CN113276093A - Hip adjusting device and load maneuvering type exoskeleton robot - Google Patents
Hip adjusting device and load maneuvering type exoskeleton robot Download PDFInfo
- Publication number
- CN113276093A CN113276093A CN202110504305.6A CN202110504305A CN113276093A CN 113276093 A CN113276093 A CN 113276093A CN 202110504305 A CN202110504305 A CN 202110504305A CN 113276093 A CN113276093 A CN 113276093A
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- hip
- hinge
- adjusting
- adjusting rod
- adjustment device
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- 210000001624 hip Anatomy 0.000 claims description 79
- 210000000629 knee joint Anatomy 0.000 claims description 19
- 210000004394 hip joint Anatomy 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 abstract description 9
- 239000007788 liquid Substances 0.000 description 19
- 239000010720 hydraulic oil Substances 0.000 description 14
- 239000003921 oil Substances 0.000 description 12
- 210000000544 articulatio talocruralis Anatomy 0.000 description 4
- 238000004891 communication Methods 0.000 description 4
- 210000002414 leg Anatomy 0.000 description 4
- 230000008602 contraction Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Images
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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a hip adjusting device and a load motorized exoskeleton robot. One end of the adjusting rod is arranged on the left hip component, and the other end of the adjusting rod is inserted in the hinge in a threaded manner. One end of the hinge far away from the adjusting rod is hinged on the back plate, and the back plate is arranged on the right hip component through the symmetrically hinged hinge. The hinge is provided with an adjusting linkage cylinder for adjusting the length of the adjusting rod. Through the device, a wearer can quickly adjust the exoskeleton when wearing the device to match the hip size of a human body, so that the adjustment convenience of the exoskeleton is enhanced, the performance of the whole device is optimized, and the motion assistance efficiency of the exoskeleton is improved.
Description
Technical Field
The invention relates to the technical field of load-motorized exoskeleton driving, in particular to a hip adjusting device and a load-motorized exoskeleton robot.
Background
At present, a load-mobile exoskeleton is generally driven by hydraulic pressure, the weight of the load-mobile exoskeleton is heavy relative to light load, the matching degree with a human body is inconvenient to adjust, the sizes of the hip parts of the exoskeleton are not suitable, the wearer feels strong uncomfortable, the human-computer action flexibility is poor, and the assistance efficiency of the exoskeleton is reduced. At present, due to the reasons of large self weight, complicated adjusting mode and the like, an exoskeleton needs to be adjusted according to the hip size of a wearer under the condition of not wearing the exoskeleton, then the wearer tries to wear the exoskeleton, and the hip adjusting device of the existing exoskeleton robot generally needs to be adjusted for multiple times to meet the requirements of the wearer, so that inconvenience is brought to a certain degree.
The invention relates to a load-assisting exoskeleton hip adjusting device, through which a wearer can quickly adjust a wearable exoskeleton to match the hip size of a human body, so that the adjustment convenience of the exoskeleton is enhanced, the performance of the whole device is optimized, and the motion assisting efficiency of the exoskeleton is improved.
Disclosure of Invention
The invention aims to provide a hip adjusting device and a load-maneuvering exoskeleton robot, which solve the problem of hip size adjustment.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention relates to a hip adjusting device, which comprises a left hip component and a right hip component, wherein the left hip component and the right hip component are connected together through an adjusting rod and a hinge matched with the adjusting rod; one end of the adjusting rod is arranged on the left hip component, and the other end of the adjusting rod is inserted in the hinge in a threaded manner; one end of the hinge, which is far away from the adjusting rod, is hinged on a back plate, and the back plate is arranged on the right hip component through symmetrically hinged hinges; and the hinge is provided with an adjusting linkage cylinder for adjusting the length of the adjusting rod.
Preferably, the adjusting rod is mounted on a bearing seat through an inner bearing and an outer bearing, and the bearing seat is mounted on the left hip member.
Preferably, the adjusting linkage cylinder is mounted on the hinge through a locking device.
Preferably, the hinge is provided with a central cavity for the adjusting rod to move, and the length of the central cavity is longer than that of the adjusting rod.
