection relationship of connection frame 116.
First support 21 includes the first linkage section 211 and the second linkage section 212, the first linkage section 211 and the second linkage section
Integrally connected is distinguished at 212 both ends, and the first linkage section 211 is bent to form an installing zone backwards to the second linkage section 212 to its upper,
The installing zone is connected with a holding frame 28, which is in a horizontal state, and holds frame 28 and holds for medical staff or caregiver
It holds, to drag testing jig movement, and then the user for holding arm-rest frame 23 is driven to follow testing jig mobile, carry out rehabilitation training.
It further include locking rack 281, which holds tightly in the outer surface for holding frame 28, realizes locking rack 281 and holds
Frame 28 it is relatively fixed, the other end of locking rack 281 is equipped with container 29, and the container 29 is for placing screen controller etc.
The element of exoskeleton robot motion conditions is monitored, the edge of container 29 is equipped with rib, prevents element from falling out of container 29
It falls.
Support component 30 includes support frame 31, and connection component 20 is installed on the top of support frame 31, the bottom of support frame 31
Several moving members are connected with, which may be selected to be directive wheel 32, by the guiding and rolling action of directive wheel 32, convenient for surveying
It tries frame to move ahead under the promotion of user, improves the convenience that testing jig uses.And directive wheel 32 is equipped with braking vane, leads to
The rolling or halted state for swinging braking vane to adjust directive wheel 32 are crossed, user can also transport in original place under the auxiliary of testing jig
It is dynamic, and prevent testing jig because breaking down, automatic moving improves the diversity and safety that testing jig uses.Certainly, this hair
Other moving structure parts in addition to directive wheel 32 also may be selected in the moving member of bright embodiment, as long as being able to achieve the entirety of testing jig
Mobile and guide function, the embodiment of the present invention do not limit the type of moving member excessively.
Support frame 31 includes the first supporting section 311, the second supporting section 312 and third supporting section 313, the first supporting section 311
The both ends of third supporting section 313 are connected to the second supporting section 312, the first supporting section 311 and the second supporting section 312 are opposite
It is bent in third supporting section 313, so that shape between the first supporting section 311, the second supporting section 312 and third supporting section 313
Space 316 is walked in a row, in user's movement, is provided activity space for its leg and foot, is improved exoskeleton robot fortune
Dynamic flexibility.
The central symmetry of first supporting section 311, the second supporting section 312 relative to third supporting section 313, connection component 20 in
It is connected thereto at the center of third supporting section 313, guarantees the degree of balance of testing jig entirety.It is set at the center of third supporting section 313
There are an inserting column 317, the inner hollow of the inserting column 317, the lower end of first support 21 passes through attachment base 25 and continues to extend downwardly,
And be inserted in inserting column 317, realization connection component 20 is relatively fixed with support component 30.
Third supporting section 313 is equipped with the 4th supporting section in the side away from the first supporting section 311 and the second supporting section 312
314 and the 5th supporting section 315, the central symmetry of the 4th supporting section 314 and the 5th supporting section 315 relative to third supporting section 313,
Directive wheel 32 is equipped with one at the first supporting section 311, the second supporting section 312, the 4th supporting section 314 and the 5th supporting section 315
It is a.By the way that directive wheel 32 is arranged in the two sides of third supporting section 313, so that the two sides of third supporting section 313 is kept balance, prevent out
Existing testing jig rolls, and improves the smoothness of testing jig.Mounting rack 321 is connected on directive wheel 32, which passes through weldering
It connects or the mode of screw threads for fastening is fixedly connected on the first supporting section 311, the second supporting section 312, the 4th supporting section 314 and the 5th
On supporting section 315, the connection of directive wheel 32 and support frame 31 is realized, mounting rack 321 is equipped with the shaft across directive wheel 32, with
It is rotated for directive wheel 32 based on the shaft, realizes the scroll forward and backward of directive wheel 32.
Testing jig use process is as follows: 12 one end of fixing piece is connect with exoskeleton robot, the other end of fixing piece 12
It is connect with fixed bracket 11, so that wearing has the user of exoskeleton robot that can follow test when testing jig is moved
Frame is walked or is moved；Exoskeleton robot with testing jig after connecting, and user holds arm-rest frame 23, and medical staff holds
Frame 28 is held, pushes arm-rest frame 23 and medical staff to pull by user and holds frame 28, the directive wheel 32 of testing jig bottom
It is rolled, so that testing jig is moved under the drive of directive wheel 32, and then wearing is driven to have making for exoskeleton robot
User completes rehabilitation training；Wearing has user's upper body of exoskeleton robot to be able to enter in activity space 117 and can be in work
It is in accommodating space 231 and movable in accommodating space 231 that movement in dynamic space 117, the upper body of user or leg can enter, and makes
The foot of user enters in walking space 316, and is moved in walking space 316, so that user is in the training process,
It can move freely, and the limitation and influence of space not tested person frame structure, improve the service performance of testing jig.
Testing jig structure in the present embodiment is simple, light, and flexibility is high, convenient with the connection of exoskeleton robot, no
The structure of exoskeleton robot is caused to limit, sufficient activity space is provided for exoskeleton robot, user can be in office
The walking of meaning direction or movement, convenient for the rehabilitation training of user, improve the service performance of testing jig.
It is to be illustrated to presently preferred embodiments of the present invention, but the present invention is not limited to the embodiment above,
Those skilled in the art can also make various equivalent deformation or replacement on the premise of without prejudice to spirit of the invention, this
Equivalent deformation or replacement are all included in the scope defined by the claims of the present application a bit.