Preferably, the inner side wall of the adjusting linkage cylinder is provided with an internal thread, and the outer side wall of the adjusting rod is provided with an external thread matched with the internal thread of the adjusting linkage cylinder.
Preferably, the cross section of the hinge is rectangular, and the through hole on the right hip member correspondingly connected with the hinge is a rectangular hole.
Preferably, the hinge is provided with a notch matched with the locking device.
Preferably, the back plate is provided with a hinge shaft for the hinge.
Preferably, a convex ring is arranged at one end of the adjusting rod connected with the left hip member, and the inner bearing and the outer bearing are respectively arranged at the left side and the right side of the convex ring.
Preferably, the length of the central cavity is longer than the length of the adjusting rod.
Compared with the prior art, the invention has the beneficial technical effects that:
the hip adjusting device provided by the invention realizes quick adjustment through the movement of the adjusting rod in the hinge, and can realize fixed adjustment through the matching of the adjusting linkage cylinder and the locking device, namely the hip adjusting device has a simple and compact structure, is suitable for wearers with different body types, and enhances the matching property of the exoskeleton. In addition, the wearer can adjust the hip adjustment device without taking off the exoskeleton, the adjustment mode is simple and convenient, and the hip adjustment device has positive significance for promoting the convenience and adaptability design of the load-assisting exoskeleton hip adjustment device. In a word, through the device the person of wearing can dress the ectoskeleton and carry out quick adjustment, match human hip size, the people has strengthened the regulation convenience of ectoskeleton, optimizes the performance of complete machine, improves the motion helping hand efficiency of ectoskeleton.
Drawings
The invention is further illustrated in the following description with reference to the drawings.
Figure 1 is an exploded view of a hip adjustment device provided in accordance with an embodiment of the present invention;
figure 2 is a partial cross-sectional view of a hip adjustment device provided in accordance with an embodiment of the present invention.
Description of reference numerals: 1. a left hip member; 2. a bearing seat; 3. an outer bearing; 4. an inner bearing; 5. adjusting a rod; 6. adjusting the linkage cylinder; 7. a hinge; 8. a back plate; 9. a right hip member; 10. a locking device.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. The meaning of "a number" is one or more unless specifically limited otherwise.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Detailed description of the drawings referring to fig. 1-2, a hip adjustment device comprises a left hip member 1 and a right hip member 9, wherein the left hip member 1 and the right hip member 9 are connected together by an adjustment lever 5 and a hinge 7 cooperating with the adjustment lever 5. One end of the adjusting rod 5 is arranged on the left hip component 1, and the other end of the adjusting rod is inserted in the hinge 7 in a threaded manner. The adjusting rod 5 is installed on the bearing seat 2 through an inner bearing 4 and an outer bearing 3, a convex ring is integrally formed at one end of the adjusting rod 5 connected with the left hip member 1, and the inner bearing 4 and the outer bearing 3 are installed on the left side and the right side of the convex ring respectively. The bearing seat 2 is arranged on the left hip member 1, and the inner bearing and the outer bearing can ensure the stability of the rotation of the adjusting rod 5.
The hinge 7 is hinged to a back plate 8 at one end far away from the adjusting rod 5, the back plate 8 is mounted on a right hip component 9 through hinges 7 symmetrically hinged to the back plate 8, hinge shafts for the hinges 7 to hinge are mounted on the back plate 8, namely the back plate 8 is symmetrically hinged to hinges 7 in a left-right mode, the left hinge 7 is connected with the right hip component 9, and the right hinge 7 is connected with the adjusting rod 5. The cross section of the hinge 7 is rectangular, and the through hole on the right hip component 9 correspondingly connected with the hinge is a rectangular hole.
And an adjusting linkage cylinder 6 for adjusting the length of the adjusting rod 5 is arranged on the hinge 7. The hinge 7 is provided with a central cavity for the adjustment rod 5 to move, and the length of the central cavity is longer than that of the adjustment rod 5, so that the adjustment rod 5 can be adjusted in length at will. The adjusting linkage cylinder 6 is installed on the hinge 7 through a locking device 10, the locking device 10 adopts a puller bolt in the embodiment, and the adjusting linkage cylinder 6 is movable or fixed on the hinge 7 by rotating the puller bolt. The hinge 7 is provided with a notch matched with the locking device 10, and the locking device 10 improves hip adjustment and limiting convenience. The inner side wall of the adjusting linkage cylinder 6 is provided with an internal thread, and the outer side wall of the adjusting rod 5 is provided with an external thread matched with the internal thread of the adjusting linkage cylinder 6.
The using process of the invention is as follows:
when the size of the hip needs to be adjusted, the locking device 10 is loosened, the adjusting rod 5 is rotated in the forward and reverse directions, and the size between the left hip structure and the right hip structure is adjusted, so that the size is accurately adjusted, the hip can be better matched with a human body, and the wearing comfort level and the motion flexibility are improved. When the proper size is reached, the rotation is stopped, the position of the adjusting rod 5 relative to the hinge 7 is locked by the locking device 10, the fixing is realized, and the adjustment is completed. The problems that the traditional adjusting mode is complicated, time-consuming and labor-consuming, and real-time continuous adjustment cannot be realized under the condition that a wearer wears the exoskeleton in the adjusting mode are solved; the exoskeleton robot has the advantages of achieving better man-machine matching performance, guaranteeing the assistance effect of the exoskeleton, being simple in structure, light in weight and reducing cost.
The embodiment of the invention also provides a load-motorized exoskeleton robot, which at least comprises a knee joint exoskeleton, a hydraulic driving system and a hip adjusting device. The hydraulic drive system is used for providing power for the knee exoskeleton and the hip adjusting device. The hip adjusting device is provided by the embodiment of the invention.
The hydraulic drive system may include a liquid supply unit, a first hydraulic cylinder, a first control valve unit, a second hydraulic cylinder, and a second control valve unit. The liquid supply unit is used for outputting hydraulic oil to drive the first hydraulic cylinder and the second hydraulic cylinder. The first control valve unit is used for controlling the flow rate of the hydraulic oil supplied to the first hydraulic cylinder by the liquid supply unit. When the wearer stands, the first control valve unit controls the first hydraulic cylinder to be in an extended state. When the wearer walks, the first control valve unit controls the first hydraulic cylinder to be in an extension/flexion circulation state. The second control valve unit is used for controlling the flow rate of the hydraulic oil supplied to the second hydraulic cylinder by the liquid supply unit. When the wearer stands, the second control valve unit controls the second hydraulic cylinder to be in an extended state. When the wearer walks, the second control valve unit controls the second hydraulic cylinder to be in an extension/flexion circulation state.
Compared with the prior art, when the hydraulic driving system provided by the invention is applied to the exoskeleton which at least comprises the hip joint, the knee joint and the ankle joint, the first hydraulic cylinder can be in power connection with the exoskeleton of the knee joint, and the extension/contraction of the first hydraulic cylinder is utilized to drive the extension/flexion of the knee joint. And the second hydraulic cylinder is in power connection with the hip adjusting device, and the extension/contraction of the second hydraulic cylinder is utilized to drive the extension/contraction of the hip adjusting device.
As the hip, the knee and the ankle joint move mainly in the sagittal plane when the human body normally walks, the moment required by the ankle joint is small, and the energy consumption is mainly generated in the hip and the knee joint. Therefore, the hydraulic driving system provided by the invention does not design driving aiming at the ankle joint with small required moment. That is, the exoskeleton lower limb is designed to be a driving mode of single-leg double-freedom (it should be understood that the double-freedom comprises a knee joint freedom and a hip joint freedom), so that the energy consumption of a hydraulic driving system is reduced to the maximum extent while the characteristics of the human skeleton motion are met, and the exoskeleton and the human motion are skillfully fused.
When a wearer stands, under the control of the first control valve unit, the liquid supply unit supplies hydraulic oil to the rodless cavity of the first hydraulic cylinder to drive the piston rod of the first hydraulic cylinder to extend out, so that the knee joint is in an upright state to provide assistance for the knee joint of the wearer. Meanwhile, under the control of the second control valve unit, the liquid supply unit can also supply hydraulic oil to the rodless cavity of the second hydraulic cylinder so as to drive a piston rod of the second hydraulic cylinder to extend out, so that the hip adjusting device is in a straightened state, and assistance is provided for the hip joint of a wearer.