Claims (14)
1. a kind of exoskeleton robot testing jig, which is characterized in that described including fixation kit, connection component and support component
Fixation kit includes fixed bracket and the fixing piece that is connected on fixed bracket, and the support component includes support frame, the branch
Several moving members are connected on support, between the fixed bracket and connection component and the connection component and the support
It is to be detachably connected between frame.
2. exoskeleton robot testing jig according to claim 1, which is characterized in that the fixed bracket includes first solid
Fixed end and the second fixing end, first fixing end and the second fixing end are respectively connected with the fixing piece.
3. exoskeleton robot testing jig according to claim 2, which is characterized in that the fixed bracket further includes connection
Frame, first fixing end and the second fixing end are connected to the both ends of the connection frame, and first fixing end, second are consolidated
An activity space is enclosed between fixed end and the connection frame.
4. exoskeleton robot testing jig according to claim 2, which is characterized in that the fixing piece, which is equipped with, to be fixed
Button, first fixing end and the second fixing end are equipped with fixed ring, and the fixing buckle is fastened in the fixed ring, so that institute
The first fixing end and the second fixing end is stated to connect with corresponding fixing piece respectively.
5. exoskeleton robot testing jig according to claim 4, which is characterized in that first fixing end and second is consolidated
Fixed end is equipped with several fixation holes, and the fixed ring is installed at the fixation hole, and the fixation hole is along first fixing end
Or second fixing end be alternatively arranged.
6. exoskeleton robot testing jig according to claim 1, which is characterized in that the fixing piece is bandage, described
Bandage is that elastic bandage or the bandage are equipped with flexible buckle.
7. exoskeleton robot testing jig according to claim 1, which is characterized in that the connection component includes first
Frame and second support, the both ends of the first support are connect with the fixed bracket and support component respectively, the second support
It is connect with the first support, the second support is also connected with arm-rest frame, and the arm-rest frame is bent to form an accommodating space.
8. exoskeleton robot testing jig according to claim 7, which is characterized in that the connection component further includes bridge joint
The both ends of frame and attachment base, the bridge joint frame connects with the second support and first support respectively, the first support and the
Two brackets are inserted in the attachment base close to one end of the support component.
9. exoskeleton robot testing jig according to claim 8, which is characterized in that the connection component further includes first
Retaining ring and the second retaining ring, first retaining ring and the first support integrally connected, the fixed bracket are arranged in institute
It states in the first retaining ring；Second retaining ring and the second support integrally connected, the arm-rest frame are arranged in described second
In retaining ring.
10. exoskeleton robot testing jig according to claim 8, which is characterized in that the first support includes first
Linkage section and the second linkage section, first linkage section bend backwards to second linkage section and are formed an installing zone, the peace
Dress area is connected with a holding frame, and the bridge joint frame is between second linkage section and second support.
11. exoskeleton robot testing jig according to claim 10, which is characterized in that the holding frame is equipped with accommodating
Box and locking rack, the container are connect with locking rack, and one end of the locking rack is held tightly in the outer surface for holding frame.
12. exoskeleton robot testing jig according to claim 1, which is characterized in that support frame as described above includes first
Section, the second supporting section and third supporting section are supportted, first supporting section and the second supporting section are connected to the third and support
Section both ends and relative to the third supporting section bend so that first supporting section, the second supporting section and third supporting section
Space is walked in enclosing in a row.
13. exoskeleton robot testing jig according to claim 12, which is characterized in that the third supporting section is equipped with
Inserting column, the inner hollow of the inserting column, the connection component are plugged in the inserting column.
14. exoskeleton robot testing jig according to claim 12, which is characterized in that the third supporting section is deviating from
The side of first supporting section and the second supporting section is connected with the 4th supporting section and the 5th supporting section, and the moving member is distributed in
At first supporting section, the second supporting section, the 4th supporting section and the 5th supporting section.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910338505.1A CN109966124A (en) | 2019-04-25 | 2019-04-25 | Exoskeleton robot testing frame |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910338505.1A CN109966124A (en) | 2019-04-25 | 2019-04-25 | Exoskeleton robot testing frame |
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| CN109966124A true CN109966124A (en) | 2019-07-05 |
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| CN201910338505.1A Pending CN109966124A (en) | 2019-04-25 | 2019-04-25 | Exoskeleton robot testing frame |
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| CN109568089A (en) * | 2019-01-24 | 2019-04-05 | 中国科学技术大学 | A kind of trailing type lower limb recovery robot by training paces system |
| CN210331079U (en) * | 2019-04-25 | 2020-04-17 | 江苏省人民医院（南京医科大学第一附属医院） | Exoskeleton robot testing frame |
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2019
- 2019-04-25 CN CN201910338505.1A patent/CN109966124A/en active Pending
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| TW200904492A (en) * | 2007-07-20 | 2009-02-01 | Univ Southern Taiwan Tech | Walking training machine |
| KR20120083778A (en) * | 2011-01-18 | 2012-07-26 | 이광덕 | Exercise walking apparatus for rehabilitation |
| CN202459981U (en) * | 2012-02-28 | 2012-10-03 | 国家康复辅具研究中心 | Body weight support device for lower limb gait training |
| CN109568089A (en) * | 2019-01-24 | 2019-04-05 | 中国科学技术大学 | A kind of trailing type lower limb recovery robot by training paces system |
| CN210331079U (en) * | 2019-04-25 | 2020-04-17 | 江苏省人民医院（南京医科大学第一附属医院） | Exoskeleton robot testing frame |
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