From the above application process, the liquid supply unit, the first control valve unit and the first hydraulic cylinder can provide the driving force for the knee joint to meet the requirement of the knee joint, and the liquid supply unit, the second control valve unit and the second hydraulic cylinder can provide the driving force for the hip adjusting device to meet the requirement of the hip adjusting device. Based on this, an assistance to the exoskeleton can be achieved. In addition, the first hydraulic cylinder and the second hydraulic cylinder share the same liquid supply unit, so that the size of the hydraulic drive system can be reduced and the weight of the hydraulic drive system can be reduced under the condition that the hydraulic drive system is simplified as a whole.
When the wearer walks and is in a leg stretching state, the liquid supply unit supplies hydraulic oil to the rodless cavity of the first hydraulic cylinder under the control of the first control valve unit so as to drive the piston rod of the first hydraulic cylinder to extend out, and meanwhile, under the pushing of the piston rod of the first hydraulic cylinder, the hydraulic oil in the rod cavity of the first hydraulic cylinder flows back to the liquid supply unit. Based on this, the knee joint ectoskeleton is extended gradually along with the extension of wearer's knee joint, provides the drive power for the extension of wearer's knee joint. Meanwhile, under the control of the second control valve unit, the liquid supply unit supplies hydraulic oil to the rodless cavity of the second hydraulic cylinder so as to drive a piston rod of the second hydraulic cylinder to extend. In this regard, the hip adjustment device gradually straightens as the wearer's hip joint straightens, providing a driving force for straightening the wearer's hip joint.
When the wearer walks and is in a leg bending state, the liquid supply unit supplies hydraulic oil to the rod cavity of the first hydraulic cylinder under the control of the first control valve unit so as to drive the piston rod of the first hydraulic cylinder to retract, and meanwhile, under the pushing of the piston rod of the first hydraulic cylinder, the hydraulic oil in the rod-free cavity of the first hydraulic cylinder flows back to the liquid supply unit. Based on this, the knee joint ectoskeleton gradually retracts along with the retraction of the wearer's knee joint, and provides driving force for the retraction of the wearer's knee joint. At the same time, the piston rod of the second hydraulic cylinder is retracted under the control of the second control valve unit. In this regard, the hip adjustment device gradually retracts as the wearer's hip joint retracts, providing a driving force for the retraction of the wearer's hip joint.
From the application process, the hydraulic driving system provided by the invention can drive the knee joint exoskeleton and the hip adjusting device to be in an extension/flexion circulating state along with the walking state of a wearer when the wearer walks, so that the flexibility of exoskeleton movement is improved.
As a possible implementation, the first hydraulic cylinder and the second hydraulic cylinder each have a pressure threshold. The hydraulic driving system also comprises a safety valve which is arranged at the outlet of the liquid supply unit. And when the measured pressure of the first hydraulic cylinder and the second hydraulic cylinder is larger than or equal to the pressure threshold value, overflowing by using the safety valve.
As a possible implementation manner, the hydraulic drive system further includes a pressure signal measuring unit, and the pressure signal measuring unit is configured to measure a differential pressure signal between the rod-free chamber and the rod-containing chamber of the first hydraulic cylinder and the second hydraulic cylinder. And the communication unit is used for receiving the pressure difference signal of the first hydraulic cylinder and the pressure difference signal of the second hydraulic cylinder. And a processing unit which generates a first control signal and a second control signal when receiving the differential pressure signal of the first hydraulic cylinder and the differential pressure signal of the second hydraulic cylinder which are sent by the communication unit. The communication unit is further used for sending a first control signal to the first control valve unit, and the first control valve unit is used for controlling the flow of the hydraulic oil entering the first hydraulic cylinder according to the first control signal. The communication unit is further used for sending a second control signal to the second control valve unit, and the second control valve unit is used for controlling the flow of the hydraulic oil entering the second hydraulic cylinder according to the second control signal.
As a possible implementation, the first control valve unit includes a first solenoid valve and a second solenoid valve; the first electromagnetic valve and the second electromagnetic valve are both arranged between the liquid supply unit and the first hydraulic cylinder. The first electromagnetic valve and the second electromagnetic valve are connected in parallel. The second control valve unit includes a third solenoid valve and a fourth solenoid valve. The third electromagnetic valve and the fourth electromagnetic valve are arranged between the liquid supply unit and the second hydraulic cylinder. The third electromagnetic valve and the fourth electromagnetic valve are connected in parallel. When the wearer stands, the first solenoid valve is opened to drive the first hydraulic cylinder in an extended state. The third solenoid valve is opened to drive the second hydraulic cylinder in the extended state. The second solenoid valve and the fourth solenoid valve are closed. When the wearer walks and bends legs, the first electromagnetic valve is opened to drive the first hydraulic cylinder to be in a bent state. The third solenoid valve is opened to place the second hydraulic cylinder in a flexed state. The second solenoid valve and the fourth solenoid valve are opened.
When a wearer walks and stretches legs, the first electromagnetic valve is opened to drive the first hydraulic cylinder to be in an extending state; the third electromagnetic valve is opened to drive the second hydraulic cylinder to be in an extending state; the second solenoid valve and the fourth solenoid valve are opened.
As a possible implementation, the liquid supply unit includes an oil tank, and a motor pump communicated with the oil tank, and the motor pump sucks hydraulic oil out of the oil tank to supply to the first hydraulic cylinder and the second hydraulic cylinder. The oil tank is also used for recovering the hydraulic oil overflowed by the first hydraulic cylinder and the second hydraulic cylinder.
As a possible implementation, the liquid supply unit further comprises a filter, the filter being arranged between the oil tank and the motor pump, and/or the filter being arranged between the motor pump and the first and second control valve units.
As a possible implementation manner, the hydraulic drive system further includes an integrated housing, and at least a first hydraulic cylinder, a first control valve unit, a second hydraulic cylinder, and a second control valve unit are integrated on the integrated housing.
In order to ensure the freedom degree of the movement of the hip adjusting device, the hydraulic drive system provided by the embodiment of the invention further comprises an oil pipe pin, the second hydraulic cylinder can be rotatably arranged on the integrated shell through the oil pipe pin, and a channel is arranged in the oil pipe pin and forms a pipeline together with the channel in the integrated shell. That is, the oil pipe pin can be used as a mounting member for mounting the second hydraulic cylinder on the one hand and as a part of the piping on the other hand. Based on this, the purpose of one member for two purposes can be achieved to simplify the structure of the hydraulic drive system as a whole, reduce the volume of the hydraulic drive system, and reduce the weight of the hydraulic drive system.
Specifically, the oil pipe pin comprises an oil pipe pin body, a sealing cover, a connecting hole with a rod cavity and a connecting hole without the rod cavity. The oil pipe pin is rotatably arranged behind the integrated shell, the rod cavity of the second hydraulic cylinder is communicated with the connecting hole of the rod cavity, and the rodless cavity of the second hydraulic cylinder is communicated with the connecting hole of the rodless cavity. That is, an oil-intake circuit and an oil-return circuit are formed between the second hydraulic cylinder and the second control valve unit through the rod chamber connecting hole and the rodless chamber connecting hole.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (10)
1. A hip adjustment device characterized by: the hip joint comprises a left hip component (1) and a right hip component (9), wherein the left hip component (1) and the right hip component (9) are connected together through an adjusting rod (5) and a hinge (7) matched with the adjusting rod (5); one end of the adjusting rod (5) is arranged on the left hip component (1), and the other end of the adjusting rod is inserted into the hinge (7) in a threaded manner; one end of the hinge (7) far away from the adjusting rod (5) is hinged on a back plate (8), and the back plate (8) is arranged on the right hip component (9) through the symmetrically hinged hinge (7); and the hinge (7) is provided with an adjusting linkage cylinder (6) for adjusting the length of the adjusting rod (5).
2. The hip adjustment device of claim 1, wherein: the adjusting rod (5) is installed on the bearing seat (2) through the inner bearing (4) and the outer bearing (3), and the bearing seat (2) is installed on the left hip component (1).
3. The hip adjustment device of claim 1, wherein: the adjusting linkage cylinder (6) is installed on the hinge (7) through a locking device (10).
4. The hip adjustment device of claim 1, wherein: the hinge (7) is provided with a central cavity for the adjusting rod (5) to move; the length of the central cavity is longer than that of the adjusting rod (5).
5. The hip adjustment device of claim 1, wherein: the inner side wall of the adjusting linkage cylinder (6) is provided with an internal thread, and the outer side wall of the adjusting rod (5) is provided with an external thread matched with the internal thread of the adjusting linkage cylinder (6).
6. The hip adjustment device of claim 1, wherein: the cross section of the hinge (7) is rectangular, and the through hole on the right hip component (9) correspondingly connected with the hinge is a rectangular hole.
7. The hip adjustment device of claim 3, wherein: the hinge (7) is provided with a notch matched with the locking device (10).
8. The hip adjustment device of claim 1, wherein: and the back plate (8) is provided with a hinge shaft for hinging the hinge (7).
9. The hip adjustment device of claim 2, wherein: a convex ring is arranged at one end of the adjusting rod (5) connected with the left hip component (1), and the inner bearing (4) and the outer bearing (3) are respectively arranged at the left side and the right side of the convex ring.
10. The load-motorized exoskeleton robot of claim 4, wherein: the load-mobile exoskeleton robot comprises at least a knee joint exoskeleton, a hydraulic drive system and a hip adjusting device; the hydraulic drive system is used for providing power for the knee joint exoskeleton and the hip adjusting device; the hip adjustment device of any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110504305.6A CN113276093A (en) | 2021-05-10 | 2021-05-10 | Hip adjusting device and load maneuvering type exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110504305.6A CN113276093A (en) | 2021-05-10 | 2021-05-10 | Hip adjusting device and load maneuvering type exoskeleton robot |
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| Publication Number | Publication Date |
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| CN113276093A true CN113276093A (en) | 2021-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110504305.6A Pending CN113276093A (en) | 2021-05-10 | 2021-05-10 | Hip adjusting device and load maneuvering type exoskeleton robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105167963A (en) * | 2015-07-13 | 2015-12-23 | 北京理工大学 | Waist adjusting device for exoskeleton robot |
| CN107639626A (en) * | 2017-09-14 | 2018-01-30 | 西南交通大学 | Throttle grverning hydraulic system and power-assisted lower limb exoskeleton |
| CN209012148U (en) * | 2018-09-14 | 2019-06-21 | 徐州徐工基础工程机械有限公司 | A kind of Active Compensation formula flexibility follows hydraulic system and tunnel descaling machine |
| CN110712191A (en) * | 2019-09-25 | 2020-01-21 | 中国船舶重工集团公司第七0七研究所九江分部 | Exoskeleton robot hydraulic drive system |
| CN215093583U (en) * | 2021-05-10 | 2021-12-10 | 航天江南集团有限公司 | Hip adjusting device and load maneuvering type exoskeleton robot |
-
2021
- 2021-05-10 CN CN202110504305.6A patent/CN113276093A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105167963A (en) * | 2015-07-13 | 2015-12-23 | 北京理工大学 | Waist adjusting device for exoskeleton robot |
| CN107639626A (en) * | 2017-09-14 | 2018-01-30 | 西南交通大学 | Throttle grverning hydraulic system and power-assisted lower limb exoskeleton |
| CN209012148U (en) * | 2018-09-14 | 2019-06-21 | 徐州徐工基础工程机械有限公司 | A kind of Active Compensation formula flexibility follows hydraulic system and tunnel descaling machine |
| CN110712191A (en) * | 2019-09-25 | 2020-01-21 | 中国船舶重工集团公司第七0七研究所九江分部 | Exoskeleton robot hydraulic drive system |
| CN215093583U (en) * | 2021-05-10 | 2021-12-10 | 航天江南集团有限公司 | Hip adjusting device and load maneuvering type exoskeleton robot |
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